dynamics.models.uav

Class UAVBody

java.lang.Object

dynamics.RigidBody

dynamics.DISNetworkedRigidBody

dynamics.models.uav.UAVBody

public class UAVBody
extends DISNetworkedRigidBody

Field Summary

Fields

Modifier and Type	Field and Description
static int	AELERON
static int	DOPPLER_SOGU
static int	ENGINE_POWER
Vector3D	inertiaTensor
double	Ixx
double	Ixy
double	Ixz
double	Iyy
double	Iyz
double	Izz
static int	PORT_STAB
static int	RADALT
static int	REMAINING_BATTERY_POWER
static int	RUDDER
static int	STBD_STAB

Fields inherited from class dynamics.DISNetworkedRigidBody

APPLICATION_ID, disPdu, ENTITY_ID, MULTICAST_GROUP, MULTICAST_PORT, pduArtParams, SITE_ID, TTL, workbenchCommunicator

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
UAVBody(DynamicsGlobals globals, WorkbenchCommunicator communicator, StateVector state) Creates a new instance of UAVBody

Method Summary

Modifier and Type	Method and Description
void	euler_step(double stepU, double stepV, double stepW, double stepP, double stepQ, double stepR, double mslAltitude, double timeStep) Calculates 1 numerical integration step using Euler integration
protected int	getNumberStateParameters() Get the number of state parameters that are used by this vehicle type
StateVector	getStateVector()
void	heun_step(double stepU, double stepV, double stepW, double stepP, double stepQ, double stepR, double mslAltitude, double timeStep) Calculates 1 numerical integration step using Heun integration
void	initialize() Reset method for all transform values
void	integrateEquationsOfMotion() Lots of math done here
void	loadModel(String configFile)
void	rk4_step(double stepU, double stepV, double stepW, double stepP, double stepQ, double stepR, double mslAltitude, double timeStep) Calculates 1 numerical integration step using Runge Kutta 4 integration
void	setStateVector(StateVector stateVector)
Vector3D	unitGravity() Computes the force vector due to gravity in body coordinates based on the current posture

Methods inherited from class dynamics.DISNetworkedRigidBody

deadReckonTestWithExecutionLevel, disNetClose, disNetOpen, disNetWrite, getPduSkipInterval, getTimeOfLastPdu, isDisPortOpen, loopTestWithExecutionLevel, printRigidBody, setGroup, setPduSkipInterval, setPort, setTimeOfLastPdu, setTtl

Methods inherited from class dynamics.RigidBody

compute_world_rates, current_time_value, hmatrix_value, integrate_Hmatrix, nonzerosign, p_dot_value, phi_dot_value, phi_value, print_rigidbody, psi_dot_value, psi_value, q_dot_value, r_dot_value, set_accelerations, set_angular_accelerations, set_angular_velocities, set_current_time, set_linear_accelerations, set_linear_velocities, set_time_of_posture, set_velocities, set_world_rates, square, theta_dot_value, theta_value, time_of_posture_value, u_dot_value, update_Hmatrix, update_state_vector, v_dot_value, w_dot_value, x_dot_value, x_value, y_dot_value, y_value, z_dot_value, z_value

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

ENGINE_POWER

public static final int ENGINE_POWER

See Also:

Constant Field Values

AELERON

public static final int AELERON

See Also:

Constant Field Values

PORT_STAB

public static final int PORT_STAB

See Also:

Constant Field Values

STBD_STAB

public static final int STBD_STAB

See Also:

Constant Field Values

RUDDER

public static final int RUDDER

See Also:

Constant Field Values

RADALT

public static final int RADALT

See Also:

Constant Field Values

DOPPLER_SOGU

public static final int DOPPLER_SOGU

See Also:

Constant Field Values

REMAINING_BATTERY_POWER

public static final int REMAINING_BATTERY_POWER

See Also:

Constant Field Values

Ixx

public double Ixx

Iyy

public double Iyy

Izz

public double Izz

Ixy

public double Ixy

Ixz

public double Ixz

Iyz

public double Iyz

inertiaTensor

public Vector3D inertiaTensor

Constructor Detail

UAVBody

public UAVBody(DynamicsGlobals globals,
               WorkbenchCommunicator communicator,
               StateVector state)

Creates a new instance of UAVBody

Parameters:

globals -

communicator -

state -

Method Detail

initialize

public void initialize()

Description copied from class: DISNetworkedRigidBody

Reset method for all transform values

Overrides:

initialize in class DISNetworkedRigidBody

integrateEquationsOfMotion

public void integrateEquationsOfMotion()

Description copied from class: DISNetworkedRigidBody

Lots of math done here

Specified by:

integrateEquationsOfMotion in class DISNetworkedRigidBody

heun_step

public void heun_step(double stepU,
                      double stepV,
                      double stepW,
                      double stepP,
                      double stepQ,
                      double stepR,
                      double mslAltitude,
                      double timeStep)

Calculates 1 numerical integration step using Heun integration

Parameters:

stepU - longitudinal speed (m/s) at the start of the timestep

stepV - lateral speed (m/s) at the start of the timestep

stepW - vertical speed (m/s) at the start of the timestep

stepP - bank rate (radians/s) at the start of the timestep

stepQ - pitch rate (radians/s) at the start of the timestep

stepR - yaw rate (radians/s) at the start of the timestep

mslAltitude - mean sea level altitude in meters

timeStep - duration of time interval for this integration

rk4_step

public void rk4_step(double stepU,
                     double stepV,
                     double stepW,
                     double stepP,
                     double stepQ,
                     double stepR,
                     double mslAltitude,
                     double timeStep)

Calculates 1 numerical integration step using Runge Kutta 4 integration

Parameters:

stepU - longitudinal speed (m/s) at the start of the timestep

stepV - lateral speed (m/s) at the start of the timestep

stepW - vertical speed (m/s) at the start of the timestep

stepP - bank rate (radians/s) at the start of the timestep

stepQ - pitch rate (radians/s) at the start of the timestep

stepR - yaw rate (radians/s) at the start of the timestep

mslAltitude - mean sea level altitude in meters

timeStep - duration of time interval for this integration

euler_step

public void euler_step(double stepU,
                       double stepV,
                       double stepW,
                       double stepP,
                       double stepQ,
                       double stepR,
                       double mslAltitude,
                       double timeStep)

Calculates 1 numerical integration step using Euler integration

Parameters:

stepU - longitudinal speed (m/s) at the start of the timestep

stepV - lateral speed (m/s) at the start of the timestep

stepW - vertical speed (m/s) at the start of the timestep

stepP - bank rate (radians/s) at the start of the timestep

stepQ - pitch rate (radians/s) at the start of the timestep

stepR - yaw rate (radians/s) at the start of the timestep

mslAltitude - mean sea level altitude in meters

timeStep - duration of time interval for this integration

unitGravity

public Vector3D unitGravity()

Computes the force vector due to gravity in body coordinates based on the current posture

Returns:

Vector3D

loadModel

public void loadModel(String configFile)

Specified by:

loadModel in class RigidBody

getNumberStateParameters

protected int getNumberStateParameters()

Get the number of state parameters that are used by this vehicle type

Specified by:

getNumberStateParameters in class DISNetworkedRigidBody

Returns:

Number parameters

getStateVector

public StateVector getStateVector()

Returns:

the state

setStateVector

public final void setStateVector(StateVector stateVector)

Parameters:

stateVector - the state to set