pt.lsts.imc

Class FormationParameters

java.lang.Object

pt.lsts.imc.IMCMessage

pt.lsts.imc.FormationParameters

All Implemented Interfaces:

java.lang.Cloneable, java.lang.Comparable<IMCMessage>, IMessage

public class FormationParameters
extends IMCMessage

IMC Message Formation Parameters (476)
A "Formation" is defined by the relative positions of the vehicles
inside the formation, and the reference frame where this positions are defined.
The formation reference frame may be:
- Earth Fixed: Where the vehicles relative position do not depend on the followed path.
This results in all UAVs following the same path with an offset relative to each other;
- Path Fixed: Where the vehicles relative position depends on the followed path,
changing the inter-vehicle offset direction with the path direction.
- Path Curved: Where the vehicles relative position depends on the followed path,
changing the inter-vehicle offset direction with the path direction and direction
change rate.
An offset in the xx axis results in a distance over the curved path line.
An offset in the yy axis results in an offset of the vehicle path line relative to the
formation center path line.

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	FormationParameters.REFERENCE_FRAME

Field Summary

Fields

Modifier and Type	Field and Description
static int	ID_STATIC

Fields inherited from class pt.lsts.imc.IMCMessage

DEFAULT_ENTITY_ID, DEFAULT_SYSTEM_ID

Constructor Summary

Constructors

Constructor and Description
FormationParameters()
FormationParameters(IMCDefinition defs)
FormationParameters(IMCMessage msg)
FormationParameters(java.lang.String formation_name, FormationParameters.REFERENCE_FRAME reference_frame, java.util.Collection<VehicleFormationParticipant> participants, java.lang.String custom)

Method Summary

Modifier and Type	Method and Description
static FormationParameters	clone(IMCMessage msg)
static FormationParameters	create(java.lang.Object... values)
java.util.LinkedHashMap<java.lang.String,java.lang.String>	getCustom()
java.lang.String	getFormationName()
java.util.Vector<VehicleFormationParticipant>	getParticipants()
FormationParameters.REFERENCE_FRAME	getReferenceFrame()
java.lang.String	getReferenceFrameStr()
short	getReferenceFrameVal()
FormationParameters	setCustom(java.util.LinkedHashMap<java.lang.String,?> custom)
FormationParameters	setCustom(java.lang.String custom)
FormationParameters	setFormationName(java.lang.String formation_name)
FormationParameters	setParticipants(java.util.Collection<VehicleFormationParticipant> participants)
FormationParameters	setReferenceFrame(FormationParameters.REFERENCE_FRAME reference_frame)
FormationParameters	setReferenceFrameStr(java.lang.String reference_frame)
FormationParameters	setReferenceFrameVal(short reference_frame)

Methods inherited from class pt.lsts.imc.IMCMessage

asJSON, asJSON, asMap, asXml, asXmlStripped, cloneMessage, cloneMessage, compareTo, copyFrom, decodeTupleList, dump, encodeTupleList, get, getAbbrev, getAgeInSeconds, getAsNumber, getAsString, getBitmask, getDate, getDouble, getDst, getDstEnt, getEntityName, getFieldNames, getFloat, getHeader, getHeaderValue, getInteger, getLong, getLongFieldName, getLongName, getMessage, getMessage, getMessageInfo, getMessageList, getMessageList, getMessageType, getMgid, getPayloadSize, getProtocolFactory, getRawData, getSize, getSourceName, getSrc, getSrcEnt, getString, getString, getTimestamp, getTimestampMillis, getTupleList, getTypeOf, getUnitsOf, getValue, getValues, hasFlag, hexdump, isNull, isPeriodic, main, makeImmutable, parseJson, parseXml, payloadMD5, serialize, serialize, serialize, serializePayload, setBitMask, setDst, setDstEnt, setHeader, setMessageInfo, setMessageList, setSrc, setSrcEnt, setTimestamp, setTimestampMillis, setType, setValue, setValues, toString, validate

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, wait, wait, wait

Field Detail

ID_STATIC

public static final int ID_STATIC

See Also:

Constant Field Values

Constructor Detail

FormationParameters

public FormationParameters()

FormationParameters

public FormationParameters(IMCMessage msg)

FormationParameters

public FormationParameters(IMCDefinition defs)

FormationParameters

public FormationParameters(java.lang.String formation_name,
                           FormationParameters.REFERENCE_FRAME reference_frame,
                           java.util.Collection<VehicleFormationParticipant> participants,
                           java.lang.String custom)

Method Detail

create

public static FormationParameters create(java.lang.Object... values)

clone

public static FormationParameters clone(IMCMessage msg)
                                 throws java.lang.Exception

Throws:

java.lang.Exception

getFormationName

public java.lang.String getFormationName()

Returns:

Formation Name - plaintext

setFormationName

public FormationParameters setFormationName(java.lang.String formation_name)

Parameters:

formation_name - Formation Name

getReferenceFrame

public FormationParameters.REFERENCE_FRAME getReferenceFrame()

Returns:

Formation Reference Frame (enumerated) - uint8_t

getReferenceFrameStr

public java.lang.String getReferenceFrameStr()

getReferenceFrameVal

public short getReferenceFrameVal()

setReferenceFrame

public FormationParameters setReferenceFrame(FormationParameters.REFERENCE_FRAME reference_frame)

Parameters:

reference_frame - Formation Reference Frame (enumerated)

setReferenceFrameStr

public FormationParameters setReferenceFrameStr(java.lang.String reference_frame)

Parameters:

reference_frame - Formation Reference Frame (as a String)

setReferenceFrameVal

public FormationParameters setReferenceFrameVal(short reference_frame)

Parameters:

reference_frame - Formation Reference Frame (integer value)

getParticipants

public java.util.Vector<VehicleFormationParticipant> getParticipants()

Returns:

Formation Participants - message-list

setParticipants

public FormationParameters setParticipants(java.util.Collection<VehicleFormationParticipant> participants)

Parameters:

participants - Formation Participants

getCustom

public java.util.LinkedHashMap<java.lang.String,java.lang.String> getCustom()

Returns:

Custom settings for formation (tuplelist) - plaintext

setCustom

public FormationParameters setCustom(java.util.LinkedHashMap<java.lang.String,?> custom)

Parameters:

custom - Custom settings for formation (tuplelist)

setCustom

public FormationParameters setCustom(java.lang.String custom)