예제 #1
0
  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));
  }
예제 #2
0
  @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)));
  }