dynamics

Class DISNetworkedRigidBody

java.lang.Object

dynamics.RigidBody

dynamics.DISNetworkedRigidBody

Direct Known Subclasses:

MunitionBody, UAVBody, UAVBody, UGVBody, USVBody, UUVBody

public abstract class DISNetworkedRigidBody
extends RigidBody

Program: DISNetworkedRigidBody.java Description: DIS network interface for RigidBody model Author: Don Brutzman Java translation: Kevin Byrne, 19 March 98 Revised: Terry Norbraten, 16 FEB 2009 - Completed articulated parameter clobber fix - Implemented new OpenDIS library Duane Davis, 19 August 04 - repackaged and changed inheritance structure Duane Davis, 12 February 04 - enabled settable SITE, APPLICATION, and ENTITY IDs Duane Davis, 27 October 03 - fully implemented articulation parameters Don Brutzman, 14 November 99 - cast ArticulatedParameter values to double vice short Don Brutzman, 31 May 2001 - upgraded DIS library calls Notes: ARTICULATED PARAMETER VALUES ARE FINALLY TRANSMITTED CORRECTLY!

Version:

$Id: DISNetworkedRigidBody.java 9072 2015-07-14 05:05:08Z tnorbraten $

Field Summary

Fields

Modifier and Type	Field and Description
protected static int	APPLICATION_ID ESPDU header value
protected edu.nps.moves.dis.EntityStatePdu	disPdu The Pdu for an entity
protected static int	ENTITY_ID ESPDU header value
static String	MULTICAST_GROUP Multicast group
static int	MULTICAST_PORT Multicast port
protected List<edu.nps.moves.dis.ArticulationParameter>	pduArtParams The Articulation Parameters for an entity
protected static int	SITE_ID ESPDU header value
static int	TTL Time to live
WorkbenchCommunicator	workbenchCommunicator Default values--can be changed by command line flags

Fields inherited from class dynamics.RigidBody

BANK, current_time, DISCLIENT, dt, executionSocket, globals, HEAVE, hmatrix, Hprevious, MAXPARAMETERS, new_acceleration, new_velocity, p, p_dot, phi, phi_dot, PITCH, positionVector, psi, psi_dot, q, q_dot, r, r_dot, stateParameters, SURGE, SWAY, theta, theta_dot, u, u_dot, v, v_dot, w, w_dot, world, worldDown, x, x_dot, y, y_dot, YAW, z, z_dot

Constructor Summary

Constructors

Constructor and Description
DISNetworkedRigidBody(DynamicsGlobals globals, WorkbenchCommunicator communicator) Gateway to all things DIS

Method Summary

Methods

Modifier and Type	Method and Description
void	deadReckonTestWithExecutionLevel()
void	disNetClose() Closes network comms and reports
boolean	disNetOpen() Open a socket and join a multicast group, or fall back on unicast, or open an XMPP chat connection for DISXML
int	disNetWrite() Write the ESPDU to the net, or transmit via chat
protected abstract int	getNumberStateParameters()
int	getPduSkipInterval()
double	getTimeOfLastPdu()
void	initialize() Reset method for all transform values
abstract void	integrateEquationsOfMotion() Lots of math done here
boolean	isDisPortOpen()
void	loopTestWithExecutionLevel() Execution Level Loop
void	printRigidBody() As SysOut of the RidgidBody status at time of printout
void	setGroup(String newGroup) Sets the multi-cast address group
void	setPduSkipInterval(int newValue)
void	setPort(String newPort) Sets the socket port
void	setTimeOfLastPdu(double new_time_of_last_PDU)
void	setTtl(int newTtl) Sets the time-to-live for a PDU

Methods inherited from class dynamics.RigidBody

compute_world_rates, current_time_value, hmatrix_value, integrate_Hmatrix, loadModel, nonzerosign, p_dot_value, phi_dot_value, phi_value, print_rigidbody, psi_dot_value, psi_value, q_dot_value, r_dot_value, set_accelerations, set_angular_accelerations, set_angular_velocities, set_current_time, set_linear_accelerations, set_linear_velocities, set_time_of_posture, set_velocities, set_world_rates, square, theta_dot_value, theta_value, time_of_posture_value, u_dot_value, update_Hmatrix, update_state_vector, v_dot_value, w_dot_value, x_dot_value, x_value, y_dot_value, y_value, z_dot_value, z_value

Methods inherited from class java.lang.Object

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

Field Detail

MULTICAST_PORT

public static final int MULTICAST_PORT

Multicast port

See Also:

Constant Field Values

MULTICAST_GROUP

public static final String MULTICAST_GROUP

Multicast group

See Also:

Constant Field Values

TTL

public static final int TTL

Time to live

See Also:

Constant Field Values

workbenchCommunicator

public WorkbenchCommunicator workbenchCommunicator

Default values--can be changed by command line flags

SITE_ID

protected static int SITE_ID

ESPDU header value

APPLICATION_ID

protected static int APPLICATION_ID

ESPDU header value

ENTITY_ID

protected static int ENTITY_ID

ESPDU header value

disPdu

protected edu.nps.moves.dis.EntityStatePdu disPdu

The Pdu for an entity

pduArtParams

protected List<edu.nps.moves.dis.ArticulationParameter> pduArtParams

The Articulation Parameters for an entity

Constructor Detail

DISNetworkedRigidBody

public DISNetworkedRigidBody(DynamicsGlobals globals,
                     WorkbenchCommunicator communicator)

Gateway to all things DIS

Parameters:

globals - DynamicsGlobals

communicator - WorkbenchCommunicator

Method Detail

integrateEquationsOfMotion

public abstract void integrateEquationsOfMotion()

Lots of math done here

Specified by:

integrateEquationsOfMotion in class RigidBody

getNumberStateParameters

protected abstract int getNumberStateParameters()

Returns:

the number of articulated parameters for a specific vehicle

printRigidBody

public void printRigidBody()

As SysOut of the RidgidBody status at time of printout

getTimeOfLastPdu

public double getTimeOfLastPdu()

Returns:

the time of the last PDU sent

isDisPortOpen

public boolean isDisPortOpen()

Returns:

true if opened

getPduSkipInterval

public int getPduSkipInterval()

Returns:

a skip interval value for throttling packet sending

setPduSkipInterval

public final void setPduSkipInterval(int newValue)

Parameters:

newValue - a skip interval value for throttling packet sending

disNetOpen

public boolean disNetOpen()

Open a socket and join a multicast group, or fall back on unicast, or open an XMPP chat connection for DISXML

Returns:

indication of success

disNetWrite

public int disNetWrite()

Write the ESPDU to the net, or transmit via chat

Returns:

indication of success

disNetClose

public void disNetClose()

Closes network comms and reports

initialize

public void initialize()

Reset method for all transform values

Overrides:

initialize in class RigidBody

setTimeOfLastPdu

public void setTimeOfLastPdu(double new_time_of_last_PDU)

Parameters:

new_time_of_last_PDU - the time to set for the last PDU

setTtl

public void setTtl(int newTtl)

Sets the time-to-live for a PDU

Parameters:

newTtl - the time to live for a PDU

setGroup

public void setGroup(String newGroup)

Sets the multi-cast address group

Parameters:

newGroup - the multi-cast address to set

setPort

public void setPort(String newPort)

Sets the socket port

Parameters:

newPort - the port number to set

loopTestWithExecutionLevel

public void loopTestWithExecutionLevel()

Execution Level Loop

deadReckonTestWithExecutionLevel

public void deadReckonTestWithExecutionLevel()