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a/Submarines/Various/_viewpoints/Type209PrevezePropeller.x3d._VP_Default_viewpoint.png b/Submarines/Various/_viewpoints/Type209PrevezePropeller.x3d._VP_Default_viewpoint.png index 89a9208be475d81179a50de76855beb51a78f691..3f70669382be979611b3416723399939690d2670 100644 Binary files a/Submarines/Various/_viewpoints/Type209PrevezePropeller.x3d._VP_Default_viewpoint.png and b/Submarines/Various/_viewpoints/Type209PrevezePropeller.x3d._VP_Default_viewpoint.png differ diff --git a/Submarines/Various/_viewpoints/XperimentalSub.x3d._VP_Xperimental_sub.png b/Submarines/Various/_viewpoints/XperimentalSub.x3d._VP_Xperimental_sub.png index bb972a4012b36ee9ab1aae1d39debee9454c413a..c49a9159999cf93ac246d1084f0cf65b1957ad10 100644 Binary files a/Submarines/Various/_viewpoints/XperimentalSub.x3d._VP_Xperimental_sub.png and b/Submarines/Various/_viewpoints/XperimentalSub.x3d._VP_Xperimental_sub.png differ diff --git a/Submersibles/GulfOfMexicoAuvDiveSite2000/TelemetryPlayback.java b/Submersibles/GulfOfMexicoAuvDiveSite2000/TelemetryPlayback.java deleted file mode 100644 index 70c33b3957cb54cff26d18a45ecfbe2df9efb89e..0000000000000000000000000000000000000000 --- a/Submersibles/GulfOfMexicoAuvDiveSite2000/TelemetryPlayback.java +++ /dev/null @@ -1,1410 +0,0 @@ -/* - File: TelemetryPlayback.java - Compiler: jdk1.3 - */ - -package demo.auv; - -import java.io.*; -import java.text.DecimalFormat; -import java.util.*; - -/** - *<p> Generates VRML scenes which visualize and play back AUV mission telemetry files. - *</p> - * - *<dt><b>Invocation:</b> </dt> - *<dd><pre> mv -f mission.output.telemetry.wrl mission.output.telemetry.wrl.bak - * java demo.auv.TelemetryPlayback mission.output.telemetry >> mission.output.telemetry.wrl - * vorlon mission.output.telemetry.wrl -url</pre> - *</dd> - *<dd>java demo.auv.TelemetryPlayback d1103_01.d - *</dd><p> - * - *@version 1.0 - *</p><p> - * - *@author Don Brutzman (<a href="http://web.nps.navy.mil/~brutzman"><i>web.nps.navy.mil/~brutzman</i></a>) - *<a href="mailto:brutzman@nps.navy.mil(Don Brutzman)?subject=demo.auv.TelemetryPlayback feedback "><i>brutzman@nps.navy.mil</i></a> - *</p> - * - *<dt><b>Source Code:</b></dt> - *<dd><a href="../../../../demo/auv/TelemetryPlayback.java">TelemetryPlayback.java</a></dd> - * - *<dt><b>History:</b></dt> - * - *<table> - *<tr> - * <td> 1 December 98 </td> - * <td> Don Brutzman </td> - * <td> Initial version </td> - *</tr> - *<tr> - * <td> 17 January 99 </td> - * <td> Don Brutzman </td> - * <td> Added URLs and autogenerated invocation </td> - *</tr> - *<tr> - * <td> 21 January 99, 21 March 99, 15 May 1999 </td> - * <td> Don Brutzman </td> - * <td> Change package and directory names </td> - *</tr> - *<tr> - * <td> 9 May 2000 </td> - * <td> Don Brutzman </td> - * <td> Fixed file-read exception handling </td> - *</tr> - *<tr> - * <td> 16 August 2000 </td> - * <td> Don Brutzman </td> - * <td> Calendar month off-by-one bug workaround </td> - *</tr> - *</table> - * - *@see TelemetryState - */ - -public class TelemetryPlayback { - - // no more than 1m between position interpolations - static final float maxKeyValueDistance = 0.1f; // 0 will print all values - - // no more than 10 degrees = .1745 radians between orientation interpolations - static final float maxKeyValueOrientation = 10.0f; // ?? verify telemetry units - - static final float maxDeltaRpm = 10.0f; - - static final float maxDeltaRudderPlane = 1.0f; // degrees - - static final float maxDeltaSonarBearing = 1.0f; // degrees - static final float maxDeltaSonarRange = 0.1f; // m - - static final float maxDeltaThruster = 1.0f; // +/- 24 volts full force - - static DecimalFormat precision = new DecimalFormat ("##.00"); - static DecimalFormat precision5 = new DecimalFormat ("##.00000"); - - static File telemetryFile; - static String telemetryFileName; - static Calendar telemetryFileCalendar = new GregorianCalendar ();; - static BufferedReader telemetryStream; - static Date fileDate = new Date (); - - static String nextLine; - static String telemetryLine; - static TelemetryState priorTelemetry = new TelemetryState (); - static TelemetryState priorOrientationTelemetry = new TelemetryState (); - static TelemetryState priorPortRpmTelemetry = new TelemetryState (); - static TelemetryState priorStbdRpmTelemetry = new TelemetryState (); - static TelemetryState priorForwardRuddersTelemetry = new TelemetryState (); - static TelemetryState priorAfterRuddersTelemetry = new TelemetryState (); - static TelemetryState priorForwardPlanesTelemetry = new TelemetryState (); - static TelemetryState priorAfterPlanesTelemetry = new TelemetryState (); - static TelemetryState priorST725BearingTelemetry = new TelemetryState (); - static TelemetryState priorST725RangeTelemetry = new TelemetryState (); - static TelemetryState priorST1000BearingTelemetry = new TelemetryState (); - static TelemetryState priorST1000RangeTelemetry = new TelemetryState (); - static TelemetryState priorForwardVerticalThrusterTelemetry = new TelemetryState (); - static TelemetryState priorAfterVerticalThrusterTelemetry = new TelemetryState (); - static TelemetryState priorForwardLateralThrusterTelemetry = new TelemetryState (); - static TelemetryState priorAfterLateralThrusterTelemetry = new TelemetryState (); - static TelemetryState currentTelemetry = new TelemetryState (); - - static float startTime, finishTime, duration, dt; - -/** -* VRML interpolators (key & keyValue arrays) -*/ - static StringBuffer positionKey, positionKeyValue, - orientationKey, orientationKeyValue, - portRpmKey, portRpmKeyValue, - stbdRpmKey, stbdRpmKeyValue, - forwardRuddersKey, forwardRuddersKeyValue, - afterRuddersKey, afterRuddersKeyValue, - forwardPlanesKey, forwardPlanesKeyValue, - afterPlanesKey, afterPlanesKeyValue, - ST725BearingKey, ST725BearingKeyValue, - ST725RangeKey, ST725RangeKeyValue, - ST1000BearingKey, ST1000BearingKeyValue, - ST1000RangeKey, ST1000RangeKeyValue, - forwardVerticalThrusterKey, forwardVerticalThrusterKeyValue, - afterVerticalThrusterKey, afterVerticalThrusterKeyValue, - forwardLateralThrusterKey, forwardLateralThrusterKeyValue, - afterLateralThrusterKey, afterLateralThrusterKeyValue; - - static boolean printEXTERNPROTO = false; - - static BufferedReader PROTOFile; - - static boolean DEBUG = false; - - public static void debug (String message) - { - if (DEBUG) System.out.println ("# " + message); - } - - public static void trace (String message) - { - System.out.println ("# " + message); - } - - public static float radians (float x) - { - return x * 3.141592653f / 180.0f; - } - -/** -* Verify telemetry file existence and then open for reading -*/ - public static void TelemetryFileOpen () - { - telemetryFile = new File (telemetryFileName); - if (telemetryFile.exists() && telemetryFile.isFile()) - { - debug ("Telemetry file found: " + - telemetryFile.getAbsolutePath()); - // (absolute path includes telemetryFileName) - } - else - { - trace (telemetryFileName + ": not found or not a file."); - System.exit (1); - } - // Open the file - try - { - telemetryStream = new BufferedReader (new InputStreamReader ( - new FileInputStream ( telemetryFileName ))); - -// beware stream classes with deprecated String methods! -// telemetryStream = new DataInputStream ( -// new FileInputStream ( telemetryFileName ) ); - } - catch ( IOException e ) { - trace ( "telemetry file not opened properly:\n" + e.toString() ); - System.exit( 1 ); - } - - fileDate.setTime (telemetryFile.lastModified()); - telemetryFileCalendar.setTime (fileDate); - - return; - } - -/** -* Verify telemetry file existence and then open for reading -*/ - public static void TelemetryFileClose () - { - if (telemetryFile != null) try - { - telemetryStream.close (); - } - catch ( Exception e ) - { - trace ( "Error during stream close: " + e.toString() ); - } - else trace ( "Error during TelemetryFileClose() : no file"); - return; - } - -/** -* Read a telemetry state vector from the telemetry file -*/ - public static String readNextTelemetryState () - { - try - { - do // ignore comments and blank lines - { - nextLine = new String (telemetryStream.readLine ()); - debug (nextLine); - } - while ((nextLine.equals("") == true) || // blank line found, loop again - (nextLine.charAt(0) == '#')); // comment line found, loop again - - return nextLine; - } - catch ( NullPointerException npe ) - { - debug ( "NullPointerException " + npe.toString() ); - TelemetryFileClose (); - } - catch ( EOFException eof ) - { - debug ( "EOFException " + eof.toString() ); - TelemetryFileClose (); - } - catch ( IOException e ) - { - // trace ( "Error during read from file\n" + e.toString() ); - System.exit( 1 ); - } - return ""; - } - -/** -* Build VRML file headers, print to screen -*/ - public static void GenerateVrmlSceneHeaders () - { - Calendar calendar = new GregorianCalendar (); // Date deprecated in JDK 1.2 - - System.out.println ("#VRML V2.0 utf8"); - System.out.println ("#"); - System.out.println ("# Summary: Autogenerated AUV mission from telemetry data file"); - System.out.println ("# \'" + telemetryFileName + "\' dated " + - (new Integer(telemetryFileCalendar.get(Calendar.MONTH) + 1)).toString() + "/" + - telemetryFileCalendar.get(Calendar.DATE) + "/" + - telemetryFileCalendar.get(Calendar.YEAR)); - System.out.println ("#"); - System.out.println ("# Purpose: Playback results of an AUV mission using standalone VRML files"); - System.out.println ("#"); - System.out.println ("# Author: Don Brutzman"); - System.out.println ("#"); - System.out.println ("# Generated: " + // off by one error? use DateFormat? - (new Integer(calendar.get(Calendar.MONTH) + 1)).toString() + "/" + - calendar.get(Calendar.DATE) + "/" + - calendar.get(Calendar.YEAR)); - System.out.println ("#"); - System.out.println ("# Related: TelemetryPlayback.java, TelemetryState.java, AuvFestExerciseSite.wrl"); - System.out.println ("# PhoenixPROTO.wrl, BeamConePrototype.wrl, BeamConeEXAMPLE.wrl, MineTargetRig.wrl"); - System.out.println ("# Surface_GulfOfMexico_AuvDiveSite.wrl, Bottom_GulfOfMexico_AuvDiveSite.wrl"); - System.out.println ("#"); - System.out.println ("# Created by: demo.auv.TelemetryPlayback.java"); - System.out.println ("#"); - System.out.println ("# URL: http://web.nps.navy.mil/~brutzman/vrtp/demo/auv/TelemetryPlayback.java"); - System.out.println ("# http://www.web3D.org/WorkingGroups/vrtp/demo/auv/TelemetryPlayback.java"); - System.out.println ("#"); - System.out.println ("# Invocation: c:\\vrtp\\demo\\auv> java demo.auv.TelemetryPlayback " + telemetryFileName); - System.out.println ("#"); - System.out.println (); - - // PhoenixPROTO - try { - PROTOFile = new BufferedReader (new InputStreamReader - (new FileInputStream ("PhoenixPROTO.wrl"))); - debug ( "... PROTOFile open"); - } - catch (IOException e) { - trace ("PhoenixPROTO.wrl file not opened properly: " + e); - trace ("... printing PhoenixPROTO's EXTERNPROTO instead\n"); - printEXTERNPROTO = true; - } - try - { - if (PROTOFile.ready() == false) printEXTERNPROTO = true; - - while (PROTOFile.ready()) // print the PhoenixPROTO file, line by line - { - nextLine = new String (PROTOFile.readLine ()); - if (nextLine == null) break; - System.out.println (nextLine); - } - - PROTOFile.close (); - } - catch ( NullPointerException e ) - { - debug ( "reached end of file " + e.toString() ); - telemetryLine = ""; - } - catch ( Exception e ) - { - debug ( "Error during PROTOFile read/close: " + e.toString() ); - telemetryLine = ""; - } - - - if (printEXTERNPROTO) { - System.out.println ("EXTERNPROTO Phoenix ["); - System.out.println (" eventIn SFVec3f translation"); - System.out.println (" eventIn SFRotation rotation"); - System.out.println (" eventIn SFFloat portRpm"); - System.out.println (" eventIn SFFloat stbdRpm"); - System.out.println (" eventIn SFFloat forwardRudders"); - System.out.println (" eventIn SFFloat afterRudders"); - System.out.println (" eventIn SFFloat forwardPlanes"); - System.out.println (" eventIn SFFloat afterPlanes"); - System.out.println (" eventIn SFFloat forwardVerticalThruster"); - System.out.println (" eventIn SFFloat afterVerticalThruster"); - System.out.println (" eventIn SFFloat forwardLateralThruster"); - System.out.println (" eventIn SFFloat afterLateralThruster"); - System.out.println (" eventIn SFFloat ST725Bearing"); - System.out.println (" eventIn SFFloat ST1000Bearing"); - System.out.println (" eventIn SFFloat ST725Range"); - System.out.println (" eventIn SFFloat ST1000Range"); - System.out.println (" eventIn SFFloat ST725Intensity"); - System.out.println (" eventIn SFFloat ST1000Intensity"); - System.out.println (" field SFColor hullColor"); - System.out.println (" field SFString hullName"); - - System.out.println ("] [ \"PhoenixPROTO.wrl#Phoenix\""); - System.out.println (" \"file:///C|/vrtp/demo/auv/PhoenixPROTO.wrl#Phoenix # default PC installation\""); - System.out.println (" \"file:///D|/vrtp/demo/auv/PhoenixPROTO.wrl#Phoenix # alternate PC installation\""); - System.out.println (" \"http://web.nps.navy.mil/~brutzman/vrtp/demo/auv/PhoenixPROTO.wrl#Phoenix\""); - System.out.println (" \"http://www.web3D.org/WorkingGroups/vrtp/demo/auv/PhoenixPROTO.wrl#Phoenix\""); - System.out.println (" ]\n"); - } - - System.out.println ("Group {"); - System.out.println (" children [\n"); - - System.out.println (" Transform {"); - System.out.println (" translation 0 1200 0 # high above center"); - System.out.println (" rotation 1 0 0 -1.57 # redirect view angle from -z axis to -y axis"); - System.out.println (" children ["); - System.out.println (" Viewpoint {"); - System.out.println (" description \"ONR AUV site - Gulf of Mexico\""); - System.out.println (" orientation 0 0 1 -1.57 # north at top of screen"); - System.out.println (" }"); - System.out.println (" ]"); - System.out.println (" }"); - - System.out.println (" Inline {\n"); - System.out.println (" url [ \"AuvFestExerciseSite.wrl\"\n"); - System.out.println (" \"file:///C|/vrtp/demo/auv/AuvFestExerciseSite.wrl\" # default PC installation\n"); - System.out.println (" \"file:///D|/vrtp/demo/auv/AuvFestExerciseSite.wrl\" # alternate PC installation\n"); - System.out.println (" \"http://web.nps.navy.mil/~brutzman/vrtp/demo/auv/AuvFestExerciseSite.wrl\"\n"); - System.out.println (" \"http://www.web3D.org/WorkingGroups/vrtp/demo/auv/AuvFestExerciseSite.wrl\""); - System.out.println (" ]\n"); - System.out.println (" }\n\n"); - System.out.println (" # duplicate AuvFestExerciseSite.wrl navigation modes " + - "since only topmost vrml scene sees it"); - System.out.println (" NavigationInfo {"); - System.out.println (" type [\"EXAMINE\" \"ANY\"]"); - System.out.println (" speed 20 # m/sec for FLY | WALK"); - System.out.println (" visibilityLimit 20000 # reduce aliasing by increasing relative precision"); - System.out.println (" }"); - System.out.println (" WorldInfo {"); - System.out.println (" title \"AUV exercise in Gulf of Mexico 1998\""); - System.out.println (" }"); - System.out.println (" Background {"); - System.out.println (" skyColor [ 1 1 .5, .4 .4 .6, .4 .4 .6, .5 .5 .75, .6 .6 .8, .8 .8 .8 ]"); - System.out.println (" skyAngle [ .05 1.4 1.55 1.56 1.57]"); - System.out.println (" groundColor [ .05 .1 .2, .05 .1 .2 ]"); - System.out.println (" groundAngle [ 1.57 ]"); - System.out.println (" }"); - System.out.println (""); - - System.out.println (" DEF PHOENIX Phoenix { }\n\n"); - - return; - } - -/** -* Build VRML interpolators, print to screen. -*/ - public static void GenerateVrmlInterpolators () - { - // reset the file to beginning - // (BufferedReader mark & reset methods not used due to buffer limitations) - TelemetryFileClose (); - TelemetryFileOpen (); - debug ("TelemetryFile closed and reopened at beginning"); - - telemetryLine = readNextTelemetryState (); - priorTelemetry.update (telemetryLine); - startTime = priorTelemetry.get_t (); - debug ("startTime = " + startTime + " (all units in seconds)"); - - try - { - while (telemetryStream.ready()) // read to end of file - { - telemetryLine = readNextTelemetryState (); - if (telemetryLine != "") currentTelemetry.update (telemetryLine); - } - } - catch ( NullPointerException e ) - { - debug ( "reached end of file " + e.toString() ); - telemetryLine = ""; - } - catch ( Exception e ) - { - debug ( "reached end of file " + e.toString() ); - telemetryLine = ""; - } - - finishTime = currentTelemetry.get_t (); - duration= finishTime - startTime; - debug ("finishTime = " + finishTime); - debug ("duration = " + duration); - - // reset the file to beginning - TelemetryFileClose (); - TelemetryFileOpen (); - debug ("TelemetryFile closed and reopened at beginning"); - - // put first record in various interpolator priorTelemetry variables, - // update prior**Telemetry when corresponding key=keyValue pairs are saved - - telemetryLine = readNextTelemetryState (); - priorTelemetry.update (telemetryLine); - priorOrientationTelemetry.update (priorTelemetry); - priorStbdRpmTelemetry.update (priorTelemetry); - priorPortRpmTelemetry.update (priorTelemetry); - priorForwardRuddersTelemetry.update (priorTelemetry); - priorAfterRuddersTelemetry.update (priorTelemetry); - priorForwardPlanesTelemetry.update (priorTelemetry); - priorAfterPlanesTelemetry.update (priorTelemetry); - priorST725BearingTelemetry.update (priorTelemetry); - priorST725RangeTelemetry.update (priorTelemetry); - priorST1000BearingTelemetry.update (priorTelemetry); - priorST1000RangeTelemetry.update (priorTelemetry); - priorForwardVerticalThrusterTelemetry.update (priorTelemetry); - priorAfterVerticalThrusterTelemetry.update (priorTelemetry); - priorForwardLateralThrusterTelemetry.update (priorTelemetry); - priorAfterLateralThrusterTelemetry.update (priorTelemetry); - - // initialize key/keyValue String pairs - - - - - - - - - - - - - - - - - - - - - - - positionKey = new StringBuffer (" DEF TELEMETRY_POSITION " + - "PositionInterpolator {\n key [ "); - positionKeyValue = new StringBuffer ("\n keyValue [ "); - - orientationKey = new StringBuffer (" DEF TELEMETRY_ORIENTATION " + - "OrientationInterpolator {\n key [ "); - orientationKeyValue = new StringBuffer ("\n keyValue [ "); - - portRpmKey = new StringBuffer (" DEF PORT_RPM " + - "ScalarInterpolator {\n key [ "); - portRpmKeyValue = new StringBuffer ("\n keyValue [ "); - - stbdRpmKey = new StringBuffer (" DEF STBD_RPM " + - "ScalarInterpolator {\n key [ "); - stbdRpmKeyValue = new StringBuffer ("\n keyValue [ "); - - forwardRuddersKey = new StringBuffer (" DEF FORWARD_RUDDERS " + - "ScalarInterpolator {\n key [ "); - forwardRuddersKeyValue = new StringBuffer ("\n keyValue [ "); - - afterRuddersKey = new StringBuffer (" DEF AFTER_RUDDERS " + - "ScalarInterpolator {\n key [ "); - afterRuddersKeyValue = new StringBuffer ("\n keyValue [ "); - - forwardPlanesKey = new StringBuffer (" DEF FORWARD_PLANES " + - "ScalarInterpolator {\n key [ "); - forwardPlanesKeyValue = new StringBuffer ("\n keyValue [ "); - - afterPlanesKey = new StringBuffer (" DEF AFTER_PLANES " + - "ScalarInterpolator {\n key [ "); - afterPlanesKeyValue = new StringBuffer ("\n keyValue [ "); - - ST725BearingKey = new StringBuffer (" DEF ST725BEARING " + - "ScalarInterpolator {\n key [ "); - ST725BearingKeyValue = new StringBuffer ("\n keyValue [ "); - - ST725RangeKey = new StringBuffer (" DEF ST725RANGE " + - "ScalarInterpolator {\n key [ "); - ST725RangeKeyValue = new StringBuffer ("\n keyValue [ "); - - ST1000BearingKey = new StringBuffer (" DEF ST1000BEARING " + - "ScalarInterpolator {\n key [ "); - ST1000BearingKeyValue = new StringBuffer ("\n keyValue [ "); - - ST1000RangeKey = new StringBuffer (" DEF ST1000RANGE " + - "ScalarInterpolator {\n key [ "); - ST1000RangeKeyValue = new StringBuffer ("\n keyValue [ "); - - forwardVerticalThrusterKey = new StringBuffer (" DEF FORWARD_VERTICAL_THRUSTER " + - "ScalarInterpolator {\n key [ "); - forwardVerticalThrusterKeyValue = new StringBuffer ("\n keyValue [ "); - - afterVerticalThrusterKey = new StringBuffer (" DEF AFTER_VERTICAL_THRUSTER " + - "ScalarInterpolator {\n key [ "); - afterVerticalThrusterKeyValue = new StringBuffer ("\n keyValue [ "); - - forwardLateralThrusterKey = new StringBuffer (" DEF FORWARD_LATERAL_THRUSTER " + - "ScalarInterpolator {\n key [ "); - forwardLateralThrusterKeyValue = new StringBuffer ("\n keyValue [ "); - - afterLateralThrusterKey = new StringBuffer (" DEF AFTER_LATERAL_THRUSTER " + - "ScalarInterpolator {\n key [ "); - afterLateralThrusterKeyValue = new StringBuffer ("\n keyValue [ "); - - - // initial key time is always zero - - - - - - - - - - - - - - - - - - - - - - - - - - - - positionKey.append ("\n 0 "); - positionKeyValue.append ("\n " + - precision.format ( priorTelemetry.get_x ()) + " " + - precision.format (-priorTelemetry.get_z ()) + " " + - precision.format ( priorTelemetry.get_y ())); - - orientationKey.append ("\n 0 "); - orientationKeyValue.append // currently only yaw implemented - ("\n 0 1 0 " + - precision5.format (priorOrientationTelemetry.get_psi ())); - - portRpmKey.append ("\n 0 "); - portRpmKeyValue.append - ("\n " + - precision.format (priorPortRpmTelemetry.get_port_rpm () / 700.0f)); - stbdRpmKey.append ("\n 0 "); - stbdRpmKeyValue.append - ("\n " + - precision.format (priorStbdRpmTelemetry.get_stbd_rpm () / 700.0f)); - - forwardRuddersKey.append ("\n 0 "); - forwardRuddersKeyValue.append - ("\n " + - precision5.format (priorForwardRuddersTelemetry.get_delta_rudder () * 3.141592653f / 180.0f)); - - afterRuddersKey.append ("\n 0 "); - afterRuddersKeyValue.append - ("\n " + - precision5.format (priorAfterRuddersTelemetry.get_delta_rudder () * -3.141592653f / 180.0f)); - - forwardPlanesKey.append ("\n 0 "); - forwardPlanesKeyValue.append - ("\n " + - precision5.format (priorForwardPlanesTelemetry.get_delta_planes_bow () * -3.141592653f / 180.0f)); - - afterPlanesKey.append ("\n 0 "); - afterPlanesKeyValue.append - ("\n " + - precision5.format (priorAfterPlanesTelemetry.get_delta_planes_stern () * 3.141592653f / 180.0f)); - - ST725BearingKey.append ("\n 0 "); - ST725BearingKeyValue.append - ("\n " + - precision5.format (priorTelemetry.get_AUV_ST725_bearing () * 3.141592653f / 180.0f)); - - ST725RangeKey.append ("\n 0 "); - ST725RangeKeyValue.append - ("\n " + - precision5.format (priorTelemetry.get_AUV_ST725_range ())); - - ST1000BearingKey.append ("\n 0 "); - ST1000BearingKeyValue.append - ("\n " + - precision5.format (priorTelemetry.get_AUV_ST1000_bearing () * 3.141592653f / 180.0f)); - - ST1000RangeKey.append ("\n 0 "); - ST1000RangeKeyValue.append - ("\n " + - precision5.format (priorTelemetry.get_AUV_ST1000_range ())); - - forwardVerticalThrusterKey.append ("\n 0 "); - forwardVerticalThrusterKeyValue.append - ("\n " + - precision.format (priorTelemetry.get_AUV_bow_vertical () * .5f / 24.0f)); - - afterVerticalThrusterKey.append ("\n 0 "); - afterVerticalThrusterKeyValue.append - ("\n " + - precision.format (priorTelemetry.get_AUV_stern_vertical () * .5f / 24.0f)); - - forwardLateralThrusterKey.append ("\n 0 "); - forwardLateralThrusterKeyValue.append - ("\n " + - precision.format (priorTelemetry.get_AUV_bow_lateral () * .5f / 24.0f)); - - afterLateralThrusterKey.append ("\n 0 "); - afterLateralThrusterKeyValue.append - ("\n " + - precision.format (priorTelemetry.get_AUV_stern_lateral () * .5f / 24.0f)); - - // move to next entry - - - - - - - - - - - - - - - - - - - - - - - - - - - telemetryLine = readNextTelemetryState (); - - int positionKeyCount = 0; - int orientationKeyCount = 0; - int portRpmKeyCount = 0; - int stbdRpmKeyCount = 0; - int forwardRuddersKeyCount = 0; - int afterRuddersKeyCount = 0; - int forwardPlanesKeyCount = 0; - int afterPlanesKeyCount = 0; - int ST725BearingKeyCount = 0; - int ST725RangeKeyCount = 0; - int ST1000BearingKeyCount = 0; - int ST1000RangeKeyCount = 0; - int forwardVerticalThrusterKeyCount = 0; - int afterVerticalThrusterKeyCount = 0; - int forwardLateralThrusterKeyCount = 0; - int afterLateralThrusterKeyCount = 0; - - // read to end of file - - - - - - - - - - - - - - - - - - - - - - - - - - - while (telemetryLine != "") - { - currentTelemetry.update (telemetryLine); - - // PositionInterpolator - float dx = currentTelemetry.get_x () - priorTelemetry.get_x (); - float dy = currentTelemetry.get_y () - priorTelemetry.get_y (); - float dz = currentTelemetry.get_z () - priorTelemetry.get_z (); - if (Math.sqrt (dx*dx + dy*dy + dz*dz) >= maxKeyValueDistance) - { - positionKeyCount++; - if ((positionKeyCount % 10) == 0) // pretty print - { - positionKey.append ("\n "); - positionKeyValue.append (",\n "); - } - else - { - positionKey.append (" "); - positionKeyValue.append (", "); - } - positionKey.append ( - precision5.format ((currentTelemetry.get_t () - startTime)/duration)); - positionKeyValue.append ( - precision.format ( currentTelemetry.get_x ()) + " " + - precision.format (-currentTelemetry.get_z ()) + " " + - precision.format ( currentTelemetry.get_y ())); - priorTelemetry.update (currentTelemetry); - } - - debug ("priorOrientationTelemetry.get_psi = " + priorOrientationTelemetry.get_psi ()); - debug ("currentTelemetry.get_psi = " + currentTelemetry.get_psi () + "\n"); - - // OrientationInterpolator - if (Math.abs (currentTelemetry.get_psi () - priorOrientationTelemetry.get_psi ()) - > maxKeyValueOrientation) - { - orientationKeyCount++; - if ((orientationKeyCount % 10) == 0) // pretty print - { - orientationKey.append ("\n "); - orientationKeyValue.append (",\n "); - } - else - { - orientationKey.append (" "); - orientationKeyValue.append (", "); - } - orientationKey.append ( - precision5.format ((currentTelemetry.get_t () - startTime)/duration)); - orientationKeyValue.append ( "0 1 0 " + - precision5.format (- radians (currentTelemetry.get_psi ()))); - - priorOrientationTelemetry.update (currentTelemetry); - } - // portRpmInterpolator - if (Math.abs (currentTelemetry.get_port_rpm () - - priorPortRpmTelemetry.get_port_rpm ()) > maxDeltaRpm) - { - portRpmKeyCount += 2; - if ((portRpmKeyCount % 10) == 0) // pretty print - { - portRpmKey.append ("\n "); - portRpmKeyValue.append (",\n "); - } - else - { - portRpmKey.append (" "); - portRpmKeyValue.append (", "); - } - // rpm is a step function, so enter previous & next interpolation values - portRpmKey.append ( - precision5.format ((currentTelemetry.get_t () - startTime)/duration)); - portRpmKeyValue.append ( - precision.format (priorPortRpmTelemetry.get_port_rpm () / 700.0f)); - portRpmKey.append (" " + - precision5.format ((currentTelemetry.get_t () - startTime)/duration)); - portRpmKeyValue.append (" " + - precision.format (currentTelemetry.get_port_rpm () / 700.0f)); - - priorPortRpmTelemetry.update (currentTelemetry); - } - // stbdRpmInterpolator - if (Math.abs (currentTelemetry.get_stbd_rpm () - - priorStbdRpmTelemetry.get_stbd_rpm ()) > maxDeltaRpm) - { - stbdRpmKeyCount += 2; - if ((stbdRpmKeyCount % 10) == 0) // pretty print - { - stbdRpmKey.append ("\n "); - stbdRpmKeyValue.append (",\n "); - } - else - { - stbdRpmKey.append (" "); - stbdRpmKeyValue.append (", "); - } - // rpm is a step function, so enter previous & next interpolation values - stbdRpmKey.append ( - precision5.format ((currentTelemetry.get_t () - startTime)/duration)); - stbdRpmKeyValue.append ( - precision.format (priorStbdRpmTelemetry.get_stbd_rpm () / 700.0f)); - stbdRpmKey.append (" " + - precision5.format ((currentTelemetry.get_t () - startTime)/duration)); - stbdRpmKeyValue.append (" " + - precision.format (currentTelemetry.get_stbd_rpm () / 700.0f)); - - priorStbdRpmTelemetry.update (currentTelemetry); - } - - // forwardRuddersInterpolator - if (Math.abs (currentTelemetry.get_delta_rudder () - - priorForwardRuddersTelemetry.get_delta_rudder ()) > maxDeltaRudderPlane) - { - forwardRuddersKeyCount += 2; - if ((forwardRuddersKeyCount % 10) == 0) // pretty print - { - forwardRuddersKey.append ("\n "); - forwardRuddersKeyValue.append (",\n "); - } - else - { - forwardRuddersKey.append (" "); - forwardRuddersKeyValue.append (", "); - } - // forwardRudders is a step function, so enter previous & next interpolation values - forwardRuddersKey.append ( - precision5.format ((currentTelemetry.get_t () - startTime)/duration)); - forwardRuddersKeyValue.append ( - precision5.format (priorForwardRuddersTelemetry.get_delta_rudder () * 3.141592653f / 180.0f)); - forwardRuddersKey.append (" " + - precision5.format ((currentTelemetry.get_t () - startTime)/duration)); - forwardRuddersKeyValue.append (" " + - precision5.format (currentTelemetry.get_delta_rudder () * 3.141592653f / 180.0f)); - - priorForwardRuddersTelemetry.update (currentTelemetry); - } - - // afterRuddersInterpolator - if (Math.abs (currentTelemetry.get_delta_rudder () - - priorAfterRuddersTelemetry.get_delta_rudder ()) > maxDeltaRudderPlane) - { - afterRuddersKeyCount += 2; - if ((afterRuddersKeyCount % 10) == 0) // pretty print - { - afterRuddersKey.append ("\n "); - afterRuddersKeyValue.append (",\n "); - } - else - { - afterRuddersKey.append (" "); - afterRuddersKeyValue.append (", "); - } - // is a step function, so enter previous & next interpolation values - afterRuddersKey.append ( - precision5.format ((currentTelemetry.get_t () - startTime)/duration)); - afterRuddersKeyValue.append ( - precision5.format (priorAfterRuddersTelemetry.get_delta_rudder () * -3.141592653f / 180.0f)); - afterRuddersKey.append (" " + - precision5.format ((currentTelemetry.get_t () - startTime)/duration)); - afterRuddersKeyValue.append (" " + - precision5.format (currentTelemetry.get_delta_rudder () * -3.141592653f / 180.0f)); - - priorAfterRuddersTelemetry.update (currentTelemetry); - } - - // forwardPlanesInterpolator - if (Math.abs (currentTelemetry.get_delta_planes_bow () - - priorForwardPlanesTelemetry.get_delta_planes_bow ()) > maxDeltaRudderPlane) - { - forwardPlanesKeyCount += 2; - if ((forwardPlanesKeyCount % 10) == 0) // pretty print - { - forwardPlanesKey.append ("\n "); - forwardPlanesKeyValue.append (",\n "); - } - else - { - forwardPlanesKey.append (" "); - forwardPlanesKeyValue.append (", "); - } - // is a step function, so enter previous & next interpolation values - forwardPlanesKey.append ( - precision5.format ((currentTelemetry.get_t () - startTime)/duration)); - forwardPlanesKeyValue.append ( - precision5.format (priorForwardPlanesTelemetry.get_delta_planes_bow () * -3.141592653f / 180.0f)); - forwardPlanesKey.append (" " + - precision5.format ((currentTelemetry.get_t () - startTime)/duration)); - forwardPlanesKeyValue.append (" " + - precision5.format (currentTelemetry.get_delta_planes_bow () * -3.141592653f / 180.0f)); - - priorForwardPlanesTelemetry.update (currentTelemetry); - } - - // afterPlanesInterpolator - if (Math.abs (currentTelemetry.get_delta_planes_stern () - - priorAfterPlanesTelemetry.get_delta_planes_stern ()) > maxDeltaRudderPlane) - { - afterPlanesKeyCount += 2; - if ((afterPlanesKeyCount % 10) == 0) // pretty print - { - afterPlanesKey.append ("\n "); - afterPlanesKeyValue.append (",\n "); - } - else - { - afterPlanesKey.append (" "); - afterPlanesKeyValue.append (", "); - } - // is a step function, so enter previous & next interpolation values - afterPlanesKey.append ( - precision5.format ((currentTelemetry.get_t () - startTime)/duration)); - afterPlanesKeyValue.append ( - precision5.format (priorAfterPlanesTelemetry.get_delta_planes_stern () * 3.141592653f / 180.0f)); - afterPlanesKey.append (" " + - precision5.format ((currentTelemetry.get_t () - startTime)/duration)); - afterPlanesKeyValue.append (" " + - precision5.format (currentTelemetry.get_delta_planes_stern () * 3.141592653f / 180.0f)); - - priorAfterPlanesTelemetry.update (currentTelemetry); - } - - // ST725BearingInterpolator - if (Math.abs (currentTelemetry.get_AUV_ST725_bearing () - - priorST725BearingTelemetry.get_AUV_ST725_bearing ()) > maxDeltaSonarBearing) - { - ST725BearingKeyCount ++; - if ((ST725BearingKeyCount % 10) == 0) // pretty print - { - ST725BearingKey.append ("\n "); - ST725BearingKeyValue.append (",\n "); - } - else - { - ST725BearingKey.append (" "); - ST725BearingKeyValue.append (", "); - } - ST725BearingKey.append (" " + - precision5.format ((currentTelemetry.get_t () - startTime)/duration)); - ST725BearingKeyValue.append (" " + - precision5.format (currentTelemetry.get_AUV_ST725_bearing () * 3.141592653f / 180.0f)); - - priorTelemetry.update (currentTelemetry); - } - - // ST725RangeInterpolator - if (Math.abs (currentTelemetry.get_AUV_ST725_range () - - priorST725RangeTelemetry.get_AUV_ST725_range ()) > maxDeltaSonarRange) - { - ST725RangeKeyCount ++; - if ((ST725RangeKeyCount % 10) == 0) // pretty print - { - ST725RangeKey.append ("\n "); - ST725RangeKeyValue.append (",\n "); - } - else - { - ST725RangeKey.append (" "); - ST725RangeKeyValue.append (", "); - } - ST725RangeKey.append (" " + - precision5.format ((currentTelemetry.get_t () - startTime)/duration)); - ST725RangeKeyValue.append (" " + - precision5.format (currentTelemetry.get_AUV_ST725_range ())); - - priorST725RangeTelemetry.update (currentTelemetry); - } - - // ST1000BearingInterpolator - if (Math.abs (currentTelemetry.get_AUV_ST1000_bearing () - - priorST1000BearingTelemetry.get_AUV_ST1000_bearing ()) > maxDeltaSonarBearing) - { - ST1000BearingKeyCount ++; - if ((ST1000BearingKeyCount % 10) == 0) // pretty print - { - ST1000BearingKey.append ("\n "); - ST1000BearingKeyValue.append (",\n "); - } - else - { - ST1000BearingKey.append (" "); - ST1000BearingKeyValue.append (", "); - } - ST1000BearingKey.append (" " + - precision5.format ((currentTelemetry.get_t () - startTime)/duration)); - ST1000BearingKeyValue.append (" " + - precision5.format (currentTelemetry.get_AUV_ST1000_bearing () * 3.141592653f / 180.0f)); - - priorST1000BearingTelemetry.update (currentTelemetry); - } - - // ST1000RangeInterpolator - if (Math.abs (currentTelemetry.get_AUV_ST1000_range () - - priorST1000RangeTelemetry.get_AUV_ST1000_range ()) > maxDeltaSonarRange) - { - ST1000RangeKeyCount ++; - if ((ST1000RangeKeyCount % 10) == 0) // pretty print - { - ST1000RangeKey.append ("\n "); - ST1000RangeKeyValue.append (",\n "); - } - else - { - ST1000RangeKey.append (" "); - ST1000RangeKeyValue.append (", "); - } - ST1000RangeKey.append (" " + - precision5.format ((currentTelemetry.get_t () - startTime)/duration)); - ST1000RangeKeyValue.append (" " + - precision5.format (currentTelemetry.get_AUV_ST1000_range ())); - - priorST1000RangeTelemetry.update (currentTelemetry); - } - - // forwardVerticalThrusterInterpolator - if (Math.abs (currentTelemetry.get_AUV_bow_vertical () - - priorForwardVerticalThrusterTelemetry.get_AUV_bow_vertical ()) > maxDeltaThruster) - { - forwardVerticalThrusterKeyCount += 2; - if ((forwardVerticalThrusterKeyCount % 10) == 0) // pretty print - { - forwardVerticalThrusterKey.append ("\n "); - forwardVerticalThrusterKeyValue.append (",\n "); - } - else - { - forwardVerticalThrusterKey.append (" "); - forwardVerticalThrusterKeyValue.append (", "); - } - forwardVerticalThrusterKey.append (" " + - precision5.format ((currentTelemetry.get_t () - startTime)/duration)); - forwardVerticalThrusterKeyValue.append (" " + - precision.format (currentTelemetry.get_AUV_bow_vertical () * .5f / 24.0f)); - forwardVerticalThrusterKey.append (" " + - precision5.format ((currentTelemetry.get_t () - startTime)/duration)); - forwardVerticalThrusterKeyValue.append (" " + - precision.format (currentTelemetry.get_AUV_bow_vertical () * .5f / 24.0f)); - - priorForwardVerticalThrusterTelemetry.update (currentTelemetry); - } - - // afterVerticalThrusterInterpolator - if (Math.abs (currentTelemetry.get_AUV_stern_vertical () - - priorAfterVerticalThrusterTelemetry.get_AUV_stern_vertical ()) > maxDeltaThruster) - { - afterVerticalThrusterKeyCount += 2; - if ((afterVerticalThrusterKeyCount % 10) == 0) // pretty print - { - afterVerticalThrusterKey.append ("\n "); - afterVerticalThrusterKeyValue.append (",\n "); - } - else - { - afterVerticalThrusterKey.append (" "); - afterVerticalThrusterKeyValue.append (", "); - } - afterVerticalThrusterKey.append (" " + - precision5.format ((currentTelemetry.get_t () - startTime)/duration)); - afterVerticalThrusterKeyValue.append (" " + - precision.format (currentTelemetry.get_AUV_stern_vertical () * .5f / 24.0f)); - afterVerticalThrusterKey.append (" " + - precision5.format ((currentTelemetry.get_t () - startTime)/duration)); - afterVerticalThrusterKeyValue.append (" " + - precision.format (currentTelemetry.get_AUV_stern_vertical () * .5f / 24.0f)); - - priorAfterVerticalThrusterTelemetry.update (currentTelemetry); - } - - // forwardLateralThrusterInterpolator - if (Math.abs (currentTelemetry.get_AUV_bow_lateral () - - priorForwardLateralThrusterTelemetry.get_AUV_bow_lateral ()) > maxDeltaThruster) - { - forwardLateralThrusterKeyCount += 2; - if ((forwardLateralThrusterKeyCount % 10) == 0) // pretty print - { - forwardLateralThrusterKey.append ("\n "); - forwardLateralThrusterKeyValue.append (",\n "); - } - else - { - forwardLateralThrusterKey.append (" "); - forwardLateralThrusterKeyValue.append (", "); - } - forwardLateralThrusterKey.append (" " + - precision5.format ((currentTelemetry.get_t () - startTime)/duration)); - forwardLateralThrusterKeyValue.append (" " + - precision.format (currentTelemetry.get_AUV_bow_lateral () * .5f / 24.0f)); - forwardLateralThrusterKey.append (" " + - precision5.format ((currentTelemetry.get_t () - startTime)/duration)); - forwardLateralThrusterKeyValue.append (" " + - precision.format (currentTelemetry.get_AUV_bow_lateral () * .5f / 24.0f)); - - priorForwardLateralThrusterTelemetry.update (currentTelemetry); - } - - // afterLateralThrusterInterpolator - if (Math.abs (currentTelemetry.get_AUV_stern_lateral () - - priorAfterLateralThrusterTelemetry.get_AUV_stern_lateral ()) > maxDeltaThruster) - { - afterLateralThrusterKeyCount += 2; - if ((afterLateralThrusterKeyCount % 10) == 0) // pretty print - { - afterLateralThrusterKey.append ("\n "); - afterLateralThrusterKeyValue.append (",\n "); - } - else - { - afterLateralThrusterKey.append (" "); - afterLateralThrusterKeyValue.append (", "); - } - afterLateralThrusterKey.append (" " + - precision5.format ((currentTelemetry.get_t () - startTime)/duration)); - afterLateralThrusterKeyValue.append (" " + - precision.format (currentTelemetry.get_AUV_stern_lateral () * .5f / 24.0f)); - afterLateralThrusterKey.append (" " + - precision5.format ((currentTelemetry.get_t () - startTime)/duration)); - afterLateralThrusterKeyValue.append (" " + - precision.format (currentTelemetry.get_AUV_stern_lateral () * .5f / 24.0f)); - - priorAfterLateralThrusterTelemetry.update (currentTelemetry); - } - - // continue with next line - - - - - - - - - - - - - - - - - - - - - - - - - - - try - { - if (telemetryStream.ready()) - { - telemetryLine = readNextTelemetryState (); - } - else - { - debug( "telemetryStream no longer readable"); - telemetryLine = ""; - } - } - catch ( IOException e ) - { - debug( "reached end of file " + e.toString() ); - telemetryLine = ""; - } - } - - // verify last entries captured - - - - - - - - - - - - - - - - - - - - - - - - - - - if (priorTelemetry.get_t () != currentTelemetry.get_t ()) - { - priorTelemetry.update (currentTelemetry); - positionKey.append (" " + - precision5.format ((priorTelemetry.get_t () - startTime)/duration)); - positionKeyValue.append (", " + - precision.format ( priorTelemetry.get_x ()) + " " + - precision.format (-priorTelemetry.get_z ()) + " " + - precision.format ( priorTelemetry.get_y ())); - } - if (priorOrientationTelemetry.get_t () != currentTelemetry.get_t ()) - { - priorOrientationTelemetry.update (currentTelemetry); - orientationKey.append (" " + - precision5.format ((priorOrientationTelemetry.get_t () - startTime)/duration)); - orientationKeyValue.append (", 0 1 0 " + - precision5.format (- radians (priorOrientationTelemetry.get_psi ()))); - } - if (priorPortRpmTelemetry.get_t () != currentTelemetry.get_t ()) - { - priorPortRpmTelemetry.update (currentTelemetry); - portRpmKey.append (" " + - precision5.format ((priorPortRpmTelemetry.get_t () - startTime)/duration)); - portRpmKeyValue.append (", " + - precision.format (priorPortRpmTelemetry.get_port_rpm () / 700.0f)); - } - if (priorStbdRpmTelemetry.get_t () != currentTelemetry.get_t ()) - { - priorStbdRpmTelemetry.update (currentTelemetry); - stbdRpmKey.append (" " + - precision5.format ((priorStbdRpmTelemetry.get_t () - startTime)/duration)); - stbdRpmKeyValue.append (", " + - precision.format (priorStbdRpmTelemetry.get_stbd_rpm () / 700.0f)); - } - if (priorForwardRuddersTelemetry.get_t () != currentTelemetry.get_t ()) - { - priorForwardRuddersTelemetry.update (currentTelemetry); - forwardRuddersKey.append (" " + - precision5.format ((priorForwardRuddersTelemetry.get_t () - startTime)/duration)); - forwardRuddersKeyValue.append (", " + - precision5.format (priorForwardRuddersTelemetry.get_delta_rudder () * 3.141592653f / 180.0f)); - } - if (priorAfterRuddersTelemetry.get_t () != currentTelemetry.get_t ()) - { - priorAfterRuddersTelemetry.update (currentTelemetry); - afterRuddersKey.append (" " + - precision5.format ((priorAfterRuddersTelemetry.get_t () - startTime)/duration)); - afterRuddersKeyValue.append (", " + - precision5.format (priorAfterRuddersTelemetry.get_delta_rudder () * -3.141592653f / 180.0f)); - } - if (priorForwardPlanesTelemetry.get_t () != currentTelemetry.get_t ()) - { - priorForwardPlanesTelemetry.update (currentTelemetry); - forwardPlanesKey.append (" " + - precision5.format ((priorForwardPlanesTelemetry.get_t () - startTime)/duration)); - forwardPlanesKeyValue.append (", " + - precision5.format (priorForwardPlanesTelemetry.get_delta_planes_bow () * -3.141592653f / 180.0f)); - } - if (priorAfterPlanesTelemetry.get_t () != currentTelemetry.get_t ()) - { - priorAfterPlanesTelemetry.update (currentTelemetry); - afterPlanesKey.append (" " + - precision5.format ((priorAfterPlanesTelemetry.get_t () - startTime)/duration)); - afterPlanesKeyValue.append (", " + - precision5.format (priorAfterPlanesTelemetry.get_delta_planes_stern () * 3.141592653f / 180.0f)); - } - if (priorST725BearingTelemetry.get_t () != currentTelemetry.get_t ()) - { - priorST725BearingTelemetry.update (currentTelemetry); - ST725BearingKey.append (" " + - precision5.format ((priorST725BearingTelemetry.get_t () - startTime)/duration)); - ST725BearingKeyValue.append (", " + - precision5.format (priorST725BearingTelemetry.get_AUV_ST725_bearing () * 3.141592653f / 180.0f)); - } - if (priorST725RangeTelemetry.get_t () != currentTelemetry.get_t ()) - { - priorST725RangeTelemetry.update (currentTelemetry); - ST725RangeKey.append (" " + - precision5.format ((priorST725RangeTelemetry.get_t () - startTime)/duration)); - ST725RangeKeyValue.append (", " + - precision5.format (priorST725RangeTelemetry.get_AUV_ST725_range ())); - } - if (priorST1000BearingTelemetry.get_t () != currentTelemetry.get_t ()) - { - priorST1000BearingTelemetry.update (currentTelemetry); - ST1000BearingKey.append (" " + - precision5.format ((priorST1000BearingTelemetry.get_t () - startTime)/duration)); - ST1000BearingKeyValue.append (", " + - precision5.format (priorST1000BearingTelemetry.get_AUV_ST1000_bearing () * 3.141592653f / 180.0f)); - } - if (priorST1000RangeTelemetry.get_t () != currentTelemetry.get_t ()) - { - priorST1000RangeTelemetry.update (currentTelemetry); - ST1000RangeKey.append (" " + - precision5.format ((priorST1000RangeTelemetry.get_t () - startTime)/duration)); - ST1000RangeKeyValue.append (", " + - precision5.format (priorST1000RangeTelemetry.get_AUV_ST1000_range ())); - } - if (priorForwardVerticalThrusterTelemetry.get_t () != currentTelemetry.get_t ()) - { - priorForwardVerticalThrusterTelemetry.update (currentTelemetry); - forwardVerticalThrusterKey.append (" " + - precision5.format ((priorForwardVerticalThrusterTelemetry.get_t () - startTime)/duration)); - forwardVerticalThrusterKeyValue.append (", " + - precision.format (priorForwardVerticalThrusterTelemetry.get_AUV_bow_vertical () * .5f / 24.0f)); - } - if (priorAfterVerticalThrusterTelemetry.get_t () != currentTelemetry.get_t ()) - { - priorAfterVerticalThrusterTelemetry.update (currentTelemetry); - afterVerticalThrusterKey.append (" " + - precision5.format ((priorTelemetry.get_t () - startTime)/duration)); - afterVerticalThrusterKeyValue.append (", " + - precision.format (priorAfterVerticalThrusterTelemetry.get_AUV_stern_vertical () * .5f / 24.0f)); - } - if (priorForwardLateralThrusterTelemetry.get_t () != currentTelemetry.get_t ()) - { - priorForwardLateralThrusterTelemetry.update (currentTelemetry); - forwardLateralThrusterKey.append (" " + - precision5.format ((priorForwardLateralThrusterTelemetry.get_t () - startTime)/duration)); - forwardLateralThrusterKeyValue.append (", " + - precision.format (priorForwardLateralThrusterTelemetry.get_AUV_bow_lateral () * .5f / 24.0f)); - } - if (priorAfterLateralThrusterTelemetry.get_t () != currentTelemetry.get_t ()) - { - priorAfterLateralThrusterTelemetry.update (currentTelemetry); - afterLateralThrusterKey.append (" " + - precision5.format ((priorAfterLateralThrusterTelemetry.get_t () - startTime)/duration)); - afterLateralThrusterKeyValue.append (", " + - precision.format (priorAfterLateralThrusterTelemetry.get_AUV_stern_lateral () * .5f / 24.0f)); - } - - // all done generating interpolators - - - - - - - - - - - - - - - - - - - - - - - - - - - - positionKey.append ("\n ]"); - positionKeyValue.append ("\n ]\n }\n"); - orientationKey.append ("\n ]"); - orientationKeyValue.append ("\n ]\n }\n"); - portRpmKey.append ("\n ]"); - portRpmKeyValue.append ("\n ]\n }\n"); - stbdRpmKey.append ("\n ]"); - stbdRpmKeyValue.append ("\n ]\n }\n"); - forwardRuddersKey.append ("\n ]"); - forwardRuddersKeyValue.append ("\n ]\n }\n"); - afterRuddersKey.append ("\n ]"); - afterRuddersKeyValue.append ("\n ]\n }\n"); - forwardPlanesKey.append ("\n ]"); - forwardPlanesKeyValue.append ("\n ]\n }\n"); - afterPlanesKey.append ("\n ]"); - afterPlanesKeyValue.append ("\n ]\n }\n"); - ST725BearingKey.append ("\n ]"); - ST725BearingKeyValue.append ("\n ]\n }\n"); - ST725RangeKey.append ("\n ]"); - ST725RangeKeyValue.append ("\n ]\n }\n"); - ST1000BearingKey.append ("\n ]"); - ST1000BearingKeyValue.append ("\n ]\n }\n"); - ST1000RangeKey.append ("\n ]"); - ST1000RangeKeyValue.append ("\n ]\n }\n"); - forwardVerticalThrusterKey.append ("\n ]"); - forwardVerticalThrusterKeyValue.append ("\n ]\n }\n"); - afterVerticalThrusterKey.append ("\n ]"); - afterVerticalThrusterKeyValue.append ("\n ]\n }\n"); - forwardLateralThrusterKey.append ("\n ]"); - forwardLateralThrusterKeyValue.append ("\n ]\n }\n"); - afterLateralThrusterKey.append ("\n ]"); - afterLateralThrusterKeyValue.append ("\n ]\n }\n"); - - // interpolators are all built, now output them - - - - - - - - - System.out.println (positionKey); - System.out.println (positionKeyValue); - - System.out.println (orientationKey); - System.out.println (orientationKeyValue); - - System.out.println (portRpmKey); - System.out.println (portRpmKeyValue); - - System.out.println (stbdRpmKey); - System.out.println (stbdRpmKeyValue); - - System.out.println (forwardRuddersKey); - System.out.println (forwardRuddersKeyValue); - - System.out.println (afterRuddersKey); - System.out.println (afterRuddersKeyValue); - - System.out.println (forwardPlanesKey); - System.out.println (forwardPlanesKeyValue); - - System.out.println (afterPlanesKey); - System.out.println (afterPlanesKeyValue); - - System.out.println (ST725BearingKey); - System.out.println (ST725BearingKeyValue); - - System.out.println (ST725RangeKey); - System.out.println (ST725RangeKeyValue); - - System.out.println (ST1000BearingKey); - System.out.println (ST1000BearingKeyValue); - - System.out.println (ST1000RangeKey); - System.out.println (ST1000RangeKeyValue); - - System.out.println (forwardVerticalThrusterKey); - System.out.println (forwardVerticalThrusterKeyValue); - - System.out.println (afterVerticalThrusterKey); - System.out.println (afterVerticalThrusterKeyValue); - - System.out.println (forwardLateralThrusterKey); - System.out.println (forwardLateralThrusterKeyValue); - - System.out.println (afterLateralThrusterKey); - System.out.println (afterLateralThrusterKeyValue); - - System.out.println (" DEF MISSION_TIMESENSOR TimeSensor {"); - System.out.println (" cycleInterval " + precision5.format (duration) - + " # seconds"); - System.out.println (" loop TRUE\n }\n"); - System.out.println (" ]\n"); - - System.out.println ("ROUTE MISSION_TIMESENSOR.fraction_changed " + - "TO TELEMETRY_POSITION.set_fraction"); - System.out.println ("ROUTE MISSION_TIMESENSOR.fraction_changed " + - "TO TELEMETRY_ORIENTATION.set_fraction"); - System.out.println ("ROUTE MISSION_TIMESENSOR.fraction_changed " + - "TO PORT_RPM.set_fraction"); - System.out.println ("ROUTE MISSION_TIMESENSOR.fraction_changed " + - "TO STBD_RPM.set_fraction"); - System.out.println ("ROUTE MISSION_TIMESENSOR.fraction_changed " + - "TO FORWARD_RUDDERS.set_fraction"); - System.out.println ("ROUTE MISSION_TIMESENSOR.fraction_changed " + - "TO AFTER_RUDDERS.set_fraction"); - System.out.println ("ROUTE MISSION_TIMESENSOR.fraction_changed " + - "TO FORWARD_PLANES.set_fraction"); - System.out.println ("ROUTE MISSION_TIMESENSOR.fraction_changed " + - "TO AFTER_PLANES.set_fraction"); - System.out.println ("ROUTE MISSION_TIMESENSOR.fraction_changed " + - "TO ST725BEARING.set_fraction"); - System.out.println ("ROUTE MISSION_TIMESENSOR.fraction_changed " + - "TO ST725RANGE.set_fraction"); - System.out.println ("ROUTE MISSION_TIMESENSOR.fraction_changed " + - "TO ST1000BEARING.set_fraction"); - System.out.println ("ROUTE MISSION_TIMESENSOR.fraction_changed " + - "TO ST1000RANGE.set_fraction"); - System.out.println ("ROUTE MISSION_TIMESENSOR.fraction_changed " + - "TO FORWARD_VERTICAL_THRUSTER.set_fraction"); - System.out.println ("ROUTE MISSION_TIMESENSOR.fraction_changed " + - "TO AFTER_VERTICAL_THRUSTER.set_fraction"); - System.out.println ("ROUTE MISSION_TIMESENSOR.fraction_changed " + - "TO FORWARD_LATERAL_THRUSTER.set_fraction"); - System.out.println ("ROUTE MISSION_TIMESENSOR.fraction_changed " + - "TO AFTER_LATERAL_THRUSTER.set_fraction"); - System.out.println (); - - System.out.println ("ROUTE TELEMETRY_POSITION.value_changed " + - "TO PHOENIX.translation"); - System.out.println ("ROUTE TELEMETRY_ORIENTATION.value_changed " + - "TO PHOENIX.rotation\n"); - - System.out.println ("ROUTE PORT_RPM.value_changed " + - "TO PHOENIX.portRpm"); - System.out.println ("ROUTE STBD_RPM.value_changed " + - "TO PHOENIX.stbdRpm\n"); - - System.out.println ("ROUTE FORWARD_RUDDERS.value_changed " + - "TO PHOENIX.forwardRudders"); - System.out.println ("ROUTE AFTER_RUDDERS.value_changed " + - "TO PHOENIX.afterRudders\n"); - System.out.println ("ROUTE FORWARD_PLANES.value_changed " + - "TO PHOENIX.forwardPlanes"); - System.out.println ("ROUTE AFTER_PLANES.value_changed " + - "TO PHOENIX.afterPlanes\n"); - - System.out.println ("ROUTE ST725BEARING.value_changed " + - "TO PHOENIX.ST725Bearing"); - System.out.println ("ROUTE ST725RANGE.value_changed " + - "TO PHOENIX.ST725Range\n"); - System.out.println ("ROUTE ST1000BEARING.value_changed " + - "TO PHOENIX.ST1000Bearing"); - System.out.println ("ROUTE ST1000RANGE.value_changed " + - "TO PHOENIX.ST1000Range\n"); - - System.out.println ("ROUTE FORWARD_VERTICAL_THRUSTER.value_changed " + - "TO PHOENIX.forwardVerticalThruster"); - System.out.println ("ROUTE AFTER_VERTICAL_THRUSTER.value_changed " + - "TO PHOENIX.afterVerticalThruster"); - System.out.println ("ROUTE FORWARD_LATERAL_THRUSTER.value_changed " + - "TO PHOENIX.forwardLateralThruster"); - System.out.println ("ROUTE AFTER_LATERAL_THRUSTER.value_changed " + - "TO PHOENIX.afterLateralThruster"); - return; - } - -/** -* Application to generate the scene, accepts telemetry filename as command-line parameter. -*/ - public static void main (String args []) throws IOException - { - // Read command line parameters - if (args.length == 1) - { - telemetryFileName = new String (args [0]); - } - else - { - trace ("application invocation:\n" + - " java TelemetryPlayback someTelemetryFileName"); - System.exit (1); - } - - // Print the VRML scene to the screen - - GenerateVrmlSceneHeaders (); - - TelemetryFileOpen (); - - telemetryLine = readNextTelemetryState (); - debug (telemetryLine); - - priorTelemetry.update (currentTelemetry); - currentTelemetry.update (telemetryLine); - debug ("prior t = " + priorTelemetry.get_t() + ", " + - "current t = " + currentTelemetry.get_t()); - - - // Print the VRML scene to the screen - - GenerateVrmlInterpolators (); - - // ?? still need a user mechanism to start the clock... - // also consider fast-speed and slow-speed timesensors here.. - - System.out.println ("}\n"); // close the VRML scene - } -} diff --git a/Submersibles/GulfOfMexicoAuvDiveSite2000/TelemetryState.java b/Submersibles/GulfOfMexicoAuvDiveSite2000/TelemetryState.java deleted file mode 100644 index 14a6f46dd8df443f892b23bb3996c6a3cf7f85fa..0000000000000000000000000000000000000000 --- a/Submersibles/GulfOfMexicoAuvDiveSite2000/TelemetryState.java +++ /dev/null @@ -1,1053 +0,0 @@ -/* - File: TelemetryState.java - Compiler: jdk1.3 - */ - -package demo.auv; - -import java.util.*; - -/** - *<p> Manipulates telemetry files. Needed: major reconciliation of variable names. - *</p><p> - * - *@version 0.7 - *</p><p> - * - *@author Don Brutzman (<a href="http://web.nps.navy.mil/~brutzman"><i>web.nps.navy.mil/~brutzman</i></a>) <a href="mailto:brutzman@nps.navy.mil(Don Brutzman)?subject=rra feedback "><i>brutzman@nps.navy.mil</i></a> - *</p><p> - * - *<dt><b>Source Code:</b></dt> - *<dd><a href="../../../demo/auv/TelemetryState.java">TelemetryState.java</a></dd> - *</p> - *<dt><b>History:</b></dt> - * - *<table> - *<tr> - * <td> 27 Nov 98 </td> - * <td> Don Brutzman </td> - * <td> Initial version </td> - *<tr> - * <td> 21 Jan 99 </td> - * <td> Don Brutzman </td> - * <td> Change packages and directories </td> - *</table> - * - *@see TelemetryPlayback - */ - -public class TelemetryState { - - static boolean DEBUG = false; - - public static void debug (String message) - { - if (DEBUG) System.out.println (message); - } - -/** -* keyword identifier -*/ -private String keyword; - -/** -* Timestamp -*/ -private float t; - -/** - * - */ -private float x; - -/** - * - */ -private float y; - -/** - * depth - */ -private float z; - -/** - * estimated depth - */ -private float z_est; - -/** - * roll - */ -private float phi; - -/** - * pitch - */ -private float theta; - -/** - * yaw - */ -private float psi; - -/** - * depth rate - */ -private float x_dot; - -/** - * depth rate - */ -private float y_dot; - -/** - * depth rate - */ -private float z_dot; - -/** - * roll rate - */ -private float phi_dot; - -/** - * pitch rate - */ -private float theta_dot; - -/** - * yaw rate - */ -private float psi_dot; - -/** - * paddlewheel speed - */ -private float speed; - -/** - * surge - */ -private float u; - -/** - * sway - */ -private float v; - -/** - * heave - */ -private float w; - -/** - * roll rate - */ -private float p; - -/** - * pitch rate - */ -private float q; - -/** - * yaw rate - */ -private float r; - - -/////////////////////////////// -/** - * - */ -private float delta_planes_bow; - -/** - * - */ -private float delta_planes_stern; - -/** - * - */ -private float delta_rudder; - -/** - * - */ -private float port_rpm; - -/** - * - */ -private float stbd_rpm; - -/** - * - */ -private float AUV_bow_vertical; - -/** - * - */ -private float AUV_stern_vertical; - -/** - * - */ -private float AUV_bow_lateral; - -/** - * - */ -private float AUV_stern_lateral; - -/** - * - */ -private float AUV_ST1000_bearing; - -/** - * - */ -private float AUV_ST1000_range; - -/** - * - */ -private float AUV_ST1000_strength; - -/** - * - */ -private float AUV_ST725_bearing; - -/** - * - */ -private float AUV_ST725_range; - -/** - * - */ -private float AUV_ST725_strength; - -/** - * - */ -private float divetracker_range1; - -/** - * - */ -private float divetracker_range2; - -/** - * - */ -private float doppler_sog_u; - -/** - * - */ -private float doppler_sog_v; - -/** - * - */ -private float doppler_stw_u; - -/** - * - */ -private float doppler_stw_v; - -/** - * - */ -private float doppler_altitude; - - -//////////////////////// - - - -/** - * rpm left screw - */ -private float n_ls; - -/** - * rpm right screw - */ -private float n_rs; - -/** - * voltage difference? left screw - */ -private float vd_ls; - -/** - * voltage difference? right screw - */ -private float vd_rs; - -/** - * delta rudder? - */ -private float dr; - -/** - * delta stern plane? (bow planes are opposite) - */ -private float ds; - -/** - * Amps of current, left screw - */ -private float AmpereLs; - -/** - * Amps of current, right screw - */ -private float AmpereRs; - -/** - * - */ -private float ADV_Id; - -/** - * Acoustic doppler velocity?, x component - */ -private float ADV_Vx; - -/** - * Acoustic doppler velocity?, y component - */ -private float ADV_Vy; - -/** - * Acoustic doppler velocity?, z component - */ -private float ADV_Vz; - -/** - * Acoustic doppler velocity?, roll - */ -private float ADV_Roll; - -/** - * Acoustic doppler velocity?, pitch - */ -private float ADV_Pitch; - -/** - * Acoustic doppler velocity?, heading - */ -private float ADV_Heading; - -/** - * x acceleration (u dot?) - */ -private float XAccel; - -/** - * y acceleration (v dot?) - */ -private float YAccel; - -/** - * z acceleration (w dot?) - */ -private float ZAccel; - -/** - * - */ -private float DS30_Id; - -/** - * U over ground - */ -private float DS30_Ug; - -/** - * V over ground - */ -private float DS30_Vg; - -/** - * - */ -private float DS30_Uf; - -/** - * - */ -private float DS30_Vf; - -/** - * - */ -private float DS30_Alt; - -/** - * Computer voltage - */ -private float CompVolt; - -/** - * Main motor voltage - */ -private float MotorVolt; - -/** - * - */ -private float RDI_Id; - -/** - * - */ -private float RDI_Ug; - -/** - * - */ -private float RDI_Vg; - -/** - * - */ -private float RDI_Wg; - -/** - * - */ -private float RDI_Uf; - -/** - * - */ -private float RDI_Vf; - -/** - * - */ -private float RDI_Wf; - -/** - * - */ -private float RDI_Alt; - -/** - * - */ -private float Nav_Id; - -/** - * - */ -private float Nav_X; - -/** - * - */ -private float Nav_Y; - -/** - * - */ -private float ADV_Amp1; - -/** - * - */ -private float ADV_Amp2; - -/** - * - */ -private float ADV_Amp3; - -/** - * - */ -private float ADV_Cor1; - -/** - * - */ -private float ADV_Cor2; - -/** - * - */ -private float ADV_Cor3; - -/** -* No action needed for default constructor -*/ - -public TelemetryState () { } // - - -public void set_t (float value) { t = value; } -public float get_t () { return t; } - -public void set_x (float value) { x = value; } -public float get_x () { return x; } - -public void set_y (float value) { y = value; } -public float get_y () { return y; } - -public void set_z (float value) { z = value; } -public float get_z () { return z; } - -public void set_z_est (float value) { z_est = value; } -public float get_z_est () { return z_est; } - -public void set_phi (float value) { phi = value; } -public float get_phi () { return phi; } - -public void set_theta (float value) { theta = value; } -public float get_theta () { return theta; } - -public void set_psi (float value) { psi = value; } -public float get_psi () { return psi; } - -public void set_x_dot (float value) { x_dot = value; } -public float get_x_dot () { return x_dot; } - -public void set_y_dot (float value) { y_dot = value; } -public float get_y_dot () { return y_dot; } - -public void set_z_dot (float value) { z_dot = value; } -public float get_z_dot () { return z_dot; } - -public void set_phi_dot (float value) { phi_dot = value; } -public float get_phi_dot () { return phi_dot; } - -public void set_theta_dot (float value) { theta_dot = value; } -public float get_theta_dot () { return theta_dot; } - -public void set_psi_dot (float value) { psi_dot = value; } -public float get_psi_dot () { return psi_dot; } - -public void set_speed (float value) { speed = value; } -public float get_speed () { return speed; } - -public void set_u (float value) { u = value; } -public float get_u () { return u; } - -public void set_v (float value) { v = value; } -public float get_v () { return v; } - -public void set_w (float value) { w = value; } -public float get_w () { return w; } - -public void set_p (float value) { p = value; } -public float get_p () { return p; } - -public void set_q (float value) { q = value; } -public float get_q () { return q; } - -public void set_r (float value) { r = value; } -public float get_r () { return r; } - -//////////// - -public void set_delta_planes_bow (float value) { delta_planes_bow = value; } -public float get_delta_planes_bow () { return delta_planes_bow; } - -public void set_delta_planes_stern (float value) { delta_planes_stern = value; } -public float get_delta_planes_stern () { return delta_planes_stern; } - -public void set_delta_rudder (float value) { delta_rudder = value; } -public float get_delta_rudder () { return delta_rudder; } - -public void set_port_rpm (float value) { port_rpm = value; } -public float get_port_rpm () { return port_rpm; } - -public void set_stbd_rpm (float value) { stbd_rpm = value; } -public float get_stbd_rpm () { return stbd_rpm; } - -public void set_AUV_bow_vertical (float value) { AUV_bow_vertical = value; } -public float get_AUV_bow_vertical () { return AUV_bow_vertical; } - -public void set_AUV_stern_vertical (float value) { AUV_stern_vertical = value; } -public float get_AUV_stern_vertical () { return AUV_stern_vertical; } - -public void set_AUV_bow_lateral (float value) { AUV_bow_lateral = value; } -public float get_AUV_bow_lateral () { return AUV_bow_lateral; } - -public void set_AUV_stern_lateral (float value) { AUV_stern_lateral = value; } -public float get_AUV_stern_lateral () { return AUV_stern_lateral; } - -public void set_AUV_ST1000_bearing (float value) { AUV_ST1000_bearing = value; } -public float get_AUV_ST1000_bearing () { return AUV_ST1000_bearing; } - -public void set_AUV_ST1000_range (float value) { AUV_ST1000_range = value; } -public float get_AUV_ST1000_range () { return AUV_ST1000_range; } - -public void set_AUV_ST1000_strength (float value) { AUV_ST1000_strength = value; } -public float get_AUV_ST1000_strength () { return AUV_ST1000_strength; } - -public void set_AUV_ST725_bearing (float value) { AUV_ST725_bearing = value; } -public float get_AUV_ST725_bearing () { return AUV_ST725_bearing; } - -public void set_AUV_ST725_range (float value) { AUV_ST725_range = value; } -public float get_AUV_ST725_range () { return AUV_ST725_range; } - -public void set_AUV_ST725_strength (float value) { AUV_ST725_strength = value; } -public float get_AUV_ST725_strength () { return AUV_ST725_strength; } - -public void set_divetracker_range1 (float value) { divetracker_range1 = value; } -public float get_divetracker_range1 () { return divetracker_range1; } - -public void set_divetracker_range2 (float value) { divetracker_range2 = value; } -public float get_divetracker_range2 () { return divetracker_range2; } - -public void set_doppler_sog_u (float value) { doppler_sog_u = value; } -public float get_doppler_sog_u () { return doppler_sog_u; } - -public void set_doppler_sog_v (float value) { doppler_sog_v = value; } -public float get_doppler_sog_v () { return doppler_sog_v; } - -public void set_doppler_stw_u (float value) { doppler_stw_u = value; } -public float get_doppler_stw_u () { return doppler_stw_u; } - -public void set_doppler_stw_v (float value) { doppler_stw_v = value; } -public float get_doppler_stw_v () { return doppler_stw_v; } - -public void set_n_ls (float value) { n_ls = value; } -public float get_n_ls() { return n_ls; } - -public void set_n_rs (float value) { n_rs = value; } -public float get_n_rs () { return n_rs; } - -public void set_vd_ls (float value) { vd_ls = value; } -public float get_vd_ls () { return vd_ls; } - -public void set_vd_rs (float value) { vd_rs = value; } -public float get_vd_rs () { return vd_rs; } - -public void set_dr (float value) { dr = value; } -public float get_dr () { return dr; } - -public void set_ds (float value) { ds = value; } -public float get_ds () { return ds; } - -public void set_AmpereLs (float value) { AmpereLs = value; } -public float get_AmpereLs () { return AmpereLs; } - -public void set_AmpereRs (float value) { AmpereRs = value; } -public float get_AmpereRs () { return AmpereRs; } - -public void set_ADV_Id (float value) { ADV_Id = value; } -public float get_ADV_Id () { return ADV_Id; } - -public void set_ADV_Vx (float value) { ADV_Vx = value; } -public float get_ADV_Vx () { return ADV_Vx; } - -public void set_ADV_Vy (float value) { ADV_Vy = value; } -public float get_ADV_Vy () { return ADV_Vy; } - -public void set_ADV_Vz (float value) { ADV_Vz = value; } -public float get_ADV_Vz () { return ADV_Vz; } - -public void set_ADV_Roll (float value) { ADV_Roll = value; } -public float get_ADV_Roll () { return ADV_Roll; } - -public void set_ADV_Pitch (float value) { ADV_Pitch = value; } -public float get_ADV_Pitch () { return ADV_Pitch; } - -public void set_ADV_Heading (float value) { ADV_Heading = value; } -public float get_ADV_Heading () { return ADV_Heading; } - -public void set_XAccel (float value) { XAccel = value; } -public float get_XAccel () { return XAccel; } - -public void set_YAccel (float value) { YAccel = value; } -public float get_YAccel () { return YAccel; } - -public void set_ZAccel (float value) { ZAccel = value; } -public float get_ZAccel () { return ZAccel; } - -public void set_DS30_Id (float value) { DS30_Id = value; } -public float get_DS30_Id () { return DS30_Id; } - -public void set_DS30_Ug (float value) { DS30_Ug = value; } -public float get_DS30_Ug () { return DS30_Ug; } - -public void set_DS30_Vg (float value) { DS30_Vg = value; } -public float get_DS30_Vg () { return DS30_Vg; } - -public void set_DS30_Uf (float value) { DS30_Uf = value; } -public float get_DS30_Uf () { return DS30_Uf; } - -public void set_DS30_Vf (float value) { DS30_Vf = value; } -public float get_DS30_Vf () { return DS30_Vf; } - -public void set_DS30_Alt (float value) { DS30_Alt = value; } -public float get_DS30_Alt () { return DS30_Alt; } - -public void set_CompVolt (float value) { CompVolt = value; } -public float get_CompVolt () { return CompVolt; } - -public void set_MotorVolt (float value) { MotorVolt = value; } -public float get_MotorVolt () { return MotorVolt; } - -public void set_RDI_Id (float value) { RDI_Id = value; } -public float get_RDI_Id () { return RDI_Id; } - -public void set_RDI_Ug (float value) { RDI_Ug = value; } -public float get_RDI_Ug () { return RDI_Ug; } - -public void set_RDI_Vg (float value) { RDI_Vg = value; } -public float get_RDI_Vg () { return RDI_Vg; } - -public void set_RDI_Wg (float value) { RDI_Wg = value; } -public float get_RDI_Wg () { return RDI_Wg; } - -public void set_RDI_Uf (float value) { RDI_Uf = value; } -public float get_RDI_Uf () { return RDI_Uf; } - -public void set_RDI_Vf (float value) { RDI_Vf = value; } -public float get_RDI_Vf () { return RDI_Vf; } - -public void set_RDI_Wf (float value) { RDI_Wf = value; } -public float get_RDI_Wf () { return RDI_Wf; } - -public void set_RDI_Alt (float value) { RDI_Alt = value; } -public float get_RDI_Alt () { return RDI_Alt; } - -public void set_Nav_Id (float value) { Nav_Id = value; } -public float get_Nav_Id () { return Nav_Id; } - -public void set_Nav_X (float value) { Nav_X = value; } -public float get_Nav_X () { return Nav_X; } - -public void set_Nav_Y (float value) { Nav_Y = value; } -public float get_Nav_Y () { return Nav_Y; } - -public void set_ADV_Amp1 (float value) { ADV_Amp1 = value; } -public float get_ADV_Amp1 () { return ADV_Amp1; } - -public void set_ADV_Amp2 (float value) { ADV_Amp2 = value; } -public float get_ADV_Amp2 () { return ADV_Amp2; } - -public void set_ADV_Amp3 (float value) { ADV_Amp3 = value; } -public float get_ADV_Amp3 () { return ADV_Amp3; } - -public void set_ADV_Cor1 (float value) { ADV_Cor1 = value; } -public float get_ADV_Cor1 () { return ADV_Cor1; } - -public void set_ADV_Cor2 (float value) { ADV_Cor2 = value; } -public float get_ADV_Cor2 () { return ADV_Cor2; } - -public void set_ADV_Cor3 (float value) { ADV_Cor3 = value; } -public float get_ADV_Cor3 () { return ADV_Cor3; } - -//////////////////// - -public boolean update (String newTelemetryLine) -{ - StringTokenizer tokens = new StringTokenizer( newTelemetryLine ); - int elementCount = tokens.countTokens(); - -if (elementCount == 37) // auv uvw mission.output.telemetry - { - keyword = new String(tokens.nextToken()); - if (keyword.charAt(0) == '#') return false; // comment - set_t (Float.parseFloat(tokens.nextToken())); - set_x (Float.parseFloat(tokens.nextToken())); - set_y (Float.parseFloat(tokens.nextToken())); - set_z (Float.parseFloat(tokens.nextToken())); - set_phi (Float.parseFloat(tokens.nextToken())); - set_theta (Float.parseFloat(tokens.nextToken())); - set_psi (Float.parseFloat(tokens.nextToken())); - set_speed (Float.parseFloat(tokens.nextToken())); - set_u (Float.parseFloat(tokens.nextToken())); - set_v (Float.parseFloat(tokens.nextToken())); - set_w (Float.parseFloat(tokens.nextToken())); - set_p (Float.parseFloat(tokens.nextToken())); - set_q (Float.parseFloat(tokens.nextToken())); - set_r (Float.parseFloat(tokens.nextToken())); - set_x_dot (Float.parseFloat(tokens.nextToken())); - set_y_dot (Float.parseFloat(tokens.nextToken())); - set_z_dot (Float.parseFloat(tokens.nextToken())); - set_phi_dot (Float.parseFloat(tokens.nextToken())); - set_theta_dot (Float.parseFloat(tokens.nextToken())); - set_psi_dot (Float.parseFloat(tokens.nextToken())); - set_delta_rudder (Float.parseFloat(tokens.nextToken())); - set_delta_planes_bow (Float.parseFloat(tokens.nextToken())); - set_delta_planes_stern (delta_planes_bow); - set_port_rpm (Float.parseFloat(tokens.nextToken())); - set_stbd_rpm (Float.parseFloat(tokens.nextToken())); - set_AUV_bow_vertical (Float.parseFloat(tokens.nextToken())); - set_AUV_stern_vertical (Float.parseFloat(tokens.nextToken())); - set_AUV_bow_lateral (Float.parseFloat(tokens.nextToken())); - set_AUV_stern_lateral (Float.parseFloat(tokens.nextToken())); - set_AUV_ST1000_bearing (Float.parseFloat(tokens.nextToken())); - set_AUV_ST1000_range (Float.parseFloat(tokens.nextToken())); - set_AUV_ST1000_strength (Float.parseFloat(tokens.nextToken())); - set_AUV_ST725_bearing (Float.parseFloat(tokens.nextToken())); - set_AUV_ST725_range (Float.parseFloat(tokens.nextToken())); - set_AUV_ST725_strength (Float.parseFloat(tokens.nextToken())); - set_divetracker_range1 (Float.parseFloat(tokens.nextToken())); - set_divetracker_range2 (Float.parseFloat(tokens.nextToken())); - - debug ("t=" + get_t() + ", x=" + get_x () - + ", y=" + get_y () + ", z=" + get_z ()); - } - else if (elementCount == 45) // Gulf of Mexico telemetry.d - { - set_t (Float.parseFloat(tokens.nextToken())); - set_z_est (Float.parseFloat(tokens.nextToken())); - set_z_dot (Float.parseFloat(tokens.nextToken())); - set_p (Float.parseFloat(tokens.nextToken())); - set_theta (Float.parseFloat(tokens.nextToken())); - set_q (Float.parseFloat(tokens.nextToken())); - set_psi (Float.parseFloat(tokens.nextToken())); - set_r (Float.parseFloat(tokens.nextToken())); - set_n_ls (Float.parseFloat(tokens.nextToken())); - set_n_rs (Float.parseFloat(tokens.nextToken())); - set_vd_ls (Float.parseFloat(tokens.nextToken())); - set_vd_rs (Float.parseFloat(tokens.nextToken())); - set_dr (Float.parseFloat(tokens.nextToken())); - set_ds (Float.parseFloat(tokens.nextToken())); - set_AmpereLs (Float.parseFloat(tokens.nextToken())); - set_AmpereRs (Float.parseFloat(tokens.nextToken())); - set_ADV_Id (Float.parseFloat(tokens.nextToken())); - set_ADV_Vx (Float.parseFloat(tokens.nextToken())); - set_ADV_Vy (Float.parseFloat(tokens.nextToken())); - set_ADV_Vz (Float.parseFloat(tokens.nextToken())); - set_ADV_Roll (Float.parseFloat(tokens.nextToken())); - set_ADV_Pitch (Float.parseFloat(tokens.nextToken())); - set_ADV_Heading (Float.parseFloat(tokens.nextToken())); - set_XAccel (Float.parseFloat(tokens.nextToken())); - set_YAccel (Float.parseFloat(tokens.nextToken())); - set_ZAccel (Float.parseFloat(tokens.nextToken())); -// set_DS30_Id (Float.parseFloat(tokens.nextToken())); -// set_DS30_Ug (Float.parseFloat(tokens.nextToken())); -// set_DS30_Vg (Float.parseFloat(tokens.nextToken())); -// set_DS30_Uf (Float.parseFloat(tokens.nextToken())); -// set_DS30_Vf (Float.parseFloat(tokens.nextToken())); -// set_DS30_Alt (Float.parseFloat(tokens.nextToken())); - set_RDI_Id (Float.parseFloat(tokens.nextToken())); - set_RDI_Ug (Float.parseFloat(tokens.nextToken())); - set_RDI_Vg (Float.parseFloat(tokens.nextToken())); - set_RDI_Wg (Float.parseFloat(tokens.nextToken())); - set_RDI_Uf (Float.parseFloat(tokens.nextToken())); - set_RDI_Vf (Float.parseFloat(tokens.nextToken())); - set_RDI_Wf (Float.parseFloat(tokens.nextToken())); - set_RDI_Alt (Float.parseFloat(tokens.nextToken())); - set_Nav_Id (Float.parseFloat(tokens.nextToken())); - set_Nav_X (Float.parseFloat(tokens.nextToken())); - set_Nav_Y (Float.parseFloat(tokens.nextToken())); - set_CompVolt (Float.parseFloat(tokens.nextToken())); - set_MotorVolt (Float.parseFloat(tokens.nextToken())); - set_ADV_Amp1 (Float.parseFloat(tokens.nextToken())); - set_ADV_Amp2 (Float.parseFloat(tokens.nextToken())); - set_ADV_Amp3 (Float.parseFloat(tokens.nextToken())); - set_ADV_Cor1 (Float.parseFloat(tokens.nextToken())); - set_ADV_Cor2 (Float.parseFloat(tokens.nextToken())); - set_ADV_Cor3 (Float.parseFloat(tokens.nextToken())); -/* -From: marco@me.nps.navy.mil (David Marco) Mon 9:26 AM, 23 NOV 98 -Subject: Re: telemetry file problems - - - n_ls, n_rs [=] Rotation/Sec - z_est (depth) Feet - All other linear units are meters - Also we no longer have the speed wheel. - - David Marco, PhD. -*/ - -// convert to state variables used by virtual world / VRML interpolators -// set_t (); - set_x (Nav_X * 3.275f); // convert meters to feet - set_y (Nav_Y * 3.275f); // convert meters to feet - set_z (z_est); // already in feet - set_phi (ADV_Roll * 180.0f / 3.141592653f); // convert radians to degrees -// set_theta (ADV_Pitch * 180.0f / 3.141592653f); // note theta already recorded - set_theta (get_theta () * 180.0f / 3.141592653f); // convert radians to degrees -// set_psi (ADV_Heading * 180.0f / 3.141592653f); // note psi already recorded - set_psi (get_psi () * 180.0f / 3.141592653f); // convert radians to degrees -// set_speed (); - set_u (RDI_Ug * 3.275f); // convert meters to feet - set_v (RDI_Vg * 3.275f); // convert meters to feet - set_w (RDI_Wf * 3.275f); // convert meters to feet - set_p (get_p () * 180.0f / 3.141592653f); // convert radians/sec to degrees/sec - set_q (get_q () * 180.0f / 3.141592653f); // convert radians/sec to degrees/sec - set_r (get_r () * 180.0f / 3.141592653f); // convert radians/sec to degrees/sec -// set_x_dot (); -// set_y_dot (); -// set_z_dot (); -// set_phi_dot (); -// set_theta_dot (); -// set_psi_dot (); - set_delta_rudder (dr * 180.0f / 3.141592653f); // convert radians to degrees - set_delta_planes_bow (ds * 180.0f / 3.141592653f); // convert radians to degrees - set_delta_planes_stern (get_delta_planes_bow ()); - set_port_rpm (n_ls * 60.0f); // convert revolutions/second to rpm - set_stbd_rpm (n_rs * 60.0f); // convert revolutions/second to rpm -// set_AUV_bow_vertical (); -// set_AUV_stern_vertical (); -// set_AUV_bow_lateral (); -// set_AUV_stern_lateral (); -// set_AUV_ST1000_bearing (); -// set_AUV_ST1000_range (); -// set_AUV_ST1000_strength (); -// set_AUV_ST725_bearing (); -// set_AUV_ST725_range (); -// set_AUV_ST725_strength (); -// set_divetracker_range1 (); -// set_divetracker_range2 (); - } - else - { - System.out.println ("invalid string, only " + elementCount + " elements"); - return false; - } - -// if ( tokens.hasMoreTokens() ) -// debug ( tokens.countTokens() + " unused tokens remaining" ); - -/* -RDI_Id -RDI_Ug -RDI_Vg -RDI_Wg -RDI_Uf -RDI_Vf -RDI_Wf -RDI_Alt -Nav_Id -Nav_X -Nav_Y -ADV_Amp1 -ADV_Amp2 -ADV_Amp3 -ADV_Cor1 -ADV_Cor2 -ADV_Cor3 -*/ - - - - return true; -} - -public void update (TelemetryState newTelemetryState) -{ - set_t (newTelemetryState.get_t()); - set_x (newTelemetryState.get_x()); - set_y (newTelemetryState.get_y()); - set_z (newTelemetryState.get_z()); - set_z_est (newTelemetryState.get_z_est()); - set_phi (newTelemetryState.get_phi()); - set_theta (newTelemetryState.get_theta()); - set_psi (newTelemetryState.get_psi()); - set_speed (newTelemetryState.get_speed()); - set_u (newTelemetryState.get_u()); - set_v (newTelemetryState.get_v()); - set_w (newTelemetryState.get_w()); - set_p (newTelemetryState.get_p()); - set_q (newTelemetryState.get_q()); - set_r (newTelemetryState.get_r()); - set_x_dot (newTelemetryState.get_x_dot()); - set_y_dot (newTelemetryState.get_y_dot()); - set_z_dot (newTelemetryState.get_z_dot()); - set_phi_dot (newTelemetryState.get_phi_dot()); - set_theta_dot (newTelemetryState.get_theta_dot()); - set_psi_dot (newTelemetryState.get_psi_dot()); - set_delta_rudder (newTelemetryState.get_delta_rudder()); - set_delta_planes_bow (newTelemetryState.get_delta_planes_bow()); - set_delta_planes_stern (delta_planes_bow); - set_port_rpm (newTelemetryState.get_port_rpm()); - set_stbd_rpm (newTelemetryState.get_stbd_rpm()); - - set_AUV_bow_vertical (newTelemetryState.get_AUV_bow_vertical()); - set_AUV_stern_vertical (newTelemetryState.get_AUV_stern_vertical()); - set_AUV_bow_lateral (newTelemetryState.get_AUV_bow_lateral()); - set_AUV_stern_lateral (newTelemetryState.get_AUV_stern_lateral()); - set_AUV_ST725_bearing (newTelemetryState.get_AUV_ST725_bearing()); - set_AUV_ST725_range (newTelemetryState.get_AUV_ST725_range()); - set_AUV_ST725_strength (newTelemetryState.get_AUV_ST725_strength()); - set_AUV_ST1000_bearing (newTelemetryState.get_AUV_ST1000_bearing()); - set_AUV_ST1000_range (newTelemetryState.get_AUV_ST1000_range()); - set_AUV_ST1000_strength (newTelemetryState.get_AUV_ST1000_strength()); - - set_n_ls (newTelemetryState.get_n_ls()); - set_n_rs (newTelemetryState.get_n_rs()); - set_vd_ls (newTelemetryState.get_vd_ls()); - set_vd_rs (newTelemetryState.get_vd_rs()); - set_dr (newTelemetryState.get_dr()); - set_ds (newTelemetryState.get_ds()); - set_AmpereLs (newTelemetryState.get_AmpereLs()); - set_AmpereRs (newTelemetryState.get_AmpereRs()); - set_ADV_Id (newTelemetryState.get_ADV_Id()); - set_ADV_Vx (newTelemetryState.get_ADV_Vx()); - set_ADV_Vy (newTelemetryState.get_ADV_Vy()); - set_ADV_Vz (newTelemetryState.get_ADV_Vz()); - set_ADV_Roll (newTelemetryState.get_ADV_Roll()); - set_ADV_Pitch (newTelemetryState.get_ADV_Pitch()); - set_ADV_Heading (newTelemetryState.get_ADV_Heading()); - set_XAccel (newTelemetryState.get_XAccel()); - set_YAccel (newTelemetryState.get_YAccel()); - set_ZAccel (newTelemetryState.get_ZAccel()); - set_DS30_Id (newTelemetryState.get_DS30_Id()); - set_DS30_Ug (newTelemetryState.get_DS30_Ug()); - set_DS30_Vg (newTelemetryState.get_DS30_Vg()); - set_DS30_Uf (newTelemetryState.get_DS30_Uf()); - set_DS30_Vf (newTelemetryState.get_DS30_Vf()); - set_DS30_Alt (newTelemetryState.get_DS30_Alt()); - set_CompVolt (newTelemetryState.get_CompVolt()); - set_MotorVolt (newTelemetryState.get_MotorVolt()); -} - - -/* -t -z_est -z_dot -p -theta -q -psi -r -n_ls -n_rs -vd_ls -vd_rs -dr -ds -AmpereLs -AmpereRs -ADV_Id -ADV_Vx -ADV_Vy -ADV_Vz -ADV_Roll -ADV_Pitch -ADV_Heading -XAccel -YAccel -ZAccel -DS30_Id -DS30_Ug -DS30_Vg -DS30_Uf -DS30_Vf -DS30_Alt -CompVolt -MotorVolt -*/ - -} diff --git a/Tools/Animation/_viewpoints/HiddenViewpointPrototype.x3d._VP_Default_viewpoint.png b/Tools/Animation/_viewpoints/HiddenViewpointPrototype.x3d._VP_Default_viewpoint.png index 47128a88d80b6e3a1a53dd2d679d7ff200da5482..9c56aeb1dc1eff457d370d1cf17ff89ced879e4b 100644 Binary files a/Tools/Animation/_viewpoints/HiddenViewpointPrototype.x3d._VP_Default_viewpoint.png and b/Tools/Animation/_viewpoints/HiddenViewpointPrototype.x3d._VP_Default_viewpoint.png differ diff --git a/Tools/Animation/_viewpoints/SliderFloatPrototype.x3d._VP_Default_viewpoint.png b/Tools/Animation/_viewpoints/SliderFloatPrototype.x3d._VP_Default_viewpoint.png index 8ba21f1990c8dd9a21f52391a2a43372b908b018..0aa269b9fe9cac554bd5e89e66afc221619e4646 100644 Binary files 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1:46 AM - * Revised 24-26 January 2005, Don Brutzman - * Revised 23 February 2005, Don Brutzman - * Revised 4 January 2006, Don Brutzman - * Revised 3 January 2007, Don Brutzman - */ - -import java.awt.*; -import java.awt.event.*; -import java.awt.image.*; -import java.io.*; - -/** - * - * @author Louis Gutierrez - * @author Don Brutzman - * References: - * http://java.sun.com/j2se/1.4.2/docs/api/java/awt/image/PixelGrabber.html - * http://www.geocities.com/marcoschmidt.geo/java-image-file-code-examples.html - */ - -public class PixelTextureGenerator extends Frame -{ - private Image image; - private File outputFile; - private FileWriter out; - private int height, width; - private String outputFilename; - - static String UsageMessage = "usage: java PixelTextureGenerator imageName.ext [outputSceneName.x3d]"; - - public PixelTextureGenerator(String imageFilename, String pOutputFilename) throws IOException - { - try - { - String name = ""; - Toolkit toolkit = Toolkit.getDefaultToolkit(); - image = toolkit.getImage(imageFilename); - MediaTracker mediaTracker = new MediaTracker(this); - mediaTracker.addImage(image, 0); - try - { - mediaTracker.waitForID(0); //makes sure image loads - } - catch (InterruptedException ie) - { - System.err.println(ie); - System.exit(1); - } - - //string manipulation for output file and header - name = imageFilename.substring(imageFilename.lastIndexOf("\\")+1,imageFilename.lastIndexOf(".")); - if (pOutputFilename.length() == 0) - { - outputFilename = name + "PixelTexture.x3d"; - } - else outputFilename = pOutputFilename; - - // System.out.println ("[outputFilename=" + outputFilename + "]"); - - System.out.print (".."); - outputFile = new File( outputFilename ); - out = new FileWriter( outputFile ); - System.out.print ("."); - - width = image.getWidth (null); - height = image.getHeight(null); - header(outputFilename, imageFilename, width, height); - handlePixels(image, 0, 0, width, height); - footer(width, height); - System.out.println ("created " + outputFile); - } - catch (Exception e) - { - System.err.println(e); - System.exit(1); - } - } - - -/** - * This method uses pixelGrabber to grab pixels from an image and then each pixel is - * manipulated into a hex string and written to file. - */ - public void handlePixels(Image img, int x, int y, int imageWidth, int imageHeight) throws IOException - { - try - { - out.write(imageWidth + " " + imageHeight + " " + "3 "); //default is 256*256*256 colors - out.write("\n"); - int[] pixels = new int[imageWidth * imageHeight]; //array of pixels to grab - PixelGrabber pg = new PixelGrabber(img, x, y, imageWidth, imageHeight, pixels, 0, imageWidth); - try { - pg.grabPixels(); - } catch (InterruptedException e) { - System.err.println("[Error] interrupted waiting for pixels!"); - return; - } - if ((pg.getStatus() & ImageObserver.ABORT) != 0) { - System.err.println("[Error] image fetch abort or error"); - return; - } - //cycles through the array of pixels - // SFImage: Pixels are specified from left to right, bottom to top - // for (int j = 0; j < imageHeight; j++) { - for (int j = imageHeight - 1; j >= 0; j--) { - for (int i = 0; i < imageWidth; i++) { - handleSinglePixel(x+i, y+j, pixels[j * imageWidth + i]); - } - // break long lines of pixels for countability and to help some parsers/editors - out.write("\n"); - } - out.flush(); - } - catch (Exception e) - { - System.err.println (e); - } - } - -/** - * This method translates the integer value passed by pixeGrabber into - * alpha, red, green, and blue. It then converts these integers to a hex - * string. - */ - public void handleSinglePixel(int x, int y, int pixel) throws IOException{ - //translates pixel integer - int alpha = (pixel >> 24) & 0xff; - int red = (pixel >> 16) & 0xff; - int green = (pixel >> 8) & 0xff; - int blue = (pixel ) & 0xff; - - //converts to hex - hexConverter(red,green, blue); - } - -/** - * This method produces a string that represents a 6 digit hex value - * and writes it to file. - */ - public void hexConverter(int r,int g,int b) throws IOException{ - String temp = "0x"; - - temp += hexCase(r/16); - temp += hexCase(r%16); - temp += hexCase(g/16); - temp += hexCase(g%16); - temp += hexCase(b/16); - temp += hexCase(b%16); - - //writes hex value to file - out.write(temp + " "); - } - -/** - * pThis method simply changes standard form into hex - */ - public char hexCase(int c) { - char out='Z'; - switch (c) { - case 0: out = '0'; break; - case 1: out = '1'; break; - case 2: out = '2'; break; - case 3: out = '3'; break; - case 4: out = '4'; break; - case 5: out = '5'; break; - case 6: out = '6'; break; - case 7: out = '7'; break; - case 8: out = '8'; break; - case 9: out = '9'; break; - case 10: out = 'A'; break; - case 11: out = 'B'; break; - case 12: out = 'C'; break; - case 13: out = 'D'; break; - case 14: out = 'E'; break; - case 15: out = 'F'; break; - default: System.out.println("incorrect color value"); - } - return out; - } - -/** - * This method writes the header information to file - */ - public void header(String outputFileName, String imageFilename, int x, int y) throws IOException{ - out.write("<?xml version='1.0' encoding='UTF-8'?>\n"); - // final DOCTYPE - out.write("<!DOCTYPE X3D PUBLIC \"ISO//Web3D//DTD X3D 3.1//EN\" \"http://www.web3d.org/specifications/x3d-3.1.dtd\">\n"); - out.write("<X3D version='3.1' profile='Interactive'\n"); - out.write(" xmlns:xsd='http://www.w3.org/2001/XMLSchema-instance' xsd:noNamespaceSchemaLocation='http://www.web3d.org/specifications/x3d-3.0.xsd'>\n"); - out.write(" <head>\n"); - out.write(" <meta content='" + outputFileName + "' name='title'/>\n"); - out.write(" <meta content='" + imageFilename + "' name='image'/>\n"); - out.write(" <meta content='Image converted from binary format into an X3D PixelTexture.' name='description'/>\n"); - out.write(" <!-- edit default meta tag entries to document this converted scene -->\n"); - out.write(" <meta content='*enter name of original author here*' name='creator'/>\n"); - out.write(" <meta content='*if manually translating image-to-X3D, enter name of person translating here*' name='translator'/>\n"); - out.write(" <meta content='*enter date*' name='created'/>\n"); - out.write(" <meta content='*enter date*' name='translated'/>\n"); - out.write(" <meta content='*enter date*' name='modified'/>\n"); - out.write(" <meta content='*enter version here, if any*' name='version'/>\n"); - out.write(" <meta content='*enter reference citation or relative/online url here*' name='reference'/>\n"); - out.write(" <meta content='*enter additional url/bibliographic reference information here*' name='reference'/>\n"); - out.write(" <meta content='*enter copyright information here* Example: Copyright (c) Web3D Consortium Inc. 2002*' name='rights'/>\n"); - out.write(" <meta content='*enter drawing filename/url here*' name='drawing'/>\n"); - out.write(" <meta content='*enter image filename/url here*' name='image'/>\n"); - out.write(" <meta content='*enter photo filename/url here*' name='photo'/>\n"); - out.write(" <meta content='*enter subject keywords here*' name='subject'/>\n"); - out.write(" <meta content='*enter permission statements or url here*' name='permissions'/>\n"); - out.write(" <meta content='*insert any known warnings, bugs or errors here*' name='warning'/>\n"); - out.write(" <meta content='http://*enter online url address for this file here*/" + outputFileName + "' name='identifier'/>\n"); - out.write(" <meta content='http://web.nps.navy.mil/~brutzman/Savage/Tools/Authoring/PixelTextureGenerator.java' name='generator'/>\n"); - out.write(" <meta content='http://java.sun.com/j2se/1.4.2/docs/api/java/awt/image/PixelGrabber.html' name='reference'/>\n"); - out.write(" <meta content='http://www.web3d.org/x3d/specifications/ISO-IEC-19775-IS-X3DAbstractSpecification/Part01/fieldsDef.html#SFImage' name='reference'/>\n"); - out.write(" <meta content='http://www.web3d.org/x3d/specifications/ISO-IEC-19775-IS-X3DAbstractSpecification/Part01/components/texturing.html#Texturecoordinates' name='reference'/>\n"); - out.write(" <meta content='http://www.web3d.org/x3d/specifications/ISO-IEC-19775-IS-X3DAbstractSpecification/Part01/components/texturing.html#PixelTexture' name='reference'/>\n"); - out.write(" <meta content='http://www.web3d.org/x3d/content/examples/Vrml2.0Sourcebook/Chapter17-Textures/_pages/page13.html' name='reference'/>\n"); - out.write(" </head>\n"); - out.write(" <Scene>\n"); - out.write(" <Viewpoint position='0 0 1.5' description='PixelTexture version of image " + imageFilename + "'/>\n"); - out.write(" <!-- Apply the possibly non-square image to square geometry, then scale geometry to match original image aspect ratio -->\n"); - out.write(" <Transform translation='-0.5 " + (-0.5 * ((float)y / (float)x)) + " 0' " + - "scale='1 " + ((float)y / (float)x) + " 1'>\n"); - out.write(" <Anchor url='" + imageFilename + "' description='Click to view original image " + imageFilename + "' parameter='target=_blank'>\n"); - out.write(" <Shape>\n"); - out.write(" <!-- double-sided texture since solid='false' -->\n"); - out.write(" <IndexedFaceSet coordIndex='0 1 2 3' ccw='true' solid='false'>\n"); - out.write(" <Coordinate point='0 0 0, 1 0 0, 1 1 0, 0 1 0'/>\n"); - out.write(" </IndexedFaceSet>\n"); - out.write(" <Appearance>\n"); - out.write(" <Material diffuseColor='0.7 0.7 0.7'/>\n"); - out.write(" <PixelTexture image='"); - out.flush(); - } - -/** - * public void footer(int x, int y) throws IOException - * This method writes the footer information to file - */ - public void footer(int x, int y) throws IOException{ - out.write("'/>\n"); - out.write(" </Appearance>\n"); - out.write(" </Shape>\n"); - out.write(" </Anchor>\n"); - out.write(" </Transform>\n"); - out.write(" </Scene>\n"); - out.write("</X3D>\n"); - out.flush(); - } - -/** - * public void closeFile() throws IOException - * This method closes the output file - */ - public void closeFile() throws IOException{ - out.flush(); - out.close(); - System.exit(0); - } - - - public static void main(String[] args) throws IOException - { - if ((args!= null) && (args.length == 1)) - { - PixelTextureGenerator gen = new PixelTextureGenerator(args[0], new String("")); - } - else if ((args!= null) && (args.length == 2)) - { - PixelTextureGenerator gen = new PixelTextureGenerator(args[0], args[1]); - } - else - { - System.out.println (UsageMessage); - System.exit 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