WorldObject (Autonomous Unmanned Vehicle (AUV) Workbench Documentation)

java.lang.Object
- execution.world.WorldObject

Direct Known Subclasses:

MovingObject, StationaryObject
```
public abstract class WorldObject
extends Object
```
A class used to represent an object that the vehicle has identified for placement in the world. MOVES Institute Naval Postgraduate School, Monterey, CA www.nps.edu

Since:

Sep 1, 2005, 10:46:41 AM

Version:

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

Author:

Duane Davis

Field Summary

Fields
Modifier and Type	Field and Description
`protected double[]`	`potentialVector` Container 2 x 1 array for a potential field vector for driving the vehicle away from this object and towards a goal point

Constructor Summary

Constructors
Constructor and Description
`WorldObject(double[] position, double standoff)` Constructor
`WorldObject(double x, double y, double standoff)` Constructor
`WorldObject(Point position, double standoff)` Constructor

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`double`	`getDistance(double[] point)`
`double`	`getDistance(double[] end1, double[] end2)`
`double`	`getDistance(double x, double y)`
`double`	`getDistance(double x1, double y1, double x2, double y2)`
`double`	`getDistance(LineSegment segment)`
`double`	`getDistance(Point point)`
`double`	`getDistance(Point end1, Point end2)`
`double`	`getDistanceOfConcern()`
`protected Point`	`getPosit()`
`protected double`	`getPotentialForce(double[] position)` Computes the of the potential vector directing the owning vehicle away from this object
`protected double`	`getPotentialForce(double x, double y)` Computes the of the potential vector directing the owning vehicle away from this object
`protected double`	`getPotentialForce(Point position)` Computes the of the potential vector directing the owning vehicle away from this object
`protected double`	`getPotentialForceDirection(double[] point)` Computes the direction that a potential vector will steer the owning vehicle to avoid this object Default is for the force to be oriented directly away from the point defining the location.
`protected double`	`getPotentialForceDirection(double x, double y)` Computes the direction that a potential vector will steer the owning vehicle to avoid this object Default is for the force to be oriented directly away from the point defining the location.
`protected double`	`getPotentialForceDirection(Point point)` Computes the direction that a potential vector will steer the owning vehicle to avoid this object Default is for the force to be oriented directly away from the point defining the location.
`double[]`	`getPotentialVector(double[] position, double maxDofConcern)` Computes and returns a potential vector for directing the owning vehicle towards a goal point while avoiding this object
`double[]`	`getPotentialVector(double x, double y)` Computes and returns a potential vector for directing the owning vehicle away from this object
`double[]`	`getPotentialVector(Point position)` Computes and returns a potential vector for directing the owning vehicle towards a goal point while avoiding this object
`double`	`getStandoff()`
`double`	`getXPosit()`
`double`	`getYPosit()`
`void`	`setPosit(double[] newPosit)` Resets the object's position in the world
`void`	`setPosit(double newX, double newY)` Resets the object's position in the world
`void`	`setPosit(Point newPosit)` Resets the object's position in the world
`void`	`setStandoff(double newStandoff)` Resets the standoff distance (meters) that the vehicle must maintain from this object
`String`	`toString()` Generates a string representation of the wall object

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

- Field Detail
  - potentialVector
```
protected double[] potentialVector
```
    Container 2 x 1 array for a potential field vector for driving the vehicle away from this object and towards a goal point
- Constructor Detail
  - WorldObject
```
public WorldObject(double x,
                   double y,
                   double standoff)
```
    Constructor
    
    Parameters:
    
    x - north/south Cartesian coordinate of the object's location in the world
    
    y - east/west Cartesian coordinate of the object's location in the world
    
    standoff - required distance (meters) that the vehicle must remain clear from this object
  - WorldObject
```
public WorldObject(double[] position,
                   double standoff)
```
    Constructor
    
    Parameters:
    
    position - 2-element array with the Cartesian coordinates of the object's location in the world
    
    standoff - required distance (meters) that the vehicle must remain clear from this object
  - WorldObject
```
public WorldObject(Point position,
                   double standoff)
```
    Constructor
    
    Parameters:
    
    position - 2-element array with the Cartesian coordinates of the object's location in the world
    
    standoff - required distance (meters) that the vehicle must remain clear from this object
- Method Detail
  - setPosit
```
public void setPosit(double newX,
                     double newY)
```
    Resets the object's position in the world
    
    Parameters:
    
    newX -
    
    newY -
  - setPosit
```
public void setPosit(double[] newPosit)
```
    Resets the object's position in the world
    
    Parameters:
    
    newPosit - 2-element array containing the new Cartesian position
  - setPosit
```
public void setPosit(Point newPosit)
```
    Resets the object's position in the world
    
    Parameters:
    
    newPosit - 2-element array containing the new Cartesian position
  - getPosit
```
protected Point getPosit()
```
    Returns:
    
    the location of the object's center
  - getXPosit
```
public double getXPosit()
```
    Returns:
    
    the x coordinate of the object's location
  - getYPosit
```
public double getYPosit()
```
    Returns:
    
    the y coordinate of the object's location
  - setStandoff
```
public void setStandoff(double newStandoff)
```
    Resets the standoff distance (meters) that the vehicle must maintain from this object
    
    Parameters:
    
    newStandoff - new standoff distance
  - getStandoff
```
public double getStandoff()
```
    Returns:
    
    the required standoff distance (meters) that the vehicle must maintain from this object
  - getDistance
```
public double getDistance(Point point)
```
    Parameters:
    
    point - an object containing the Cartesian coordinates of the point being tested
    
    Returns:
    
    the distance (meters) between the object and a specified point
  - getDistance
```
public double getDistance(double[] point)
```
    Parameters:
    
    point - a 2x1 double[] containing the Cartesian coordinates of the point being tested
    
    Returns:
    
    the distance (meters) between the object and a specified point
  - getDistance
```
public double getDistance(double x,
                          double y)
```
    Parameters:
    
    x - the north/south Cartesian coordinate of the point being tested
    
    y - the east/west Cartesian coordinate of the point being tested
    
    Returns:
    
    the distance (meters) between the object and a specified point
  - getDistance
```
public double getDistance(LineSegment segment)
```
    Parameters:
    
    segment - an object containing the line segment
    
    Returns:
    
    the distance (meters) between the object and a specified line segment
  - getDistance
```
public double getDistance(Point end1,
                          Point end2)
```
    Parameters:
    
    end1 - an object containing the Cartesian coordinates of the first end point
    
    end2 - an object containing the Cartesian coordinates of the second end point
    
    Returns:
    
    the distance (meters) between the object and a specified line segment
  - getDistance
```
public double getDistance(double[] end1,
                          double[] end2)
```
    Parameters:
    
    end1 - a 2x1 double[] containing the Cartesian coordinates of the first segment end point
    
    end2 - a 2x1 double[] containing the Cartesian coordinates of the second segment end point
    
    Returns:
    
    the distance (meters) between the object and a specified line segment
  - getDistance
```
public double getDistance(double x1,
                          double y1,
                          double x2,
                          double y2)
```
    Parameters:
    
    x1 - the north/south Cartesian coordinate of the first segment end point
    
    y1 - the east/west Cartesian coordinate of the first segment end point
    
    x2 - the north/south Cartesian coordinate of the second segment end point
    
    y2 - the east/west Cartesian coordinate of the second segment end point
    
    Returns:
    
    the distance (meters) between the object and a specified line segment
  - getDistanceOfConcern
```
public double getDistanceOfConcern()
```
    Returns:
    
    the distance at which this object is potentially relevant to vehicle navigation
  - getPotentialVector
```
public double[] getPotentialVector(double[] position,
                                   double maxDofConcern)
```
    Computes and returns a potential vector for directing the owning vehicle towards a goal point while avoiding this object
    
    Parameters:
    
    position - Cartesian coordinates (2x1 double[]) defining the owning vehicle's current position
    
    maxDofConcern - the maximum distance at which this object is relevant for obstacle avoidance purposes
    
    Returns:
    
    a 2x1 double[] containing a scaled potential vector that pushes the vehicle away from this object
  - getPotentialVector
```
public double[] getPotentialVector(Point position)
```
    Computes and returns a potential vector for directing the owning vehicle towards a goal point while avoiding this object
    
    Parameters:
    
    position - Cartesian coordinates (2x1 double[]) defining the owning vehicle's current position
    
    Returns:
    
    a 2x1 double[] containing a scaled potential vector that pushes the vehicle away from this object
  - getPotentialVector
```
public double[] getPotentialVector(double x,
                                   double y)
```
    Computes and returns a potential vector for directing the owning vehicle away from this object
    
    Parameters:
    
    x - north/south Cartesian coordinates defining the owning vehicle's current position
    
    y - east/west Cartesian coordinates defining the owning vehicle's current position
    
    Returns:
    
    a 2x1 double[] containing a scaled potential vector that pushes the vehicle away from this object
  - getPotentialForce
```
protected double getPotentialForce(double[] position)
```
    Computes the of the potential vector directing the owning vehicle away from this object
    
    Parameters:
    
    position - Cartesian coordinates (2x1 double[]) defining the owning vehicle's current position
    
    Returns:
    
    a scalar value for the repelling force driving the vehicle away from the object
  - getPotentialForce
```
protected double getPotentialForce(Point position)
```
    Computes the of the potential vector directing the owning vehicle away from this object
    
    Parameters:
    
    position - Cartesian coordinates (2x1 double[]) defining the owning vehicle's current position
    
    Returns:
    
    a scalar value for the repelling force driving the vehicle away from the object
  - getPotentialForce
```
protected double getPotentialForce(double x,
                                   double y)
```
    Computes the of the potential vector directing the owning vehicle away from this object
    
    Parameters:
    
    x - north/south Cartesian coordinates defining the owning vehicle's current position
    
    y - east/west Cartesian coordinates defining the owning vehicle's current position
    
    Returns:
    
    a scalar value for the repelling force driving the vehicle away from the object
  - getPotentialForceDirection
```
protected double getPotentialForceDirection(double[] point)
```
    Computes the direction that a potential vector will steer the owning vehicle to avoid this object Default is for the force to be oriented directly away from the point defining the location. If this is not what is required, this method should be overridden by the implementing class
    
    Parameters:
    
    point - Cartesian coordinates (2x1 double[]) defining the owning vehicle's current position
    
    Returns:
    
    the direction (0 radians is north) that the potential vector will push the vehicle
  - getPotentialForceDirection
```
protected double getPotentialForceDirection(Point point)
```
    Computes the direction that a potential vector will steer the owning vehicle to avoid this object Default is for the force to be oriented directly away from the point defining the location. If this is not what is required, this method should be overridden by the implementing class
    
    Parameters:
    
    point - Cartesian coordinates (2x1 double[]) defining the owning vehicle's current position
    
    Returns:
    
    the direction (0 radians is north) that the potential vector will push the vehicle
  - getPotentialForceDirection
```
protected double getPotentialForceDirection(double x,
                                            double y)
```
    Computes the direction that a potential vector will steer the owning vehicle to avoid this object Default is for the force to be oriented directly away from the point defining the location. If this is not what is required, this method should be overridden by the implementing class
    
    Parameters:
    
    x - north/south Cartesian coordinates defining the owning vehicle's current position
    
    y - east/west Cartesian coordinates defining the owning vehicle's current position
    
    Returns:
    
    the direction (0 radians is north) that the potential vector will push the vehicle
  - toString
```
public String toString()
```
    Generates a string representation of the wall object
    
    Overrides:
    
    toString in class Object

Class WorldObject

Field Summary

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Field Detail

potentialVector

Constructor Detail

WorldObject

WorldObject

WorldObject

Method Detail

setPosit

setPosit

setPosit

getPosit

getXPosit

getYPosit

setStandoff

getStandoff

getDistance

getDistance

getDistance

getDistance

getDistance

getDistance

getDistance

getDistanceOfConcern

getPotentialVector

getPotentialVector

getPotentialVector

getPotentialForce

getPotentialForce

getPotentialForce

getPotentialForceDirection

getPotentialForceDirection

getPotentialForceDirection

toString