pt.lsts.imc

Class DesiredControl

java.lang.Object

pt.lsts.imc.IMCMessage

pt.lsts.imc.DesiredControl

All Implemented Interfaces:

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

public class DesiredControl
extends IMCMessage

IMC Message Desired Control (407)
Set the desired virtual forces and torques to be applied to the
vehicle.

Field Summary

Fields

Modifier and Type	Field and Description
static short	FL_K
static short	FL_M
static short	FL_N
static short	FL_X
static short	FL_Y
static short	FL_Z
static int	ID_STATIC

Fields inherited from class pt.lsts.imc.IMCMessage

DEFAULT_ENTITY_ID, DEFAULT_SYSTEM_ID

Constructor Summary

Constructors

Constructor and Description
DesiredControl()
DesiredControl(double x, double y, double z, double k, double m, double n, short flags)
DesiredControl(IMCDefinition defs)

Method Summary

Modifier and Type	Method and Description
static DesiredControl	clone(IMCMessage msg)
static DesiredControl	create(java.lang.Object... values)
short	getFlags() Desired Control flags.
double	getK()
double	getM()
double	getN()
double	getX()
double	getY()
double	getZ()
void	setFlags(short flags)
void	setK(double k)
void	setM(double m)
void	setN(double n)
void	setX(double x)
void	setY(double y)
void	setZ(double z)

Methods inherited from class pt.lsts.imc.IMCMessage

asJSON, asXml, cloneMessage, cloneMessage, compareTo, decodeTupleList, dump, encodeTupleList, get, getAbbrev, getAsNumber, getAsString, getBitmask, getDate, getDouble, getDst, getDstEnt, getFieldNames, getFloat, getHeader, getHeaderValue, getInteger, getLong, getLongFieldName, getLongName, getMessage, getMessage, getMessageList, getMessageList, getMessageType, getMgid, getPayloadSize, getProtocolFactory, getRawData, getSize, getSourceName, getSrc, getSrcEnt, getString, getString, getTimestamp, getTimestampMillis, getTupleList, getTypeOf, getUnitsOf, getValue, hasFlag, hexdump, isNull, isPeriodic, main, makeImmutable, parseXml, payloadMD5, serialize, serialize, setBitMask, setDst, setDstEnt, setHeader, setMessage, 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

FL_X

public static final short FL_X

See Also:

Constant Field Values

FL_Y

public static final short FL_Y

See Also:

Constant Field Values

FL_Z

public static final short FL_Z

See Also:

Constant Field Values

FL_K

public static final short FL_K

See Also:

Constant Field Values

FL_M

public static final short FL_M

See Also:

Constant Field Values

FL_N

public static final short FL_N

See Also:

Constant Field Values

Constructor Detail

DesiredControl

public DesiredControl()

DesiredControl

public DesiredControl(IMCDefinition defs)

DesiredControl

public DesiredControl(double x,
                      double y,
                      double z,
                      double k,
                      double m,
                      double n,
                      short flags)

Method Detail

create

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

clone

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

Throws:

java.lang.Exception

getX

public double getX()

Returns:

Force along the x axis (n) - fp64_t

getY

public double getY()

Returns:

Force along the y axis (n) - fp64_t

getZ

public double getZ()

Returns:

Force along the z axis (n) - fp64_t

getK

public double getK()

Returns:

Torque about the x axis (nm) - fp64_t

getM

public double getM()

Returns:

Torque about the y axis (nm) - fp64_t

getN

public double getN()

Returns:

Torque about the z axis (nm) - fp64_t

getFlags

public short getFlags()

Desired Control flags.

Returns:

Flags (bitfield) - uint8_t

setX

public void setX(double x)

Parameters:

x - Force along the x axis (n)

setY

public void setY(double y)

Parameters:

y - Force along the y axis (n)

setZ

public void setZ(double z)

Parameters:

z - Force along the z axis (n)

setK

public void setK(double k)

Parameters:

k - Torque about the x axis (nm)

setM

public void setM(double m)

Parameters:

m - Torque about the y axis (nm)

setN

public void setN(double n)

Parameters:

n - Torque about the z axis (nm)

setFlags

public void setFlags(short flags)

Parameters:

flags - Flags (bitfield)