pt.lsts.imc

Class Loiter

java.lang.Object

pt.lsts.imc.IMCMessage

pt.lsts.imc.Maneuver

pt.lsts.imc.Loiter

All Implemented Interfaces:

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

public class Loiter
extends Maneuver

IMC Message Loiter Maneuver (453)
The Loiter maneuver makes the vehicle circle around a specific
waypoint with fixed depth reference.

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	Loiter.DIRECTION
static class	Loiter.SPEED_UNITS
static class	Loiter.TYPE
static class	Loiter.Z_UNITS

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
Loiter()
Loiter(IMCDefinition defs)
Loiter(IMCMessage msg)
Loiter(int timeout, double lat, double lon, float z, Loiter.Z_UNITS z_units, int duration, float speed, Loiter.SPEED_UNITS speed_units, Loiter.TYPE type, float radius, float length, double bearing, Loiter.DIRECTION direction, java.lang.String custom)

Method Summary

Modifier and Type	Method and Description
static Loiter	clone(IMCMessage msg)
static Loiter	create(java.lang.Object... values)
double	getBearing()
java.util.LinkedHashMap<java.lang.String,java.lang.String>	getCustom()
Loiter.DIRECTION	getDirection()
java.lang.String	getDirectionStr()
short	getDirectionVal()
int	getDuration()
double	getLat()
double	getLength()
double	getLon()
double	getRadius()
double	getSpeed()
Loiter.SPEED_UNITS	getSpeedUnits()
java.lang.String	getSpeedUnitsStr()
short	getSpeedUnitsVal()
int	getTimeout()
Loiter.TYPE	getType()
java.lang.String	getTypeStr()
short	getTypeVal()
double	getZ()
Loiter.Z_UNITS	getZUnits()
java.lang.String	getZUnitsStr()
short	getZUnitsVal()
Loiter	setBearing(double bearing)
Loiter	setCustom(java.util.LinkedHashMap<java.lang.String,?> custom)
Loiter	setCustom(java.lang.String custom)
Loiter	setDirection(Loiter.DIRECTION direction)
Loiter	setDirectionStr(java.lang.String direction)
Loiter	setDirectionVal(short direction)
Loiter	setDuration(int duration)
Loiter	setLat(double lat)
Loiter	setLength(double length)
Loiter	setLon(double lon)
Loiter	setRadius(double radius)
Loiter	setSpeed(double speed)
Loiter	setSpeedUnits(Loiter.SPEED_UNITS speed_units)
Loiter	setSpeedUnitsStr(java.lang.String speed_units)
Loiter	setSpeedUnitsVal(short speed_units)
Loiter	setTimeout(int timeout)
Loiter	setType(Loiter.TYPE type)
Loiter	setTypeStr(java.lang.String type)
Loiter	setTypeVal(short type)
Loiter	setZ(double z)
Loiter	setZUnits(Loiter.Z_UNITS z_units)
Loiter	setZUnitsStr(java.lang.String z_units)
Loiter	setZUnitsVal(short z_units)

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

Loiter

public Loiter()

Loiter

public Loiter(IMCMessage msg)

Loiter

public Loiter(IMCDefinition defs)

Loiter

public Loiter(int timeout,
              double lat,
              double lon,
              float z,
              Loiter.Z_UNITS z_units,
              int duration,
              float speed,
              Loiter.SPEED_UNITS speed_units,
              Loiter.TYPE type,
              float radius,
              float length,
              double bearing,
              Loiter.DIRECTION direction,
              java.lang.String custom)

Method Detail

create

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

clone

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

Throws:

java.lang.Exception

getTimeout

public int getTimeout()

Returns:

Timeout (s) - uint16_t

setTimeout

public Loiter setTimeout(int timeout)

Parameters:

timeout - Timeout (s)

getLat

public double getLat()

Returns:

Latitude WGS-84 (rad) - fp64_t

setLat

public Loiter setLat(double lat)

Parameters:

lat - Latitude WGS-84 (rad)

getLon

public double getLon()

Returns:

Longitude WGS-84 (rad) - fp64_t

setLon

public Loiter setLon(double lon)

Parameters:

lon - Longitude WGS-84 (rad)

getZ

public double getZ()

Returns:

Z Reference (m) - fp32_t

setZ

public Loiter setZ(double z)

Parameters:

z - Z Reference (m)

getZUnits

public Loiter.Z_UNITS getZUnits()

Returns:

Z Units (enumerated) - uint8_t

getZUnitsStr

public java.lang.String getZUnitsStr()

getZUnitsVal

public short getZUnitsVal()

setZUnits

public Loiter setZUnits(Loiter.Z_UNITS z_units)

Parameters:

z_units - Z Units (enumerated)

setZUnitsStr

public Loiter setZUnitsStr(java.lang.String z_units)

Parameters:

z_units - Z Units (as a String)

setZUnitsVal

public Loiter setZUnitsVal(short z_units)

Parameters:

z_units - Z Units (integer value)

getDuration

public int getDuration()

Returns:

Duration (s) - uint16_t

setDuration

public Loiter setDuration(int duration)

Parameters:

duration - Duration (s)

getSpeed

public double getSpeed()

Returns:

Speed - fp32_t

setSpeed

public Loiter setSpeed(double speed)

Parameters:

speed - Speed

getSpeedUnits

public Loiter.SPEED_UNITS getSpeedUnits()

Returns:

Speed Units (enumerated) - uint8_t

getSpeedUnitsStr

public java.lang.String getSpeedUnitsStr()

getSpeedUnitsVal

public short getSpeedUnitsVal()

setSpeedUnits

public Loiter setSpeedUnits(Loiter.SPEED_UNITS speed_units)

Parameters:

speed_units - Speed Units (enumerated)

setSpeedUnitsStr

public Loiter setSpeedUnitsStr(java.lang.String speed_units)

Parameters:

speed_units - Speed Units (as a String)

setSpeedUnitsVal

public Loiter setSpeedUnitsVal(short speed_units)

Parameters:

speed_units - Speed Units (integer value)

getType

public Loiter.TYPE getType()

Returns:

Loiter Type (enumerated) - uint8_t

getTypeStr

public java.lang.String getTypeStr()

getTypeVal

public short getTypeVal()

setType

public Loiter setType(Loiter.TYPE type)

Parameters:

type - Loiter Type (enumerated)

setTypeStr

public Loiter setTypeStr(java.lang.String type)

Parameters:

type - Loiter Type (as a String)

setTypeVal

public Loiter setTypeVal(short type)

Parameters:

type - Loiter Type (integer value)

getRadius

public double getRadius()

Returns:

Radius (m) - fp32_t

setRadius

public Loiter setRadius(double radius)

Parameters:

radius - Radius (m)

getLength

public double getLength()

Returns:

Length (m) - fp32_t

setLength

public Loiter setLength(double length)

Parameters:

length - Length (m)

getBearing

public double getBearing()

Returns:

Bearing (rad) - fp64_t

setBearing

public Loiter setBearing(double bearing)

Parameters:

bearing - Bearing (rad)

getDirection

public Loiter.DIRECTION getDirection()

Returns:

Direction (enumerated) - uint8_t

getDirectionStr

public java.lang.String getDirectionStr()

getDirectionVal

public short getDirectionVal()

setDirection

public Loiter setDirection(Loiter.DIRECTION direction)

Parameters:

direction - Direction (enumerated)

setDirectionStr

public Loiter setDirectionStr(java.lang.String direction)

Parameters:

direction - Direction (as a String)

setDirectionVal

public Loiter setDirectionVal(short direction)

Parameters:

direction - Direction (integer value)

getCustom

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

Returns:

Custom settings for maneuver (tuplelist) - plaintext

setCustom

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

Parameters:

custom - Custom settings for maneuver (tuplelist)

setCustom

public Loiter setCustom(java.lang.String custom)