pt.lsts.neptus.mra.api

Class MultibeamUtil

java.lang.Object

pt.lsts.neptus.mra.api.MultibeamUtil

public class MultibeamUtil
extends java.lang.Object

Author:

tsm

Constructor Summary

Constructors

Constructor and Description
MultibeamUtil()

Method Summary

Modifier and Type	Method and Description
static double[]	getData(java.nio.ByteBuffer bytes, double scaleFactor, short bitsPerPoint)
static BathymetrySwath	getMultibeamSwath(pt.lsts.imc.SonarData sonarData, SystemPositionAndAttitude pose)
static void	main(java.lang.String[] args)
static void	putBytesAt(java.nio.ByteBuffer buffer, int startPos, byte[] bytes) Puts the given bytes in the buffer starting at the given position
static pt.lsts.imc.SonarData	swathToSonarData(BathymetrySwath swath, SystemPositionAndAttitude pose, boolean useAngleStepsInData, boolean useIntensity, short bytesPerData) This is to be used for testing purposes.
static pt.lsts.imc.SonarData	swathToSonarDataOld(BathymetrySwath swath, SystemPositionAndAttitude pose) This is to be used for testing purposes.
static byte[]	valueToBytes(double value, int bytesPerPoint, float scaleFactor) Converts a given value into a byte a representation of `bytesPerPoint` bytes.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

MultibeamUtil

public MultibeamUtil()

Method Detail

getMultibeamSwath

public static BathymetrySwath getMultibeamSwath(pt.lsts.imc.SonarData sonarData,
                                                SystemPositionAndAttitude pose)

getData

public static double[] getData(java.nio.ByteBuffer bytes,
                               double scaleFactor,
                               short bitsPerPoint)

valueToBytes

public static byte[] valueToBytes(double value,
                                  int bytesPerPoint,
                                  float scaleFactor)

Converts a given value into a byte a representation of `bytesPerPoint` bytes.

putBytesAt

public static void putBytesAt(java.nio.ByteBuffer buffer,
                              int startPos,
                              byte[] bytes)

Puts the given bytes in the buffer starting at the given position

swathToSonarDataOld

public static pt.lsts.imc.SonarData swathToSonarDataOld(BathymetrySwath swath,
                                                        SystemPositionAndAttitude pose)

This is to be used for testing purposes. It assumes that the data, swath, comes from DeltaT MB.

Parameters:

swath -

pose -

Returns:

swathToSonarData

public static pt.lsts.imc.SonarData swathToSonarData(BathymetrySwath swath,
                                                     SystemPositionAndAttitude pose,
                                                     boolean useAngleStepsInData,
                                                     boolean useIntensity,
                                                     short bytesPerData)

This is to be used for testing purposes. It assumes that the data, swath, comes from DeltaT MB.

Parameters:

swath -

pose -

Returns:

main

public static void main(java.lang.String[] args)