Package | Description |
---|---|
pt.lsts.imc | |
pt.lsts.util |
Modifier and Type | Class and Description |
---|---|
class |
Alignment
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. |
class |
AutonomousSection
IMC Message Autonomous Section (493)
This maneuver triggers an external controller that will guide the vehicle during a specified duration of time or until it relinquishes control using (ManeuverDone). |
class |
CommsRelay
IMC Message Communications Relay (472)
In this maneuver, a vehicle drives to the center of two other systems (a, b) in order to be used as a communications relay. |
class |
CompassCalibration
IMC Message Compass Calibration Maneuver (475)
This maneuver is a mix between the Loiter maneuver and the YoYo maneuver. The vehicle cirlcles around a specific waypoint with a variable Z reference between a minimum and maximum value. |
class |
CoverArea
IMC Message Cover Area (473)
Given a polygonal area, generates trajectories to cover the area. |
class |
CustomManeuver
IMC Message Custom Maneuver (465)
The Custom Maneuver message may be used as specification of a very specific maneuver not covered by the IMC scope. |
class |
Dislodge
IMC Message Dislodge Maneuver (483)
A "Dislodge" is a maneuver ordering the vehicle to attempt a series of thruster operations that will hopefully get it unstuck from an entangled condition. Parameters are RPMs for the motor when attempting dislodge and and a flag specifying whether the thrust burst should be attempted forward, backward or auto (letting the vehicle decide). |
class |
Drop
IMC Message Drop Maneuver (486)
A "Drop" is a maneuver specifying a movement of the vehicle to a target waypoint. |
class |
Elevator
IMC Message Elevator Maneuver (462)
The Elevator maneuver specifies a vehicle to reach a target waypoint using a cruise altitude/depth and then ascend or descend to another target altitude/depth. |
class |
FollowPath
IMC Message Follow Path Maneuver (457)
Maneuver constituted by a list of Path Points. |
class |
FollowPoint
IMC Message Follow Point Maneuver (494)
This maneuver behaves by following a point. |
class |
FollowReference
IMC Message Follow Reference Maneuver (478)
This maneuver follows a reference given by an external entity. |
class |
FollowTrajectory
IMC Message Follow Trajectory (463)
Maneuver constituted by a list of Trajectory Points. |
class |
FormationPlanExecution
IMC Message Formation Plan Execution (477)
A "Formation Plan" is a maneuver specifying a plan for a team of vehicles. The maneuver defines: - Vehicles included in the formation group - Formation shape configuration - Plan (set of maneuvers) to be followed by the formation center - Speed at which that plan is followed - Path contrains (virtual leader bank limit) - Supervision settings |
class |
Goto
IMC Message Goto Maneuver (450)
A "Goto" is a maneuver specifying a movement of the vehicle to a target waypoint. |
class |
IdleManeuver
IMC Message Idle Maneuver (454)
Causes the vehicle to stay idle for some time. |
class |
ImageTracking
IMC Message Image Tracking (490)
A "ImageTracking" is a maneuver specifying a particular heading to the detected object. |
class |
Land
IMC Message Land Maneuver (492)
Automatic landing on the ground, for UAVs. This maneuver specifies the target touchdown location and sets the final approach based on the maneuver bearing and glide slope parameters. |
class |
Launch
IMC Message Launch Maneuver (485)
A "Launch" is a maneuver specifying a movement of the vehicle to a target waypoint after being launched from a ship or pier. The waypoint is described by the WGS-84 waypoint coordinate and target Z reference. Mandatory parameters defined for a "Launch" are timeout, speed and speed units. |
class |
Loiter
IMC Message Loiter Maneuver (453)
The Loiter maneuver makes the vehicle circle around a specific waypoint with fixed depth reference. |
class |
LowLevelControl
IMC Message Low Level Control Maneuver (455)
Low level maneuver that sends a (heading, roll, speed, ...) reference to a controller of the vehicle and then optionally lingers for some time. |
class |
PopUp
IMC Message PopUp Maneuver (451)
The Pop Up maneuver makes the vehicle come to the surface at a specific waypoint. |
class |
Rows
IMC Message Rows Maneuver (456)
Rows maneuver (i.e: lawn mower type maneuver) |
class |
RowsCoverage
IMC Message Rows Coverage (488)
Rows coverage (i.e: lawn mower type maneuver) but with adaptive cover |
class |
Sample
IMC Message Sample Maneuver (489)
A "Sample" is a maneuver specifying a movement of the vehicle to a target waypoint. |
class |
ScheduledGoto
IMC Message Scheduled Goto (487)
This maneuver is used to command the vehicle to arrive at some destination at a specified absolute time. The vehicle's speed will vary according to environment conditions and/or maneuver start time. |
class |
StationKeeping
IMC Message Station Keeping (461)
The Station Keeping maneuver makes the vehicle come to the surface and then enter a given circular perimeter around a waypoint coordinate for a certain amount of time. |
class |
StationKeepingExtended
IMC Message Station Keeping Extended (496)
The Station Keeping Extended maneuver makes the vehicle come to the surface and then enter a given circular perimeter around a waypoint coordinate for a certain amount of time. |
class |
Takeoff
IMC Message Takeoff Maneuver (491)
Automatic takeoff for UAVs. This maneuver specifies a target waypoint where to takeoff. Takeoff direction is set from the direction the plane is pointing when the auto takeoff command is started. It will remain that way until the vehicle reaches the target z reference. |
class |
Teleoperation
IMC Message Teleoperation Maneuver (452)
The Teleoperation Maneuver lets the vehicle be controlled by an external human operator. |
class |
VehicleFormation
IMC Message Vehicle Formation (466)
Coordinate maneuver using two or more cooperating systems. |
class |
YoYo
IMC Message Yo-Yo Maneuver (459)
A "yo-yo" is a maneuver specifying a vehicle movement to a target waypoint in which depth/altitude varies along the way between two values with a desired pitch angle. |
Modifier and Type | Method and Description |
---|---|
static Maneuver |
Maneuver.clone(IMCMessage msg) |
Maneuver |
PlanManeuver.getData() |
Maneuver |
VehicleCommand.getManeuver() |
Modifier and Type | Method and Description |
---|---|
PlanManeuver |
PlanManeuver.setData(Maneuver data) |
VehicleCommand |
VehicleCommand.setManeuver(Maneuver maneuver) |
Constructor and Description |
---|
PlanManeuver(java.lang.String maneuver_id,
Maneuver data,
java.util.Collection<IMCMessage> start_actions,
java.util.Collection<IMCMessage> end_actions) |
VehicleCommand(VehicleCommand.TYPE type,
int request_id,
VehicleCommand.COMMAND command,
Maneuver maneuver,
int calib_time,
java.lang.String info) |
Modifier and Type | Method and Description |
---|---|
static java.util.List<Maneuver> |
PlanUtilities.getManeuverCycleOrSequence(PlanSpecification plan)
This method calculates the maneuver sequence present in a plan.
|
static java.util.List<Maneuver> |
PlanUtilities.getManeuverSequence(PlanSpecification plan)
This method calculates the maneuver sequence present in a plan.
|
Modifier and Type | Method and Description |
---|---|
static java.util.Collection<double[]> |
PlanUtilities.computeLocations(Maneuver m)
Compute all the locations for a given maneuver message
|
static java.util.Collection<PlanUtilities.Waypoint> |
PlanUtilities.computeWaypoints(Maneuver m)
Similar to
PlanUtilities.computeLocations(Maneuver) but in this case returning
waypoint structures |
static PlanSpecification |
PlanUtilities.createPlan(java.lang.String id,
Maneuver... maneuvers)
Creates an IMC plan corresponding to given maneuver sequence
|
static float |
PlanUtilities.getSpeed(Maneuver m) |
static PlanUtilities.Waypoint |
PlanUtilities.getStartLocation(Maneuver m)
Compute the start location for a given maneuver
|