pt.lsts.imc

Class Alignment

java.lang.Object

pt.lsts.imc.IMCMessage

pt.lsts.imc.Maneuver

pt.lsts.imc.Alignment

All Implemented Interfaces:

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

public class Alignment
extends Maneuver

IMC Message Alignment Maneuver (495)
An "Alignment" is a maneuver specifying a movement of the vehicle to a
target waypoint intended to control activation of an IMU/INS in order
to start aligning navigation for more precise dead reckoning operation.

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
Alignment()
Alignment(IMCDefinition defs)
Alignment(IMCMessage msg)
Alignment(int timeout, double lat, double lon, float speed, pt.lsts.imc.def.SpeedUnits speed_units, java.lang.String custom)

Method Summary

Modifier and Type	Method and Description
static Alignment	clone(IMCMessage msg)
static Alignment	create(java.lang.Object... values)
java.util.LinkedHashMap<java.lang.String,java.lang.String>	getCustom()
double	getLat()
double	getLon()
double	getSpeed()
pt.lsts.imc.def.SpeedUnits	getSpeedUnits()
java.lang.String	getSpeedUnitsStr()
short	getSpeedUnitsVal()
int	getTimeout()
Alignment	setCustom(java.util.LinkedHashMap<java.lang.String,?> custom)
Alignment	setCustom(java.lang.String custom)
Alignment	setLat(double lat)
Alignment	setLon(double lon)
Alignment	setSpeed(double speed)
Alignment	setSpeedUnits(pt.lsts.imc.def.SpeedUnits speed_units)
Alignment	setSpeedUnitsStr(java.lang.String speed_units)
Alignment	setSpeedUnitsVal(short speed_units)
Alignment	setTimeout(int timeout)

Methods inherited from class pt.lsts.imc.IMCMessage

asJSON, asJSON, asMap, asXml, asXmlStripped, cloneMessage, cloneMessage, compareTo, copyFrom, copyToClipoard, 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, makeImmutable, parseJson, parseXml, pasteFromClipoard, payloadMD5, serialize, serialize, serialize, serializePayload, setBitMask, setDst, setDstEnt, setHeader, setMessageInfo, setMessageList, setSrc, setSrcEnt, setTimestamp, setTimestampMillis, setType, setValue, setValues, toByteArray, toByteArray, 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

Alignment

public Alignment()

Alignment

public Alignment(IMCMessage msg)

Alignment

public Alignment(IMCDefinition defs)

Alignment

public Alignment(int timeout,
                 double lat,
                 double lon,
                 float speed,
                 pt.lsts.imc.def.SpeedUnits speed_units,
                 java.lang.String custom)

Method Detail

create

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

clone

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

Throws:

java.lang.Exception

getTimeout

public int getTimeout()

Returns:

Timeout (s) - uint16_t

setTimeout

public Alignment setTimeout(int timeout)

Parameters:

timeout - Timeout (s)

getLat

public double getLat()

Returns:

Latitude WGS-84 (rad) - fp64_t

setLat

public Alignment setLat(double lat)

Parameters:

lat - Latitude WGS-84 (rad)

getLon

public double getLon()

Returns:

Longitude WGS-84 (rad) - fp64_t

setLon

public Alignment setLon(double lon)

Parameters:

lon - Longitude WGS-84 (rad)

getSpeed

public double getSpeed()

Returns:

Speed - fp32_t

setSpeed

public Alignment setSpeed(double speed)

Parameters:

speed - Speed

getSpeedUnits

public pt.lsts.imc.def.SpeedUnits getSpeedUnits()

Returns:

Speed Units (enumerated) - uint8_t

getSpeedUnitsStr

public java.lang.String getSpeedUnitsStr()

getSpeedUnitsVal

public short getSpeedUnitsVal()

setSpeedUnits

public Alignment setSpeedUnits(pt.lsts.imc.def.SpeedUnits speed_units)

Parameters:

speed_units - Speed Units (enumerated)

setSpeedUnitsStr

public Alignment setSpeedUnitsStr(java.lang.String speed_units)

Parameters:

speed_units - Speed Units (as a String)

setSpeedUnitsVal

public Alignment setSpeedUnitsVal(short speed_units)

Parameters:

speed_units - Speed Units (integer value)

getCustom

public java.util.LinkedHashMap<java.lang.String,java.lang.String> getCustom()

Returns:

Custom settings for maneuver (tuplelist) - plaintext

setCustom

public Alignment setCustom(java.util.LinkedHashMap<java.lang.String,?> custom)

Parameters:

custom - Custom settings for maneuver (tuplelist)

setCustom

public Alignment setCustom(java.lang.String custom)