public ReferenceWaypoint(Reference ref) {
try {
this.reference = Reference.clone(ref);
} catch (Exception e) {
e.printStackTrace();
}
loc = new ManeuverLocation();
loc.setLatitudeRads(ref.getLat());
loc.setLongitudeRads(ref.getLon());
if (ref.getZ() != null) {
loc.setZ(ref.getZ().getValue());
loc.setZUnits(ManeuverLocation.Z_UNITS.valueOf(ref.getZ().getZUnits().name()));
}
boolean defineZ = (ref.getFlags() & Reference.FLAG_Z) != 0;
if (!defineZ) loc.setZUnits(ManeuverLocation.Z_UNITS.NONE);
loiter = (ref.getFlags() & Reference.FLAG_RADIUS) != 0;
this.loiterRadius = ref.getRadius();
this.latitude = loc.getLatitudeAsDoubleValue();
this.longitude = loc.getLongitudeAsDoubleValue();
this.z = loc.getZ();
this.zUnits = loc.getZUnits();
if (ref.getSpeed() != null) {
this.speedUnits = ref.getSpeed().getSpeedUnits();
this.speed = ref.getSpeed().getValue();
}
defineSpeed = (ref.getFlags() & Reference.FLAG_SPEED) != 0;
}
public ManeuverLocation(LocationType loc) {
super(loc);
if (loc instanceof ManeuverLocation) {
ManeuverLocation mloc = (ManeuverLocation) loc;
this.setZ(mloc.getZ());
this.setZUnits(mloc.getZUnits());
}
}
public ReferenceWaypoint(ManeuverLocation loc, double speed) {
loc.convertToAbsoluteLatLonDepth();
this.loc = loc.clone();
this.latitude = loc.getLatitudeAsDoubleValue();
this.longitude = loc.getLongitudeAsDoubleValue();
this.speed = speed;
this.speedUnits = SPEED_UNITS.METERS_PS;
this.z = loc.getZ();
this.zUnits = loc.getZUnits();
reference = new Reference();
reference.setLat(loc.getLatitudeAsDoubleValueRads());
reference.setLon(loc.getLongitudeAsDoubleValueRads());
reference.setZ(new DesiredZ((float) loc.getZ(), Z_UNITS.valueOf(loc.getZUnits().name())));
reference.setSpeed(new DesiredSpeed(speed, SPEED_UNITS.METERS_PS));
reference.setFlags((short) (Reference.FLAG_LOCATION | Reference.FLAG_SPEED | Reference.FLAG_Z));
}
@Override
public void propertiesChanged() {
loc.setZ(z);
loc.setZUnits(zUnits);
reference = new Reference();
if (loiter) reference.setRadius(loiterRadius);
reference.setLat(loc.getLatitudeAsDoubleValueRads());
reference.setLon(loc.getLongitudeAsDoubleValueRads());
if (loc.getZUnits() != ManeuverLocation.Z_UNITS.NONE)
reference.setZ(new DesiredZ((float) loc.getZ(), Z_UNITS.valueOf(loc.getZUnits().name())));
if (defineSpeed) reference.setSpeed(new DesiredSpeed(speed, speedUnits));
reference.setFlags(
(short)
(Reference.FLAG_LOCATION
| (defineSpeed ? Reference.FLAG_SPEED : 0)
| (loc.getZUnits() != ManeuverLocation.Z_UNITS.NONE ? Reference.FLAG_Z : 0)
| (loiter ? Reference.FLAG_RADIUS : 0)));
}
public void setZ(DesiredZ desiredZ) {
if (desiredZ == null) {
reference.setFlags((short) (reference.getFlags() ^ Reference.FLAG_Z));
reference.setZ(null);
loc.setZUnits(ManeuverLocation.Z_UNITS.NONE);
zUnits = ManeuverLocation.Z_UNITS.NONE;
} else {
reference.setZ(new DesiredZ((float) desiredZ.getValue(), desiredZ.getZUnits()));
reference.setFlags((short) (reference.getFlags() | Reference.FLAG_Z));
loc.setZ(desiredZ.getValue());
loc.setZUnits(ManeuverLocation.Z_UNITS.valueOf(desiredZ.getZUnits().name()));
zUnits = loc.getZUnits();
z = loc.getZ();
}
}