planner.routePlan

Class RoutePlanner

java.lang.Object

planner.routePlan.RoutePlanner

public class RoutePlanner
extends Object

Implements a branch and bound search to determine a route from a starting point to a goal point

Since:

28 April 2005

Version:

$Id: RoutePlanner.java 8773 2012-12-26 06:58:42Z brutzman $

Author:

dtdavis

Field Summary

Fields

Modifier and Type	Field and Description
protected GeoAreaSet	avoidAreas The set of geographic avoid areas that the route must navigate

Constructor Summary

Constructors

Constructor and Description
RoutePlanner(GeoAreaSet areas) Creates a new instance of RoutePlanner without specifying starting point or goal
RoutePlanner(GeoAreaSet areas, double[] start, double[] end) Creates a new instance of RoutePlanner

Method Summary

Methods

Modifier and Type	Method and Description
List<JAXBElement<?>>	generateAvclScript(int vehicleType, double gpsInterval, double minWptDist, double vertical, int verticalMode, double speed, int speedMode) Generates a set of AVCL Waypoints corresponding to a planned route
void	reset(double[] start, double[] end) Resets the route with a new start and goal point
void	reset(GeoAreaSet areas, double[] start, double[] end) Resets the route planner with new start and goal points and a new avoid area set

Methods inherited from class java.lang.Object

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

Field Detail

avoidAreas

protected GeoAreaSet avoidAreas

The set of geographic avoid areas that the route must navigate

Constructor Detail

RoutePlanner

public RoutePlanner(GeoAreaSet areas)

Creates a new instance of RoutePlanner without specifying starting point or goal

Parameters:

areas - the GeoAreaSet object containing all of the avoid areas

RoutePlanner

public RoutePlanner(GeoAreaSet areas,
            double[] start,
            double[] end)

Creates a new instance of RoutePlanner

Parameters:

areas - the GeoAreaSet object containing all of the avoid areas

start - the double[2] containing the X, Y position of the route starting point

end - the double[2] containing the X, Y position of the route goal

Method Detail

reset

public void reset(double[] start,
         double[] end)

Resets the route with a new start and goal point

Parameters:

start - the double[2] containing the X, Y position of the route starting point

end - the double[2] containing the X, Y position of the route goal

reset

public void reset(GeoAreaSet areas,
         double[] start,
         double[] end)

Resets the route planner with new start and goal points and a new avoid area set

Parameters:

areas - the GeoAreaSet object containing all of the avoid areas

start - the double[2] containing the X, Y position of the route starting point

end - the double[2] containing the X, Y position of the route goal

generateAvclScript

public List<JAXBElement<?>> generateAvclScript(int vehicleType,
                                      double gpsInterval,
                                      double minWptDist,
                                      double vertical,
                                      int verticalMode,
                                      double speed,
                                      int speedMode)

Generates a set of AVCL Waypoints corresponding to a planned route

Parameters:

vehicleType - enumeration for the type of vehicle (AUV, UAV, etc.)

gpsInterval - distance (meters) that the vehicle can travel submerged between GPS fixes (only relevant for UUVs)

minWptDist - the shortest allowable distance between waypoints

vertical - altitude or depth of command (only relevant for UUVs and UAVs)

verticalMode - enumeration specifying depth, altitude, MSL altitude, or AGL altitude

speed - knots, meters per second, or percent of propeller rpm (AUV) setting

speedMode - enumeration for knots or meters per second (not relevant for AUVs)

Returns:

ArrayList of AVCL script command objects (JAXB)