public class UnicycleModel
extends java.lang.Object
Modifier and Type | Field and Description |
---|---|
protected boolean |
arrived |
protected double |
depth |
protected double |
latRad |
protected double |
lonRad |
protected double |
maxSteeringRad |
protected double |
pitchRad |
protected double |
rollRad |
protected double |
speedMPS |
protected double |
targetLatRad |
protected double |
targetLonRad |
protected double |
x |
protected double |
y |
protected double |
yawRad |
Constructor and Description |
---|
UnicycleModel() |
Modifier and Type | Method and Description |
---|---|
void |
advance(double timestepSecs)
Advance the given time by integrating the vehicle position (with current heading and speed)
|
double |
getCurrentAltitude() |
LocationType |
getCurrentPosition() |
double |
getDepth() |
double |
getLatRad() |
double |
getLonRad() |
double |
getMaxSteeringRad() |
double |
getPitchRad() |
double |
getRollRad() |
SystemPositionAndAttitude |
getState() |
double |
getX() |
double |
getY() |
double |
getYawRad() |
boolean |
guide(LocationType loc,
double speed,
java.lang.Double altitude)
Guide the vehicle to a certain location.
|
static void |
main(java.lang.String[] args) |
void |
setDepth(double depth) |
void |
setLatRad(double latRad) |
void |
setLocation(LocationType loc)
Reset the state of the vehicle to be at the given position
|
void |
setLonRad(double lonRad) |
void |
setMaxSteeringRad(double maxSteeringRad) |
void |
setPitchRad(double pitchRad) |
void |
setRollRad(double rollRad) |
void |
setState(SystemPositionAndAttitude state) |
void |
setX(double x) |
void |
setY(double y) |
void |
setYawRad(double yawRad) |
protected double latRad
protected double lonRad
protected double x
protected double y
protected double rollRad
protected double pitchRad
protected double yawRad
protected double depth
protected double speedMPS
protected double targetLatRad
protected double targetLonRad
protected double maxSteeringRad
protected boolean arrived
public double getCurrentAltitude()
public LocationType getCurrentPosition()
public SystemPositionAndAttitude getState()
public void setState(SystemPositionAndAttitude state)
public void setLocation(LocationType loc)
loc
- The new vehicle location. New heading will be calculated as a jump from previous locationpublic void advance(double timestepSecs)
timestepSecs
- public boolean guide(LocationType loc, double speed, java.lang.Double altitude)
loc
- The target locationspeed
- Desired speedpublic double getLatRad()
public void setLatRad(double latRad)
latRad
- the latRad to setpublic double getLonRad()
public void setLonRad(double lonRad)
lonRad
- the lonRad to setpublic double getX()
public void setX(double x)
x
- the x to setpublic double getY()
public void setY(double y)
y
- the y to setpublic double getDepth()
public void setDepth(double depth)
depth
- the depth to setpublic double getRollRad()
public void setRollRad(double rollRad)
rollRad
- the rollRad to setpublic double getPitchRad()
public void setPitchRad(double pitchRad)
pitchRad
- the pitchRad to setpublic double getYawRad()
public void setYawRad(double yawRad)
yawRad
- the yawRad to setpublic double getMaxSteeringRad()
public void setMaxSteeringRad(double maxSteeringRad)
maxSteeringRad
- the maxSteeringRad to setpublic static void main(java.lang.String[] args)
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