avcl

Class UsvMissionResults

java.lang.Object

avcl.UsvMissionResults

public class UsvMissionResults
extends Object

Contains static utility functions to interface with JAXB-derived classes representing AVCL USV mission results. This class is used to generate new instances of individual mission result elements and alter the values of existing commands. Public methods take Object parameters so that invoking objects can utilize them without any knowledge of the JAXB-derived classes. All direct manipulation of the JAXB-developed classes should be handled by this or other classes in this package.

Since:

June 13, 2005, 9:12 AM

Version:

$Id: UsvMissionResults.java 8671 2012-12-16 04:35:02Z brutzman $

Author:

dtdavis

Constructor Summary

Constructors

Constructor and Description
UsvMissionResults()

Method Summary

Methods

Modifier and Type	Method and Description
static ContactRecordElementType	createContactRecordEvent(int contactID, String name, int pType, double x, double y, double heading, double velocity, int vType, double v1, double v2, String description) Creates a GoalStatus loggable event element
static ContaminantRecordElementType	createContaminantRecordEvent(int contaminant, int pType, double x, double y, int vType, double v1, double v2, String description) Creates a Contaminant loggable event element
static UsvControlOrdersElementType	createControlOrderElement(double portProp, double stbdProp, double centerProp, double rudder, String description) Creates a USV Orders element with propeller and rudder settings
static GoalStatusUpdateElementType	createGoalStatusEvent(Object goal, String status, String description) Creates a GoalStatus loggable event element
static FrequencyRecordElementType	createSignalOfInterestRecordEvent(double frequency, int units, String content, String description) Creates a SignalOfInterest loggable event element
static UsvTelemetryElementType	createTelemetryElement(int positType, double x, double y, double phi, double theta, double psi, double u, double v, double w, double p, double q, double r, String description) Creates a USV Telemetry element with position, orientation, and body coordinate velocity
static VehicleStatusUpdateElementType	createVehicleStatusEvent(String system, String status, String description) Creates a VehicleStatus loggable event element
static String	getControlOrderElementDescription(Object order) Returns the description of a control order element
static UsvLoggableEventType	getEventWithContent(Object content, double time) Creates a USV event log object and sets the content
static String	getTelemetryElementDescription(Object tel) Returns the description of a telemetry element
static double	getTelemetryElementPhiDot(Object tel) Returns the phiDot (roll rate) of the telemetry element
static double	getTelemetryElementPsiDot(Object tel) Returns the psiDot (yaw rate) of the telemetry element
static double	getTelemetryElementRemainingPower(Object tel) Returns the remaining power value of the telemetry element
static double	getTelemetryElementSOGU(Object tel) Returns the forward speed over ground of the telemetry element
static double	getTelemetryElementSOGV(Object tel) Returns the lateral speed over ground of the telemetry element
static double	getTelemetryElementSTAU(Object tel) Returns the forward speed through the air of the telemetry element
static double	getTelemetryElementSTAV(Object tel) Returns the lateral speed through the air of the telemetry element
static double	getTelemetryElementThetaDot(Object tel) Returns the thetaDot (pitch rate) of the telemetry element
static double	getTelemetryElementXDot(Object tel) Returns the xDot (world coordinate north south speed) of the telemetry element
static double	getTelemetryElementYDot(Object tel) Returns the yDot (world coordinate east west speed) of the telemetry element
static double	getTelemetryElementZDot(Object tel) Returns the zDot (world coordinate vertical speed) of the telemetry element
static void	setControlOrderElementDescription(Object order, String description) Sets the description of a orders element
static void	setControlOrderElementPropeller(Object order, double port, double stbd, double center) Sets the propeller order element
static void	setControlOrderElementRudder(Object order, double rudder) Creates a rudder order element
static void	setSampledResultsControlOrder(Object results, Object orders) Sets the control orders element of a SampledResults element object
static void	setSampledResultsTelemetry(Object results, Object telemetry) Sets the telemetry element of a SampledResults element object
static void	setTelemetryElementDescription(Object tel, String description) Sets the description of a sampled result element
static void	setTelemetryElementDopplerVelocity(Object tel, double sogU, double sogV, double staU, double staV) Sets the world coordinate velocities of a telemetry element
static void	setTelemetryElementRemainingPower(Object tel, double power) Sets the remaining battery power value of a sampled result element
static void	setTelemetryElementWorldVelocity(Object tel, double xDot, double yDot, double zDot, double phiDot, double thetaDot, double psiDot) Sets the world coordinate velocities of a telemetry element

Methods inherited from class java.lang.Object

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

Constructor Detail

UsvMissionResults

public UsvMissionResults()

Method Detail

setSampledResultsTelemetry

public static void setSampledResultsTelemetry(Object results,
                              Object telemetry)

Sets the telemetry element of a SampledResults element object

Parameters:

results - sampled results element object

telemetry - telemetry object

setSampledResultsControlOrder

public static void setSampledResultsControlOrder(Object results,
                                 Object orders)

Sets the control orders element of a SampledResults element object

Parameters:

results - sampled results element object

orders - control orders element object

createTelemetryElement

public static UsvTelemetryElementType createTelemetryElement(int positType,
                                             double x,
                                             double y,
                                             double phi,
                                             double theta,
                                             double psi,
                                             double u,
                                             double v,
                                             double w,
                                             double p,
                                             double q,
                                             double r,
                                             String description)

Creates a USV Telemetry element with position, orientation, and body coordinate velocity

Parameters:

positType - enumeration indicating latitude-longitude or X-Y position

x -

y -

phi -

theta -

psi -

u -

v -

w -

p -

q -

r -

description -

Returns:

FrequencyRecordElementType

getTelemetryElementXDot

public static double getTelemetryElementXDot(Object tel)

Returns the xDot (world coordinate north south speed) of the telemetry element

Parameters:

tel - the telemetry element object

Returns:

double-precision value

getTelemetryElementYDot

public static double getTelemetryElementYDot(Object tel)

Returns the yDot (world coordinate east west speed) of the telemetry element

Parameters:

tel - the telemetry element object

Returns:

double-precision value

getTelemetryElementZDot

public static double getTelemetryElementZDot(Object tel)

Returns the zDot (world coordinate vertical speed) of the telemetry element

Parameters:

tel - the telemetry element object

Returns:

double-precision value

getTelemetryElementPhiDot

public static double getTelemetryElementPhiDot(Object tel)

Returns the phiDot (roll rate) of the telemetry element

Parameters:

tel - the telemetry element object

Returns:

double-precision value

getTelemetryElementThetaDot

public static double getTelemetryElementThetaDot(Object tel)

Returns the thetaDot (pitch rate) of the telemetry element

Parameters:

tel - the telemetry element object

Returns:

double-precision value

getTelemetryElementPsiDot

public static double getTelemetryElementPsiDot(Object tel)

Returns the psiDot (yaw rate) of the telemetry element

Parameters:

tel - the telemetry element object

Returns:

double-precision value

getTelemetryElementSOGU

public static double getTelemetryElementSOGU(Object tel)

Returns the forward speed over ground of the telemetry element

Parameters:

tel - the telemetry element object

Returns:

double-precision value

getTelemetryElementSOGV

public static double getTelemetryElementSOGV(Object tel)

Returns the lateral speed over ground of the telemetry element

Parameters:

tel - the telemetry element object

Returns:

double-precision value

getTelemetryElementSTAU

public static double getTelemetryElementSTAU(Object tel)

Returns the forward speed through the air of the telemetry element

Parameters:

tel - the telemetry element object

Returns:

double-precision value

getTelemetryElementSTAV

public static double getTelemetryElementSTAV(Object tel)

Returns the lateral speed through the air of the telemetry element

Parameters:

tel - the telemetry element object

Returns:

double-precision value

getTelemetryElementRemainingPower

public static double getTelemetryElementRemainingPower(Object tel)

Returns the remaining power value of the telemetry element

Parameters:

tel - the telemetry element object whose remaining power value is returned

Returns:

double-precision value

getTelemetryElementDescription

public static String getTelemetryElementDescription(Object tel)

Returns the description of a telemetry element

Parameters:

tel - the telemetry element object to be timestamped

Returns:

description

setTelemetryElementWorldVelocity

public static void setTelemetryElementWorldVelocity(Object tel,
                                    double xDot,
                                    double yDot,
                                    double zDot,
                                    double phiDot,
                                    double thetaDot,
                                    double psiDot)

Sets the world coordinate velocities of a telemetry element

Parameters:

tel - the telemetry element object

xDot -

yDot -

zDot -

phiDot -

thetaDot -

psiDot -

setTelemetryElementDopplerVelocity

public static void setTelemetryElementDopplerVelocity(Object tel,
                                      double sogU,
                                      double sogV,
                                      double staU,
                                      double staV)

Sets the world coordinate velocities of a telemetry element

Parameters:

tel - the telemetry element object

sogU - forward speed over ground

sogV - lateral speed over ground

staU - forward speed through air

staV - lateral speed through air

setTelemetryElementRemainingPower

public static void setTelemetryElementRemainingPower(Object tel,
                                     double power)

Sets the remaining battery power value of a sampled result element

Parameters:

tel - the telemetry element object

power - capacity value 0-100%

setTelemetryElementDescription

public static void setTelemetryElementDescription(Object tel,
                                  String description)

Sets the description of a sampled result element

Parameters:

tel - the telemetry element object to be timestamped

description - value for the description attribute

createControlOrderElement

public static UsvControlOrdersElementType createControlOrderElement(double portProp,
                                                    double stbdProp,
                                                    double centerProp,
                                                    double rudder,
                                                    String description)

Creates a USV Orders element with propeller and rudder settings

Parameters:

portProp - commanded port propeller setting

stbdProp - commanded starboard propeller setting

centerProp - commanded centerline propeller setting

rudder - commanded rudder setting

description -

Returns:

UsvControlOrdersElementType

getControlOrderElementDescription

public static String getControlOrderElementDescription(Object order)

Returns the description of a control order element

Parameters:

order - the control order element object to be timestamped

Returns:

description

setControlOrderElementPropeller

public static void setControlOrderElementPropeller(Object order,
                                   double port,
                                   double stbd,
                                   double center)

Sets the propeller order element

Parameters:

order - control order element

port - port propeller setting

stbd - starboard propeller setting

center - centerline propeller setting

setControlOrderElementRudder

public static void setControlOrderElementRudder(Object order,
                                double rudder)

Creates a rudder order element

Parameters:

order - control order element

rudder - commanded rudder deflection

setControlOrderElementDescription

public static void setControlOrderElementDescription(Object order,
                                     String description)

Sets the description of a orders element

Parameters:

order - the order element object to be timestamped

description - value for the description attribute

getEventWithContent

public static UsvLoggableEventType getEventWithContent(Object content,
                                       double time)

Creates a USV event log object and sets the content

Parameters:

content -

time -

Returns:

UsvLoggableEventType

createGoalStatusEvent

public static GoalStatusUpdateElementType createGoalStatusEvent(Object goal,
                                                String status,
                                                String description)

Creates a GoalStatus loggable event element

Parameters:

goal -

status -

description -

Returns:

GoalStatusUpdateElementType

createVehicleStatusEvent

public static VehicleStatusUpdateElementType createVehicleStatusEvent(String system,
                                                      String status,
                                                      String description)

Creates a VehicleStatus loggable event element

Parameters:

system -

status -

description -

Returns:

FrequencyRecordElementType

createSignalOfInterestRecordEvent

public static FrequencyRecordElementType createSignalOfInterestRecordEvent(double frequency,
                                                           int units,
                                                           String content,
                                                           String description)

Creates a SignalOfInterest loggable event element

Parameters:

frequency -

units -

description -

content -

Returns:

FrequencyRecordElementType

createContactRecordEvent

public static ContactRecordElementType createContactRecordEvent(int contactID,
                                                String name,
                                                int pType,
                                                double x,
                                                double y,
                                                double heading,
                                                double velocity,
                                                int vType,
                                                double v1,
                                                double v2,
                                                String description)

Creates a GoalStatus loggable event element

Parameters:

contactID -

name -

pType -

description -

x -

y -

heading -

velocity -

v2 -

vType -

v1 -

Returns:

ContactRecordElementType

createContaminantRecordEvent

public static ContaminantRecordElementType createContaminantRecordEvent(int contaminant,
                                                        int pType,
                                                        double x,
                                                        double y,
                                                        int vType,
                                                        double v1,
                                                        double v2,
                                                        String description)

Creates a Contaminant loggable event element

Parameters:

contaminant -

pType -

y -

x -

v2 -

v1 -

vType -

description -

Returns:

ContaminantRecordElementType