pt.lsts.imc

Class Drop

java.lang.Object

pt.lsts.imc.IMCMessage

pt.lsts.imc.Maneuver

pt.lsts.imc.Drop

All Implemented Interfaces:

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

public class Drop
extends Maneuver

IMC Message Drop Maneuver (486)
A "Drop" is a maneuver specifying a movement of the vehicle to a
target waypoint. The waypoint is described by the WGS-84
waypoint coordinate and target Z reference.
Mandatory parameters defined for a "Goto" are
timeout, speed and speed units.

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

Method Summary

Modifier and Type	Method and Description
static Drop	clone(IMCMessage msg)
static Drop	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()
double	getZ()
pt.lsts.imc.def.ZUnits	getZUnits()
java.lang.String	getZUnitsStr()
short	getZUnitsVal()
Drop	setCustom(java.util.LinkedHashMap<java.lang.String,?> custom)
Drop	setCustom(java.lang.String custom)
Drop	setLat(double lat)
Drop	setLon(double lon)
Drop	setSpeed(double speed)
Drop	setSpeedUnits(pt.lsts.imc.def.SpeedUnits speed_units)
Drop	setSpeedUnitsStr(java.lang.String speed_units)
Drop	setSpeedUnitsVal(short speed_units)
Drop	setTimeout(int timeout)
Drop	setZ(double z)
Drop	setZUnits(pt.lsts.imc.def.ZUnits z_units)
Drop	setZUnitsStr(java.lang.String z_units)
Drop	setZUnitsVal(short z_units)

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

Drop

public Drop()

Drop

public Drop(IMCMessage msg)

Drop

public Drop(IMCDefinition defs)

Drop

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

Method Detail

create

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

clone

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

Throws:

java.lang.Exception

getTimeout

public int getTimeout()

Returns:

Timeout (s) - uint16_t

setTimeout

public Drop setTimeout(int timeout)

Parameters:

timeout - Timeout (s)

getLat

public double getLat()

Returns:

Latitude WGS-84 (rad) - fp64_t

setLat

public Drop setLat(double lat)

Parameters:

lat - Latitude WGS-84 (rad)

getLon

public double getLon()

Returns:

Longitude WGS-84 (rad) - fp64_t

setLon

public Drop setLon(double lon)

Parameters:

lon - Longitude WGS-84 (rad)

getZ

public double getZ()

Returns:

Z Reference (m) - fp32_t

setZ

public Drop setZ(double z)

Parameters:

z - Z Reference (m)

getZUnits

public pt.lsts.imc.def.ZUnits getZUnits()

Returns:

Z Units (enumerated) - uint8_t

getZUnitsStr

public java.lang.String getZUnitsStr()

getZUnitsVal

public short getZUnitsVal()

setZUnits

public Drop setZUnits(pt.lsts.imc.def.ZUnits z_units)

Parameters:

z_units - Z Units (enumerated)

setZUnitsStr

public Drop setZUnitsStr(java.lang.String z_units)

Parameters:

z_units - Z Units (as a String)

setZUnitsVal

public Drop setZUnitsVal(short z_units)

Parameters:

z_units - Z Units (integer value)

getSpeed

public double getSpeed()

Returns:

Speed - fp32_t

setSpeed

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

Parameters:

speed_units - Speed Units (enumerated)

setSpeedUnitsStr

public Drop setSpeedUnitsStr(java.lang.String speed_units)

Parameters:

speed_units - Speed Units (as a String)

setSpeedUnitsVal

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

Parameters:

custom - Custom settings for maneuver (tuplelist)

setCustom

public Drop setCustom(java.lang.String custom)