pt.lsts.neptus.mp.preview

Class FollowTrajectoryPreview

java.lang.Object

pt.lsts.neptus.mp.preview.FollowTrajectoryPreview

All Implemented Interfaces:

IManeuverPreview<FollowTrajectory>

public class FollowTrajectoryPreview
extends java.lang.Object
implements IManeuverPreview<FollowTrajectory>

Author:

zp

Field Summary

Fields

Modifier and Type	Field and Description
protected boolean	finished
protected int	locIndex
protected java.util.Vector<LocationType>	locs
protected UnicycleModel	model
protected double	speed
protected java.lang.String	vehicleId

Constructor Summary

Constructors

Constructor and Description
FollowTrajectoryPreview()

Method Summary

Modifier and Type	Method and Description
java.lang.Object	getState()
boolean	init(java.lang.String vehicleId, FollowTrajectory man, SystemPositionAndAttitude state, java.lang.Object manState)
boolean	isFinished()
SystemPositionAndAttitude	step(SystemPositionAndAttitude state, double timestep, double ellapsedTime)

Methods inherited from class java.lang.Object

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

Methods inherited from interface pt.lsts.neptus.mp.preview.IManeuverPreview

reset

Field Detail

locs

protected java.util.Vector<LocationType> locs

locIndex

protected int locIndex

vehicleId

protected java.lang.String vehicleId

speed

protected double speed

model

protected UnicycleModel model

finished

protected boolean finished

Constructor Detail

FollowTrajectoryPreview

public FollowTrajectoryPreview()

Method Detail

init

public boolean init(java.lang.String vehicleId,
                    FollowTrajectory man,
                    SystemPositionAndAttitude state,
                    java.lang.Object manState)

Specified by:

init in interface IManeuverPreview<FollowTrajectory>

isFinished

public boolean isFinished()

Specified by:

isFinished in interface IManeuverPreview<FollowTrajectory>

step

public SystemPositionAndAttitude step(SystemPositionAndAttitude state,
                                      double timestep,
                                      double ellapsedTime)

Specified by:

step in interface IManeuverPreview<FollowTrajectory>

getState

public java.lang.Object getState()

Specified by:

getState in interface IManeuverPreview<FollowTrajectory>

Returns:

A clone or new instance of the man. state (important).