dynamics.models.uuv

Class UUVBody

java.lang.Object

dynamics.RigidBody

dynamics.DISNetworkedRigidBody

dynamics.models.uuv.UUVBody

public class UUVBody
extends DISNetworkedRigidBody

Six degree-of-freedom underwater vehicle hydrodynamics based on Healey uuvModel

Version:

$Id: UUVBody.java 8414 2012-11-07 09:52:09Z brutzman $

Author:

brutzman@nps.navy.mil

Field Summary

Fields

Modifier and Type	Field and Description
static int	ALTITUDE
static double	BALLAST_DEFLATED
static double	BALLAST_INFLATED
static int	BOW_LATERAL
static int	BOW_VERTICAL
static int	DEFLATED
static int	DELTA_PLANES
static int	DELTA_RUDDER
static int	INFLATED
static int	NOBALLAST
static int	PORT_PROPELLER
static int	REMAINING_BATTERY_POWER
static int	SOG_U
static int	SOG_V
static int	ST1000_BEARING
static int	ST1000_RANGE
static int	ST1000_STRENGTH
static int	ST725_BEARING
static int	ST725_RANGE
static int	ST725_STRENGTH
static int	STBD_PROPELLER
static int	STERN_LATERAL
static int	STERN_VERTICAL
static int	STW_U
static int	STW_V
protected UUVGlobals	uuvGlobals
protected UUVModel	uuvModel
static int	VARIABLE_BUOYANCY

Fields inherited from class dynamics.DISNetworkedRigidBody

APPLICATION_ID, disPdu, ENTITY_ID, MULTICAST_GROUP, MULTICAST_PORT, pduArtParams, SITE_ID, TTL, workbenchCommunicator

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
UUVBody(DynamicsGlobals globals, WorkbenchCommunicator communicator, StateVector state)

Method Summary

Methods

Modifier and Type	Method and Description
void	calculate_mass_matrix()
void	computeBuoyancyCharacteristic()
static void	fillFlowFieldArrays()
protected int	getNumberStateParameters()
StateVector	getStateVector()
void	initialize() Reset method for all transform values
void	integrate_Hmatrix() Updates the HMatrix and previous HMatrix.
void	integrateEquationsOfMotion() Lots of math done here
void	invert_mass_matrix()
void	loadModel(String configFile)
void	multiply6x6_6(double[][] left_matrix, double[] right_matrix, double[] result_matrix)
void	multiply6x6_6x6(double[][] left_matrix, double[][] right_matrix, double[][] result_matrix)
void	print_matrix6(double[] output_matrix)
void	print_matrix6x6(double[][] output_matrix)
void	printRigidBody() As SysOut of the RidgidBody status at time of printout
void	setStateVector(StateVector stateVector)
void	test_invert_matrix()

Methods inherited from class dynamics.DISNetworkedRigidBody

deadReckonTestWithExecutionLevel, disNetClose, disNetOpen, disNetWrite, getPduSkipInterval, getTimeOfLastPdu, isDisPortOpen, loopTestWithExecutionLevel, setGroup, setPduSkipInterval, setPort, setTimeOfLastPdu, setTtl

Methods inherited from class dynamics.RigidBody

compute_world_rates, current_time_value, hmatrix_value, 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

uuvModel

protected UUVModel uuvModel

uuvGlobals

protected UUVGlobals uuvGlobals

DELTA_RUDDER

public static final int DELTA_RUDDER

See Also:

Constant Field Values

DELTA_PLANES

public static final int DELTA_PLANES

See Also:

Constant Field Values

PORT_PROPELLER

public static final int PORT_PROPELLER

See Also:

Constant Field Values

STBD_PROPELLER

public static final int STBD_PROPELLER

See Also:

Constant Field Values

BOW_VERTICAL

public static final int BOW_VERTICAL

See Also:

Constant Field Values

STERN_VERTICAL

public static final int STERN_VERTICAL

See Also:

Constant Field Values

BOW_LATERAL

public static final int BOW_LATERAL

See Also:

Constant Field Values

STERN_LATERAL

public static final int STERN_LATERAL

See Also:

Constant Field Values

ST1000_BEARING

public static final int ST1000_BEARING

See Also:

Constant Field Values

ST1000_RANGE

public static final int ST1000_RANGE

See Also:

Constant Field Values

ST1000_STRENGTH

public static final int ST1000_STRENGTH

See Also:

Constant Field Values

ST725_BEARING

public static final int ST725_BEARING

See Also:

Constant Field Values

ST725_RANGE

public static final int ST725_RANGE

See Also:

Constant Field Values

ST725_STRENGTH

public static final int ST725_STRENGTH

See Also:

Constant Field Values

SOG_U

public static final int SOG_U

See Also:

Constant Field Values

SOG_V

public static final int SOG_V

See Also:

Constant Field Values

STW_U

public static final int STW_U

See Also:

Constant Field Values

STW_V

public static final int STW_V

See Also:

Constant Field Values

ALTITUDE

public static final int ALTITUDE

See Also:

Constant Field Values

REMAINING_BATTERY_POWER

public static final int REMAINING_BATTERY_POWER

See Also:

Constant Field Values

VARIABLE_BUOYANCY

public static final int VARIABLE_BUOYANCY

See Also:

Constant Field Values

INFLATED

public static final int INFLATED

See Also:

Constant Field Values

DEFLATED

public static final int DEFLATED

See Also:

Constant Field Values

NOBALLAST

public static final int NOBALLAST

See Also:

Constant Field Values

BALLAST_INFLATED

public static final double BALLAST_INFLATED

See Also:

Constant Field Values

BALLAST_DEFLATED

public static final double BALLAST_DEFLATED

See Also:

Constant Field Values

Constructor Detail

UUVBody

public UUVBody(DynamicsGlobals globals,
       WorkbenchCommunicator communicator,
       StateVector state)

Method Detail

loadModel

public final void loadModel(String configFile)

Specified by:

loadModel in class RigidBody

multiply6x6_6

public void multiply6x6_6(double[][] left_matrix,
                 double[] right_matrix,
                 double[] result_matrix)

multiply6x6_6x6

public void multiply6x6_6x6(double[][] left_matrix,
                   double[][] right_matrix,
                   double[][] result_matrix)

printRigidBody

public void printRigidBody()

Description copied from class: DISNetworkedRigidBody

As SysOut of the RidgidBody status at time of printout

Overrides:

printRigidBody in class DISNetworkedRigidBody

print_matrix6

public void print_matrix6(double[] output_matrix)

print_matrix6x6

public void print_matrix6x6(double[][] output_matrix)

initialize

public void initialize()

Description copied from class: DISNetworkedRigidBody

Reset method for all transform values

Overrides:

initialize in class DISNetworkedRigidBody

invert_mass_matrix

public void invert_mass_matrix()

test_invert_matrix

public void test_invert_matrix()

calculate_mass_matrix

public void calculate_mass_matrix()

integrateEquationsOfMotion

public void integrateEquationsOfMotion()

Description copied from class: DISNetworkedRigidBody

Lots of math done here

Specified by:

integrateEquationsOfMotion in class DISNetworkedRigidBody

integrate_Hmatrix

public void integrate_Hmatrix()

Updates the HMatrix and previous HMatrix. Over-rides RigidBody method to account for ocean current

Overrides:

integrate_Hmatrix in class RigidBody

getNumberStateParameters

protected int getNumberStateParameters()

Specified by:

getNumberStateParameters in class DISNetworkedRigidBody

Returns:

the number of state parameters that are used by this vehicle type

fillFlowFieldArrays

public static void fillFlowFieldArrays()

computeBuoyancyCharacteristic

public void computeBuoyancyCharacteristic()

getStateVector

public StateVector getStateVector()

Returns:

the state

setStateVector

public final void setStateVector(StateVector stateVector)

Parameters:

stateVector - the state to set