package cz.cuni.amis.pogamut.usar2004.communication.messages.usarcommands;
   
   import cz.cuni.amis.pogamut.base.communication.messages.*;
   import cz.cuni.amis.pogamut.usar2004.communication.messages.datatypes.CustomTypes.*;
   
   /**
    *
    * Drive command specified for an aircraft.
    *
   * Corresponding GameBots command is DRIVE.
   *
   */
  public class DriveAerial extends CommandMessage
  {
      //constructor for the fourth type
      public DriveAerial(double AltitudeVelocity, double LinearVelocity, double LateralVelocity, double RotationalVelocity, boolean Normalized)
      {
          this.AltitudeVelocity = AltitudeVelocity;
          this.LinearVelocity = LinearVelocity;
          this.LateralVelocity = LateralVelocity;
          this.RotationalVelocity = RotationalVelocity;
          this.Normalized = Normalized;
      }
  
      /**
       * <p></p>WARNING: this is empty-command constructor, you have to use
       * setters to fill it up!
       */
      public DriveAerial()
      {
      }
      /////// Properties BEGIN
      //fourth type - AltitudeVelocity, LinearVelocity, LateralVelocity, RotationalVelocity, Normalized 
      /*
       * the altitude velocity (i.e up/down). If we use normalized values, the
       * value range is -100 to 100 and corresponds to the robot’s minimum and
       * maximum altitude velocity, respectively. Otherwise, the value is the
       * absolute altitude velocity, in meters per second.
       */
      protected double AltitudeVelocity = 0;
  
      public double getAltitudeVelocity()
      {
          return AltitudeVelocity;
      }
  
      public DriveAerial setAltitudeVelocity(double AltitudeVelocity)
      {
          this.AltitudeVelocity = AltitudeVelocity;
          return this;
      }
      /*
       * the linear velocity (i.e forward/backward). If we use normalized values,
       * the value range is -100 to 100 and corresponds to the robot’s minimum and
       * maximum linear velocity, respectively. Otherwise, the value is the
       * absolute linear velocity, in meters per second.
       */
      protected double LinearVelocity = 0;
  
      public double getLinearVelocity()
      {
          return LinearVelocity;
      }
  
      public DriveAerial setLinearVelocity(double LinearVelocity)
      {
          this.LinearVelocity = LinearVelocity;
          return this;
      }
      /*
       * the lateral velocity (i.e left/right). If we use normalized values, the
       * value range is -100 to 100 and corresponds to the robot’s minimum and
       * maximum lateral velocity, respectively. Otherwise, the value is the
       * absolute lateral velocity, in meters per second.
       */
      protected double LateralVelocity = 0;
  
      public double getLaterarVelocity()
      {
          return LateralVelocity;
      }
  
      public DriveAerial setLaterarVelocity(double LaterarVelocity)
      {
          this.LateralVelocity = LaterarVelocity;
          return this;
      }
      /*
       * the rotational velocity. If we use normalized values, the value range is
       * -100 to 100 and corresponds to the robot’s minimum and maximum rotational
       * velocity, respectively. Otherwise, the value is the absolute rotational
       * velocity, in radians per second.
       */
      protected double RotationalVelocity = 0;
  
      public double getRotationalVelocity()
      {
          return RotationalVelocity;
      }
 
     public DriveAerial setRotationalVelocity(double RotationalVelocity)
     {
         this.RotationalVelocity = RotationalVelocity;
         return this;
     }
     /*
      * Example: DRIVE {AltitudeVelocity 1} will elevate the robot at a rate of 1
      * meters per second. DRIVE {RotationalVelocity 0.1} will rotate the robot
      * at a rate of 0.1 radians per second. DRIVE {LinearVelocity -3} will make
      * the robot go backward at a rate of 3 meters per second.
      */
     /*
      * Indicates whether we are using normalized values or ´ * not. The default
      * value is ‘False’ which means absolute values are used to control wheel
      * spin speed.
      */
     protected boolean Normalized = false;
 
     public boolean isNormalized()
     {
         return Normalized;
     }
 
     /////// Properties END
     /////// Extra Java code BEGIN
     /////// Additional code from xslt BEGIN
     /////// Additional code from xslt END
     /////// Extra Java from XML BEGIN
     /////// Extra Java from XML END
     /////// Extra Java code END
     /**
      * Cloning constructor.
      */
     public DriveAerial(DriveAerial original)
     {
         this.Normalized = original.Normalized;
         this.AltitudeVelocity = original.AltitudeVelocity;
         this.LinearVelocity = original.LinearVelocity;
         this.LateralVelocity = original.LateralVelocity;
         this.RotationalVelocity = original.RotationalVelocity;
     }
 
     @Override
     public String toString()
     {
         return toMessage();
     }
 
     public String toHtmlString()
     {
         return super.toString()
                 + "<b>AltitudeVelocity</b> : "
                 + String.valueOf(AltitudeVelocity)
                 + " <br/> "
                 + "<b>LinearVelocity</b> : "
                 + String.valueOf(LinearVelocity)
                 + " <br/> "
                 + "<b>LateralVelocity</b> : "
                 + String.valueOf(LateralVelocity)
                 + " <br/> "
                 + "<b>RotationalVelocity</b> : "
                 + String.valueOf(RotationalVelocity)
                 + " <br/> "
                 + "<b>Normalized</b> : "
                 + String.valueOf(Normalized)
                 + " <br/> "
                 + "";
     }
 
     public String toMessage()
     {
 
         StringBuilder buf = new StringBuilder();
         buf.append("DRIVE");
         buf.append(" {Normalized ").append(Normalized).append("}");
         buf.append(" {AltitudeVelocity ").append(AltitudeVelocity).append("}");
         buf.append(" {LinearVelocity ").append(LinearVelocity).append("}");
         buf.append(" {LateralVelocity ").append(LateralVelocity).append("}");
         buf.append(" {RotationalVelocity ").append(RotationalVelocity).append("}");
 
         return buf.toString();
     }
 }