execution.usv

Class UsvState

java.lang.Object

execution.StateVector

execution.usv.UsvState

public class UsvState
extends StateVector

Container for USV state variables. Extends StateVector to include vehicle specific state variables

Since:

19 MAY 2005

Version:

&Id:$

Author:

dtdavis

Field Summary

Fields

Modifier and Type	Field and Description
protected double	dopplerSOGU doppler sonar forward speed over the ground
protected double	dopplerSOGV doppler sonar lateral speed over the ground
protected double	dopplerSTWU doppler sonar forward speed through the water
protected double	dopplerSTWV doppler sonar lateral speed through the water
protected double	propeller port propeller setting (rpm)
protected double	remainingPwr remaining power available (percent battery or fuel)
protected double	rudder rudder setting (degrees)
protected double	waterDepth doppler sonar altitude above the bottom

Fields inherited from class execution.StateVector

p, phi, phiDot, psi, psiDot, q, r, simulationTime, theta, thetaDot, u, v, vehicle, w, x, xDot, y, yDot, z, zDot

Constructor Summary

Constructors

Constructor and Description
UsvState(UsvExecution execution) Constructor for a new state variable

Method Summary

Modifier and Type	Method and Description
double	getDopplerSOGU()
double	getDopplerSOGV()
double	getDopplerSTWU()
double	getDopplerSTWV()
double[]	getExtraDisState()
double	getPropellerSetting()
double	getRemainingPower()
double	getRudderSetting()
double	getSpeed()
double	getWaterDepth()
protected void	reset() Reset state vector values prior to repeating another simulation loop
void	setDopplerSOGU(double newValue)
void	setDopplerSOGV(double newValue)
void	setDopplerSTWU(double newValue)
void	setDopplerSTWV(double newValue)
void	setPropellerSetting(double newValue)
void	setRemainingPower(double newValue)
void	setRudderSetting(double newValue)
void	setWaterDepth(double newValue)

Methods inherited from class execution.StateVector

getP, getPhi, getPhiDot, getPsi, getPsiDot, getQ, getR, getSimulationTime, getTheta, getThetaDot, getU, getV, getVehicle, getW, getX, getXDot, getY, getYDot, getZ, getZDot, resetKinematics, setP, setPhi, setPhiDot, setPsi, setPsiDot, setQ, setR, setSimulationTime, setTheta, setThetaDot, setU, setV, setW, setX, setXDot, setY, setYDot, setZ, setZDot

Methods inherited from class java.lang.Object

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

Field Detail

remainingPwr

protected double remainingPwr

remaining power available (percent battery or fuel)

rudder

protected double rudder

rudder setting (degrees)

propeller

protected double propeller

port propeller setting (rpm)

dopplerSTWU

protected double dopplerSTWU

doppler sonar forward speed through the water

dopplerSTWV

protected double dopplerSTWV

doppler sonar lateral speed through the water

dopplerSOGU

protected double dopplerSOGU

doppler sonar forward speed over the ground

dopplerSOGV

protected double dopplerSOGV

doppler sonar lateral speed over the ground

waterDepth

protected double waterDepth

doppler sonar altitude above the bottom

Constructor Detail

UsvState

public UsvState(UsvExecution execution)

Constructor for a new state variable

Parameters:

execution - UsvExecution reference to usv to which state vector applies

Method Detail

reset

protected void reset()

Reset state vector values prior to repeating another simulation loop

Specified by:

reset in class StateVector

getRemainingPower

public double getRemainingPower()

Returns:

the remaining power (percent battery or fuel)

getSpeed

public double getSpeed()

Returns:

the usv paddle wheel speed

getRudderSetting

public double getRudderSetting()

Returns:

the usv rudder setting

getPropellerSetting

public double getPropellerSetting()

Returns:

the usv propeller setting

getDopplerSTWU

public double getDopplerSTWU()

Returns:

the usv doppler sonar forward speed through the water

getDopplerSTWV

public double getDopplerSTWV()

Returns:

the usv doppler sonar lateral speed through the water

getDopplerSOGU

public double getDopplerSOGU()

Returns:

the usv doppler sonar forward speed over the ground

getDopplerSOGV

public double getDopplerSOGV()

Returns:

the usv doppler sonar lateral speed over the ground

getWaterDepth

public double getWaterDepth()

Returns:

the usv fathometer reading (depth below the keel)

setRemainingPower

public void setRemainingPower(double newValue)

Parameters:

newValue - the remaining power (percent battery or fuel)

setRudderSetting

public void setRudderSetting(double newValue)

Parameters:

newValue - the usv rudder setting

setPropellerSetting

public void setPropellerSetting(double newValue)

Parameters:

newValue - the usv port propeller setting

setDopplerSTWU

public void setDopplerSTWU(double newValue)

Parameters:

newValue - the usv doppler sonar forward speed through the water

setDopplerSTWV

public void setDopplerSTWV(double newValue)

Parameters:

newValue - the usv doppler sonar lateral speed through the water

setDopplerSOGU

public void setDopplerSOGU(double newValue)

Parameters:

newValue - the usv doppler sonar forward speed over the ground

setDopplerSOGV

public void setDopplerSOGV(double newValue)

Parameters:

newValue - the usv doppler sonar lateral speed over the ground

setWaterDepth

public void setWaterDepth(double newValue)

Parameters:

newValue - the usv fathometer reading (depth below the keel)

getExtraDisState

public double[] getExtraDisState()

Specified by:

getExtraDisState in class StateVector