pt.lsts.imc

Class DvlRejection

java.lang.Object

pt.lsts.imc.IMCMessage

pt.lsts.imc.DvlRejection

All Implemented Interfaces:

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

public class DvlRejection
extends IMCMessage

IMC Message DVL Rejection (358)
When the vehicle uses Doppler Velocity Log sensor, this message
notifies that a new measurement was locally rejected by the
navigation filter.

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	DvlRejection.REASON

Field Summary

Fields

Modifier and Type	Field and Description
static int	ID_STATIC
static short	TYPE_GV
static short	TYPE_WV

Fields inherited from class pt.lsts.imc.IMCMessage

DEFAULT_ENTITY_ID, DEFAULT_SYSTEM_ID

Constructor Summary

Constructors

Constructor and Description
DvlRejection()
DvlRejection(IMCDefinition defs)
DvlRejection(IMCMessage msg)
DvlRejection(short type, DvlRejection.REASON reason, float value, float timestep)

Method Summary

Modifier and Type	Method and Description
static DvlRejection	clone(IMCMessage msg)
static DvlRejection	create(java.lang.Object... values)
DvlRejection.REASON	getReason() Reason for rejection.
double	getTimestep()
short	getType() This field represents the type of the rejected velocity.
double	getValue()
DvlRejection	setReason(DvlRejection.REASON reason)
DvlRejection	setReason(short reason)
DvlRejection	setReason(java.lang.String reason)
DvlRejection	setTimestep(double timestep)
DvlRejection	setType(short type)
DvlRejection	setValue(double value)

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

TYPE_GV

public static final short TYPE_GV

See Also:

Constant Field Values

TYPE_WV

public static final short TYPE_WV

See Also:

Constant Field Values

Constructor Detail

DvlRejection

public DvlRejection()

DvlRejection

public DvlRejection(IMCMessage msg)

DvlRejection

public DvlRejection(IMCDefinition defs)

DvlRejection

public DvlRejection(short type,
                    DvlRejection.REASON reason,
                    float value,
                    float timestep)

Method Detail

create

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

clone

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

Throws:

java.lang.Exception

getType

public short getType()

This field represents the type of the rejected velocity.

Returns:

Type of velocity (bitfield) - uint8_t

getReason

public DvlRejection.REASON getReason()

Reason for rejection. There are two types of DVL measurement
filters. An Innovation filter checks the innovation between
the current measurement and the previous measurement within a
certain amount of time and an Absolute filter compares the
measurement with an absolute threshold value. Those filters
are tested using horizontal speed measurements, i.e.,
measurements in the x-axis and in the y-axis.

Returns:

Reason (enumerated) - uint8_t

getValue

public double getValue()

Returns:

Value (m/s) - fp32_t

getTimestep

public double getTimestep()

Returns:

Timestep (s) - fp32_t

setType

public DvlRejection setType(short type)

Parameters:

type - Type of velocity (bitfield)

setReason

public DvlRejection setReason(DvlRejection.REASON reason)

Parameters:

reason - Reason (enumerated)

setReason

public DvlRejection setReason(java.lang.String reason)

Parameters:

reason - Reason (as a String)

setReason

public DvlRejection setReason(short reason)

Parameters:

reason - Reason (integer value)

setValue

public DvlRejection setValue(double value)

Parameters:

value - Value (m/s)

setTimestep

public DvlRejection setTimestep(double timestep)

Parameters:

timestep - Timestep (s)