Create an IMC plan specification

Using the IMC DSL to generate IMC plans specfications.

A IMC plan consists in a sequence of manuevers understood by the vehicles. Maneuvers supported by the DSL and their respective methods:

• Goto goTo
• Loiter loiter
• Station Keeping skeeping
• Popup popup
• Launch launch
• Compass Calibration compassCalibration
• Yo-Yo yoyo
• Rows rows
• Follow Path followPath

In the definition of each maneuvers there is also support for global parameters as location, id, speed, z and payload requirements. Maneuvers specific parameters can also be defined and varies according to each maneuver specification.

All IMC maneuvers and their parameters are defined in the IMC Documentation.

Additional methods:

• planName : define plan name.
• move : translate a location by a northing and easting.
• locate : set current location of the plan.
• speed : define speed value and unit.
• z : define z value and unit.
• vehicles : define the vehicles for the plan (by default is lauv-xplore-1).
• Location : location instances can be defined using radians latitude and longitude having support to calculate the angle, distance and convertion to degrees.