pt.lsts.imc

Class NavigationData

java.lang.Object

pt.lsts.imc.IMCMessage

pt.lsts.imc.NavigationData

All Implemented Interfaces:

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

public class NavigationData
extends IMCMessage

IMC Message Navigation Data (355)
Report of navigation data.
This is constituted by data which is not
part of the vehicle estimated state but
that the user may refer for more information.

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
NavigationData()
NavigationData(float bias_psi, float bias_r, float cog, float cyaw, float lbl_rej_level, float gps_rej_level, float custom_x, float custom_y, float custom_z)
NavigationData(IMCDefinition defs)
NavigationData(IMCMessage msg)

Method Summary

Modifier and Type	Method and Description
static NavigationData	clone(IMCMessage msg)
static NavigationData	create(java.lang.Object... values)
double	getBiasPsi()
double	getBiasR()
double	getCog()
double	getCustomX()
double	getCustomY()
double	getCustomZ()
double	getCyaw()
double	getGpsRejLevel()
double	getLblRejLevel()
NavigationData	setBiasPsi(double bias_psi)
NavigationData	setBiasR(double bias_r)
NavigationData	setCog(double cog)
NavigationData	setCustomX(double custom_x)
NavigationData	setCustomY(double custom_y)
NavigationData	setCustomZ(double custom_z)
NavigationData	setCyaw(double cyaw)
NavigationData	setGpsRejLevel(double gps_rej_level)
NavigationData	setLblRejLevel(double lbl_rej_level)

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

NavigationData

public NavigationData()

NavigationData

public NavigationData(IMCMessage msg)

NavigationData

public NavigationData(IMCDefinition defs)

NavigationData

public NavigationData(float bias_psi,
                      float bias_r,
                      float cog,
                      float cyaw,
                      float lbl_rej_level,
                      float gps_rej_level,
                      float custom_x,
                      float custom_y,
                      float custom_z)

Method Detail

create

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

clone

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

Throws:

java.lang.Exception

getBiasPsi

public double getBiasPsi()

Returns:

Yaw Bias (rad) - fp32_t

setBiasPsi

public NavigationData setBiasPsi(double bias_psi)

Parameters:

bias_psi - Yaw Bias (rad)

getBiasR

public double getBiasR()

Returns:

Gyro. Yaw Rate Bias (rad/s) - fp32_t

setBiasR

public NavigationData setBiasR(double bias_r)

Parameters:

bias_r - Gyro. Yaw Rate Bias (rad/s)

getCog

public double getCog()

Returns:

Course Over Ground (rad) - fp32_t

setCog

public NavigationData setCog(double cog)

Parameters:

cog - Course Over Ground (rad)

getCyaw

public double getCyaw()

Returns:

Continuous Yaw (rad) - fp32_t

setCyaw

public NavigationData setCyaw(double cyaw)

Parameters:

cyaw - Continuous Yaw (rad)

getLblRejLevel

public double getLblRejLevel()

Returns:

GPS Rejection Filter Level - fp32_t

setLblRejLevel

public NavigationData setLblRejLevel(double lbl_rej_level)

Parameters:

lbl_rej_level - GPS Rejection Filter Level

getGpsRejLevel

public double getGpsRejLevel()

Returns:

LBL Rejection Filter Level - fp32_t

setGpsRejLevel

public NavigationData setGpsRejLevel(double gps_rej_level)

Parameters:

gps_rej_level - LBL Rejection Filter Level

getCustomX

public double getCustomX()

Returns:

Variance - Custom Variable X - fp32_t

setCustomX

public NavigationData setCustomX(double custom_x)

Parameters:

custom_x - Variance - Custom Variable X

getCustomY

public double getCustomY()

Returns:

Variance - Custom Variable Y - fp32_t

setCustomY

public NavigationData setCustomY(double custom_y)

Parameters:

custom_y - Variance - Custom Variable Y

getCustomZ

public double getCustomZ()

Returns:

Variance - Custom Variable Z - fp32_t

setCustomZ

public NavigationData setCustomZ(double custom_z)

Parameters:

custom_z - Variance - Custom Variable Z