pt.lsts.neptus.mp

Class Maneuver

java.lang.Object

pt.lsts.neptus.mp.Maneuver

All Implemented Interfaces:

java.lang.Comparable<Maneuver>, PropertiesProvider, XmlOutputMethods

Direct Known Subclasses:

CompassCalibration, DefaultManeuver, Elevator, FollowTrajectory, Goto, Loiter, PopUp, RowsManeuver, StationKeeping, SubPlan, Unconstrained, YoYo

public abstract class Maneuver
extends java.lang.Object
implements XmlOutputMethods, PropertiesProvider, java.lang.Comparable<Maneuver>

This is the superclass of every Maneuver To create a new maneuver, all the abstract classes must be implemented

Author:

Ze Carlos (LSTS-FEUP)

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	Maneuver.SPEED_UNITS
static class	Maneuver.Z_UNITS

Field Summary

Fields

Modifier and Type	Field and Description
static double	circleDiam
static java.lang.String	CT_BOOLEAN
static java.lang.String	CT_NUMBER
static java.lang.String	CT_STRING
protected java.util.LinkedHashMap<java.lang.String,java.lang.String>	customSettings
protected java.util.LinkedHashMap<java.lang.String,java.lang.String>	customSettingsTypeHint
protected static java.lang.String	DEFAULT_ROOT_ELEMENT
protected PlanActions	endActions
java.lang.String	id
protected PlanActions	startActions

Constructor Summary

Constructors

Constructor and Description
Maneuver() Class constructor

Method Summary

Modifier and Type	Method and Description
protected java.util.Vector<com.l2fprod.common.propertysheet.DefaultProperty>	additionalProperties()
void	addTransition(java.lang.String target, java.lang.String condition)
org.dom4j.Document	asDocument()
org.dom4j.Document	asDocument(java.lang.String rootElementName)
org.dom4j.Element	asElement()
org.dom4j.Element	asElement(java.lang.String rootElementName)
java.lang.String	asXML() Este problema foi resolvido com a versão 1.6.1 do DOM4J.
java.lang.String	asXML(java.lang.String rootElementName) Este problema foi resolvido com a versão 1.6.1 do DOM4J.
SystemPositionAndAttitude	calcFinalState(SystemPositionAndAttitude initialVehicleState) This function returns the state of the vehicle after performing this maneuver
abstract java.lang.Object	clone() A maneuver must have a way to clone itself.
java.lang.Object	clone(Maneuver clone)
void	cloneActions(Maneuver otherMan)
int	compareTo(Maneuver o)
static Maneuver	createFromXML(java.lang.String xml)
void	endManeuver() When the maneuver has ended, this function must be called to end the iteration
java.util.LinkedHashMap<java.lang.String,java.lang.String>	getCustomSettings()
java.util.LinkedHashMap<java.lang.String,java.lang.String>	getCustomSettingsTypeHint()
PlanActions	getEndActions()
javax.swing.ImageIcon	getIcon()
java.lang.String	getId()
abstract org.dom4j.Document	getManeuverAsDocument(java.lang.String rootElementName)
java.lang.String	getManeuverXml()
int	getMaxTime()
int	getMinTime()
MissionType	getMissionType()
com.l2fprod.common.propertysheet.DefaultProperty[]	getProperties()
java.lang.String	getPropertiesDialogTitle()
java.lang.String[]	getPropertiesErrors(com.l2fprod.common.propertysheet.Property[] properties)
java.lang.String[]	getReacheableManeuvers()
Maneuver[]	getSamePositionManeuvers(PlanType plan, boolean includeThisManeuver) Looks for other maneuvers that are located in the same position as this maneuver (only considers the horizontal distance)
PlanActions	getStartActions()
java.lang.String	getTooltipText()
java.lang.String	getTransitionCondition(java.lang.String targetManeuver)
java.lang.String	getType() The extending classes should provide a type name that will be shown to the user related to that maneuver.
int	getXPosition()
int	getYPosition()
boolean	hasEnded() Verifies if the execution of this maneuver has ended...
double	interpolate(double currentValue, double desiredValue, double maxStep)
boolean	isInitialManeuver()
abstract void	loadFromXML(java.lang.String xml)
void	loadFromXMLExtraParameters(org.dom4j.Element maneuver)
void	loadFromXMLExtraParameters(java.lang.String xml)
void	loadManeuverXml(java.lang.String manXml)
abstract SystemPositionAndAttitude	ManeuverFunction(SystemPositionAndAttitude lastVehicleState) The mission preview will call this function every second to refresh the vehicle state.
void	paintOnMap(java.awt.Graphics2D g2d, PlanElement planElement, StateRenderer2D renderer)
void	removeTransition(java.lang.String target)
void	setCustomSettings(java.util.LinkedHashMap<java.lang.String,java.lang.String> customSettings)
void	setCustomSettingsTypeHint(java.util.LinkedHashMap<java.lang.String,java.lang.String> customSettingsTypeHint)
void	setId(java.lang.String id)
void	setInitialManeuver(boolean initialManeuver)
void	setMaxTime(int maxTime)
void	setMinTime(int minTime)
void	setMissionType(MissionType missionType)
void	setProperties(com.l2fprod.common.propertysheet.Property[] properties)
void	setXPosition(int position)
void	setYPosition(int position)
java.lang.String	toString() By default the class name is returned, redefine it if that is not the desired thing.

Methods inherited from class java.lang.Object

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

Field Detail

CT_STRING

public static final java.lang.String CT_STRING

See Also:

Constant Field Values

CT_NUMBER

public static final java.lang.String CT_NUMBER

See Also:

Constant Field Values

CT_BOOLEAN

public static final java.lang.String CT_BOOLEAN

See Also:

Constant Field Values

circleDiam

public static final double circleDiam

See Also:

Constant Field Values

customSettings

protected java.util.LinkedHashMap<java.lang.String,java.lang.String> customSettings

customSettingsTypeHint

protected java.util.LinkedHashMap<java.lang.String,java.lang.String> customSettingsTypeHint

id

public java.lang.String id

DEFAULT_ROOT_ELEMENT

protected static final java.lang.String DEFAULT_ROOT_ELEMENT

See Also:

Constant Field Values

startActions

protected PlanActions startActions

endActions

protected PlanActions endActions

Constructor Detail

Maneuver

public Maneuver()

Class constructor

Method Detail

loadFromXML

public abstract void loadFromXML(java.lang.String xml)

getSamePositionManeuvers

public Maneuver[] getSamePositionManeuvers(PlanType plan,
                                           boolean includeThisManeuver)

Looks for other maneuvers that are located in the same position as this maneuver (only considers the horizontal distance)

Parameters:

plan - The plan to look for maneuvers

includeThisManeuver - If this maneuvers is to be included in the returned array

Returns:

An arrays of Maneuvers with all maneuvers that have the same exact position as this maneuver (the current maneuver is not returned). If no maneuver was found to be in this position, returns an empty array of maneuvers.

paintOnMap

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

createFromXML

public static Maneuver createFromXML(java.lang.String xml)

loadFromXMLExtraParameters

public void loadFromXMLExtraParameters(java.lang.String xml)

Parameters:

xml -

loadFromXMLExtraParameters

public void loadFromXMLExtraParameters(org.dom4j.Element maneuver)

Parameters:

maneuver -

getStartActions

public PlanActions getStartActions()

Returns:

the startActions

getEndActions

public PlanActions getEndActions()

Returns:

the endActions

getType

public java.lang.String getType()

The extending classes should provide a type name that will be shown to the user related to that maneuver.

clone

public abstract java.lang.Object clone()

A maneuver must have a way to clone itself.

Overrides:

clone in class java.lang.Object

clone

public java.lang.Object clone(Maneuver clone)

ManeuverFunction

public abstract SystemPositionAndAttitude ManeuverFunction(SystemPositionAndAttitude lastVehicleState)

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.

endManeuver

public void endManeuver()

When the maneuver has ended, this function must be called to end the iteration

calcFinalState

public SystemPositionAndAttitude calcFinalState(SystemPositionAndAttitude initialVehicleState)

This function returns the state of the vehicle after performing this maneuver

Parameters:

initialVehicleState - The initial state of the vehicle

Returns:

The state of the vehicle after performing this maneuver

hasEnded

public boolean hasEnded()

Verifies if the execution of this maneuver has ended...

Returns:

true if the maneuver has already ended or false otherwise

addTransition

public void addTransition(java.lang.String target,
                          java.lang.String condition)

removeTransition

public void removeTransition(java.lang.String target)

getReacheableManeuvers

public java.lang.String[] getReacheableManeuvers()

getTransitionCondition

public java.lang.String getTransitionCondition(java.lang.String targetManeuver)

getManeuverXml

public java.lang.String getManeuverXml()

loadManeuverXml

public void loadManeuverXml(java.lang.String manXml)

asXML

public java.lang.String asXML()

Description copied from interface: XmlOutputMethods

Este problema foi resolvido com a versão 1.6.1 do DOM4J.

Atenção ao usar este método com o método FileUtil.saveToFile(String, String) e afins. Isto porque ao gravar como UTF-8 os caracteres são adulterados guardando por exemplo "é" em 2 caracteres (ou seja pega nos dois caracteres UTF-8 e transforma-os em 2 UTF-8s).

Specified by:

asXML in interface XmlOutputMethods

Returns:

asXML

public java.lang.String asXML(java.lang.String rootElementName)

Description copied from interface: XmlOutputMethods

Este problema foi resolvido com a versão 1.6.1 do DOM4J.

Atenção ao usar este método com o método FileUtil.saveToFile(String, String) e afins. Isto porque ao gravar como UTF-8 os caracteres são adulterados guardando por exemplo "é" em 2 caracteres (ou seja pega nos dois caracteres UTF-8 e transforma-os em 2 UTF-8s).

Specified by:

asXML in interface XmlOutputMethods

Returns:

asElement

public org.dom4j.Element asElement()

Specified by:

asElement in interface XmlOutputMethods

Returns:

asElement

public org.dom4j.Element asElement(java.lang.String rootElementName)

Specified by:

asElement in interface XmlOutputMethods

Returns:

asDocument

public org.dom4j.Document asDocument()

Specified by:

asDocument in interface XmlOutputMethods

Returns:

asDocument

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

Specified by:

asDocument in interface XmlOutputMethods

Returns:

getManeuverAsDocument

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

toString

public java.lang.String toString()

By default the class name is returned, redefine it if that is not the desired thing.

Overrides:

toString in class java.lang.Object

getIcon

public javax.swing.ImageIcon getIcon()

getId

public java.lang.String getId()

setId

public void setId(java.lang.String id)

isInitialManeuver

public boolean isInitialManeuver()

setInitialManeuver

public void setInitialManeuver(boolean initialManeuver)

getXPosition

public int getXPosition()

setXPosition

public void setXPosition(int position)

getYPosition

public int getYPosition()

setYPosition

public void setYPosition(int position)

getMaxTime

public int getMaxTime()

setMaxTime

public void setMaxTime(int maxTime)

getMinTime

public int getMinTime()

setMinTime

public void setMinTime(int minTime)

getCustomSettings

public java.util.LinkedHashMap<java.lang.String,java.lang.String> getCustomSettings()

Returns:

the customSettings

setCustomSettings

public void setCustomSettings(java.util.LinkedHashMap<java.lang.String,java.lang.String> customSettings)

Parameters:

customSettings - the customSettings to set

getCustomSettingsTypeHint

public java.util.LinkedHashMap<java.lang.String,java.lang.String> getCustomSettingsTypeHint()

Returns:

the customSettingsTypeHint

setCustomSettingsTypeHint

public void setCustomSettingsTypeHint(java.util.LinkedHashMap<java.lang.String,java.lang.String> customSettingsTypeHint)

Parameters:

customSettingsTypeHint - the customSettingsTypeHint to set

interpolate

public double interpolate(double currentValue,
                          double desiredValue,
                          double maxStep)

getMissionType

public MissionType getMissionType()

setMissionType

public void setMissionType(MissionType missionType)

getProperties

public com.l2fprod.common.propertysheet.DefaultProperty[] getProperties()

Specified by:

getProperties in interface PropertiesProvider

additionalProperties

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

setProperties

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

Specified by:

setProperties in interface PropertiesProvider

getPropertiesErrors

public java.lang.String[] getPropertiesErrors(com.l2fprod.common.propertysheet.Property[] properties)

Specified by:

getPropertiesErrors in interface PropertiesProvider

getPropertiesDialogTitle

public java.lang.String getPropertiesDialogTitle()

Specified by:

getPropertiesDialogTitle in interface PropertiesProvider

cloneActions

public void cloneActions(Maneuver otherMan)

getTooltipText

public java.lang.String getTooltipText()

compareTo

public int compareTo(Maneuver o)

Specified by:

compareTo in interface java.lang.Comparable<Maneuver>