pt.lsts.imc

Class StationKeeping

java.lang.Object

pt.lsts.imc.IMCMessage

pt.lsts.imc.Maneuver

pt.lsts.imc.StationKeeping

All Implemented Interfaces:

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

public class StationKeeping
extends Maneuver

IMC Message Station Keeping (461)
The Station Keeping maneuver makes the vehicle come to the surface
and then enter a given circular perimeter around a waypoint coordinate
for a certain amount of time.

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	StationKeeping.SPEED_UNITS
static class	StationKeeping.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
StationKeeping()
StationKeeping(double lat, double lon, float z, StationKeeping.Z_UNITS z_units, float radius, int duration, float speed, StationKeeping.SPEED_UNITS speed_units, java.lang.String custom)
StationKeeping(IMCDefinition defs)
StationKeeping(IMCMessage msg)

Method Summary

Modifier and Type	Method and Description
static StationKeeping	clone(IMCMessage msg)
static StationKeeping	create(java.lang.Object... values)
java.util.LinkedHashMap<java.lang.String,java.lang.String>	getCustom()
int	getDuration()
double	getLat()
double	getLon()
double	getRadius()
double	getSpeed()
StationKeeping.SPEED_UNITS	getSpeedUnits()
java.lang.String	getSpeedUnitsStr()
short	getSpeedUnitsVal()
double	getZ()
StationKeeping.Z_UNITS	getZUnits()
java.lang.String	getZUnitsStr()
short	getZUnitsVal()
StationKeeping	setCustom(java.util.LinkedHashMap<java.lang.String,?> custom)
StationKeeping	setCustom(java.lang.String custom)
StationKeeping	setDuration(int duration)
StationKeeping	setLat(double lat)
StationKeeping	setLon(double lon)
StationKeeping	setRadius(double radius)
StationKeeping	setSpeed(double speed)
StationKeeping	setSpeedUnits(StationKeeping.SPEED_UNITS speed_units)
StationKeeping	setSpeedUnitsStr(java.lang.String speed_units)
StationKeeping	setSpeedUnitsVal(short speed_units)
StationKeeping	setZ(double z)
StationKeeping	setZUnits(StationKeeping.Z_UNITS z_units)
StationKeeping	setZUnitsStr(java.lang.String z_units)
StationKeeping	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

StationKeeping

public StationKeeping()

StationKeeping

public StationKeeping(IMCMessage msg)

StationKeeping

public StationKeeping(IMCDefinition defs)

StationKeeping

public StationKeeping(double lat,
                      double lon,
                      float z,
                      StationKeeping.Z_UNITS z_units,
                      float radius,
                      int duration,
                      float speed,
                      StationKeeping.SPEED_UNITS speed_units,
                      java.lang.String custom)

Method Detail

create

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

clone

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

Throws:

java.lang.Exception

getLat

public double getLat()

Returns:

Latitude WGS-84 (rad) - fp64_t

setLat

public StationKeeping setLat(double lat)

Parameters:

lat - Latitude WGS-84 (rad)

getLon

public double getLon()

Returns:

Longitude WGS-84 (rad) - fp64_t

setLon

public StationKeeping setLon(double lon)

Parameters:

lon - Longitude WGS-84 (rad)

getZ

public double getZ()

Returns:

Z Reference (m) - fp32_t

setZ

public StationKeeping setZ(double z)

Parameters:

z - Z Reference (m)

getZUnits

public StationKeeping.Z_UNITS getZUnits()

Returns:

Z Units (enumerated) - uint8_t

getZUnitsStr

public java.lang.String getZUnitsStr()

getZUnitsVal

public short getZUnitsVal()

setZUnits

public StationKeeping setZUnits(StationKeeping.Z_UNITS z_units)

Parameters:

z_units - Z Units (enumerated)

setZUnitsStr

public StationKeeping setZUnitsStr(java.lang.String z_units)

Parameters:

z_units - Z Units (as a String)

setZUnitsVal

public StationKeeping setZUnitsVal(short z_units)

Parameters:

z_units - Z Units (integer value)

getRadius

public double getRadius()

Returns:

Radius (m) - fp32_t

setRadius

public StationKeeping setRadius(double radius)

Parameters:

radius - Radius (m)

getDuration

public int getDuration()

Returns:

Duration (s) - uint16_t

setDuration

public StationKeeping setDuration(int duration)

Parameters:

duration - Duration (s)

getSpeed

public double getSpeed()

Returns:

Speed - fp32_t

setSpeed

public StationKeeping setSpeed(double speed)

Parameters:

speed - Speed

getSpeedUnits

public StationKeeping.SPEED_UNITS getSpeedUnits()

Returns:

Speed Units (enumerated) - uint8_t

getSpeedUnitsStr

public java.lang.String getSpeedUnitsStr()

getSpeedUnitsVal

public short getSpeedUnitsVal()

setSpeedUnits

public StationKeeping setSpeedUnits(StationKeeping.SPEED_UNITS speed_units)

Parameters:

speed_units - Speed Units (enumerated)

setSpeedUnitsStr

public StationKeeping setSpeedUnitsStr(java.lang.String speed_units)

Parameters:

speed_units - Speed Units (as a String)

setSpeedUnitsVal

public StationKeeping setSpeedUnitsVal(short speed_units)

Parameters:

speed_units - Speed Units (integer value)

getCustom

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

Returns:

Custom settings for maneuver (tuplelist) - plaintext

setCustom

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

Parameters:

custom - Custom settings for maneuver (tuplelist)

setCustom

public StationKeeping setCustom(java.lang.String custom)