execution.ugv.control

Class UgvControlParameters

java.lang.Object

execution.ControlParameters

execution.ugv.control.UgvControlParameters

public class UgvControlParameters
extends ControlParameters

Contains variables required for setting vehicle and sensor control modes

Version:

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

Author:

dtdavi1

Nested Class Summary

Nested classes/interfaces inherited from class execution.ControlParameters

ControlParameters.CommandParser

Field Summary

Fields

Modifier and Type	Field and Description
static int	LOITERCONTROL
protected double	MAX_TRACK_SPEED Maximum power setting
protected double	MAXTURNRATE Maximum orderable turn rate (degrees per second)
protected double	MINIMUMTRANSITSPEED Minimum speed to be used when transiting between waypoints (MPS)
protected double	NOMINALTRANSITSPEED Typical transit speed between waypoints (MPS)
static int	OPENLOOPCONTROL
boolean	radianAngles Control constants and mathematical model use degrees, so if the mission uses radians, angles need to be converted
static double	timeStep closed loop timing increment (seconds)
static int	WAYPOINTCONTROL

Fields inherited from class execution.ControlParameters

commandCompleteMsgSent, continueRun, readyNextCommand, standoffDistance, vehicle, workbenchCommunicator, xCommand, xStart, yCommand, yStart

Constructor Summary

Constructors

Constructor and Description
UgvControlParameters(UgvExecution execution) Constructor

Method Summary

Modifier and Type	Method and Description
double	getMaxTrackSpeed() returns maximum commanded track speed for ugv
double	getMaxTurnRate() returns maximum turn rate (degrees per second) for ugv
double	getTimeStep() returns the ugv time step
void	loadControlLimits(ExecutionDynamicsConfiguration config) Sets the control limit values based on the configuration file
boolean	parseCommand(Object commandElement) parses an XML (AVCL) script command and sets the control parameter values as required
boolean	parseCommand(String commandString) parses a space delimited text script command and sets the control parameter values as required NOTE: Not Implemented!!!
void	setMission(Mission mission) Just to allow instance to configure itself based on mission specifics (i.e., telemetry type)
void	setStandoffDistance(double newValue) sets the ugv standoff distance
void	useMetricDistances(boolean newSetting) sets the distance units of measure to either meters or feet (default).
void	useRadianAngles(boolean newSetting) sets the angular units of measure to either radians or degrees (default) Only valid for AVCL missions--text will ALWAYS use degrees

Methods inherited from class execution.ControlParameters

getStandoff, getXCommand, getXStart, getYCommand, getYStart, isTimedCommand, parseTelemetryPostCommon, readyForNextCommand, setReadyNextCommand, setTimedCommand, setWorkbenchCommunicator, unsetReadyNextCommand

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

timeStep

public static double timeStep

closed loop timing increment (seconds)

WAYPOINTCONTROL

public static final int WAYPOINTCONTROL

See Also:

Constant Field Values

OPENLOOPCONTROL

public static final int OPENLOOPCONTROL

See Also:

Constant Field Values

LOITERCONTROL

public static final int LOITERCONTROL

See Also:

Constant Field Values

MAX_TRACK_SPEED

protected double MAX_TRACK_SPEED

Maximum power setting

MAXTURNRATE

protected double MAXTURNRATE

Maximum orderable turn rate (degrees per second)

MINIMUMTRANSITSPEED

protected double MINIMUMTRANSITSPEED

Minimum speed to be used when transiting between waypoints (MPS)

NOMINALTRANSITSPEED

protected double NOMINALTRANSITSPEED

Typical transit speed between waypoints (MPS)

radianAngles

public boolean radianAngles

Control constants and mathematical model use degrees, so if the mission uses radians, angles need to be converted

Constructor Detail

UgvControlParameters

public UgvControlParameters(UgvExecution execution)

Constructor

Parameters:

execution - reference to uav to which this object applies

Method Detail

setMission

public void setMission(Mission mission)

Description copied from class: ControlParameters

Just to allow instance to configure itself based on mission specifics (i.e., telemetry type)

Specified by:

setMission in class ControlParameters

Parameters:

mission - instance of execution.mission.Mission

loadControlLimits

public void loadControlLimits(ExecutionDynamicsConfiguration config)

Sets the control limit values based on the configuration file

Parameters:

config - JAXB object containing all configuration data

getTimeStep

public double getTimeStep()

returns the ugv time step

Specified by:

getTimeStep in class ControlParameters

Returns:

double-precision value

getMaxTrackSpeed

public double getMaxTrackSpeed()

returns maximum commanded track speed for ugv

Returns:

double-precision value

getMaxTurnRate

public double getMaxTurnRate()

returns maximum turn rate (degrees per second) for ugv

Returns:

double-precision value MAXTURNRATE

useMetricDistances

public void useMetricDistances(boolean newSetting)

sets the distance units of measure to either meters or feet (default). Only valid for AVCL missions--text will ALWAYS use feet

Specified by:

useMetricDistances in class ControlParameters

Parameters:

newSetting - true if mission command distance units will be meters (false for feet)

useRadianAngles

public void useRadianAngles(boolean newSetting)

sets the angular units of measure to either radians or degrees (default) Only valid for AVCL missions--text will ALWAYS use degrees

Specified by:

useRadianAngles in class ControlParameters

Parameters:

newSetting - Setting true if mission command angular units will be radians (false for degrees)

setStandoffDistance

public void setStandoffDistance(double newValue)

sets the ugv standoff distance

Parameters:

newValue - new value

parseCommand

public boolean parseCommand(Object commandElement)

Description copied from class: ControlParameters

parses an XML (AVCL) script command and sets the control parameter values as required

Specified by:

parseCommand in class ControlParameters

Parameters:

commandElement - AVCL command

Returns:

true if good command for continued processing; false if another command should immediately be requested

parseCommand

public boolean parseCommand(String commandString)

parses a space delimited text script command and sets the control parameter values as required NOTE: Not Implemented!!!

Specified by:

parseCommand in class ControlParameters

Parameters:

commandString - command to be parsed

Returns:

true if good command for continued processing; false if another command should immediately be requested