demo.auv
Class AuvPduGenerator

java.lang.Object
  demo.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

Invocation:

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

AuvPduGenerator

public AuvPduGenerator(java.lang.String name)

Method Detail

debug

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

moveToWaypoint

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

moveToFileWaypoint

public void moveToFileWaypoint()

TelemetryFileOpen

public static void TelemetryFileOpen()

TelemetryFileClose

public static void TelemetryFileClose()

readNextTelemetryState

public static java.lang.String readNextTelemetryState()

main

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