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.