pt.lsts.imc

Class YoYo

java.lang.Object

pt.lsts.imc.IMCMessage

pt.lsts.imc.Maneuver

pt.lsts.imc.YoYo

All Implemented Interfaces:

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

public class YoYo
extends Maneuver

IMC Message Yo-Yo Maneuver (459)
A "yo-yo" is a maneuver specifying a vehicle movement to a
target waypoint in which depth/altitude varies along the way
between two values with a desired pitch angle.

Nested Class Summary

Nested Classes

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

Method Summary

Modifier and Type	Method and Description
static YoYo	clone(IMCMessage msg)
static YoYo	create(java.lang.Object... values)
double	getAmplitude()
java.util.LinkedHashMap<java.lang.String,java.lang.String>	getCustom()
double	getLat()
double	getLon()
double	getPitch()
double	getSpeed()
YoYo.SPEED_UNITS	getSpeedUnits()
java.lang.String	getSpeedUnitsStr()
short	getSpeedUnitsVal()
int	getTimeout()
double	getZ()
YoYo.Z_UNITS	getZUnits()
java.lang.String	getZUnitsStr()
short	getZUnitsVal()
YoYo	setAmplitude(double amplitude)
YoYo	setCustom(java.util.LinkedHashMap<java.lang.String,?> custom)
YoYo	setCustom(java.lang.String custom)
YoYo	setLat(double lat)
YoYo	setLon(double lon)
YoYo	setPitch(double pitch)
YoYo	setSpeed(double speed)
YoYo	setSpeedUnits(YoYo.SPEED_UNITS speed_units)
YoYo	setSpeedUnitsStr(java.lang.String speed_units)
YoYo	setSpeedUnitsVal(short speed_units)
YoYo	setTimeout(int timeout)
YoYo	setZ(double z)
YoYo	setZUnits(YoYo.Z_UNITS z_units)
YoYo	setZUnitsStr(java.lang.String z_units)
YoYo	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

YoYo

public YoYo()

YoYo

public YoYo(IMCMessage msg)

YoYo

public YoYo(IMCDefinition defs)

YoYo

public YoYo(int timeout,
            double lat,
            double lon,
            float z,
            YoYo.Z_UNITS z_units,
            float amplitude,
            float pitch,
            float speed,
            YoYo.SPEED_UNITS speed_units,
            java.lang.String custom)

Method Detail

create

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

clone

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

Throws:

java.lang.Exception

getTimeout

public int getTimeout()

Returns:

Timeout (s) - uint16_t

setTimeout

public YoYo setTimeout(int timeout)

Parameters:

timeout - Timeout (s)

getLat

public double getLat()

Returns:

Latitude WGS-84 (rad) - fp64_t

setLat

public YoYo setLat(double lat)

Parameters:

lat - Latitude WGS-84 (rad)

getLon

public double getLon()

Returns:

Longitude WGS-84 (rad) - fp64_t

setLon

public YoYo setLon(double lon)

Parameters:

lon - Longitude WGS-84 (rad)

getZ

public double getZ()

Returns:

Z Reference (m) - fp32_t

setZ

public YoYo setZ(double z)

Parameters:

z - Z Reference (m)

getZUnits

public YoYo.Z_UNITS getZUnits()

Returns:

Z Units (enumerated) - uint8_t

getZUnitsStr

public java.lang.String getZUnitsStr()

getZUnitsVal

public short getZUnitsVal()

setZUnits

public YoYo setZUnits(YoYo.Z_UNITS z_units)

Parameters:

z_units - Z Units (enumerated)

setZUnitsStr

public YoYo setZUnitsStr(java.lang.String z_units)

Parameters:

z_units - Z Units (as a String)

setZUnitsVal

public YoYo setZUnitsVal(short z_units)

Parameters:

z_units - Z Units (integer value)

getAmplitude

public double getAmplitude()

Returns:

Amplitude (m) - fp32_t

setAmplitude

public YoYo setAmplitude(double amplitude)

Parameters:

amplitude - Amplitude (m)

getPitch

public double getPitch()

Returns:

Pitch Angle (rad) - fp32_t

setPitch

public YoYo setPitch(double pitch)

Parameters:

pitch - Pitch Angle (rad)

getSpeed

public double getSpeed()

Returns:

Speed - fp32_t

setSpeed

public YoYo setSpeed(double speed)

Parameters:

speed - Speed

getSpeedUnits

public YoYo.SPEED_UNITS getSpeedUnits()

Returns:

Speed Units (enumerated) - uint8_t

getSpeedUnitsStr

public java.lang.String getSpeedUnitsStr()

getSpeedUnitsVal

public short getSpeedUnitsVal()

setSpeedUnits

public YoYo setSpeedUnits(YoYo.SPEED_UNITS speed_units)

Parameters:

speed_units - Speed Units (enumerated)

setSpeedUnitsStr

public YoYo setSpeedUnitsStr(java.lang.String speed_units)

Parameters:

speed_units - Speed Units (as a String)

setSpeedUnitsVal

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

Parameters:

custom - Custom settings for maneuver (tuplelist)

setCustom

public YoYo setCustom(java.lang.String custom)