dynamics.models.usv

Class USVBody

java.lang.Object

dynamics.RigidBody

dynamics.DISNetworkedRigidBody

dynamics.models.usv.USVBody

public class USVBody
extends DISNetworkedRigidBody

Implements a simple kinematic (no physics) model of a surface vehicle. The model has two degrees of freedom (U and R) with response depending on preset maximum speeds, current speeds, and current control settings (rudder and propeller)

Author:

dtdavis

Field Summary

Fields

Modifier and Type	Field and Description
static int	DOPPLER_SOGU
static int	DOPPLER_SOGV
static int	FATHOMETER
static int	PROPELLER
static int	REMAINING_BATTERY_POWER
static int	RUDDER

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

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()
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) 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 mslAltitude, double timeStep) Calculates 1 numerical integration step using Runge-Kutta Fourth Order (RK4) integration
void	setStateVector(StateVector stateVector)

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

PROPELLER

public static final int PROPELLER

See Also:

Constant Field Values

RUDDER

public static final int RUDDER

See Also:

Constant Field Values

FATHOMETER

public static final int FATHOMETER

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

USVBody

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

Creates a new instance of USVBody

Parameters:

globals -

communicator -

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 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 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

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

getNumberStateParameters

protected int getNumberStateParameters()

Specified by:

getNumberStateParameters in class DISNetworkedRigidBody

Returns:

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

getStateVector

public StateVector getStateVector()

Returns:

the state

setStateVector

public final void setStateVector(StateVector stateVector)

Parameters:

stateVector - the state to set