UuvControlParameters (Autonomous Unmanned Vehicle (AUV) Workbench Documentation)

java.lang.Object
- execution.ControlParameters
- - execution.uuv.control.UuvControlParameters

```
public class UuvControlParameters
extends ControlParameters
```
Contains variables required for setting vehicle and sensor control modes These variables may change during the course of a run
Also contains an overloaded parseCommand function (1 version for text commands, one for AVCL) that will set these variables. These functions are loosely based on an older version of execution level software written by Miguel Ayala, Don Brutzman and Duane Davis

Since:

19 April 2004

Version:

$Id: UuvControlParameters.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
`protected static double`	`hoverTransitionRange` Distance to transition from waypoint to hover control when approaching a hover point
`protected double`	`MAXASTERNSPEED` Maximum astern speed in meters per second, positive value or zero
`protected double`	`MAXHIGHSPDPLANE` Maximum plane deflection at high speed
`protected double`	`MAXMAXSPDPLANE` Maximum plane deflection at max speed
`protected double`	`MAXMEDIUMSPDPLANE` Maximum plane deflection at high speed
`protected double`	`MAXPLANE` Maximum plane deflection (degrees)
`protected double`	`MAXRPM` Maximum propeller RPM
`protected double`	`MAXSPEED` Maximum forward speed in meters per second
`protected double`	`MAXTHETA` Maximum allowable pitch (theta)
`protected double`	`MAXTHRUSTER` Maximum lateral and vertical thruster voltage (+ or -)
`boolean`	`metricDistances` Distances are feet by default
`protected double`	`MINWAYPOINTRPM` Minimum allowable propeller RPM when transiting to a waypoint
`protected double`	`NOMINALWAYPOINTRPM` Nominal (routine) propeller RPM when transiting to a waypoint
`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 UUV needs to report completion of current command
`protected boolean`	`thrustersEnabled` true if thrusters are currently enabled (irrelevant if there are no thrusters)
`static double`	`timeStep` closed loop timing increment (seconds)

Fields inherited from class execution.ControlParameters
commandCompleteMsgSent, continueRun, readyNextCommand, standoffDistance, vehicle, workbenchCommunicator, xCommand, xStart, yCommand, yStart

Constructor Summary

Constructors
Constructor and Description

UuvControlParameters(UuvExecution execution)
Constructor

Constructors
Constructor and Description
`UuvControlParameters(UuvExecution execution)` Constructor

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`double`	`getHoverTransitionRange()`
`double`	`getMaxHighSpdPlane()`
`double`	`getMaxMaxSpdPlane()`
`double`	`getMaxPlane()`
`double`	`getMaxRpm()`
`double`	`getMaxRudder()`
`double`	`getMaxThruster()`
`double`	`getMinWaypointRpm()`
`double`	`getNominalWaypointRpm()`
`double`	`getStandoffDistance()`
`double`	`getTimeStep()` Compute simulation timestep interval for this vehicle
`double`	`getXCommand()`
`double`	`getYCommand()`
`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`	`setHoverTransitionRange(double newValue)` sets the UUV hover control transition distance
`void`	`setMaxHighSpdPlane(double newValue)` returns the UUV maximum high-speed control plane deflection (degrees)
`void`	`setMaxMaxSpdPlane(double newValue)` returns the UUV maximum maximum-speed control plane deflection (degrees)
`void`	`setMaxPlane(double newValue)` returns the UUV maximum control plane deflection (degrees)
`void`	`setMaxRpm(double newValue)` returns the UUV maximum propeller rpmSetting
`void`	`setMaxRudder(double newValue)`
`void`	`setMaxThruster(double newValue)` returns the UUV maximum thruster voltage
`void`	`setMinWaypointRpm(double newValue)` returns the UUV minimum waypoint rpmSetting
`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 UUV nominal waypoint rpmSetting
`void`	`setStandoffDistance(double newValue)` sets the UUV standoff distance
`void`	`setTimeStep(double newValue)` sets the UUV time step
`void`	`setXCommand(double command)`
`void`	`setYCommand(double command)`
`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, getXStart, 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
  - reportStable
```
protected boolean reportStable
```
    true if UUV needs to report completion of current command
  - thrustersEnabled
```
protected boolean thrustersEnabled
```
    true if thrusters are currently enabled (irrelevant if there are no thrusters)
  - timeStep
```
public static double timeStep
```
    closed loop timing increment (seconds)
  - hoverTransitionRange
```
protected static double hoverTransitionRange
```
    Distance to transition from waypoint to hover control when approaching a hover point
  - MAXSPEED
```
protected double MAXSPEED
```
    Maximum forward speed in meters per second
  - MAXASTERNSPEED
```
protected double MAXASTERNSPEED
```
    Maximum astern speed in meters per second, positive value or zero
  - 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
  - MAXTHRUSTER
```
protected double MAXTHRUSTER
```
    Maximum lateral and vertical thruster voltage (+ or -)
  - MAXPLANE
```
protected double MAXPLANE
```
    Maximum plane deflection (degrees)
  - MAXMEDIUMSPDPLANE
```
protected double MAXMEDIUMSPDPLANE
```
    Maximum plane deflection at high speed
  - MAXHIGHSPDPLANE
```
protected double MAXHIGHSPDPLANE
```
    Maximum plane deflection at high speed
  - MAXMAXSPDPLANE
```
protected double MAXMAXSPDPLANE
```
    Maximum plane deflection at max speed
  - MAXTHETA
```
protected double MAXTHETA
```
    Maximum allowable pitch (theta)
  - metricDistances
```
public boolean metricDistances
```
    Distances are feet by default
  - radianAngles
```
public boolean radianAngles
```
    Control constants and mathematical model use degrees, so if the mission uses radians, angles need to be converted
- Constructor Detail
  - UuvControlParameters
```
public UuvControlParameters(UuvExecution execution)
```
    Constructor
    
    Parameters:
    
    execution - UuvExecution reference to UUV 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 UUV time step
  - getHoverTransitionRange
```
public double getHoverTransitionRange()
```
    Returns:
    
    the UUV hover control transition distance
  - getStandoffDistance
```
public double getStandoffDistance()
```
    Returns:
    
    the UUV standoff distance
  - getMaxRpm
```
public double getMaxRpm()
```
    Returns:
    
    the UUV maximum propeller rpmSetting
  - getMinWaypointRpm
```
public double getMinWaypointRpm()
```
    Returns:
    
    the UUV minimum waypoint rpmSetting
  - getNominalWaypointRpm
```
public double getNominalWaypointRpm()
```
    Returns:
    
    the UUV nominal waypoint rpmSetting
  - getMaxThruster
```
public double getMaxThruster()
```
    Returns:
    
    the UUV maximum thruster voltage
  - getMaxPlane
```
public double getMaxPlane()
```
    Returns:
    
    the UUV maximum control plane deflection (degrees)
  - getMaxHighSpdPlane
```
public double getMaxHighSpdPlane()
```
    Returns:
    
    the UUV maximum high-speed control plane deflection (degrees)
  - getMaxMaxSpdPlane
```
public double getMaxMaxSpdPlane()
```
    Returns:
    
    the UUV maximum maximum-speed control plane deflection (degrees)
  - setTimeStep
```
public void setTimeStep(double newValue)
```
    sets the UUV time step
    
    Parameters:
    
    newValue - new value
  - setHoverTransitionRange
```
public void setHoverTransitionRange(double newValue)
```
    sets the UUV hover control transition distance
    
    Parameters:
    
    newValue - new value
  - setStandoffDistance
```
public void setStandoffDistance(double newValue)
```
    sets the UUV standoff distance
    
    Parameters:
    
    newValue - new value
  - setMaxRpm
```
public void setMaxRpm(double newValue)
```
    returns the UUV maximum propeller rpmSetting
    
    Parameters:
    
    newValue - new value
  - setMinWaypointRpm
```
public void setMinWaypointRpm(double newValue)
```
    returns the UUV minimum waypoint rpmSetting
    
    Parameters:
    
    newValue - new value
  - setNominalWaypointRpm
```
public void setNominalWaypointRpm(double newValue)
```
    returns the UUV nominal waypoint rpmSetting
    
    Parameters:
    
    newValue - new value
  - setMaxThruster
```
public void setMaxThruster(double newValue)
```
    returns the UUV maximum thruster voltage
    
    Parameters:
    
    newValue - new value
  - setMaxPlane
```
public void setMaxPlane(double newValue)
```
    returns the UUV maximum control plane deflection (degrees)
    
    Parameters:
    
    newValue - new value
  - setMaxHighSpdPlane
```
public void setMaxHighSpdPlane(double newValue)
```
    returns the UUV maximum high-speed control plane deflection (degrees)
    
    Parameters:
    
    newValue - new value
  - setMaxMaxSpdPlane
```
public void setMaxMaxSpdPlane(double newValue)
```
    returns the UUV maximum maximum-speed control plane 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
    
    Returns:
    
    true if good command for continued processing; false if another command should immediately be requested
  - getMaxRudder
```
public double getMaxRudder()
```
    Returns:
    
    the MAXRUDDER
  - setMaxRudder
```
public void setMaxRudder(double newValue)
```
    Parameters:
    
    newValue - the MAXRUDDER to set
  - 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
  - getXCommand
```
public double getXCommand()
```
    Overrides:
    
    getXCommand in class ControlParameters
    
    Returns:
    
    the xCommand.
  - getYCommand
```
public double getYCommand()
```
    Overrides:
    
    getYCommand in class ControlParameters
    
    Returns:
    
    the yCommand.
  - setXCommand
```
public void setXCommand(double command)
```
    Parameters:
    
    command - The xCommand to set.
  - setYCommand
```
public void setYCommand(double command)
```
    Parameters:
    
    command - The yCommand to set.

Class UuvControlParameters

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

reportStable

thrustersEnabled

timeStep

hoverTransitionRange

MAXSPEED

MAXASTERNSPEED

MAXRPM

MINWAYPOINTRPM

NOMINALWAYPOINTRPM

MAXTHRUSTER

MAXPLANE

MAXMEDIUMSPDPLANE

MAXHIGHSPDPLANE

MAXMAXSPDPLANE

MAXTHETA

metricDistances

radianAngles

Constructor Detail

UuvControlParameters

Method Detail

setMission

getTimeStep

getHoverTransitionRange

getStandoffDistance

getMaxRpm

getMinWaypointRpm

getNominalWaypointRpm

getMaxThruster

getMaxPlane

getMaxHighSpdPlane

getMaxMaxSpdPlane

setTimeStep

setHoverTransitionRange

setStandoffDistance

setMaxRpm

setMinWaypointRpm

setNominalWaypointRpm

setMaxThruster

setMaxPlane

setMaxHighSpdPlane

setMaxMaxSpdPlane

useMetricDistances

useRadianAngles

loadControlLimits

parseCommand

getMaxRudder

setMaxRudder

parseCommand

getXCommand

getYCommand

setXCommand

setYCommand