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)));
}