Lobe (Autonomous Unmanned Vehicle (AUV) Workbench Documentation)

java.lang.Object
- mil.navy.nps.rra.Lobe

public class Lobe
extends Object

A Lobe is defined by combining multiple Beams, which in turn are made up of Rays.

Lobes are emitted in a pattern from an source. In a properly designed active sonar, there is only one main Lobe. This class simulates that Lobe. Lobes are characterized by a direction that they are pointed in, and also (typically) by a horizontal and vertical beamwidth. Within this Lobe resides the acoustic energy used for detection of distant objects. This class subdivides the Lobe into Beams. This approach keeps the wave front of each individual bundle of rays from getting significantly larger than the wavelength of the acoustic energy. This constraint also ensures that accuracy is maintained and so many special problems with large area bundle reflection can be ignored. Thus, the Lobe class divides the sonar lobe into a matrix of beams, and divides the energy in the lobe among the beams. Each beam is then calculated individually using the Beam class.

Future Work:

To optimize the execution time, repeated calculation of duplicate rays needs to be eliminated.

Version:

$Revision: 1.8 $

Author:

LT Timothy M. Holliday USN

Contact: Don Brutzman (web.nps.navy.mil/~brutzman) brutzman@nps.navy.mil

Source Code:

~vrtp/mil/navy/nps/rra/Lobe.java

http://web.nps.navy.mil/~brutzman/vrtp/mil/navy/nps/rra/Lobe.java

History:

29 Nov 97 Timothy M. Holliday New
17 Mar 98 Timothy M. Holliday Added HTML comment convention
12 Apr 98 Timothy M. Holliday Parameterless Constructors
14 Apr 98 Timothy M. Holliday Simplified VRML Routines
9 Oct 98 Don Brutzman Javadoc updates for jdk1.2b4
25 April 99 Don Brutzman Javadoc updates for jdk1.2.1

Reference:

Holliday, Timothy, Real-Time 3D Sonar Modeling and Visualization, Master's Thesis, Naval Postgraduate School, Monterey California, June 1998. Available at vrtp/rra/HollidayRRAthesis.pdf. and web.nps.navy.mil/~brutzman/vrtp/rra/HollidayRRAthesis.pdf. Slideset available in Powerpoint and Acrobat .pdf formats.

See Also:

Ray, Beam, Bottom, Surface, SSP

Constructor Summary

Constructors
Constructor and Description

Lobe()
A Lobe is defined as an (m x n) array of Beams.

Constructors
Constructor and Description
`Lobe()` A Lobe is defined as an (m x n) array of Beams.

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`void`	`calculateLobe(Targets targets)` Calculates the Lobe by calling the calculateBeam method for each beam in the lobe.
`String`	`detectionVRML()` Returns VRML objects that signify detections that were made in the virtual world.
`String`	`dynamicVRML()` Writes the dynamic VRML representation of the Lobe by calling the VRMLBeam routine for each beam.
`static boolean`	`getAppendLineFeed()` This is a static method that returns the current line appendage.
`double`	`getAzimuth()` Gets the Azimuthatl Angle.
`Bottom`	`getBottom()` Returns the handle to the bottom object.
`double`	`getDeltaTime()` This method returns the simulation step time.
`int`	`getDuration()` This is an accessor method.
`double`	`getElevation()` Returns the elevation angle.
`double`	`getEndTime()` Returns the simulation end time.
`double`	`getLobeWidthX()` This is an accessor method to get the total lobe width in the azimuthal direction reletive to the Ziomek Coordinate System.
`double`	`getLobeWidthY()` This is an accessor method to get the total lobe width in the elevation direction reletive to the Ziomek Coordinate System.
`int`	`getNumberXPartition()` Returns the number of beams in the azimuthal direction that there are in the lobe.
`int`	`getNumberYPartition()` Returns the number of beams in the elevation direction that there are in the lobe.
`Vec3d`	`getPosition()` Returns the lobe position.
`SSP`	`getSsp()` This method returns the handle to the sound speed profile object.
`Surface`	`getSurface()` This method returns the handle to the surface object.
`void`	`reset()` Resets all of the lobe parameters after instantiation has occurred since reuse is more time efficient than garbage collection and reallocation.
`static void`	`setAppendLineFeed(boolean pAppendLineFeed)` This is a static method used to indicate whether a line feed is desired at the end of every line.
`void`	`setAzimuth(double phi)` Sets the azimuthal angle, which is the angle from the x-axis to the z-axis rotating about the y-axis.
`void`	`setBottom(Bottom pBottom)` This method sets the handle to the bottom object.
`void`	`setDeltaTime(double pDeltaTime)` This method sets the time step in the simulation.
`void`	`setDuration(int duration)` This is an accessor method.
`void`	`setElevation(double beta)` Sets the elevation angle, which is the angle from the y-axis to the x-axis rotating about the z-axis .
`void`	`setEndTime(double pEndTime)` This method sets the simulation end time.
`void`	`setLobeWidthX(double pLobeWidthX)` Sets the total lobe width in the azimuthal direction reletive to the Ziomek Coordinate System.
`void`	`setLobeWidthY(double pLobeWidthY)` This is an accessor method to set the total lobe width in the elevation direction reletive to the Ziomek Coordinate System.
`void`	`setNumberXPartition(int number)` Sets the number of beams in the azimuthal direction that there are in the lobe.
`void`	`setNumberYPartition(int number)` Sets the number of beams in the elevation direction that there are in the lobe.
`void`	`setPosition(Vec3d pPosition)` Sets the lobe positon.
`void`	`setSsp(SSP pSsp)` Sets the handle to the sound speed profile object.
`void`	`setSurface(Surface pSurface)` Sets the handle to the surface object.
`String`	`staticVRML(int colorMap, int intensityMap)` This method writes the static VRML representation of the Lobe by calling the VRMLBeam routine for each beam.

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

- Constructor Detail
  - Lobe
```
public Lobe()
```
    A Lobe is defined as an (m x n) array of Beams. Due to memory and initialization constraints, the current limit on Beams is 5 by 5. Use accessor methods to set initial values of member variables.
- Method Detail
  - reset
```
public void reset()
```
    Resets all of the lobe parameters after instantiation has occurred since reuse is more time efficient than garbage collection and reallocation.
  - setAzimuth
```
public void setAzimuth(double phi)
```
    Sets the azimuthal angle, which is the angle from the x-axis to the z-axis rotating about the y-axis.
    
    Parameters:
    
    phi - The azimuthal angle.
  - getAzimuth
```
public double getAzimuth()
```
    Gets the Azimuthatl Angle.
    
    Returns:
    
    The Azimuthatl Angle.
  - setLobeWidthX
```
public void setLobeWidthX(double pLobeWidthX)
```
    Sets the total lobe width in the azimuthal direction reletive to the Ziomek Coordinate System. Argument is in degrees.
    
    Parameters:
    
    pLobeWidthX - The degrees.
  - getLobeWidthX
```
public double getLobeWidthX()
```
    This is an accessor method to get the total lobe width in the azimuthal direction reletive to the Ziomek Coordinate System. Value is in degrees.
    
    Returns:
    
    The dgree.
  - setElevation
```
public void setElevation(double beta)
```
    Sets the elevation angle, which is the angle from the y-axis to the x-axis rotating about the z-axis .
    
    Parameters:
    
    beta - the elevation angle.
  - getElevation
```
public double getElevation()
```
    Returns the elevation angle.
    
    Returns:
    
    The elevation angle.
  - setLobeWidthY
```
public void setLobeWidthY(double pLobeWidthY)
```
    This is an accessor method to set the total lobe width in the elevation direction reletive to the Ziomek Coordinate System. Argument is in degrees.
    
    Parameters:
    
    pLobeWidthY - The degrees.
  - getLobeWidthY
```
public double getLobeWidthY()
```
    This is an accessor method to get the total lobe width in the elevation direction reletive to the Ziomek Coordinate System. Value is in degrees.
    
    Returns:
    
    The degrees.
  - setPosition
```
public void setPosition(Vec3d pPosition)
```
    Sets the lobe positon.
    
    Parameters:
    
    pPosition - The 3-element vectors of type Double.
  - getPosition
```
public Vec3d getPosition()
```
    Returns the lobe position.
    
    Returns:
    
    The 3-element vectors of type Double.
  - setDeltaTime
```
public void setDeltaTime(double pDeltaTime)
```
    This method sets the time step in the simulation.
    
    Parameters:
    
    pDeltaTime - the time step in the simulation.
  - getDeltaTime
```
public double getDeltaTime()
```
    This method returns the simulation step time.
    
    Returns:
    
    The simulation step time.
  - setNumberXPartition
```
public void setNumberXPartition(int number)
```
    Sets the number of beams in the azimuthal direction that there are in the lobe.
    
    Parameters:
    
    number - The number of beams in the azimuthal direction.
  - getNumberXPartition
```
public int getNumberXPartition()
```
    Returns the number of beams in the azimuthal direction that there are in the lobe.
    
    Returns:
    
    The number of beams in the azimuthal direction.
  - setNumberYPartition
```
public void setNumberYPartition(int number)
```
    Sets the number of beams in the elevation direction that there are in the lobe.
    
    Parameters:
    
    number - The number of beams in the elevation direction.
  - getNumberYPartition
```
public int getNumberYPartition()
```
    Returns the number of beams in the elevation direction that there are in the lobe.
    
    Returns:
    
    The number of beams in the elevation direction.
  - setEndTime
```
public void setEndTime(double pEndTime)
```
    This method sets the simulation end time. This value is reletive to the start time which is 0.0.
    
    Parameters:
    
    pEndTime - the simulation end time.
  - getEndTime
```
public double getEndTime()
```
    Returns the simulation end time.
    
    Returns:
    
    The simulation end time.
  - setDuration
```
public void setDuration(int duration)
```
    This is an accessor method. Duration is currently 1 or 2. The integer refers to the number of deltTime increments.
    
    Parameters:
    
    duration - The duration number of deltTime increments.
  - getDuration
```
public int getDuration()
```
    This is an accessor method. Duration is currently 1 or 2. The integer refers to the number of deltTime increments.
    
    Returns:
    
    Te duration number of deltTime increments.
  - setBottom
```
public void setBottom(Bottom pBottom)
```
    This method sets the handle to the bottom object.
    
    Parameters:
    
    pBottom - The handle to the bottom object.
  - getBottom
```
public Bottom getBottom()
```
    Returns the handle to the bottom object.
    
    Returns:
    
    The handle to the bottom object.
  - setSurface
```
public void setSurface(Surface pSurface)
```
    Sets the handle to the surface object.
    
    Parameters:
    
    pSurface - The handle to the surface object.
  - getSurface
```
public Surface getSurface()
```
    This method returns the handle to the surface object.
    
    Returns:
    
    the handle to the surface object.
  - setSsp
```
public void setSsp(SSP pSsp)
```
    Sets the handle to the sound speed profile object.
    
    Parameters:
    
    pSsp - The handle to the sound speed profile object.
  - getSsp
```
public SSP getSsp()
```
    This method returns the handle to the sound speed profile object.
    
    Returns:
    
    the handle to the sound speed profile object.
  - calculateLobe
```
public void calculateLobe(Targets targets)
```
    Calculates the Lobe by calling the calculateBeam method for each beam in the lobe.
    
    Parameters:
    
    targets - Targets class object.
  - detectionVRML
```
public String detectionVRML()
```
    Returns VRML objects that signify detections that were made in the virtual world. The objects are collections of red spheres indicating a detect.
    
    Returns:
    
    The VRML string.
  - dynamicVRML
```
public String dynamicVRML()
```
    Writes the dynamic VRML representation of the Lobe by calling the VRMLBeam routine for each beam. Also Writes out a Viewpoint node.
    
    Returns:
    
    The Viewpoint node of VRML string.
  - staticVRML
```
public String staticVRML(int colorMap,
                         int intensityMap)
```
    This method writes the static VRML representation of the Lobe by calling the VRMLBeam routine for each beam.
    
    Parameters:
    
    colorMap - The number of the colorMap.
    
    intensityMap - The number of the intensityMap.
    
    Returns:
    
    The static VRML string.
  - setAppendLineFeed
```
public static void setAppendLineFeed(boolean pAppendLineFeed)
```
    This is a static method used to indicate whether a line feed is desired at the end of every line.
    
    Parameters:
    
    pAppendLineFeed - 'true' indicates a linefeed is desired and 'false' indicates that a space is desired"
  - getAppendLineFeed
```
public static boolean getAppendLineFeed()
```
    This is a static method that returns the current line appendage.
    
    Returns:
    
    The current line appendage.

29 Nov 97	Timothy M. Holliday	New
17 Mar 98	Timothy M. Holliday	Added HTML comment convention
12 Apr 98	Timothy M. Holliday	Parameterless Constructors
14 Apr 98	Timothy M. Holliday	Simplified VRML Routines
9 Oct 98	Don Brutzman	Javadoc updates for jdk1.2b4
25 April 99	Don Brutzman	Javadoc updates for jdk1.2.1

Class Lobe

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Constructor Detail

Lobe

Method Detail

reset

setAzimuth

getAzimuth

setLobeWidthX

getLobeWidthX

setElevation

getElevation

setLobeWidthY

getLobeWidthY

setPosition

getPosition

setDeltaTime

getDeltaTime

setNumberXPartition

getNumberXPartition

setNumberYPartition

getNumberYPartition

setEndTime

getEndTime

setDuration

getDuration

setBottom

getBottom

setSurface

getSurface

setSsp

getSsp

calculateLobe

detectionVRML

dynamicVRML

staticVRML

setAppendLineFeed

getAppendLineFeed