UsvMissionResults (Autonomous Unmanned Vehicle (AUV) Workbench Documentation)

java.lang.Object
- avcl.UsvMissionResults

```
public class UsvMissionResults
extends Object
```
Contains static utility functions to interface with JAXB-derived classes representing AVCL USV mission results. This class is used to generate new instances of individual mission result elements and alter the values of existing commands. Public methods take Object parameters so that invoking objects can utilize them without any knowledge of the JAXB-derived classes. All direct manipulation of the JAXB-developed classes should be handled by this or other classes in this package.

Since:

June 13, 2005, 9:12 AM

Version:

$Id: UsvMissionResults.java 9109 2015-07-29 22:39:46Z brutzman $

Author:

dtdavis

Constructor Summary

Constructors
Constructor and Description

UsvMissionResults()

Constructors
Constructor and Description
`UsvMissionResults()`

Method Summary

All Methods Static Methods Concrete Methods
Modifier and Type	Method and Description
`static ContactRecordElementType`	`createContactRecordEvent(int contactID, String name, int pType, double x, double y, double heading, double velocity, int vType, double v1, double v2, String description)` Creates a GoalStatus loggable event element
`static ContaminantRecordElementType`	`createContaminantRecordEvent(int contaminant, int pType, double x, double y, int vType, double v1, double v2, String description)` Creates a Contaminant loggable event element
`static UsvControlOrdersElementType`	`createControlOrderElement(double portProp, double stbdProp, double centerProp, double rudder, String description)` Creates a USV Orders element with propeller and rudder settings
`static GoalStatusUpdateElementType`	`createGoalStatusEvent(Object goal, String status, String description)` Creates a GoalStatus loggable event element
`static FrequencyRecordElementType`	`createSignalOfInterestRecordEvent(double frequency, int units, String content, String description)` Creates a SignalOfInterest loggable event element
`static UsvTelemetryElementType`	`createTelemetryElement(int positType, double x, double y, double phi, double theta, double psi, double u, double v, double w, double p, double q, double r, String description)` Creates a USV Telemetry element with position, orientation, and body coordinate velocity
`static VehicleStatusUpdateElementType`	`createVehicleStatusEvent(String system, String status, String description)` Creates a VehicleStatus loggable event element
`static String`	`getControlOrderElementDescription(Object order)` Returns the description of a control order element
`static UsvLoggableEventType`	`getEventWithContent(Object content, double time)` Creates a USV event log object and sets the content
`static String`	`getTelemetryElementDescription(Object tel)` Returns the description of a telemetry element
`static double`	`getTelemetryElementPhiDot(Object tel)` Returns the phiDot (roll rate) of the telemetry element
`static double`	`getTelemetryElementPsiDot(Object tel)` Returns the psiDot (yaw rate) of the telemetry element
`static double`	`getTelemetryElementRemainingPower(Object tel)` Returns the remaining power value of the telemetry element
`static double`	`getTelemetryElementSOGU(Object tel)` Returns the forward speed over ground of the telemetry element
`static double`	`getTelemetryElementSOGV(Object tel)` Returns the lateral speed over ground of the telemetry element
`static double`	`getTelemetryElementSTAU(Object tel)` Returns the forward speed through the air of the telemetry element
`static double`	`getTelemetryElementSTAV(Object tel)` Returns the lateral speed through the air of the telemetry element
`static double`	`getTelemetryElementThetaDot(Object tel)` Returns the thetaDot (pitch rate) of the telemetry element
`static double`	`getTelemetryElementXDot(Object tel)` Returns the xDot (world coordinate north south speed) of the telemetry element
`static double`	`getTelemetryElementYDot(Object tel)` Returns the yDot (world coordinate east west speed) of the telemetry element
`static double`	`getTelemetryElementZDot(Object tel)` Returns the zDot (world coordinate vertical speed) of the telemetry element
`static void`	`setControlOrderElementDescription(Object order, String description)` Sets the description of a orders element
`static void`	`setControlOrderElementPropeller(Object order, double port, double stbd, double center)` Sets the propeller order element
`static void`	`setControlOrderElementRudder(Object order, double rudder)` Creates a rudder order element
`static void`	`setSampledResultsControlOrder(Object results, Object orders)` Sets the control orders element of a SampledResults element object
`static void`	`setSampledResultsTelemetry(Object results, Object telemetry)` Sets the telemetry element of a SampledResults element object
`static void`	`setTelemetryElementDescription(Object tel, String description)` Sets the description of a sampled result element
`static void`	`setTelemetryElementDopplerVelocity(Object tel, double sogU, double sogV, double staU, double staV)` Sets the world coordinate velocities of a telemetry element
`static void`	`setTelemetryElementRemainingPower(Object tel, double power)` Sets the remaining battery power value of a sampled result element
`static void`	`setTelemetryElementWorldVelocity(Object tel, double xDot, double yDot, double zDot, double phiDot, double thetaDot, double psiDot)` Sets the world coordinate velocities of a telemetry element

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail
- UsvMissionResults
```
public UsvMissionResults()
```

Method Detail

setSampledResultsTelemetry

public static void setSampledResultsTelemetry(Object results,
                                              Object telemetry)

Sets the telemetry element of a SampledResults element object

Parameters:: results - sampled results element object; telemetry - telemetry object

setSampledResultsControlOrder

public static void setSampledResultsControlOrder(Object results,
                                                 Object orders)

Sets the control orders element of a SampledResults element object

Parameters:: results - sampled results element object; orders - control orders element object

createTelemetryElement

public static UsvTelemetryElementType createTelemetryElement(int positType,
                                                             double x,
                                                             double y,
                                                             double phi,
                                                             double theta,
                                                             double psi,
                                                             double u,
                                                             double v,
                                                             double w,
                                                             double p,
                                                             double q,
                                                             double r,
                                                             String description)

Creates a USV Telemetry element with position, orientation, and body coordinate velocity

Parameters:: positType - enumeration indicating latitude-longitude or X-Y position; x -; y -; phi -; theta -; psi -; u -; v -; w -; p -; q -; r -; description -
Returns:: FrequencyRecordElementType

getTelemetryElementXDot
```
public static double getTelemetryElementXDot(Object tel)
```
Returns the xDot (world coordinate north south speed) of the telemetry element

Parameters:

tel - the telemetry element object

Returns:

double-precision value

getTelemetryElementYDot
```
public static double getTelemetryElementYDot(Object tel)
```
Returns the yDot (world coordinate east west speed) of the telemetry element

Parameters:

tel - the telemetry element object

Returns:

double-precision value

getTelemetryElementZDot
```
public static double getTelemetryElementZDot(Object tel)
```
Returns the zDot (world coordinate vertical speed) of the telemetry element

Parameters:

tel - the telemetry element object

Returns:

double-precision value

getTelemetryElementPhiDot
```
public static double getTelemetryElementPhiDot(Object tel)
```
Returns the phiDot (roll rate) of the telemetry element

Parameters:

tel - the telemetry element object

Returns:

double-precision value

getTelemetryElementThetaDot
```
public static double getTelemetryElementThetaDot(Object tel)
```
Returns the thetaDot (pitch rate) of the telemetry element

Parameters:

tel - the telemetry element object

Returns:

double-precision value

getTelemetryElementPsiDot
```
public static double getTelemetryElementPsiDot(Object tel)
```
Returns the psiDot (yaw rate) of the telemetry element

Parameters:

tel - the telemetry element object

Returns:

double-precision value

getTelemetryElementSOGU
```
public static double getTelemetryElementSOGU(Object tel)
```
Returns the forward speed over ground of the telemetry element

Parameters:

tel - the telemetry element object

Returns:

double-precision value

getTelemetryElementSOGV
```
public static double getTelemetryElementSOGV(Object tel)
```
Returns the lateral speed over ground of the telemetry element

Parameters:

tel - the telemetry element object

Returns:

double-precision value

getTelemetryElementSTAU
```
public static double getTelemetryElementSTAU(Object tel)
```
Returns the forward speed through the air of the telemetry element

Parameters:

tel - the telemetry element object

Returns:

double-precision value

getTelemetryElementSTAV
```
public static double getTelemetryElementSTAV(Object tel)
```
Returns the lateral speed through the air of the telemetry element

Parameters:

tel - the telemetry element object

Returns:

double-precision value

getTelemetryElementRemainingPower
```
public static double getTelemetryElementRemainingPower(Object tel)
```
Returns the remaining power value of the telemetry element

Parameters:

tel - the telemetry element object whose remaining power value is returned

Returns:

double-precision value

getTelemetryElementDescription
```
public static String getTelemetryElementDescription(Object tel)
```
Returns the description of a telemetry element

Parameters:

tel - the telemetry element object to be timestamped

Returns:

description

setTelemetryElementWorldVelocity

public static void setTelemetryElementWorldVelocity(Object tel,
                                                    double xDot,
                                                    double yDot,
                                                    double zDot,
                                                    double phiDot,
                                                    double thetaDot,
                                                    double psiDot)

Sets the world coordinate velocities of a telemetry element

Parameters:: tel - the telemetry element object; xDot -; yDot -; zDot -; phiDot -; thetaDot -; psiDot -

setTelemetryElementDopplerVelocity

public static void setTelemetryElementDopplerVelocity(Object tel,
                                                      double sogU,
                                                      double sogV,
                                                      double staU,
                                                      double staV)

Sets the world coordinate velocities of a telemetry element

Parameters:: tel - the telemetry element object; sogU - forward speed over ground; sogV - lateral speed over ground; staU - forward speed through air; staV - lateral speed through air

setTelemetryElementRemainingPower
```
public static void setTelemetryElementRemainingPower(Object tel,
                                                     double power)
```
Sets the remaining battery power value of a sampled result element

Parameters:

tel - the telemetry element object

power - capacity value 0-100%

setTelemetryElementDescription

public static void setTelemetryElementDescription(Object tel,
                                                  String description)

Sets the description of a sampled result element

Parameters:: tel - the telemetry element object to be timestamped; description - value for the description attribute

createControlOrderElement

public static UsvControlOrdersElementType createControlOrderElement(double portProp,
                                                                    double stbdProp,
                                                                    double centerProp,
                                                                    double rudder,
                                                                    String description)

Creates a USV Orders element with propeller and rudder settings

Parameters:: portProp - commanded port propeller setting; stbdProp - commanded starboard propeller setting; centerProp - commanded centerline propeller setting; rudder - commanded rudder setting; description -
Returns:: UsvControlOrdersElementType

getControlOrderElementDescription
```
public static String getControlOrderElementDescription(Object order)
```
Returns the description of a control order element

Parameters:

order - the control order element object to be timestamped

Returns:

description

setControlOrderElementPropeller

public static void setControlOrderElementPropeller(Object order,
                                                   double port,
                                                   double stbd,
                                                   double center)

Sets the propeller order element

Parameters:: order - control order element; port - port propeller setting; stbd - starboard propeller setting; center - centerline propeller setting

setControlOrderElementRudder
```
public static void setControlOrderElementRudder(Object order,
                                                double rudder)
```
Creates a rudder order element

Parameters:

order - control order element

rudder - commanded rudder deflection

setControlOrderElementDescription

public static void setControlOrderElementDescription(Object order,
                                                     String description)

Sets the description of a orders element

Parameters:: order - the order element object to be timestamped; description - value for the description attribute

getEventWithContent

public static UsvLoggableEventType getEventWithContent(Object content,
                                                       double time)

Creates a USV event log object and sets the content

Parameters:: content -; time -
Returns:: UsvLoggableEventType

createGoalStatusEvent

public static GoalStatusUpdateElementType createGoalStatusEvent(Object goal,
                                                                String status,
                                                                String description)

Creates a GoalStatus loggable event element

Parameters:: goal -; status -; description -
Returns:: GoalStatusUpdateElementType

createVehicleStatusEvent

public static VehicleStatusUpdateElementType createVehicleStatusEvent(String system,
                                                                      String status,
                                                                      String description)

Creates a VehicleStatus loggable event element

Parameters:: system -; status -; description -
Returns:: FrequencyRecordElementType

createSignalOfInterestRecordEvent

public static FrequencyRecordElementType createSignalOfInterestRecordEvent(double frequency,
                                                                           int units,
                                                                           String content,
                                                                           String description)

Creates a SignalOfInterest loggable event element

Parameters:: frequency -; units -; description -; content -
Returns:: FrequencyRecordElementType

createContactRecordEvent

public static ContactRecordElementType createContactRecordEvent(int contactID,
                                                                String name,
                                                                int pType,
                                                                double x,
                                                                double y,
                                                                double heading,
                                                                double velocity,
                                                                int vType,
                                                                double v1,
                                                                double v2,
                                                                String description)

Creates a GoalStatus loggable event element

Parameters:: contactID -; name -; pType -; description -; x -; y -; heading -; velocity -; v2 -; vType -; v1 -
Returns:: ContactRecordElementType

createContaminantRecordEvent

public static ContaminantRecordElementType createContaminantRecordEvent(int contaminant,
                                                                        int pType,
                                                                        double x,
                                                                        double y,
                                                                        int vType,
                                                                        double v1,
                                                                        double v2,
                                                                        String description)

Creates a Contaminant loggable event element

Parameters:: contaminant -; pType -; y -; x -; v2 -; v1 -; vType -; description -
Returns:: ContaminantRecordElementType

Class UsvMissionResults

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Constructor Detail

UsvMissionResults

Method Detail

setSampledResultsTelemetry

setSampledResultsControlOrder

createTelemetryElement

getTelemetryElementXDot

getTelemetryElementYDot

getTelemetryElementZDot

getTelemetryElementPhiDot

getTelemetryElementThetaDot

getTelemetryElementPsiDot

getTelemetryElementSOGU

getTelemetryElementSOGV

getTelemetryElementSTAU

getTelemetryElementSTAV

getTelemetryElementRemainingPower

getTelemetryElementDescription