UUVModel (Autonomous Unmanned Vehicle (AUV) Workbench Documentation)

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

```
public class UUVModel
extends Object
```
Version:

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

Author:

Don Brutzman

Field Summary

Fields
Modifier and Type	Field and Description
`double`	`AVAIL_SPD_A`
`double`	`AVAIL_SPD_B`
`double[]`	`bb`
`double`	`Buoyancy`
`double`	`C_d0`
`double`	`C_dy`
`double`	`C_dz`
`int`	`cross_sections`
`double`	`Diameter`
`double`	`g`
`double`	`H`
`double`	`HALF_PWR_SPEED`
`double[]`	`hh`
`double`	`hotelPower`
`double`	`I_x`
`double`	`I_xy`
`double`	`I_xz`
`double`	`I_y`
`double`	`I_yz`
`double`	`I_z`
`double`	`K_p`
`double`	`K_p_dot`
`double`	`K_pp`
`double`	`K_pq`
`double`	`K_q_dot`
`double`	`K_qr`
`double`	`K_r_dot`
`double`	`K_u_dot`
`double`	`K_up`
`double`	`K_uq`
`double`	`K_ur`
`double`	`K_uu`
`double`	`K_uu_planes`
`double`	`K_uv`
`double`	`K_uw`
`double`	`K_v_dot`
`double`	`K_vq`
`double`	`K_vw`
`double`	`K_w_dot`
`double`	`K_wp`
`double`	`K_wr`
`double`	`L`
`double`	`m`
`double`	`M_p_dot`
`double`	`M_pp`
`double`	`M_pr`
`double`	`M_q`
`double`	`M_q_dot`
`double`	`M_qq`
`double`	`M_r_dot`
`double`	`M_rr`
`double`	`M_u_dot`
`double`	`M_uq`
`double`	`M_uu`
`double`	`M_uu_delta_bow`
`double`	`M_uu_delta_stern`
`double`	`M_uw`
`double`	`M_v_dot`
`double`	`M_vp`
`double`	`M_vr`
`double`	`M_vv`
`double`	`M_w_dot`
`double`	`MAX_HEAVE`
`double`	`MAX_PITCH`
`double`	`MAX_PLANE`
`double`	`MAX_ROLL`
`double`	`MAX_RPM`
`double`	`MAX_RUDDER`
`double`	`MAX_SPEED`
`double`	`MAX_SURGE`
`double`	`MAX_SWAY`
`double`	`MAX_THRUSTER`
`double`	`MAX_YAW`
`double`	`MBT_Weight`
`double`	`N_p_dot`
`double`	`N_pq`
`double`	`N_prop`
`double`	`N_q_dot`
`double`	`N_qr`
`double`	`N_r`
`double`	`N_r_dot`
`double`	`N_rr`
`double`	`N_u_dot`
`double`	`N_up`
`double`	`N_uq`
`double`	`N_ur`
`double`	`N_uu`
`double`	`N_uu_delta_rb`
`double`	`N_uu_delta_rs`
`double`	`N_uv`
`double`	`N_uw`
`double`	`N_v_dot`
`double`	`N_vq`
`double`	`N_vw`
`double`	`N_w_dot`
`double`	`N_wp`
`double`	`N_wr`
`double`	`nose_length`
`double`	`propellerPower`
`double`	`revised_x_B`
`double`	`revisedBuoyancy`
`double`	`rho`
`double`	`SPEED_PER_RPM`
`int`	`SQUARE_HULL`
`double`	`surface_length`
`double`	`thrusterPower`
`int`	`THRUSTERS`
`String`	`UUVMODEL_VERSION`
`double`	`VariableBuoyancy`
`double`	`Weight`
`double`	`X_astern_efficiency`
`double`	`x_B`
`double`	`x_B_Variable`
`double`	`x_bow_lateral`
`double`	`x_bow_vertical`
`double`	`x_G`
`double`	`X_p_dot`
`double`	`X_pp`
`double`	`X_pr`
`double`	`X_q_dot`
`double`	`X_qq`
`double`	`X_r_dot`
`double`	`x_rb`
`double`	`X_rr`
`double`	`x_rs`
`double`	`x_stern_lateral`
`double`	`x_stern_vertical`
`double`	`X_u_dot`
`double`	`X_uq_delta_bow`
`double`	`X_uq_delta_stern`
`double`	`X_ur_delta_rudder`
`double`	`X_uu`
`double`	`X_uu_delta_b_delta_b`
`double`	`X_uu_delta_r_delta_r`
`double`	`X_uu_delta_s_delta_s`
`double`	`X_uv_delta_rudder`
`double`	`X_uw_delta_bow`
`double`	`X_uw_delta_stern`
`double`	`X_v_dot`
`double`	`X_vp`
`double`	`X_vr`
`double`	`X_vv`
`double`	`X_w_dot`
`double`	`X_wq`
`double`	`X_ww`
`double[]`	`xx`
`double`	`y_B`
`double`	`y_B_Variable`
`double`	`y_G`
`double`	`Y_p_dot`
`double`	`y_port_propeller`
`double`	`Y_pq`
`double`	`Y_q_dot`
`double`	`Y_qr`
`double`	`Y_r_dot`
`double`	`y_stbd_propeller`
`double`	`Y_u_dot`
`double`	`Y_up`
`double`	`Y_uq`
`double`	`Y_ur`
`double`	`Y_uu`
`double`	`Y_uu_delta_rb`
`double`	`Y_uu_delta_rs`
`double`	`Y_uv`
`double`	`Y_uw`
`double`	`Y_v_dot`
`double`	`Y_vq`
`double`	`Y_vw`
`double`	`Y_w_dot`
`double`	`Y_wp`
`double`	`Y_wr`
`double`	`z_B`
`double`	`z_B_Variable`
`double`	`z_G`
`double`	`Z_p_dot`
`double`	`Z_pp`
`double`	`Z_pr`
`double`	`Z_q_dot`
`double`	`Z_r_dot`
`double`	`Z_rr`
`double`	`Z_u_dot`
`double`	`Z_up`
`double`	`Z_uq`
`double`	`Z_uu_delta_b`
`double`	`Z_uu_delta_s`
`double`	`Z_uw`
`double`	`Z_v_dot`
`double`	`Z_vp`
`double`	`Z_vr`
`double`	`Z_vv`
`double`	`Z_w_dot`

Constructor Summary

Constructors
Constructor and Description

UUVModel(UUVBody uuv)
Default constructor

Constructors
Constructor and Description
`UUVModel(UUVBody uuv)` Default constructor

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type Method and Description

String loadModel(String configurationXmlFileName)
Loads the model variables from an XML file
- Methods inherited from class java.lang.Object
  clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

All Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`String`	`loadModel(String configurationXmlFileName)` Loads the model variables from an XML file

Field Detail

UUVMODEL_VERSION
```
public String UUVMODEL_VERSION
```

Weight
```
public double Weight
```

Buoyancy
```
public double Buoyancy
```

VariableBuoyancy
```
public double VariableBuoyancy
```

MBT_Weight
```
public double MBT_Weight
```

L
```
public double L
```

Diameter
```
public double Diameter
```

H
```
public double H
```

g
```
public double g
```

rho
```
public double rho
```

m
```
public double m
```

I_x
```
public double I_x
```

I_y
```
public double I_y
```

I_z
```
public double I_z
```

I_xy
```
public double I_xy
```

I_xz
```
public double I_xz
```

I_yz
```
public double I_yz
```

x_G
```
public double x_G
```

y_G
```
public double y_G
```

z_G
```
public double z_G
```

x_B
```
public double x_B
```

y_B
```
public double y_B
```

z_B
```
public double z_B
```

x_B_Variable
```
public double x_B_Variable
```

y_B_Variable
```
public double y_B_Variable
```

z_B_Variable
```
public double z_B_Variable
```

x_bow_vertical
```
public double x_bow_vertical
```

x_stern_vertical
```
public double x_stern_vertical
```

x_bow_lateral
```
public double x_bow_lateral
```

x_stern_lateral
```
public double x_stern_lateral
```

y_port_propeller
```
public double y_port_propeller
```

y_stbd_propeller
```
public double y_stbd_propeller
```

x_rb
```
public double x_rb
```

x_rs
```
public double x_rs
```

revisedBuoyancy
```
public double revisedBuoyancy
```

revised_x_B
```
public double revised_x_B
```

surface_length
```
public double surface_length
```

nose_length
```
public double nose_length
```

THRUSTERS
```
public int THRUSTERS
```

SQUARE_HULL
```
public int SQUARE_HULL
```

MAX_RPM
```
public double MAX_RPM
```

MAX_THRUSTER
```
public double MAX_THRUSTER
```

MAX_PLANE
```
public double MAX_PLANE
```

MAX_RUDDER
```
public double MAX_RUDDER
```

MAX_SURGE
```
public double MAX_SURGE
```

MAX_SWAY
```
public double MAX_SWAY
```

MAX_HEAVE
```
public double MAX_HEAVE
```

MAX_ROLL
```
public double MAX_ROLL
```

MAX_PITCH
```
public double MAX_PITCH
```

MAX_YAW
```
public double MAX_YAW
```

hotelPower
```
public double hotelPower
```

propellerPower
```
public double propellerPower
```

thrusterPower
```
public double thrusterPower
```

X_u_dot
```
public double X_u_dot
```

X_v_dot
```
public double X_v_dot
```

X_w_dot
```
public double X_w_dot
```

X_p_dot
```
public double X_p_dot
```

X_q_dot
```
public double X_q_dot
```

X_r_dot
```
public double X_r_dot
```

X_uu
```
public double X_uu
```

X_vv
```
public double X_vv
```

X_ww
```
public double X_ww
```

X_pp
```
public double X_pp
```

X_qq
```
public double X_qq
```

X_rr
```
public double X_rr
```

X_uu_delta_b_delta_b
```
public double X_uu_delta_b_delta_b
```

X_uu_delta_s_delta_s
```
public double X_uu_delta_s_delta_s
```

X_uu_delta_r_delta_r
```
public double X_uu_delta_r_delta_r
```

X_pr
```
public double X_pr
```

X_wq
```
public double X_wq
```

X_vp
```
public double X_vp
```

X_vr
```
public double X_vr
```

X_uq_delta_bow
```
public double X_uq_delta_bow
```

X_uq_delta_stern
```
public double X_uq_delta_stern
```

X_ur_delta_rudder
```
public double X_ur_delta_rudder
```

X_uv_delta_rudder
```
public double X_uv_delta_rudder
```

X_uw_delta_bow
```
public double X_uw_delta_bow
```

X_uw_delta_stern
```
public double X_uw_delta_stern
```

MAX_SPEED
```
public double MAX_SPEED
```

HALF_PWR_SPEED
```
public double HALF_PWR_SPEED
```

AVAIL_SPD_B
```
public double AVAIL_SPD_B
```

AVAIL_SPD_A
```
public double AVAIL_SPD_A
```

SPEED_PER_RPM
```
public double SPEED_PER_RPM
```

X_astern_efficiency
```
public double X_astern_efficiency
```

C_d0
```
public double C_d0
```

Y_u_dot
```
public double Y_u_dot
```

Y_v_dot
```
public double Y_v_dot
```

Y_w_dot
```
public double Y_w_dot
```

Y_p_dot
```
public double Y_p_dot
```

Y_q_dot
```
public double Y_q_dot
```

Y_r_dot
```
public double Y_r_dot
```

Y_uu
```
public double Y_uu
```

Y_uv
```
public double Y_uv
```

Y_uw
```
public double Y_uw
```

Y_up
```
public double Y_up
```

Y_uq
```
public double Y_uq
```

Y_ur
```
public double Y_ur
```

Y_uu_delta_rb
```
public double Y_uu_delta_rb
```

Y_uu_delta_rs
```
public double Y_uu_delta_rs
```

Y_pq
```
public double Y_pq
```

Y_qr
```
public double Y_qr
```

Y_vq
```
public double Y_vq
```

Y_wp
```
public double Y_wp
```

Y_wr
```
public double Y_wr
```

Y_vw
```
public double Y_vw
```

C_dy
```
public double C_dy
```

Z_u_dot
```
public double Z_u_dot
```

Z_v_dot
```
public double Z_v_dot
```

Z_w_dot
```
public double Z_w_dot
```

Z_p_dot
```
public double Z_p_dot
```

Z_q_dot
```
public double Z_q_dot
```

Z_r_dot
```
public double Z_r_dot
```

Z_vv
```
public double Z_vv
```

Z_uw
```
public double Z_uw
```

Z_up
```
public double Z_up
```

Z_uq
```
public double Z_uq
```

Z_rr
```
public double Z_rr
```

Z_pp
```
public double Z_pp
```

Z_uu_delta_b
```
public double Z_uu_delta_b
```

Z_uu_delta_s
```
public double Z_uu_delta_s
```

Z_pr
```
public double Z_pr
```

Z_vp
```
public double Z_vp
```

Z_vr
```
public double Z_vr
```

C_dz
```
public double C_dz
```

K_u_dot
```
public double K_u_dot
```

K_v_dot
```
public double K_v_dot
```

K_w_dot
```
public double K_w_dot
```

K_p_dot
```
public double K_p_dot
```

K_q_dot
```
public double K_q_dot
```

K_r_dot
```
public double K_r_dot
```

K_uu
```
public double K_uu
```

K_uv
```
public double K_uv
```

K_uw
```
public double K_uw
```

K_up
```
public double K_up
```

K_uq
```
public double K_uq
```

K_ur
```
public double K_ur
```

K_uu_planes
```
public double K_uu_planes
```

K_pq
```
public double K_pq
```

K_qr
```
public double K_qr
```

K_vq
```
public double K_vq
```

K_wp
```
public double K_wp
```

K_wr
```
public double K_wr
```

K_vw
```
public double K_vw
```

K_pp
```
public double K_pp
```

K_p
```
public double K_p
```

M_u_dot
```
public double M_u_dot
```

M_v_dot
```
public double M_v_dot
```

M_w_dot
```
public double M_w_dot
```

M_p_dot
```
public double M_p_dot
```

M_q_dot
```
public double M_q_dot
```

M_r_dot
```
public double M_r_dot
```

M_uu
```
public double M_uu
```

M_vv
```
public double M_vv
```

M_uw
```
public double M_uw
```

M_pp
```
public double M_pp
```

M_rr
```
public double M_rr
```

M_uq
```
public double M_uq
```

M_uu_delta_bow
```
public double M_uu_delta_bow
```

M_uu_delta_stern
```
public double M_uu_delta_stern
```

M_pr
```
public double M_pr
```

M_vp
```
public double M_vp
```

M_vr
```
public double M_vr
```

M_qq
```
public double M_qq
```

M_q
```
public double M_q
```

N_u_dot
```
public double N_u_dot
```

N_v_dot
```
public double N_v_dot
```

N_w_dot
```
public double N_w_dot
```

N_p_dot
```
public double N_p_dot
```

N_q_dot
```
public double N_q_dot
```

N_r_dot
```
public double N_r_dot
```

N_uu
```
public double N_uu
```

N_uv
```
public double N_uv
```

N_uw
```
public double N_uw
```

N_up
```
public double N_up
```

N_uq
```
public double N_uq
```

N_ur
```
public double N_ur
```

N_uu_delta_rb
```
public double N_uu_delta_rb
```

N_uu_delta_rs
```
public double N_uu_delta_rs
```

N_prop
```
public double N_prop
```

N_pq
```
public double N_pq
```

N_qr
```
public double N_qr
```

N_vq
```
public double N_vq
```

N_wp
```
public double N_wp
```

N_wr
```
public double N_wr
```

N_vw
```
public double N_vw
```

N_rr
```
public double N_rr
```

N_r
```
public double N_r
```

cross_sections
```
public int cross_sections
```

xx
```
public double[] xx
```

hh
```
public double[] hh
```

bb
```
public double[] bb
```

Constructor Detail
- UUVModel
```
public UUVModel(UUVBody uuv)
```
  Default constructor
  
  Parameters:
  
  uuv - the unmanned underwater vehicle to load variables for

Method Detail
- loadModel
```
public String loadModel(String configurationXmlFileName)
```
  Loads the model variables from an XML file
  
  Parameters:
  
  configurationXmlFileName -
  
  Returns:
  
  a String output of this UUV model

Class UUVModel

Field Summary

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Field Detail

UUVMODEL_VERSION

Weight

Buoyancy

VariableBuoyancy

MBT_Weight

L

Diameter

H

g

rho

m

I_x

I_y

I_z

I_xy

I_xz

I_yz

x_G

y_G

z_G

x_B

y_B

z_B

x_B_Variable

y_B_Variable

z_B_Variable

x_bow_vertical

x_stern_vertical

x_bow_lateral

x_stern_lateral

y_port_propeller

y_stbd_propeller

x_rb

x_rs

revisedBuoyancy

revised_x_B

surface_length

nose_length

THRUSTERS

SQUARE_HULL

MAX_RPM

MAX_THRUSTER

MAX_PLANE

MAX_RUDDER

MAX_SURGE

MAX_SWAY

MAX_HEAVE

MAX_ROLL

MAX_PITCH

MAX_YAW

hotelPower

propellerPower

thrusterPower

X_u_dot

X_v_dot

X_w_dot

X_p_dot

X_q_dot

X_r_dot

X_uu

X_vv

X_ww

X_pp

X_qq

X_rr

X_uu_delta_b_delta_b

X_uu_delta_s_delta_s

X_uu_delta_r_delta_r

X_pr

X_wq

X_vp

X_vr

X_uq_delta_bow

X_uq_delta_stern