pt.lsts.neptus.types.mission

Class GraphType

java.lang.Object

pt.lsts.neptus.types.mission.GraphType

All Implemented Interfaces:

XmlOutputMethods

public class GraphType
extends java.lang.Object
implements XmlOutputMethods

Author:

Paulo Dias, ZP

Field Summary

Fields

Modifier and Type	Field and Description
protected static java.lang.String	DEFAULT_ROOT_ELEMENT
protected java.lang.String	initialManeuver
protected java.util.LinkedHashMap<java.lang.String,Maneuver>	maneuvers
protected java.util.LinkedHashMap<java.lang.String,TransitionType>	transitions

Constructor Summary

Constructors

Constructor and Description
GraphType() Null constructor
GraphType(java.lang.String xml)

Method Summary

Modifier and Type	Method and Description
void	addManeuver(Maneuver maneuver)
void	addManeuver(Maneuver maneuver, boolean clearInitialManeuverFlagIfOtherMAneuverIsSetToInitial) Adds the given maneuver to this graph If no maneuver has been added yet, then this maneuver is set to be the initial maneuver
void	addManeuverAtEnd(Maneuver maneuver)
TransitionType	addTransition(java.lang.String sourceManeuverID, java.lang.String targetManeuverID, java.lang.Object condition) Adds a new transition to this graph (between two maneuver nodes)
TransitionType	addTransition(java.lang.String sourceManeuverID, java.lang.String targetManeuverID, java.lang.Object condition, java.lang.Object action)
TransitionType	addTransition(java.lang.String id, java.lang.String sourceManeuverID, java.lang.String targetManeuverID, java.lang.Object condition)
TransitionType	addTransition(java.lang.String id, java.lang.String sourceManeuverID, java.lang.String targetManeuverID, java.lang.Object condition, java.lang.Object action) Adds a new transition to this graph (between two maneuver nodes)
void	addTransition(TransitionType tt)
org.dom4j.Document	asDocument()
org.dom4j.Document	asDocument(java.lang.String rootElementName)
org.dom4j.Document	asDocument2(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.
void	clear()
GraphType	clone()
TransitionType[]	getAllEdges() Returns an array with all the maneuvers in the current graph
Maneuver[]	getAllManeuvers() Returns an array with all the maneuvers in the current graph
java.util.Vector<TransitionType>	getExitingTransitions(Maneuver man)
Maneuver	getFollowingManeuver(java.lang.String maneuverID)
java.util.LinkedList<Maneuver>	getGraphAsManeuversList()
java.lang.String	getGraphAsManeuversSeq()
java.util.Vector<TransitionType>	getIncomingTransitions(Maneuver man)
java.lang.String	getInitialManeuverId() Return the identifier of the initial maneuver (state) of the graph
Maneuver	getLastManeuver()
Maneuver	getManeuver(java.lang.String maneuverID) Returns the maneuver object identified by the string argument or null if no such maneuver exists
Maneuver[]	getManeuversSequence()
Maneuver[]	getManeuversSequence(Maneuver startManeuver)
Maneuver[]	getPreviousManeuvers(java.lang.String maneuverID)
java.lang.String[]	getReacheableManeuvers(java.lang.String sourceManeuverID) Returns all the maneuvers that can be directly reached from the source maneuver given
TransitionType	getTransition(java.lang.String sourceId, java.lang.String targetId)
java.lang.Object	getTransitionCondition(java.lang.String sourceManeuverID, java.lang.String targetManeuverID) Returns the transition condition (guard) between the given maneuvers Null is returned if a transition between the maneuvers doesn't exist
java.util.LinkedHashMap<java.lang.String,TransitionType>	getTransitions()
boolean	isSaveGotoSequenceAsTrajectory()
boolean	load(java.lang.String xml)
void	removeManeuver(Maneuver maneuver)
TransitionType	removeTransition(java.lang.String sourceManeuverID, java.lang.String targetManeuverID)
void	removeTransition(TransitionType transition)
void	setInitialManeuver(java.lang.String initialManeuverId) Changes the initial maneuver to be the maneuver with the given identifier
void	setSaveGotoSequenceAsTrajectory(boolean saveGotoSequenceAsTrajectory)

Methods inherited from class java.lang.Object

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

Field Detail

DEFAULT_ROOT_ELEMENT

protected static final java.lang.String DEFAULT_ROOT_ELEMENT

See Also:

Constant Field Values

maneuvers

protected java.util.LinkedHashMap<java.lang.String,Maneuver> maneuvers

transitions

protected java.util.LinkedHashMap<java.lang.String,TransitionType> transitions

initialManeuver

protected java.lang.String initialManeuver

Constructor Detail

GraphType

public GraphType()

Null constructor

GraphType

public GraphType(java.lang.String xml)

Parameters:

xml -

Method Detail

getExitingTransitions

public java.util.Vector<TransitionType> getExitingTransitions(Maneuver man)

getIncomingTransitions

public java.util.Vector<TransitionType> getIncomingTransitions(Maneuver man)

load

public boolean load(java.lang.String xml)

Parameters:

xml -

Returns:

addManeuver

public void addManeuver(Maneuver maneuver)

addManeuverAtEnd

public void addManeuverAtEnd(Maneuver maneuver)

addManeuver

public void addManeuver(Maneuver maneuver,
                        boolean clearInitialManeuverFlagIfOtherMAneuverIsSetToInitial)

Adds the given maneuver to this graph If no maneuver has been added yet, then this maneuver is set to be the initial maneuver

Parameters:

maneuver - The new maneuver to be added to the current graph

removeManeuver

public void removeManeuver(Maneuver maneuver)

getManeuver

public Maneuver getManeuver(java.lang.String maneuverID)

Returns the maneuver object identified by the string argument or null if no such maneuver exists

Parameters:

maneuverID - The string identifier of the maneuver to return

Returns:

The identified maneuver or null if it doesn't exist

addTransition

public TransitionType addTransition(java.lang.String sourceManeuverID,
                                    java.lang.String targetManeuverID,
                                    java.lang.Object condition)

Adds a new transition to this graph (between two maneuver nodes)

Parameters:

sourceManeuverID - The source node id

targetManeuverID - The target node id

condition - The transition condition (guard)

addTransition

public TransitionType addTransition(java.lang.String sourceManeuverID,
                                    java.lang.String targetManeuverID,
                                    java.lang.Object condition,
                                    java.lang.Object action)

addTransition

public TransitionType addTransition(java.lang.String id,
                                    java.lang.String sourceManeuverID,
                                    java.lang.String targetManeuverID,
                                    java.lang.Object condition)

addTransition

public TransitionType addTransition(java.lang.String id,
                                    java.lang.String sourceManeuverID,
                                    java.lang.String targetManeuverID,
                                    java.lang.Object condition,
                                    java.lang.Object action)

Adds a new transition to this graph (between two maneuver nodes)

Parameters:

id - ID of the transition

sourceManeuverID - The source node id

targetManeuverID - The target node id

condition - The transition condition (guard)

action - The transition action (outputs)

removeTransition

public void removeTransition(TransitionType transition)

addTransition

public void addTransition(TransitionType tt)

removeTransition

public TransitionType removeTransition(java.lang.String sourceManeuverID,
                                       java.lang.String targetManeuverID)

getReacheableManeuvers

public java.lang.String[] getReacheableManeuvers(java.lang.String sourceManeuverID)

Returns all the maneuvers that can be directly reached from the source maneuver given

Parameters:

sourceManeuverID - The maneuver to test for transitions

Returns:

An array of string with the reacheable maneuvers ids

getTransitionCondition

public java.lang.Object getTransitionCondition(java.lang.String sourceManeuverID,
                                               java.lang.String targetManeuverID)

Returns the transition condition (guard) between the given maneuvers Null is returned if a transition between the maneuvers doesn't exist

Parameters:

sourceManeuverID - The maneuver id of the transition origin

targetManeuverID - The maneuver id of the transition destiny

Returns:

The condition object related with the transition

getTransition

public TransitionType getTransition(java.lang.String sourceId,
                                    java.lang.String targetId)

getAllManeuvers

public Maneuver[] getAllManeuvers()

Returns an array with all the maneuvers in the current graph

Returns:

An array with all the maneuvers in the current graph

getAllEdges

public TransitionType[] getAllEdges()

Returns an array with all the maneuvers in the current graph

Returns:

An array with all the maneuvers in the current graph

getManeuversSequence

public Maneuver[] getManeuversSequence(Maneuver startManeuver)

getManeuversSequence

public Maneuver[] getManeuversSequence()

getLastManeuver

public Maneuver getLastManeuver()

getFollowingManeuver

public Maneuver getFollowingManeuver(java.lang.String maneuverID)

getPreviousManeuvers

public Maneuver[] getPreviousManeuvers(java.lang.String maneuverID)

getGraphAsManeuversSeq

public java.lang.String getGraphAsManeuversSeq()

Returns:

getGraphAsManeuversList

public java.util.LinkedList<Maneuver> getGraphAsManeuversList()

Returns:

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:

asDocument2

public org.dom4j.Document asDocument2(java.lang.String rootElementName)

getInitialManeuverId

public java.lang.String getInitialManeuverId()

Return the identifier of the initial maneuver (state) of the graph

Returns:

The id of the first maneuver

setInitialManeuver

public void setInitialManeuver(java.lang.String initialManeuverId)

Changes the initial maneuver to be the maneuver with the given identifier

isSaveGotoSequenceAsTrajectory

public boolean isSaveGotoSequenceAsTrajectory()

setSaveGotoSequenceAsTrajectory

public void setSaveGotoSequenceAsTrajectory(boolean saveGotoSequenceAsTrajectory)

clone

public GraphType clone()

Overrides:

clone in class java.lang.Object

clear

public void clear()

getTransitions

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

Returns:

the transitions