GoalPlanner (Autonomous Unmanned Vehicle (AUV) Workbench Documentation)

java.lang.Object
- planner.avclPlan.GoalPlanner

All Implemented Interfaces:

Runnable

Direct Known Subclasses:

AttackPlanner, DecontaminatePlanner, DemolishPlanner, IlluminateAreaPlanner, JamPlanner, MarkTargetPlanner, MonitorTransmissionsPlanner, PatrolPlanner, RendezvousPlanner, RepositionPlanner, SampleEnvironmentPlanner, SearchPlanner
```
public abstract class GoalPlanner
extends Object
implements Runnable
```
Abstract class for implementation of planners for accomplishing individual goals of a declarative AVCL mission specification. Declarative missions are specified as a finite state machine where each state corresponds to an individual goal. Instances of children of this class will generate scripts that are designed to accomplish the goal specified by a single FSM state.

Since:

21 July 2005

Version:

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

Author:

dtdavis

Nested Class Summary

Nested Classes
Modifier and Type	Class and Description
`protected class`	`GoalPlanner.PartnerList` Container class for records for other vehicles cooperating towards this goal Records will be maintained in numerical order based on the vehicleID
`protected class`	`GoalPlanner.PartnerRecord`

Field Summary

Fields
Modifier and Type	Field and Description
`protected boolean`	`alert` Set to true if the goal is an alert (be on station to accomplish the specified goal, but don't actually do it)
`static int`	`ATTACK_GOAL`
`protected GeoAreaSet`	`avoidAreaSet` Simplified set of avoid areas for use by the route planner
`protected int`	`currentState` Enumeration for representing the current world state
`static String`	`DECISION_CURRENT` Goals in current decision tree
`static String`	`DECISION_ONFAILURE`
`static String`	`DECISION_ONSUCCESS`
`static int`	`DECONTAMINATE_GOAL`
`static int`	`DEMOLISH_GOAL`
`protected double`	`duration` Execution time (or maximum time to attain success) specified for the goal (if applicable)
`protected boolean`	`firstGoal` Flag indicating whether or not the goal is the first to be attempted (initial position command generated)
`static int`	`GOAL_FAIL`
`static int`	`GOAL_IN_PROGRESS`
`static int`	`GOAL_SUCCEED`
`protected boolean`	`goalAttainable` Set to false if the vehicle in question is not capable of completing this goal
`double`	`goalVertical` Vertical value (depth, altitude, MSL or AGL altitude) that the vehicle is to be at when accomplishing this goal
`int`	`goalVerticalMode` Enumeration for the units of the vehicle vertical (depth, altitude, etc.) that the vehicle is to use when accomplishing this goal
`static int`	`ILLUMINATE_GOAL`
`protected CommunicationsHandler`	`interVehicleCommunicationsHandler` Used to communicate between vehicles
`static int`	`JAM_GOAL`
`static int`	`MARK_GOAL`
`static int`	`MONITOR_TRANSMISSION_GOAL`
`protected boolean`	`onStation` Set to true when the vehicle arrives in the operating area
`protected GeoArea`	`operatingArea` The geographic operating area of the goal
`static int`	`PATROL_GOAL`
`protected boolean`	`planComputed` Flag indicating that the planner has a computed plan ready
`protected boolean`	`ready` Flag indicating that the planner has been fully initialized (is ready to be run)
`static int`	`RENDEZVOUS_GOAL`
`protected boolean`	`reportEnd` True if a report is to be made when goal execution ends
`protected double`	`reportingInterval` Period between reports if periodic reporting is required
`protected boolean`	`reportPeriodic` True if periodic reports are to be made
`protected boolean`	`reportStart` True if a report is to be made when goal execution begins
`protected boolean`	`reportStatusChange` True if a report is to be made each time the status of the goal changes
`static int`	`REPOSITION_GOAL`
`static int`	`SAMPLE_ENVIRONMENT_GOAL`
`static int`	`SEARCH_GOAL`
`protected int`	`searchPlannerType` Enumeration identifying the type of search pattern that is to be used (if required)
`protected double`	`startTime` Start time specified for commencement of goal execution (if applicable)
`protected boolean`	`stateChanged` Set to true when the world state of the planner has changed (replanning probably required)
`static String`	`STATUS_DESC_LAST_ENDED`
`static String`	`STATUS_EXECUTION_BEGIN` Goal Status messages
`static String`	`STATUS_EXECUTION_FAIL`
`static String`	`STATUS_EXECUTION_SUCCEED`
`static String`	`STATUS_STATUS_COMPLETE`
`static String`	`STATUS_SYSTEM_MISSION`
`protected double`	`stopTime` Completion (or time out) time specified for the commencement of goal execution (if applicable)
`protected GoalPlanner.PartnerList`	`teamPartnerList` Contains records of all vehicles participating in this goal
`protected long`	`timeOut` System clock time that the goal will time out
`protected VehicleCharacteristics`	`vehicleCharacteristics` Vehicle and goal-type-specific characteristics
`protected int`	`vehicleID` Unique identifier for this vehicle
`protected WorldModel`	`worldModel` Reference to the world model that is to be used in planning

Constructor Summary

Constructors
Constructor and Description
`GoalPlanner(int vehicleID, StateVector state, VehicleCharacteristics chars, AgendaGoalElementType goal)` Creates a new instance of GoalPlanner
`GoalPlanner(int vehicleID, StateVector state, VehicleCharacteristics chars, AgendaGoalElementType goal, List<AreaElementType> avoidAreas)` Creates a new instance of GoalPlanner
`GoalPlanner(int vehicleID, StateVector state, VehicleCharacteristics chars, AgendaGoalElementType goal, List<AreaElementType> avoidAreas, double startX, double startY)` Creates a new instance of GoalPlanner
`GoalPlanner(int vehicleID, VehicleCharacteristics chars, AgendaGoalElementType goal)` Creates a new instance of GoalPlanner
`GoalPlanner(int vehicleID, VehicleCharacteristics chars, AgendaGoalElementType goal, List<AreaElementType> avoidAreas)` Creates a new instance of GoalPlanner
`GoalPlanner(int vehicleID, VehicleCharacteristics chars, AgendaGoalElementType goal, List<AreaElementType> avoidAreas, double startX, double startY)` Creates a new instance of GoalPlanner

Method Summary

All Methods Instance Methods Abstract Methods Concrete Methods
Modifier and Type	Method and Description
`void`	`assignVehicle(StateVector state)` Assigns the planner object to a specific vehicle
`abstract List<JAXBElement<?>>`	`generateAvclScriptElementList(int vehicleType, double gpsInterval)` Generates a set of AVCL task-level commands relevant to the implementing object's purpose (e.g., a series of script commands that implement a planner object's computed plan)
`GeoAreaSet`	`getAvoidAreas()` Returns a reference to the AVCL avoid areas object
`double[]`	`getBestPosition()` Returns the best available current vehicle position
`double`	`getCurrentTime()` Gets the current vehicle simulation time or mission time
`double`	`getDuration()` Returns the maximum (or required) duration of goal execution
`AgendaGoalElementType`	`getGoal()` Returns a reference to the AVCL goal object
`int`	`getPlannerType()` Returns an enumeration for the type of planner object (child class) the object is
`double`	`getStartTime()` Returns the specified goal execution start time
`double`	`getStopTime()` Returns the specified goal execution stop time
`int`	`getTimingType()` Returns an enumeration for the type of timing used for this goal (absolute or duration)
`int`	`getVehicleType()` Returns the enumeration for the vehicle type that the generated plan is intended for
`abstract int`	`goalExecutionStatus()` Determines the current status of goal execution (in progress, succeed, or fail
`int`	`goalType()` Returns an enumeration corresponding to the type of goal the planner applies to
`boolean`	`hasStateChanged()` Returns true if the world state used by the planner has changed because of the last variable update
`boolean`	`inOperatingArea(double[] testPoint)` Returns true if the point specified by the parameter is in the current goal's operating area
`boolean`	`localExecutionLevel()` Returns true iff there is an Execution level object being used
`JAXBElement<?>`	`makeLoiterCmd(double x, double y, int positType, int transitVerticalMode, double transitVertical, double loiterVertical, String description)` Utility function for generating loiter commands for the specific type of vehicle This is required because even though they are semantically equivalent, the way the schema is designed, JAXB generates vehicle-specific objects (UuvScriptCommands.MetaCommand, UsvScriptCommands.MetaCommand, etc.)
`JAXBElement<?>`	`makeMetaCmd(String name, String content, String description)` Utility function for generating meta commands for the specific type of vehicle.
`JAXBElement<?>`	`makePositionCmd(double[] posit, int positType, String description)` Utility function for generating position commands for the specific type of vehicle
`JAXBElement<?>`	`makeWaitCmd(double duration, String description)` Utility function for generating wait commands for the specific type of vehicle This is required because even though they are semantically equivalent, the way the schema is designed, JAXB generates vehicle-specific objects (UuvScriptCommands.MetaCommand, UsvScriptCommands.Metacommand, etc.)
`JAXBElement<?>`	`makeWaitUntilTimeCmd(double time, String description)` Utility function for generating "wait until" commands for the specific type of vehicle This is required because even though they are semantically equivalent, the way the schema is designed, JAXB generates vehicle-specific objects (UuvScriptCommands.MetaCommand, UsvScriptCommands.Metacommand, etc.)
`boolean`	`matchedWaypoints(JAXBElement<?> waypoint1, JAXBElement<?> waypoint2)` Returns true if two waypoint commands are for the same geographic point
`boolean`	`planAvailable()` Returns true if the planner has a computed plan avaiable
`List<JAXBElement<?>>`	`planRouteElementList(double[] start, double[] end, double gpsInterval, double vertical, int verticalMode, double speed, int speedMode)` Generates a series of waypoints from a start to an end that avoids all avoid areas
`abstract void`	`planScript()` Utilizes all available information to generate a script to accomplish the applicable goal
`abstract void`	`planScript(double startX, double startY)` Utilizes all available information to generate a script to accomplish the applicable goal
`protected void`	`recalculateGpsFixes(List<JAXBElement<?>> planElementList)` Recalculates the GPS popup maneuvers for a UUV during the transit
`protected abstract void`	`reset()` Resets the planner so that it can be restarted from scratch
`void`	`resetStateChanged()` Resets the "state changed" flag to false
`void`	`resetTiming()` Resets the start and stop times of the goal
`void`	`run()` Implements the Runnable interface to support threaded planning
`protected abstract void`	`sendRequiredComms()` Sends any required inter-vehicle communications based on the current goal status
`void`	`setAvoidAreas(List<AreaElementType> avclAvoidAreas)` Sets a list of areas that are to be avoided during goal accomplishment
`void`	`setCommunicator(CommunicationsHandler ivCommunicator)` Used to set the inter-vehicle communicator
`void`	`setFirst()` Sets this goal as the first to be attempted
`void`	`setOffStation()` Sets the "In operating area" flag to false
`void`	`setOnStation()` Sets the "In operating area" flag to true
`void`	`setOperatingArea()` Sets the operating area for the goal
`protected abstract void`	`setParameters()` Sets the goal parameters specific to attacks based on a AVCL attack goal
`void`	`setStartPosition(double[] start)` Sets the vehicle position at the beginning of planning for goal accomplishment
`void`	`setStartPosition(double startX, double startY)` Sets the vehicle position at the beginning of planning for goal accomplishment
`abstract int`	`setState()` Uses the current world state to set the state of a finite state machine that will determine how the plan is generated (e.g. search pattern, report and continue, etc.)
`void`	`setTeamMemberOnStation(int otherVehicleID)` Sets the team member list to indicate that a team member is on station
`void`	`setUnattainable()` Sets this goal as unattainable by the executing vehicle
`void`	`setWorldModel(WorldModel world)` Sets the world model that the planner is to use
`void`	`vehicleInitialize(VehicleCharacteristics chars)` Used to initialize goal-type-specific characteristics required by the planner

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

- Field Detail
  - GOAL_IN_PROGRESS
```
public static final int GOAL_IN_PROGRESS
```
    See Also:
    
    Constant Field Values
  - GOAL_SUCCEED
```
public static final int GOAL_SUCCEED
```
    See Also:
    
    Constant Field Values
  - GOAL_FAIL
```
public static final int GOAL_FAIL
```
    See Also:
    
    Constant Field Values
  - ATTACK_GOAL
```
public static final int ATTACK_GOAL
```
    See Also:
    
    Constant Field Values
  - DECONTAMINATE_GOAL
```
public static final int DECONTAMINATE_GOAL
```
    See Also:
    
    Constant Field Values
  - DEMOLISH_GOAL
```
public static final int DEMOLISH_GOAL
```
    See Also:
    
    Constant Field Values
  - ILLUMINATE_GOAL
```
public static final int ILLUMINATE_GOAL
```
    See Also:
    
    Constant Field Values
  - JAM_GOAL
```
public static final int JAM_GOAL
```
    See Also:
    
    Constant Field Values
  - MARK_GOAL
```
public static final int MARK_GOAL
```
    See Also:
    
    Constant Field Values
  - MONITOR_TRANSMISSION_GOAL
```
public static final int MONITOR_TRANSMISSION_GOAL
```
    See Also:
    
    Constant Field Values
  - PATROL_GOAL
```
public static final int PATROL_GOAL
```
    See Also:
    
    Constant Field Values
  - RENDEZVOUS_GOAL
```
public static final int RENDEZVOUS_GOAL
```
    See Also:
    
    Constant Field Values
  - REPOSITION_GOAL
```
public static final int REPOSITION_GOAL
```
    See Also:
    
    Constant Field Values
  - SAMPLE_ENVIRONMENT_GOAL
```
public static final int SAMPLE_ENVIRONMENT_GOAL
```
    See Also:
    
    Constant Field Values
  - SEARCH_GOAL
```
public static final int SEARCH_GOAL
```
    See Also:
    
    Constant Field Values
  - STATUS_EXECUTION_BEGIN
```
public static String STATUS_EXECUTION_BEGIN
```
    Goal Status messages
  - STATUS_EXECUTION_FAIL
```
public static String STATUS_EXECUTION_FAIL
```
  - STATUS_EXECUTION_SUCCEED
```
public static String STATUS_EXECUTION_SUCCEED
```
  - STATUS_SYSTEM_MISSION
```
public static String STATUS_SYSTEM_MISSION
```
  - STATUS_STATUS_COMPLETE
```
public static String STATUS_STATUS_COMPLETE
```
  - STATUS_DESC_LAST_ENDED
```
public static String STATUS_DESC_LAST_ENDED
```
  - DECISION_CURRENT
```
public static String DECISION_CURRENT
```
    Goals in current decision tree
  - DECISION_ONSUCCESS
```
public static String DECISION_ONSUCCESS
```
  - DECISION_ONFAILURE
```
public static String DECISION_ONFAILURE
```
  - vehicleID
```
protected int vehicleID
```
    Unique identifier for this vehicle
  - vehicleCharacteristics
```
protected VehicleCharacteristics vehicleCharacteristics
```
    Vehicle and goal-type-specific characteristics
  - interVehicleCommunicationsHandler
```
protected CommunicationsHandler interVehicleCommunicationsHandler
```
    Used to communicate between vehicles
  - operatingArea
```
protected GeoArea operatingArea
```
    The geographic operating area of the goal
  - avoidAreaSet
```
protected GeoAreaSet avoidAreaSet
```
    Simplified set of avoid areas for use by the route planner
  - teamPartnerList
```
protected GoalPlanner.PartnerList teamPartnerList
```
    Contains records of all vehicles participating in this goal
  - startTime
```
protected double startTime
```
    Start time specified for commencement of goal execution (if applicable)
  - stopTime
```
protected double stopTime
```
    Completion (or time out) time specified for the commencement of goal execution (if applicable)
  - duration
```
protected double duration
```
    Execution time (or maximum time to attain success) specified for the goal (if applicable)
  - timeOut
```
protected long timeOut
```
    System clock time that the goal will time out
  - alert
```
protected boolean alert
```
    Set to true if the goal is an alert (be on station to accomplish the specified goal, but don't actually do it)
  - worldModel
```
protected WorldModel worldModel
```
    Reference to the world model that is to be used in planning
  - firstGoal
```
protected boolean firstGoal
```
    Flag indicating whether or not the goal is the first to be attempted (initial position command generated)
  - ready
```
protected boolean ready
```
    Flag indicating that the planner has been fully initialized (is ready to be run)
  - planComputed
```
protected boolean planComputed
```
    Flag indicating that the planner has a computed plan ready
  - currentState
```
protected int currentState
```
    Enumeration for representing the current world state
  - reportStatusChange
```
protected boolean reportStatusChange
```
    True if a report is to be made each time the status of the goal changes
  - reportStart
```
protected boolean reportStart
```
    True if a report is to be made when goal execution begins
  - reportEnd
```
protected boolean reportEnd
```
    True if a report is to be made when goal execution ends
  - reportPeriodic
```
protected boolean reportPeriodic
```
    True if periodic reports are to be made
  - reportingInterval
```
protected double reportingInterval
```
    Period between reports if periodic reporting is required
  - goalAttainable
```
protected boolean goalAttainable
```
    Set to false if the vehicle in question is not capable of completing this goal
  - onStation
```
protected boolean onStation
```
    Set to true when the vehicle arrives in the operating area
  - stateChanged
```
protected boolean stateChanged
```
    Set to true when the world state of the planner has changed (replanning probably required)
  - goalVertical
```
public double goalVertical
```
    Vertical value (depth, altitude, MSL or AGL altitude) that the vehicle is to be at when accomplishing this goal
  - goalVerticalMode
```
public int goalVerticalMode
```
    Enumeration for the units of the vehicle vertical (depth, altitude, etc.) that the vehicle is to use when accomplishing this goal
  - searchPlannerType
```
protected int searchPlannerType
```
    Enumeration identifying the type of search pattern that is to be used (if required)
- Constructor Detail
  - GoalPlanner
```
public GoalPlanner(int vehicleID,
                   VehicleCharacteristics chars,
                   AgendaGoalElementType goal)
```
    Creates a new instance of GoalPlanner
    
    Parameters:
    
    vehicleID -
    
    chars - characteristics that define what goals the vehicle is capable of accomplishing
    
    goal - AVCL (JAXB) object that defines the goal the planner is intended to accomplish
  - GoalPlanner
```
public GoalPlanner(int vehicleID,
                   VehicleCharacteristics chars,
                   AgendaGoalElementType goal,
                   List<AreaElementType> avoidAreas)
```
    Creates a new instance of GoalPlanner
    
    Parameters:
    
    vehicleID -
    
    chars - characteristics that define what goals the vehicle is capable of accomplishing
    
    goal - AVCL (JAXB) object that defines the goal the planner is intended to accomplish
    
    avoidAreas - list of AVCL objects defining avoid areas effecting transit to and from op area
  - GoalPlanner
```
public GoalPlanner(int vehicleID,
                   VehicleCharacteristics chars,
                   AgendaGoalElementType goal,
                   List<AreaElementType> avoidAreas,
                   double startX,
                   double startY)
```
    Creates a new instance of GoalPlanner
    
    Parameters:
    
    vehicleID -
    
    chars - characteristics that define what goals the vehicle is capable of accomplishing
    
    goal - AVCL (JAXB) object that defines the goal the planner is intended to accomplish
    
    avoidAreas - list of AVCL objects defining avoid areas effecting transit to and from op area
    
    startX - the x coordinate of the vehicle starting position
    
    startY - the y coordinate of the vehicle starting position
  - GoalPlanner
```
public GoalPlanner(int vehicleID,
                   StateVector state,
                   VehicleCharacteristics chars,
                   AgendaGoalElementType goal)
```
    Creates a new instance of GoalPlanner
    
    Parameters:
    
    vehicleID -
    
    state - StateVector object of the vehicle for which the planner is to be utilized
    
    chars - characteristics that define what goals the vehicle is capable of accomplishing
    
    goal - AVCL (JAXB) object that defines the goal the planner is intended to accomplish
  - GoalPlanner
```
public GoalPlanner(int vehicleID,
                   StateVector state,
                   VehicleCharacteristics chars,
                   AgendaGoalElementType goal,
                   List<AreaElementType> avoidAreas)
```
    Creates a new instance of GoalPlanner
    
    Parameters:
    
    vehicleID -
    
    state - StateVector object of the vehicle for which the planner is to be utilized
    
    chars - characteristics that define what goals the vehicle is capable of accomplishing
    
    goal - AVCL (JAXB) object that defines the goal the planner is intended to accomplish
    
    avoidAreas - list of AVCL objects defining avoid areas effecting transit to and from op area
  - GoalPlanner
```
public GoalPlanner(int vehicleID,
                   StateVector state,
                   VehicleCharacteristics chars,
                   AgendaGoalElementType goal,
                   List<AreaElementType> avoidAreas,
                   double startX,
                   double startY)
```
    Creates a new instance of GoalPlanner
    
    Parameters:
    
    vehicleID -
    
    state - StateVector object of the vehicle for which the planner is to be utilized
    
    chars - characteristics that define what goals the vehicle is capable of accomplishing
    
    goal - AVCL (JAXB) object that defines the goal the planner is intended to accomplish
    
    avoidAreas - list of AVCL objects defining avoid areas effecting transit to and from op area
    
    startX - the x coordinate of the vehicle starting position
    
    startY - the y coordinate of the vehicle starting position
- Method Detail
  - reset
```
protected abstract void reset()
```
    Resets the planner so that it can be restarted from scratch
  - setParameters
```
protected abstract void setParameters()
```
    Sets the goal parameters specific to attacks based on a AVCL attack goal
  - setState
```
public abstract int setState()
```
    Uses the current world state to set the state of a finite state machine that will determine how the plan is generated (e.g. search pattern, report and continue, etc.)
    
    Returns:
  - planScript
```
public abstract void planScript()
```
    Utilizes all available information to generate a script to accomplish the applicable goal
  - planScript
```
public abstract void planScript(double startX,
                                double startY)
```
    Utilizes all available information to generate a script to accomplish the applicable goal
    
    Parameters:
    
    startX - X coordinate of the vehicle when starting work towards goal accomplishment
    
    startY - Y coordinate of the vehicle when starting work towards goal accomplishment
  - generateAvclScriptElementList
```
public abstract List<JAXBElement<?>> generateAvclScriptElementList(int vehicleType,
                                                                   double gpsInterval)
```
    Generates a set of AVCL task-level commands relevant to the implementing object's purpose (e.g., a series of script commands that implement a planner object's computed plan)
    
    Parameters:
    
    vehicleType - enumeration for the type of vehicle (AUV, UAV, etc.)
    
    gpsInterval - distance the vehicle can travel submerged between GPS fixes (only relevant for UUVs)
    
    Returns:
    
    ArrayList of AVCL script command objects (JAXB)
  - goalExecutionStatus
```
public abstract int goalExecutionStatus()
```
    Determines the current status of goal execution (in progress, succeed, or fail
    
    Returns:
    
    integer enumeration for current execution status: GoalPlanner.GOAL_IN_PROGRESS, GoalPlanner.GOAL_SUCCEED, or GoalPlanner.GOAL_FAIL
  - sendRequiredComms
```
protected abstract void sendRequiredComms()
```
    Sends any required inter-vehicle communications based on the current goal status
  - vehicleInitialize
```
public void vehicleInitialize(VehicleCharacteristics chars)
```
    Used to initialize goal-type-specific characteristics required by the planner
    
    Parameters:
    
    chars - vehicle characteristics to be utilized for the search
  - setWorldModel
```
public void setWorldModel(WorldModel world)
```
    Sets the world model that the planner is to use
    
    Parameters:
    
    world -
  - setCommunicator
```
public void setCommunicator(CommunicationsHandler ivCommunicator)
```
    Used to set the inter-vehicle communicator
    
    Parameters:
    
    ivCommunicator -
  - assignVehicle
```
public final void assignVehicle(StateVector state)
```
    Assigns the planner object to a specific vehicle
    
    Parameters:
    
    state - StateVector object of the vehicle to which this planner is being assigned
  - setFirst
```
public void setFirst()
```
    Sets this goal as the first to be attempted
  - inOperatingArea
```
public boolean inOperatingArea(double[] testPoint)
```
    Returns true if the point specified by the parameter is in the current goal's operating area
    
    Parameters:
    
    testPoint - double[2] containing the (x, y) position of the point being tested
    
    Returns:
    
    whether testPoint is in the GeoArea operatingArea
  - localExecutionLevel
```
public boolean localExecutionLevel()
```
    Returns true iff there is an Execution level object being used
    
    Returns:
    
    whether a local Execution level object being used
  - getBestPosition
```
public double[] getBestPosition()
```
    Returns the best available current vehicle position
    
    Returns:
    
    best available current vehicle position
  - resetTiming
```
public void resetTiming()
```
    Resets the start and stop times of the goal
  - resetStateChanged
```
public void resetStateChanged()
```
    Resets the "state changed" flag to false
  - setUnattainable
```
public void setUnattainable()
```
    Sets this goal as unattainable by the executing vehicle
  - setOnStation
```
public void setOnStation()
```
    Sets the "In operating area" flag to true
  - setOffStation
```
public void setOffStation()
```
    Sets the "In operating area" flag to false
  - setTeamMemberOnStation
```
public void setTeamMemberOnStation(int otherVehicleID)
```
    Sets the team member list to indicate that a team member is on station
    
    Parameters:
    
    otherVehicleID - identifier of the vehicle reporting on station
  - getCurrentTime
```
public double getCurrentTime()
```
    Gets the current vehicle simulation time or mission time
    
    Returns:
    
    current vehicle time
  - hasStateChanged
```
public boolean hasStateChanged()
```
    Returns true if the world state used by the planner has changed because of the last variable update
    
    Returns:
    
    whether state has changed
  - getPlannerType
```
public int getPlannerType()
```
    Returns an enumeration for the type of planner object (child class) the object is
    
    Returns:
    
    ATTACK_GOAL, DECONTAMINATE_GOAL, DEMOLISH_GOAL, ILLUMINATE_GOAL, JAM_GOAL, MARK_GOAL, MONITOR_TRANSMISSION_GOAL, PATROL_GOAL, RENDEZVOUS_GOAL, REPOSITION_GOAL, SAMPLE_ENVIRONMENT_GOAL, SEARCH_GOAL
  - getVehicleType
```
public int getVehicleType()
```
    Returns the enumeration for the vehicle type that the generated plan is intended for
    
    Returns:
    
    AvclMission.UAV, AvclMission.UGV, AvclMission.USV, AvclMission.UUV
  - getGoal
```
public AgendaGoalElementType getGoal()
```
    Returns a reference to the AVCL goal object
    
    Returns:
  - goalType
```
public int goalType()
```
    Returns an enumeration corresponding to the type of goal the planner applies to
    
    Returns:
  - planAvailable
```
public boolean planAvailable()
```
    Returns true if the planner has a computed plan avaiable
    
    Returns:
    
    true if a plan has been computed
  - getAvoidAreas
```
public GeoAreaSet getAvoidAreas()
```
    Returns a reference to the AVCL avoid areas object
    
    Returns:
  - setStartPosition
```
public void setStartPosition(double startX,
                             double startY)
```
    Sets the vehicle position at the beginning of planning for goal accomplishment
    
    Parameters:
    
    startX -
    
    startY -
  - setStartPosition
```
public void setStartPosition(double[] start)
```
    Sets the vehicle position at the beginning of planning for goal accomplishment
    
    Parameters:
    
    start - double[2] containing the (x, y) coordinate of the starting point
  - getTimingType
```
public int getTimingType()
```
    Returns an enumeration for the type of timing used for this goal (absolute or duration)
    
    Returns:
    
    enumeration for the type of timing used for this goal (absolute or duration)
  - getStartTime
```
public double getStartTime()
```
    Returns the specified goal execution start time
    
    Returns:
    
    absolute starting time of the goal
  - getStopTime
```
public double getStopTime()
```
    Returns the specified goal execution stop time
    
    Returns:
    
    absolute ending time of the goal
  - getDuration
```
public double getDuration()
```
    Returns the maximum (or required) duration of goal execution
    
    Returns:
    
    maximum (or required) duration of goal execution
  - setOperatingArea
```
public final void setOperatingArea()
```
    Sets the operating area for the goal
  - setAvoidAreas
```
public final void setAvoidAreas(List<AreaElementType> avclAvoidAreas)
```
    Sets a list of areas that are to be avoided during goal accomplishment
    
    Parameters:
    
    avclAvoidAreas - a List of areas to avoid
  - planRouteElementList
```
public List<JAXBElement<?>> planRouteElementList(double[] start,
                                                 double[] end,
                                                 double gpsInterval,
                                                 double vertical,
                                                 int verticalMode,
                                                 double speed,
                                                 int speedMode)
```
    Generates a series of waypoints from a start to an end that avoids all avoid areas
    
    Parameters:
    
    start - double[2] containing the (x, y) position of the starting point
    
    end - double[2] containing the (x, y) position of the ending point
    
    gpsInterval - number of waypoints between GPS fixes (only relevant for UUVs)
    
    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)
    
    Returns:
    
    a series of waypoints from a start to an end that avoids all avoid areas
  - recalculateGpsFixes
```
protected void recalculateGpsFixes(List<JAXBElement<?>> planElementList)
```
    Recalculates the GPS popup maneuvers for a UUV during the transit
    
    Parameters:
    
    planElementList - ArrayList containing the AVCL behaviors of the plan
  - makeLoiterCmd
```
public JAXBElement<?> makeLoiterCmd(double x,
                                    double y,
                                    int positType,
                                    int transitVerticalMode,
                                    double transitVertical,
                                    double loiterVertical,
                                    String description)
```
    Utility function for generating loiter commands for the specific type of vehicle This is required because even though they are semantically equivalent, the way the schema is designed, JAXB generates vehicle-specific objects (UuvScriptCommands.MetaCommand, UsvScriptCommands.MetaCommand, etc.)
    
    Parameters:
    
    x - north/south position of the loiter command
    
    y - east/west position of the loiter command
    
    positType - enumeration for position type (latitude/longitude or (x, y)
    
    transitVerticalMode - enumeration for what the vertical is (MSLAltitude, depth, etc.)
    
    transitVertical - altitude or depth value to use during transit (only applies to UUVs and UAVs)
    
    loiterVertical - altitude or depth to use while loitering (only applies to UUVs and UAVs)
    
    description - value of the meta command description attribute
    
    Returns:
    
    vehicle-specific loiter command object
  - makeMetaCmd
```
public JAXBElement<?> makeMetaCmd(String name,
                                  String content,
                                  String description)
```
    Utility function for generating meta commands for the specific type of vehicle. This is required because even though they are semantically equivalent, the way the schema is designed, JAXB generates vehicle-specific objects (UuvScriptCommands.MetaCommand, UsvScriptCommands.Metacommand, etc.)
    
    Parameters:
    
    name - text to be used for the meta command name attribute
    
    content - text to be used for the meta command content attribute
    
    description - value of the meta command description attribute
    
    Returns:
    
    vehicle-specific meta command object
  - makePositionCmd
```
public JAXBElement<?> makePositionCmd(double[] posit,
                                      int positType,
                                      String description)
```
    Utility function for generating position commands for the specific type of vehicle
    
    Parameters:
    
    posit - double[2] containing the (x, y) position of the Position command
    
    positType -
    
    description - value of the meta command description attribute
    
    Returns:
    
    vehicle-specific position command object
  - makeWaitCmd
```
public JAXBElement<?> makeWaitCmd(double duration,
                                  String description)
```
    Utility function for generating wait commands for the specific type of vehicle This is required because even though they are semantically equivalent, the way the schema is designed, JAXB generates vehicle-specific objects (UuvScriptCommands.MetaCommand, UsvScriptCommands.Metacommand, etc.)
    
    Parameters:
    
    duration - length of time the vehicle is to wait
    
    description - value of the meta command description attribute
    
    Returns:
    
    vehicle-specific wait command object
  - makeWaitUntilTimeCmd
```
public JAXBElement<?> makeWaitUntilTimeCmd(double time,
                                           String description)
```
    Utility function for generating "wait until" commands for the specific type of vehicle This is required because even though they are semantically equivalent, the way the schema is designed, JAXB generates vehicle-specific objects (UuvScriptCommands.MetaCommand, UsvScriptCommands.Metacommand, etc.)
    
    Parameters:
    
    time - clock time that the vehicle is to resume
    
    description - value of the meta command description attribute
    
    Returns:
    
    vehicle-specific wait until time command object
  - matchedWaypoints
```
public boolean matchedWaypoints(JAXBElement<?> waypoint1,
                                JAXBElement<?> waypoint2)
```
    Returns true if two waypoint commands are for the same geographic point
    
    Parameters:
    
    waypoint1 -
    
    waypoint2 -
    
    Returns:
  - run
```
public void run()
```
    Implements the Runnable interface to support threaded planning
    
    Specified by:
    
    run in interface Runnable

Class GoalPlanner

Nested Class Summary

Field Summary

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Field Detail

GOAL_IN_PROGRESS

GOAL_SUCCEED

GOAL_FAIL

ATTACK_GOAL

DECONTAMINATE_GOAL

DEMOLISH_GOAL

ILLUMINATE_GOAL

JAM_GOAL

MARK_GOAL

MONITOR_TRANSMISSION_GOAL

PATROL_GOAL

RENDEZVOUS_GOAL

REPOSITION_GOAL

SAMPLE_ENVIRONMENT_GOAL

SEARCH_GOAL

STATUS_EXECUTION_BEGIN

STATUS_EXECUTION_FAIL

STATUS_EXECUTION_SUCCEED

STATUS_SYSTEM_MISSION

STATUS_STATUS_COMPLETE

STATUS_DESC_LAST_ENDED

DECISION_CURRENT

DECISION_ONSUCCESS

DECISION_ONFAILURE

vehicleID

vehicleCharacteristics

interVehicleCommunicationsHandler

operatingArea

avoidAreaSet

teamPartnerList

startTime

stopTime

duration

timeOut

alert

worldModel

firstGoal

ready

planComputed

currentState

reportStatusChange

reportStart

reportEnd

reportPeriodic

reportingInterval

goalAttainable

onStation

stateChanged

goalVertical

goalVerticalMode

searchPlannerType

Constructor Detail

GoalPlanner

GoalPlanner

GoalPlanner

GoalPlanner

GoalPlanner

GoalPlanner

Method Detail

reset

setParameters

setState

planScript

planScript

generateAvclScriptElementList

goalExecutionStatus

sendRequiredComms

vehicleInitialize

setWorldModel

setCommunicator

assignVehicle

setFirst

inOperatingArea