planner.avclPlan.search

Class ExpandingSquareSearchPlanner

java.lang.Object

planner.avclPlan.search.SearchTrackPlanner

planner.avclPlan.search.TrackedSearchPlanner

planner.avclPlan.search.ExpandingSquareSearchPlanner

All Implemented Interfaces:

Runnable

Direct Known Subclasses:

ExpandingRectangleSearchPlanner, ShrinkingSquareSearchPlanner

public class ExpandingSquareSearchPlanner
extends TrackedSearchPlanner
implements Runnable

Used to plan an expanding square search pattern

Author:

dtdavis

Field Summary

Fields

Modifier and Type	Field and Description
protected double	leg1Heading The heading to use for the first leg of the square (radians)
static double	NINETY_DEGREES

Fields inherited from class planner.avclPlan.search.TrackedSearchPlanner

pd, sweepWidth, trackSpacing

Fields inherited from class planner.avclPlan.search.SearchTrackPlanner

plan, searchArea, startPoint

Constructor Summary

Constructors

Constructor and Description
ExpandingSquareSearchPlanner(GeoArea searchArea, double S, double PD, double[] startPosit) Creates a new instance of EspandingSquareSearchPlanner The planned search will provide for a search focused on the centroid of the area
ExpandingSquareSearchPlanner(GeoArea searchArea, double S, double PD, double[] startPosit, double leg1Heading) Creates a new instance of EspandingSquareSearchPlanner The planned search will provide for a search focused on the centroid of the area

Method Summary

Modifier and Type	Method and Description
void	run() Implements the Runnable interface, generates the actual expanding square pattern

Methods inherited from class planner.avclPlan.search.TrackedSearchPlanner

setRequiredPD, setSweepWidth, setTrackSpacing

Methods inherited from class planner.avclPlan.search.SearchTrackPlanner

getPlan, getRunTime, setRunTime

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

NINETY_DEGREES

public static final double NINETY_DEGREES

See Also:

Constant Field Values

leg1Heading

protected double leg1Heading

The heading to use for the first leg of the square (radians)

Constructor Detail

ExpandingSquareSearchPlanner

public ExpandingSquareSearchPlanner(GeoArea searchArea,
                                    double S,
                                    double PD,
                                    double[] startPosit)

Creates a new instance of EspandingSquareSearchPlanner The planned search will provide for a search focused on the centroid of the area

Parameters:

searchArea - geographic area that is to be searched

S -

PD -

startPosit - double[2] defining the vehicle's position at the beginning of the search

ExpandingSquareSearchPlanner

public ExpandingSquareSearchPlanner(GeoArea searchArea,
                                    double S,
                                    double PD,
                                    double[] startPosit,
                                    double leg1Heading)

Creates a new instance of EspandingSquareSearchPlanner The planned search will provide for a search focused on the centroid of the area

Parameters:

searchArea - geographic area that is to be searched

S -

PD -

startPosit - double[2] defining the vehicle's position at the beginning of the search

leg1Heading - the heading to use for the first leg of the square

Method Detail

run

public void run()

Implements the Runnable interface, generates the actual expanding square pattern

Specified by:

run in interface Runnable

Specified by:

run in class TrackedSearchPlanner