Group: All
Total Lines of Code: 238,079
Total Files of Code: 1,639
Total Work Years: 50.47
Group Description: (240 modules)
Modules:
- iOpenCPN: An interface between a MOOS Community and OpenCPN.
- pLogSQL: A SQL database logger.
- uContactSpawner: Spawns random contacts to test behaviors.
- pAcommsHandler: MOOS interface to the Goby-Acomms acoustic communications stack.
- pTranslator: All the MOOS-Protobuf translation functionality that it is in pAcommsHandler, without the acoustic communication parts.
- iFrontSeat: Unified interface from MOOS-IvP payload autonomy ("backseat") to various AUV interfaces ("frontseat", e.g. Bluefin, LiquidRobotics, Iver).
- iBlueROV_CommandAndControl: Sending MOOS commands to BlueROV2 via Mavlink.
- iBlueROV_DataReceiver: Receiving navigation data from BlueROV2 via Mavlink.
- pHydroMAN_BasicModel: A hydrodynamic model aided navigation system for AUVs.
- pHydroMAN_DVLProcessor: A MOOS app that configures a DVL for under-ice AUV navigation.
- pHydroMAN_LBLProcessor: A MOOS app that corrects the time-lag of an acoustic position fix.
- pHydroMAN_ModelCalibrator: A MOOS app that calibrates the basic AUV dynamic model in real-time.
- pHydroMAN_SensorFusion: An EKF based sensor fusion app for AUV navigation.
- uSimDVL: A DVL simulator for navigation simulations.
- uSimLBL: A simulator of an LBL system for navigation simulations.
- uSimPhinsINS: An IxBlue INS simulator for navigation simulations.
- uSimReplayPCAP: A MOOS app that can replay a PCAP file over UDP.
- iBellhop: Request/Response service module returning the eigenray solution for transmission from ownship to and from a depth-range receiver grid or a specific contact.
- uMVS_Bluefin: High-fidelity dynamic model for BF21 UUV used for simulating platform maneuvering in the Virtual Ocean.
- iNoaaBathy: Extracts a range-dependent bathymetry along a vertical slice of ocean between two latitude/longitude locations.
- pCoroner: A process Coroner, reports dead apps.
- pGeoTracker: Passive sonar tracker for geo-referenced target motion analysis (TMA).
- pLamssAEL: Low-fidelity model of towed array geometry for on-board sonar processing chain.
- pLamssBearingTracker: Stabilized bearing tracker for embedded use on UUVs with acoustic arrays.
- pLamssCBF: Conventional beamformer for towed or fixed sonar receiving arrays.
- pLamssMissionManager: State machine application for on-board autonomous mission command and control, responsible for defining the hierarchical MODE state of pHelmIvP, and filling the role of the operator during communication blackouts, emergencies etc.
- pLamssTrackManager: GobyMOOSapp for managing the onboard autonomous state transitions associated with passive and active acoustic target tracking.
- uSVP_OceanModel: Extracts a range-dependent sound speed profile for a vertical slice of ocean between an acoustic source and receiver.
- uSimADCP_OceanModel: Simulates an ADCP sensor reading using the current field extracted from a 4D NMetCdf file with modeled ocean currents.
- uSimActiveSonar: Physics-based, active sonar, element-level timeseries simulator supporting fixed, towed and volumetric hull-mounted arrays.
- uSimCTD_OceanModel: Simulates a CTD sensor reading using the temperature and salinity extracted from a 4D NMetCdf virtual ocean database.
- uSimModemNetwork: Request/Response service module returning the current multipath eigenray solution for a transmitter/receiver pair in a underwater modem network.
- uSimModemRange: GobyMOOSApp module tracking the conversion of travel times in a modem network to ranges for use by ICEX20 integrated communication and navigation framework.
- uSimModemSignal: Request/Response service module generating the timeseries of a received modem signal for a transmitter/receiver pair in a modem network in the Virtual Ocean.
- uSimNoiseCovariance: Request/Response service application computing surface generated ambient noise in Virtual Ocean.
- uSimPassiveSonar: Physics-based, element-level passive sonar timeseries simulator supporting fixed, towed and volumetric receiver arrays, including surface generated ambient noise and arbitrary distributions of dynamic acoustic targets.
- uSimSelfNoise: Virtual Ocean module for simulating UUV noise interference of passive sonar on collaborator UUV.
- uSimSourceArray: Configuring a phased source array for simulation of directional transmissions in the Virtual Ocean.
- uSimTargets: Virtual Ocean module is managing the mobile acoustic targets for the active and passive sonar simulators. targets.
- uSimTowedArray: Physics-based dynamic model for towed and fixed arrays of hydrophones or vector sensors on fixed or mobile platforms.
- iAHRS: A driver for the MicroStrain 3DM-GX1 AHRS unit.
- pAcommsSim: a GPU-accelerated multi-vehicle acomms simulator.
- pCamera: A MOOS video display application.
- pSSView: A viewer for the pSonarSim application.
- pLidarSim: GPU-accelerated lidar simulator.
- pSonarSim: GPU-accelerated sonar sim to predict time-domain sonar returns.
- pCloud: MOOS App for displaing real and simulated point cloud data.
- iPX4: MOOS interface to PX4 control software.
- pMavlink: Translation layer between MOOS and PX4 software.
- pOctree: Convert real or simulated point cloud data into 3-D maps.
- pRealSense: Realsense depth camera MOOS driver for MOOS.
- pGridViewer: A MOOS viewer for Octree structures constructed from real or simulated point cloud data.
- iRadar: An application for interfacing with the Navico 4G marine radar.
- iWebCam: An application for general USB type webcameras.
- iZedCam: An application for the ZED Stereocamera.
- uShowCamera: An application for displaying camera video.
- uShowRadar: An application for displaying marine radar data.
- gen_hazards: A utility for generating a hazard file.
- pFrontEstimate: Evualation of a simulated thermal front.
- pFrontGridRender: Renders a simulated moving thermal front.
- pGradeFrontEstimate: Run-time evaluation of an estimate of simulated thermal front.
- uFldCTDSensor: Simulates a CTD Sensor and simulated thermal front.
- uFldHazardMetric: Receives and grades effectiveness of hazard field reports.
- uFldHazardMgr: Strawman MOOS app for managing hazard sensor information.
- uFldHazardSensor: Simultated (e.g. side scan) sensor for detecting underwater objects.
- AnaxiMap: Python script for getting and stitching tiles from map servers (e.g., suitable for pMarineViewer).
- uRaspiMon: A wrapper for raspbian tools to measure system temperature and throttling status.
- iNeptune: An interface between MOOS and SeeByte's Neptune control platform.
- pWebSocketServer: An interface between a MOOS database and WebSockets.
- MOOSMobile: Cross-platform mobile app for communication with MOOS.
- iMumbleClient: Transmits and plays audio data from Mumble VoIP servers.
- alogavg: Utility for averaging Y-values per X-Value for file with X-Y value per line.
- alogbin: Utility for binning data within similar ranges into clusters.
- alogcat: ConCATinate two alog files into one alog file.
- alogcd: Scan an alog file for collision detection reports.
- alogcheck: Scan an alog file and check if given condition is satisfied.
- alogclip: Trim an alog file given a start and end time stamp.
- alogeplot: Produce an encounter plot image from encounters from and alog file.
- aloggrep: Trim an alog file by retaining specified MOOS variables.
- aloghelm: Scan an alog file to generate one of several helm reports.
- alogiter: Scan an alog file to analyze avg application load by iterations.
- alogpare: Prune an alog file based on events and mark values.
- alogrm: Prune an alog file by removing nammed MOOS variables.
- alogscan: Scan an alog file and produce breakdowns on log volume.
- alogsort: Create new alog file sorting entries based on timestamp.
- alogsplit: Split an alog file into dedicated alog files per variable.
- alogview: A GUI tool for replaying and analyzing one or more vehicle alog files.
- gen_obstacles: A command line tool for random generation of obstacle polygons to a file.
- MOOSDB: The main communication mechanism for all MOOS apps.
- iMatlab: A tool for connecting Matlab to a running MOOS community.
- iRemoteLite: A remote control interface for manual vehicle control.
- iSay: Invokes system text to voice upon postings to the MOOSDB.
- manifest_test: A command line utility for correctness testing of manifest files.
- manifest_wiki: A command line utility for generating web content from manifest files.
- pAntler: A utility for launching a batch of MOOS processes.
- pBasicContactMgr: Manages known contacts and generates alerts consumed by the helm.
- pContactMgrV20: Manages known contacts and generates alerts consumed by the helm.
- pDeadManPost: Enable configured postings to be staged in the absence of other events.
- pEchoVar: Re-post configured MOOS variables under a different name(s).
- pHelmIvP: A behavior-based helm with multi-objective optimization based (IvP) action selection.
- pHostInfo: Auto-detect the machine's IP address and MOOSDB port number.
- pLogger: A utility for logging the variables histories from the MOOSDB.
- pMarinePID: Simple PID controller for heading, speed and depth.
- pMarineViewer: Mission control GUI for monitoring, deploying and commanding vehicles.
- pNodeReporter: Gather vehicle navigation info into single published node report.
- pObstacleMgr: Manages known contacts and generates alerts consumed by the helm.
- pRealm: Shadow the local MOOSDB and support RealmCasting requests.
- pShare: A tool for bridging between MOOS communities.
- pickpos: A cmdline utility choosing simulation starting values.
- uFldBeaconRangeSensor: Simulates range information derived from pinging a buoy.
- uFldCollisionDetect: Monitors ship traffic collisions and reports near collisions.
- uFldCollObDetect: Monitors ship traffic obstacle collisions and reports near collisions.
- uFldContactRangeSensor: Simulates range measurements to other moving contacts.
- uFldMessageHandler: Handles and unwraps incoming messages from other vehicles.
- uFldShoreBroker: Facilitates shoreside share connections to vehicle communities.
- uFldNodeComms: Shoreside MOOS App for conditionally sending messages between vehicles.
- uFldObstacleSim: Simulation of obstacle (re)generation and lidar sensing of obstacles.
- uFldScope: Shoreside MOOS App for monitoring user-chosen fields across vehicles.
- uFldNodeBroker: Facilitates vehicle share connections to shoreside community.
- uFunctionVis: A GUI based MOOS App for monitoring IvP Helm objective functions.
- uHelmScope: A terminal based MOOS App for monitoring the state of IvP Helm.
- uLoadWatch: A utility for monitoring the load of MOOS Apps.
- uMAC: A terminal based MOOS app for monitoring appcasts.
- uMACView: A GUI based MOOS app for visually monitoring appcasts.
- uMS: A graphical scope for monitoring the contents of a running MOOSDB.
- uMemWatch: A MOOS app for monitoring the memory usage of other apps.
- uPlotViewer: A GUI based MOOS app for plotting a frequency bar graph.
- uPokeDB: A command line app for poking the MOOSDB.
- uProcessWatch: A MOOS app for monitoring the presence of other MOOS apps.
- uQueryDB: A command line app, connect to MOOSDB, check condition, then exit.
- uSimMarine: A simple marine vehicle simulator.
- uTermCommand: A terminal MOOS app for poking the MOOSDB with pre-configured pokes.
- uTimerScript: An app for generating scripted pokes to the MOOSDB.
- uXMS: A command line app for scoping the MOOSDB.
- zaic_hdg: A GUI utility for exploring the ZAIC_HDG IvPBuild tool.
- zaic_hleq: A GUI utility for exploring the ZAIC_LEQ and ZAIC_HEQ IvPBuild tools.
- zaic_peak: A GUI utility for exploring the ZAIC_PEAK IvPBuild tool.
- zaic_spd: A GUI utility for exploring and rendering the ZAIC_SPD build tool.
- zaic_vect: A GUI utility for exploring the ZAIC_VECT IvPBuild tool.
- pTaskManager: Manage incoming tasks and bids for decentralized decision-making.
- pMediator: Manage inter-vehcicle messaging, supporting acknowledgements and re-sends.
- pEncircle: Advise the Helm Loiter behavior on speeds relative to contacts.
- uSimMarineX: A much faster new version of uSimMarine with embedded PID controller.
- alogmtask: Analyze an alog file for mission task events and resolutions.
- pMarinePIDx: A refactored PID controller using new utility classes.
- uFldTaskMonitor: A shoreside tool for monitoring tasks across a group of vehicles.
- uFldVoronoi: A shoreside tool for rendering vehicles participating in a Voronoi coverage.
- pEncircle: An app to enable balanced encircling with multiple vehicles.
- bngview: A GUI app rendering pair of vehicles and several geometric relationships.
- gridview: A GUI app for rendering a region/grid, and creating bathymetry map.
- voiview: A GUI app for rendering and testing Voronoi data structures and algorithms.
- obview: A GUI app for rendering and testing obstacle avoidance algorithms.
- ippgen: A utility for generating random instances of IvP problems.
- ippsolve: A utility for solving IvP problems for benchmark testing.
- isrplot: A utility for reading a results (.isr) file and generating file suitable for generating plots in GNUPlot.
- ippview: A utility for rendering IvP problems in 2 dimensions.
- isrtex: A utility for reading a results (.isr) file and generating a LaTex (.tex) file with a table of the results.
- pEvalLoiter: Run-time evaluation of efficiency during execution of loiter mode.
- gen_obstacles: Generate polygon obstacles at random locations with separation guarantees.
- pBBBlue: A library to interface a MOOS community to the hardware of a Beaglebone Blue using the librobotcontrol library.
- pGPSd: A library to wrap a gpsd client.
- pGeodesy: A library to wrap libMOOSGeodesy for long distance trips.
- pMixAmp: A library to scale and mix inputs.
- pMux: A library to mux inputs.
- pSBUS: An SBUS interface.
- pStartLogic: A start/stop logic processor.
- uReflector: A simple reflector service.
- pTaskManager: Manage incoming tasks and bids for decentralized decision-making.
- pMediator: Manage inter-vehcicle messaging, supporting acknowledgements and re-sends.
- BHV_WiggleTail: Behavior for breaking left-right ambiguity of towed array response during acoustic surveillance surveys.
- BHV_ConstantAltitude: Behavior for executing bottom mapping missions maintaining constant altitude.
- BHV_MinAltitude: Behavior for maintaining a minimum altitude above bottom or below under-ice excursions. depends = ivp_behaviors.
- BHV_OptAcommsDepth: Behavior for creating depth objective function for optimizing acoustic communication performance, including coherence properties and multipath interference.
- BHV_OptAcoustDepth: Behavior for creating depth objective function for optimizing incoherent signal-to-noise ratio (SNR) for an acoustic signal originating at a contact.
- BHV_Racetrack: Behavior for executing a racetrack survey with configurable length, width and heading, with tight tracklines.
- BHV_SmartYoyo: Behavior for vertical yoyo surveys covering full water column in shallow water with horizontal bathymetry variation.
- BHV_WiggleTail: Behavior for breaking left-right ambiguity of towed array response during acoustic surveillance surveys.
- BHV_ConstantBearing: Behavior for maintaining a constant relative bearing to an acoustic target.
- BHV_AvdColregs: A behavior for avoiding collision based on CPA and COLREGS considerations.
- BHV_AvoidCollision: A behavior for avoiding collision based primarily on CPA considerations.
- BHV_ConstantDepth: A behavior for specifying the desired depth of the vehicle.
- BHV_ConstantHeading: A behavior for specifying the desired heading of the vehicle.
- BHV_ConstantSpeed: A behavior for specifying the desired speed of the vehicle.
- BHV_CutRange: A behavior intercepting, closing range, to another moving vessel.
- BHV_GoToDepth: A behavior for specifying a sequence of desired depths of the vehicle.
- BHV_Loiter: A behavior for repeatedly traversing a given convex polygon of waypoints.
- BHV_MaxDepth: A behavior to influence the vehicle to go no deeper than a given depth.
- BHV_MemoryTurnLimit: A behavior preventing quick wrap-around turns, especiall with towed sensor.
- BHV_OpRegion: A behavior monitoring vehicle position to remain within a convex polygon region.
- BHV_PeriodicSpeed: A behavior for periodically influencing the vehicle speed.
- BHV_PeriodicSurface: A behavior for periodically influencing the vehicle to surface.
- BHV_Shadow: A behavior matching the heading and speed of a contact vehicle.
- BHV_StationKeep: A behavior for holding a vehicle at a given position.
- BHV_TestFailure: A behavior designed to fail, to test the helm's handling of a behavior failure.
- BHV_Timer: A behavior for posting to the MOOSDB based on other events or timing.
- BHV_Trail: A behavior for maneuvering ownship at a relative bearing and range to a contact.
- BHV_Waypoint: A behavior for traversing a given set of waypoints.
- BHV_Muster: A behavior mustering in a region and keeping separation from others.
- BHV_TaskMuster: A task behavior for auctioning on traversing to a muster region.
- BHV_TaskWaypoint: A task behavior for auctioning on traversing to a destination.
- BHV_TaskConvoy: A task behavior for auctioning on forming a convoy ordering.
- lib_bsutils: Wrapper library for ease of development.
- libgoby: Core Goby libraries for acoustic communication, nested publish/subscribe middleware, and various marine related utilities.
- libgoby_moos: Library for connecting Goby to MOOS and related utilities.
- lib_bellhop: Library of protobuf messages and utilities for requests of raytracing impulse responses in the Virtual Ocean.
- lib_henrik_util: Library of utility functions used by the LAMSS Nested Autonomy modules, including linear algebra, environmental modeling and signal processing.
- lib_lamss_protobuf: Configurations of Goby-protobuf messages used for messages transmitted between Goby-MOOS applications through the MOOSDB or via the acoustic modem to and from the operators and collaborators.
- lib_henrik_anneal: A library with annealer and thermal front sim, for 2.680 Front Estimation lab.
- lib_ufld_hazards: A library containing key data structures for the 2.680 Hazard Search Lab.
- lib_MOOS: Core MOOS comms, MOOS App superclass, and utitlities implementation.
- lib_apputil: A library for supporting AppCasting MOOS apps.
- lib_behaviors-colregs: A library holding the COLREGS collision avoidance behavior implementation.
- lib_behaviors-marine: A library holding most of the IvP behaviors of MOOS-IvP.
- lib_behaviors: A library containing superclass code for all IvP behaviors.
- lib_bhvutil: A library holding several utility classes used by behaviors.
- lib_contacts: A library implementing the node report message structure.
- lib_encounters: A library holding the Encounter class, for vehicle CPA encounters.
- lib_genutil: A library used by applications having both a MOOS and user interface.
- lib_geometry: Core geometry libraries for autonomy behaviors and GUIs. Includes CPAEngine.
- lib_helmivp: A library holding most non-MOOS specific code of the IvP Helm.
- lib_ipfview: A library with classes to support the rendering of IvP Functions.
- lib_ivpbuild: A library with utilities for build IvP Functions.
- lib_ivpcore: A library with core classes for representing IvP Functions and IvP Domains.
- lib_ivpsolve: A library for representing and solving IvP Problems.
- lib_logic: A library for implementing simple Boolean logic in applications.
- lib_logutils: A library of utilities to support many of the apps in the ALog Toolbox.
- lib_manifest: A library with key manifest data structures an I/O functions for populat ing manifests.
- lib_marineview: A library common classes for supporting GUIs with marine operation views.
- lib_mbutil: A library of kitchen-sink utilities used by many applications.
- lib_obstacles: A library of classes and utilities for representing and generating obstacles.
- lib_realm: A library of classes and utilities for supporting RealmCasting.
- lib_ucommand: A library for supporting CommandFolios - mission control pre-defined sets of commands.
- lib_ufield: A library for holding a few classes shared across apps in the uField Toolbox.
- lib_zaicview: A library with common superclasses used by all the zaic utilities.
- lib_marine_pid: Library holding PID Engine code for embedding in apps using PID control.
- lib_voronoi: Library holding key data structures and utilities for Voronoi apps/behaviors.
- lib_genpoly: Library representing and handling general non-convex polygons.
- lib_helmtask: Library of core classes and utilities for task related behaviors and apps.
- lib_learning: A library of basic learning algorithms which are direct implementations of published research work by others.