The EnvSimulator adds lookup of environmental parameters to the base Simulator class. More...

#include <EnvSimulator.h>

Inheritance diagram for EnvSimulator:

Collaboration diagram for EnvSimulator:

Public Member Functions
	EnvSimulator (bool simulateSensors, int nSteps)
	Constructor. More...

virtual	~EnvSimulator ()
	Destructor. More...

virtual void	uninitialize ()
	Uninitialize the simulation. More...

Public Member Functions inherited from Simulator
	Simulator (bool simulateSensors, int nSteps)
	Constructor. More...

virtual	~Simulator ()
	Destructor. More...

void	initialize (const SimInitStruct &initParams, SimResultStruct &results)
	Initialize the simulator. More...

void	run (const SimRunStruct &runParams, SimResultStruct &results)
	Run the simulation. More...

void	motion (float propOmegaAction, float rudderAngleAction, float elevatorAngleAction, float massPositionAction, float buoyancyAction, int dropWeightState, float density, float dt, SimResultStruct &results)
	The "take one timestep" function for the simulator. More...

long	setLocation (const double &latitude, const double &longitude)
	Set the current location to the indicated values in radians Returns error code conversion to UTM is unsuccessful. More...

void	setDepth (float depth)
	Set the current depth to the indicated value. More...

void	setHeading (float heading)
	Set the current heading to the indicated value. More...

void	setPitch (float pitch)
	Set the current pitch to the indicated value. More...

void	setRoll (float roll)
	Set the current roll to the indicated value. More...

void	setPropOmega (float propOmega)
	Set the current prop omega to the indicated value. More...

void	setRudderAngle (float rudderAngle)
	Set the current rudder angle to the indicated value. More...

void	setElevatorAngle (float elevatorAngle)
	Set the current elevator angle to the indicated value. More...

void	setMassPosition (float massPosition)
	Set the current mass position to the indicated value. More...

void	setBuoyancyPosition (float buoyancyPosition)
	Set the current mass position to the indicated value. More...

Protected Member Functions
virtual void	configureSensors ()

virtual void	simulateSensors (double latDeg, double lonDeg, SimResultStruct &results)

bool	interpolate (const float &time, const float &depth, const float &lat, const float &lon, int &timeIndex, int &depthIndex, int &latIndex, int &lonIndex, int varIndices[4], float varArray[2][2][2][2], NetCdfReader::NetCdfVar *var, float &value)

float	twoLineEstimate (const float x, const float y0, const float y1, const float y2, const float x0, const float x1, const float x2)
	Interpolates a value on two lines, from (x0, y0) to (x1, y1) to (x2, y2) Does not extrapolate – rather, it pins values. More...

Protected Member Functions inherited from Simulator
virtual void	publishState (SimResultStruct &results)

bool	loadParams (const SimInitStruct &initParams, SimResultStruct &results)
	Load the hydrodynamic properties from the slate and initialize some variables. More...

void	invertMass (SimResultStruct &results)
	Calculate the LHS of the equation (the "1/mass" for solving a in ma = F). More...

void	calcForce (Point6D &rate, Point6D &pos, float propOmegaAction, float rudderAngleAction, float elevatorAngleAction, float massPositionAction, float buoyancyAction, int dropWeightState, float density, float dt, float smallDt)
	Calculate the RHS of the equation (the "force" in ma = F). More...

void	calcFinForces (Point6D &rate, float ruddAngleProj, float elevAngleProj, Point3D finForces[], Point3D finMoments[], float density)
	Given the vehicle state (rate) and fin angles, computes the forces and moments from the fins in body coords. More...

Protected Attributes
NetCdfReader *	netCdfReader_

float *	modelTime_

unsigned int	modelTimeSize_

float *	modelDepth_

unsigned int	modelDepthSize_

float *	modelLatitude_

unsigned int	modelLatitudeSize_

float *	modelLongitude_

unsigned int	modelLongitudeSize_
	size of longitude Array More...

NetCdfReader::NetCdfVar *	varSalinity_
	NetCdf variable that contains salinity. More...

float	salinityArray_ [2][2][2][2]
	salinity array data More...

int	salinityIndices_ [4]
	preserve indices to cut down on NetCDF reads More...

NetCdfReader::NetCdfVar *	varTemperature_

float	temperatureArray_ [2][2][2][2]

int	temperatureIndices_ [4]

NetCdfReader::NetCdfVar *	varU_

float	uArray_ [2][2][2][2]

int	uIndices_ [4]

NetCdfReader::NetCdfVar *	varV_

float	vArray_ [2][2][2][2]

int	vIndices_ [4]

Protected Attributes inherited from Simulator
bool	simulateSensors_
	indicates whether to simulate sensors (salinity, temp, u, v) More...

Str	oceanModelData_
	filename of file that contains ocean model run More...

int	minNSteps_
	The simulator actually runs minNSteps_ times per "timestep" (i.e. More...

float	maxDt_
	Largest allowable timestep. More...

bool	ok_
	indicates whether things are ok to run the simulation More...

ActuatorModel	elevatorModel_
	Actuator and thruster models. More...

ActuatorModel	rudderModel_

ActuatorModel	movableMassModel_

ActuatorModel	buoyancyModel_

ThrusterModel	thrusterModel_

Matrix6x6	massInvert_
	Inverse of "mass" matrix. Calculated just once in invertMass() called from initialize() More...

float	netBuoy_
	buoyancy force More...

Point6D	force_
	6-dimensional force vector More...

float	propThrust_
	Thruster outputs. More...

float	propTorque_

Point6D	pos_
	6-dimensional position vector, body coordinates More...

Point6D	posDot_

Point6D	rate_
	6-dimensional rate vector, earth coordinates More...

Point6D	rateDot_

double	latitude_
	UTM zone gathered from initial position. More...

double	longitude_

Point3D	current_
	Ocean current (m/s north, east,down) More...

float	northCurrent_

float	eastCurrent_
	Static northward current. More...

float	vertCurrent_
	Static eastward current. More...

float	magneticVariation_
	Static vertical current (positive downward) More...

float	soundSpeed_

float	density_

float	sst_

float	tMixed_

float	t300_

float	sss_

float	sMixed_

float	s300_

float	mixedLayerDepth_

float	defaultDensity_
	Default density to use in calculating buoyancy if none is measured. More...

float	buoyancyNeutral_

float	lastDensity_
	Last measured density. More...

float	mass_
	-------------—— vehicle parameters --------------------——/ More...

float	movableMass_

float	volume_

Point3D	cOfMass_

Point3D	cOfMovableMass_

Point3D	cOfBuoy_

Point6D	moment_

float	dropWt1Volume_

float	dropWt1Mass_

float	dropWt1X_

float	dropWt1Y_

float	dropWt1Z_

float	cylinderLength_

float	cylinderRadius_

float	kpDot_

float	mqDot_

float	nrDot_

float	xuDot_

float	yvDot_

float	zwDot_

float	kvDot_

float	mwDot_

float	nvDot_

float	yrDot_

float	ypDot_

float	zqDot_

float	kpabp_

float	mqabq_

float	nrabr_

float	xuabu_

float	yvabv_

float	zwabw_

float	mwabw_

float	nvabv_

float	yrabr_

float	zqabq_

float	muq_

float	muw_

float	mpr_

float	nur_

float	nuv_

float	npq_

float	xvv_

float	xww_

float	xvr_

float	xwq_

float	xrr_

float	xqq_

float	yur_

float	yuv_

float	ywp_

float	zuq_

float	zuw_

float	zvp_

float	kvt2_

float	aspectRatio_

float	stallAngle_

float	finArea_

float	coeffDrag_

float	coeffLift_

Point3D	fins_ [4]

Private Member Functions
	EnvSimulator (const EnvSimulator &old)

Additional Inherited Members
Protected Types inherited from Simulator
enum	{ LO_RUDD, PO_ELEV, UP_RUDD, ST_ELEV }
	Defines fins. More...

Detailed Description

The EnvSimulator adds lookup of environmental parameters to the base Simulator class.

Constructor & Destructor Documentation

EnvSimulator::EnvSimulator	(	bool	simulateSensors,
		int	nSteps
	)

Constructor.

References salinityArray_, salinityIndices_, temperatureArray_, temperatureIndices_, uArray_, uIndices_, vArray_, and vIndices_.

virtual EnvSimulator::~EnvSimulator ( )

inlinevirtual

Destructor.

References uninitialize().

EnvSimulator::EnvSimulator ( const EnvSimulator & old )

private

Member Function Documentation

void EnvSimulator::configureSensors ( )

protectedvirtual

bool EnvSimulator::interpolate	(	const float &	time,
		const float &	depth,
		const float &	lat,
		const float &	lon,
		int &	timeIndex,
		int &	depthIndex,
		int &	latIndex,
		int &	lonIndex,
		int	varIndices[4],
		float	varArray[2][2][2][2],
		NetCdfReader::NetCdfVar *	var,
		float &	value
	)