ControlParameters (Autonomous Unmanned Vehicle (AUV) Workbench Documentation)

java.lang.Object
- execution.ControlParameters

Direct Known Subclasses:

MunitionControlParameters, UavControlParameters, UgvControlParameters, UsvControlParameters, UuvControlParameters
```
public abstract class ControlParameters
extends Object
```
A parent class for each class of the same name in the uav, auv, usv packages. Just defines some things that are required for the Execution class. MOVES Institute Naval Postgraduate School, Monterey, CA www.nps.edu

Since:

Sep 1, 2005, 10:46:41 AM

Version:

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

Author:

Mike Bailey

Nested Class Summary

Nested Classes
Modifier and Type Class and Description

class ControlParameters.CommandParser

Nested Classes
Modifier and Type	Class and Description
`class`	`ControlParameters.CommandParser`

Field Summary

Fields
Modifier and Type	Field and Description
`boolean`	`commandCompleteMsgSent`
`boolean`	`continueRun`
`protected boolean`	`readyNextCommand`
`protected double`	`standoffDistance` Distance that is considered an acceptable distance from a waypoint
`Execution`	`vehicle`
`protected WorkbenchCommunicator`	`workbenchCommunicator`
`protected double`	`xCommand` commanded x position
`protected double`	`xStart` starting point x position of the current track
`protected double`	`yCommand` commanded y position
`protected double`	`yStart` starting point y position of the current track

Constructor Summary

Constructors
Constructor and Description

ControlParameters()

Constructors
Constructor and Description
`ControlParameters()`

Method Summary

All Methods Instance Methods Abstract Methods Concrete Methods
Modifier and Type	Method and Description
`double`	`getStandoff()`
`abstract double`	`getTimeStep()` Compute simulation timestep interval for this vehicle
`double`	`getXCommand()`
`double`	`getXStart()`
`double`	`getYCommand()`
`double`	`getYStart()`
`boolean`	`isTimedCommand()`
`abstract boolean`	`parseCommand(Object commandElement)` parses an XML (AVCL) script command and sets the control parameter values as required
`abstract boolean`	`parseCommand(String commandString)` parses a space delimited text script command and sets the control parameter values as required
`protected boolean`	`parseTelemetryPostCommon(double timestamp, StateVector state, ControlParameters.CommandParser parser)` Common code for all types of telemetry parsers
`boolean`	`readyForNextCommand()`
`abstract void`	`setMission(Mission mission)` Just to allow instance to configure itself based on mission specifics (i.e., telemetry type)
`void`	`setReadyNextCommand()` sets the "ready for next command" flag to true
`void`	`setTimedCommand(double time)` sets the vehicle to be ready for a new command at a specified time
`void`	`setWorkbenchCommunicator(WorkbenchCommunicator workbenchCommunicator)` Replay missions execution objects delegate workbench updates to this class, or its subclass, because the status communication is more involved than just "which AVCL command are we executing?".
`void`	`unsetReadyNextCommand()` sets the "ready for next command" flag to false
`abstract void`	`useMetricDistances(boolean setting)` Used to switch between metric and English units of measure
`abstract void`	`useRadianAngles(boolean setting)` Used to switch between radian and degree angular measurements

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

- Field Detail
  - vehicle
```
public Execution vehicle
```
  - standoffDistance
```
protected double standoffDistance
```
    Distance that is considered an acceptable distance from a waypoint
  - xCommand
```
protected double xCommand
```
    commanded x position
  - yCommand
```
protected double yCommand
```
    commanded y position
  - xStart
```
protected double xStart
```
    starting point x position of the current track
  - yStart
```
protected double yStart
```
    starting point y position of the current track
  - continueRun
```
public boolean continueRun
```
  - readyNextCommand
```
protected boolean readyNextCommand
```
  - commandCompleteMsgSent
```
public boolean commandCompleteMsgSent
```
  - workbenchCommunicator
```
protected WorkbenchCommunicator workbenchCommunicator
```
- Constructor Detail
  - ControlParameters
```
public ControlParameters()
```
- Method Detail
  - useMetricDistances
```
public abstract void useMetricDistances(boolean setting)
```
    Used to switch between metric and English units of measure
    
    Parameters:
    
    setting - true if metric units of measure are to be used
  - useRadianAngles
```
public abstract void useRadianAngles(boolean setting)
```
    Used to switch between radian and degree angular measurements
    
    Parameters:
    
    setting - true if metric units of measure are to be used
  - getTimeStep
```
public abstract double getTimeStep()
```
    Compute simulation timestep interval for this vehicle
  - parseCommand
```
public abstract boolean parseCommand(Object commandElement)
```
    parses an XML (AVCL) script command and sets the control parameter values as required
    
    Parameters:
    
    commandElement - command to be parsed
    
    Returns:
    
    true if good command for continued processing; false if another command should immediately be requested
  - parseCommand
```
public abstract boolean parseCommand(String commandString)
```
    parses a space delimited text script command and sets the control parameter values as required
    
    Parameters:
    
    commandString - command to be parsed
    
    Returns:
    
    true if good command for continued processing; false if another command should immediately be requested
  - setMission
```
public abstract void setMission(Mission mission)
```
    Just to allow instance to configure itself based on mission specifics (i.e., telemetry type)
    
    Parameters:
    
    mission - instance of execution.mission.Mission
  - setReadyNextCommand
```
public void setReadyNextCommand()
```
    sets the "ready for next command" flag to true
  - unsetReadyNextCommand
```
public void unsetReadyNextCommand()
```
    sets the "ready for next command" flag to false
  - setTimedCommand
```
public void setTimedCommand(double time)
```
    sets the vehicle to be ready for a new command at a specified time
    
    Parameters:
    
    time - specified time
  - isTimedCommand
```
public boolean isTimedCommand()
```
    Returns:
    
    true if the currently executing command ends at a specified time
  - getStandoff
```
public double getStandoff()
```
    Returns:
    
    the current standoff distance (i.e., how close to a waypoint is close enough)
  - getXCommand
```
public double getXCommand()
```
    Returns:
    
    the currently commanded X coordinate (waypoint end)
  - getYCommand
```
public double getYCommand()
```
    Returns:
    
    the currently commanded Y coordinate (waypoint end)
  - getXStart
```
public double getXStart()
```
    Returns:
    
    the starting X coordinate of the current waypoint path
  - getYStart
```
public double getYStart()
```
    Returns:
    
    the starting Y coordinate of the current waypoint path
  - readyForNextCommand
```
public boolean readyForNextCommand()
```
    Returns:
    
    true if the vehicle is ready for the next command
  - setWorkbenchCommunicator
```
public void setWorkbenchCommunicator(WorkbenchCommunicator workbenchCommunicator)
```
    Replay missions execution objects delegate workbench updates to this class, or its subclass, because the status communication is more involved than just "which AVCL command are we executing?".
    
    Parameters:
    
    workbenchCommunicator - object to send messages to workbench
  - parseTelemetryPostCommon
```
protected boolean parseTelemetryPostCommon(double timestamp,
                                           StateVector state,
                                           ControlParameters.CommandParser parser)
```
    Common code for all types of telemetry parsers
    
    Parameters:
    
    timestamp - vehicle timestamp
    
    state - Vehicle state
    
    parser - AVCL telemetry parser
    
    Returns:
    
    true if good command for continued processing; false if another command should immediately be requested

Class ControlParameters

Nested Class Summary

Field Summary

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Field Detail

vehicle

standoffDistance

xCommand

yCommand

xStart

yStart

continueRun

readyNextCommand

commandCompleteMsgSent

workbenchCommunicator

Constructor Detail

ControlParameters

Method Detail

useMetricDistances

useRadianAngles

getTimeStep

parseCommand

parseCommand

setMission

setReadyNextCommand

unsetReadyNextCommand

setTimedCommand

isTimedCommand

getStandoff

getXCommand

getYCommand

getXStart

getYStart

readyForNextCommand

setWorkbenchCommunicator

parseTelemetryPostCommon