StateVector (Autonomous Unmanned Vehicle (AUV) Workbench Documentation)

java.lang.Object
- execution.StateVector

Direct Known Subclasses:

MunitionState, UavState, UgvState, UsvState, UuvState
```
public abstract class StateVector
extends Object
```
Container for vehicle state variables. Should be extended to implement vehicle-specific state variables

Since:

08 September 2004

Version:

$Id: StateVector.java 7787 2012-02-23 07:22:52Z tnorbraten $

Author:

dtdavis

Field Summary

Fields
Modifier and Type	Field and Description
`protected double`	`p` roll rate (body coordinates) (degrees)
`protected double`	`phi` roll (degrees)
`protected double`	`phiDot` roll rate (degrees)
`protected double`	`psi` yaw (degrees)
`protected double`	`psiDot` yaw rate (degrees)
`protected double`	`q` pitch rate (body coordinates) (degrees)
`protected double`	`r` yaw rate (body coordinates) (degrees)
`protected double`	`simulationTime` current AUV simulation time
`protected double`	`theta` pitch (degrees)
`protected double`	`thetaDot` pitch rate (degrees)
`protected double`	`u` forward velocity (body coordinates)
`protected double`	`v` lateral velocity (body coordinates)
`protected Execution`	`vehicle` reference to main vehicle object
`protected double`	`w` vertical velocity (body coordinates)
`protected double`	`x` x position
`protected double`	`xDot` velocity along the x axis
`protected double`	`y` y position
`protected double`	`yDot` velocity along the y axis
`protected double`	`z` z position
`protected double`	`zDot` velocity along the z axis

Constructor Summary

Constructors
Constructor and Description

StateVector(Execution vehicle)
Constructor for a new state variable

Constructors
Constructor and Description
`StateVector(Execution vehicle)` Constructor for a new state variable

Method Summary

Methods
Modifier and Type	Method and Description
`abstract double[]`	`getExtraDisState()`
`double`	`getP()`
`double`	`getPhi()`
`double`	`getPhiDot()`
`double`	`getPsi()`
`double`	`getPsiDot()`
`double`	`getQ()`
`double`	`getR()`
`double`	`getSimulationTime()`
`double`	`getTheta()`
`double`	`getThetaDot()`
`double`	`getU()`
`double`	`getV()`
`Execution`	`getVehicle()`
`double`	`getW()`
`double`	`getX()`
`double`	`getXDot()`
`double`	`getY()`
`double`	`getYDot()`
`double`	`getZ()`
`double`	`getZDot()`
`protected abstract void`	`reset()` Reset state vector values prior to repeating another simulation loop
`protected void`	`resetKinematics()` Reset all kinematics values to zero
`void`	`setP(double newValue)` sets the roll rate (body coordinates)
`void`	`setPhi(double newValue)` sets the roll
`void`	`setPhiDot(double newValue)` sets the roll rate
`void`	`setPsi(double newValue)` sets the yaw
`void`	`setPsiDot(double newValue)` sets the yaw rate
`void`	`setQ(double newValue)` sets the pitch rate (body coordinates)
`void`	`setR(double newValue)` sets the yaw rate (body coordinates)
`void`	`setSimulationTime(double newValue)` sets the current AUV simulation time
`void`	`setTheta(double newValue)` sets the pitch
`void`	`setThetaDot(double newValue)` sets the pitch rate
`void`	`setU(double newValue)` sets the forward velocity (body coordinates)
`void`	`setV(double newValue)` sets the lateral velocity (body coordinates)
`void`	`setW(double newValue)` sets the vertical velocity (body coordinates)
`void`	`setX(double newValue)` sets the x position
`void`	`setXDot(double newValue)` sets the velocity along the x axis
`void`	`setY(double newValue)` sets the y position
`void`	`setYDot(double newValue)` sets the velocity along the y axis
`void`	`setZ(double newValue)` sets the z position
`void`	`setZDot(double newValue)` sets the velocity along the z axis

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Field Detail
  - vehicle
```
protected Execution vehicle
```
    reference to main vehicle object
  - simulationTime
```
protected double simulationTime
```
    current AUV simulation time
  - x
```
protected double x
```
    x position
  - y
```
protected double y
```
    y position
  - z
```
protected double z
```
    z position
  - phi
```
protected double phi
```
    roll (degrees)
  - theta
```
protected double theta
```
    pitch (degrees)
  - psi
```
protected double psi
```
    yaw (degrees)
  - xDot
```
protected double xDot
```
    velocity along the x axis
  - yDot
```
protected double yDot
```
    velocity along the y axis
  - zDot
```
protected double zDot
```
    velocity along the z axis
  - phiDot
```
protected double phiDot
```
    roll rate (degrees)
  - thetaDot
```
protected double thetaDot
```
    pitch rate (degrees)
  - psiDot
```
protected double psiDot
```
    yaw rate (degrees)
  - p
```
protected double p
```
    roll rate (body coordinates) (degrees)
  - q
```
protected double q
```
    pitch rate (body coordinates) (degrees)
  - r
```
protected double r
```
    yaw rate (body coordinates) (degrees)
  - u
```
protected double u
```
    forward velocity (body coordinates)
  - v
```
protected double v
```
    lateral velocity (body coordinates)
  - w
```
protected double w
```
    vertical velocity (body coordinates)
- Constructor Detail
  - StateVector
```
public StateVector(Execution vehicle)
```
    Constructor for a new state variable
    
    Parameters:
    vehicle - reference main object to which state vector applies
- Method Detail
  - reset
```
protected abstract void reset()
```
    Reset state vector values prior to repeating another simulation loop
  - getSimulationTime
```
public double getSimulationTime()
```
    Returns:
    the current AUV simulation time
  - getX
```
public double getX()
```
    Returns:
    the x position
  - getY
```
public double getY()
```
    Returns:
    the y position
  - getZ
```
public double getZ()
```
    Returns:
    the z position
  - getPhi
```
public double getPhi()
```
    Returns:
    the roll
  - getTheta
```
public double getTheta()
```
    Returns:
    the pitch
  - getPsi
```
public double getPsi()
```
    Returns:
    the yaw
  - getXDot
```
public double getXDot()
```
    Returns:
    the velocity along the x axis
  - getYDot
```
public double getYDot()
```
    Returns:
    the velocity along the y axis
  - getZDot
```
public double getZDot()
```
    Returns:
    the velocity along the z axis
  - getPhiDot
```
public double getPhiDot()
```
    Returns:
    the roll rate
  - getThetaDot
```
public double getThetaDot()
```
    Returns:
    the pitch rate
  - getPsiDot
```
public double getPsiDot()
```
    Returns:
    the yaw rate
  - getP
```
public double getP()
```
    Returns:
    the roll rate (body coordinates)
  - getQ
```
public double getQ()
```
    Returns:
    the pitch rate (body coordinates)
  - getR
```
public double getR()
```
    Returns:
    the yaw rate (body coordinates)
  - getU
```
public double getU()
```
    Returns:
    the forward velocity (body coordinates)
  - getV
```
public double getV()
```
    Returns:
    the lateral velocity (body coordinates)
  - getW
```
public double getW()
```
    Returns:
    the vertical velocity(body coordinates)
  - getVehicle
```
public Execution getVehicle()
```
  - resetKinematics
```
protected final void resetKinematics()
```
    Reset all kinematics values to zero
  - setSimulationTime
```
public void setSimulationTime(double newValue)
```
    sets the current AUV simulation time
    
    Parameters:
    newValue - value used to set
  - setX
```
public void setX(double newValue)
```
    sets the x position
    
    Parameters:
    newValue - value used to set
  - setY
```
public void setY(double newValue)
```
    sets the y position
    
    Parameters:
    newValue - value used to set
  - setZ
```
public void setZ(double newValue)
```
    sets the z position
    
    Parameters:
    newValue - value used to set
  - setPhi
```
public void setPhi(double newValue)
```
    sets the roll
    
    Parameters:
    newValue - value used to set
  - setTheta
```
public void setTheta(double newValue)
```
    sets the pitch
    
    Parameters:
    newValue - value used to set
  - setPsi
```
public void setPsi(double newValue)
```
    sets the yaw
    
    Parameters:
    newValue - value used to set
  - setXDot
```
public void setXDot(double newValue)
```
    sets the velocity along the x axis
    
    Parameters:
    newValue - value used to set
  - setYDot
```
public void setYDot(double newValue)
```
    sets the velocity along the y axis
    
    Parameters:
    newValue - value used to set
  - setZDot
```
public void setZDot(double newValue)
```
    sets the velocity along the z axis
    
    Parameters:
    newValue - value used to set
  - setPhiDot
```
public void setPhiDot(double newValue)
```
    sets the roll rate
    
    Parameters:
    newValue - value used to set
  - setThetaDot
```
public void setThetaDot(double newValue)
```
    sets the pitch rate
    
    Parameters:
    newValue - value used to set
  - setPsiDot
```
public void setPsiDot(double newValue)
```
    sets the yaw rate
    
    Parameters:
    newValue - value used to set
  - setP
```
public void setP(double newValue)
```
    sets the roll rate (body coordinates)
    
    Parameters:
    newValue - value used to set
  - setQ
```
public void setQ(double newValue)
```
    sets the pitch rate (body coordinates)
    
    Parameters:
    newValue - value used to set
  - setR
```
public void setR(double newValue)
```
    sets the yaw rate (body coordinates)
    
    Parameters:
    newValue - value used to set
  - setU
```
public void setU(double newValue)
```
    sets the forward velocity (body coordinates)
    
    Parameters:
    newValue - value used to set
  - setV
```
public void setV(double newValue)
```
    sets the lateral velocity (body coordinates)
    
    Parameters:
    newValue - value used to set
  - setW
```
public void setW(double newValue)
```
    sets the vertical velocity (body coordinates)
    
    Parameters:
    newValue - value used to set
  - getExtraDisState
```
public abstract double[] getExtraDisState()
```

Class StateVector

Field Summary

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Field Detail

vehicle

simulationTime

x

y

z

phi

theta

psi

xDot

yDot

zDot

phiDot

thetaDot

psiDot

p

q

r

u

v

w

Constructor Detail

StateVector

Method Detail

reset

getSimulationTime

getX

getY

getZ

getPhi

getTheta

getPsi

getXDot

getYDot

getZDot

getPhiDot

getThetaDot

getPsiDot

getP

getQ

getR

getU

getV

getW

getVehicle

resetKinematics

setSimulationTime

setX

setY

setZ

setPhi

setTheta

setPsi

setXDot

setYDot

setZDot

setPhiDot

setThetaDot

setPsiDot

setP

setQ

setR

setU

setV

setW

getExtraDisState