88 */
99public class Attitude implements DroneAttribute {
1010
11- private double roll ;
11+ /**
12+ * Roll angle (deg, -180..+180)
13+ */
14+ private double roll ;
15+
16+ /**
17+ * Roll angular speed (deg/s)
18+ */
19+ private float rollSpeed ;
20+
21+ /**
22+ * Pitch angle (deg, -180 to 180)
23+ */
1224 private double pitch ;
25+
26+ /**
27+ * Pitch angular speed (deg / s)
28+ */
29+ private float pitchSpeed ;
30+
31+ /**
32+ * Yaw angle (deg, -180 to 180)
33+ */
1334 private double yaw ;
1435
36+ /**
37+ * Yaw angular speed (deg/ s)
38+ */
39+ private float yawSpeed ;
40+
1541 public Attitude (){}
1642
17- public Attitude (double roll , double pitch , double yaw ) {
43+ public Attitude (double roll , double pitch , double yaw , float rollSpeed , float pitchSpeed , float yawSpeed ) {
1844 this .roll = roll ;
1945 this .pitch = pitch ;
2046 this .yaw = yaw ;
47+ this .rollSpeed = rollSpeed ;
48+ this .pitchSpeed = pitchSpeed ;
49+ this .yawSpeed = yawSpeed ;
2150 }
2251
2352 public void setRoll (double roll ) {
@@ -44,18 +73,56 @@ public double getYaw() {
4473 return yaw ;
4574 }
4675
76+ public float getPitchSpeed () {
77+ return pitchSpeed ;
78+ }
79+
80+ public void setPitchSpeed (float pitchSpeed ) {
81+ this .pitchSpeed = pitchSpeed ;
82+ }
83+
84+ public float getRollSpeed () {
85+ return rollSpeed ;
86+ }
87+
88+ public void setRollSpeed (float rollSpeed ) {
89+ this .rollSpeed = rollSpeed ;
90+ }
91+
92+ public float getYawSpeed () {
93+ return yawSpeed ;
94+ }
95+
96+ public void setYawSpeed (float yawSpeed ) {
97+ this .yawSpeed = yawSpeed ;
98+ }
99+
100+ @ Override
101+ public String toString () {
102+ return "Attitude{" +
103+ "pitch=" + pitch +
104+ ", roll=" + roll +
105+ ", rollSpeed=" + rollSpeed +
106+ ", pitchSpeed=" + pitchSpeed +
107+ ", yaw=" + yaw +
108+ ", yawSpeed=" + yawSpeed +
109+ '}' ;
110+ }
111+
47112 @ Override
48113 public boolean equals (Object o ) {
49114 if (this == o ) return true ;
50115 if (!(o instanceof Attitude )) return false ;
51116
52117 Attitude attitude = (Attitude ) o ;
53118
54- if (Double .compare (attitude .pitch , pitch ) != 0 ) return false ;
55119 if (Double .compare (attitude .roll , roll ) != 0 ) return false ;
120+ if (Float .compare (attitude .rollSpeed , rollSpeed ) != 0 ) return false ;
121+ if (Double .compare (attitude .pitch , pitch ) != 0 ) return false ;
122+ if (Float .compare (attitude .pitchSpeed , pitchSpeed ) != 0 ) return false ;
56123 if (Double .compare (attitude .yaw , yaw ) != 0 ) return false ;
124+ return Float .compare (attitude .yawSpeed , yawSpeed ) == 0 ;
57125
58- return true ;
59126 }
60127
61128 @ Override
@@ -64,22 +131,16 @@ public int hashCode() {
64131 long temp ;
65132 temp = Double .doubleToLongBits (roll );
66133 result = (int ) (temp ^ (temp >>> 32 ));
134+ result = 31 * result + (rollSpeed != +0.0f ? Float .floatToIntBits (rollSpeed ) : 0 );
67135 temp = Double .doubleToLongBits (pitch );
68136 result = 31 * result + (int ) (temp ^ (temp >>> 32 ));
137+ result = 31 * result + (pitchSpeed != +0.0f ? Float .floatToIntBits (pitchSpeed ) : 0 );
69138 temp = Double .doubleToLongBits (yaw );
70139 result = 31 * result + (int ) (temp ^ (temp >>> 32 ));
140+ result = 31 * result + (yawSpeed != +0.0f ? Float .floatToIntBits (yawSpeed ) : 0 );
71141 return result ;
72142 }
73143
74- @ Override
75- public String toString () {
76- return "Attitude{" +
77- "roll=" + roll +
78- ", pitch=" + pitch +
79- ", yaw=" + yaw +
80- '}' ;
81- }
82-
83144
84145 @ Override
85146 public int describeContents () {
@@ -91,12 +152,18 @@ public void writeToParcel(Parcel dest, int flags) {
91152 dest .writeDouble (this .roll );
92153 dest .writeDouble (this .pitch );
93154 dest .writeDouble (this .yaw );
155+ dest .writeFloat (this .rollSpeed );
156+ dest .writeFloat (this .pitchSpeed );
157+ dest .writeFloat (this .yawSpeed );
94158 }
95159
96160 private Attitude (Parcel in ) {
97161 this .roll = in .readDouble ();
98162 this .pitch = in .readDouble ();
99163 this .yaw = in .readDouble ();
164+ this .rollSpeed = in .readFloat ();
165+ this .pitchSpeed = in .readFloat ();
166+ this .yawSpeed = in .readFloat ();
100167 }
101168
102169 public static final Parcelable .Creator <Attitude > CREATOR = new Parcelable .Creator <Attitude >() {
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