SystemPositionAndAttitude (Neptus Package API)

java.lang.Object
- pt.lsts.neptus.mp.SystemPositionAndAttitude

All Implemented Interfaces:

java.io.Serializable, java.lang.Cloneable, java.lang.Comparable<SystemPositionAndAttitude>
```
public class SystemPositionAndAttitude
extends java.lang.Object
implements java.lang.Cloneable, java.lang.Comparable<SystemPositionAndAttitude>, java.io.Serializable
```
Author:

Ze Carlos This class represents a vehicle state in a single moment

See Also:

Serialized Form

Constructor Summary

Constructors
Constructor and Description
`SystemPositionAndAttitude()` Empty constructor
`SystemPositionAndAttitude(pt.lsts.imc.EstimatedState state)`
`SystemPositionAndAttitude(LocationType position, double roll, double pitch, double yaw)` Creates a new VehicleState from the given position and axis attitudes
`SystemPositionAndAttitude(SystemPositionAndAttitude vs)`

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`void`	`addNEDOffsets(double n, double e, double d)`
`SystemPositionAndAttitude`	`clone()` Creates a new cloned SystemPositionAndAttitudeState
`int`	`compareTo(SystemPositionAndAttitude o)`
`double`	`getAltitude()`
`double`	`getDepth()`
`double[]`	`getNEDPosition()` Returns the offset from absolute 0 as double[3]: 0 - The offset (in the North direction) from absolut (0,0,0) 1 - The offset (in the East direction) from absolut (0,0,0) 2 - The offset (in the Down direction) from absolut (0,0,0)
`double`	`getP()`
`double`	`getPitch()`
`LocationType`	`getPosition()`
`pt.lsts.neptus.mp.SystemPositionAndAttitude.Vector3Dimension`	`getPqr()`
`double`	`getQ()`
`double`	`getR()`
`double`	`getRoll()`
`long`	`getTime()`
`double`	`getU()`
`pt.lsts.neptus.mp.SystemPositionAndAttitude.Vector3Dimension`	`getUvw()`
`double`	`getV()`
`double`	`getVx()`
`pt.lsts.neptus.mp.SystemPositionAndAttitude.Vector3Dimension`	`getVxyz()`
`double`	`getVy()`
`double`	`getVz()`
`double`	`getW()`
`double`	`getYaw()`
`void`	`moveForward(double meters)` This function changes the current state by moving the vehicle forward If the value of meters is negative, the vehicle will actually move back
`void`	`moveUp(float meters)` This function changes the current state by moving the vehicle up If the value of meters is negative, the vehicle will actually move down
`void`	`rotateXY(double radians)` This function changes this state by rotating the vehicle according to the angle given This rotation will be done only in the horizontal plane (x,y)
`void`	`setAltitude(double altitude)`
`void`	`setDepth(double depth)`
`void`	`setP(double p)`
`void`	`setPitch(double pitch)`
`void`	`setPosition(LocationType position)`
`void`	`setPQR(double p, double q, double r)`
`void`	`setPqr(pt.lsts.neptus.mp.SystemPositionAndAttitude.Vector3Dimension pqr)`
`void`	`setQ(double q)`
`void`	`setR(double r)`
`void`	`setRoll(double roll)`
`void`	`setTime(long time)`
`void`	`setU(double u)`
`void`	`setUVW(double u, double v, double w)`
`void`	`setUvw(pt.lsts.neptus.mp.SystemPositionAndAttitude.Vector3Dimension uvw)`
`void`	`setV(double v)`
`void`	`setVxyz(double vx, double vy, double vz)`
`void`	`setVxyz(pt.lsts.neptus.mp.SystemPositionAndAttitude.Vector3Dimension vxyz)`
`void`	`setW(double w)`
`void`	`setYaw(double yaw)`
`pt.lsts.imc.EstimatedState`	`toEstimatedState()`
`java.lang.String`	`toString()`

Methods inherited from class java.lang.Object
equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Constructor Detail
- SystemPositionAndAttitude
```
public SystemPositionAndAttitude()
```
  Empty constructor
- SystemPositionAndAttitude
```
public SystemPositionAndAttitude(LocationType position,
                                 double roll,
                                 double pitch,
                                 double yaw)
```
  Creates a new VehicleState from the given position and axis attitudes
  
  Parameters:
  
  position - The vehicle position
  
  roll - The vehicle rotation over the X (South->North) axis (radians)
  
  pitch - The vehicle rotation over the Y (West->East) axis (radians)
  
  yaw - The vehicle rotation over the Z (Down->Up) axis (radians)
- SystemPositionAndAttitude
```
public SystemPositionAndAttitude(SystemPositionAndAttitude vs)
```
- SystemPositionAndAttitude
```
public SystemPositionAndAttitude(pt.lsts.imc.EstimatedState state)
```

Method Detail

toEstimatedState

public pt.lsts.imc.EstimatedState toEstimatedState()

rotateXY
```
public void rotateXY(double radians)
```
This function changes this state by rotating the vehicle according to the angle given This rotation will be done only in the horizontal plane (x,y)

Parameters:

radians - The rotation angle

addNEDOffsets

public void addNEDOffsets(double n,
                          double e,
                          double d)

moveForward
```
public void moveForward(double meters)
```
This function changes the current state by moving the vehicle forward If the value of meters is negative, the vehicle will actually move back

Parameters:

meters - The number of meters to advance or go back (if negative)

moveUp
```
public void moveUp(float meters)
```
This function changes the current state by moving the vehicle up If the value of meters is negative, the vehicle will actually move down

Parameters:

meters - The number of meters to move up or down (if negative)

clone
```
public SystemPositionAndAttitude clone()
```
Creates a new cloned SystemPositionAndAttitudeState

Overrides:

clone in class java.lang.Object

getNEDPosition
```
public double[] getNEDPosition()
```
Returns the offset from absolute 0 as double[3]:

0 - The offset (in the North direction) from absolut (0,0,0)
1 - The offset (in the East direction) from absolut (0,0,0)
2 - The offset (in the Down direction) from absolut (0,0,0)

Returns:

A 3 component absolute offset

getPitch
```
public double getPitch()
```

setPitch
```
public void setPitch(double pitch)
```

getPosition
```
public LocationType getPosition()
```

setPosition

public void setPosition(LocationType position)

getAltitude
```
public double getAltitude()
```

setAltitude

public void setAltitude(double altitude)

getDepth
```
public double getDepth()
```
Returns:

the depth

setDepth
```
public void setDepth(double depth)
```
Parameters:

depth - the depth to set

getRoll
```
public double getRoll()
```

setRoll
```
public void setRoll(double roll)
```

getYaw
```
public double getYaw()
```

setYaw
```
public void setYaw(double yaw)
```

toString
```
public java.lang.String toString()
```
Overrides:

toString in class java.lang.Object

getP
```
public double getP()
```

setP
```
public void setP(double p)
```

getQ
```
public double getQ()
```

setQ
```
public void setQ(double q)
```

getR
```
public double getR()
```

setR
```
public void setR(double r)
```

getU
```
public double getU()
```

setU
```
public void setU(double u)
```

getV
```
public double getV()
```

setV
```
public void setV(double v)
```

getW
```
public double getW()
```

setW
```
public void setW(double w)
```

setUVW

public void setUVW(double u,
                   double v,
                   double w)

setPQR

public void setPQR(double p,
                   double q,
                   double r)

getPqr

public pt.lsts.neptus.mp.SystemPositionAndAttitude.Vector3Dimension getPqr()

setPqr

public void setPqr(pt.lsts.neptus.mp.SystemPositionAndAttitude.Vector3Dimension pqr)

getUvw

public pt.lsts.neptus.mp.SystemPositionAndAttitude.Vector3Dimension getUvw()

setUvw

public void setUvw(pt.lsts.neptus.mp.SystemPositionAndAttitude.Vector3Dimension uvw)

getVxyz

public pt.lsts.neptus.mp.SystemPositionAndAttitude.Vector3Dimension getVxyz()

setVxyz

public void setVxyz(pt.lsts.neptus.mp.SystemPositionAndAttitude.Vector3Dimension vxyz)

setVxyz

public void setVxyz(double vx,
                    double vy,
                    double vz)

getVx
```
public double getVx()
```

getVy
```
public double getVy()
```

getVz
```
public double getVz()
```

getTime
```
public long getTime()
```
Returns:

the time

setTime
```
public void setTime(long time)
```
Parameters:

time - the time to set

compareTo
```
public int compareTo(SystemPositionAndAttitude o)
```
Specified by:

compareTo in interface java.lang.Comparable<SystemPositionAndAttitude>

Class SystemPositionAndAttitude

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Constructor Detail

SystemPositionAndAttitude

SystemPositionAndAttitude

SystemPositionAndAttitude

SystemPositionAndAttitude

Method Detail

toEstimatedState

rotateXY

addNEDOffsets

moveForward

moveUp

clone

getNEDPosition

getPitch

setPitch

getPosition

setPosition

getAltitude

setAltitude

getDepth

setDepth

getRoll

setRoll

getYaw

setYaw

toString

getP

setP

getQ

setQ

getR

setR

getU

setU

getV

setV

getW

setW

setUVW

setPQR

getPqr

setPqr

getUvw

setUvw

getVxyz

setVxyz

setVxyz

getVx

getVy

getVz

getTime

setTime

compareTo