muNet-AUVsim

Contents:

  • Installation
    • Prerequisites
    • Platform Compatibility
      • Windows Users
    • Step-by-Step Installation
    • Verifying Installation
  • Quick Start
    • Minimal Example
    • Basic Workflow
    • Running Simulations
    • Output Files
    • Loading Previous Simulations
    • Next Steps
    • Example Scripts
      • example.py — Quick Start Script
      • demo.py — Interactive Tutorial
  • API Reference
    • munetauvsim.simulator
      • Classes
      • Functions
      • Simulator
        • Simulator.__init__()
        • Simulator.name
        • Simulator.sampleTime
        • Simulator.N
        • Simulator.runTime
        • Simulator.ocean
        • Simulator.vehicles
        • Simulator.nVeh
        • Simulator.comnet
        • Simulator.outDir
        • Simulator.saveFile
        • Simulator.logFile
        • Simulator.commFile
        • Simulator.gifFile
        • Simulator.logging
        • Simulator.commLogging
        • Simulator.__str__()
        • Simulator.run()
        • Simulator.simulate()
        • Simulator.plot3D()
        • Simulator.deployAtWpt()
        • Simulator.deploySwarmGrid()
        • Simulator.linkSwarmGroup()
        • Simulator.loadMuNet()
        • Simulator.loadAquaNet()
        • Simulator.logCommStats()
        • Simulator.initVehicleContactMonitor()
        • Simulator.monitorContact()
        • Simulator._simulateNoComm()
        • Simulator._simulateMuNet()
        • Simulator._simulateAquaNet()
        • Simulator._simSync()
        • Simulator._addToGroupDict()
        • Simulator._buildGroupDicts()
        • Simulator._makeSaveDir()
        • Simulator._validFileName()
      • save()
      • load()
    • munetauvsim.vehicles
      • Classes
      • Functions
      • Vehicle
        • Vehicle.__init__()
      • Model
        • Model.__init__()
        • Model.callSign
        • Model.id
        • Model.groupId
        • Model.nodeAddr
        • Model.isLeader
        • Model.eta
        • Model.velocity
        • Model.nextEta
        • Model.nextVel
        • Model.timeLastMsg
        • Model.delayLastMsg
        • Model.etaLog
        • Model.velLog
        • Model.rprtRecv
        • Model.__repr__()
      • AUV
        • AUV.__init__()
        • AUV.z_safe
        • AUV.wn_d_z
        • AUV.id
        • AUV.groupId
        • AUV.isLeader
        • AUV.callSign
        • AUV.sampleTime
        • AUV.Delta
        • AUV.target
        • AUV.CommNetwork
        • AUV.fullDetails
        • AUV.immobilized
        • AUV.__repr__()
        • AUV.__str__()
        • AUV.syncEnvironmentState()
        • AUV.addSensor()
        • AUV.addSensors()
        • AUV.removeSensor()
        • AUV.removeSelectedSensors()
        • AUV.removeAllSensors()
        • AUV.readSensor()
        • AUV.readSelectedSensors()
        • AUV.readAllSensors()
        • AUV.collectSensorData()
        • AUV._updateSensorInfo()
      • Remus100s
        • Remus100s.__init__()
        • Remus100s.T_n
        • Remus100s.r_bb
        • Remus100s.B
        • Remus100s.Ja_max
        • Remus100s.dynamics()
        • Remus100s.xferN2U()
        • Remus100s.xferU2N()
        • Remus100s.collectSensorData()
        • Remus100s.loadPathFollowing()
        • Remus100s.loadTargetTracking()
        • Remus100s.loadConstantProp()
        • Remus100s.loadAquaNetTdmaLF()
        • Remus100s.loadMuNetLF()
      • buildGroup()
    • munetauvsim.guidance
      • Classes
      • Functions
      • Position
        • Position.x
        • Position.y
        • Position.z
        • Position.__post_init__()
        • Position.__getitem__()
      • Waypoint
        • Waypoint.__init__()
        • Waypoint.pos
        • Waypoint.__getitem__()
        • Waypoint.__len__()
        • Waypoint.__repr__()
        • Waypoint.__str__()
        • Waypoint.__add__()
        • Waypoint.insert()
        • Waypoint.calcWptDistance()
        • Waypoint.calcTotalDistance()
        • Waypoint.calcWptHeading()
        • Waypoint.estimateTime()
        • Waypoint.estimateAreaRoot()
      • generateRandomPath()
      • addEtaWpt()
      • getNextWpt()
      • updateWpt()
      • predictNextEtaVel()
      • ALOSlaw()
      • pathFollow()
      • velCB()
      • predictSwarmState()
      • missionTargetFeedForwardAPF()
      • formationTargetNormPolyAPF()
      • survivalGroupNormPolyAPF()
      • depthSafetyLimit()
      • velocitySubsumptionCascadeAPF()
      • targetTrack()
    • munetauvsim.control
      • Functions
      • headingPID()
      • depthPID()
      • pitchPID()
      • constProp()
    • munetauvsim.navigation
      • Classes
      • Functions
      • Sensor
        • Sensor.collectData()
      • OceanCurrentSensor
        • OceanCurrentSensor.collectData()
      • OceanDepthSensor
        • OceanDepthSensor.collectData()
      • attitudeEuler()
      • Rzyx()
      • Tzyx()
      • statePT()
      • stateSpeed()
      • headingFilterLOS()
      • depthFilter()
      • maxDepthLimit()
    • munetauvsim.communication
      • Classes
      • Functions
      • MuNetQEntry
        • MuNetQEntry.start_time
        • MuNetQEntry.end_time
        • MuNetQEntry.src_addr
        • MuNetQEntry.dest_addr
        • MuNetQEntry.cid
        • MuNetQEntry.freq
        • MuNetQEntry.bw
        • MuNetQEntry.distance
        • MuNetQEntry.message
      • MuChannel
        • MuChannel.cid
        • MuChannel.freq
        • MuChannel.bw
        • MuChannel.isBcst
      • MuNode
        • MuNode.__init__()
        • MuNode.send()
        • MuNode.recv()
      • MuNet
        • MuNet.__init__()
        • MuNet.rng
        • MuNet.CHAN_MAXN
        • MuNet.__repr__()
        • MuNet.__str__()
        • MuNet.__getstate__()
        • MuNet.__setstate__()
        • MuNet.register()
        • MuNet.transmit()
        • MuNet.deliver()
        • MuNet.calcStats()
        • MuNet.getStatsReport()
        • MuNet._txEnqueue()
        • MuNet._txNoColl()
        • MuNet._rxNoColl()
        • MuNet._txWithColl()
        • MuNet._rxWithColl()
        • MuNet._nextQid()
        • MuNet._getChannelRXNodes()
        • MuNet._generateJitter()
        • MuNet._jitterUniform()
        • MuNet._jitterDisabled()
        • MuNet._applyColl()
        • MuNet._collDrop()
        • MuNet._collCorrupt()
        • MuNet._applyPLR()
        • MuNet._plrUniform()
        • MuNet._plrExpSimple()
        • MuNet._plrSonarSimple()
        • MuNet._plrDisabled()
        • MuNet._applyBER()
        • MuNet._berPoisson()
        • MuNet._berExpSimple()
        • MuNet._berSNR()
        • MuNet._berDisabled()
        • MuNet._flipBits()
        • MuNet._genChannel()
        • MuNet._genChannelCenterOut()
        • MuNet._genChannelEdgeIn()
        • MuNet._getChannelCenterLimits()
        • MuNet._makeBroadcastChannel()
        • MuNet._buildChannels()
        • MuNet._buildChannelsShared()
        • MuNet._buildChannelsTDMA()
        • MuNet._buildChannelsTDMALF()
        • MuNet._buildChannelsFDMA()
        • MuNet._assignNodes()
        • MuNet._assignNodesShared()
        • MuNet._assignNodesTDMA()
        • MuNet._assignNodesTDMALF()
        • MuNet._assignNodesFDMA()
        • MuNet._updateNodeRXFDMA()
      • getMsgStruct()
      • recvMsg()
      • recvMsgCallback()
      • writeReport()
      • sendReport()
      • recvReport()
      • writeLeaderReport()
      • sendLeaderReport()
      • recvLeaderReport()
      • writeBroadcastReq()
      • sendBroadcastReq()
      • recvBroadcastReq()
      • sendResponse()
      • schedulerTdmaLF()
      • schedulerFdmaLF()
      • writeEtaVelLogs()
      • resizeLog()
      • readLastEtaLogs()
      • readLastVelLogs()
      • dataIsCorrupted()
      • restoreCorrupt()
      • recoverPredict()
      • recoverPrevious()
      • recoverNeutral()
      • recoverSentinel()
      • recoverSkipField()
      • recoverSkip()
    • munetauvsim.environment
      • Classes
      • Functions
      • Ocean
        • Ocean.__init__()
        • Ocean.N
        • Ocean.sampleTime
        • Ocean.size
        • Ocean.origin
        • Ocean.calm_ocean()
        • Ocean.dead_ocean()
        • Ocean.stormy_ocean()
        • Ocean.__repr__()
        • Ocean.__str__()
      • Current1DData
        • Current1DData.speed
        • Current1DData.angle
        • Current1DData.v_spd
        • Current1DData.v_dv
        • Current1DData.v_dt
        • Current1DData.b_ang
        • Current1DData.b_db
        • Current1DData.b_dt
        • Current1DData.n
        • Current1DData.h
        • Current1DData.seed
      • Current1D
        • Current1D.__init__()
        • Current1D.n
        • Current1D.h
        • Current1D.v_spd
        • Current1D._set_v_spd()
        • Current1D._set_v_spd_list()
        • Current1D.v_dv
        • Current1D._set_v_dv()
        • Current1D._set_v_dv_list()
        • Current1D.v_dt
        • Current1D._set_v_dt()
        • Current1D._set_v_dt_list()
        • Current1D.v_sdv
        • Current1D.v_spdZones
        • Current1D.v_dvZones
        • Current1D.v_dtZones
        • Current1D.b_ang
        • Current1D._set_b_ang()
        • Current1D._set_b_ang_list()
        • Current1D.b_db
        • Current1D._set_b_db()
        • Current1D._set_b_db_list()
        • Current1D.b_dt
        • Current1D._set_b_dt()
        • Current1D._set_b_dt_list()
        • Current1D.b_sdb
        • Current1D.b_angZones
        • Current1D.b_dbZones
        • Current1D.b_dtZones
        • Current1D._selectFromZone()
        • Current1D._selectFromZoneList()
        • Current1D._selectFromZoneStr()
        • Current1D._selectAngleFromZone()
        • Current1D._selectAngleFromZoneList()
        • Current1D._selectAngleFromZoneStr()
        • Current1D.__repr__()
        • Current1D.__str__()
        • Current1D.genSpeedList()
        • Current1D.genAngleList()
        • Current1D.display()
        • Current1D.getAsData()
        • Current1D.genAsData()
        • Current1D._clamp()
        • Current1D._calcSigma()
        • Current1D._selectRandomN()
        • Current1D._getOffset()
        • Current1D._selectRandomU()
        • Current1D._selectFromLoHi()
        • Current1D._ssa()
        • Current1D._subtractSSA()
        • Current1D._calcAngleSigma()
        • Current1D._selectAngleFromLoHi()
        • Current1D._printFallback()
        • Current1D._printBadZoneList()
        • Current1D._printBadZoneName()
        • Current1D._buildDescription()
        • Current1D._genRNGStartState()
        • Current1D._genValueList()
        • Current1D._genValue()
      • Floor
        • Floor.__init__()
        • Floor.depth
        • Floor.z
        • Floor.z_range
        • Floor.size
        • Floor.style
        • Floor.perlin
        • Floor.__call__()
        • Floor.__repr__()
        • Floor.__str__()
        • Floor.samplePoints()
        • Floor.sampleGrid()
        • Floor.sampleRegion()
        • Floor.createMap()
        • Floor.xy2Index()
        • Floor.generate()
        • Floor.display2D()
        • Floor.display3D()
        • Floor._validateStyle()
        • Floor._getFlatZ()
        • Floor._mapFlat()
        • Floor._mapLinear()
        • Floor._mapSigmoid()
        • Floor._mapShelf()
        • Floor._buildFullDepth()
        • Floor._getTile()
        • Floor._resetDepthCache()
      • PerlinNoise
        • PerlinNoise.__init__()
        • PerlinNoise.__call__()
        • PerlinNoise.__repr__()
        • PerlinNoise.__str__()
        • PerlinNoise.evaluate()
        • PerlinNoise.evaluateRegion()
        • PerlinNoise.sample()
        • PerlinNoise.sampleRegion()
        • PerlinNoise.generate()
        • PerlinNoise._calcPermutationTable()
        • PerlinNoise._calcNormalizationBounds()
        • PerlinNoise._perlin()
        • PerlinNoise._fade()
        • PerlinNoise._gradient()
        • PerlinNoise._normalize()
        • PerlinNoise._calcTileSize()
        • PerlinNoise._isGenerated()
        • PerlinNoise._genTile()
        • PerlinNoise._evaluateTile()
      • Pollution
        • Pollution.__init__()
        • Pollution.u
        • Pollution.v
        • Pollution.source
        • Pollution.z_s
        • Pollution.__call__()
        • Pollution.__repr__()
        • Pollution.__str__()
        • Pollution.get2D()
        • Pollution.get3D()
        • Pollution.automesh()
        • Pollution.display2D()
        • Pollution.display3D()
    • munetauvsim.gnc
      • Functions
      • ssa()
      • Smtrx()
      • Hmtrx()
      • m2c()
      • Hoerner()
      • crossFlowDrag()
      • forceLiftDrag()
      • gvect()
      • saturation()
    • munetauvsim.plotTimeSeries
      • Functions
      • Utility Functions
      • R2D()
      • cm2inch()
      • plotVehicleStates()
      • plotControls()
      • plot3D()
    • munetauvsim.logger
      • Functions
      • Global Variables
      • CustomFormatter
        • CustomFormatter.__init__()
        • CustomFormatter.format()
      • customRecordFactory()
      • addMainHandlers()
      • setupMain()
      • addLog()
      • noneLog()
      • closeHandler()
      • removeHandlers()
      • deepRemoveHandler()
      • removeLog()
      • deepRemoveLog()
      • setupComm()
  • Index
muNet-AUVsim
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