pt.lsts.neptus.mp.maneuvers

Class VehicleFormation

java.lang.Object

pt.lsts.neptus.mp.Maneuver

pt.lsts.neptus.mp.maneuvers.FollowTrajectory

pt.lsts.neptus.mp.maneuvers.VehicleFormation

All Implemented Interfaces:

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

public class VehicleFormation
extends FollowTrajectory

Author:

zp

Field Summary

Fields

Modifier and Type	Field and Description
protected java.util.Vector<java.lang.Double[]>	participantOffsets Offsets to main trajectory, in meters: [0] Along-track offset [1] Cross-track offset [2] Depth (positive) offset
protected java.util.Vector<VehicleType>	participants list of participants
protected long	startTime Start time (required only for rendezvous) in milliseconds since 01-01-1970

Fields inherited from class pt.lsts.neptus.mp.maneuvers.FollowTrajectory

adapter, editing, editingHelpText, hasTime, lastDragPoint, PERCENT_MPS_CONVERSION, points, RPM_MPS_CONVERSION, RPM_PERCENT_CONVERSION, showEditingText, speed, 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
VehicleFormation()

Method Summary

Modifier and Type	Method and Description
java.lang.Object	clone() Clone this maneuver
org.dom4j.Document	getManeuverAsDocument(java.lang.String rootElementName) Get each maneuver specific data.
protected javax.swing.JFormattedTextField	getOffsetTextField()
java.util.Vector<java.lang.Double[]>	getParticipantOffsets()
java.util.Vector<VehicleType>	getParticipants()
long	getStartTime()
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	parseIMCMessage(pt.lsts.imc.IMCMessage msg) Parse an IMC message into this object fields
pt.lsts.imc.IMCMessage	serializeToIMC()
void	setParticipantOffsets(java.util.Vector<java.lang.Double[]> participantOffsets)
void	setParticipants(java.util.Vector<VehicleType> participants)
void	setStartTime(long startTime)

Methods inherited from class pt.lsts.neptus.mp.maneuvers.FollowTrajectory

additionalProperties, editPointsDialog, focusGained, focusLost, getCompletionTime, getDistanceTravelled, getEndLocation, getIconImage, getManeuverLocation, getMaxDepth, getMinDepth, getMouseCursor, getName, getPathLocations, getPathPoints, getRadiusTolerance, getSpeed, getStartLocation, getTooltipText, getWaypoints, isEditing, isExclusive, isShowEditingText, keyPressed, keyReleased, keyTyped, mouseDragged, mouseExited, mouseMoved, mousePressed, mouseReleased, paintInteraction, paintOnMap, recalculateTimes, setActive, setAssociatedSwitch, setEditing, setManeuverLocation, setOffsets, setProperties, setShowEditingText, setSpeed, test1, translate, wheelMoved

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

participants

protected java.util.Vector<VehicleType> participants

list of participants

participantOffsets

protected java.util.Vector<java.lang.Double[]> participantOffsets

Offsets to main trajectory, in meters:

• [0] Along-track offset
• [1] Cross-track offset
• [2] Depth (positive) offset

startTime

protected long startTime

Start time (required only for rendezvous) in milliseconds since 01-01-1970

Constructor Detail

VehicleFormation

public VehicleFormation()

Method Detail

getStartTime

public long getStartTime()

Returns:

the startTime

setStartTime

public void setStartTime(long startTime)

Parameters:

startTime - the startTime to set

getParticipantOffsets

public java.util.Vector<java.lang.Double[]> getParticipantOffsets()

Returns:

the participantOffsets

setParticipantOffsets

public void setParticipantOffsets(java.util.Vector<java.lang.Double[]> participantOffsets)

Parameters:

participantOffsets - the participantOffsets to set

getParticipants

public java.util.Vector<VehicleType> getParticipants()

Returns:

the participants

setParticipants

public void setParticipants(java.util.Vector<VehicleType> participants)

Parameters:

participants - the participants to set

clone

public java.lang.Object clone()

Description copied from class: Maneuver

Clone this maneuver

Overrides:

clone in class FollowTrajectory

serializeToIMC

public pt.lsts.imc.IMCMessage serializeToIMC()

Specified by:

serializeToIMC in interface IMCSerialization

Overrides:

serializeToIMC in class FollowTrajectory

parseIMCMessage

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

Parse an IMC message into this object fields

Specified by:

parseIMCMessage in interface IMCSerialization

Overrides:

parseIMCMessage in class FollowTrajectory

Parameters:

msg - VehicleFormation IMC message to be parsed

getManeuverAsDocument

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

Description copied from class: Maneuver

Get each maneuver specific data.

Overrides:

getManeuverAsDocument in class FollowTrajectory

Returns:

loadManeuverFromXML

public void loadManeuverFromXML(java.lang.String xml)

Description copied from class: Maneuver

Expects only maneuver specific data.

Overrides:

loadManeuverFromXML in class FollowTrajectory

getOffsetTextField

protected javax.swing.JFormattedTextField getOffsetTextField()

mouseClicked

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

Specified by:

mouseClicked in interface StateRendererInteraction

Overrides:

mouseClicked in class FollowTrajectory

main

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