Class AuvPduGenerator

  extended bydemo.auv.AuvPduGenerator

public class AuvPduGenerator
extends java.lang.Object

Generate default example PDU stream for NPS AUV track #1 in AuvInBeachTanks VRML world. Authors: Doug Miller & Bill Bohman Start Date: 6 JAN 99 Revised: 14 DEC 2000 Description: Generates DIS-JAVA-VRML entity state Pdus to drive the NPS AUV All calculations are in the tank coordinate system, converted to DIS only when creating the PDU and sending. To Do: 1) Why are positions doubles and everything else floats thus creating need for casts 2) How to implement time steps, hard wired or passed in? if passed in, when/where/ by whom

java demo.auv.AuvPduGenerator

Entity coordinate systems (right-hand rule applies):

          DIS                 VRML=BeachTank!
      -Z entity up         Y entity up
           ^                   ^
           |                   |
           |                   |
           |                   |
           +------> X          +-------> X    nose of entity body
          /                   /
         /                   /
        /                   /
       Y                   Z                   
         right-hand side
         of entity body
  Rotation angle axes (right-hand rule applies):
           DIS        VRML      Angle of rotation
  Roll      X          X         phi
  Pitch     Y          Z        theta
  Yaw       Z         -Y         psi

Constructor Summary
AuvPduGenerator(java.lang.String name)
Method Summary
static void debug(java.lang.String message)
static void main(java.lang.String[] args)
 void moveToFileWaypoint()
 void moveToWaypoint(double xPoint, double yPoint, double zPoint, float speed)
static java.lang.String readNextTelemetryState()
static void TelemetryFileClose()
static void TelemetryFileOpen()
Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail


public AuvPduGenerator(java.lang.String name)
Method Detail


public static void debug(java.lang.String message)


public void moveToWaypoint(double xPoint,
                           double yPoint,
                           double zPoint,
                           float speed)


public void moveToFileWaypoint()


public static void TelemetryFileOpen()


public static void TelemetryFileClose()


public static java.lang.String readNextTelemetryState()


public static void main(java.lang.String[] args)