execution.world

Class Path

java.lang.Object

execution.world.Path

All Implemented Interfaces:

Cloneable, Comparable<Path>

public class Path
extends Object
implements Cloneable, Comparable<Path>

Contains a path (or candidate partial path) from a starting point to a goal MOVES Institute Naval Postgraduate School, Monterey, CA www.nps.edu

Since:

Apr 26, 2009, 9:24:02 AM

Version:

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

Author:

Duane Davis

Constructor Summary

Constructors

Constructor and Description
Path(double[] start, double[] goal) Constructor
Path(double startX, double startY, double goalX, double goalY) Constructor
Path(Path p) Copy constructor
Path(Point start, Point goal) Constructor

Method Summary

Modifier and Type	Method and Description
void	addLink(PathLink newLink) Adds a link to the end of the path and updates the estimates
Path	clone() Implements the Cloneable interface
int	compareTo(Path path2) Implements the Comparable interface Compares this path to another link using the "cost" and "remaining" values for comparison
List<JAXBElement<?>>	generateAvclScriptElementList(int vehicleType, double gpsInterval, double minWptDist, double vertical, int verticalMode, double speed, int speedMode) Generates a set of AVCL commands (waypoints) corresponding to the path
List<JAXBElement<?>>	generateAvclScriptElementList(int vehicleType, double vertical, int verticalMode, double speed, int speedMode, String trackMode, boolean getGPS) Generates a set of AVCL Waypoints corresponding to a planned route
double	getCost()
double	getEstimatedRemaining()
Point	getLastPlannedPoint()
boolean	isLoop()
String	toMATLABString() Generates a string representation of the Path object that can be used to plot the path in MATLAB
String	toString() Generates a string representation of the LineSegment object

Methods inherited from class java.lang.Object

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

Constructor Detail

Path

public Path(Point start,
            Point goal)

Constructor

Parameters:

start -

goal -

Path

public Path(double[] start,
            double[] goal)

Constructor

Parameters:

start -

goal -

Path

public Path(double startX,
            double startY,
            double goalX,
            double goalY)

Constructor

Parameters:

startX -

goalX -

Path

public Path(Path p)

Copy constructor

Parameters:

p -

Method Detail

clone

public Path clone()

Implements the Cloneable interface

Overrides:

clone in class Object

Returns:

a copy of this path

compareTo

public int compareTo(Path path2)

Implements the Comparable interface Compares this path to another link using the "cost" and "remaining" values for comparison

Specified by:

compareTo in interface Comparable<Path>

Returns:

-1, 0, or 1 if this object is "less than", "equal to" or "greater than" the link to which it is being compared

getCost

public double getCost()

Returns:

the cost to the vehicle to travel the path

getEstimatedRemaining

public double getEstimatedRemaining()

Returns:

the estimated minimum remaining cost from the path end point to the goal

addLink

public void addLink(PathLink newLink)

Adds a link to the end of the path and updates the estimates

Parameters:

newLink -

getLastPlannedPoint

public Point getLastPlannedPoint()

Returns:

the last point in the partial path

isLoop

public boolean isLoop()

Returns:

true if the endpoint of the path revisits any previously visited point

toMATLABString

public String toMATLABString()

Generates a string representation of the Path object that can be used to plot the path in MATLAB

generateAvclScriptElementList

public List<JAXBElement<?>> generateAvclScriptElementList(int vehicleType,
                                                          double gpsInterval,
                                                          double minWptDist,
                                                          double vertical,
                                                          int verticalMode,
                                                          double speed,
                                                          int speedMode)

Generates a set of AVCL commands (waypoints) corresponding to the path

Parameters:

vehicleType - enumeration for the type of vehicle (UUV, USV, UGV or UAV)

gpsInterval - distance allowed between GPS fixes (UUV only)

minWptDist - minimum distance between waypoints

vertical - altitude or depth (UUV or UAV only)

verticalMode - enumeration determining how to interpret the vertical value

speed - speed to use in transit

speedMode - enumeration determining knots or meters per second

Returns:

list of AVCL waypoints corresponding to the path

generateAvclScriptElementList

public List<JAXBElement<?>> generateAvclScriptElementList(int vehicleType,
                                                          double vertical,
                                                          int verticalMode,
                                                          double speed,
                                                          int speedMode,
                                                          String trackMode,
                                                          boolean getGPS)

Generates a set of AVCL Waypoints corresponding to a planned route

Parameters:

vehicleType - enumeration for the type of vehicle (AUV, UAV, etc.)

vertical - altitude or depth of command (only relevant for UUVs and UAVs)

verticalMode - enumeration specifying depth, altitude, MSL altitude, or AGL altitude

speed - knots, meters per second, or percent of propeller rpm (AUV) setting

speedMode - enumeration for knots or meters per second (not relevant for AUVs)

trackMode - either "track to" or "direct to"

getGPS - set to true if the vehicle is to get a GPS fix on this path (UUV only)

Returns:

ArrayList of AVCL script command objects (JAXB)

toString

public String toString()

Generates a string representation of the LineSegment object

Overrides:

toString in class Object