pt.up.fe.dceg.neptus.mp.maneuvers

Class RowsManeuver

java.lang.Object

pt.up.fe.dceg.neptus.mp.Maneuver

pt.up.fe.dceg.neptus.mp.maneuvers.RowsManeuver

All Implemented Interfaces:

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

public class RowsManeuver
extends Maneuver
implements LocatedManeuver, StateRendererInteraction, IMCSerialization, StatisticsProvider, PathProvider

Author:

zp, pdias

Nested Class Summary

Nested classes/interfaces inherited from class pt.up.fe.dceg.neptus.mp.Maneuver

Maneuver.SPEED_UNITS, Maneuver.Z_UNITS

Field Summary

Fields

Modifier and Type	Field and Description
protected InteractionAdapter	adapter
protected float	alternationPercentage
protected double	bearingRad
protected double	crossAngleRadians
protected double	curvOff
protected boolean	editing
protected boolean	firstCurveRight
protected double	hstep
protected java.awt.geom.Point2D	lastDragPoint
protected double	latRad
protected double	length
protected double	lonRad
protected boolean	paintSSRangeShadow
protected java.util.Vector<double[]>	points
protected double	speed
protected java.lang.String	speed_units
protected boolean	squareCurve
protected double	ssRangeShadow
protected static int	T
protected double	width
protected static int	X
protected static int	Y
protected double	z
protected static int	Z
protected ManeuverLocation.Z_UNITS	zunits

Fields inherited from class pt.up.fe.dceg.neptus.mp.Maneuver

circleDiam, CT_BOOLEAN, CT_NUMBER, CT_STRING, customSettings, customSettingsTypeHint, DEFAULT_ROOT_ELEMENT, endActions, id, startActions

Constructor Summary

Constructors

Constructor and Description
RowsManeuver()

Method Summary

Modifier and Type	Method and Description
protected java.util.Vector<com.l2fprod.common.propertysheet.DefaultProperty>	additionalProperties()
protected ManeuverLocation	calculatePosition()
java.lang.Object	clone() A maneuver must have a way to clone itself.
float	getAlternationPercent()
double	getBearingRad()
double	getCompletionTime(LocationType initialPosition)
double	getCrossAngleRadians()
double	getCurvOff()
double	getDistanceTravelled(LocationType initialPosition)
ManeuverLocation	getEndLocation() Retrieve the position where the vehicle will end this maneuver
double	getHstep()
java.awt.Image	getIconImage()
org.dom4j.Document	getManeuverAsDocument(java.lang.String rootElementName)
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	getSpeed()
double	getSsRangeShadow()
ManeuverLocation	getStartLocation() Retrieve the position where the vehicle will start this maneuver
java.lang.String	getTooltipText()
java.lang.String	getUnits()
double	getWidth()
boolean	isExclusive()
boolean	isPaintSSRangeShadow()
boolean	isSquareCurve()
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	loadFromXML(java.lang.String xml)
static void	main(java.lang.String[] args)
SystemPositionAndAttitude	ManeuverFunction(SystemPositionAndAttitude lastVehicleState) The mission preview will call this function every second to refresh the vehicle state.
void	mouseClicked(java.awt.event.MouseEvent event, StateRenderer2D source)
void	mouseDragged(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	paintOnMap(java.awt.Graphics2D g2d, PlanElement planElement, StateRenderer2D renderer)
void	parseIMCMessage(pt.up.fe.dceg.neptus.imc.IMCMessage message)
pt.up.fe.dceg.neptus.imc.IMCMessage	serializeToIMC()
void	setActive(boolean mode, StateRenderer2D source)
void	setAssociatedSwitch(ToolbarSwitch tswitch)
void	setBearingRad(double bearingRad)
void	setManeuverLocation(ManeuverLocation location) Set the maneuver's position
void	setPaintSSRangeShadow(boolean paintSSRangeShadow)
void	setParams(double width, double length, double hstep, double alternationPercent, double curvOff, boolean squareCurve, double bearingRad, double crossAngleRadians, boolean firstCurveRight, boolean paintSSRangeShadow, short ssRangeShadow) At the end call recalcPoints() to update maneuver points
void	setProperties(com.l2fprod.common.propertysheet.Property[] properties)
void	setSpeed(double speed)
void	setSsRangeShadow(double ssRangeShadow)
void	setUnits(java.lang.String speed_units)
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.up.fe.dceg.neptus.mp.Maneuver

addTransition, asDocument, asDocument, asElement, asElement, asXML, asXML, calcFinalState, 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, removeTransition, setCustomSettings, setCustomSettingsTypeHint, setId, setInitialManeuver, setMaxTime, setMinTime, setMissionType, setXPosition, setYPosition, toString

Methods inherited from class java.lang.Object

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

Field Detail

latRad

protected double latRad

lonRad

protected double lonRad

z

protected double z

speed

protected double speed

bearingRad

protected double bearingRad

width

protected double width

length

protected double length

hstep

protected double hstep

ssRangeShadow

protected double ssRangeShadow

crossAngleRadians

protected double crossAngleRadians

curvOff

protected double curvOff

alternationPercentage

protected float alternationPercentage

squareCurve

protected boolean squareCurve

firstCurveRight

protected boolean firstCurveRight

paintSSRangeShadow

protected boolean paintSSRangeShadow

speed_units

protected java.lang.String speed_units

zunits

protected ManeuverLocation.Z_UNITS zunits

adapter

protected InteractionAdapter adapter

lastDragPoint

protected java.awt.geom.Point2D lastDragPoint

editing

protected boolean editing

points

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

X

protected static final int X

See Also:

Constant Field Values

Y

protected static final int Y

See Also:

Constant Field Values

Z

protected static final int Z

See Also:

Constant Field Values

T

protected static final int T

See Also:

Constant Field Values

Constructor Detail

RowsManeuver

public RowsManeuver()

Method Detail

calculatePosition

protected ManeuverLocation calculatePosition()

loadFromXML

public void loadFromXML(java.lang.String xml)

Specified by:

loadFromXML in class Maneuver

clone

public java.lang.Object clone()

Description copied from class: Maneuver

A maneuver must have a way to clone itself.

Specified by:

clone in class Maneuver

ManeuverFunction

public SystemPositionAndAttitude ManeuverFunction(SystemPositionAndAttitude lastVehicleState)

Description copied from class: Maneuver

The mission preview will call this function every second to refresh the vehicle state.
Implement this function to show how this maneuver is performed by the vehicle.

Specified by:

ManeuverFunction in class Maneuver

getManeuverAsDocument

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

Specified by:

getManeuverAsDocument in class Maneuver

getName

public java.lang.String getName()

Specified by:

getName in interface StateRendererInteraction

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

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

setActive

public void setActive(boolean mode,
                      StateRenderer2D source)

Specified by:

setActive in interface StateRendererInteraction

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

getBearingRad

public double getBearingRad()

Returns:

the bearingRad

setBearingRad

public void setBearingRad(double bearingRad)

Parameters:

bearingRad - the bearingRad to set

setParams

public void setParams(double width,
                      double length,
                      double hstep,
                      double alternationPercent,
                      double curvOff,
                      boolean squareCurve,
                      double bearingRad,
                      double crossAngleRadians,
                      boolean firstCurveRight,
                      boolean paintSSRangeShadow,
                      short ssRangeShadow)

At the end call recalcPoints() to update maneuver points

Parameters:

width -

length -

hstep -

alternationPercent -

curvOff -

squareCurve -

bearingRad -

crossAngleRadians -

firstCurveRight -

getWidth

public double getWidth()

Returns:

the width

getHstep

public double getHstep()

Returns:

the hstep

getAlternationPercent

public float getAlternationPercent()

Returns:

the alternationPercent

getCurvOff

public double getCurvOff()

Returns:

the curvOff

isSquareCurve

public boolean isSquareCurve()

Returns:

the squareCurve

getCrossAngleRadians

public double getCrossAngleRadians()

Returns:

the crossAngleRadians

isPaintSSRangeShadow

public boolean isPaintSSRangeShadow()

Returns:

the paintSSRangeShadow

setPaintSSRangeShadow

public void setPaintSSRangeShadow(boolean paintSSRangeShadow)

Parameters:

paintSSRangeShadow - the paintSSRangeShadow to set

getSsRangeShadow

public double getSsRangeShadow()

Returns:

the ssRangeShadow

setSsRangeShadow

public void setSsRangeShadow(double ssRangeShadow)

Parameters:

ssRangeShadow - the ssRangeShadow to set

paintOnMap

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

Overrides:

paintOnMap in class Maneuver

serializeToIMC

public pt.up.fe.dceg.neptus.imc.IMCMessage serializeToIMC()

Specified by:

serializeToIMC in interface IMCSerialization

parseIMCMessage

public void parseIMCMessage(pt.up.fe.dceg.neptus.imc.IMCMessage message)

Specified by:

parseIMCMessage in interface IMCSerialization

setProperties

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

Specified by:

setProperties in interface PropertiesProvider

Overrides:

setProperties in class Maneuver

additionalProperties

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

Overrides:

additionalProperties in class Maneuver

getSpeed

public double getSpeed()

setSpeed

public void setSpeed(double speed)

getUnits

public java.lang.String getUnits()

setUnits

public void setUnits(java.lang.String speed_units)

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

getTooltipText

public java.lang.String getTooltipText()

Overrides:

getTooltipText in class Maneuver

setAssociatedSwitch

public void setAssociatedSwitch(ToolbarSwitch tswitch)

Specified by:

setAssociatedSwitch in interface StateRendererInteraction

main

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