Inheritance diagram for SensorEchosounder:

Collaboration diagram for SensorEchosounder:

Classes
struct	Reading
	The altimeter reading held on the output ports between pings. More...

struct	Settings
	Everything the instrument is configured with. More...

struct	Species
	One species as the acoustic model sees it. More...

Public Member Functions
	SensorEchosounder (std::string simObjectName, ISimObjectCreator *creator)

	SensorEchosounder (std::string simObjectName, const Settings &settings)

	~SensorEchosounder () override
	Flushes and closes the echogram file, and releases the visualisation geometry.

void	OdeFcn (const double dT, const double const adX, double const adXDot) const override
	Writes no derivatives: this SimObject declares no states.

void	AcceptedStep (const double dT, const double *const adX) override

void	FinalSetup (const double dT, const double const adX, ISimObjectCreator const creator) override

const Reading &	HeldReading () const
	The reading currently held on the output ports.

const Settings &	GetSettings () const
	The settings the instrument was built with.

const std::vector< Species > &	GetSpecies () const
	The species entering the acoustic model, in file column order.

int	PingsTaken () const
	The number of pings taken so far.

const std::vector< double > &	Frequencies () const
	The operating frequencies, kHz.

Static Public Member Functions
static double	PerturbRange (double trueRange, const Settings &settings, SensorNoise &noise)

static double	AltitudeOf (double slantRange, const double beamDirection[3])

static int	BinIndexOf (double range, double binSize)

static double	TargetStrengthDb (const Species &species, double frequencykHz)

static double	BackscatterCrossSection (const Species &species, double frequencykHz)

static double	NoiseFloorLinear (double noiseSvAt1mDb, double absorptionDbPerKm, double range)

Protected Member Functions
const double *	OutSeafloorDistance (const double dT, const double *const adX)
	The measured slant range to the seafloor, m.

const double *	OutSeafloorDepth (const double dT, const double *const adX)
	The inferred depth of the seafloor, m.

const double *	OutAltitude (const double dT, const double *const adX)
	The measured height above the seafloor, m.

const double *	OutValid (const double dT, const double *const adX)
	One when the last ping found a bottom, zero otherwise.

const double *	OutPingTime (const double dT, const double *const adX)
	The time of the ping the held reading came from, s.

Constructor & Destructor Documentation

◆ SensorEchosounder() [1/2]

SensorEchosounder::SensorEchosounder	(	std::string	simObjectName,
		ISimObjectCreator *	creator
	)

Constructs the sounder from the simulation input file.

Parameters

simObjectName	The name of this object in the simulation.
creator	The creator of this object.

◆ SensorEchosounder() [2/2]

SensorEchosounder::SensorEchosounder	(	std::string	simObjectName,
		const Settings &	settings
	)

Constructs the sounder with its settings given directly.

No ports are registered and no file is opened, so OdeFcn, AcceptedStep and FinalSetup all do nothing and the pure parts must be exercised directly. This constructor exists so that the geometry and the acoustic model can be unit tested without a host simulation, which matters because ISimObjectCreator has some thirty pure virtuals and FhSim exports no mock.

Parameters

simObjectName	The name of this object.
settings	The instrument settings.

Member Function Documentation

◆ AcceptedStep()

void SensorEchosounder::AcceptedStep	(	const double	dT,
		const double *const	adX
	)

override

Takes every ping that has fallen due since the previous accepted step.

Parameters

dT	The current simulation time, s.
adX	The state vector.

◆ AltitudeOf()

static double SensorEchosounder::AltitudeOf	(	double	slantRange,
		const double	beamDirection[3]
	)

static

Projects a slant range onto the vertical.

Parameters

slantRange	The slant range along the beam, m.
beamDirection	The unit beam direction in NED.

Returns: The vertical component of the slant range, m, always non-negative.

◆ BackscatterCrossSection()

static double SensorEchosounder::BackscatterCrossSection	(	const Species &	species,
		double	frequencykHz
	)

static

The backscattering cross section of one species at one frequency.

Parameters

species	The species and its acoustic properties.
frequencykHz	The frequency, kHz.

Returns: The cross section, m^2.

◆ BinIndexOf()

static int SensorEchosounder::BinIndexOf	(	double	range,
		double	binSize
	)

static

The index of the range bin a distance falls in.

Parameters

range	The slant range, m.
binSize	The bin size, m.

Returns: The bin index, which is zero for a non-positive range or bin size.

◆ FinalSetup()

void SensorEchosounder::FinalSetup	(	const double	dT,
		const double *const	adX,
		ISimObjectCreator *const	creator
	)

override

Resolves the environment and the species fields, and opens the echogram file.

Parameters

dT	The initial simulation time, s.
adX	The state vector.
creator	The creator of this object.

◆ NoiseFloorLinear()

static double SensorEchosounder::NoiseFloorLinear	(	double	noiseSvAt1mDb,
		double	absorptionDbPerKm,
		double	range
	)

static

The modelled noise floor of one bin.

Parameters

noiseSvAt1mDb	The noise floor referred to one metre, dB.
absorptionDbPerKm	The absorption coefficient, dB/km.
range	The slant range of the bin centre, m.

Returns: The noise floor as a linear volume backscattering coefficient, 1/m.

◆ PerturbRange()

static double SensorEchosounder::PerturbRange	(	double	trueRange,
		const Settings &	settings,
		SensorNoise &	noise
	)

static

Applies the range bias and the two range noise terms.

Parameters

trueRange	The geometric slant range, m.
settings	The instrument settings.
noise	The random generator; a deterministic one leaves the range alone.

Returns: The range the instrument reports, m.

◆ TargetStrengthDb()

static double SensorEchosounder::TargetStrengthDb	(	const Species &	species,
		double	frequencykHz
	)

static

The target strength of one species at one frequency.

Parameters

species	The species and its acoustic properties.
frequencykHz	The frequency, kHz.

Returns: The target strength, dB.

The documentation for this class was generated from the following file:

/update_root/webfhsim/reloadrepos/fhsim_fishery/src/auv/SensorEchosounder.h

Classes

Public Member Functions

Static Public Member Functions

Protected Member Functions

Constructor & Destructor Documentation

◆ SensorEchosounder() [1/2]

◆ SensorEchosounder() [2/2]

Member Function Documentation

◆ AcceptedStep()

◆ AltitudeOf()

◆ BackscatterCrossSection()

◆ BinIndexOf()

◆ FinalSetup()

◆ NoiseFloorLinear()

◆ PerturbRange()

◆ TargetStrengthDb()