execution

Class ControllerGroup

java.lang.Object

execution.ControllerGroup

All Implemented Interfaces:

Iterable<VehicleController>

Direct Known Subclasses:

UavControllers, UgvControllers, UsvControllers, UuvControllers

public abstract class ControllerGroup
extends Object
implements Iterable<VehicleController>

This is a class to hold the instantiated vehicle controllers for the execution of a given vehicle type. See the concrete sub classes in the sub packages. Its intent is to provide a clean way to stack up controller fields, and give each sub instance the iteration support of a "for(VehicleController cntl : controllerGrp)... construct. See execution.uuv.control.UuvControllers for the reference use case. The stack of VehicalController fields must use names ending with "Controller".

Constructor Summary

Constructors

Constructor and Description
ControllerGroup()

Method Summary

Modifier and Type	Method and Description
abstract VehicleController	getCurrentManeuveringController() Provide current primary controller for maneuvering forward/backward/laterally.
Iterator<VehicleController>	iterator()
abstract void	setCurrentManeuveringController(ControllerType ct) Set the current primary controller for maneuvering forward/backward/laterally.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface java.lang.Iterable

forEach, spliterator

Constructor Detail

ControllerGroup

public ControllerGroup()

Method Detail

getCurrentManeuveringController

public abstract VehicleController getCurrentManeuveringController()

Provide current primary controller for maneuvering forward/backward/laterally. Vertical depth/altitude controllers are usually not included in this selection.

setCurrentManeuveringController

public abstract void setCurrentManeuveringController(ControllerType ct)

Set the current primary controller for maneuvering forward/backward/laterally. Vertical depth/altitude controllers are usually not included in this selection.

iterator

public Iterator<VehicleController> iterator()

Specified by:

iterator in interface Iterable<VehicleController>