execution.ugv

Class UgvState

java.lang.Object

execution.StateVector

execution.ugv.UgvState

public class UgvState
extends StateVector

Author:

dtdavis

Field Summary

Fields

Modifier and Type	Field and Description
protected double	dopplerSOGU Doppler forward speed over the ground
protected double	dopplerSOGV Doppler lateral lateral speed over the ground
protected double	leftTrackCmd commanded left track speed in meters per second
protected double	leftTrackSpd actual left track speed in meters per second
protected double	remainingPwr remaining power available (percent battery or fuel)
protected double	rightTrackCmd commanded right track speed in meters per second
protected double	rightTrackSpd actual right track speed in meters per second

Fields inherited from class execution.StateVector

p, phi, phiDot, psi, psiDot, q, r, simulationTime, theta, thetaDot, u, v, vehicle, w, x, xDot, y, yDot, z, zDot

Constructor Summary

Constructors

Constructor and Description
UgvState(UgvExecution execution) Constructor for a new state variable

Method Summary

Methods

Modifier and Type	Method and Description
double	getDopplerSOGU()
double	getDopplerSOGV()
double[]	getExtraDisState()
double	getLeftTrackCmd()
double	getLeftTrackSpeed()
double	getRemainingPower()
double	getRightTrackCmd()
double	getRightTrackSpeed()
double	getSpeed()
protected void	reset() Reset state vector values prior to repeating another simulation loop
void	setDopplerSOGU(double newValue)
void	setDopplerSOGV(double newValue)
void	setLeftTrackCmd(double newValue)
void	setLeftTrackSpeed(double newValue)
void	setRemainingPower(double newValue)
void	setRightTrackCmd(double newValue)
void	setRightTrackSpeed(double newValue)

Methods inherited from class execution.StateVector

getP, getPhi, getPhiDot, getPsi, getPsiDot, getQ, getR, getSimulationTime, getTheta, getThetaDot, getU, getV, getVehicle, getW, getX, getXDot, getY, getYDot, getZ, getZDot, resetKinematics, setP, setPhi, setPhiDot, setPsi, setPsiDot, setQ, setR, setSimulationTime, setTheta, setThetaDot, setU, setV, setW, setX, setXDot, setY, setYDot, setZ, setZDot

Methods inherited from class java.lang.Object

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

Field Detail

remainingPwr

protected double remainingPwr

remaining power available (percent battery or fuel)

leftTrackCmd

protected double leftTrackCmd

commanded left track speed in meters per second

rightTrackCmd

protected double rightTrackCmd

commanded right track speed in meters per second

leftTrackSpd

protected double leftTrackSpd

actual left track speed in meters per second

rightTrackSpd

protected double rightTrackSpd

actual right track speed in meters per second

dopplerSOGU

protected double dopplerSOGU

Doppler forward speed over the ground

dopplerSOGV

protected double dopplerSOGV

Doppler lateral lateral speed over the ground

Constructor Detail

UgvState

public UgvState(UgvExecution execution)

Constructor for a new state variable

Parameters:

execution - TrackedUgvExecution reference to ugv to which state vector applies

Method Detail

reset

protected void reset()

Description copied from class: StateVector

Reset state vector values prior to repeating another simulation loop

Specified by:

reset in class StateVector

getRemainingPower

public double getRemainingPower()

Returns:

the remaining power (percent battery or fuel)

getSpeed

public double getSpeed()

Returns:

the ugv speed

getLeftTrackSpeed

public double getLeftTrackSpeed()

Returns:

the ugv actual speed of the vehicle's left track in meters per second

getRightTrackSpeed

public double getRightTrackSpeed()

Returns:

the ugv actual speed of the vehicle's right track in meters per second

getLeftTrackCmd

public double getLeftTrackCmd()

Returns:

the ugv commanded speed of the vehicle's left track in meters per second

getRightTrackCmd

public double getRightTrackCmd()

Returns:

the ugv commanded speed of the vehicle's right track in meters per second

getDopplerSOGU

public double getDopplerSOGU()

Returns:

the ugv doppler forward speed over the ground

getDopplerSOGV

public double getDopplerSOGV()

Returns:

the ugv doppler lateral speed over the ground

setRemainingPower

public void setRemainingPower(double newValue)

Parameters:

newValue - the remaining power (percent battery or fuel)

setLeftTrackCmd

public void setLeftTrackCmd(double newValue)

Parameters:

newValue - the new commanded left track speed in meters per second

setRightTrackCmd

public void setRightTrackCmd(double newValue)

Parameters:

newValue - the new commanded right track speed in meters per second

setLeftTrackSpeed

public void setLeftTrackSpeed(double newValue)

Parameters:

newValue - the new actual left track speed in meters per second

setRightTrackSpeed

public void setRightTrackSpeed(double newValue)

Parameters:

newValue - the new actual right track speed in meters per second

setDopplerSOGU

public void setDopplerSOGU(double newValue)

Parameters:

newValue - the ugv doppler sonar forward speed over the ground

setDopplerSOGV

public void setDopplerSOGV(double newValue)

Parameters:

newValue - the ugv doppler sonar lateral speed over the ground

getExtraDisState

public double[] getExtraDisState()

Specified by:

getExtraDisState in class StateVector