RigidBody (Autonomous Unmanned Vehicle (AUV) Workbench Documentation)

java.lang.Object
- dynamics.RigidBody

Direct Known Subclasses:

DISNetworkedRigidBody
```
public abstract class RigidBody
extends Object
```
Version:

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

Field Summary

Fields
Modifier and Type	Field and Description
`static int`	`BANK`
`double`	`current_time`
`static String`	`DISCLIENT`
`double`	`dt`
`RigidBodySocket`	`executionSocket`
`DynamicsGlobals`	`globals`
`static int`	`HEAVE`
`Hmatrix`	`hmatrix`
`Hmatrix`	`Hprevious`
`static int`	`MAXPARAMETERS`
`double[]`	`new_acceleration`
`double[]`	`new_velocity`
`double`	`p`
`double`	`p_dot`
`double`	`phi`
`double`	`phi_dot`
`static int`	`PITCH`
`Vector3D`	`positionVector`
`double`	`psi`
`double`	`psi_dot`
`double`	`q`
`double`	`q_dot`
`double`	`r`
`double`	`r_dot`
`double[]`	`stateParameters`
`static int`	`SURGE`
`static int`	`SWAY`
`double`	`theta`
`double`	`theta_dot`
`double`	`u`
`double`	`u_dot`
`double`	`v`
`double`	`v_dot`
`double`	`w`
`double`	`w_dot`
`World`	`world`
`Vector3D`	`worldDown`
`double`	`x`
`double`	`x_dot`
`double`	`y`
`double`	`y_dot`
`static int`	`YAW`
`double`	`z`
`double`	`z_dot`

Constructor Summary

Constructors
Constructor and Description
`RigidBody(double x, double y, double z, double phi, double theta, double psi, double t, DynamicsGlobals globals)`
`RigidBody(DynamicsGlobals globals)`
`RigidBody(Hmatrix initialhmatrix, double t, DynamicsGlobals globals)`
`RigidBody(Hmatrix initialhmatrix, DynamicsGlobals globals)`

Method Summary

All Methods Instance Methods Abstract Methods Concrete Methods
Modifier and Type	Method and Description
`double[]`	`compute_world_rates(double localPhi, double localTheta, double localPsi, double localU, double localV, double localW, double localP, double localQ, double localR)`
`double`	`current_time_value()`
`Hmatrix`	`hmatrix_value()` Does not return a [4][4] array
`void`	`initialize()`
`void`	`integrate_Hmatrix()` Updates the HMatrix and previous HMatrix based on the integrated velocities
`abstract void`	`integrateEquationsOfMotion()`
`abstract void`	`loadModel(String configFile)`
`double`	`nonzerosign(double value)`
`double`	`p_dot_value()`
`double`	`phi_dot_value()`
`double`	`phi_value()`
`void`	`print_rigidbody()`
`double`	`psi_dot_value()`
`double`	`psi_value()`
`double`	`q_dot_value()`
`double`	`r_dot_value()`
`void`	`set_accelerations(double new_u_dot, double new_v_dot, double new_w_dot, double new_p_dot, double new_q_dot, double new_r_dot)`
`void`	`set_angular_accelerations(double new_p_dot, double new_q_dot, double new_r_dot)`
`void`	`set_angular_velocities(double new_phi_dot, double new_theta_dot, double new_psi_dot)`
`void`	`set_current_time(double new_current_time)`
`void`	`set_linear_accelerations(double new_u_dot, double new_v_dot, double new_w_dot)`
`void`	`set_linear_velocities(double new_x_dot, double new_y_dot, double new_z_dot)`
`void`	`set_time_of_posture(double new_time_of_posture)`
`void`	`set_velocities(double new_x_dot, double new_y_dot, double new_z_dot, double new_phi_dot, double new_theta_dot, double new_psi_dot)`
`void`	`set_world_rates()`
`double`	`square(double value)`
`double`	`theta_dot_value()`
`double`	`theta_value()`
`double`	`time_of_posture_value()`
`double`	`u_dot_value()`
`void`	`update_Hmatrix(double delta_t)`
`void`	`update_state_vector()` Updates the state vector with the positions and velocities calculated during integration
`double`	`v_dot_value()`
`double`	`w_dot_value()`
`double`	`x_dot_value()`
`double`	`x_value()`
`double`	`y_dot_value()`
`double`	`y_value()`
`double`	`z_dot_value()`
`double`	`z_value()`

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

Field Detail

SURGE
```
public static final int SURGE
```
See Also:

Constant Field Values

SWAY
```
public static final int SWAY
```
See Also:

Constant Field Values

HEAVE
```
public static final int HEAVE
```
See Also:

Constant Field Values

BANK
```
public static final int BANK
```
See Also:

Constant Field Values

PITCH
```
public static final int PITCH
```
See Also:

Constant Field Values

YAW
```
public static final int YAW
```
See Also:

Constant Field Values

MAXPARAMETERS
```
public static final int MAXPARAMETERS
```
See Also:

Constant Field Values

executionSocket
```
public RigidBodySocket executionSocket
```

globals
```
public DynamicsGlobals globals
```

hmatrix
```
public Hmatrix hmatrix
```

Hprevious
```
public Hmatrix Hprevious
```

DISCLIENT
```
public static final String DISCLIENT
```
See Also:

Constant Field Values

current_time
```
public double current_time
```

dt
```
public double dt
```

x
```
public double x
```

y
```
public double y
```

z
```
public double z
```

phi
```
public double phi
```

theta
```
public double theta
```

psi
```
public double psi
```

u
```
public double u
```

v
```
public double v
```

w
```
public double w
```

p
```
public double p
```

q
```
public double q
```

r
```
public double r
```

u_dot
```
public double u_dot
```

v_dot
```
public double v_dot
```

w_dot
```
public double w_dot
```

p_dot
```
public double p_dot
```

q_dot
```
public double q_dot
```

r_dot
```
public double r_dot
```

x_dot
```
public double x_dot
```

y_dot
```
public double y_dot
```

z_dot
```
public double z_dot
```

phi_dot
```
public double phi_dot
```

theta_dot
```
public double theta_dot
```

psi_dot
```
public double psi_dot
```

stateParameters
```
public double[] stateParameters
```

new_acceleration
```
public double[] new_acceleration
```

new_velocity
```
public double[] new_velocity
```

positionVector
```
public Vector3D positionVector
```

worldDown
```
public Vector3D worldDown
```

world
```
public World world
```

Constructor Detail

RigidBody

public RigidBody(DynamicsGlobals globals)

RigidBody

public RigidBody(double x,
                 double y,
                 double z,
                 double phi,
                 double theta,
                 double psi,
                 double t,
                 DynamicsGlobals globals)

RigidBody

public RigidBody(Hmatrix initialhmatrix,
                 DynamicsGlobals globals)

RigidBody

public RigidBody(Hmatrix initialhmatrix,
                 double t,
                 DynamicsGlobals globals)

Method Detail

integrateEquationsOfMotion

public abstract void integrateEquationsOfMotion()

loadModel

public abstract void loadModel(String configFile)

print_rigidbody
```
public void print_rigidbody()
```

hmatrix_value
```
public Hmatrix hmatrix_value()
```
Does not return a [4][4] array

Returns:

an Hmatrix object

time_of_posture_value
```
public double time_of_posture_value()
```

x_value
```
public double x_value()
```

y_value
```
public double y_value()
```

z_value
```
public double z_value()
```

phi_value
```
public double phi_value()
```

theta_value
```
public double theta_value()
```

psi_value
```
public double psi_value()
```

x_dot_value
```
public double x_dot_value()
```

y_dot_value
```
public double y_dot_value()
```

z_dot_value
```
public double z_dot_value()
```

phi_dot_value
```
public double phi_dot_value()
```

theta_dot_value
```
public double theta_dot_value()
```

psi_dot_value
```
public double psi_dot_value()
```

current_time_value
```
public double current_time_value()
```

u_dot_value
```
public double u_dot_value()
```

v_dot_value
```
public double v_dot_value()
```

w_dot_value
```
public double w_dot_value()
```

p_dot_value
```
public double p_dot_value()
```

q_dot_value
```
public double q_dot_value()
```

r_dot_value
```
public double r_dot_value()
```

initialize
```
public void initialize()
```

integrate_Hmatrix
```
public void integrate_Hmatrix()
```
Updates the HMatrix and previous HMatrix based on the integrated velocities

update_state_vector
```
public void update_state_vector()
```
Updates the state vector with the positions and velocities calculated during integration

set_world_rates
```
public void set_world_rates()
```

compute_world_rates

public double[] compute_world_rates(double localPhi,
                                    double localTheta,
                                    double localPsi,
                                    double localU,
                                    double localV,
                                    double localW,
                                    double localP,
                                    double localQ,
                                    double localR)

set_velocities

public void set_velocities(double new_x_dot,
                           double new_y_dot,
                           double new_z_dot,
                           double new_phi_dot,
                           double new_theta_dot,
                           double new_psi_dot)

set_linear_velocities

public void set_linear_velocities(double new_x_dot,
                                  double new_y_dot,
                                  double new_z_dot)

set_angular_velocities

public void set_angular_velocities(double new_phi_dot,
                                   double new_theta_dot,
                                   double new_psi_dot)

set_current_time

public void set_current_time(double new_current_time)

set_accelerations

public void set_accelerations(double new_u_dot,
                              double new_v_dot,
                              double new_w_dot,
                              double new_p_dot,
                              double new_q_dot,
                              double new_r_dot)

set_linear_accelerations

public void set_linear_accelerations(double new_u_dot,
                                     double new_v_dot,
                                     double new_w_dot)

set_angular_accelerations

public void set_angular_accelerations(double new_p_dot,
                                      double new_q_dot,
                                      double new_r_dot)

set_time_of_posture

public void set_time_of_posture(double new_time_of_posture)

update_Hmatrix

public void update_Hmatrix(double delta_t)

square
```
public double square(double value)
```

nonzerosign

public double nonzerosign(double value)

Class RigidBody

Field Summary

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Field Detail

SURGE

SWAY

HEAVE

BANK

PITCH

YAW

MAXPARAMETERS

executionSocket

globals

hmatrix

Hprevious

DISCLIENT

current_time

dt

x

y

z

phi

theta

psi

u

v

w

p

q

r

u_dot

v_dot

w_dot

p_dot

q_dot

r_dot

x_dot

y_dot

z_dot

phi_dot

theta_dot

psi_dot

stateParameters

new_acceleration

new_velocity

positionVector

worldDown

world

Constructor Detail

RigidBody

RigidBody

RigidBody

RigidBody

Method Detail

integrateEquationsOfMotion

loadModel

print_rigidbody

hmatrix_value

time_of_posture_value

x_value

y_value

z_value

phi_value

theta_value

psi_value

x_dot_value

y_dot_value

z_dot_value

phi_dot_value

theta_dot_value

psi_dot_value

current_time_value

u_dot_value

v_dot_value

w_dot_value

p_dot_value

q_dot_value

r_dot_value