DISNetworkedRigidBody (Autonomous Unmanned Vehicle (AUV) Workbench Documentation)

java.lang.Object
- dynamics.RigidBody
- - dynamics.DISNetworkedRigidBody

Direct Known Subclasses:

MunitionBody, UAVBody, UAVBody, UGVBody, USVBody, UUVBody
```
public abstract class DISNetworkedRigidBody
extends RigidBody
```
Program: DISNetworkedRigidBody.java Description: DIS network interface for RigidBody model Author: Don Brutzman Java translation: Kevin Byrne, 19 March 98 Revised: Terry Norbraten, 16 FEB 2009 - Completed articulated parameter clobber fix - Implemented new OpenDIS library Duane Davis, 19 August 04 - repackaged and changed inheritance structure Duane Davis, 12 February 04 - enabled settable SITE, APPLICATION, and ENTITY IDs Duane Davis, 27 October 03 - fully implemented articulation parameters Don Brutzman, 14 November 99 - cast ArticulatedParameter values to double vice short Don Brutzman, 31 May 2001 - upgraded DIS library calls Notes: ARTICULATED PARAMETER VALUES ARE FINALLY TRANSMITTED CORRECTLY!

Version:

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

Field Summary

Fields
Modifier and Type	Field and Description
`protected static int`	`APPLICATION_ID` ESPDU header value
`protected edu.nps.moves.dis.EntityStatePdu`	`disPdu` The Pdu for an entity
`protected static int`	`ENTITY_ID` ESPDU header value
`static String`	`MULTICAST_GROUP` Multicast group
`static int`	`MULTICAST_PORT` Multicast port
`protected List<edu.nps.moves.dis.ArticulationParameter>`	`pduArtParams` The Articulation Parameters for an entity
`protected static int`	`SITE_ID` ESPDU header value
`static int`	`TTL` Time to live
`WorkbenchCommunicator`	`workbenchCommunicator` Default values--can be changed by command line flags

Fields inherited from class dynamics.RigidBody
BANK, current_time, DISCLIENT, dt, executionSocket, globals, HEAVE, hmatrix, Hprevious, MAXPARAMETERS, new_acceleration, new_velocity, p, p_dot, phi, phi_dot, PITCH, positionVector, psi, psi_dot, q, q_dot, r, r_dot, stateParameters, SURGE, SWAY, theta, theta_dot, u, u_dot, v, v_dot, w, w_dot, world, worldDown, x, x_dot, y, y_dot, YAW, z, z_dot

Constructor Summary

Constructors
Constructor and Description

DISNetworkedRigidBody(DynamicsGlobals globals, WorkbenchCommunicator communicator)
Gateway to all things DIS

Constructors
Constructor and Description
`DISNetworkedRigidBody(DynamicsGlobals globals, WorkbenchCommunicator communicator)` Gateway to all things DIS

Method Summary

All Methods Instance Methods Abstract Methods Concrete Methods
Modifier and Type	Method and Description
`void`	`deadReckonTestWithExecutionLevel()`
`void`	`disNetClose()` Closes network comms and reports
`boolean`	`disNetOpen()` Open a socket and join a multicast group, or fall back on unicast, or open an XMPP chat connection for DISXML
`int`	`disNetWrite()` Write the ESPDU to the net, or transmit via chat
`protected abstract int`	`getNumberStateParameters()`
`int`	`getPduSkipInterval()`
`double`	`getTimeOfLastPdu()`
`void`	`initialize()` Reset method for all transform values
`abstract void`	`integrateEquationsOfMotion()` Lots of math done here
`boolean`	`isDisPortOpen()`
`void`	`loopTestWithExecutionLevel()` Execution Level Loop
`void`	`printRigidBody()` As SysOut of the RidgidBody status at time of printout
`void`	`setGroup(String newGroup)` Sets the multi-cast address group
`void`	`setPduSkipInterval(int newValue)`
`void`	`setPort(String newPort)` Sets the socket port
`void`	`setTimeOfLastPdu(double new_time_of_last_PDU)`
`void`	`setTtl(int newTtl)` Sets the time-to-live for a PDU

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

- Field Detail
  - MULTICAST_PORT
```
public static final int MULTICAST_PORT
```
    Multicast port
    
    See Also:
    
    Constant Field Values
  - MULTICAST_GROUP
```
public static final String MULTICAST_GROUP
```
    Multicast group
    
    See Also:
    
    Constant Field Values
  - TTL
```
public static final int TTL
```
    Time to live
    
    See Also:
    
    Constant Field Values
  - workbenchCommunicator
```
public WorkbenchCommunicator workbenchCommunicator
```
    Default values--can be changed by command line flags
  - SITE_ID
```
protected static int SITE_ID
```
    ESPDU header value
  - APPLICATION_ID
```
protected static int APPLICATION_ID
```
    ESPDU header value
  - ENTITY_ID
```
protected static int ENTITY_ID
```
    ESPDU header value
  - disPdu
```
protected edu.nps.moves.dis.EntityStatePdu disPdu
```
    The Pdu for an entity
  - pduArtParams
```
protected List<edu.nps.moves.dis.ArticulationParameter> pduArtParams
```
    The Articulation Parameters for an entity
- Constructor Detail
  - DISNetworkedRigidBody
```
public DISNetworkedRigidBody(DynamicsGlobals globals,
                             WorkbenchCommunicator communicator)
```
    Gateway to all things DIS
    
    Parameters:
    
    globals - DynamicsGlobals
    
    communicator - WorkbenchCommunicator
- Method Detail
  - integrateEquationsOfMotion
```
public abstract void integrateEquationsOfMotion()
```
    Lots of math done here
    
    Specified by:
    
    integrateEquationsOfMotion in class RigidBody
  - getNumberStateParameters
```
protected abstract int getNumberStateParameters()
```
    Returns:
    
    the number of articulated parameters for a specific vehicle
  - printRigidBody
```
public void printRigidBody()
```
    As SysOut of the RidgidBody status at time of printout
  - getTimeOfLastPdu
```
public double getTimeOfLastPdu()
```
    Returns:
    
    the time of the last PDU sent
  - isDisPortOpen
```
public boolean isDisPortOpen()
```
    Returns:
    
    true if opened
  - getPduSkipInterval
```
public int getPduSkipInterval()
```
    Returns:
    
    a skip interval value for throttling packet sending
  - setPduSkipInterval
```
public final void setPduSkipInterval(int newValue)
```
    Parameters:
    
    newValue - a skip interval value for throttling packet sending
  - disNetOpen
```
public boolean disNetOpen()
```
    Open a socket and join a multicast group, or fall back on unicast, or open an XMPP chat connection for DISXML
    
    Returns:
    
    indication of success
  - disNetWrite
```
public int disNetWrite()
```
    Write the ESPDU to the net, or transmit via chat
    
    Returns:
    
    indication of success
  - disNetClose
```
public void disNetClose()
```
    Closes network comms and reports
  - initialize
```
public void initialize()
```
    Reset method for all transform values
    
    Overrides:
    
    initialize in class RigidBody
  - setTimeOfLastPdu
```
public void setTimeOfLastPdu(double new_time_of_last_PDU)
```
    Parameters:
    
    new_time_of_last_PDU - the time to set for the last PDU
  - setTtl
```
public void setTtl(int newTtl)
```
    Sets the time-to-live for a PDU
    
    Parameters:
    
    newTtl - the time to live for a PDU
  - setGroup
```
public void setGroup(String newGroup)
```
    Sets the multi-cast address group
    
    Parameters:
    
    newGroup - the multi-cast address to set
  - setPort
```
public void setPort(String newPort)
```
    Sets the socket port
    
    Parameters:
    
    newPort - the port number to set
  - loopTestWithExecutionLevel
```
public void loopTestWithExecutionLevel()
```
    Execution Level Loop
  - deadReckonTestWithExecutionLevel
```
public void deadReckonTestWithExecutionLevel()
```

Class DISNetworkedRigidBody

Field Summary

Fields inherited from class dynamics.RigidBody

Constructor Summary

Method Summary

Methods inherited from class dynamics.RigidBody

Methods inherited from class java.lang.Object

Field Detail

MULTICAST_PORT

MULTICAST_GROUP

TTL

workbenchCommunicator

SITE_ID

APPLICATION_ID

ENTITY_ID

disPdu

pduArtParams

Constructor Detail

DISNetworkedRigidBody

Method Detail

integrateEquationsOfMotion

getNumberStateParameters

printRigidBody

getTimeOfLastPdu

isDisPortOpen

getPduSkipInterval

setPduSkipInterval

disNetOpen

disNetWrite

disNetClose

initialize

setTimeOfLastPdu

setTtl

setGroup

setPort

loopTestWithExecutionLevel

deadReckonTestWithExecutionLevel