SearchPatternPlanner (Autonomous Unmanned Vehicle (AUV) Workbench Documentation)

java.lang.Object
- planner.avclPlan.search.SearchPatternPlanner

All Implemented Interfaces:

Runnable
```
public class SearchPatternPlanner
extends Object
implements Runnable
```
Class that will use the A* search algorithm to compute a series of waypoints that will search a geographic area with a prescribed probability of detection

Version:

$Revision: 1.27 $

Author:

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

Field Summary

Fields
Modifier and Type	Field and Description
`static int`	`A_STAR_GENERATED_AREA_SRCH`
`static int`	`A_STAR_GENERATED_POINT_SRCH`
`static int`	`ANNEALED_TSP_GENERATED_AREA_SRCH`
`static int`	`ANNEALED_TSP_GENERATED_POINT_SRCH`
`static int`	`DEFAULT_PATTERN`
`static int`	`EXPANDING_RECTANGLE_PATTERN`
`static int`	`EXPANDING_SQUARE_PATTERN`
`static int`	`HILL_CLIMB_GENERATED_AREA_SRCH`
`static int`	`HILL_CLIMB_GENERATED_POINT_SRCH`
`static int`	`HYBRID_SEARCH_GENERATED_AREA_SRCH`
`static int`	`HYBRID_SEARCH_GENERATED_POINT_SRCH`
`static int`	`PARALLEL_TRACK_PATTERN`
`static int`	`SECTOR_PATTERN`
`static int`	`SHRINKING_SQUARE_PATTERN`
`static int`	`TSP_GENERATED_AREA_SRCH`
`static int`	`TSP_GENERATED_POINT_SRCH`
`protected static double`	`VISITPOINTMULTIPLE`

Constructor Summary

Constructors
Constructor and Description
`SearchPatternPlanner(GeoArea searchArea, boolean pointDatum, double S, double PD, double[] startPosit, int patternType)` Creates a new instance of SearchPatternPlanner The planned search will provide for a search focused on the centroid of the area
`SearchPatternPlanner(GeoArea searchArea, double S, double PD, double[] startPosit, int patternType)` Creates a new instance of SearchPatternPlanner The planned pattern will not focus on any individual point within the area, but will provide for essentially equivalent coverage of the entire area

Method Summary

Methods
Modifier and Type	Method and Description
`Plan`	`getPlan()` Returns the plan that was developed by the planner
`double[]`	`getStartPoint()` Returns a reference to the search's starting position
`void`	`run()` Implements the Runnable interface
`void`	`setPatternType(int type)` Sets the pattern type that will be generated
`void`	`setPointDatum(boolean value)` Sets the boolean value of the point datum flag (true if the search focus is the area centroid)
`void`	`setRequiredPD(double value)` Sets the required single-search probability of detection of the search
`void`	`setStartPoint(double[] newPt)` Sets the starting position of the search pattern
`void`	`setStartPoint(double newX, double newY)` Sets the starting position of the search pattern
`void`	`setSweepWidth(double value)` Sets the sweep width (defined in NWP 3-22.5 SAR TACAID) of the search
`double`	`setTrackSpacing()` Computes and sets the track spacing to achieve the desired 1-search probability of detection The method uses the formula PD = 1 / (1 + 0.25 * (1 / C)) where C is the coverage factor

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

- Field Detail
  - VISITPOINTMULTIPLE
```
protected static final double VISITPOINTMULTIPLE
```
    See Also:
    Constant Field Values
  - SECTOR_PATTERN
```
public static final int SECTOR_PATTERN
```
    See Also:
    Constant Field Values
  - EXPANDING_SQUARE_PATTERN
```
public static final int EXPANDING_SQUARE_PATTERN
```
    See Also:
    Constant Field Values
  - EXPANDING_RECTANGLE_PATTERN
```
public static final int EXPANDING_RECTANGLE_PATTERN
```
    See Also:
    Constant Field Values
  - SHRINKING_SQUARE_PATTERN
```
public static final int SHRINKING_SQUARE_PATTERN
```
    See Also:
    Constant Field Values
  - PARALLEL_TRACK_PATTERN
```
public static final int PARALLEL_TRACK_PATTERN
```
    See Also:
    Constant Field Values
  - A_STAR_GENERATED_POINT_SRCH
```
public static final int A_STAR_GENERATED_POINT_SRCH
```
    See Also:
    Constant Field Values
  - A_STAR_GENERATED_AREA_SRCH
```
public static final int A_STAR_GENERATED_AREA_SRCH
```
    See Also:
    Constant Field Values
  - HYBRID_SEARCH_GENERATED_POINT_SRCH
```
public static final int HYBRID_SEARCH_GENERATED_POINT_SRCH
```
    See Also:
    Constant Field Values
  - HYBRID_SEARCH_GENERATED_AREA_SRCH
```
public static final int HYBRID_SEARCH_GENERATED_AREA_SRCH
```
    See Also:
    Constant Field Values
  - HILL_CLIMB_GENERATED_POINT_SRCH
```
public static final int HILL_CLIMB_GENERATED_POINT_SRCH
```
    See Also:
    Constant Field Values
  - HILL_CLIMB_GENERATED_AREA_SRCH
```
public static final int HILL_CLIMB_GENERATED_AREA_SRCH
```
    See Also:
    Constant Field Values
  - TSP_GENERATED_POINT_SRCH
```
public static final int TSP_GENERATED_POINT_SRCH
```
    See Also:
    Constant Field Values
  - TSP_GENERATED_AREA_SRCH
```
public static final int TSP_GENERATED_AREA_SRCH
```
    See Also:
    Constant Field Values
  - ANNEALED_TSP_GENERATED_POINT_SRCH
```
public static final int ANNEALED_TSP_GENERATED_POINT_SRCH
```
    See Also:
    Constant Field Values
  - ANNEALED_TSP_GENERATED_AREA_SRCH
```
public static final int ANNEALED_TSP_GENERATED_AREA_SRCH
```
    See Also:
    Constant Field Values
  - DEFAULT_PATTERN
```
public static final int DEFAULT_PATTERN
```
    See Also:
    Constant Field Values
- Constructor Detail
  - SearchPatternPlanner
```
public SearchPatternPlanner(GeoArea searchArea,
                    boolean pointDatum,
                    double S,
                    double PD,
                    double[] startPosit,
                    int patternType)
```
    Creates a new instance of SearchPatternPlanner The planned search will provide for a search focused on the centroid of the area
    
    Parameters:
    searchArea - geographic area that is to be searched
    pointDatum - set to true if the search focus is a point in the search area (centroid)
    S - sensor sweep width as defined in NWP 3-22.5 (SAR TACAID)
    PD - required single-search probability of detection of the search
    startPosit - double[2] defining the vehicle's position at the beginning of the search
    patternType - enumeration for the type of pattern that is to be generated
  - SearchPatternPlanner
```
public SearchPatternPlanner(GeoArea searchArea,
                    double S,
                    double PD,
                    double[] startPosit,
                    int patternType)
```
    Creates a new instance of SearchPatternPlanner The planned pattern will not focus on any individual point within the area, but will provide for essentially equivalent coverage of the entire area
    
    Parameters:
    searchArea - geographic area that is to be searched
    S - sensor sweep width as defined in NWP 3-22.5 (SAR TACAID)
    PD - required single-search probability of detection of the search
    startPosit - double[2] defining the vehicle's position at the beginning of the search
    patternType - enumeration for the type of pattern that is to be generated
- Method Detail
  - setPatternType
```
public final void setPatternType(int type)
```
    Sets the pattern type that will be generated
    
    Parameters:
    type - enumeration indicating the type of pattern
  - setPointDatum
```
public final void setPointDatum(boolean value)
```
    Sets the boolean value of the point datum flag (true if the search focus is the area centroid)
    
    Parameters:
    value -
  - getStartPoint
```
public double[] getStartPoint()
```
    Returns a reference to the search's starting position
    
    Returns:
  - setTrackSpacing
```
public double setTrackSpacing()
```
    Computes and sets the track spacing to achieve the desired 1-search probability of detection The method uses the formula PD = 1 / (1 + 0.25 * (1 / C)) where C is the coverage factor
    
    Returns:
  - setSweepWidth
```
public final void setSweepWidth(double value)
```
    Sets the sweep width (defined in NWP 3-22.5 SAR TACAID) of the search
    
    Parameters:
    value - new sweep width value (meters)
  - setRequiredPD
```
public final void setRequiredPD(double value)
```
    Sets the required single-search probability of detection of the search
    
    Parameters:
    value - new required probability of detection
  - setStartPoint
```
public void setStartPoint(double[] newPt)
```
    Sets the starting position of the search pattern
    
    Parameters:
    newPt - double[2] containing the (x, y) coordinates of the search start point
  - setStartPoint
```
public void setStartPoint(double newX,
                 double newY)
```
    Sets the starting position of the search pattern
    
    Parameters:
    newX - x coordinate of the search start point
    newY - y coordinate of the search start point
  - getPlan
```
public Plan getPlan()
```
    Returns the plan that was developed by the planner
    
    Returns:
  - run
```
public void run()
```
    Implements the Runnable interface
    
    Specified by:
    
    run in interface Runnable

Class SearchPatternPlanner

Field Summary

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Field Detail

VISITPOINTMULTIPLE

SECTOR_PATTERN

EXPANDING_SQUARE_PATTERN

EXPANDING_RECTANGLE_PATTERN

SHRINKING_SQUARE_PATTERN

PARALLEL_TRACK_PATTERN

A_STAR_GENERATED_POINT_SRCH

A_STAR_GENERATED_AREA_SRCH

HYBRID_SEARCH_GENERATED_POINT_SRCH

HYBRID_SEARCH_GENERATED_AREA_SRCH

HILL_CLIMB_GENERATED_POINT_SRCH

HILL_CLIMB_GENERATED_AREA_SRCH

TSP_GENERATED_POINT_SRCH

TSP_GENERATED_AREA_SRCH

ANNEALED_TSP_GENERATED_POINT_SRCH

ANNEALED_TSP_GENERATED_AREA_SRCH

DEFAULT_PATTERN

Constructor Detail

SearchPatternPlanner

SearchPatternPlanner

Method Detail

setPatternType

setPointDatum

getStartPoint

setTrackSpacing

setSweepWidth

setRequiredPD

setStartPoint

setStartPoint

getPlan

run