UuvState (Autonomous Unmanned Vehicle (AUV) Workbench Documentation)

java.lang.Object
- execution.StateVector
- - execution.uuv.UuvState

```
public class UuvState
extends StateVector
```
File: UuvState.java Author(s): Duane Davis and David Gassier Date: 17 April 2004 Revised: 03 October 2006
Description: Container for AUV state variables Extends StateVector to include vehicle specific state variables

Version:

$Id: UuvState.java 8127 2012-07-24 21:03:19Z lgcerritos $

Author:

Duane Davis and David Gassier

Field Summary

Fields
Modifier and Type	Field and Description
`protected double`	`altitude` doppler sonar altitude above the bottom
`protected double`	`ballast`
`protected double`	`bowLateralThruster` bow lateral thruster setting (volts)
`protected double`	`bowPlanes` bow plane setting (degrees)
`protected double`	`bowVerticalThruster` bow vertical thruster setting (volts)
`protected double`	`dopplerSOGU` doppler sonar forward speed over the ground
`protected double`	`dopplerSOGV` doppler sonar lateral speed over the ground
`protected double`	`dopplerSTWU` doppler sonar forward speed through the water
`protected double`	`dopplerSTWV` doppler sonar lateral speed through the water
`protected double`	`portPropeller` port propeller setting (rpm)
`protected double`	`remainingBatteryPower` remaining power available (percent battery)
`protected double`	`rudder` rudder setting (degrees)
`protected double`	`st1000Bearing` st1000 sonar bearing
`protected double`	`st1000Range` st1000 sonar range
`protected double`	`st1000Strength` st1000 sonar strength
`protected double`	`st725Bearing` st725 sonar bearing
`protected double`	`st725Range` st725 sonar range
`protected double`	`st725Strength` st725 sonar strength
`protected double`	`stbdPropeller` starboard propeller setting (rpm)
`protected double`	`sternLateralThruster` stern lateral thruster setting (volts)
`protected double`	`sternPlanes` stern plane setting (degrees)
`protected double`	`sternVerticalThruster` stern vertical thruster setting (volts)

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

UuvState(UuvExecution execution)
Constructor for a new state variable

Constructors
Constructor and Description
`UuvState(UuvExecution execution)` Constructor for a new state variable

Method Summary

Methods
Modifier and Type	Method and Description
`double`	`getAltitude()`
`double`	`getBallastSetting()`
`double`	`getBowLateralThrusterSetting()`
`double`	`getBowPlaneSetting()`
`double`	`getBowVerticalThrusterSetting()`
`double`	`getDopplerSOGU()`
`double`	`getDopplerSOGV()`
`double`	`getDopplerSTWU()`
`double`	`getDopplerSTWV()`
`double[]`	`getExtraDisState()`
`double`	`getPortPropSetting()`
`double`	`getRemainingPower()`
`double`	`getRudderSetting()`
`double`	`getSpeed()`
`double`	`getST1000Bearing()`
`double`	`getST1000Range()`
`double`	`getST1000Strength()`
`double`	`getST725Bearing()`
`double`	`getST725Range()`
`double`	`getST725Strength()`
`double`	`getStbdPropSetting()`
`double`	`getSternLateralThrusterSetting()`
`double`	`getSternPlaneSetting()`
`double`	`getSternVerticalThrusterSetting()`
`protected void`	`reset()` Reset state vector values prior to repeating another simulation loop
`void`	`setAltitude(double newValue)`
`void`	`setBallastSetting(double newValue)`
`void`	`setBowLateralThrusterSetting(double newValue)`
`void`	`setBowPlaneSetting(double newValue)`
`void`	`setBowVerticalThrusterSetting(double newValue)`
`void`	`setDopplerSOGU(double newValue)`
`void`	`setDopplerSOGV(double newValue)`
`void`	`setDopplerSTWU(double newValue)`
`void`	`setDopplerSTWV(double newValue)`
`void`	`setPortPropSetting(double newValue)`
`void`	`setRemainingPower(double newValue)`
`void`	`setRudderSetting(double newValue)`
`void`	`setST1000Bearing(double newValue)`
`void`	`setST1000Range(double newValue)`
`void`	`setST1000Strength(double newValue)`
`void`	`setST725Bearing(double newValue)`
`void`	`setST725Range(double newValue)`
`void`	`setST725Strength(double newValue)`
`void`	`setStbdPropSetting(double newValue)`
`void`	`setSternLateralThrusterSetting(double newValue)`
`void`	`setSternPlaneSetting(double newValue)`
`void`	`setSternVerticalThrusterSetting(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
  - remainingBatteryPower
```
protected double remainingBatteryPower
```
    remaining power available (percent battery)
  - bowPlanes
```
protected double bowPlanes
```
    bow plane setting (degrees)
  - sternPlanes
```
protected double sternPlanes
```
    stern plane setting (degrees)
  - rudder
```
protected double rudder
```
    rudder setting (degrees)
  - portPropeller
```
protected double portPropeller
```
    port propeller setting (rpm)
  - stbdPropeller
```
protected double stbdPropeller
```
    starboard propeller setting (rpm)
  - bowVerticalThruster
```
protected double bowVerticalThruster
```
    bow vertical thruster setting (volts)
  - sternVerticalThruster
```
protected double sternVerticalThruster
```
    stern vertical thruster setting (volts)
  - bowLateralThruster
```
protected double bowLateralThruster
```
    bow lateral thruster setting (volts)
  - sternLateralThruster
```
protected double sternLateralThruster
```
    stern lateral thruster setting (volts)
  - dopplerSTWU
```
protected double dopplerSTWU
```
    doppler sonar forward speed through the water
  - dopplerSTWV
```
protected double dopplerSTWV
```
    doppler sonar lateral speed through the water
  - dopplerSOGU
```
protected double dopplerSOGU
```
    doppler sonar forward speed over the ground
  - dopplerSOGV
```
protected double dopplerSOGV
```
    doppler sonar lateral speed over the ground
  - altitude
```
protected double altitude
```
    doppler sonar altitude above the bottom
  - st725Bearing
```
protected double st725Bearing
```
    st725 sonar bearing
  - st725Range
```
protected double st725Range
```
    st725 sonar range
  - st725Strength
```
protected double st725Strength
```
    st725 sonar strength
  - st1000Bearing
```
protected double st1000Bearing
```
    st1000 sonar bearing
  - st1000Range
```
protected double st1000Range
```
    st1000 sonar range
  - st1000Strength
```
protected double st1000Strength
```
    st1000 sonar strength
  - ballast
```
protected double ballast
```
- Constructor Detail
  - UuvState
```
public UuvState(UuvExecution execution)
```
    Constructor for a new state variable
    
    Parameters:
    execution - UuvExecution reference to uuv to which state vector applies
- Method Detail
  - reset
```
protected void reset()
```
    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)
  - getSpeed
```
public double getSpeed()
```
    Returns:
    the uuv paddle wheel speed
  - getBowPlaneSetting
```
public double getBowPlaneSetting()
```
    Returns:
    the uuv bow plane setting
  - getSternPlaneSetting
```
public double getSternPlaneSetting()
```
    Returns:
    the uuv stern plane setting
  - getRudderSetting
```
public double getRudderSetting()
```
    Returns:
    the uuv rudder setting
  - getPortPropSetting
```
public double getPortPropSetting()
```
    Returns:
    the uuv port propeller setting
  - getStbdPropSetting
```
public double getStbdPropSetting()
```
    Returns:
    the uuv starboard propeller setting
  - getBowVerticalThrusterSetting
```
public double getBowVerticalThrusterSetting()
```
    Returns:
    the uuv bow vertical thruster setting
  - getSternVerticalThrusterSetting
```
public double getSternVerticalThrusterSetting()
```
    Returns:
    the uuv stern vertical thruster setting
  - getBowLateralThrusterSetting
```
public double getBowLateralThrusterSetting()
```
    Returns:
    the uuv bow lateral thruster setting
  - getSternLateralThrusterSetting
```
public double getSternLateralThrusterSetting()
```
    Returns:
    the uuv stern lateral thruster setting
  - getDopplerSTWU
```
public double getDopplerSTWU()
```
    Returns:
    the uuv doppler sonar forward speed through the water
  - getDopplerSTWV
```
public double getDopplerSTWV()
```
    Returns:
    the uuv doppler sonar lateral speed through the water
  - getDopplerSOGU
```
public double getDopplerSOGU()
```
    Returns:
    the uuv doppler sonar forward speed over the ground
  - getDopplerSOGV
```
public double getDopplerSOGV()
```
    Returns:
    the uuv doppler sonar lateral speed over the ground
  - getAltitude
```
public double getAltitude()
```
    Returns:
    the uuv doppler sonar altitude above the bottom
  - getST725Bearing
```
public double getST725Bearing()
```
    Returns:
    the st725 sonar bearing
  - getST725Range
```
public double getST725Range()
```
    Returns:
    the st725 sonar range
  - getST725Strength
```
public double getST725Strength()
```
    Returns:
    the st725 sonar range
  - getST1000Bearing
```
public double getST1000Bearing()
```
    Returns:
    the st1000 sonar bearing
  - getST1000Range
```
public double getST1000Range()
```
    Returns:
    the st725 sonar range
  - getST1000Strength
```
public double getST1000Strength()
```
    Returns:
    the st725 sonar range
  - setRemainingPower
```
public void setRemainingPower(double newValue)
```
    Parameters:
    newValue - the remaining power (percent battery)
  - setBowPlaneSetting
```
public void setBowPlaneSetting(double newValue)
```
    Parameters:
    newValue - the uuv bow plane setting
  - setSternPlaneSetting
```
public void setSternPlaneSetting(double newValue)
```
    Parameters:
    newValue - the uuv stern plane setting
  - setRudderSetting
```
public void setRudderSetting(double newValue)
```
    Parameters:
    newValue - the uuv rudder setting
  - setPortPropSetting
```
public void setPortPropSetting(double newValue)
```
    Parameters:
    newValue - the uuv port propeller setting
  - setStbdPropSetting
```
public void setStbdPropSetting(double newValue)
```
    Parameters:
    newValue - the uuv starboard propeller setting
  - setBowVerticalThrusterSetting
```
public void setBowVerticalThrusterSetting(double newValue)
```
    Parameters:
    newValue - the uuv bow vertical thruster setting
  - setSternVerticalThrusterSetting
```
public void setSternVerticalThrusterSetting(double newValue)
```
    Parameters:
    newValue - the uuv stern vertical thruster setting
  - setBowLateralThrusterSetting
```
public void setBowLateralThrusterSetting(double newValue)
```
    Parameters:
    newValue - the uuv bow lateral thruster setting
  - setSternLateralThrusterSetting
```
public void setSternLateralThrusterSetting(double newValue)
```
    Parameters:
    newValue - the uuv stern lateral thruster setting
  - setDopplerSTWU
```
public void setDopplerSTWU(double newValue)
```
    Parameters:
    newValue - the uuv doppler sonar forward speed through the water
  - setDopplerSTWV
```
public void setDopplerSTWV(double newValue)
```
    Parameters:
    newValue - the uuv doppler sonar lateral speed through the water
  - setDopplerSOGU
```
public void setDopplerSOGU(double newValue)
```
    Parameters:
    newValue - the uuv doppler sonar forward speed over the ground
  - setDopplerSOGV
```
public void setDopplerSOGV(double newValue)
```
    Parameters:
    newValue - the uuv doppler sonar lateral speed over the ground
  - setAltitude
```
public void setAltitude(double newValue)
```
    Parameters:
    newValue - the uuv doppler sonar altitude above the bottom
  - setST725Bearing
```
public void setST725Bearing(double newValue)
```
    Parameters:
    newValue - the st725 sonar bearing
  - setST725Range
```
public void setST725Range(double newValue)
```
    Parameters:
    newValue - the st725 sonar range
  - setST725Strength
```
public void setST725Strength(double newValue)
```
    Parameters:
    newValue - the st725 sonar strength
  - setST1000Bearing
```
public void setST1000Bearing(double newValue)
```
    Parameters:
    newValue - the st1000 sonar bearing
  - setST1000Range
```
public void setST1000Range(double newValue)
```
    Parameters:
    newValue - the st1000 sonar range
  - setST1000Strength
```
public void setST1000Strength(double newValue)
```
    Parameters:
    newValue - the st1000 sonar strength
  - setBallastSetting
```
public void setBallastSetting(double newValue)
```
  - getBallastSetting
```
public double getBallastSetting()
```
  - getExtraDisState
```
public double[] getExtraDisState()
```
    Specified by:
    
    getExtraDisState in class StateVector

Class UuvState

Field Summary

Fields inherited from class execution.StateVector

Constructor Summary

Method Summary

Methods inherited from class execution.StateVector

Methods inherited from class java.lang.Object

Field Detail

remainingBatteryPower

bowPlanes

sternPlanes

rudder

portPropeller

stbdPropeller

bowVerticalThruster

sternVerticalThruster

bowLateralThruster

sternLateralThruster

dopplerSTWU

dopplerSTWV

dopplerSOGU

dopplerSOGV

altitude

st725Bearing

st725Range

st725Strength

st1000Bearing

st1000Range

st1000Strength

ballast

Constructor Detail

UuvState

Method Detail

reset

getRemainingPower

getSpeed

getBowPlaneSetting

getSternPlaneSetting

getRudderSetting

getPortPropSetting

getStbdPropSetting

getBowVerticalThrusterSetting

getSternVerticalThrusterSetting

getBowLateralThrusterSetting

getSternLateralThrusterSetting

getDopplerSTWU

getDopplerSTWV

getDopplerSOGU

getDopplerSOGV

getAltitude

getST725Bearing

getST725Range

getST725Strength

getST1000Bearing

getST1000Range

getST1000Strength

setRemainingPower

setBowPlaneSetting

setSternPlaneSetting

setRudderSetting

setPortPropSetting

setStbdPropSetting

setBowVerticalThrusterSetting

setSternVerticalThrusterSetting

setBowLateralThrusterSetting

setSternLateralThrusterSetting

setDopplerSTWU

setDopplerSTWV

setDopplerSOGU

setDopplerSOGV

setAltitude

setST725Bearing

setST725Range

setST725Strength

setST1000Bearing

setST1000Range

setST1000Strength

setBallastSetting

getBallastSetting

getExtraDisState