WorldModel (Autonomous Unmanned Vehicle (AUV) Workbench Documentation)

java.lang.Object
- execution.world.WorldModel

```
public class WorldModel
extends Object
```
A class used to represent a model of the world that contains all of the objects that the vehicle has identified. MOVES Institute Naval Postgraduate School, Monterey, CA www.nps.edu

Since:

Sep 1, 2005, 10:46:41 AM

Version:

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

Author:

Duane Davis

Constructor Summary

Constructors
Constructor and Description

WorldModel(Tactical tactical)
Constructor

Constructors
Constructor and Description
`WorldModel(Tactical tactical)` Constructor

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`void`	`add(MovingObject newObject)` Adds a new moving object to the world model if it is not already present
`void`	`add(StationaryObject newObject)` Adds a new stationary object to the world model if it is not already present
`void`	`add(VehicleObject newVehicle)` Adds a new vehicle to the world model if it is not already present
`void`	`addAvoidArea(GeoArea newArea)` Adds a new vehicle to the world model if it is not already present
`void`	`enablePotentialField(boolean enable)` Turns potential field obstacle avoidance on or off
`void`	`getAllClearPaths(double[] pt, ArrayList<double[]> result)` Generates a list of points on the objects and avoid areas that are "visible" from a specified point.
`void`	`getAllClearPaths(double x, double y, ArrayList<double[]> result)` Generates a list of points on the objects and avoid areas that are "visible" from a specified point.
`void`	`getAllClearPaths(Point pt, ArrayList<double[]> result)` Generates a list of points on the objects and avoid areas that are "visible" from a specified point.
`double`	`getDistanceToMovingObject(double x, double y)` Determines the distance to the nearest moving object (Double.MAX_VALUE means none)
`double`	`getMissionTime()`
`boolean`	`getPotentialFieldEnabled()`
`double[]`	`getPotentialVector(double[] goal)` Computes a unit potential vector that will steer the vehicle away from known obstacles.
`double[]`	`getPotentialVector(double goalX, double goalY)` Computes a unit potential vector that will steer the vehicle away from known obstacles.
`VehicleObject`	`getVehicle(int VID)` Returns a reference to a specified vehicle in the world model
`boolean`	`isClearPath(double[] end1, double[] end2)` Tests a straight path (line segment) to determine whether or not it encroaches across an avoid area or obstacle (i.e., passes closer than the standoff)
`boolean`	`isClearPath(double x1, double y1, double x2, double y2)` Tests a straight path (line segment) to determine whether or not it encroaches across an avoid area or obstacle (i.e., passes closer than the standoff)
`boolean`	`isClearPath(LineSegment segment)` Tests a straight path (line segment) to determine whether or not it encroaches across an avoid area or obstacle (i.e., passes closer than the standoff)
`boolean`	`isClearPath(Path path)` Determines whether a path intersects any avoid areas or obstacles
`boolean`	`isClearPath(Point end1, Point end2)` Tests a straight path (line segment) to determine whether or not it encroaches across an avoid area or obstacle (i.e., passes closer than the standoff)
`boolean`	`isClearPoint(double[] point)` Determines whether a point is clear of avoid areas and obstacles
`boolean`	`isClearPoint(double x, double y)` Determines whether a point is clear of avoid areas and obstacles
`boolean`	`isClearPoint(Point point)` Determines whether a point is clear of avoid areas and obstacles
`boolean`	`isNewPlanRequired()`
`int`	`knownVehicle(int VID)` Determines whether or not a vehicle with a specified ID is known
`void`	`makeParticipating(VehicleObject newParticipant)` Makes a vehicle a group participant if it is not already
`Path`	`planPath(double[] start, double[] end)` Plans a path (series of waypoints) between two points.
`Path`	`planPath(double startX, double startY, double endX, double endY)` Plans a path (series of waypoints) between two points.
`Path`	`planPath(Point start, Point end)` Plans a path (series of waypoints) between two points.
`MovingObject`	`removeMovingObject(int index)` Removes a moving object from the world model
`boolean`	`removeMovingObject(MovingObject toRemove)` Removes a moving object from the world model
`StationaryObject`	`removeStationaryObject(int index)` Removes a stationary object from the world model
`boolean`	`removeStationaryObject(StationaryObject toRemove)` Removes a stationary object from the world model
`VehicleObject`	`removeVehicle(int VID)` Removes a vehicle from the world model
`boolean`	`removeVehicle(VehicleObject toRemove)` Removes a vehicle from the world model
`void`	`setAvoidAreas(GeoAreaSet agendaAvoidAreas)` Sets the value of the avoid areas object once the Strategic Level has parsed the mission
`String`	`toMATLABString()` Generates a string representation of the Path object that can be used to plot the path in MATLAB

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Constructor Detail
  - WorldModel
```
public WorldModel(Tactical tactical)
```
    Constructor
    
    Parameters:
    
    tactical - reference to the Tactical level maintaining the model
- Method Detail
  - setAvoidAreas
```
public void setAvoidAreas(GeoAreaSet agendaAvoidAreas)
```
    Sets the value of the avoid areas object once the Strategic Level has parsed the mission
    
    Parameters:
    
    agendaAvoidAreas -
  - add
```
public void add(StationaryObject newObject)
```
    Adds a new stationary object to the world model if it is not already present
    
    Parameters:
    
    newObject -
  - add
```
public void add(MovingObject newObject)
```
    Adds a new moving object to the world model if it is not already present
    
    Parameters:
    
    newObject -
  - add
```
public void add(VehicleObject newVehicle)
```
    Adds a new vehicle to the world model if it is not already present
    
    Parameters:
    
    newVehicle -
  - makeParticipating
```
public void makeParticipating(VehicleObject newParticipant)
```
    Makes a vehicle a group participant if it is not already
    
    Parameters:
    
    newParticipant -
  - knownVehicle
```
public int knownVehicle(int VID)
```
    Determines whether or not a vehicle with a specified ID is known
    
    Parameters:
    
    VID - unique identifier of the vehicle being looked for
    
    Returns:
    
    an enumeration for the type of vehicle if present or a flag if not present in the model
  - removeStationaryObject
```
public StationaryObject removeStationaryObject(int index)
```
    Removes a stationary object from the world model
    
    Parameters:
    
    index - index of the object to be removed
    
    Returns:
    
    the removed object (or null)
  - removeStationaryObject
```
public boolean removeStationaryObject(StationaryObject toRemove)
```
    Removes a stationary object from the world model
    
    Parameters:
    
    toRemove - the object to be removed
    
    Returns:
    
    true or false depending on whether or not the object was actually present
  - removeMovingObject
```
public MovingObject removeMovingObject(int index)
```
    Removes a moving object from the world model
    
    Parameters:
    
    index - index of the object to be removed
    
    Returns:
    
    the removed object (or null)
  - removeMovingObject
```
public boolean removeMovingObject(MovingObject toRemove)
```
    Removes a moving object from the world model
    
    Parameters:
    
    toRemove - the object to be removed
    
    Returns:
    
    true or false depending on whether or not the object was actually present
  - addAvoidArea
```
public void addAvoidArea(GeoArea newArea)
```
    Adds a new vehicle to the world model if it is not already present
    
    Parameters:
    
    newArea -
  - getVehicle
```
public VehicleObject getVehicle(int VID)
```
    Returns a reference to a specified vehicle in the world model
    
    Parameters:
    
    VID - unique identifier of the vehicle to be removed
    
    Returns:
    
    the requested vehicle object (or null)
  - removeVehicle
```
public VehicleObject removeVehicle(int VID)
```
    Removes a vehicle from the world model
    
    Parameters:
    
    VID - unique identifier of the vehicle to be removed
    
    Returns:
    
    the removed object (or null)
  - removeVehicle
```
public boolean removeVehicle(VehicleObject toRemove)
```
    Removes a vehicle from the world model
    
    Parameters:
    
    toRemove - the object to be removed
    
    Returns:
    
    true or false depending on whether or not the object was actually present
  - getMissionTime
```
public double getMissionTime()
```
    Returns:
    
    the current mission time (secs from mission start)
  - enablePotentialField
```
public void enablePotentialField(boolean enable)
```
    Turns potential field obstacle avoidance on or off
    
    Parameters:
    
    enable -
  - getPotentialFieldEnabled
```
public boolean getPotentialFieldEnabled()
```
    Returns:
    
    true if potential field obstacle avoidance is enabled
  - isNewPlanRequired
```
public boolean isNewPlanRequired()
```
    Returns:
    
    true if a new object has been discovered since the last path was planned
  - getPotentialVector
```
public double[] getPotentialVector(double[] goal)
```
    Computes a unit potential vector that will steer the vehicle away from known obstacles. This method is intended for obstacle avoidance, so mission-defined "avoid areas" are not accounted for.
    
    Parameters:
    
    goal - Cartesian coordinates of the goal point
    
    Returns:
    
    a unit potential vector
  - getPotentialVector
```
public double[] getPotentialVector(double goalX,
                                   double goalY)
```
    Computes a unit potential vector that will steer the vehicle away from known obstacles. This method is intended for obstacle avoidance, so mission-defined "avoid areas" are not accounted for.
    
    Parameters:
    
    goalX - north/south Cartesian coordinate of the goal point
    
    goalY - east/west Cartesian coordinate of the goal point
    
    Returns:
    
    a unit potential vector
  - getDistanceToMovingObject
```
public double getDistanceToMovingObject(double x,
                                        double y)
```
    Determines the distance to the nearest moving object (Double.MAX_VALUE means none)
    
    Parameters:
    
    x - north/south Cartesian coordinate of the location being tested
    
    y - east/west Cartesian coordinate of the location being tested
    
    Returns:
    
    the distance to the nearest moving object
  - getAllClearPaths
```
public void getAllClearPaths(Point pt,
                             ArrayList<double[]> result)
```
    Generates a list of points on the objects and avoid areas that are "visible" from a specified point. Visible means that a straight path between the point and the point on the object does not pass through any avoid areas or pass too close to any other objects within the world
    
    Parameters:
    
    pt - the point being tested
    
    result - the ArrayList containing the points to which clear paths exist (will be cleared at start)
  - getAllClearPaths
```
public void getAllClearPaths(double[] pt,
                             ArrayList<double[]> result)
```
    Generates a list of points on the objects and avoid areas that are "visible" from a specified point. Visible means that a straight path between the point and the point on the object does not pass through any avoid areas or pass too close to any other objects within the world
    
    Parameters:
    
    pt - the point being tested
    
    result - the ArrayList containing the points to which clear paths exist (will be cleared at start)
  - getAllClearPaths
```
public void getAllClearPaths(double x,
                             double y,
                             ArrayList<double[]> result)
```
    Generates a list of points on the objects and avoid areas that are "visible" from a specified point. Visible means that a straight path between the point and the point on the object does not pass through any avoid areas or pass too close to any other objects within the world
    
    Parameters:
    
    x - coordinate of the point being tested
    
    y - coordinate of the point being tested
    
    result - the ArrayList containing the points to which clear paths exist (will be cleared at start)
  - isClearPoint
```
public boolean isClearPoint(double[] point)
```
    Determines whether a point is clear of avoid areas and obstacles
    
    Parameters:
    
    point -
    
    Returns:
    
    true if "point" is clear of avoid areas and obstacles
  - isClearPoint
```
public boolean isClearPoint(Point point)
```
    Determines whether a point is clear of avoid areas and obstacles
    
    Parameters:
    
    point -
    
    Returns:
    
    true if "point" is clear of avoid areas and obstacles
  - isClearPoint
```
public boolean isClearPoint(double x,
                            double y)
```
    Determines whether a point is clear of avoid areas and obstacles
    
    Parameters:
    
    x - x coordinate of the point being tested
    
    y - y coordinate of the point being tested
    
    Returns:
    
    true if "point" is clear of avoid areas and obstacles
  - isClearPath
```
public boolean isClearPath(Path path)
```
    Determines whether a path intersects any avoid areas or obstacles
    
    Returns:
    
    true if the path can be transited without intersecting avoid areas or obstacles
  - isClearPath
```
public boolean isClearPath(LineSegment segment)
```
    Tests a straight path (line segment) to determine whether or not it encroaches across an avoid area or obstacle (i.e., passes closer than the standoff)
    
    Parameters:
    
    segment - the line segment being tested
    
    Returns:
    
    true if the path misses all avoid areas and obstacles
  - isClearPath
```
public boolean isClearPath(Point end1,
                           Point end2)
```
    Tests a straight path (line segment) to determine whether or not it encroaches across an avoid area or obstacle (i.e., passes closer than the standoff)
    
    Parameters:
    
    end1 - first end point of the line segment being tested
    
    end2 - second end point of the line segment being tested
    
    Returns:
    
    true if the path misses all avoid areas and obstacles
  - isClearPath
```
public boolean isClearPath(double[] end1,
                           double[] end2)
```
    Tests a straight path (line segment) to determine whether or not it encroaches across an avoid area or obstacle (i.e., passes closer than the standoff)
    
    Parameters:
    
    end1 - first end point of the line segment being tested
    
    end2 - second end point of the line segment being tested
    
    Returns:
    
    true if the path misses all avoid areas and obstacles
  - isClearPath
```
public boolean isClearPath(double x1,
                           double y1,
                           double x2,
                           double y2)
```
    Tests a straight path (line segment) to determine whether or not it encroaches across an avoid area or obstacle (i.e., passes closer than the standoff)
    
    Parameters:
    
    x1 - north/south coordinate of the first end point of the line segment being tested
    
    y1 - east/west coordinate of the first end point of the line segment being tested
    
    x2 - north/south coordinate of the second end point of the line segment being tested
    
    y2 - east/west coordinate of the second end point of the line segment being tested
    
    Returns:
    
    true if the path misses all avoid areas and obstacles
  - planPath
```
public Path planPath(Point start,
                     Point end)
```
    Plans a path (series of waypoints) between two points. Potential field obstacle avoidance will be enabled while the planner runs
    
    Parameters:
    
    start -
    
    end -
    
    Returns:
    
    a clear path between the start and goal (or null if none exists)
  - planPath
```
public Path planPath(double[] start,
                     double[] end)
```
    Plans a path (series of waypoints) between two points. Potential field obstacle avoidance will be enabled while the planner runs
    
    Parameters:
    
    start -
    
    end -
    
    Returns:
    
    a clear path between the start and goal (or null if none exists)
  - planPath
```
public Path planPath(double startX,
                     double startY,
                     double endX,
                     double endY)
```
    Plans a path (series of waypoints) between two points. Potential field obstacle avoidance will be enabled while the planner runs
    
    Parameters:
    
    startX -
    
    endX -
    
    Returns:
    
    a clear path between the start and goal (or null if none exists)
  - toMATLABString
```
public String toMATLABString()
```
    Generates a string representation of the Path object that can be used to plot the path in MATLAB

Class WorldModel

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Constructor Detail

WorldModel

Method Detail

setAvoidAreas

add

add

add

makeParticipating

knownVehicle

removeStationaryObject

removeStationaryObject

removeMovingObject

removeMovingObject

addAvoidArea

getVehicle

removeVehicle

removeVehicle

getMissionTime

enablePotentialField

getPotentialFieldEnabled

isNewPlanRequired

getPotentialVector

getPotentialVector

getDistanceToMovingObject

getAllClearPaths

getAllClearPaths

getAllClearPaths

isClearPoint

isClearPoint

isClearPoint

isClearPath

isClearPath

isClearPath

isClearPath

isClearPath

planPath

planPath

planPath

toMATLABString