Rascal (Autonomous Unmanned Vehicle (AUV) Workbench Documentation)

java.lang.Object
- avcl.translate.TelemetryFileTranslator
- - avcl.translate.Rascal

All Implemented Interfaces:

TelemetryTranslatorInterface
```
public class Rascal
extends TelemetryFileTranslator
```
Translates Rascal Uav data into AVCL. The rascal data seems fairly "noisy" in various respects--the lat/lon seems to be off in several instances, the telemetry sampling period seems to be greater than the GPS update rate, the telemetry sampling period is faster than the workbench can handle, etc. I've filtered and corrected the data in various ways.
The data consists of text fields, separated by white space, each field in a particular order in the line. That's defined by their "index" in the constants below.

Author:

mcgredo

Field Summary

Fields
Modifier and Type	Field and Description
`static int`	`ALTITUDE_INDEX`
`static int`	`BOGUS_DISTANCE_IN_METERS` Used to filter out semi-obviously bogus position data.
`static int`	`CLOCK_INDEX`
`static int`	`DAY_INDEX`
`static int`	`DIRECTION_INDEX`
`static int`	`GROUNDSPEED_INDEX`
`static int`	`HEIGHT_INDEX`
`static int`	`HOUR_INDEX`
`static int`	`LATITUDE_INDEX`
`static int`	`LONGITUDE_INDEX`
`static double`	`MINUTE`
`static int`	`MINUTE_INDEX`
`static int`	`MONTH_INDEX`
`static int`	`P_INDEX`
`static int`	`PITCH_INDEX`
`static int`	`Q_INDEX`
`static int`	`R_INDEX`
`static int`	`ROLL_INDEX`
`static int`	`SECONDS_INDEX`
`static int`	`YAW_INDEX`
`static int`	`YEAR_INDEX`

Fields inherited from class avcl.translate.TelemetryFileTranslator
avclDocument, centerCoordUTM, factory, fileWriter, filterOnTime, fis, geoOriginLatLon, latLonOffset, metadata, offsetCoordUTM, pathname, projectGeoOriginLatLon, sysoutPW, timeFilterMinimum

Fields inherited from interface avcl.translate.TelemetryTranslatorInterface
GEO_ORIGIN

Constructor Summary

Constructors
Constructor and Description

Rascal()
Used by GUI through TelemetryTranslatorInterface i/f

Rascal(String pPathname)
Creates a new instance of Rascal AVCL translator

Constructors
Constructor and Description
`Rascal()` Used by GUI through TelemetryTranslatorInterface i/f
`Rascal(String pPathname)` Creates a new instance of Rascal AVCL translator

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`com.bbn.openmap.LatLonPoint`	`findCorrectedGeoCenter(com.bbn.openmap.LatLonPoint rawGeoCenter, int bogusDistanceThreshold)` The second step in the filter process.
`AVCL`	`getDefaultAvclDocument()` Creates a mostly-filled-out `AVCL` document that lacks only the telemetry data.
`double`	`getTelemetrySampleRate()` Accept data no more frequently than this
`static void`	`main(String[] args)`
`void`	`parse()` implements TelemetryTranslatorInterface
`String`	`toString()` Returns a string description of the translator, suitable for user viewing in GUIs.

Methods inherited from class avcl.translate.TelemetryFileTranslator
addMetadataEntry, endDocument, getAvclDocument, getImportStartTime, getImportStopTime, getMonthName, getSignificantDigits, getSysOut, getTimeFilterMinimum, latLongToXY, latLongToXY, setFilterOnTime, setImportStartTime, setImportStopTime, setInputFileName, setMetadata, setSysOut, setTimeFilterMinimum, startDocument, startDocument, sysOutPrintln, sysOutPrintln, writeOutputFile

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

- Field Detail
  - CLOCK_INDEX
```
public static final int CLOCK_INDEX
```
    See Also:
    
    Constant Field Values
  - YEAR_INDEX
```
public static final int YEAR_INDEX
```
    See Also:
    
    Constant Field Values
  - MONTH_INDEX
```
public static final int MONTH_INDEX
```
    See Also:
    
    Constant Field Values
  - DAY_INDEX
```
public static final int DAY_INDEX
```
    See Also:
    
    Constant Field Values
  - HOUR_INDEX
```
public static final int HOUR_INDEX
```
    See Also:
    
    Constant Field Values
  - MINUTE_INDEX
```
public static final int MINUTE_INDEX
```
    See Also:
    
    Constant Field Values
  - SECONDS_INDEX
```
public static final int SECONDS_INDEX
```
    See Also:
    
    Constant Field Values
  - LATITUDE_INDEX
```
public static final int LATITUDE_INDEX
```
    See Also:
    
    Constant Field Values
  - LONGITUDE_INDEX
```
public static final int LONGITUDE_INDEX
```
    See Also:
    
    Constant Field Values
  - HEIGHT_INDEX
```
public static final int HEIGHT_INDEX
```
    See Also:
    
    Constant Field Values
  - GROUNDSPEED_INDEX
```
public static final int GROUNDSPEED_INDEX
```
    See Also:
    
    Constant Field Values
  - DIRECTION_INDEX
```
public static final int DIRECTION_INDEX
```
    See Also:
    
    Constant Field Values
  - ALTITUDE_INDEX
```
public static final int ALTITUDE_INDEX
```
    See Also:
    
    Constant Field Values
  - P_INDEX
```
public static final int P_INDEX
```
    See Also:
    
    Constant Field Values
  - Q_INDEX
```
public static final int Q_INDEX
```
    See Also:
    
    Constant Field Values
  - R_INDEX
```
public static final int R_INDEX
```
    See Also:
    
    Constant Field Values
  - ROLL_INDEX
```
public static final int ROLL_INDEX
```
    See Also:
    
    Constant Field Values
  - PITCH_INDEX
```
public static final int PITCH_INDEX
```
    See Also:
    
    Constant Field Values
  - YAW_INDEX
```
public static final int YAW_INDEX
```
    See Also:
    
    Constant Field Values
  - MINUTE
```
public static final double MINUTE
```
    See Also:
    
    Constant Field Values
  - BOGUS_DISTANCE_IN_METERS
```
public static final int BOGUS_DISTANCE_IN_METERS
```
    Used to filter out semi-obviously bogus position data. If a telemetry entry is more than this distance from the GeoCenter of the data, it is assumed to be bogus data.
    
    See Also:
    
    Constant Field Values
- Constructor Detail
  - Rascal
```
public Rascal()
```
    Used by GUI through TelemetryTranslatorInterface i/f
  - Rascal
```
public Rascal(String pPathname)
       throws Exception
```
    Creates a new instance of Rascal AVCL translator
    
    Parameters:
    
    pPathname -
    
    Throws:
    
    Exception
- Method Detail
  - toString
```
public String toString()
```
    Description copied from interface: TelemetryTranslatorInterface
    
    Returns a string description of the translator, suitable for user viewing in GUIs.
    
    Specified by:
    
    toString in interface TelemetryTranslatorInterface
    
    Specified by:
    
    toString in class TelemetryFileTranslator
    
    Returns:
    
    String description of the translator
  - getDefaultAvclDocument
```
public AVCL getDefaultAvclDocument()
```
    Creates a mostly-filled-out AVCL document that lacks only the telemetry data.
    
    Overrides:
    
    getDefaultAvclDocument in class TelemetryFileTranslator
    
    Returns:
    
    a default AVCL telemetry mission specific to this type of vehicle
  - parse
```
public void parse()
```
    implements TelemetryTranslatorInterface
    
    Specified by:
    
    parse in interface TelemetryTranslatorInterface
    
    Specified by:
    
    parse in class TelemetryFileTranslator
  - findCorrectedGeoCenter
```
public com.bbn.openmap.LatLonPoint findCorrectedGeoCenter(com.bbn.openmap.LatLonPoint rawGeoCenter,
                                                          int bogusDistanceThreshold)
```
    The second step in the filter process. After we find the "raw" geocenter, we do a second pass and toss out all the data that is not within some distance of the raw geocenter. This gets rid of less obviously bogus data--we can easily throw out lat/lon at (0.0, 0.0) but something 10 degrees of latitude away from the base is less obvious. This is intended to catch the less obvious data.
    
    Parameters:
    
    rawGeoCenter -
    
    bogusDistanceThreshold -
    
    Returns:
    
    LatLonPoint
  - main
```
public static void main(String[] args)
```
    Parameters:
    
    args -
  - getTelemetrySampleRate
```
public double getTelemetrySampleRate()
```
    Description copied from class: TelemetryFileTranslator
    
    Accept data no more frequently than this
    
    Specified by:
    
    getTelemetrySampleRate in interface TelemetryTranslatorInterface
    
    Overrides:
    
    getTelemetrySampleRate in class TelemetryFileTranslator
    
    Returns:
    
    the minimum time (in seconds) between telemetry data points

Class Rascal

Field Summary

Fields inherited from class avcl.translate.TelemetryFileTranslator

Fields inherited from interface avcl.translate.TelemetryTranslatorInterface

Constructor Summary

Method Summary

Methods inherited from class avcl.translate.TelemetryFileTranslator

Methods inherited from class java.lang.Object

Field Detail

CLOCK_INDEX

YEAR_INDEX

MONTH_INDEX

DAY_INDEX

HOUR_INDEX

MINUTE_INDEX

SECONDS_INDEX

LATITUDE_INDEX

LONGITUDE_INDEX

HEIGHT_INDEX

GROUNDSPEED_INDEX

DIRECTION_INDEX

ALTITUDE_INDEX

P_INDEX

Q_INDEX

R_INDEX

ROLL_INDEX

PITCH_INDEX

YAW_INDEX

MINUTE

BOGUS_DISTANCE_IN_METERS

Constructor Detail

Rascal

Rascal

Method Detail

toString

getDefaultAvclDocument

parse

findCorrectedGeoCenter

main

getTelemetrySampleRate