loc3d_Thode

Class TowedArray3DLocalization

java.lang.Object

PamDetection.AbstractLocalisation

loc3d_Thode.TowedArray3DLocalization

public class TowedArray3DLocalization
extends AbstractLocalisation

Author:

Aaron Thode

Field Summary

Fields inherited from class PamDetection.AbstractLocalisation

HAS_AMBIGUITY, HAS_BEARING, HAS_BEARINGERROR, HAS_DEPTH, HAS_DEPTHERROR, HAS_LATLONG, HAS_PERPENDICULARERRORS, HAS_RANGE, HAS_RANGEERROR, HAS_XY, HAS_XYZ

Constructor Summary

Constructors

Constructor and Description
TowedArray3DLocalization(TowedArray3DDataUnit towedArray3DDataUnit, int locContents, int referenceHydrophones)

Method Summary

Methods

Modifier and Type	Method and Description
boolean	bearingAmbiguity()
double	getBearing(int iBearing) Get the bearing in radians, relative to the bearing reference
double	getBearingReference() Get the reference bearing in radians.
double	getDepth()
double	getDepth(int iSide)
double	getHeading(int iHeading)
LatLong	getLatLong(int iSide) Return the latlong for a location.
int	getLocContents()
PamDataUnit	getParentDetection()
double	getRange(int iRange) Get the range for a specific side (where ambiguity exists)
int	getReferenceHydrophones()
double	getTilt(int iTilt)

Methods inherited from class PamDetection.AbstractLocalisation

addLocContents, getAngleErrors, getAngles, getArrayOrientationVectors, getBearing, getBearingError, getBearingError, getDepthError, getDepthError, getErrorDirection, getNumLatLong, getOriginLatLong, getParallelError, getPerpendiculaError, getPlanarAngles, getPlanarVector, getRange, getRangeError, getRangeError, getRealWorldVectors, getSubArrayType, getTimeDelayErrors, getTimeDelays, getWorldVectors, hasLocContent, indexM1, indexM2, removeLocContents, setArrayAxis, setLocContents, setParentDetection, setReferenceHydrophones, setSubArrayType

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

TowedArray3DLocalization

public TowedArray3DLocalization(TowedArray3DDataUnit towedArray3DDataUnit,
                        int locContents,
                        int referenceHydrophones)

Method Detail

bearingAmbiguity

public boolean bearingAmbiguity()

Overrides:

bearingAmbiguity in class AbstractLocalisation

Returns:

true if the bearing is subject to a left right (or rotational) ambiguity about the reference bearing.

getBearing

public double getBearing(int iBearing)

Description copied from class: AbstractLocalisation

Get the bearing in radians, relative to the bearing reference

Overrides:

getBearing in class AbstractLocalisation

Parameters:

iBearing - which side is the bearing on

Returns:

bearing in radians

See Also:

getBearingReference

getTilt

public double getTilt(int iTilt)

getHeading

public double getHeading(int iHeading)

getBearingReference

public double getBearingReference()

Description copied from class: AbstractLocalisation

Get the reference bearing in radians. This is relative to North, moving in a clockwise direction as would other bearings.
now that the general code for localisation using vectors has been sorted out so that the getWorldVectors now returns vectors which are correct in the general xyz frame of the array geometry, all that is actually needed here now is the array heading at the time of the event, while in previous versions, this required the actual bearing between two hydrophones (which was the same as the array heading for linear arrays which is why it all worked).

Overrides:

getBearingReference in class AbstractLocalisation

Returns:

Reference bearing in radians.

getLatLong

public LatLong getLatLong(int iSide)

Description copied from class: AbstractLocalisation

Return the latlong for a location. There may be more than one of them if there is side to side ambiguity.

Overrides:

getLatLong in class AbstractLocalisation

Parameters:

iSide - 0, 1, 2, etc.

Returns:

LatLong information

getDepth

public double getDepth()

Overrides:

getDepth in class AbstractLocalisation

Returns:

The depth of the detection in meters

getDepth

public double getDepth(int iSide)

Overrides:

getDepth in class AbstractLocalisation

Returns:

The depth of the detection in meters

getLocContents

public int getLocContents()

Overrides:

getLocContents in class AbstractLocalisation

Returns:

a set of flags specifying which data are available within this localisation object.

getParentDetection

public PamDataUnit getParentDetection()

Overrides:

getParentDetection in class AbstractLocalisation

Returns:

Parent detection containing this localisation information

getRange

public double getRange(int iRange)

Description copied from class: AbstractLocalisation

Get the range for a specific side (where ambiguity exists)

Overrides:

getRange in class AbstractLocalisation

Returns:

range

getReferenceHydrophones

public int getReferenceHydrophones()

Overrides:

getReferenceHydrophones in class AbstractLocalisation

Returns:

a bitmap of hydrophone numbers that form a reference position for this localisation