pt.lsts.util

Class PlanUtilities

java.lang.Object

pt.lsts.util.PlanUtilities

public class PlanUtilities
extends java.lang.Object

This class provides some utility methods to work with IMC plans

Author:

zp

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	PlanUtilities.Waypoint This inner class represents a IMC plan waypoint.

Constructor Summary

Constructors

Constructor and Description
PlanUtilities()

Method Summary

Modifier and Type	Method and Description
static java.util.Collection<double[]>	computeLocations(Maneuver m) Compute all the locations for a given maneuver message
static java.util.Collection<double[]>	computeLocations(PlanSpecification plan) Given a PlanSpecification message, computes its list of WGS84 locations
static java.util.Collection<PlanUtilities.Waypoint>	computeWaypoints(Maneuver m) Similar to computeLocations(Maneuver) but in this case returning waypoint structures
static java.util.List<PlanUtilities.Waypoint>	computeWaypoints(PlanSpecification plan) This method parses an IMC plan and calculates its waypoints.
static java.util.List<Maneuver>	getManeuverSequence(PlanSpecification plan) This method calculates the maneuver sequence present in a plan.
static float	getSpeed(Maneuver m)
static PlanUtilities.Waypoint	getStartLocation(Maneuver m) Compute the start location for a given maneuver

Methods inherited from class java.lang.Object

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

Constructor Detail

PlanUtilities

public PlanUtilities()

Method Detail

getManeuverSequence

public static java.util.List<Maneuver> getManeuverSequence(PlanSpecification plan)

This method calculates the maneuver sequence present in a plan. In case of cyclic plans, it will retrieve the first non-repeating sequence of maneuvers.

Parameters:

plan - The plan to parsed.

Returns:

a maneuver sequence.

computeLocations

public static java.util.Collection<double[]> computeLocations(PlanSpecification plan)

Given a PlanSpecification message, computes its list of WGS84 locations

Parameters:

plan - a PlanSpecification message

Returns:

a Collection of locations of the type double[2] = {latitude, longitude}.
Latitude and Longitude are represented in decimal degrees.

computeWaypoints

public static java.util.List<PlanUtilities.Waypoint> computeWaypoints(PlanSpecification plan)

This method parses an IMC plan and calculates its waypoints.

Parameters:

plan - An IMC plan to be parsed

Returns:

A list of waypoints found in the plan.

See Also:

PlanUtilities.Waypoint

computeWaypoints

public static java.util.Collection<PlanUtilities.Waypoint> computeWaypoints(Maneuver m)

Similar to computeLocations(Maneuver) but in this case returning waypoint structures

Parameters:

m - The Maneuver to be converted to a list of waypoints

Returns:

a Collection of waypoints

See Also:

PlanUtilities.Waypoint

getSpeed

public static float getSpeed(Maneuver m)

getStartLocation

public static PlanUtilities.Waypoint getStartLocation(Maneuver m)

Compute the start location for a given maneuver

Parameters:

m - The maneuver

Returns:

The first waypoint for the maneuver or null if no waypoint can be calculated.

computeLocations

public static java.util.Collection<double[]> computeLocations(Maneuver m)

Compute all the locations for a given maneuver message

Parameters:

m - The maneuver

Returns:

a Collection of locations of the type double[2] = {latitude, longitude}.
Latitude and Longitude are represented in decimal degrees.