pt.lsts.imc

Class StationKeeping

java.lang.Object

pt.lsts.imc.IMCMessage

pt.lsts.imc.Maneuver

pt.lsts.imc.StationKeeping

All Implemented Interfaces:

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

public class StationKeeping
extends Maneuver

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.

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	StationKeeping.SPEED_UNITS
static class	StationKeeping.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
StationKeeping()
StationKeeping(double lat, double lon, float z, StationKeeping.Z_UNITS z_units, float radius, int duration, float speed, StationKeeping.SPEED_UNITS speed_units, java.lang.String custom)
StationKeeping(IMCDefinition defs)

Method Summary

Modifier and Type	Method and Description
static StationKeeping	clone(IMCMessage msg)
static StationKeeping	create(java.lang.Object... values)
java.util.LinkedHashMap<java.lang.String,java.lang.String>	getCustom()
int	getDuration()
double	getLat()
double	getLon()
double	getRadius()
double	getSpeed()
StationKeeping.SPEED_UNITS	getSpeedUnits() Indicates the units used for the speed value.
double	getZ()
StationKeeping.Z_UNITS	getZUnits() Units of the z reference.
void	setCustom(java.util.LinkedHashMap<java.lang.String,?> custom)
void	setCustom(java.lang.String custom)
void	setDuration(int duration)
void	setLat(double lat)
void	setLon(double lon)
void	setRadius(double radius)
void	setSpeed(double speed)
void	setSpeedUnits(short speed_units)
void	setSpeedUnits(StationKeeping.SPEED_UNITS speed_units)
void	setSpeedUnits(java.lang.String speed_units)
void	setZ(double z)
void	setZUnits(short z_units)
void	setZUnits(StationKeeping.Z_UNITS z_units)
void	setZUnits(java.lang.String z_units)

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

Constructor Detail

StationKeeping

public StationKeeping()

StationKeeping

public StationKeeping(IMCDefinition defs)

StationKeeping

public StationKeeping(double lat,
                      double lon,
                      float z,
                      StationKeeping.Z_UNITS z_units,
                      float radius,
                      int duration,
                      float speed,
                      StationKeeping.SPEED_UNITS speed_units,
                      java.lang.String custom)

Method Detail

create

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

clone

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

Throws:

java.lang.Exception

getLat

public double getLat()

Returns:

Latitude WGS-84 (rad) - fp64_t

getLon

public double getLon()

Returns:

Longitude WGS-84 (rad) - fp64_t

getZ

public double getZ()

Returns:

Z Reference (m) - fp32_t

getZUnits

public StationKeeping.Z_UNITS getZUnits()

Units of the z reference.

Returns:

Z Units (enumerated) - uint8_t

getRadius

public double getRadius()

Returns:

Radius (m) - fp32_t

getDuration

public int getDuration()

Returns:

Duration (s) - uint16_t

getSpeed

public double getSpeed()

Returns:

Speed - fp32_t

getSpeedUnits

public StationKeeping.SPEED_UNITS getSpeedUnits()

Indicates the units used for the speed value.

Returns:

Speed Units (enumerated) - uint8_t

getCustom

public java.util.LinkedHashMap<java.lang.String,java.lang.String> getCustom()

Returns:

Custom settings for maneuver (tuplelist) - plaintext

setLat

public void setLat(double lat)

Parameters:

lat - Latitude WGS-84 (rad)

setLon

public void setLon(double lon)

Parameters:

lon - Longitude WGS-84 (rad)

setZ

public void setZ(double z)

Parameters:

z - Z Reference (m)

setZUnits

public void setZUnits(StationKeeping.Z_UNITS z_units)

Parameters:

z_units - Z Units (enumerated)

setZUnits

public void setZUnits(java.lang.String z_units)

Parameters:

z_units - Z Units (as a String)

setZUnits

public void setZUnits(short z_units)

Parameters:

z_units - Z Units (integer value)

setRadius

public void setRadius(double radius)

Parameters:

radius - Radius (m)

setDuration

public void setDuration(int duration)

Parameters:

duration - Duration (s)

setSpeed

public void setSpeed(double speed)

Parameters:

speed - Speed

setSpeedUnits

public void setSpeedUnits(StationKeeping.SPEED_UNITS speed_units)

Parameters:

speed_units - Speed Units (enumerated)

setSpeedUnits

public void setSpeedUnits(java.lang.String speed_units)

Parameters:

speed_units - Speed Units (as a String)

setSpeedUnits

public void setSpeedUnits(short speed_units)

Parameters:

speed_units - Speed Units (integer value)

setCustom

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

Parameters:

custom - Custom settings for maneuver (tuplelist)

setCustom

public void setCustom(java.lang.String custom)