LeaderState

java.lang.Object
- pt.lsts.imc.IMCMessage
- - pt.lsts.imc.LeaderState

All Implemented Interfaces:

java.lang.Cloneable, java.lang.Comparable<IMCMessage>, IMessage
```
public class LeaderState
extends IMCMessage
```
IMC Message Leader State (563)
This message defines the formation leader state.
LeaderState is a complete description of the leader state
in terms of parameters such as position, orientation and
velocities at a particular moment in time.
The system position is given by a North-East-Down (NED)
local tangent plane displacement (x, y, z) relative to
an absolute WGS-84 coordinate (latitude, longitude,
height above ellipsoid).
The symbols for position and attitude as well as linear and
angular velocities were chosen according to SNAME's notation (1950).
The body-fixed reference frame and Euler angles are depicted
next:
Euler angles

Nested Class Summary

Nested Classes
Modifier and Type Class and Description

static class LeaderState.OP

Nested Classes
Modifier and Type	Class and Description
`static class`	`LeaderState.OP`

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

Fields
Modifier and Type	Field and Description
`static int`	`ID_STATIC`

Constructor Summary

Constructors
Constructor and Description
`LeaderState()`
`LeaderState(IMCDefinition defs)`
`LeaderState(IMCMessage msg)`
`LeaderState(java.lang.String group_name, LeaderState.OP op, double lat, double lon, float height, float x, float y, float z, float phi, float theta, float psi, float vx, float vy, float vz, float p, float q, float r, float svx, float svy, float svz)`

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`static LeaderState`	`clone(IMCMessage msg)`
`static LeaderState`	`create(java.lang.Object... values)`
`java.lang.String`	`getGroupName()`
`double`	`getHeight()`
`double`	`getLat()`
`double`	`getLon()`
`LeaderState.OP`	`getOp()`
`java.lang.String`	`getOpStr()`
`short`	`getOpVal()`
`double`	`getP()`
`double`	`getPhi()`
`double`	`getPsi()`
`double`	`getQ()`
`double`	`getR()`
`double`	`getSvx()`
`double`	`getSvy()`
`double`	`getSvz()`
`double`	`getTheta()`
`double`	`getVx()`
`double`	`getVy()`
`double`	`getVz()`
`double`	`getX()`
`double`	`getY()`
`double`	`getZ()`
`LeaderState`	`setGroupName(java.lang.String group_name)`
`LeaderState`	`setHeight(double height)`
`LeaderState`	`setLat(double lat)`
`LeaderState`	`setLon(double lon)`
`LeaderState`	`setOp(LeaderState.OP op)`
`LeaderState`	`setOpStr(java.lang.String op)`
`LeaderState`	`setOpVal(short op)`
`LeaderState`	`setP(double p)`
`LeaderState`	`setPhi(double phi)`
`LeaderState`	`setPsi(double psi)`
`LeaderState`	`setQ(double q)`
`LeaderState`	`setR(double r)`
`LeaderState`	`setSvx(double svx)`
`LeaderState`	`setSvy(double svy)`
`LeaderState`	`setSvz(double svz)`
`LeaderState`	`setTheta(double theta)`
`LeaderState`	`setVx(double vx)`
`LeaderState`	`setVy(double vy)`
`LeaderState`	`setVz(double vz)`
`LeaderState`	`setX(double x)`
`LeaderState`	`setY(double y)`
`LeaderState`	`setZ(double z)`

Methods inherited from class pt.lsts.imc.IMCMessage
asJSON, asJSON, asMap, asXml, asXmlStripped, cloneMessage, cloneMessage, compareTo, copyFrom, decodeTupleList, dump, encodeTupleList, get, getAbbrev, getAgeInSeconds, getAsNumber, getAsString, getBitmask, getDate, getDouble, getDst, getDstEnt, getEntityName, getFieldNames, getFloat, getHeader, getHeaderValue, getInteger, getLong, getLongFieldName, getLongName, getMessage, getMessage, getMessageInfo, 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, parseJson, parseXml, payloadMD5, serialize, serialize, serialize, serializePayload, setBitMask, setDst, setDstEnt, setHeader, setMessageInfo, 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

LeaderState
```
public LeaderState()
```

LeaderState
```
public LeaderState(IMCMessage msg)
```

LeaderState

public LeaderState(IMCDefinition defs)

LeaderState

public LeaderState(java.lang.String group_name,
                   LeaderState.OP op,
                   double lat,
                   double lon,
                   float height,
                   float x,
                   float y,
                   float z,
                   float phi,
                   float theta,
                   float psi,
                   float vx,
                   float vy,
                   float vz,
                   float p,
                   float q,
                   float r,
                   float svx,
                   float svy,
                   float svz)

Method Detail
- create
```
public static LeaderState create(java.lang.Object... values)
```
- clone
```
public static LeaderState clone(IMCMessage msg)
                         throws java.lang.Exception
```
  Throws:
  
  java.lang.Exception
- getGroupName
```
public java.lang.String getGroupName()
```
  Returns:
  
  Group Name - plaintext
- setGroupName
```
public LeaderState setGroupName(java.lang.String group_name)
```
  Parameters:
  
  group_name - Group Name
- getOp
```
public LeaderState.OP getOp()
```
  Returns:
  
  Action on the leader state (enumerated) - uint8_t
- getOpStr
```
public java.lang.String getOpStr()
```
- getOpVal
```
public short getOpVal()
```
- setOp
```
public LeaderState setOp(LeaderState.OP op)
```
  Parameters:
  
  op - Action on the leader state (enumerated)
- setOpStr
```
public LeaderState setOpStr(java.lang.String op)
```
  Parameters:
  
  op - Action on the leader state (as a String)
- setOpVal
```
public LeaderState setOpVal(short op)
```
  Parameters:
  
  op - Action on the leader state (integer value)
- getLat
```
public double getLat()
```
  Returns:
  
  Latitude (WGS-84) (rad) - fp64_t
- setLat
```
public LeaderState setLat(double lat)
```
  Parameters:
  
  lat - Latitude (WGS-84) (rad)
- getLon
```
public double getLon()
```
  Returns:
  
  Longitude (WGS-84) (rad) - fp64_t
- setLon
```
public LeaderState setLon(double lon)
```
  Parameters:
  
  lon - Longitude (WGS-84) (rad)
- getHeight
```
public double getHeight()
```
  Returns:
  
  Height (WGS-84) (m) - fp32_t
- setHeight
```
public LeaderState setHeight(double height)
```
  Parameters:
  
  height - Height (WGS-84) (m)
- getX
```
public double getX()
```
  Returns:
  
  Offset north (m) - fp32_t
- setX
```
public LeaderState setX(double x)
```
  Parameters:
  
  x - Offset north (m)
- getY
```
public double getY()
```
  Returns:
  
  Offset east (m) - fp32_t
- setY
```
public LeaderState setY(double y)
```
  Parameters:
  
  y - Offset east (m)
- getZ
```
public double getZ()
```
  Returns:
  
  Offset down (m) - fp32_t
- setZ
```
public LeaderState setZ(double z)
```
  Parameters:
  
  z - Offset down (m)
- getPhi
```
public double getPhi()
```
  Returns:
  
  Rotation over x axis (rad) - fp32_t
- setPhi
```
public LeaderState setPhi(double phi)
```
  Parameters:
  
  phi - Rotation over x axis (rad)
- getTheta
```
public double getTheta()
```
  Returns:
  
  Rotation over y axis (rad) - fp32_t
- setTheta
```
public LeaderState setTheta(double theta)
```
  Parameters:
  
  theta - Rotation over y axis (rad)
- getPsi
```
public double getPsi()
```
  Returns:
  
  Rotation over z axis (rad) - fp32_t
- setPsi
```
public LeaderState setPsi(double psi)
```
  Parameters:
  
  psi - Rotation over z axis (rad)
- getVx
```
public double getVx()
```
  Returns:
  
  Ground Velocity X (North) (m/s) - fp32_t
- setVx
```
public LeaderState setVx(double vx)
```
  Parameters:
  
  vx - Ground Velocity X (North) (m/s)
- getVy
```
public double getVy()
```
  Returns:
  
  Ground Velocity Y (East) (m/s) - fp32_t
- setVy
```
public LeaderState setVy(double vy)
```
  Parameters:
  
  vy - Ground Velocity Y (East) (m/s)
- getVz
```
public double getVz()
```
  Returns:
  
  Ground Velocity Z (Down) (m/s) - fp32_t
- setVz
```
public LeaderState setVz(double vz)
```
  Parameters:
  
  vz - Ground Velocity Z (Down) (m/s)
- getP
```
public double getP()
```
  Returns:
  
  Angular Velocity in x (rad/s) - fp32_t
- setP
```
public LeaderState setP(double p)
```
  Parameters:
  
  p - Angular Velocity in x (rad/s)
- getQ
```
public double getQ()
```
  Returns:
  
  Angular Velocity in y (rad/s) - fp32_t
- setQ
```
public LeaderState setQ(double q)
```
  Parameters:
  
  q - Angular Velocity in y (rad/s)
- getR
```
public double getR()
```
  Returns:
  
  Angular Velocity in z (rad/s) - fp32_t
- setR
```
public LeaderState setR(double r)
```
  Parameters:
  
  r - Angular Velocity in z (rad/s)
- getSvx
```
public double getSvx()
```
  Returns:
  
  Stream Velocity X (North) (m/s) - fp32_t
- setSvx
```
public LeaderState setSvx(double svx)
```
  Parameters:
  
  svx - Stream Velocity X (North) (m/s)
- getSvy
```
public double getSvy()
```
  Returns:
  
  Stream Velocity Y (East) (m/s) - fp32_t
- setSvy
```
public LeaderState setSvy(double svy)
```
  Parameters:
  
  svy - Stream Velocity Y (East) (m/s)
- getSvz
```
public double getSvz()
```
  Returns:
  
  Stream Velocity Z (Down) (m/s) - fp32_t
- setSvz
```
public LeaderState setSvz(double svz)
```
  Parameters:
  
  svz - Stream Velocity Z (Down) (m/s)

Class LeaderState

Nested Class Summary

Field Summary

Fields inherited from class pt.lsts.imc.IMCMessage

Constructor Summary

Method Summary

Methods inherited from class pt.lsts.imc.IMCMessage

Methods inherited from class java.lang.Object

Field Detail

ID_STATIC

Constructor Detail

LeaderState

LeaderState

LeaderState

LeaderState

Method Detail

create

clone

getGroupName

setGroupName

getOp

getOpStr

getOpVal

setOp

setOpStr

setOpVal

getLat

setLat

getLon

setLon

getHeight

setHeight

getX

setX

getY

setY

getZ

setZ

getPhi

setPhi

getTheta

setTheta

getPsi

setPsi

getVx

setVx

getVy

setVy

getVz

setVz

getP

setP

getQ

setQ

getR

setR

getSvx

setSvx

getSvy

setSvy

getSvz

setSvz