DesiredPath class abstract
Desired Path class
Perform path control.
The path is specified by two WGS-84 waypoints, respective altitude / depth settings, optional loitering at the end point, and some control flags.
The start and end waypoints are defined by the specified end point fields ('end_{lat/lon/z}') plus:
- the start waypoint fields ('start_{lat|lon|z}') if the 'START' flag (bit in 'flags' field) is set; or
- the end point of the previous path recently tracked; or
- the current location is the 'DIRECT' flag is set or if the tracker has been idle for some time.
Altitude and depth control can be performed as follows:
- by default, the tracker will just transmit an altitude/depth reference value equal to 'end_z' to the appropriate controller;
- if the 'NO_Z' flag is set no altitude/depth control will take place, hence they can be controlled independently;
- if the '3DTRACK' flag is set, 3D-tracking will be done (if supported by the active controller).
Loitering can be specified at the end point with a certain radius ('lradius'), duration ('lduration'), and clockwise or counter-clockwise direction ('CCLOCKW' flag).
- Inheritance
-
- Object
- Message
- ImcMessage
- ControlCommand
- DesiredPath
- Implemented types
Constructors
- DesiredPath([void updates(DesiredPathBuilder b)?])
-
factory
Properties
- abbrev → String
-
no setteroverride
- dst → int
-
no setterinherited
- dstEnt → int
-
no setterinherited
- endLat → double
-
WGS-84 latitude of end point.
no setter
- endLon → double
-
WGS-84 longitude of end point.
no setter
- endZ → double
-
Depth or altitude for the end point. This parameter will be
ignored if the 'NO_Z' flag is set.
no setter
- endZUnits → ZUnitsEnum
-
Units of the end point's z reference.
no setter
- flags → DesiredPathBitfieldFlags
-
Desired Path flags.
no setter
- hashCode → int
-
The hash code for this object.
no setterinherited
- lradius → double
-
Radius for loitering at end point. Specify less or equal to 0
for no loitering.
no setter
- msgId → int
-
no setteroverride
- pathRef → int
-
Unsigned integer reference for the scope of the desired path message.
Path reference should only be set by a maneuver.
Should be set to an always increasing reference at the time of dispatching this message.
Lower level path controllers must inherit the same path reference sent by maneuver.
no setter
- runtimeType → Type
-
A representation of the runtime type of the object.
no setterinherited
- speed → double
-
Maneuver speed reference.
no setter
- speedUnits → SpeedUnitsEnum
-
Speed units.
no setter
- src → int
-
no setterinherited
- srcEnt → int
-
no setterinherited
- startLat → double
-
WGS-84 latitude of start point. This will be ignored unless
the 'START' flag is set.
no setter
- startLon → double
-
WGS-84 longitude of start point. This will be ignored unless
the 'START' flag is set.
no setter
- startZ → double
-
Altitude or depth of start point. This parameter will be
ignored if the 'NO_Z' flag is set, or if the 'START' flag is
not set.
no setter
- startZUnits → ZUnitsEnum
-
Units of the start point's z reference.
no setter
- sync → int
-
no setterinherited
- timestamp → DateTime?
-
no setterinherited
Methods
-
noSuchMethod(
Invocation invocation) → dynamic -
Invoked when a nonexistent method or property is accessed.
inherited
-
rebuild(
dynamic updates(DesiredPathBuilder)) → DesiredPath -
Rebuilds the instance.
inherited
-
toBuilder(
) → DesiredPathBuilder -
Converts the instance to a builder
B.inherited -
toJson(
[bool includeHeader = true]) → Map< String, dynamic> -
To JSON object
override
-
toString(
) → String -
A string representation of this object.
inherited
Operators
-
operator ==(
Object other) → bool -
The equality operator.
inherited