Remus (Autonomous Unmanned Vehicle (AUV) Workbench Documentation)

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

All Implemented Interfaces:

TelemetryTranslatorInterface
```
public class Remus
extends TelemetryFileTranslator
```
Remus underwater vehicle telemetry translation into AVCL. Takes a remus telemetry file as input, as exported from MATLAB, and translates this to an AVCL file.
There are multiple Remus file formats. This is just one that I found, from an Excel spreadsheet. Presumably the data can be exported in multiple formats from MATLAB.

Author:

mcgredo

Field Summary

Fields
Modifier and Type	Field and Description
`static int`	`BOGUS_DISTANCE_IN_METERS` Used to filter out semi-obviously bogus position data.
`static int`	`DAYS_SINCE_1970_INDEX`
`static double`	`DEFAULT_TIMESTEP_SECONDS` The minimum timestep--if telemetry data comes in more quickly than this, we discard it.
`static int`	`DEPTH_INDEX`
`static int`	`HEADING_INDEX`
`static int`	`LATITUDE_INDEX`
`static int`	`LONGITUDE_INDEX`
`static double`	`MINUTE`
`static int`	`TIME_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

Remus()
Creates a new instance of Remus

Remus(String pPathname)
Creates a new instance of Rascal

Constructors
Constructor and Description
`Remus()` Creates a new instance of Remus
`Remus(String pPathname)` Creates a new instance of Rascal

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)` Test case entry point.
`void`	`parse()` After the constructor has been called, we've created a file writer that we can send events to.
`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
  - DEPTH_INDEX
```
public static final int DEPTH_INDEX
```
    See Also:
    
    Constant Field Values
  - HEADING_INDEX
```
public static final int HEADING_INDEX
```
    See Also:
    
    Constant Field Values
  - TIME_INDEX
```
public static final int TIME_INDEX
```
    See Also:
    
    Constant Field Values
  - DAYS_SINCE_1970_INDEX
```
public static final int DAYS_SINCE_1970_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
  - 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
  - DEFAULT_TIMESTEP_SECONDS
```
public static final double DEFAULT_TIMESTEP_SECONDS
```
    The minimum timestep--if telemetry data comes in more quickly than this, we discard it.
    
    See Also:
    
    Constant Field Values
- Constructor Detail
  - Remus
```
public Remus()
```
    Creates a new instance of Remus
  - Remus
```
public Remus(String pPathname)
      throws Exception
```
    Creates a new instance of Rascal
    
    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()
```
    After the constructor has been called, we've created a file writer that we can send events to. Theoretically we can also set up a listener pattern so that we can notify more than one recipient of our parse events, but there is no need for that here, at least right now.
    
    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)
```
    Test case entry point.
    
    Parameters:
    
    args - command line arguments if any
  - 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 Remus

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

DEPTH_INDEX

HEADING_INDEX

TIME_INDEX

DAYS_SINCE_1970_INDEX

LATITUDE_INDEX

LONGITUDE_INDEX

MINUTE

BOGUS_DISTANCE_IN_METERS

DEFAULT_TIMESTEP_SECONDS

Constructor Detail

Remus

Remus

Method Detail

toString

getDefaultAvclDocument

parse

findCorrectedGeoCenter

main

getTelemetrySampleRate