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TowedArray3DLocalization.java
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158 lines (130 loc) · 3.89 KB
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/**
*
*/
package loc3d_Thode;
import Array.ArrayManager;
import Array.PamArray;
import PamDetection.AbstractLocalisation;
import PamDetection.LocalisationInfo;
import PamUtils.LatLong;
import PamguardMVC.PamDataUnit;
/**
* @author Aaron Thode
*
*/
public class TowedArray3DLocalization extends AbstractLocalisation {
/**
* @param pamDataUnit
* @param locContents
* @param referenceHydrophones
*/
/*
* Am hoping that you guys who have more experience of the types
* of localisation information available may be able to compile this
* list.
*/
private TowedArray3DDataUnit towedArray3DDataUnit;
public TowedArray3DLocalization(TowedArray3DDataUnit towedArray3DDataUnit, int locContents, int referenceHydrophones) {
super(towedArray3DDataUnit, locContents, referenceHydrophones);
this.towedArray3DDataUnit = towedArray3DDataUnit;
// TODO Auto-generated constructor stub
}
@Override
public boolean bearingAmbiguity() {
return towedArray3DDataUnit.isHasAngleAmbiguity();
}
@Override
public double getBearing(int iBearing) {
double angles[] = towedArray3DDataUnit.getAngle();
if (angles != null && angles.length > iBearing && towedArray3DDataUnit.isHasAngles()) {
//return bearing associated with ship
//AARON
return angles[iBearing];
}
return Double.NaN;
}
public double getTilt(int iTilt) {
double tilts[] = towedArray3DDataUnit.getTilts();
if (tilts != null && tilts.length > iTilt) {
return tilts[iTilt];
}
return Double.NaN;
}
public double getHeading(int iHeading) {
double headings[] = towedArray3DDataUnit.getHeadings();
if (headings != null && headings.length > iHeading) {
return headings[iHeading];
}
return Double.NaN;
}
// @Override
// public double getBearingError() {
// // TODO Auto-generated method stub
// return super.getBearingError();
// }
@Override
public double getBearingReference() {
// get angle of first hydrophone pair for now
setReferenceHydrophones(3);
PamArray array = ArrayManager.getArrayManager().getCurrentArray();
// int p1 = PamUtils.getNthChannel(0, this.getReferenceHydrophones());
// int p2 = PamUtils.getNthChannel(1, this.getReferenceHydrophones());
int p1 = 0;
int p2 = 1;
return getParentDetection().getHydrophoneHeading(false);
// return array.getHydrophoneLocator().
// getPairAngle(this.getParentDetection().getTimeMilliseconds(), p2, p1, HydrophoneLocator.ANGLE_RE_NORTH) * Math.PI / 180.;
}
@Override
public LatLong getLatLong(int iSide)
{
if (!towedArray3DDataUnit.HasLatLong()) return null;
return towedArray3DDataUnit.getLatlong(iSide);
}
@Override
public double getDepth() {
if (!towedArray3DDataUnit.isHasDepth()) return Double.NaN;
return towedArray3DDataUnit.getDepth();
}
// @Override
// public double getDepthError() {
// // TODO Auto-generated method stub
// return super.getDepthError();
// }
@Override
public double getHeight(int iSide) {
if (!towedArray3DDataUnit.isHasDepth()) return Double.NaN;
return towedArray3DDataUnit.getDepth();
}
@Override
public LocalisationInfo getLocContents() {
// TODO Auto-generated method stub
return super.getLocContents();
}
@Override
public PamDataUnit getParentDetection() {
// TODO Auto-generated method stub
return super.getParentDetection();
}
@Override
public double getRange(int iRange) {
double ranges[] = towedArray3DDataUnit.getRanges();
if (ranges != null && ranges.length > iRange && towedArray3DDataUnit.isHasRanges()) {
//Return range associated with forwardmost hydrophone-AARON
return ranges[iRange];
}
return Double.NaN;
}
// @Override
// public double getRangeError(int iRangeError) {
// // TODO Auto-generated method stub
// return super.getRangeError(0);
// }
@Override
public int getReferenceHydrophones() {
// TODO Auto-generated method stub
//AARON change to refer to forwardmost hydrophone in array
return super.getReferenceHydrophones();
//return 1;
}
}