Localiser.bearingLocaliser

Class GroupDetectionLocalisation

java.lang.Object

PamDetection.AbstractLocalisation

Localiser.bearingLocaliser.GroupDetectionLocalisation

public class GroupDetectionLocalisation
extends AbstractLocalisation

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
GroupDetectionLocalisation(GroupDetection groupDetection, int locContents, int referenceHydrophones)

Method Summary

Methods

Modifier and Type	Method and Description
boolean	bearingAmbiguity()
double	getBearing(int iSide) Get the bearing in radians, relative to the bearing reference
double	getBearingReference() Get the reference bearing in radians.
double	getErrorDirection(int iSide) Get an angle that the errors are to be plotted relative to.
LatLong	getLatLong(int iSide) Return the latlong for a location.
int	getNumLatLong()
GpsData	getOriginLatLong()
double	getParallelError(int iSide) Get the error parallel to the trackline (in meters)
double	getPerpendiculaError(int iSide) Get the error perpedicular to the track line (in meters)
double	getRange()
double	getRange(int iSide) Get the range for a specific side (where ambiguity exists)

Methods inherited from class PamDetection.AbstractLocalisation

addLocContents, getAngleErrors, getAngles, getArrayOrientationVectors, getBearing, getBearingError, getBearingError, getDepth, getDepth, getDepthError, getDepthError, getLocContents, getParentDetection, getPlanarAngles, getPlanarVector, getRangeError, getRangeError, getRealWorldVectors, getReferenceHydrophones, 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

GroupDetectionLocalisation

public GroupDetectionLocalisation(GroupDetection groupDetection,
                          int locContents,
                          int referenceHydrophones)

Method Detail

getBearing

public double getBearing(int iSide)

Description copied from class: AbstractLocalisation

Get the bearing in radians, relative to the bearing reference

Overrides:

getBearing in class AbstractLocalisation

Parameters:

iSide - which side is the bearing on

Returns:

bearing in radians

See Also:

getBearingReference

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.

getRange

public double getRange()

Overrides:

getRange in class AbstractLocalisation

Returns:

The range to the detection in meters.

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.

getOriginLatLong

public GpsData getOriginLatLong()

Overrides:

getOriginLatLong in class AbstractLocalisation

Returns:

the latlong of the centre of the hydrophones associated with the channels used in this detection. If no channels are set, then it returns the GPS location for the time of the detection.

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

getNumLatLong

public int getNumLatLong()

Overrides:

getNumLatLong in class AbstractLocalisation

Returns:

The number of LatLongs (generally 0 to 2)

getErrorDirection

public double getErrorDirection(int iSide)

Description copied from class: AbstractLocalisation

Get an angle that the errors are to be plotted relative to.

Overrides:

getErrorDirection in class AbstractLocalisation

Returns:

Error direction (radians)

getParallelError

public double getParallelError(int iSide)

Description copied from class: AbstractLocalisation

Get the error parallel to the trackline (in meters)

Overrides:

getParallelError in class AbstractLocalisation

Parameters:

iSide - 0, 1, 2, etc.

Returns:

the error in metres.

getPerpendiculaError

public double getPerpendiculaError(int iSide)

Description copied from class: AbstractLocalisation

Get the error perpedicular to the track line (in meters)

Overrides:

getPerpendiculaError in class AbstractLocalisation

Parameters:

iSide - 0, 1, 2, etc.

Returns:

the error in metres.

getRange

public double getRange(int iSide)

Description copied from class: AbstractLocalisation

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

Overrides:

getRange in class AbstractLocalisation

Returns:

range