pt.lsts.neptus.mp.maneuvers

Class FollowTrajectory

java.lang.Object

pt.lsts.neptus.mp.Maneuver

pt.lsts.neptus.mp.maneuvers.FollowTrajectory

All Implemented Interfaces:

java.lang.Comparable<Maneuver>, PropertiesProvider, IMCSerialization, LocatedManeuver, ManeuverWithSpeed, PathProvider, StatisticsProvider, StateRendererInteraction, XmlOutputMethods

Direct Known Subclasses:

FollowPath, VehicleFormation

public class FollowTrajectory
extends Maneuver
implements LocatedManeuver, ManeuverWithSpeed, StatisticsProvider, StateRendererInteraction, IMCSerialization, PathProvider

Author:

zp, pdias

Field Summary

Fields

Modifier and Type	Field and Description
protected InteractionAdapter	adapter
protected boolean	editing
protected java.lang.String	editingHelpText
protected boolean	hasTime
protected java.awt.geom.Point2D	lastDragPoint
protected static double	PERCENT_MPS_CONVERSION
protected java.util.Vector<double[]>	points
protected static double	RPM_MPS_CONVERSION
protected static double	RPM_PERCENT_CONVERSION
protected boolean	showEditingText
protected SpeedType	speed
protected ManeuverLocation	startLoc

Fields inherited from class pt.lsts.neptus.mp.Maneuver

circleDiam, COLOR_HELP, CT_BOOLEAN, CT_NUMBER, CT_STRING, customSettings, customSettingsTypeHint, DEFAULT_ROOT_ELEMENT, endActions, id, startActions, T, vehicles, X, Y, Z

Constructor Summary

Constructors

Constructor and Description
FollowTrajectory()

Method Summary

Modifier and Type	Method and Description
protected java.util.Vector<com.l2fprod.common.propertysheet.DefaultProperty>	additionalProperties()
java.lang.Object	clone() Clone this maneuver
protected void	editPointsDialog(java.awt.Window parent)
void	focusGained(java.awt.event.FocusEvent event, StateRenderer2D source)
void	focusLost(java.awt.event.FocusEvent event, StateRenderer2D source)
double	getCompletionTime(LocationType initialPosition)
double	getDistanceTravelled(LocationType initialPosition)
ManeuverLocation	getEndLocation() Retrieve the position where the vehicle will end this maneuver
java.awt.Image	getIconImage()
org.dom4j.Document	getManeuverAsDocument(java.lang.String rootElementName) Get each maneuver specific data.
ManeuverLocation	getManeuverLocation() Retrieve the position of the maneuver (position that can be dragged by the user)
double	getMaxDepth()
double	getMinDepth()
java.awt.Cursor	getMouseCursor()
java.lang.String	getName()
java.util.List<LocationType>	getPathLocations()
java.util.List<double[]>	getPathPoints()
double	getRadiusTolerance()
SpeedType	getSpeed()
ManeuverLocation	getStartLocation() Retrieve the position where the vehicle will start this maneuver
java.lang.String	getTooltipText()
java.util.Collection<ManeuverLocation>	getWaypoints()
boolean	isEditing()
boolean	isExclusive()
boolean	isShowEditingText()
void	keyPressed(java.awt.event.KeyEvent event, StateRenderer2D source)
void	keyReleased(java.awt.event.KeyEvent event, StateRenderer2D source)
void	keyTyped(java.awt.event.KeyEvent event, StateRenderer2D source)
void	loadManeuverFromXML(java.lang.String xml) Expects only maneuver specific data.
static void	main(java.lang.String[] args)
void	mouseClicked(java.awt.event.MouseEvent event, StateRenderer2D source)
void	mouseDragged(java.awt.event.MouseEvent event, StateRenderer2D source)
void	mouseExited(java.awt.event.MouseEvent event, StateRenderer2D source)
void	mouseMoved(java.awt.event.MouseEvent event, StateRenderer2D source)
void	mousePressed(java.awt.event.MouseEvent event, StateRenderer2D source)
void	mouseReleased(java.awt.event.MouseEvent event, StateRenderer2D source)
void	paintInteraction(java.awt.Graphics2D g, StateRenderer2D source)
void	paintOnMap(java.awt.Graphics2D g2d, PlanElement planElement, StateRenderer2D renderer)
void	parseIMCMessage(pt.lsts.imc.IMCMessage message)
protected void	recalculateTimes()
pt.lsts.imc.IMCMessage	serializeToIMC()
void	setActive(boolean mode, StateRenderer2D source)
void	setAssociatedSwitch(ToolbarSwitch tswitch)
void	setEditing(boolean editing)
void	setManeuverLocation(ManeuverLocation location) Set the maneuver's position
void	setOffsets(java.util.Vector<double[]> coordinates)
void	setProperties(com.l2fprod.common.propertysheet.Property[] properties)
void	setShowEditingText(boolean showEditingText)
void	setSpeed(SpeedType speed) Sets the speed
protected static void	test1()
void	translate(double offsetNorth, double offsetEast, double offsetDown) Translate the position of this maneuver
void	wheelMoved(java.awt.event.MouseWheelEvent event, StateRenderer2D source)

Methods inherited from class pt.lsts.neptus.mp.Maneuver

addTransition, asDocument, asDocument, asElement, asElement, asXML, asXML, clone, cloneActions, compareTo, createFromXML, endManeuver, getCustomSettings, getCustomSettingsTypeHint, getEndActions, getIcon, getId, getManeuverXml, getMaxTime, getMinTime, getMissionType, getProperties, getPropertiesDialogTitle, getPropertiesErrors, getReacheableManeuvers, getSamePositionManeuvers, getStartActions, getTransitionCondition, getType, getXPosition, getYPosition, hasEnded, interpolate, isInitialManeuver, loadFromXMLExtraParameters, loadFromXMLExtraParameters, loadManeuverXml, loadXMLWithSettings, loadXMLWithSettings, loadXMLWithSettings, removeTransition, setCustomSettings, setCustomSettingsTypeHint, setId, setInitialManeuver, setMaxTime, setMinTime, setMissionType, setVehicle, setVehicles, setXPosition, setYPosition, toString

Methods inherited from class java.lang.Object

equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Field Detail

hasTime

protected boolean hasTime

RPM_MPS_CONVERSION

protected static final double RPM_MPS_CONVERSION

See Also:

Constant Field Values

RPM_PERCENT_CONVERSION

protected static final double RPM_PERCENT_CONVERSION

See Also:

Constant Field Values

PERCENT_MPS_CONVERSION

protected static final double PERCENT_MPS_CONVERSION

See Also:

Constant Field Values

editingHelpText

protected java.lang.String editingHelpText

startLoc

protected ManeuverLocation startLoc

speed

protected SpeedType speed

points

protected java.util.Vector<double[]> points

adapter

protected InteractionAdapter adapter

lastDragPoint

protected java.awt.geom.Point2D lastDragPoint

editing

protected boolean editing

showEditingText

protected boolean showEditingText

Constructor Detail

FollowTrajectory

public FollowTrajectory()

Method Detail

isEditing

public boolean isEditing()

setEditing

public void setEditing(boolean editing)

isShowEditingText

public boolean isShowEditingText()

setShowEditingText

public void setShowEditingText(boolean showEditingText)

getName

public java.lang.String getName()

Specified by:

getName in interface StateRendererInteraction

setOffsets

public void setOffsets(java.util.Vector<double[]> coordinates)

loadManeuverFromXML

public void loadManeuverFromXML(java.lang.String xml)

Description copied from class: Maneuver

Expects only maneuver specific data.

Specified by:

loadManeuverFromXML in class Maneuver

getManeuverAsDocument

public org.dom4j.Document getManeuverAsDocument(java.lang.String rootElementName)

Description copied from class: Maneuver

Get each maneuver specific data.

Specified by:

getManeuverAsDocument in class Maneuver

Returns:

clone

public java.lang.Object clone()

Description copied from class: Maneuver

Clone this maneuver

Overrides:

clone in class Maneuver

getIconImage

public java.awt.Image getIconImage()

Specified by:

getIconImage in interface StateRendererInteraction

getMouseCursor

public java.awt.Cursor getMouseCursor()

Specified by:

getMouseCursor in interface StateRendererInteraction

isExclusive

public boolean isExclusive()

Specified by:

isExclusive in interface StateRendererInteraction

paintOnMap

public void paintOnMap(java.awt.Graphics2D g2d,
                       PlanElement planElement,
                       StateRenderer2D renderer)

Overrides:

paintOnMap in class Maneuver

editPointsDialog

protected void editPointsDialog(java.awt.Window parent)

mouseClicked

public void mouseClicked(java.awt.event.MouseEvent event,
                         StateRenderer2D source)

Specified by:

mouseClicked in interface StateRendererInteraction

mousePressed

public void mousePressed(java.awt.event.MouseEvent event,
                         StateRenderer2D source)

Specified by:

mousePressed in interface StateRendererInteraction

mouseDragged

public void mouseDragged(java.awt.event.MouseEvent event,
                         StateRenderer2D source)

Specified by:

mouseDragged in interface StateRendererInteraction

mouseMoved

public void mouseMoved(java.awt.event.MouseEvent event,
                       StateRenderer2D source)

Specified by:

mouseMoved in interface StateRendererInteraction

mouseReleased

public void mouseReleased(java.awt.event.MouseEvent event,
                          StateRenderer2D source)

Specified by:

mouseReleased in interface StateRendererInteraction

wheelMoved

public void wheelMoved(java.awt.event.MouseWheelEvent event,
                       StateRenderer2D source)

Specified by:

wheelMoved in interface StateRendererInteraction

keyPressed

public void keyPressed(java.awt.event.KeyEvent event,
                       StateRenderer2D source)

Specified by:

keyPressed in interface StateRendererInteraction

keyReleased

public void keyReleased(java.awt.event.KeyEvent event,
                        StateRenderer2D source)

Specified by:

keyReleased in interface StateRendererInteraction

keyTyped

public void keyTyped(java.awt.event.KeyEvent event,
                     StateRenderer2D source)

Specified by:

keyTyped in interface StateRendererInteraction

mouseExited

public void mouseExited(java.awt.event.MouseEvent event,
                        StateRenderer2D source)

Specified by:

mouseExited in interface StateRendererInteraction

focusGained

public void focusGained(java.awt.event.FocusEvent event,
                        StateRenderer2D source)

Specified by:

focusGained in interface StateRendererInteraction

focusLost

public void focusLost(java.awt.event.FocusEvent event,
                      StateRenderer2D source)

Specified by:

focusLost in interface StateRendererInteraction

setActive

public void setActive(boolean mode,
                      StateRenderer2D source)

Specified by:

setActive in interface StateRendererInteraction

setAssociatedSwitch

public void setAssociatedSwitch(ToolbarSwitch tswitch)

Specified by:

setAssociatedSwitch in interface StateRendererInteraction

getCompletionTime

public double getCompletionTime(LocationType initialPosition)

Specified by:

getCompletionTime in interface StatisticsProvider

getDistanceTravelled

public double getDistanceTravelled(LocationType initialPosition)

Specified by:

getDistanceTravelled in interface StatisticsProvider

getMaxDepth

public double getMaxDepth()

Specified by:

getMaxDepth in interface StatisticsProvider

getMinDepth

public double getMinDepth()

Specified by:

getMinDepth in interface StatisticsProvider

getManeuverLocation

public ManeuverLocation getManeuverLocation()

Description copied from interface: LocatedManeuver

Retrieve the position of the maneuver (position that can be dragged by the user)

Specified by:

getManeuverLocation in interface LocatedManeuver

Returns:

a LocationType with maneuver's position

getStartLocation

public ManeuverLocation getStartLocation()

Description copied from interface: LocatedManeuver

Retrieve the position where the vehicle will start this maneuver

Specified by:

getStartLocation in interface LocatedManeuver

Returns:

a LocationTypw with the position where vehicle will start the maneuver

getEndLocation

public ManeuverLocation getEndLocation()

Description copied from interface: LocatedManeuver

Retrieve the position where the vehicle will end this maneuver

Specified by:

getEndLocation in interface LocatedManeuver

Returns:

a LocationTypw with the last vehicle's position

setManeuverLocation

public void setManeuverLocation(ManeuverLocation location)

Description copied from interface: LocatedManeuver

Set the maneuver's position

Specified by:

setManeuverLocation in interface LocatedManeuver

Parameters:

location - The new location for this maneuver

translate

public void translate(double offsetNorth,
                      double offsetEast,
                      double offsetDown)

Description copied from interface: LocatedManeuver

Translate the position of this maneuver

Specified by:

translate in interface LocatedManeuver

Parameters:

offsetNorth - north offset amount, in meters

offsetEast - east offset amount, in meters

offsetDown - down offset amount, in meters

getPathPoints

public java.util.List<double[]> getPathPoints()

Specified by:

getPathPoints in interface PathProvider

getPathLocations

public java.util.List<LocationType> getPathLocations()

Specified by:

getPathLocations in interface PathProvider

getWaypoints

public java.util.Collection<ManeuverLocation> getWaypoints()

Specified by:

getWaypoints in interface LocatedManeuver

getRadiusTolerance

public double getRadiusTolerance()

serializeToIMC

public pt.lsts.imc.IMCMessage serializeToIMC()

Specified by:

serializeToIMC in interface IMCSerialization

parseIMCMessage

public void parseIMCMessage(pt.lsts.imc.IMCMessage message)

Specified by:

parseIMCMessage in interface IMCSerialization

recalculateTimes

protected void recalculateTimes()

getTooltipText

public java.lang.String getTooltipText()

Overrides:

getTooltipText in class Maneuver

test1

protected static void test1()

additionalProperties

protected java.util.Vector<com.l2fprod.common.propertysheet.DefaultProperty> additionalProperties()

Overrides:

additionalProperties in class Maneuver

setProperties

public void setProperties(com.l2fprod.common.propertysheet.Property[] properties)

Specified by:

setProperties in interface PropertiesProvider

Overrides:

setProperties in class Maneuver

paintInteraction

public void paintInteraction(java.awt.Graphics2D g,
                             StateRenderer2D source)

Specified by:

paintInteraction in interface StateRendererInteraction

getSpeed

public SpeedType getSpeed()

Specified by:

getSpeed in interface ManeuverWithSpeed

Returns:

The speed

setSpeed

public void setSpeed(SpeedType speed)

Description copied from interface: ManeuverWithSpeed

Sets the speed

Specified by:

setSpeed in interface ManeuverWithSpeed

main

public static void main(java.lang.String[] args)