Beam (Autonomous Unmanned Vehicle (AUV) Workbench Documentation)

java.lang.Object
- mil.navy.nps.rra.Beam

public class Beam
extends Object

A Beam is defined as the volume swept out by four Rays as they traverse the ocean environment.

This class forms a Beam from four Ray calculations, which are acoustically propagated according to the sound speed profile (SSP) & Surface & Bottom. Calculated values can be used to produce a VRML representation of the Beam.

Beams of energy can be considered to consist of bundles of sound rays. The energy in a bundle can be shown not to diverge from the bundle. Thus the energy in a bundle is constant, and subsequently the product of the intensity versus the area of the bundle perpendicular to direction of propagation is a constant as well. Therefore a beam is a fundamental building block for constructing a multiple-beam Lobe of a sonar pattern.

Version:

$Revision: 1.13 $

Author:

LT Timothy M. Holliday USN

Contact: Don Brutzman (web.nps.navy.mil/~brutzman) brutzman@nps.navy.mil

Source Code:

http://web.nps.navy.mil/~brutzman/vrtp/mil/navy/nps/rra/Beam.java

History:

15 November 97 Timothy M. Holliday New
17 March 98 Timothy M. Holliday Added HTML comment convention
12 April 98 Timothy M. Holliday Parameterless Constructors
14 April 98 Timothy M. Holliday Simplified VRML Routines
21 April 98 Timothy M. Holliday Fixed Problem with calculateSoundPressureLevel
16 October 98 Don Brutzman Javadoc updates for jdk1.2b4
24 April 99 Don Brutzman Javadoc updates for jdk1.2.1

Reference:

Holliday, Timothy, Real-Time 3D Sonar Modeling and Visualization, Master's Thesis, Naval Postgraduate School, Monterey California, June 1998. Available at web.nps.navy.mil/~brutzman/vrtp/rra/HollidayRRAthesis.pdf. Slideset available in Powerpoint and Acrobat .pdf formats.

See Also:

Ray, Lobe, Bottom, Surface, SSP, Vec3d

Field Summary

Fields
Modifier and Type	Field and Description
`static int`	`NONE` Enumeration flag to avoid further attenuation of color intensity.
`static int`	`T_L` Enumeration flag to attenuate color intensity by transmission loss (T_L, pronounced "T sub L").
`static int`	`TIME` Enumeration flag to attenuate color intensity by timestep.

Constructor Summary

Constructors
Constructor and Description

Beam()
Use accessor methods to set initial values of member variables.

Constructors
Constructor and Description
`Beam()` Use accessor methods to set initial values of member variables.

Method Summary

Methods
Modifier and Type	Method and Description
`void`	`calculateBeam(Targets targets)` Calculates the trajectory of the beam of energy enclosed by the defining rays of the beam tube.
`void`	`calculateSoundPressureLevel(double[][][] field, double deltaRange, double deltaDepth, double frequency)` Calculates the trajectory of the beam of energy enclosed by the defining rays of the beam tube.
`String`	`dynamicVRML()` Creates a dynamic VRML string shape that is the three dimensional representation of the beam pulse that is propogated.
`static boolean`	`getAppendLineFeed()` This is a static method that returns the current line appendage.
`double`	`getAzimuth()` This method returns the azimuthal angle.
`int`	`getBeamNumber()` Returns BeamNumber.
`Bottom`	`getBottom()` Returns the handle to the bottom object.
`double`	`getDeltaTime()` Returns the simulation time step.
`int`	`getDetectCount()` Returns the total number of detects by the beam
`double`	`getDetectEchoLevel(int N)` Returns the echo level of the detected target
`double`	`getDetectTime(int N)` Returns the detect time for a given detect in the beam
`int`	`getDuration()` Returns the duration of the sonar pulse.
`double`	`getElevation()` Returns the elevation angle.
`double`	`getEndTime()` Returns the simulation end time.
`double`	`getHalfBeamWidthX()` Returns the half beam width of the beam in the azimuthal direction.
`double`	`getHalfBeamWidthY()` Returns the half beam width of the beam in the azimuthal direction.
`Vec3d`	`getPosition()` Returns the position of the beam.
`SSP`	`getSsp()` Returns the handle to the sound speed profile object.
`Surface`	`getSurface()` Returns the handle to the surface object.
`String`	`pingTimerVRML()` Returns a VRML timer string that contains the appropriate timing information for the beam
`void`	`reset()` This method resets all of the beam parameters after instanciation has occurred, since reuse is more time efficient than garbage collection and reallocation.
`static void`	`setAppendLineFeed(boolean pAppendLineFeed)` This is a static method used to indicate whether a line feed is desired at the end of every line.
`void`	`setAzimuth(double phi)` This method sets the azimuthal angle, which is the angle from the x-axis to the z-axis rotating about the y-axis.
`void`	`setBeamNumber(int number)` Sets BeamNumber.
`void`	`setBottom(Bottom pBottom)` Sets the handle to the bottom object.
`void`	`setDeltaTime(double pDeltaTime)` Sets the time step in the simulation.
`void`	`setDuration(int duration)` Sets the duration of the sonar pulse.
`void`	`setElevation(double beta)` Sets the elevation angle, which is the angle from the y-axis to the x-axis rotating about the z-axis .
`void`	`setEndTime(double pEndTime)` Sets the simulation end time.
`void`	`setHalfBeamWidthX(double pHalfBeamWidthX)` This method sets the half beam width of the beam in the azimuthal direction.
`void`	`setHalfBeamWidthY(double pHalfBeamWidthY)` Sets the half beam width of the beam in the elevation direction.
`void`	`setPosition(double x, double y, double z)` Sets the position of the beam.
`void`	`setSourceLevel(double level)` Sets the source level.
`void`	`setSsp(SSP pSsp)` Sets the handle to the sound speed profile object.
`void`	`setSurface(Surface pSurface)` Sets the handle to the surface object.
`String`	`staticVRML(int colorChoice, int intensityChoice)` Writes to the console a VRML shape that is the three dimensional representation of the beam that is propagated.

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

- Field Detail
  - T_L
```
public static final int T_L
```
    Enumeration flag to attenuate color intensity by transmission loss (T_L, pronounced "T sub L").
    
    See Also:
    Constant Field Values
  - TIME
```
public static final int TIME
```
    Enumeration flag to attenuate color intensity by timestep.
    
    See Also:
    Constant Field Values
  - NONE
```
public static final int NONE
```
    Enumeration flag to avoid further attenuation of color intensity.
    
    See Also:
    Constant Field Values
- Constructor Detail
  - Beam
```
public Beam()
```
    Use accessor methods to set initial values of member variables.
- Method Detail
  - reset
```
public void reset()
```
    This method resets all of the beam parameters after instanciation has occurred, since reuse is more time efficient than garbage collection and reallocation.
  - setAzimuth
```
public void setAzimuth(double phi)
```
    This method sets the azimuthal angle, which is the angle from the x-axis to the z-axis rotating about the y-axis.
    
    Parameters:
    phi - The azimuthal angle.
  - getAzimuth
```
public double getAzimuth()
```
    This method returns the azimuthal angle.
    
    Returns:
    The azimuthal angle.
  - setHalfBeamWidthX
```
public void setHalfBeamWidthX(double pHalfBeamWidthX)
```
    This method sets the half beam width of the beam in the azimuthal direction.
    
    Parameters:
    pHalfBeamWidthX - The half beam width of the beam in the azimuthal direction.
  - getHalfBeamWidthX
```
public double getHalfBeamWidthX()
```
    Returns the half beam width of the beam in the azimuthal direction.
    
    Returns:
    The half beam width of the beam in the zsimutal direction.
  - setElevation
```
public void setElevation(double beta)
```
    Sets the elevation angle, which is the angle from the y-axis to the x-axis rotating about the z-axis .
    
    Parameters:
    beta - The elevation angle.
  - getElevation
```
public double getElevation()
```
    Returns the elevation angle.
    
    Returns:
    The elevation angle.
  - setHalfBeamWidthY
```
public void setHalfBeamWidthY(double pHalfBeamWidthY)
```
    Sets the half beam width of the beam in the elevation direction.
    
    Parameters:
    pHalfBeamWidthY - The half beam width of the beam in the elevation direction.
  - getHalfBeamWidthY
```
public double getHalfBeamWidthY()
```
    Returns the half beam width of the beam in the azimuthal direction.
    
    Returns:
    The half beam width of the beam in the azimuthal direction.
  - setPosition
```
public void setPosition(double x,
               double y,
               double z)
```
    Sets the position of the beam.
    
    Parameters:
    x - The x position of the beam.
    y - The y position of the beam.
    z - The z position of the beam.
  - getPosition
```
public Vec3d getPosition()
```
    Returns the position of the beam.
    
    Returns:
    The position of the beam.
  - setDeltaTime
```
public void setDeltaTime(double pDeltaTime)
```
    Sets the time step in the simulation.
    
    Parameters:
    pDeltaTime - The time step in the simulation.
  - getDeltaTime
```
public double getDeltaTime()
```
    Returns the simulation time step.
    
    Returns:
    The simulation time step.
  - setEndTime
```
public void setEndTime(double pEndTime)
```
    Sets the simulation end time. This value is reletive to the start time which is 0.0.
    
    Parameters:
    pEndTime - The simulation end time.
  - getEndTime
```
public double getEndTime()
```
    Returns the simulation end time.
    
    Returns:
    The simulation end time.
  - setDuration
```
public void setDuration(int duration)
```
    Sets the duration of the sonar pulse. The integer refers to the number of deltaTime increments. Currently only 1 or 2 are allowed.
    
    Parameters:
    duration - The duration of the sonar pulse.
  - getDuration
```
public int getDuration()
```
    Returns the duration of the sonar pulse. The integer refers to the number of deltaTime increments.
    
    Returns:
    The duration of the sonar pulse.
  - setBottom
```
public void setBottom(Bottom pBottom)
```
    Sets the handle to the bottom object.
    
    Parameters:
    pBottom - The handle to the bottom object.
  - getBottom
```
public Bottom getBottom()
```
    Returns the handle to the bottom object.
    
    Returns:
    The handle to the bottom object.
  - setSurface
```
public void setSurface(Surface pSurface)
```
    Sets the handle to the surface object.
    
    Parameters:
    pSurface - The handle to the surface object.
  - getSurface
```
public Surface getSurface()
```
    Returns the handle to the surface object.
    
    Returns:
    The handle to the surface object.
  - setSsp
```
public void setSsp(SSP pSsp)
```
    Sets the handle to the sound speed profile object.
    
    Parameters:
    pSsp - The handle to the sound speed profile object.
  - getSsp
```
public SSP getSsp()
```
    Returns the handle to the sound speed profile object.
    
    Returns:
    The handle to the sound speed profile object.
  - setBeamNumber
```
public void setBeamNumber(int number)
```
    Sets BeamNumber. It is used to uniquely identify each beam for ROUTEing in VRML.
    
    Parameters:
    number - The unique beam number.
  - getBeamNumber
```
public int getBeamNumber()
```
    Returns BeamNumber. Which is used to uniquely identify each beam for ROUTEing in VRML.
    
    Returns:
    The unique beam number.
  - staticVRML
```
public String staticVRML(int colorChoice,
                int intensityChoice)
```
    Writes to the console a VRML shape that is the three dimensional representation of the beam that is propagated.
    
    Parameters:
    colorChoice - A color for each group of ray positions.
    intensityChoice - A intensity.
    
    Returns:
    String of the header information.
  - dynamicVRML
```
public String dynamicVRML()
```
    Creates a dynamic VRML string shape that is the three dimensional representation of the beam pulse that is propogated.
    
    Returns:
    The dynamic VRML string shape.
  - calculateBeam
```
public void calculateBeam(Targets targets)
```
    Calculates the trajectory of the beam of energy enclosed by the defining rays of the beam tube. It also determines when there is a detection.
    
    Parameters:
    targets - The trajectory of the beam of energy.
  - calculateSoundPressureLevel
```
public void calculateSoundPressureLevel(double[][][] field,
                               double deltaRange,
                               double deltaDepth,
                               double frequency)
```
    Calculates the trajectory of the beam of energy enclosed by the defining rays of the beam tube.
    
    Parameters:
    field - The position x, y, z components.
    deltaRange - The range of the beam of energy.
    deltaDepth - The depth of the beam of energy.
    frequency - The frequency of the beam of energy.
  - getDetectCount
```
public int getDetectCount()
```
    Returns the total number of detects by the beam
    
    Returns:
    The total number of detects.
  - getDetectTime
```
public double getDetectTime(int N)
```
    Returns the detect time for a given detect in the beam
    
    Parameters:
    N - The given detect number.
    
    Returns:
    The detect time for a given detect in the beam.
  - getDetectEchoLevel
```
public double getDetectEchoLevel(int N)
```
    Returns the echo level of the detected target
    
    Parameters:
    N - The givin echo level.
    
    Returns:
    The echo level of the detected target.
  - pingTimerVRML
```
public String pingTimerVRML()
```
    Returns a VRML timer string that contains the appropriate timing information for the beam
    
    Returns:
    String value of the VRML TimeSensor node
  - setAppendLineFeed
```
public static void setAppendLineFeed(boolean pAppendLineFeed)
```
    This is a static method used to indicate whether a line feed is desired at the end of every line. 'true' indicates a linefeed is desired and 'false' indicates that a space is desired"
    
    Parameters:
    pAppendLineFeed - 'true' indicates a linefeed is desired and 'false' indicates that a space is desired".
  - getAppendLineFeed
```
public static boolean getAppendLineFeed()
```
    This is a static method that returns the current line appendage.
    
    Returns:
    The current line appendage.
  - setSourceLevel
```
public void setSourceLevel(double level)
```
    Sets the source level.
    
    Parameters:
    level - The source level.

15 November 97	Timothy M. Holliday	New
17 March 98	Timothy M. Holliday	Added HTML comment convention
12 April 98	Timothy M. Holliday	Parameterless Constructors
14 April 98	Timothy M. Holliday	Simplified VRML Routines
21 April 98	Timothy M. Holliday	Fixed Problem with calculateSoundPressureLevel
16 October 98	Don Brutzman	Javadoc updates for jdk1.2b4
24 April 99	Don Brutzman	Javadoc updates for jdk1.2.1

Class Beam

Field Summary

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Field Detail

T_L

TIME

NONE

Constructor Detail

Beam

Method Detail

reset

setAzimuth

getAzimuth

setHalfBeamWidthX

getHalfBeamWidthX

setElevation

getElevation

setHalfBeamWidthY

getHalfBeamWidthY

setPosition

getPosition

setDeltaTime

getDeltaTime

setEndTime

getEndTime

setDuration

getDuration

setBottom

getBottom

setSurface

getSurface

setSsp

getSsp

setBeamNumber

getBeamNumber

staticVRML

dynamicVRML

calculateBeam

calculateSoundPressureLevel

getDetectCount

getDetectTime

getDetectEchoLevel

pingTimerVRML

setAppendLineFeed

getAppendLineFeed

setSourceLevel