execution.world

Class MovingObject

java.lang.Object

execution.world.WorldObject

execution.world.MovingObject

Direct Known Subclasses:

VehicleObject

public abstract class MovingObject
extends WorldObject

A class used to represent a moving object (e.g., another vehicle) that the vehicle has identified for placement in the world. MOVES Institute Naval Postgraduate School, Monterey, CA www.nps.edu

Since:

Sep 1, 2005, 10:46:41 AM

Version:

$Id: MovingObject.java 8020 2012-07-03 01:37:06Z brutzman $

Author:

Duane Davis

Field Summary

Fields inherited from class execution.world.WorldObject

potentialVector

Constructor Summary

Constructors

Constructor and Description
MovingObject(double[] position, double direction, double speed, double time, double standoff) Constructor
MovingObject(double time, double standoff) Constructor for a zero-velocity object that will be placed at the origin with zero velocity
MovingObject(double x, double y, double direction, double speed, double time, double standoff) Constructor
MovingObject(Point position, double direction, double speed, double time, double standoff) Constructor

Method Summary

Methods

Modifier and Type	Method and Description
void	copyStateInfo(MovingObject source) Copies the state information (location and velocity) from one moving object to another
double	getDirection()
double	getPostureTime()
protected double	getPotentialForce(double[] position) Computes the of the potential vector directing the owning vehicle away from this object
protected double	getPotentialForce(double x, double y) Computes the of the potential vector directing the owning vehicle away from this object
protected double	getPotentialForce(Point position) Computes the of the potential vector directing the owning vehicle away from this object
double[]	getPotentialVector(double[] position, double maxDofConcern) Computes and returns a potential vector for directing the owning vehicle towards a goal point while avoiding this object
double[]	getPotentialVector(double x, double y) Computes and returns a potential vector for directing the owning vehicle away from this object
double[]	getPotentialVector(Point position) Computes and returns a potential vector for directing the owning vehicle towards a goal point while avoiding this object
double	getSpeed()
boolean	isLocated()
boolean	isTooClose(double x, double y) Determines whether or not any moving objects are too close to the vehicle
void	setDirection(double newDirection) Sets a new direction of movement for the object
void	setPosit(double[] newPosit) Resets the object's position in the world
void	setPosit(double newX, double newY) Resets the object's position in the world
void	setPosit(Point newPosit) Resets the object's position in the world
void	setSpeed(double newDirection, double newSpeed) Sets a new speed for the object
void	setVelocity(double newDirection, double newSpeed) Sets a new velocity (direction and speed) for the object
String	toString() Generates a string representation of the wall object
void	updatePositionDR(double newTime) Updates the position using dead reckoning WARNING: Does not do anything to prevent moving "backwards" in time
void	updatePositionFix(double[] newPosit, double time) Updates the position using dead reckoning WARNING: Does not do anything to prevent moving "backwards" in time
void	updatePositionFix(double newX, double newY, double time) Updates the position using dead reckoning WARNING: Does not do anything to prevent moving "backwards" in time
void	updatePositionFix(Point newPosit, double time) Updates the position using dead reckoning WARNING: Does not do anything to prevent moving "backwards" in time

Methods inherited from class execution.world.WorldObject

getDistance, getDistance, getDistance, getDistance, getDistance, getDistance, getDistance, getDistanceOfConcern, getPosit, getPotentialForceDirection, getPotentialForceDirection, getPotentialForceDirection, getStandoff, getXPosit, getYPosit, setStandoff

Methods inherited from class java.lang.Object

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

Constructor Detail

MovingObject

public MovingObject(double x,
            double y,
            double direction,
            double speed,
            double time,
            double standoff)

Constructor

Parameters:

x - north/south Cartesian coordinate of the object's location in the world

y - east/west Cartesian coordinate of the object's location in the world

direction - direction (degrees) that the object is moving

speed - speed at which the object is moving (m/sec)

time - mission time (secs from mission start) that the object is first entered into the system

standoff - required distance (meters) that the vehicle must remain clear from this object

MovingObject

public MovingObject(double[] position,
            double direction,
            double speed,
            double time,
            double standoff)

Constructor

Parameters:

position - 2-element array with the Cartesian coordinates of the object's location in the world

direction - direction (degrees) that the object is moving

speed - speed at which the object is moving (m/sec)

time - mission time (secs from mission start) that the object is first entered into the system

standoff - required distance (meters) that the vehicle must remain clear from this object

MovingObject

public MovingObject(Point position,
            double direction,
            double speed,
            double time,
            double standoff)

Constructor

Parameters:

position - 2-element array with the Cartesian coordinates of the object's location in the world

direction - direction (degrees) that the object is moving

speed - speed at which the object is moving (m/sec)

time - mission time (secs from mission start) that the object is first entered into the system

standoff - required distance (meters) that the vehicle must remain clear from this object

MovingObject

public MovingObject(double time,
            double standoff)

Constructor for a zero-velocity object that will be placed at the origin with zero velocity

Parameters:

time - mission time (secs from mission start) that the object is first entered into the system

standoff - required distance (meters) that the vehicle must remain clear from this object

Method Detail

copyStateInfo

public void copyStateInfo(MovingObject source)

Copies the state information (location and velocity) from one moving object to another

Parameters:

source - moving object from which the state info is to be copied

isLocated

public boolean isLocated()

Returns:

true if the object's position has been initialized

updatePositionDR

public void updatePositionDR(double newTime)

Updates the position using dead reckoning WARNING: Does not do anything to prevent moving "backwards" in time

Parameters:

newTime - mission time (secs from mission start) that the vehicle's position is being computed for

updatePositionFix

public void updatePositionFix(double newX,
                     double newY,
                     double time)

Updates the position using dead reckoning WARNING: Does not do anything to prevent moving "backwards" in time

Parameters:

newX - north/south Cartesian coordinate of the object's new location in the world

newY - east/west Cartesian coordinate of the object's new location in the world

time - mission time (secs from mission start) that the vehicle's position is being computed for

updatePositionFix

public void updatePositionFix(double[] newPosit,
                     double time)

Updates the position using dead reckoning WARNING: Does not do anything to prevent moving "backwards" in time

Parameters:

newPosit - Cartesian coordinates (2x1 array) of the object's new location in the world

time - mission time (secs from mission start) that the vehicle's position is being computed for

updatePositionFix

public void updatePositionFix(Point newPosit,
                     double time)

Updates the position using dead reckoning WARNING: Does not do anything to prevent moving "backwards" in time

Parameters:

newPosit - Cartesian coordinates (2x1 array) of the object's new location in the world

time - mission time (secs from mission start) that the vehicle's position is being computed for

setPosit

public void setPosit(double newX,
            double newY)

Resets the object's position in the world

Overrides:

setPosit in class WorldObject

Parameters:

newX -

newY -

setPosit

public void setPosit(double[] newPosit)

Resets the object's position in the world

Overrides:

setPosit in class WorldObject

Parameters:

newPosit - 2-element array containing the new Cartesian position

setPosit

public void setPosit(Point newPosit)

Resets the object's position in the world

Overrides:

setPosit in class WorldObject

Parameters:

newPosit - 2-element array containing the new Cartesian position

setVelocity

public void setVelocity(double newDirection,
               double newSpeed)

Sets a new velocity (direction and speed) for the object

Parameters:

newDirection - new direction (degrees) that the object is moving

newSpeed - new speed at which the object is moving (m/sec)

setDirection

public void setDirection(double newDirection)

Sets a new direction of movement for the object

Parameters:

newDirection - new direction (degrees) that the object is moving

getDirection

public double getDirection()

Returns:

the current direction (degrees) that the object is moving

setSpeed

public void setSpeed(double newDirection,
            double newSpeed)

Sets a new speed for the object

Parameters:

newSpeed - new speed at which the object is moving (m/sec)

getSpeed

public double getSpeed()

Returns:

the speed (m/sec) at which the object is moving

getPostureTime

public double getPostureTime()

Returns:

the time (secs since mission start) at which the position was last updated

getPotentialVector

public double[] getPotentialVector(double[] position,
                          double maxDofConcern)

Computes and returns a potential vector for directing the owning vehicle towards a goal point while avoiding this object

Overrides:

getPotentialVector in class WorldObject

Parameters:

position - Cartesian coordinates (2x1 double[]) defining the owning vehicle's current position

maxDofConcern - the maximum distance at which this object is relevant for obstacle avoidance purposes

Returns:

a 2x1 double[] containing a scaled potential vector that pushes the vehicle away from this object

getPotentialVector

public double[] getPotentialVector(Point position)

Computes and returns a potential vector for directing the owning vehicle towards a goal point while avoiding this object

Overrides:

getPotentialVector in class WorldObject

Parameters:

position - Cartesian coordinates (2x1 double[]) defining the owning vehicle's current position

Returns:

a 2x1 double[] containing a scaled potential vector that pushes the vehicle away from this object

getPotentialVector

public double[] getPotentialVector(double x,
                          double y)

Computes and returns a potential vector for directing the owning vehicle away from this object

Overrides:

getPotentialVector in class WorldObject

Parameters:

x - north/south Cartesian coordinates defining the owning vehicle's current position

y - east/west Cartesian coordinates defining the owning vehicle's current position

Returns:

a 2x1 double[] containing a scaled potential vector that pushes the vehicle away from this object

getPotentialForce

protected double getPotentialForce(double[] position)

Computes the of the potential vector directing the owning vehicle away from this object

Overrides:

getPotentialForce in class WorldObject

Parameters:

position - Cartesian coordinates (2x1 double[]) defining the owning vehicle's current position

Returns:

a scalar value for the repelling force driving the vehicle away from the object

getPotentialForce

protected double getPotentialForce(Point position)

Computes the of the potential vector directing the owning vehicle away from this object

Overrides:

getPotentialForce in class WorldObject

Parameters:

position - Cartesian coordinates (2x1 double[]) defining the owning vehicle's current position

Returns:

a scalar value for the repelling force driving the vehicle away from the object

getPotentialForce

protected double getPotentialForce(double x,
                       double y)

Computes the of the potential vector directing the owning vehicle away from this object

Overrides:

getPotentialForce in class WorldObject

Parameters:

x - north/south Cartesian coordinates defining the owning vehicle's current position

y - east/west Cartesian coordinates defining the owning vehicle's current position

Returns:

a scalar value for the repelling force driving the vehicle away from the object

isTooClose

public boolean isTooClose(double x,
                 double y)

Determines whether or not any moving objects are too close to the vehicle

Parameters:

x - north/south coordinate of the vehicle

y - east/west coordinate of the vehicle

Returns:

true if the vehicle is close enough to a moving object to require action

toString

public String toString()

Generates a string representation of the wall object

Overrides:

toString in class WorldObject