| Package | Description |
|---|---|
| pt.lsts.imc | |
| pt.lsts.util |
| Modifier and Type | Class and Description |
|---|---|
class |
CommsRelay
IMC Message Communications Relay (472)
In this maneuver, a vehicle drives to the center of two other systems (a, b) in order to be used as a communications relay. |
class |
CompassCalibration
IMC Message Compass Calibration Maneuver (475)
This maneuver is a mix between the Loiter maneuver and the YoYo maneuver. The vehicle cirlcles around a specific waypoint with a variable Z reference between a minimum and maximum value. |
class |
CoverArea
IMC Message Cover Area (473)
Given a polygonal area, generates trajectories to cover the area. |
class |
CustomManeuver
IMC Message Custom Maneuver (465)
The Custom Maneuver message may be used as specification of a very specific maneuver not covered by the IMC scope. |
class |
Dislodge
IMC Message Dislodge Maneuver (483)
A "Dislodge" is a maneuver ordering the vehicle to attempt a series of thruster operations that will hopefully get it unstuck from an entangled condition. Parameters are RPMs for the motor when attempting dislodge and and a flag specifying whether the thrust burst should be attempted forward, backward or auto (letting the vehicle decide). |
class |
Elevator
IMC Message Elevator Maneuver (462)
The Elevator maneuver specifies a vehicle to reach a target waypoint using a cruise altitude/depth and then ascend or descend to another target altitude/depth. |
class |
FollowPath
IMC Message Follow Path Maneuver (457)
Maneuver constituted by a list of Path Points. |
class |
FollowReference
IMC Message Follow Reference Maneuver (478)
This maneuver follows a reference given by an external entity. |
class |
FollowTrajectory
IMC Message Follow Trajectory (463)
Maneuver constituted by a list of Trajectory Points. |
class |
FormationPlanExecution
IMC Message Formation Plan Execution (477)
A "Formation Plan" is a maneuver specifying a plan for a team of vehicles. The maneuver defines: - Vehicles included in the formation group - Formation shape configuration - Plan (set of maneuvers) to be followed by the formation center - Speed at which that plan is followed - Path contrains (virtual leader bank limit) - Supervision settings |
class |
Goto
IMC Message Goto Maneuver (450)
A "Goto" is a maneuver specifying a movement of the vehicle to a target waypoint. |
class |
IdleManeuver
IMC Message Idle Maneuver (454)
Causes the vehicle to stay idle for some time. |
class |
Loiter
IMC Message Loiter Maneuver (453)
The Loiter maneuver makes the vehicle circle around a specific waypoint with fixed depth reference. |
class |
LowLevelControl
IMC Message Low Level Control Maneuver (455)
Low level maneuver that sends a (heading, roll, speed, ...) reference to a controller of the vehicle and then optionally lingers for some time. |
class |
PopUp
IMC Message PopUp Maneuver (451)
The Pop Up maneuver makes the vehicle come to the surface at a specific waypoint. |
class |
Rows
IMC Message Rows Maneuver (456)
Rows maneuver (i.e: lawn mower type maneuver) |
class |
StationKeeping
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. |
class |
Teleoperation
IMC Message Teleoperation Maneuver (452)
The Teleoperation Maneuver lets the vehicle be controlled by an external human operator. |
class |
VehicleFormation
IMC Message Vehicle Formation (466)
Coordinate maneuver using two or more cooperating systems. |
class |
YoYo
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. |
| Modifier and Type | Method and Description |
|---|---|
Maneuver |
PlanManeuver.getData() |
Maneuver |
VehicleCommand.getManeuver() |
| Modifier and Type | Method and Description |
|---|---|
PlanManeuver |
PlanManeuver.setData(Maneuver data) |
VehicleCommand |
VehicleCommand.setManeuver(Maneuver maneuver) |
| Constructor and Description |
|---|
PlanManeuver(java.lang.String maneuver_id,
Maneuver data,
java.util.Collection<IMCMessage> start_actions,
java.util.Collection<IMCMessage> end_actions) |
VehicleCommand(VehicleCommand.TYPE type,
int request_id,
VehicleCommand.COMMAND command,
Maneuver maneuver,
int calib_time,
java.lang.String info) |
| Modifier and Type | Method and Description |
|---|---|
static java.util.List<Maneuver> |
PlanUtilities.getManeuverSequence(PlanSpecification plan)
This method calculates the maneuver sequence present in a plan.
|
| Modifier and Type | Method and Description |
|---|---|
static java.util.Collection<double[]> |
PlanUtilities.computeLocations(Maneuver m)
Compute all the locations for a given maneuver message
|
static java.util.Collection<PlanUtilities.Waypoint> |
PlanUtilities.computeWaypoints(Maneuver m)
Similar to
PlanUtilities.computeLocations(Maneuver) but in this case returning
waypoint structures |
static float |
PlanUtilities.getSpeed(Maneuver m) |
static PlanUtilities.Waypoint |
PlanUtilities.getStartLocation(Maneuver m)
Compute the start location for a given maneuver
|