avcl

Class UuvMissionResults

java.lang.Object

avcl.UuvMissionResults

public class UuvMissionResults
extends Object

Contains static utility functions to interface with JAXB-derived classes representing AVCL UUV 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: UuvMissionResults.java 9109 2015-07-29 22:39:46Z brutzman $

Author:

dtdavis

Constructor Summary

Constructors

Constructor and Description
UuvMissionResults()

Method Summary

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 UuvControlOrdersElementType	createControlOrderElement(double portProp, double stbdProp, double centerProp, double rudder, double bowPlane, double sternPlane, double bowLateral, double sternLateral, double bowVertical, double sternVertical, String description) Creates a UUV Orders element with propeller, plane, rudder and body thruster settings
static UuvControlOrdersElementType	createControlOrderElement(double portProp, double stbdProp, double centerProp, double rudder, double bowPlane, double sternPlane, String description) Creates a UUV Orders element with propeller, plane 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 UuvTelemetryElementType	createTelemetryElement(int positType, double x, double y, double depth, double phi, double theta, double psi, double u, double v, double w, double p, double q, double r, String description) Creates a UUV 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 UuvLoggableEventType	getEventWithContent(Object content, double time) Creates a UUV event log object and sets the content
static double	getTelemetryElementAltitude(Object tel) Returns the altitude above the bottom of a telemetry element
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	getTelemetryElementSTWU(Object tel) Returns the forward speed through the water of the telemetry element
static double	getTelemetryElementSTWV(Object tel) Returns the lateral speed through the water 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	setControlOrderElementPlanes(Object order, double bow, double stern) Sets the control planes portion of the control 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) Sets the rudder portion of the control orders element
static void	setControlOrderElementThrusters(Object order, double bowLateral, double sternLateral, double bowVertical, double sternVertical) Sets the body thruster 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	setTelemetryElementAltitude(Object tel, double altitude) Sets the altitude above the bottom of a sampled result element
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 stwU, double stwV) 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

UuvMissionResults

public UuvMissionResults()

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

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

Parameters:

positType - enumeration indicating latitude-longitude or X-Y position

x -

y -

depth -

phi -

theta -

psi -

u -

v -

w -

p -

q -

r -

description -

Returns:

UuvTelemetryElementType

getTelemetryElementAltitude

public static double getTelemetryElementAltitude(Object tel)

Returns the altitude above the bottom of a telemetry element

Parameters:

tel - the telemetry element object

Returns:

double-precision value

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

getTelemetryElementSTWU

public static double getTelemetryElementSTWU(Object tel)

Returns the forward speed through the water of the telemetry element

Parameters:

tel - the telemetry element object

Returns:

double-precision value

getTelemetryElementSTWV

public static double getTelemetryElementSTWV(Object tel)

Returns the lateral speed through the water 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 stwU,
                                                      double stwV)

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

stwU - forward speed through water

stwV - lateral speed through water

setTelemetryElementAltitude

public static void setTelemetryElementAltitude(Object tel,
                                               double altitude)

Sets the altitude above the bottom of a sampled result element

Parameters:

tel - the telemetry element object

altitude - value for the description attribute

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 UuvControlOrdersElementType createControlOrderElement(double portProp,
                                                                    double stbdProp,
                                                                    double centerProp,
                                                                    double rudder,
                                                                    double bowPlane,
                                                                    double sternPlane,
                                                                    String description)

Creates a UUV Orders element with propeller, plane and rudder settings

Parameters:

portProp - commanded port propeller setting

stbdProp - commanded starboard propeller setting

centerProp - commanded centerline propeller setting

rudder - commanded rudder setting

bowPlane - commanded bow plane deflection

sternPlane - commanded stern plane deflection

description -

Returns:

UuvControlOrdersElementType

createControlOrderElement

public static UuvControlOrdersElementType createControlOrderElement(double portProp,
                                                                    double stbdProp,
                                                                    double centerProp,
                                                                    double rudder,
                                                                    double bowPlane,
                                                                    double sternPlane,
                                                                    double bowLateral,
                                                                    double sternLateral,
                                                                    double bowVertical,
                                                                    double sternVertical,
                                                                    String description)

Creates a UUV Orders element with propeller, plane, rudder and body thruster settings

Parameters:

portProp - commanded port propeller setting

stbdProp - commanded starboard propeller setting

centerProp - commanded centerline propeller setting

rudder - commanded rudder setting

bowPlane - commanded bow plane deflection

sternPlane - commanded stern plane deflection

bowLateral - commanded bow lateral body thruster setting

sternLateral - commanded stern lateral body thruster setting

bowVertical - commanded bow vertical body thruster setting

sternVertical - commanded stern vertical body thruster setting

description -

Returns:

UuvControlOrdersElementType

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

setControlOrderElementThrusters

public static void setControlOrderElementThrusters(Object order,
                                                   double bowLateral,
                                                   double sternLateral,
                                                   double bowVertical,
                                                   double sternVertical)

Sets the body thruster order element

Parameters:

order - control order element

bowLateral - bow horizontal thruster setting

sternLateral - stern horizontal thruster setting

bowVertical - bow vertical thruster setting

sternVertical - stern vertical thruster setting

setControlOrderElementRudder

public static void setControlOrderElementRudder(Object order,
                                                double rudder)

Sets the rudder portion of the control orders element

Parameters:

order - control order element

rudder - commanded rudder deflection

setControlOrderElementPlanes

public static void setControlOrderElementPlanes(Object order,
                                                double bow,
                                                double stern)

Sets the control planes portion of the control orders element

Parameters:

order - control order element

stern - commanded stern plane deflection

bow - commanded bow plane deflection

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

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 UuvLoggableEventType getEventWithContent(Object content,
                                                       double time)

Creates a UUV event log object and sets the content

Parameters:

content - the JAXBElement<UuvLoggableEventType>

time - the loggable event time

Returns:

a UuvLoggableEventType Element to marshall out to mission results file

createGoalStatusEvent

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

Creates a GoalStatus loggable event element

Parameters:

goal - a goal object

status - in string form

description - of goal

Returns:

a GoalStatusUpdateElementType

createVehicleStatusEvent

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

Creates a VehicleStatus loggable event element

Parameters:

system -

status -

description -

Returns:

UuvTelemetryElementType

createSignalOfInterestRecordEvent

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

Creates a SignalOfInterest loggable event element

Parameters:

frequency -

units -

content -

description -

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 -

x -

pType -

vType -

y -

velocity -

heading -

v1 -

v2 -

description -

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 -

vType -

pType -

y -

x -

v2 -

v1 -

description -

Returns:

ContaminantRecordElementType