pt.lsts.imc

Class FormCtrlParam

java.lang.Object

pt.lsts.imc.IMCMessage

pt.lsts.imc.FormCtrlParam

All Implemented Interfaces:

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

public class FormCtrlParam
extends IMCMessage

IMC Message Formation Control Parameters (820)
Formation controller paramenters, as: trajectory gains, control boundary layer thickness, and formation shape gains.

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	FormCtrlParam.ACTION

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
FormCtrlParam()
FormCtrlParam(FormCtrlParam.ACTION Action, float LonGain, float LatGain, long BondThick, float LeadGain, float DeconflGain)
FormCtrlParam(IMCDefinition defs)
FormCtrlParam(IMCMessage msg)

Method Summary

Modifier and Type	Method and Description
static FormCtrlParam	clone(IMCMessage msg)
static FormCtrlParam	create(java.lang.Object... values)
FormCtrlParam.ACTION	getAction() Action on the vehicle formation control parameters.
long	getBondThick()
double	getDeconflGain()
double	getLatGain()
double	getLeadGain()
double	getLonGain()
FormCtrlParam	setAction(FormCtrlParam.ACTION Action)
FormCtrlParam	setAction(short Action)
FormCtrlParam	setAction(java.lang.String Action)
FormCtrlParam	setBondThick(long BondThick)
FormCtrlParam	setDeconflGain(double DeconflGain)
FormCtrlParam	setLatGain(double LatGain)
FormCtrlParam	setLeadGain(double LeadGain)
FormCtrlParam	setLonGain(double LonGain)

Methods inherited from class pt.lsts.imc.IMCMessage

asJSON, asMap, asXml, asXmlStripped, 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

Constructor Detail

FormCtrlParam

public FormCtrlParam()

FormCtrlParam

public FormCtrlParam(IMCMessage msg)

FormCtrlParam

public FormCtrlParam(IMCDefinition defs)

FormCtrlParam

public FormCtrlParam(FormCtrlParam.ACTION Action,
                     float LonGain,
                     float LatGain,
                     long BondThick,
                     float LeadGain,
                     float DeconflGain)

Method Detail

create

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

clone

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

Throws:

java.lang.Exception

getAction

public FormCtrlParam.ACTION getAction()

Action on the vehicle formation control parameters.

Returns:

Action (enumerated) - uint8_t

getLonGain

public double getLonGain()

Returns:

Longitudinal Gain - fp32_t

getLatGain

public double getLatGain()

Returns:

Lateral Gain - fp32_t

getBondThick

public long getBondThick()

Returns:

Boundary Layer Thickness - uint32_t

getLeadGain

public double getLeadGain()

Returns:

Leader Gain - fp32_t

getDeconflGain

public double getDeconflGain()

Returns:

Deconfliction Gain - fp32_t

setAction

public FormCtrlParam setAction(FormCtrlParam.ACTION Action)

Parameters:

Action - Action (enumerated)

setAction

public FormCtrlParam setAction(java.lang.String Action)

Parameters:

Action - Action (as a String)

setAction

public FormCtrlParam setAction(short Action)

Parameters:

Action - Action (integer value)

setLonGain

public FormCtrlParam setLonGain(double LonGain)

Parameters:

LonGain - Longitudinal Gain

setLatGain

public FormCtrlParam setLatGain(double LatGain)

Parameters:

LatGain - Lateral Gain

setBondThick

public FormCtrlParam setBondThick(long BondThick)

Parameters:

BondThick - Boundary Layer Thickness

setLeadGain

public FormCtrlParam setLeadGain(double LeadGain)

Parameters:

LeadGain - Leader Gain

setDeconflGain

public FormCtrlParam setDeconflGain(double DeconflGain)

Parameters:

DeconflGain - Deconfliction Gain