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java.lang.Objectjava.lang.Thread
jaron.autopilot.MissionController
public class MissionController
The MissionController
class provides the functionality for
guiding a vehicle through a mission that is defined by a starting point
(home) and an unlimited number of navigation waypoints.
Nested Class Summary |
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Nested classes/interfaces inherited from class java.lang.Thread |
---|
java.lang.Thread.State, java.lang.Thread.UncaughtExceptionHandler |
Field Summary | |
---|---|
static int |
CIRCLE_ANTICLOCKWISE
Used to set the circling direction. |
static int |
CIRCLE_AT_HOME
Used to determine what has to be done after the mission is completed. |
static int |
CIRCLE_CLOCKWISE
Used to set the circling direction. |
static int |
RESTART_MISSION
Used to determine what has to be done after the mission is completed. |
Fields inherited from class java.lang.Thread |
---|
MAX_PRIORITY, MIN_PRIORITY, NORM_PRIORITY |
Constructor Summary | |
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MissionController()
Creates a new MissionController object and starts it as a
Thread . |
Method Summary | |
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void |
addWaypoint(double latitude,
double longitude)
Adds a new navigation waypoint to the list of the target waypoints. |
Signal |
getCourseGainD()
Returns the course D gain signal which is used for the event handling mechanism. |
Signal |
getCourseGainI()
Returns the course I gain signal which is used for the event handling mechanism. |
Signal |
getCourseGainP()
Returns the course P gain signal which is used for the event handling mechanism. |
Signal |
getCourseMaxI()
Returns the course maximum I signal which is used for the event handling mechanism. |
Signal |
getCourseMinI()
Returns the course minimum I signal which is used for the event handling mechanism. |
Signal |
getCourseOverGround()
Returns the course over ground signal which is used for the event handling mechanism. |
Signal |
getCurrentWaypoint()
Returns the current waypoint signal which is used for the event handling mechanism. |
Signal |
getLatitude()
Returns the latitude signal which is used for the event handling mechanism. |
Signal |
getLongitude()
Returns the latitude signal which is used for the event handling mechanism. |
Signal |
getPitchAnglePreset()
Returns the pitch angle preset signal which is used for the event handling mechanism. |
Signal |
getRollAnglePreset()
Returns the roll angle preset signal which is used for the event handling mechanism. |
Signal |
getSpeedOverGround()
Returns the speed over ground signal which is used for the event handling mechanism. |
Signal |
getTargetCourse()
Returns the target course signal which is used for the event handling mechanism. |
void |
goHome()
Stops the mission and the vehicle is guided to its home coordinates. |
void |
run()
|
void |
setCirclingDirection(int circlingDirection)
Sets the circling direction for circling around a waypoint. |
void |
setCirclingRadius(double circlingRadius)
Sets the radius for circling around a waypoint. |
void |
setHome(double latitude,
double longitude)
Sets the home coordinates of the vehicle. |
void |
setMaximumRollAngle(double maximumRollAngle)
Sets the maximum roll angle (bank angle) that the mission controller should use when it guides the vehicle through a curve. |
void |
setMissionCompletedAction(int missionCompletedAction)
Sets the action that has to be performed after the mission is completed. |
void |
setNavigationMode(int navigationMode)
Sets the current navigation mode. |
void |
setTargetRadius(double targetRadius)
Sets the radius within which a target waypoint is supposed to be hit. |
void |
setUpdateFrequency(float updateFrequency)
Sets the update frequency for the MotionController . |
void |
startMission()
Starts the mission. |
void |
stopMission()
Stops the mission. |
Methods inherited from class java.lang.Thread |
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activeCount, checkAccess, countStackFrames, currentThread, destroy, dumpStack, enumerate, getAllStackTraces, getContextClassLoader, getDefaultUncaughtExceptionHandler, getId, getName, getPriority, getStackTrace, getState, getThreadGroup, getUncaughtExceptionHandler, holdsLock, interrupt, interrupted, isAlive, isDaemon, isInterrupted, join, join, join, resume, setContextClassLoader, setDaemon, setDefaultUncaughtExceptionHandler, setName, setPriority, setUncaughtExceptionHandler, sleep, sleep, start, stop, stop, suspend, toString, yield |
Methods inherited from class java.lang.Object |
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equals, getClass, hashCode, notify, notifyAll, wait, wait, wait |
Field Detail |
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public static final int CIRCLE_CLOCKWISE
public static final int CIRCLE_ANTICLOCKWISE
public static final int CIRCLE_AT_HOME
public static final int RESTART_MISSION
Constructor Detail |
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public MissionController()
MissionController
object and starts it as a
Thread
.
Method Detail |
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public void addWaypoint(double latitude, double longitude)
latitude
- the latitude coordinate in decimal formlongitude
- the longitude coordinate in decimal formpublic void setCirclingRadius(double circlingRadius)
circlingRadius
- radius in meterspublic void setCirclingDirection(int circlingDirection)
circlingDirection
- circle directionCIRCLE_CLOCKWISE
,
CIRCLE_ANTICLOCKWISE
public void setHome(double latitude, double longitude)
latitude
- in decimal formlongitude
- in decimal formpublic void setMaximumRollAngle(double maximumRollAngle)
maximumRollAngle
- roll angle in degreespublic void setMissionCompletedAction(int missionCompletedAction)
missionCompletedAction
- either of the predefined actionsCIRCLE_AT_HOME
,
RESTART_MISSION
public void setNavigationMode(int navigationMode)
navigationMode
- either of the predefined modesDO_NAVIGATE
,
CIRCLE_AT_HOME
,
RESTART_MISSION
public void setTargetRadius(double targetRadius)
targetRadius
- target radius in meterspublic Signal getCurrentWaypoint()
Signal
public Signal getCourseGainP()
Signal
public Signal getCourseGainI()
Signal
public Signal getCourseGainD()
Signal
public Signal getCourseMaxI()
Signal
public Signal getCourseMinI()
Signal
public Signal getLatitude()
Signal
public Signal getLongitude()
Signal
public Signal getCourseOverGround()
Signal
public Signal getSpeedOverGround()
Signal
public Signal getTargetCourse()
Signal
public Signal getPitchAnglePreset()
Signal
public Signal getRollAnglePreset()
Signal
public void setUpdateFrequency(float updateFrequency)
MotionController
.
updateFrequency
- the new frequency in Hzpublic void run()
run
in interface java.lang.Runnable
run
in class java.lang.Thread
public void startMission()
public void stopMission()
public void goHome()
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