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Bernardo-GabrielBernardo-Gabriel
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vehicle-defs: added system's surf vehicle definition.
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‎vehicles-defs/surf.nvcl‎

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<?xml version="1.0" encoding="UTF-8"?>
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<system xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="..\src\schemas\neptus-vehicle.xsd">
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<!-- Data saved on 2010-04-24T19:58:44.0Z with Neptus version 1.6.0dev_R8-b1 (compiled on April 22 2010). -->
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<properties>
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<id>surf</id>
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<name>Surf</name>
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<type>ASV</type>
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<model>Caravela</model>
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<appearance>
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<x-size>2</x-size>
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<y-size>1.4</y-size>
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<z-size>0.9</z-size>
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<top-image-2D>../vehicles-files/lauv/lauv-seacon0-top.png</top-image-2D>
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<side-image-2D>../vehicles-files/lauv/lauv-seacon0-side.png</side-image-2D>
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<back-image-2D>../vehicles-files/lauv/lauv-seacon0-back.png</back-image-2D>
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<presentation-image-2D>../vehicles-files/lauv/lauv-seacon0-presentation.png</presentation-image-2D>
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<model-3D>../vehicles-files/lauv/lauv-xtreme-2.x3d</model-3D>
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<icon-color>
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<r>255</r>
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<g>51</g>
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<b>153</b>
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</icon-color>
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</appearance>
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<limits>
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<valid-zunits>depth</valid-zunits>
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</limits>
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</properties>
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<feasibleManeuvers>
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<maneuver>
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<Goto kind="automatic">
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<finalPoint type="pointType">
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<point>
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<id>GotoDestination</id>
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<name>GotoDestination</name>
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<coordinate>
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<latitude>0N</latitude>
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<longitude>0E</longitude>
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<depth>0</depth>
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</coordinate>
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</point>
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<radiusTolerance>5</radiusTolerance>
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</finalPoint>
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<velocity tolerance="10" type="float" unit="m/s">1.0</velocity>
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<trajectoryTolerance>
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<radiusTolerance type="float">1</radiusTolerance>
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</trajectoryTolerance>
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<annotation>
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<documentation>No documentation available</documentation>
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<implementation-class>pt.lsts.neptus.mp.maneuvers.Goto</implementation-class>
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</annotation>
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</Goto>
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</maneuver>
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<maneuver>
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<Loiter kind="automatic">
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<basePoint type="pointType">
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<point>
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<id>LoiterLoc</id>
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<name>LoiterLoc</name>
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<coordinate>
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<latitude>0N</latitude>
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<longitude>0E</longitude>
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<depth>0</depth>
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</coordinate>
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</point>
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<radiusTolerance>8</radiusTolerance>
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</basePoint>
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<duration>30</duration>
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<trajectory>
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<radius type="float">12</radius>
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<radiusTolerance type="float">8</radiusTolerance>
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<type>Circular</type>
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<length type="float">50</length>
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<bearing type="float">0</bearing>
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<direction>Clockwise</direction>
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</trajectory>
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<velocity type="float" unit="m/s" tolerance="5">1.2</velocity>
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<annotation>
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<documentation>Loiter over a point</documentation>
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<implementation-class>pt.lsts.neptus.mp.maneuvers.Loiter</implementation-class>
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</annotation>
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</Loiter>
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</maneuver>
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<maneuver>
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<StationKeeping kind="automatic">
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<basePoint type="pointType">
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<point>
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<id>SKLoc</id>
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<name>SKLoc</name>
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<coordinate>
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<latitude>0N</latitude>
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<longitude>0E</longitude>
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<depth>0</depth>
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</coordinate>
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</point>
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<radiusTolerance>8</radiusTolerance>
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</basePoint>
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<duration>0</duration>
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<trajectory>
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<radius type="float">12</radius>
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</trajectory>
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<speed type="float" unit="m/s" tolerance="5">1.2</speed>
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<annotation>
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<documentation>Station Keeping</documentation>
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<implementation-class>pt.lsts.neptus.mp.maneuvers.StationKeeping</implementation-class>
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</annotation>
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</StationKeeping>
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</maneuver>
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<maneuver>
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<Rows kind="automatic">
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<basePoint type="pointType">
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<point>
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<id/>
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<coordinate>
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<latitude>0N</latitude>
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<longitude>0E</longitude>
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<depth>0.0</depth>
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</coordinate>
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</point>
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<radiusTolerance>0.0</radiusTolerance>
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</basePoint>
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<width>100.0</width>
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<length>200.0</length>
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<height>0.0</height>
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<hstep>27.0</hstep>
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<vstep>0.0</vstep>
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<bearing>0.0</bearing>
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<speed unit="m/s">1.2</speed>
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<annotation>
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<documentation>No documentation available</documentation>
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<implementation-class>pt.lsts.neptus.mp.maneuvers.RowsManeuver</implementation-class>
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</annotation>
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</Rows>
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</maneuver>
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<maneuver>
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<CompassCalibration>
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<finalPoint type="pointType">
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<point>
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<id>id_gokg2t</id>
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<name>id_gokg2t</name>
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<coordinate>
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<latitude>0N</latitude>
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<longitude>0E</longitude>
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<height>0.0</height>
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</coordinate>
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<z>0.0</z>
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<zunits>DEPTH</zunits>
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</point>
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</finalPoint>
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<pitch>10.0</pitch>
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<amplitude>0.1</amplitude>
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<duration>1200</duration>
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<speed type="float" unit="m/s">1.3</speed>
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<radius>15.0</radius>
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<direction>CLOCKW</direction>
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<custom/>
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<annotation>
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<documentation>No documentation available</documentation>
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<implementation-class>pt.lsts.neptus.mp.maneuvers.CompassCalibration</implementation-class>
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</annotation>
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</CompassCalibration>
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</maneuver>
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<maneuver>
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<FollowPath kind="automatic">
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<basePoint type="pointType">
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<point>
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<id/>
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<coordinate>
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<latitude>0N</latitude>
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<longitude>0E</longitude>
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<depth>0.0</depth>
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</coordinate>
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</point>
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<radiusTolerance>0.0</radiusTolerance>
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</basePoint>
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<path/>
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<speed unit="m/s">1.2</speed>
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<annotation>
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<documentation>No documentation available</documentation>
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<implementation-class>pt.lsts.neptus.mp.maneuvers.FollowPath</implementation-class>
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</annotation>
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</FollowPath>
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</maneuver>
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<maneuver>
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<FollowTrajectory kind="automatic">
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<basePoint type="pointType">
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<point>
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<id/>
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<coordinate>
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<latitude>0N</latitude>
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<longitude>0E</longitude>
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<depth>0.0</depth>
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</coordinate>
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</point>
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<radiusTolerance>0.0</radiusTolerance>
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</basePoint>
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<trajectory/>
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<speed unit="m/s">1.2</speed>
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<annotation>
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<documentation>No documentation available</documentation>
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<implementation-class>pt.lsts.neptus.mp.maneuvers.FollowTrajectory</implementation-class>
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</annotation>
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</FollowTrajectory>
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</maneuver>
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<maneuver>
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<RIPattern kind="automatic">
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<basePoint type="pointType">
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<point>
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<id/>
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<coordinate>
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<latitude>0N</latitude>
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<longitude>0E</longitude>
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<depth>0.0</depth>
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</coordinate>
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</point>
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<radiusTolerance>0.0</radiusTolerance>
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</basePoint>
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<width>100.0</width>
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<hstep>20.0</hstep>
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<bearing>0.0</bearing>
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<squareCurve>false</squareCurve>
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<speed unit="m/s">1.2</speed>
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<annotation>
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<documentation>No documentation available</documentation>
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<implementation-class>pt.lsts.neptus.mp.maneuvers.RIPattern</implementation-class>
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</annotation>
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</RIPattern>
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</maneuver>
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<maneuver>
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<CrossHatchPattern kind="automatic">
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<basePoint type="pointType">
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<point>
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<id/>
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<coordinate>
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<latitude>0N</latitude>
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<longitude>0E</longitude>
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<depth>0.0</depth>
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</coordinate>
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</point>
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<radiusTolerance>0.0</radiusTolerance>
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</basePoint>
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<width>100.0</width>
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<hstep>20.0</hstep>
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<bearing>0.0</bearing>
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<squareCurve>false</squareCurve>
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<speed unit="m/s">1.2</speed>
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<annotation>
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<documentation>No documentation available</documentation>
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<implementation-class>pt.lsts.neptus.mp.maneuvers.CrossHatchPattern</implementation-class>
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</annotation>
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</CrossHatchPattern>
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</maneuver>
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<maneuver>
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<ExpandingSquarePattern kind="automatic">
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<basePoint type="pointType">
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<point>
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<id/>
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<coordinate>
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<latitude>0N</latitude>
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<longitude>0E</longitude>
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<depth>0.0</depth>
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</coordinate>
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</point>
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<radiusTolerance>0.0</radiusTolerance>
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</basePoint>
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<width>100.0</width>
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<hstep>50</hstep>
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<bearing>0.0</bearing>
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<firstCurveRight>true</firstCurveRight>
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<speed unit="m/s">1.2</speed>
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<annotation>
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<documentation>No documentation available</documentation>
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<implementation-class>pt.lsts.neptus.mp.maneuvers.ExpandingSquarePattern</implementation-class>
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</annotation>
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</ExpandingSquarePattern>
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</maneuver>
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<maneuver>
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<CommsRelay>
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<sys_a>lauv-seacon-2</sys_a>
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<sys_b>lauv-seacon-3</sys_b>
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<duration>3600</duration>
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<startPoint type="pointType">
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<point>
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<id>Start-Point</id>
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<coordinate>
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<latitude>0N</latitude>
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<longitude>0E</longitude>
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<depth>0</depth>
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</coordinate>
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</point>
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</startPoint>
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<move_threshold>30.0</move_threshold>
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<speed unit="m/s">1.0</speed>
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<annotation>
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<documentation>No documentation available</documentation>
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<implementation-class>pt.lsts.neptus.mp.maneuvers.CommsRelay</implementation-class>
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</annotation>
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</CommsRelay>
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</maneuver>
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<maneuver>
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<RowsCoverage kind="automatic">
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<basePoint>
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<point>
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<id>id_omvbvr</id>
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<name>id_omvbvr</name>
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<coordinate>
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<latitude>0N0'0.00''</latitude>
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<longitude>0E0'0.00''</longitude>
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<height>0.0</height>
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</coordinate>
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<z>0</z>
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<zunits>DEPTH</zunits>
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</point>
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</basePoint>
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<speed unit="m/s">1.0</speed>
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<width>100.0</width>
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<length>200.0</length>
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<bearing>0.0</bearing>
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<angleAperture>120.0</angleAperture>
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<range>30</range>
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<overlapPercentage>10</overlapPercentage>
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<annotation>
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<documentation>No documentation available</documentation>
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<implementation-class>pt.lsts.neptus.mp.maneuvers.RowsCoverage</implementation-class>
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</annotation>
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</RowsCoverage>
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</maneuver>
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<maneuver>
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<FollowPoint kind="automatic">
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<basePoint>
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<point>
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<id>id_qnotbp</id>
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<name>id_qnotbp</name>
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<coordinate>
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<latitude>0N</latitude>
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<longitude>0E</longitude>
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<height>0.0</height>
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</coordinate>
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<z>0</z>
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<zunits>DEPTH</zunits>
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</point>
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</basePoint>
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<speed unit="m/s">2.0</speed>
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<idToFollow>lauv-noptilus-1</idToFollow>
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<customData/>
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<annotation>
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<documentation>No documentation available</documentation>
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<implementation-class>pt.lsts.neptus.mp.maneuvers.FollowPoint</implementation-class>
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</annotation>
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</FollowPoint>
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</maneuver>
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</feasibleManeuvers>
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<protocols-supported>
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<protocols/>
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<protocols-args>
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</protocols-args>
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</protocols-supported>
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<communication-means>
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<comm-mean>
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<name>ethernet</name>
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<type>ethernet</type>
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<host-address>10.0.11.10</host-address>
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<protocols>imc</protocols>
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<latency value="100M" unit="bps"/>
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<protocols-args>
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<imc>
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<port>6002</port>
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<port-tcp>6002</port-tcp>
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<udp-on>true</udp-on>
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<tcp-on>false</tcp-on>
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<imc-id>b4:af</imc-id>
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</imc>
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</protocols-args>
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</comm-mean>
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</communication-means>
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<consoles>
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<console name="LAUV">
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<xml-file>../conf/consoles/lauv.ncon</xml-file>
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</console>
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</consoles>
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</system>

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