Utilities (Autonomous Unmanned Vehicle (AUV) Workbench Documentation)

java.lang.Object
- execution.Utilities

public class Utilities
extends Object

Contains static utility methods for use throughout the package

Version:

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

Latest Modification:


     Date:     April 28, 2005
     Time:     1428:57
     Author:   Terry D. Norbraten
     Version:  1.12
     Comments: Added a debugOut() method that accepts StringBuffers

Author:

Duane T. Davis

Modified byTerry D. Norbraten

Field Summary

Fields
Modifier and Type	Field and Description
`static double`	`DEGREESPERRADIAN`
`static double`	`FEETPERMETER` Conversion for Meters to Feet
`static DecimalFormat`	`fiveDecimalPlaces` fiveDecimalPlaces.format(x) provides output value to 5 decimal places, without trailing zeroes
`static DecimalFormat`	`fiveDecimalPlacesFixed` fiveDecimalPlacesFixed.format(x) provides output value to 5 decimal places, with trailing zeroes
`static DecimalFormat`	`fourDecimalPlaces` fourDecimalPlaces.format(x) provides output value to 4 decimal places, without trailing zeroes
`static DecimalFormat`	`fourDecimalPlacesFixed` fourDecimalPlacesFixed.format(x) provides output value to 4 decimal places, with trailing zeroes
`static double`	`FPS_TO_KNOTS`
`static double`	`KNOTS_TO_FPS`
`static double`	`KNOTS_TO_MPS`
`static double`	`METERSPERFOOT` Conversion for Feet to Meters
`static double`	`MICROSECONDS_PER_SECOND` Conversion factor, microseconds to seconds
`static double`	`MILLISECONDS_PER_SECOND` Conversion factor, milliseconds to seconds
`static double`	`MPS_TO_KNOTS`
`static double`	`NANOSECONDS_PER_SECOND` Conversion factor, nanoseconds to seconds
`static DecimalFormat`	`oneDecimalPlace` oneDecimalPlace.format(x) provides output value to 1 decimal place, with trailing zero if
`static double`	`RADIANSPERDEGREE`
`static DecimalFormat`	`sevenDecimalPlaces` sevenDecimalPlaces.format(x) provides output value to 7 decimal places, without trailing zeroes
`static DecimalFormat`	`sevenDecimalPlacesFixed` sevenDecimalPlacesFixed.format(x) provides output value to 7 decimal places, with trailing zeroes
`static DecimalFormat`	`sixDecimalPlaces` sixDecimalPlaces.format(x) provides output value to 6 decimal places, without trailing zeroes
`static DecimalFormat`	`sixDecimalPlacesFixed` sixDecimalPlacesFixed.format(x) provides output value to 6 decimal places, with trailing zeroes
`static DecimalFormat`	`threeDecimalPlaces` threeDecimalPlaces.format(x) provides output value to 3 decimal places, without trailing zeroes
`static DecimalFormat`	`threeDecimalPlacesFixed` threeDecimalPlacesFixed.format(x) provides output value to 3 decimal places, with trailing zeroes
`static DecimalFormat`	`twoDecimalPlaces` twoDecimalPlaces.format(x) provides output value to 2 decimal places, without trailing zeroes
`static DecimalFormat`	`twoDecimalPlacesFixed` twoDecimalPlacesFixed.format(x) provides output value to 2 decimal places, with trailing zeroes
`static int`	`UTILITIES_UDP_MAX_DATA_SIZE`
`static int`	`UTILITIES_UDP_PORT` A quick bit of hackery to pipe executing mission data through to mission viewers

Constructor Summary

Constructors
Constructor and Description

Utilities()

Constructors
Constructor and Description
`Utilities()`

Method Summary

All Methods Static Methods Concrete Methods
Modifier and Type	Method and Description
`static double`	`clamp(double value, double bound1, double bound2, String description)` Restricts an input number to an arbitrary range
`static double`	`clamp(double value, double bound, String description)` Restricts an input number to an arbitrary range around zero
`static void`	`debugOut(String msg)` Prints debug messages to the console (if enabled and available)
`static void`	`debugOut(StringBuffer bfr)` Prints debug messages to the console (tdn)
`static double`	`distance(double[] pt1, double[] pt2)` Returns the Euclidian distance between two points
`static int`	`dsign(double operand)` Determines the sign of the operand (negative, 0, or positive
`static int`	`dsign(int operand)` Determines the sign of the operand (negative, 0, or positive
`static double`	`dtanh(double value)` Returns the signed magnitude of an input value up to a maximum of 1.0
`static String`	`formatHhmmss(double time)` Come back with a hh:mm:ss string based on seconds
`static String`	`formatTimestamp(double time)` Provide time with hh:mm:ss string based on seconds
`static double`	`hTan(double x)`
`static double`	`normalize180(double angle)` Normalizes an angular measurement (degrees) to the range (-180..180]
`static double`	`normalize2Pi(double angle)` Normalizes an angular measurement (radians) to the range (0..2PI]
`static double`	`normalize360(double angle)` Normalizes an angular measurement (degrees) to the range (0..360]
`static double`	`normalizePi(double angle)` Normalizes an angular measurement (radians) to the range (-PI..PI]
`static double`	`parseDouble(String s)` Parses a double from a string (returns 0.0 if no parsable double present)
`static int`	`parseInt(String s)` Parses an integer from a string (returns 0.0 if no parsable double present)
`static double`	`round(double number, int places)` Rounds a number off to a specified number of decimal places
`static void`	`traceOut(Point2D p)` Used, probably temporarily, to display realtime point on 2D display
`static void`	`traceOut(String msg)` Prints debug messages to the console (if available)

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

- Field Detail
  - oneDecimalPlace
```
public static final DecimalFormat oneDecimalPlace
```
    oneDecimalPlace.format(x) provides output value to 1 decimal place, with trailing zero if
  - twoDecimalPlaces
```
public static final DecimalFormat twoDecimalPlaces
```
    twoDecimalPlaces.format(x) provides output value to 2 decimal places, without trailing zeroes
  - threeDecimalPlaces
```
public static final DecimalFormat threeDecimalPlaces
```
    threeDecimalPlaces.format(x) provides output value to 3 decimal places, without trailing zeroes
  - fourDecimalPlaces
```
public static final DecimalFormat fourDecimalPlaces
```
    fourDecimalPlaces.format(x) provides output value to 4 decimal places, without trailing zeroes
  - fiveDecimalPlaces
```
public static final DecimalFormat fiveDecimalPlaces
```
    fiveDecimalPlaces.format(x) provides output value to 5 decimal places, without trailing zeroes
  - sixDecimalPlaces
```
public static final DecimalFormat sixDecimalPlaces
```
    sixDecimalPlaces.format(x) provides output value to 6 decimal places, without trailing zeroes
  - sevenDecimalPlaces
```
public static final DecimalFormat sevenDecimalPlaces
```
    sevenDecimalPlaces.format(x) provides output value to 7 decimal places, without trailing zeroes
  - twoDecimalPlacesFixed
```
public static final DecimalFormat twoDecimalPlacesFixed
```
    twoDecimalPlacesFixed.format(x) provides output value to 2 decimal places, with trailing zeroes
  - threeDecimalPlacesFixed
```
public static final DecimalFormat threeDecimalPlacesFixed
```
    threeDecimalPlacesFixed.format(x) provides output value to 3 decimal places, with trailing zeroes
  - fourDecimalPlacesFixed
```
public static final DecimalFormat fourDecimalPlacesFixed
```
    fourDecimalPlacesFixed.format(x) provides output value to 4 decimal places, with trailing zeroes
  - fiveDecimalPlacesFixed
```
public static final DecimalFormat fiveDecimalPlacesFixed
```
    fiveDecimalPlacesFixed.format(x) provides output value to 5 decimal places, with trailing zeroes
  - sixDecimalPlacesFixed
```
public static final DecimalFormat sixDecimalPlacesFixed
```
    sixDecimalPlacesFixed.format(x) provides output value to 6 decimal places, with trailing zeroes
  - sevenDecimalPlacesFixed
```
public static final DecimalFormat sevenDecimalPlacesFixed
```
    sevenDecimalPlacesFixed.format(x) provides output value to 7 decimal places, with trailing zeroes
  - FEETPERMETER
```
public static final double FEETPERMETER
```
    Conversion for Meters to Feet
    
    See Also:
    
    Constant Field Values
  - METERSPERFOOT
```
public static final double METERSPERFOOT
```
    Conversion for Feet to Meters
    
    See Also:
    
    Constant Field Values
  - DEGREESPERRADIAN
```
public static final double DEGREESPERRADIAN
```
    See Also:
    
    Constant Field Values
  - RADIANSPERDEGREE
```
public static final double RADIANSPERDEGREE
```
    See Also:
    
    Constant Field Values
  - FPS_TO_KNOTS
```
public static final double FPS_TO_KNOTS
```
    See Also:
    
    Constant Field Values
  - MPS_TO_KNOTS
```
public static final double MPS_TO_KNOTS
```
    See Also:
    
    Constant Field Values
  - KNOTS_TO_FPS
```
public static final double KNOTS_TO_FPS
```
    See Also:
    
    Constant Field Values
  - KNOTS_TO_MPS
```
public static final double KNOTS_TO_MPS
```
    See Also:
    
    Constant Field Values
  - NANOSECONDS_PER_SECOND
```
public static final double NANOSECONDS_PER_SECOND
```
    Conversion factor, nanoseconds to seconds
    
    See Also:
    
    Constant Field Values
  - MICROSECONDS_PER_SECOND
```
public static final double MICROSECONDS_PER_SECOND
```
    Conversion factor, microseconds to seconds
    
    See Also:
    
    Constant Field Values
  - MILLISECONDS_PER_SECOND
```
public static final double MILLISECONDS_PER_SECOND
```
    Conversion factor, milliseconds to seconds
    
    See Also:
    
    Constant Field Values
  - UTILITIES_UDP_PORT
```
public static final int UTILITIES_UDP_PORT
```
    A quick bit of hackery to pipe executing mission data through to mission viewers
    
    See Also:
    
    Constant Field Values
  - UTILITIES_UDP_MAX_DATA_SIZE
```
public static final int UTILITIES_UDP_MAX_DATA_SIZE
```
    See Also:
    
    Constant Field Values
- Constructor Detail
  - Utilities
```
public Utilities()
```
- Method Detail
  - formatTimestamp
```
public static String formatTimestamp(double time)
```
    Provide time with hh:mm:ss string based on seconds
    
    Parameters:
    
    time - seconds
    
    Returns:
    
    string in ###.# (hh:mm:ss) format
  - formatHhmmss
```
public static String formatHhmmss(double time)
```
    Come back with a hh:mm:ss string based on seconds
    
    Parameters:
    
    time - seconds
    
    Returns:
    
    string in hh:mm:ss format
  - normalize180
```
public static double normalize180(double angle)
```
    Normalizes an angular measurement (degrees) to the range (-180..180]
    
    Parameters:
    
    angle - angle to be normalized
    
    Returns:
    
    normalized value
  - normalize360
```
public static double normalize360(double angle)
```
    Normalizes an angular measurement (degrees) to the range (0..360]
    
    Parameters:
    
    angle - angle to be normalized
    
    Returns:
    
    a normalized angular measurement (degrees) in the range (0..360]
  - normalizePi
```
public static double normalizePi(double angle)
```
    Normalizes an angular measurement (radians) to the range (-PI..PI]
    
    Parameters:
    
    angle - angle to be normalized
    
    Returns:
    
    a normalized angular measurement (radians) in the range (-PI..PI]
  - normalize2Pi
```
public static double normalize2Pi(double angle)
```
    Normalizes an angular measurement (radians) to the range (0..2PI]
    
    Parameters:
    
    angle - angle to be normalized
    
    Returns:
    
    normalized value
  - clamp
```
public static double clamp(double value,
                           double bound1,
                           double bound2,
                           String description)
```
    Restricts an input number to an arbitrary range
    
    Parameters:
    
    value - value to be clamped
    
    bound1 - upper or lower boundary of range
    
    bound2 - upper or lower boundary of range
    
    description - description of the value being clamped
    
    Returns:
    
    clamped value
  - clamp
```
public static double clamp(double value,
                           double bound,
                           String description)
```
    Restricts an input number to an arbitrary range around zero
    
    Parameters:
    
    value - value to be clamped
    
    bound - upper/lower boundary of allowed range error
    
    description - description of the value being clamped
    
    Returns:
    
    clamped value
  - parseDouble
```
public static double parseDouble(String s)
```
    Parses a double from a string (returns 0.0 if no parsable double present)
    
    Parameters:
    
    s - string to be parsed
    
    Returns:
    
    double
  - parseInt
```
public static int parseInt(String s)
```
    Parses an integer from a string (returns 0.0 if no parsable double present)
    
    Parameters:
    
    s - string to be parsed
    
    Returns:
    
    int
  - round
```
public static double round(double number,
                           int places)
```
    Rounds a number off to a specified number of decimal places
    
    Parameters:
    
    number - to be rounded
    
    places - to round to
    
    Returns:
    
    rounded value
  - dsign
```
public static int dsign(int operand)
```
    Determines the sign of the operand (negative, 0, or positive
    
    Parameters:
    
    operand -
    
    Returns:
    
    int (-1 for negative, 0 for 0, 1 for positive operand)
  - dsign
```
public static int dsign(double operand)
```
    Determines the sign of the operand (negative, 0, or positive
    
    Parameters:
    
    operand -
    
    Returns:
    
    int (-1 for negative, 0 for 0, 1 for positive operand)
  - dtanh
```
public static double dtanh(double value)
```
    Returns the signed magnitude of an input value up to a maximum of 1.0
    
    Parameters:
    
    value -
    
    Returns:
    
    double
  - distance
```
public static double distance(double[] pt1,
                              double[] pt2)
```
    Returns the Euclidian distance between two points
    
    Parameters:
    
    pt1 - double[2] with the Cartesian coordinates of the first point
    
    pt2 - double[2] with the Cartesian coordinates of the second point
    
    Returns:
    
    double Euclidian distance between two points
  - debugOut
```
public static void debugOut(String msg)
```
    Prints debug messages to the console (if enabled and available)
    
    Parameters:
    
    msg - message to be printed
  - debugOut
```
public static void debugOut(StringBuffer bfr)
```
    Prints debug messages to the console (tdn)
    
    Parameters:
    
    bfr - message to be printed
  - traceOut
```
public static void traceOut(String msg)
```
    Prints debug messages to the console (if available)
    
    Parameters:
    
    msg - message to be printed
  - traceOut
```
public static void traceOut(Point2D p)
```
    Used, probably temporarily, to display realtime point on 2D display
    
    Parameters:
    
    p -
  - hTan
```
public static double hTan(double x)
```
    Parameters:
    
    x -
    
    Returns:
    
    0.0

Class Utilities

Field Summary

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Field Detail

oneDecimalPlace

twoDecimalPlaces

threeDecimalPlaces

fourDecimalPlaces

fiveDecimalPlaces

sixDecimalPlaces

sevenDecimalPlaces

twoDecimalPlacesFixed

threeDecimalPlacesFixed

fourDecimalPlacesFixed

fiveDecimalPlacesFixed

sixDecimalPlacesFixed

sevenDecimalPlacesFixed

FEETPERMETER

METERSPERFOOT

DEGREESPERRADIAN

RADIANSPERDEGREE

FPS_TO_KNOTS

MPS_TO_KNOTS

KNOTS_TO_FPS

KNOTS_TO_MPS

NANOSECONDS_PER_SECOND

MICROSECONDS_PER_SECOND

MILLISECONDS_PER_SECOND

UTILITIES_UDP_PORT

UTILITIES_UDP_MAX_DATA_SIZE

Constructor Detail

Utilities

Method Detail

formatTimestamp

formatHhmmss

normalize180

normalize360

normalizePi

normalize2Pi

clamp

clamp

parseDouble

parseInt

round

dsign

dsign

dtanh

distance

debugOut

debugOut

traceOut

traceOut

hTan