UsvControlParameters (Autonomous Unmanned Vehicle (AUV) Workbench Documentation)

java.lang.Object
- execution.ControlParameters
- - execution.usv.control.UsvControlParameters

```
public class UsvControlParameters
extends ControlParameters
```
Version:

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

Author:

dtdavis

Nested Class Summary
- Nested classes/interfaces inherited from class execution.ControlParameters
  ControlParameters.CommandParser

Field Summary

Fields
Modifier and Type	Field and Description
`int`	`currentControlMode` currently selected control mode (default is open loop)
`static int`	`LOITERCONTROL`
`protected double`	`MAXRPM` Maximum propeller RPM
`protected double`	`MAXRUDDER` Maximum plane deflection (degrees)
`protected double`	`MAXSPEED` Maximum USV Speed (m/s)
`protected double`	`MINWAYPOINTRPM` Minimum allowable propeller RPM when transiting to a waypoint
`protected double`	`NOMINALWAYPOINTRPM` Nominal (routine) propeller RPM when transiting to a waypoint
`static int`	`OPENLOOPCONTROL`
`boolean`	`radianAngles` Control constants and mathematical model use degrees, so if the mission uses radians, angles need to be converted
`protected boolean`	`reportStable` true if usvExecution needs to report completion of current command
`static double`	`timeStep` closed loop time interval goal (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

UsvControlParameters(UsvExecution execution)
Constructor

Constructors
Constructor and Description
`UsvControlParameters(UsvExecution execution)` Constructor

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`double`	`getMaxRpm()`
`double`	`getMaxRudder()`
`double`	`getMinWaypointRpm()`
`double`	`getNominalWaypointRpm()`
`double`	`getStandoffDistance()`
`double`	`getTimeStep()` Compute simulation timestep interval for this vehicle
`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)` parseCommand parses a space-delimited text script command and sets the control parameter values as required
`void`	`setMaxRpm(double newValue)` returns the usvExecution maximum propeller rpm
`void`	`setMaxRudder(double newValue)` returns the usvExecution maximum rudder deflection (degrees)
`void`	`setMinWaypointRpm(double newValue)` returns the usvExecution minimum waypoint rpm
`void`	`setMission(Mission mission)` Just to allow instance to configure itself based on mission specifics (i.e., telemetry type)
`void`	`setNominalWaypointRpm(double newValue)` returns the usvExecution nominal waypoint rpm
`void`	`setStandoffDistance(double newValue)` sets the usvExecution standoff distance
`void`	`setTimeStep(double newValue)` sets the usvExecution time step
`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
  - 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
  - currentControlMode
```
public int currentControlMode
```
    currently selected control mode (default is open loop)
  - reportStable
```
protected boolean reportStable
```
    true if usvExecution needs to report completion of current command
  - timeStep
```
public static double timeStep
```
    closed loop time interval goal (seconds)
  - MAXSPEED
```
protected double MAXSPEED
```
    Maximum USV Speed (m/s)
  - MAXRPM
```
protected double MAXRPM
```
    Maximum propeller RPM
  - MINWAYPOINTRPM
```
protected double MINWAYPOINTRPM
```
    Minimum allowable propeller RPM when transiting to a waypoint
  - NOMINALWAYPOINTRPM
```
protected double NOMINALWAYPOINTRPM
```
    Nominal (routine) propeller RPM when transiting to a waypoint
  - MAXRUDDER
```
protected double MAXRUDDER
```
    Maximum plane deflection (degrees)
  - radianAngles
```
public boolean radianAngles
```
    Control constants and mathematical model use degrees, so if the mission uses radians, angles need to be converted
- Constructor Detail
  - UsvControlParameters
```
public UsvControlParameters(UsvExecution execution)
```
    Constructor
    
    Parameters:
    
    execution - UsvExecution reference to usvExecution 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
  - getTimeStep
```
public double getTimeStep()
```
    Description copied from class: ControlParameters
    
    Compute simulation timestep interval for this vehicle
    
    Specified by:
    
    getTimeStep in class ControlParameters
    
    Returns:
    
    the usvExecution time step
  - getStandoffDistance
```
public double getStandoffDistance()
```
    Returns:
    
    the usvExecution standoff distance
  - getMaxRpm
```
public double getMaxRpm()
```
    Returns:
    
    the usvExecution maximum propeller rpm
  - getMinWaypointRpm
```
public double getMinWaypointRpm()
```
    Returns:
    
    the usvExecution minimum waypoint rpm
  - getNominalWaypointRpm
```
public double getNominalWaypointRpm()
```
    Returns:
    
    the usvExecution nominal waypoint rpm
  - getMaxRudder
```
public double getMaxRudder()
```
    Returns:
    
    the usvExecution maximum control plane deflection (degrees)
  - setTimeStep
```
public void setTimeStep(double newValue)
```
    sets the usvExecution time step
    
    Parameters:
    
    newValue - new value
  - setStandoffDistance
```
public void setStandoffDistance(double newValue)
```
    sets the usvExecution standoff distance
    
    Parameters:
    
    newValue - new value
  - setMaxRpm
```
public void setMaxRpm(double newValue)
```
    returns the usvExecution maximum propeller rpm
    
    Parameters:
    
    newValue - new value
  - setMinWaypointRpm
```
public void setMinWaypointRpm(double newValue)
```
    returns the usvExecution minimum waypoint rpm
    
    Parameters:
    
    newValue - new value
  - setNominalWaypointRpm
```
public void setNominalWaypointRpm(double newValue)
```
    returns the usvExecution nominal waypoint rpm
    
    Parameters:
    
    newValue - new value
  - setMaxRudder
```
public void setMaxRudder(double newValue)
```
    returns the usvExecution maximum rudder deflection (degrees)
    
    Parameters:
    
    newValue - new value
  - 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 - true if mission command angular units will be radians (false for degrees)
  - loadControlLimits
```
public void loadControlLimits(ExecutionDynamicsConfiguration config)
```
    Sets the control limit values based on the configuration file
    
    Parameters:
    
    config - JAXB object containing all configuration data
  - 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, sets control values accordingly
    
    Returns:
    
    true if good command for continued processing; false if another command should immediately be requested
  - parseCommand
```
public boolean parseCommand(String commandString)
```
    parseCommand parses a space-delimited text script command and sets the control parameter values as required
    
    Specified by:
    
    parseCommand in class ControlParameters
    
    Parameters:
    
    commandString - is current text command to be parsed
    
    Returns:
    
    true if command is valid for continued processing, otherwise returns false if another command should immediately be requested

Class UsvControlParameters

Nested Class Summary

Nested classes/interfaces inherited from class execution.ControlParameters

Field Summary

Fields inherited from class execution.ControlParameters

Constructor Summary

Method Summary

Methods inherited from class execution.ControlParameters

Methods inherited from class java.lang.Object

Field Detail

WAYPOINTCONTROL

OPENLOOPCONTROL

LOITERCONTROL

currentControlMode

reportStable

timeStep

MAXSPEED

MAXRPM

MINWAYPOINTRPM

NOMINALWAYPOINTRPM

MAXRUDDER

radianAngles

Constructor Detail

UsvControlParameters

Method Detail

setMission

getTimeStep

getStandoffDistance

getMaxRpm

getMinWaypointRpm

getNominalWaypointRpm

getMaxRudder

setTimeStep

setStandoffDistance

setMaxRpm

setMinWaypointRpm

setNominalWaypointRpm

setMaxRudder

useMetricDistances

useRadianAngles

loadControlLimits

parseCommand

parseCommand