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>	getManeuverCycleOrSequence(PlanSpecification plan) This method calculates the maneuver sequence present in a plan.
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
static boolean	isCyclic(PlanSpecification plan) Check if Plan is Cyclic (last maneuver transits to first one)

Methods inherited from class java.lang.Object

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

Constructor Detail

PlanUtilities

public PlanUtilities()

Method Detail

getManeuverCycleOrSequence

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

This method calculates the maneuver sequence present in a plan. In case of cyclic plans, it will retrieve the first sequence of maneuvers that include one repeated maneuver.

Parameters:

plan - The plan to parsed.

Returns:

a maneuver sequence.

See Also:

getManeuverSequence(PlanSpecification)

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.

isCyclic

public static boolean isCyclic(PlanSpecification plan)

Check if Plan is Cyclic (last maneuver transits to first one)

Parameters:

plan - The plan

Returns:

true if last maneuver transits to first one, false otherwise