Loadable Module: Simulator

The SimulatorModule provides components responsible for providing dynamic simulation of the vehicle in its environment. More...

Namespaces
	ExternalSimIF
	Specifies the interface details for the ExternalSim component in the SimulatorModule.
	InternalSimIF
	Specifies the interface details for the InternalSim component in the SimulatorModule.
	NavigationSimIF
	Specifies the interface details for the NavigationSim component in the SimulatorModule.

Classes
class	Socket
	A wrapper around sys/socket.h for tcp communications between Socket instances – use daughter classes SocketClient or SocketServer to do any real work. More...
class	SocketClient
	Implements a Socket client for communicating with SocketServer instances. More...
class	SocketServer
	Implements a listening Socket server. More...
class	ActuatorModel
	Encapsulates the actuator model. More...
class	ActuatorModel_Test
	Unit tests for ActuatorModel class. More...
class	ExternalSim
	Interfaces via TCP/IP with a SimDaemon to provide dynamic and environmental simulation of the vehicle. More...
class	InternalSim
	This simulation initializes whenever a location fix is obtained, and simulates the vehicle's trajectory and the output of navigation sensors over an entire dive. More...
class	NavigationSim
	NavigationSim provides much of the functionality of "Navigation". More...
class	ParameterHandler
	Utility class for handling parameter lists (like varName1=value1&varName2=value2...) More...
class	SimDaemon
	Combines a EnvSimulator with a SocketServer to provide either remote, or out-of-process simulation. More...
struct	SimHeadStruct
	A struct that is passed from the LRAUV to the Simulator before either SimInitStruct or SimRunStruct. More...
struct	SimInitStruct
	A struct of values that is passed from the LRAUV to the Simulator, to initialize the simulator. More...
struct	SimResultStruct
	A struct of values that is passed from the Simulator to the LRAUV, with the results from one timestep of the simulator. More...
struct	SimRunStruct
	A struct of values that is passed from the LRAUV to the Simulator, to run one timestep of the simulator. More...
class	Simulator
	A simulator "evolved" from the Altex and Odyssey sims. More...
class	SimulatorModule
	The SimulatorModule provides components responsible for providing dynamic simulation of the vehicle in its environment. More...
class	SimulatorUtils
	Contains static methods used by all the Simulator Component classes. More...
class	ThrusterModel
	Though far simpler than ActuatorModel, the intent is the same, to encapsulate some of the complexity of the thruster modeling and remove it from the main simulator body. More...

Enumerations
enum	SimHeadStruct::StructType {   SimHeadStruct::SIM_NO_STRUCT, SimHeadStruct::SIM_INIT_STRUCT, SimHeadStruct::SIM_REINIT_STRUCT, SimHeadStruct::SIM_RUN_STRUCT,   SimHeadStruct::SIM_QUIT }
enum	StructType {   SIM_NO_STRUCT, SIM_INIT_STRUCT, SIM_REINIT_STRUCT, SIM_RUN_STRUCT,   SIM_QUIT }
enum	{ Simulator::LO_RUDD, Simulator::PO_ELEV, Simulator::UP_RUDD, Simulator::ST_ELEV }
	Defines fins. More...

Functions
struct SimHeadStruct	__attribute__ ((packed))

Detailed Description

The SimulatorModule provides components responsible for providing dynamic simulation of the vehicle in its environment.

ExternalSim works with a SimDaemon running on a host to provide "sensor-like" measurements in a test environment. ExternalSim works with SimSlate to provide values to sensors without touching the actual Slate. NavigationSim and InternalSim both run on the vehicle. NavigationSim works with measured values to provide accurate dead-reckoning of the vehicle while it is in operation, while InternalSim provides a fully encapsulated simulation of the vehicle's trajectory between surfacings, with the intent of providing a "reality check" on the actual performance of the vehicle.

Enumeration Type Documentation

anonymous enum

protected

Defines fins.

Enumerator
LO_RUDD
PO_ELEV
UP_RUDD
ST_ELEV

enum SimHeadStruct::StructType

Enumerator
SIM_NO_STRUCT
SIM_INIT_STRUCT
SIM_REINIT_STRUCT
SIM_RUN_STRUCT
SIM_QUIT

enum StructType

Enumerator
SIM_NO_STRUCT
SIM_INIT_STRUCT
SIM_REINIT_STRUCT
SIM_RUN_STRUCT
SIM_QUIT

Function Documentation

struct SimHeadStruct __attribute__

(

(packed)

)