VehicleCharacteristics (Autonomous Unmanned Vehicle (AUV) Workbench Documentation)

java.lang.Object
- planner.avclPlan.VehicleCharacteristics

```
public class VehicleCharacteristics
extends Object
```
Wrapper class to provide for convenient planner access to applicable vehicle parameters

Author:

dtdavis

Field Summary

Fields
Modifier and Type Field and Description

double[] position
Current (or expected) position of the vehicle when goal execution begins

Fields
Modifier and Type	Field and Description
`double[]`	`position` Current (or expected) position of the vehicle when goal execution begins

Constructor Summary

Constructors
Constructor and Description
`VehicleCharacteristics()` Creates a new instance of VehicleCharacteristics
`VehicleCharacteristics(int vehicleType)` Creates a new instance of VehicleCharacteristics with default values
`VehicleCharacteristics(int vehicleType, GoalCapabilitiesType goalCapabilities, FileLocationsType fileLocations)` Creates a new instance of VehicleCharacteristics with values from a JAXB configuration element object (used for UGV or USV only)
`VehicleCharacteristics(int vehicleType, UavGoalCapabilitiesType goalCapabilities, FileLocationsType fileLocations)` Creates a new instance of VehicleCharacteristics with values from a JAXB configuration element object (used for UAV only)
`VehicleCharacteristics(int vehicleType, UuvGoalCapabilitiesType goalCapabilities, FileLocationsType fileLocations)` Creates a new instance of VehicleCharacteristics with values from a JAXB configuration element object (used for UUV only)

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`double`	`getContaminantDetectionRange()` Returns the range at which the vehicle can detect contaminants (chemical, nuclear, etc.)
`double`	`getDefaultGoalVertical()` Returns the depth or altitude at which the vehicle will use to accomplish a goal
`int`	`getDefaultGoalVerticalMode()` Returns the enumeration for the type of vertical (altitude, depth, MSL or AGL altitude) to use during goal accomplishment
`double`	`getGpsInterval()` Returns the distance (meters) that the vehicle can travel submerged between GPS popups (UUV only)
`double`	`getMaxSpeed()` Returns the maximum speed to be utilized by the vehicle
`double`	`getMinWptDist()` Returns the minimum allowable distance (meters) between waypoints
`double`	`getPatrolSpeed()` Returns the speed to be utilized by the vehicle during patrol of a specified operating area
`double`	`getSearchSpeed()` Returns the speed to be utilized by the vehicle during searches
`double`	`getSweepWidth()` Returns the vehicle's search sweep width as defined in NWP 3-22.5 (SAR TACAID)
`double`	`getTargetRange()` Returns the range at which the vehicle can detect and engage (attack) targets
`double`	`getTransitSpeed()` Returns the speed to be utilized by the vehicle during transits between operating areas
`double`	`getTransitVertical()` Returns the depth or altitude at which the vehicle will transit between operating areas
`int`	`getTransitVerticalMode()` Returns the enumeration for the type of vertical (altitude, depth, MSL or AGL altitude) to use during transits between operating areas
`double`	`getTurnRadius()` Returns the turn radius of the vehicle
`int`	`getVehicleType()` Returns an enumeration for the type of vehicle (UUV, UAV, etc.)
`double`	`getX()` Returns the x value of the current position
`String`	`getXSLT()` Returns the location of the XSLT file to be used to generate vehicle-specific commands
`double`	`getY()` Returns the y value of the current position
`boolean`	`goalAchievable(int goalType)` Returns true if the vehicle is capable of achieving the specified goal
`void`	`loadFromFile(int vehicleType, String fileName)` Loads the vehicle capabilities info from a specified file
`void`	`loadFromXML(int vehicleType, GoalCapabilitiesType goalCapabilities, FileLocationsType fileLocations)` Loads vehicle characteristics value from an XML element (JAXB object)
`void`	`loadFromXML(int vehicleType, UavGoalCapabilitiesType goalCapabilities, FileLocationsType fileLocations)` Loads vehicle characteristics value from an XML element (JAXB object)
`void`	`loadFromXML(int vehicleType, UuvGoalCapabilitiesType goalCapabilities, FileLocationsType fileLocations)` Loads vehicle characteristics value from an XML element (JAXB object)
`void`	`setPosition(double[] posit)` Sets the current position
`void`	`setPosition(double x, double y)` Sets the current position
`void`	`setX(double x)` Sets the x value of the current position
`void`	`setXSLT(String fileName)` Sets the location of the XSLT file to be used to generate vehicle-specific commands
`void`	`setY(double y)` Sets the y value of the current position

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

- Field Detail
  - position
```
public double[] position
```
    Current (or expected) position of the vehicle when goal execution begins
- Constructor Detail
  - VehicleCharacteristics
```
public VehicleCharacteristics()
```
    Creates a new instance of VehicleCharacteristics
  - VehicleCharacteristics
```
public VehicleCharacteristics(int vehicleType)
```
    Creates a new instance of VehicleCharacteristics with default values
    
    Parameters:
    
    vehicleType - enumeration indicating the type of vehicle
  - VehicleCharacteristics
```
public VehicleCharacteristics(int vehicleType,
                              GoalCapabilitiesType goalCapabilities,
                              FileLocationsType fileLocations)
```
    Creates a new instance of VehicleCharacteristics with values from a JAXB configuration element object (used for UGV or USV only)
    
    Parameters:
    
    vehicleType - enumeration indicating the type of vehicle
    
    goalCap - JAXB object containing all vehicle capabilities values
    
    fileLocations - JAXB object containing the location of required files
  - VehicleCharacteristics
```
public VehicleCharacteristics(int vehicleType,
                              UuvGoalCapabilitiesType goalCapabilities,
                              FileLocationsType fileLocations)
```
    Creates a new instance of VehicleCharacteristics with values from a JAXB configuration element object (used for UUV only)
    
    Parameters:
    
    vehicleType - enumeration indicating the type of vehicle
    
    goalCapabilities - JAXB object containing all vehicle capabilities values
    
    fileLocations - JAXB object containing the location of required files
  - VehicleCharacteristics
```
public VehicleCharacteristics(int vehicleType,
                              UavGoalCapabilitiesType goalCapabilities,
                              FileLocationsType fileLocations)
```
    Creates a new instance of VehicleCharacteristics with values from a JAXB configuration element object (used for UAV only)
    
    Parameters:
    
    vehicleType - enumeration indicating the type of vehicle
    
    goalCapabilities - JAXB object containing all vehicle capabilities values
    
    fileLocations - JAXB object containing the location of required files
- Method Detail
  - loadFromXML
```
public final void loadFromXML(int vehicleType,
                              GoalCapabilitiesType goalCapabilities,
                              FileLocationsType fileLocations)
```
    Loads vehicle characteristics value from an XML element (JAXB object)
    
    Parameters:
    
    vehicleType - enumeration indicating the type of vehicle
    
    goalCapabilities - JAXB object containing all vehicle capabilities values
    
    fileLoc - JAXB object containing the location of required files
  - loadFromXML
```
public final void loadFromXML(int vehicleType,
                              UuvGoalCapabilitiesType goalCapabilities,
                              FileLocationsType fileLocations)
```
    Loads vehicle characteristics value from an XML element (JAXB object)
    
    Parameters:
    
    vehicleType - enumeration indicating the type of vehicle
    
    goalCapabilities - JAXB object containing all vehicle capabilities values
    
    fileLocations - JAXB object containing the location of required files
  - loadFromXML
```
public final void loadFromXML(int vehicleType,
                              UavGoalCapabilitiesType goalCapabilities,
                              FileLocationsType fileLocations)
```
    Loads vehicle characteristics value from an XML element (JAXB object)
    
    Parameters:
    
    vehicleType - enumeration indicating the type of vehicle
    
    goalCapabilities - JAXB object containing all vehicle capabilities values
    
    fileLocations - JAXB object containing the location of required files
  - loadFromFile
```
public void loadFromFile(int vehicleType,
                         String fileName)
```
    Loads the vehicle capabilities info from a specified file
    
    Parameters:
    
    vehicleType - enumeration indicating the type of vehicle
    
    fileName -
  - getVehicleType
```
public int getVehicleType()
```
    Returns an enumeration for the type of vehicle (UUV, UAV, etc.)
    
    Returns:
    
    AvclMission.UAV, AvclMission.UGV, AvclMission.USV, AvclMission.UUV, AvclMission.AGENDA, AvclMission#SSGN, AvclMission.MUNITION
  - goalAchievable
```
public boolean goalAchievable(int goalType)
```
    Returns true if the vehicle is capable of achieving the specified goal
    
    Parameters:
    
    goalType - enumeration indicating the type of goal
  - getX
```
public double getX()
```
    Returns the x value of the current position
  - getY
```
public double getY()
```
    Returns the y value of the current position
  - getMaxSpeed
```
public double getMaxSpeed()
```
    Returns the maximum speed to be utilized by the vehicle
  - getSearchSpeed
```
public double getSearchSpeed()
```
    Returns the speed to be utilized by the vehicle during searches
  - getTransitSpeed
```
public double getTransitSpeed()
```
    Returns the speed to be utilized by the vehicle during transits between operating areas
  - getPatrolSpeed
```
public double getPatrolSpeed()
```
    Returns the speed to be utilized by the vehicle during patrol of a specified operating area
  - getMinWptDist
```
public double getMinWptDist()
```
    Returns the minimum allowable distance (meters) between waypoints
  - getSweepWidth
```
public double getSweepWidth()
```
    Returns the vehicle's search sweep width as defined in NWP 3-22.5 (SAR TACAID)
  - getTargetRange
```
public double getTargetRange()
```
    Returns the range at which the vehicle can detect and engage (attack) targets
  - getContaminantDetectionRange
```
public double getContaminantDetectionRange()
```
    Returns the range at which the vehicle can detect contaminants (chemical, nuclear, etc.)
  - getTransitVertical
```
public double getTransitVertical()
```
    Returns the depth or altitude at which the vehicle will transit between operating areas
  - getTransitVerticalMode
```
public int getTransitVerticalMode()
```
    Returns the enumeration for the type of vertical (altitude, depth, MSL or AGL altitude) to use during transits between operating areas
  - getDefaultGoalVertical
```
public double getDefaultGoalVertical()
```
    Returns the depth or altitude at which the vehicle will use to accomplish a goal
  - getDefaultGoalVerticalMode
```
public int getDefaultGoalVerticalMode()
```
    Returns the enumeration for the type of vertical (altitude, depth, MSL or AGL altitude) to use during goal accomplishment
  - getTurnRadius
```
public double getTurnRadius()
```
    Returns the turn radius of the vehicle
  - getGpsInterval
```
public double getGpsInterval()
```
    Returns the distance (meters) that the vehicle can travel submerged between GPS popups (UUV only)
  - getXSLT
```
public String getXSLT()
```
    Returns the location of the XSLT file to be used to generate vehicle-specific commands
  - setXSLT
```
public void setXSLT(String fileName)
```
    Sets the location of the XSLT file to be used to generate vehicle-specific commands
  - setPosition
```
public void setPosition(double x,
                        double y)
```
    Sets the current position
  - setPosition
```
public void setPosition(double[] posit)
```
    Sets the current position
  - setX
```
public void setX(double x)
```
    Sets the x value of the current position
  - setY
```
public void setY(double y)
```
    Sets the y value of the current position

Class VehicleCharacteristics

Field Summary

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Field Detail

position

Constructor Detail

VehicleCharacteristics

VehicleCharacteristics

VehicleCharacteristics

VehicleCharacteristics

VehicleCharacteristics

Method Detail

loadFromXML

loadFromXML

loadFromXML

loadFromFile

getVehicleType

goalAchievable

getX

getY

getMaxSpeed

getSearchSpeed

getTransitSpeed

getPatrolSpeed

getMinWptDist

getSweepWidth

getTargetRange

getContaminantDetectionRange

getTransitVertical

getTransitVerticalMode

getDefaultGoalVertical

getDefaultGoalVerticalMode

getTurnRadius

getGpsInterval

getXSLT

setXSLT

setPosition

setPosition

setX

setY