pt.lsts.imc

Class DesiredVelocity

java.lang.Object

pt.lsts.imc.IMCMessage

pt.lsts.imc.DesiredVelocity

All Implemented Interfaces:

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

public class DesiredVelocity
extends IMCMessage

IMC Message Desired Velocity (409)
Desired value for each linear and angular speeds.

Field Summary

Fields

Modifier and Type	Field and Description
static short	FL_HEAVE
static short	FL_PITCH
static short	FL_ROLL
static short	FL_SURGE
static short	FL_SWAY
static short	FL_YAW
static int	ID_STATIC

Fields inherited from class pt.lsts.imc.IMCMessage

DEFAULT_ENTITY_ID, DEFAULT_SYSTEM_ID

Constructor Summary

Constructors

Constructor and Description
DesiredVelocity()
DesiredVelocity(double u, double v, double w, double p, double q, double r, short flags)
DesiredVelocity(IMCDefinition defs)
DesiredVelocity(IMCMessage msg)

Method Summary

Modifier and Type	Method and Description
static DesiredVelocity	clone(IMCMessage msg)
static DesiredVelocity	create(java.lang.Object... values)
short	getFlags() Desired Velocity flags.
double	getP()
double	getQ()
double	getR()
double	getU()
double	getV()
double	getW()
DesiredVelocity	setFlags(short flags)
DesiredVelocity	setP(double p)
DesiredVelocity	setQ(double q)
DesiredVelocity	setR(double r)
DesiredVelocity	setU(double u)
DesiredVelocity	setV(double v)
DesiredVelocity	setW(double w)

Methods inherited from class pt.lsts.imc.IMCMessage

asJSON, asXml, cloneMessage, cloneMessage, compareTo, copyFrom, 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, getValues, hasFlag, hexdump, isNull, isPeriodic, main, makeImmutable, parseXml, payloadMD5, serialize, serialize, setBitMask, setDst, setDstEnt, setHeader, 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_SURGE

public static final short FL_SURGE

See Also:

Constant Field Values

FL_SWAY

public static final short FL_SWAY

See Also:

Constant Field Values

FL_HEAVE

public static final short FL_HEAVE

See Also:

Constant Field Values

FL_ROLL

public static final short FL_ROLL

See Also:

Constant Field Values

FL_PITCH

public static final short FL_PITCH

See Also:

Constant Field Values

FL_YAW

public static final short FL_YAW

See Also:

Constant Field Values

Constructor Detail

DesiredVelocity

public DesiredVelocity()

DesiredVelocity

public DesiredVelocity(IMCMessage msg)

DesiredVelocity

public DesiredVelocity(IMCDefinition defs)

DesiredVelocity

public DesiredVelocity(double u,
                       double v,
                       double w,
                       double p,
                       double q,
                       double r,
                       short flags)

Method Detail

create

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

clone

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

Throws:

java.lang.Exception

getU

public double getU()

Returns:

Desired Linear Speed in xx (m/s) - fp64_t

getV

public double getV()

Returns:

Desired Linear Speed in yy (m/s) - fp64_t

getW

public double getW()

Returns:

Desired Linear Speed in zz (m/s) - fp64_t

getP

public double getP()

Returns:

Desired Angular Speed in xx (m/s) - fp64_t

getQ

public double getQ()

Returns:

Desired Angular Speed in yy (m/s) - fp64_t

getR

public double getR()

Returns:

Desired Angular Speed in zz (m/s) - fp64_t

getFlags

public short getFlags()

Desired Velocity flags.

Returns:

Flags (bitfield) - uint8_t

setU

public DesiredVelocity setU(double u)

Parameters:

u - Desired Linear Speed in xx (m/s)

setV

public DesiredVelocity setV(double v)

Parameters:

v - Desired Linear Speed in yy (m/s)

setW

public DesiredVelocity setW(double w)

Parameters:

w - Desired Linear Speed in zz (m/s)

setP

public DesiredVelocity setP(double p)

Parameters:

p - Desired Angular Speed in xx (m/s)

setQ

public DesiredVelocity setQ(double q)

Parameters:

q - Desired Angular Speed in yy (m/s)

setR

public DesiredVelocity setR(double r)

Parameters:

r - Desired Angular Speed in zz (m/s)

setFlags

public DesiredVelocity setFlags(short flags)

Parameters:

flags - Flags (bitfield)