planner.avclPlan.search

Class SearchPlan

java.lang.Object

planner.aStarPlan.Plan

planner.avclPlan.search.SearchPlan

All Implemented Interfaces:

Cloneable, Comparable<Plan>

Direct Known Subclasses:

BestFirstSearchPlan, BreadthFirstSearchPlan

public class SearchPlan
extends Plan
implements Cloneable

Contains an area search plan computed using an A* search

Author:

dtdavis

Constructor Summary

Constructors

Modifier	Constructor and Description
	SearchPlan() Creates a new instance of SearchPlan
protected	SearchPlan(WorldState state) Creates a new instance of SearchPlan that includes the ending world state
protected	SearchPlan(WorldState state, WorldState goal) Creates a new instance of Plan that includes the ending world state

Method Summary

Modifier and Type	Method and Description
Object	clone() Returns a deep copy of the route, implements Cloneable
List<JAXBElement<?>>	generateAvclScript(int vehicleType, double gpsInterval, double minWptDist, double vertical, int verticalMode, double speed, int speedMode) Generates a set of AVCL Waypoints corresponding to a planned search
double	getTravelDistance() Computes and returns the total distance traveled over the course of the plan
double	getTravelDistance(double sweepWidth) Computes and returns the total distance traveled over the course of the plan Includes a penalty for turns

Methods inherited from class planner.aStarPlan.Plan

addStep, addStep, clearSteps, compareTo, cost, distanceEstimate, evaluate, getEvaluation, getStep, increment, match, numSteps, possibleSteps, removeStep, setEndState, toString

Methods inherited from class java.lang.Object

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

Constructor Detail

SearchPlan

public SearchPlan()

Creates a new instance of SearchPlan

SearchPlan

protected SearchPlan(WorldState state)

Creates a new instance of SearchPlan that includes the ending world state

Parameters:

state - world state upon the completion of all steps in the plan

SearchPlan

protected SearchPlan(WorldState state,
                     WorldState goal)

Creates a new instance of Plan that includes the ending world state

Parameters:

state - world state upon the completion of all steps in the plan

goal - desired world state upon completion of the plan

Method Detail

generateAvclScript

public List<JAXBElement<?>> generateAvclScript(int vehicleType,
                                               double gpsInterval,
                                               double minWptDist,
                                               double vertical,
                                               int verticalMode,
                                               double speed,
                                               int speedMode)

Generates a set of AVCL Waypoints corresponding to a planned search

Parameters:

vehicleType - enumeration for the type of vehicle (AUV, UAV, etc.)

gpsInterval - distance (meters) that the vehicle can travel submerged between GPS fixes (only relevant for UUVs)

minWptDist - the minimum allowable distance between waypoints

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:

ArrayList of AVCL script command objects (JAXB)

getTravelDistance

public double getTravelDistance()

Computes and returns the total distance traveled over the course of the plan

Returns:

double distance in meters that the vehicle will travel in executing the plan

getTravelDistance

public double getTravelDistance(double sweepWidth)

Computes and returns the total distance traveled over the course of the plan Includes a penalty for turns

Parameters:

sweepWidth - sensor sweep width of the vehicle

Returns:

double distance in meters that the vehicle will travel in executing the plan

clone

public Object clone()

Returns a deep copy of the route, implements Cloneable

Overrides:

clone in class Plan

Returns:

the deep copy of SearchPlan object.