dynamics.models.ugv

Class UGVBody

java.lang.Object

dynamics.RigidBody

dynamics.DISNetworkedRigidBody

dynamics.models.ugv.UGVBody

public class UGVBody
extends DISNetworkedRigidBody

Rigid body representation of a tracked unmanned ground vehicle (or a 4-wheeled vehicle that steers by differential wheel speed).

Author:

dtdavi1

Field Summary

Fields

Modifier and Type	Field and Description
static int	DOPPLER_SOGU
static int	DOPPLER_SOGV
static int	LEFT_TRACK_CMD
static int	LEFT_TRACK_SPD
static int	REMAINING_BATTERY_POWER
static int	RIGHT_TRACK_CMD
static int	RIGHT_TRACK_SPD

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
UGVBody(DynamicsGlobals globals, WorkbenchCommunicator communicator, StateVector state)

Method Summary

Modifier and Type	Method and Description
void	euler_step(double stepU, double stepV, double stepW, double stepP, double stepQ, double stepR, double altitude, double timeStep) Calculates 1 numerical integration step using Euler integration TODO: Non-physically-based model does not rely on integration of equations of motion to update posture.
protected int	getNumberStateParameters()
StateVector	getState()
void	heun_step(double stepU, double stepV, double stepW, double stepP, double stepQ, double stepR, double altitude, 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) Loads the model coefficients from a file as required
void	rk4_step(double stepU, double stepV, double stepW, double stepP, double stepQ, double stepR, double altitude, double timeStep) Calculates 1 numerical integration step using Runge-Kutta Fourth Order (RK4) integration
void	setState(StateVector state)

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

LEFT_TRACK_CMD

public static final int LEFT_TRACK_CMD

See Also:

Constant Field Values

RIGHT_TRACK_CMD

public static final int RIGHT_TRACK_CMD

See Also:

Constant Field Values

LEFT_TRACK_SPD

public static final int LEFT_TRACK_SPD

See Also:

Constant Field Values

RIGHT_TRACK_SPD

public static final int RIGHT_TRACK_SPD

See Also:

Constant Field Values

DOPPLER_SOGU

public static final int DOPPLER_SOGU

See Also:

Constant Field Values

DOPPLER_SOGV

public static final int DOPPLER_SOGV

See Also:

Constant Field Values

REMAINING_BATTERY_POWER

public static final int REMAINING_BATTERY_POWER

See Also:

Constant Field Values

Constructor Detail

UGVBody

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

Method Detail

initialize

public void initialize()

Description copied from class: DISNetworkedRigidBody

Reset method for all transform values

Overrides:

initialize in class DISNetworkedRigidBody

loadModel

public final void loadModel(String configFile)

Loads the model coefficients from a file as required

Specified by:

loadModel in class RigidBody

Parameters:

configFile -

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 altitude,
                      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

altitude - mean sea level altitude in meters

timeStep -

rk4_step

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

Calculates 1 numerical integration step using Runge-Kutta Fourth Order (RK4) 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

altitude - mean sea level altitude in meters

timeStep -

euler_step

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

Calculates 1 numerical integration step using Euler integration TODO: Non-physically-based model does not rely on integration of equations of motion to update posture. This would be more rigorous, so provisions are still included to upgrade the model in the future

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

altitude - mean sea level altitude in meters

timeStep -

getNumberStateParameters

protected int getNumberStateParameters()

Specified by:

getNumberStateParameters in class DISNetworkedRigidBody

Returns:

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

getState

public StateVector getState()

Returns:

the state

setState

public final void setState(StateVector state)

Parameters:

state - the state to set