UUVGlobals (Autonomous Unmanned Vehicle (AUV) Workbench Documentation)

java.lang.Object
- dynamics.models.uuv.UUVGlobals

```
public class UUVGlobals
extends Object
```
File: AUVglobals.java

Author: Don Brutzman (web.nps.navy.mil/~brutzman)

Revised: 6 March 1977 - converted to Java by Kevin Byrne and Jeff Schmidt 20 February 1998 - Updated by Kevin Byrne

AUV telemetry state vector
Note these are globals for direct access by any world model. Refer to
individual world models for details. Data hiding within a protected object
is not necessary since all values are transient and superseded by actual
state when it occurs. Additionally, half of the state variables are
provided only by the AUV microprocessor socket, and the other half are
provided by respective world models. Thus global variables in this design
are not vulnerable to corruption and side effects, making data hiding
unnecessary.
Source Code:
AUVglobals.java

Version:

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

Field Summary

Fields
Modifier and Type	Field and Description
`protected int`	`FLOW_FIELD_MODE` Bouyancy model active when = true
`protected double`	`flowfieldbox_height` This is AUV width/cross_sections
`protected double`	`flowfieldbox_length` 4*the number of cross_sections on AUV
`protected double`	`flowfieldbox_width` This is AUV length/ cross_sections 7.30208333/15 (feet)
`protected int`	`FLOWFIELDLENGTH`
`protected int`	`FLOWFIELDWIDTH` 2*lenght of sub om .5 ft inc
`protected double`	`max_error_st1000` percent of range randomly in error
`protected double`	`max_error_st725`
`protected Vector3D`	`st1000Offset`
`protected Vector3D`	`st725Offset`
`protected double`	`submarine_course` sub's state vector on z 6.7 m
`protected boolean`	`SUBMARINE_DOCKING` Bouyancy model active when = true
`protected double`	`submarine_length_feet` sub's state vector on roll
`protected double`	`submarine_length_meters` length of the submarine (feet)
`protected double`	`submarine_pitch` sub's state vector on speed
`protected double`	`submarine_roll` sub's state vector on pitch
`protected double`	`submarine_speed` sub's state vector of course
`protected double`	`submarine_width_feet` length of the submarine (meter)
`protected double`	`submarine_width_meters` width of the submarine (feet)
`protected double`	`submarine_x` This is AUV height/cross_section
`protected double`	`submarine_y` sub's state vector on x 0.0 m
`protected double`	`submarine_z` sub's state vector on y 30.5 m
`protected boolean`	`TESTTANKSURFACE` percent of range randomly in error
`protected double`	`torpedotube_height` docking target information on z 10.05 m
`protected double`	`torpedotube_x` width of the submarine (meter)
`protected double`	`torpedotube_y` docking target information on x 32.9 m
`protected double`	`torpedotube_z` docking target information on y 29.6 m
`protected boolean`	`WAVE_BOUYANCY_MODEL`

Constructor Summary

Constructors
Constructor and Description

UUVGlobals()

Constructors
Constructor and Description
`UUVGlobals()`

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

- Field Detail
  - st725Offset
```
protected Vector3D st725Offset
```
  - st1000Offset
```
protected Vector3D st1000Offset
```
  - max_error_st725
```
protected double max_error_st725
```
  - max_error_st1000
```
protected double max_error_st1000
```
    percent of range randomly in error
  - TESTTANKSURFACE
```
protected boolean TESTTANKSURFACE
```
    percent of range randomly in error
  - WAVE_BOUYANCY_MODEL
```
protected boolean WAVE_BOUYANCY_MODEL
```
  - SUBMARINE_DOCKING
```
protected boolean SUBMARINE_DOCKING
```
    Bouyancy model active when = true
  - FLOW_FIELD_MODE
```
protected int FLOW_FIELD_MODE
```
    Bouyancy model active when = true
  - FLOWFIELDLENGTH
```
protected int FLOWFIELDLENGTH
```
  - FLOWFIELDWIDTH
```
protected int FLOWFIELDWIDTH
```
    2*lenght of sub om .5 ft inc
  - flowfieldbox_length
```
protected double flowfieldbox_length
```
    4*the number of cross_sections on AUV
  - flowfieldbox_width
```
protected double flowfieldbox_width
```
    This is AUV length/ cross_sections 7.30208333/15 (feet)
  - flowfieldbox_height
```
protected double flowfieldbox_height
```
    This is AUV width/cross_sections
  - submarine_x
```
protected double submarine_x
```
    This is AUV height/cross_section
  - submarine_y
```
protected double submarine_y
```
    sub's state vector on x 0.0 m
  - submarine_z
```
protected double submarine_z
```
    sub's state vector on y 30.5 m
  - submarine_course
```
protected double submarine_course
```
    sub's state vector on z 6.7 m
  - submarine_speed
```
protected double submarine_speed
```
    sub's state vector of course
  - submarine_pitch
```
protected double submarine_pitch
```
    sub's state vector on speed
  - submarine_roll
```
protected double submarine_roll
```
    sub's state vector on pitch
  - submarine_length_feet
```
protected double submarine_length_feet
```
    sub's state vector on roll
  - submarine_length_meters
```
protected double submarine_length_meters
```
    length of the submarine (feet)
  - submarine_width_feet
```
protected double submarine_width_feet
```
    length of the submarine (meter)
  - submarine_width_meters
```
protected double submarine_width_meters
```
    width of the submarine (feet)
  - torpedotube_x
```
protected double torpedotube_x
```
    width of the submarine (meter)
  - torpedotube_y
```
protected double torpedotube_y
```
    docking target information on x 32.9 m
  - torpedotube_z
```
protected double torpedotube_z
```
    docking target information on y 29.6 m
  - torpedotube_height
```
protected double torpedotube_height
```
    docking target information on z 10.05 m
- Constructor Detail
  - UUVGlobals
```
public UUVGlobals()
```

Class UUVGlobals

Field Summary

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Field Detail

st725Offset

st1000Offset

max_error_st725

max_error_st1000

TESTTANKSURFACE

WAVE_BOUYANCY_MODEL

SUBMARINE_DOCKING

FLOW_FIELD_MODE

FLOWFIELDLENGTH

FLOWFIELDWIDTH

flowfieldbox_length

flowfieldbox_width

flowfieldbox_height

submarine_x

submarine_y

submarine_z

submarine_course

submarine_speed

submarine_pitch

submarine_roll

submarine_length_feet

submarine_length_meters

submarine_width_feet

submarine_width_meters

torpedotube_x

torpedotube_y

torpedotube_z

torpedotube_height

Constructor Detail

UUVGlobals