Group: MOOS-IvP


Total Lines of Code: 159,807

Total Files of Code: 1,164

Total Work Years: 34.28


Group Description: (109 modules)

This group contains all modules in the MOOS-IvP release. All MOOS apps, all behaviors, all command line utilities and all libraries.

Documentation:

Distribution:

  • moos-ivp.org (Public anonymous access)
    svn co https://oceanai.mit.edu/svn/moos-ivp-aro/trunk moos-ivp

Modules:

  • 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.
  • 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.

  • 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_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.