pt.lsts.neptus.types.map

Class PlanUtil

java.lang.Object

pt.lsts.neptus.types.map.PlanUtil

public class PlanUtil
extends java.lang.Object

Initially moved from PlanStatistics

Author:

pdias, zp

Method Summary

Modifier and Type	Method and Description
static PlanType	changePlanVehiclesAndAdjustSettings(PlanType plan, java.util.Collection<VehicleType> newVehicles) Will change the plan and return it changed with the settings adjusted (for the first vehicle).
static java.lang.String	estimatedTime(java.util.Vector<LocatedManeuver> mans)
static java.lang.String	getDelayStr(LocationType previousPos, PlanType plan)
static LocationType	getEndLocation(PlanType plan) This method will compute the final location of the given plan
static double	getEstimatedDelay(LocationType previousPos, Maneuver m)
static double	getEstimatedDelay(LocationType previousPos, PlanType plan) This method estimates the total time
static LocationType	getFirstLocation(PlanType plan) This method will compute the initial location of the given plan
static java.util.Vector<LocatedManeuver>	getLocationsAsSequence(PlanType plan) This method will sequence all maneuvers and return those whose positions are known
static double	getMaxPlannedDepth(java.util.Vector<LocatedManeuver> mans)
static double	getMinPlannedDepth(java.util.Vector<LocatedManeuver> mans)
static double	getPlanLength(PlanType plan) This method computes the total length of a plan, in meters
static double	getPlanLength(java.util.Vector<LocatedManeuver> mans) This method computes the total length of maneuver sequence, in meters
static javax.swing.JMenu	getPlanStatisticsAsJMenu(PlanType plan, java.lang.String title)
static java.lang.String	getPlanStatisticsAsText(PlanType plan, java.lang.String title, boolean simpleTextOrHTML, boolean asHTMLFragment)
static java.util.ArrayList<ManeuverLocation>	getPlanWaypoints(PlanType plan)
static ManeuverLocation.Z_UNITS[]	getValidZUnitsForVehicle(java.lang.String vehicle)
static ManeuverLocation.Z_UNITS[]	getValidZUnitsForVehicle(VehicleType vehicle)
static int	numManeuvers(PlanType plan)
static void	setPlanAltitude(PlanType plan, double altitude) This method will change the altitude of all maneuvers in a plan
static void	setPlanDepth(PlanType plan, double depth) This method will change the depth of all maneuvers in a plan
static void	setPlanSpeed(PlanType plan, double speedMps) This method will change the speed of all maneuvers in a plan
static void	setPlanZ(PlanType plan, double z, ManeuverLocation.Z_UNITS units) This method will change the depth/altitude of all maneuvers in a plan
java.util.Vector<SystemPositionAndAttitude>	simulatePlan(LocationType loc, PlanType plan) This method will simulate a given plan and return a series of system states
java.util.Vector<SystemPositionAndAttitude>	simulatePlan(PlanType plan) This method will simulate a given plan and return a series of system states

Methods inherited from class java.lang.Object

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

Method Detail

getLocationsAsSequence

public static java.util.Vector<LocatedManeuver> getLocationsAsSequence(PlanType plan)

This method will sequence all maneuvers and return those whose positions are known

Parameters:

plan - A given plan

Returns:

A sequence of maneuvers whose locations are known

setPlanSpeed

public static void setPlanSpeed(PlanType plan,
                                double speedMps)

This method will change the speed of all maneuvers in a plan

Parameters:

plan - A given plan

speedMps - The speed to be set to all maneuvers (that accept a speed parameter) in meters per second

setPlanDepth

public static void setPlanDepth(PlanType plan,
                                double depth)

This method will change the depth of all maneuvers in a plan

Parameters:

plan - A given plan

depth - The depth to be set to all maneuvers (that accept a depth parameter) in meters

See Also:

setPlanZ(PlanType, double, pt.lsts.neptus.mp.ManeuverLocation.Z_UNITS)

setPlanAltitude

public static void setPlanAltitude(PlanType plan,
                                   double altitude)

This method will change the altitude of all maneuvers in a plan

Parameters:

plan - A given plan

depth - The altitude to be set to all maneuvers (that accept a depth parameter) in meters

See Also:

setPlanZ(PlanType, double, pt.lsts.neptus.mp.ManeuverLocation.Z_UNITS)

setPlanZ

public static void setPlanZ(PlanType plan,
                            double z,
                            ManeuverLocation.Z_UNITS units)

This method will change the depth/altitude of all maneuvers in a plan

Parameters:

plan - A given plan

z - The z value to be set in the plan

units - The z units to be used

See Also:

ManeuverLocation.Z_UNITS

getFirstLocation

public static LocationType getFirstLocation(PlanType plan)
                                     throws java.lang.Exception

This method will compute the initial location of the given plan

Parameters:

plan - A plan

Returns:

The first known location of the plan

Throws:

java.lang.Exception - In case no maneuvers of the plan have a known location

getEndLocation

public static LocationType getEndLocation(PlanType plan)
                                   throws java.lang.Exception

This method will compute the final location of the given plan

Parameters:

plan - A plan

Returns:

The last known location of the plan

Throws:

java.lang.Exception - In case no maneuvers of the plan have a known location

simulatePlan

public java.util.Vector<SystemPositionAndAttitude> simulatePlan(PlanType plan)
                                                         throws java.lang.Exception

This method will simulate a given plan and return a series of system states

Parameters:

plan - The plan to be simulated

Returns:

A sequence of vehicle poses that are expected to happen when executing this plan

Throws:

java.lang.Exception - In case the initial position of the plan cannot be computed

simulatePlan

public java.util.Vector<SystemPositionAndAttitude> simulatePlan(LocationType loc,
                                                                PlanType plan)
                                                         throws java.lang.Exception

This method will simulate a given plan and return a series of system states

Parameters:

plan - The plan to be simulated

loc - The initial location to be used for the simulation

Returns:

A sequence of vehicle poses that are expected to happen when executing this plan

Throws:

java.lang.Exception - In case the initial position of the plan cannot be computed

getPlanWaypoints

public static java.util.ArrayList<ManeuverLocation> getPlanWaypoints(PlanType plan)

getPlanLength

public static double getPlanLength(PlanType plan)

This method computes the total length of a plan, in meters

Parameters:

plan - A given plan

Returns:

The total length of the plan, in meters

See Also:

getPlanLength(Vector)

getPlanLength

public static double getPlanLength(java.util.Vector<LocatedManeuver> mans)

This method computes the total length of maneuver sequence, in meters

Parameters:

mans - A sequence of located maneuvers

Returns:

The total length of the maneuver sequence

getEstimatedDelay

public static double getEstimatedDelay(LocationType previousPos,
                                       PlanType plan)
                                throws java.lang.Exception

This method estimates the total time

Parameters:

previousPos -

plan -

Returns:

Throws:

java.lang.Exception

getEstimatedDelay

public static double getEstimatedDelay(LocationType previousPos,
                                       Maneuver m)
                                throws java.lang.Exception

Throws:

java.lang.Exception

getDelayStr

public static java.lang.String getDelayStr(LocationType previousPos,
                                           PlanType plan)
                                    throws java.lang.Exception

Throws:

java.lang.Exception

estimatedTime

public static java.lang.String estimatedTime(java.util.Vector<LocatedManeuver> mans)

getMaxPlannedDepth

public static double getMaxPlannedDepth(java.util.Vector<LocatedManeuver> mans)

getMinPlannedDepth

public static double getMinPlannedDepth(java.util.Vector<LocatedManeuver> mans)

numManeuvers

public static int numManeuvers(PlanType plan)

getPlanStatisticsAsJMenu

public static javax.swing.JMenu getPlanStatisticsAsJMenu(PlanType plan,
                                                         java.lang.String title)

getPlanStatisticsAsText

public static java.lang.String getPlanStatisticsAsText(PlanType plan,
                                                       java.lang.String title,
                                                       boolean simpleTextOrHTML,
                                                       boolean asHTMLFragment)

changePlanVehiclesAndAdjustSettings

public static PlanType changePlanVehiclesAndAdjustSettings(PlanType plan,
                                                           java.util.Collection<VehicleType> newVehicles)

Will change the plan and return it changed with the settings adjusted (for the first vehicle).

Parameters:

plan -

newVehicles -

Returns:

getValidZUnitsForVehicle

public static ManeuverLocation.Z_UNITS[] getValidZUnitsForVehicle(java.lang.String vehicle)

Parameters:

vehicle -

Returns:

getValidZUnitsForVehicle

public static ManeuverLocation.Z_UNITS[] getValidZUnitsForVehicle(VehicleType vehicle)

Parameters:

vehicle -

Returns: