A B C D E F G H I K L M N O P Q R S T U V W X Y Z

A

abort(String) - Static method in class cdx.Error
Method to give warning and exit the sytem.
add(Vector3d, Vector3d, Vector3d) - Static method in class cdx.VectorMath
The add method takes two vectors and adds them, placing the result in a third vector.
add(Vector2d, Vector2d, Vector2d) - Static method in class cdx.VectorMath
The add method takes two vectors and adds them, placing the result in a third vector.
Aircraft - Class in cdx
The object of Aircraft where callsign is the only attribute
Aircraft() - Constructor for class cdx.Aircraft
The default constructor.
Aircraft(byte[]) - Constructor for class cdx.Aircraft
Constructor with a callsign.
Aircraft(Aircraft) - Constructor for class cdx.Aircraft
Constructor with an aircraft.
allocatedCallSigns - Variable in class cdx.StateTable
The pre-allocated callsigns
allocatedVectors - Variable in class cdx.StateTable
The pre-allocated vectors
ArrayListFactory - Class in cdx
This class is used to pre-allocate ArrayLists in mission memory.
ArrayListFactory(int, int) - Constructor for class cdx.ArrayListFactory
Constructor with the number of ArrayList and the length for each ArrayList.
ASCIIConverter - Class in cdx
The purpose of this class is to permit printing of debug messages with callsigns (byte arrays) and floating point data from a no-heap thread.
ASCIIConverter() - Constructor for class cdx.ASCIIConverter
 

B

bytesToString(byte[]) - Static method in class cdx.ASCIIConverter
Convert byte[] to a string

C

CalcPartCollisions() - Method in class cdx.DetectorHandler
Method to get the allocated list of lists of motions by its ID, and detect collisions
CallSign - Class in cdx
The class CallSign encodes callsigns.
CallSign(byte[]) - Constructor for class cdx.CallSign
Constructor with an array of bytes
CallSign() - Constructor for class cdx.CallSign
The default construnctor.
callsigns - Variable in class cdx.RawFrame
An array for storing callsings.
cdx - package cdx

 

CDxMission - Class in cdx
The single mission of the parallel CDx.
CDxMission() - Constructor for class cdx.CDxMission
Constructor
CDxMissionSequencer - Class in cdx
The mission sequencer of the parallel CDx application.
CDxMissionSequencer() - Constructor for class cdx.CDxMissionSequencer
Constructor
CDxSafelet - Class in cdx
Safelet of the parallel CDx.
CDxSafelet() - Constructor for class cdx.CDxSafelet
Constructor
CHashMap - Class in cdx
We note that the key and value of a map entry must not be null.
CHashMap(int) - Constructor for class cdx.CHashMap
Constructs a new CHashMap with a specific initial capacity.
clear() - Method in class cdx.ArrayListFactory
Clear the content of all ArrayLists.
clear() - Method in class cdx.MotionFactory
Restore the index
clear() - Method in class cdx.Partition
Clear the shared `parts'.
collisions - Variable in class cdx.CDxMission
Records the number of collisions calculated by the detector handlers.
compareTo(Object) - Method in class cdx.Aircraft
Performs comparison with ordering taken into account.
Constants - Class in cdx
All of relevant global constants for the parallel CDx.
Constants() - Constructor for class cdx.Constants
 
control - Variable in class cdx.CDxMission
Control object used to orchestrate execution of the handlers.
control - Variable in class cdx.DetectorHandler
To get the control of DetectorControl.
control - Variable in class cdx.ReducerHandler
The control of DetectorControl which starts before releasing all DetectorHandler
convert(Vector3d, Vector2d) - Static method in class cdx.VectorMath
The convert methods have been overridden to allow 2d vectors to be converted to 3d vectors and vice versa.
convert(Vector2d, Vector3d) - Static method in class cdx.VectorMath
The convert methods have been overridden to allow 2d vectors to be converted to 3d vectors and vice versa.
copy(byte[], float[]) - Method in class cdx.RawFrame
Initialise this object from a callsigns and positions array.
copy(RawFrame) - Method in class cdx.RawFrame
Initialise this object from a another RawFrame object.
copyfrom(Aircraft, Vector3d, Vector3d) - Method in class cdx.Motion
Copy the value of another motion to this motion.
createMotions() - Method in class cdx.ReducerHandler
Creates a list of persistent Motion objects (in mission memory) from the current and previous aircraft positions in currentFrame and state.
currentFrame - Variable in class cdx.CDxMission
Records the current radar frame.

D

detect - Variable in class cdx.ReducerHandler
The event to release all DetectorHandlers
DETECTOR_PERIOD - Static variable in class cdx.Constants
 
DETECTOR_PRIORITY - Static variable in class cdx.Constants
Constants about the simulator and detectors.
DetectorControl - Class in cdx
This class is used to control the execution of OutputCollisionsHandler.
DetectorControl(AperiodicEvent, int) - Constructor for class cdx.DetectorControl
Constructor
DetectorHandler - Class in cdx
DetectorHandler instances carry out the actual collisions detection.
DetectorHandler(CDxMission, DetectorControl, int, AperiodicEvent) - Constructor for class cdx.DetectorHandler
Constructor
determineCollisions(List) - Method in class cdx.DetectorHandler
Compute the number of collisions for a List of Motion objects.
dfsVoxelHashRecurse(Motion, Vector2d, HashMap, HashMap) - Method in class cdx.Reducer
Recursive method to check which voxels overlap with a motion
direction(float, Vector3d) - Static method in class cdx.VectorConstants
The direction method is a utility function that will return a unit vector in the direction specified.
direction(float, Vector2d) - Static method in class cdx.VectorConstants
The direction method is a utility function that will return a unit vector in the direction specified.
distance(Vector3d, Vector3d) - Static method in class cdx.VectorMath
The distance method takes two vectors and computes their (Euclidean) distance.
distance(Vector2d, Vector2d) - Static method in class cdx.VectorMath
The distance method takes two vectors and computes their (Euclidean) distance.
distance(Vector3d, Vector2d) - Static method in class cdx.VectorMath
The distance method takes two vectors and computes their (Euclidean) distance.
distance(Vector2d, Vector3d) - Static method in class cdx.VectorMath
The distance method takes two vectors and computes their (Euclidean) distance.
done() - Method in class cdx.DetectorControl
Method to check whether all DetectorHandlers have finished.
dotProduct(Vector3d, Vector3d) - Static method in class cdx.VectorMath
The dotProduct method computes the dot product between two vectors using the standard inner product formula.
dotProduct(Vector2d, Vector2d) - Static method in class cdx.VectorMath
The dotProduct method computes the dot product between two vectors using the standard inner product formula.
down(Vector3d) - Static method in class cdx.VectorConstants
The down method is a utility function that will set the destination operand to a unit vector pointing in the "down" direction.

E

east(Vector3d) - Static method in class cdx.VectorConstants
The east method is a utility function that will set the destination operand to a unit vector pointing in the "east" direction.
east(Vector2d) - Static method in class cdx.VectorConstants
The east method is a utility function that will set the destination operand to a unit vector pointing in the "east" direction.
equals(Object) - Method in class cdx.Aircraft
Performs a comparison between this object and another.
equals(Object) - Method in class cdx.CallSign
Performs an equality test between this object and another.
equals(Object) - Method in class cdx.Vector2d
Check for equality of two Vector2d objects
equals(Vector2d) - Method in class cdx.Vector2d
Check for equality of two Vector2d objects
equals(Object) - Method in class cdx.Vector3d
Check the equality of two objects
equals(Vector3d) - Method in class cdx.Vector3d
Check the equality of two Vector3d objects
Error - Class in cdx
This class is used to generate program errors.
Error() - Constructor for class cdx.Error
 

F

factories - Variable in class cdx.ReducerHandler
Pseudo object factory to manage pre-allocated objects in mission memory.
findIntersection(Motion) - Method in class cdx.Motion
Find an intersection between this Motion and another Motion.
floatToString(float) - Static method in class cdx.ASCIIConverter
Convert a float to a string

G

get() - Method in class cdx.CallSign
Return the value of the callsign
get(Object) - Method in class cdx.CHashMap
Returns the value in this CHashMap associated with the supplied key, or null if no mapping for the key exists in the map.
get(CallSign) - Method in class cdx.StateTable
Method to return a position by its callsign
getAircraft() - Method in class cdx.Motion
Retrieve the aircraft.
getCallsign() - Method in class cdx.Aircraft
Return the callsign of the Aircraft.
getCallSigns() - Method in class cdx.StateTable
Return a set of all callsigns
getColls() - Method in class cdx.CDxMission
This method returns the cumulative number of collisions recorded.
getDetectorWork(int) - Method in class cdx.Partition
Return an ID for a DetectorHandler.
getFirstPosition() - Method in class cdx.Motion
Retrieve the first position.
getFrame() - Method in class cdx.CDxMission
Method to get the current frame object.
getListFactory() - Method in class cdx.PersistentData
Get the listFactory
getMotionFactory() - Method in class cdx.PersistentData
Get the motionFactory
getNewList() - Method in class cdx.ArrayListFactory
Return an ArrayList from the store.
getNewMotion() - Method in class cdx.MotionFactory
Return a pre-allocated instance of the Motionclass.
getNextMission() - Method in class cdx.CDxMissionSequencer
Get the next mission (we have only one mission in CDx.)
getSecondPosition() - Method in class cdx.Motion
Retrieve the second position.
getSequencer() - Method in class cdx.CDxSafelet
Get the mission sequencer
getState() - Method in class cdx.CDxMission
Method to get the shared partition variable.
getWork() - Method in class cdx.CDxMission
Method to get the shared work variable.
GOOD_VOXEL_SIZE - Static variable in class cdx.Constants
 

H

handleEvent() - Method in class cdx.DetectorHandler
Major actions happen within handlerEvent() including calculation, updation of the number of collisions, and notification to DetectorControl.
handleEvent() - Method in class cdx.InputFrameHandler
Major method of a handler: store the previous frame to `state' and get a new frame.
handleEvent() - Method in class cdx.OutputCollisionsHandler
Update the number of collisions in the mission.
handleEvent() - Method in class cdx.ReducerHandler
The major method of the ReducerHandler, in which implements the reduction, updates the shared variables in the mission so that the DetectorHandler can access it, and also releases all DetectorHandlers.
hashCode() - Method in class cdx.Aircraft
Return a valid hash code for this object.
hashCode() - Method in class cdx.CallSign
Returns a valid hash code for this object.
hashCode() - Method in class cdx.Vector2d
The hashfuction for Vector2d
hashCode() - Method in class cdx.Vector3d
The hashfunction for Vector3d
horizontal - Variable in class cdx.Reducer
The horizontal side of a voxel.

I

id - Variable in class cdx.DetectorHandler
The Identity of this DetectorHandler.
initColls() - Method in class cdx.CDxMission
This method initialises the number of collisions by setting it to 0.
initialize() - Method in class cdx.CDxMission
Initialization of the mission.
InputFrameHandler - Class in cdx
InputFrameHandler is a periodic handler that reads and stores radar frames as they arrive.
InputFrameHandler(CDxMission, AperiodicEvent) - Constructor for class cdx.InputFrameHandler
Constructor
isInVoxel(Vector2d, Motion) - Method in class cdx.Reducer
Given a voxel and a Motion, determines if they overlap.

K

keySet() - Method in class cdx.CHashMap
Returns all keys within the hash map as a Set.

L

LENGTH_OF_CALLSIGN - Static variable in class cdx.Constants
 

M

magnitude(Vector3d) - Static method in class cdx.VectorMath
The magnitude method takes a Vector3d and computes its magnitude according the Euclidean norm.
magnitude(Vector2d) - Static method in class cdx.VectorMath
The magnitude method takes a Vector2d and computes its magnitude according the Euclidean norm.
MAX_OF_PLANES - Static variable in class cdx.Constants
Constants about planes and callsigns.
MAX_X - Static variable in class cdx.Constants
 
MAX_Y - Static variable in class cdx.Constants
 
MAX_Z - Static variable in class cdx.Constants
 
MIN_X - Static variable in class cdx.Constants
Constants about frames and voxels.
MIN_Y - Static variable in class cdx.Constants
 
MIN_Z - Static variable in class cdx.Constants
 
mission - Variable in class cdx.DetectorHandler
To get the control of the current mission.
mission - Variable in class cdx.InputFrameHandler
The current mission
mission - Variable in class cdx.OutputCollisionsHandler
The current mission
mission - Variable in class cdx.ReducerHandler
The current mission
mission_done - Variable in class cdx.CDxMissionSequencer
The state of the mission
MISSION_MEMORY_SIZE - Static variable in class cdx.Constants
 
missionMemorySize() - Method in class cdx.CDxMission
Return the default memory size for a mission
Motion - Class in cdx
Objects of the Motion class provide all a-priori known information about what the Aircraft was doing between two frames.
Motion() - Constructor for class cdx.Motion
Constructor
Motion(Aircraft, Vector3d, Vector3d) - Constructor for class cdx.Motion
Initialise with an aircraft and two positions.
Motion(Aircraft, Vector3d) - Constructor for class cdx.Motion
Initialise with an aircraft and one position.
MotionFactory - Class in cdx
This class is used to pre-allocate Motion objects in mission memory.
MotionFactory(int) - Constructor for class cdx.MotionFactory
Constructor

N

NE_QUADRANT - Static variable in class cdx.VectorConstants
 
NO_QUADRANT - Static variable in class cdx.VectorConstants
 
normalize(Vector3d, Vector3d) - Static method in class cdx.VectorMath
The normalize method takes a Vector3d and if it is non-zero, will normalize it so that its magnitude will be 1.
normalize(Vector2d, Vector2d) - Static method in class cdx.VectorMath
The normalize method takes a Vector2d and if it is non-zero, will normalize it so that its magnitude will be 1.
north(Vector3d) - Static method in class cdx.VectorConstants
The north method is a utility function that will set the destination operand to a unit vector pointing in the "north" direction.
north(Vector2d) - Static method in class cdx.VectorConstants
The north method is a utility function that will set the destination operand to a unit vector pointing in the "north" direction.
notify(int) - Method in class cdx.DetectorControl
Method to release OutputCollisionHandler if all DetectorHandlers have finihsed.
NUMBER_OF_PLANES - Static variable in class cdx.Constants
 
NW_QUADRANT - Static variable in class cdx.VectorConstants
 

O

OutputCollisionsHandler - Class in cdx
OutputCollisionsHandler outputs the number of detected collisions to an external device.
OutputCollisionsHandler(CDxMission, AperiodicEvent) - Constructor for class cdx.OutputCollisionsHandler
Constructor

P

Partition - Class in cdx
This class evenly distributes lists of motions which may be collided to each element of the shared variable `parts', so that each DetectorHandler can retrieve the related list regarding to its ID.
Partition(int) - Constructor for class cdx.Partition
Constructor
performVoxelHashing(Motion, HashMap, HashMap) - Method in class cdx.Reducer
Colours all of the voxels that overlap with the Motion.
PersistentData - Class in cdx
This class acts as a contained for all factories needed to pre-allocate shared objects in mission memory.
PersistentData() - Constructor for class cdx.PersistentData
Constructor and initialisation of shared variables.
phi(Vector3d) - Static method in class cdx.VectorMath
The phi method takes a Vector3d and calculates the elevation between the XY-plane and the vector.
planeCnt - Variable in class cdx.RawFrame
The current postion of aircraft, since the number of aircraft in a radar frame may change.
positions - Variable in class cdx.RawFrame
An array for storing positions
PROXIMITY_RADIUS - Static variable in class cdx.Constants
 
put(Object, Object) - Method in class cdx.CHashMap
Puts the supplied value into the Map, stored under the supplied key.
put(CallSign, float, float, float) - Method in class cdx.StateTable
Put a callsign and the related vector(x,y,z) into the StateTable.
putIntoMap(HashMap, Vector2d, Motion) - Method in class cdx.Reducer
Puts a Motion object into the voxel map at a voxel.

Q

quadrant(Vector2d) - Static method in class cdx.VectorMath
The quadrant method is a utility function for two dimensional vectors that takes a vector as a parameter and will return an integer describing what quadrant of the xy plane the vector lies in.

R

RawFrame - Class in cdx
A raw radar frame where callsigns and positions are recorded sequentially and seperately.
RawFrame() - Constructor for class cdx.RawFrame
 
recColls(int) - Method in class cdx.CDxMission
This method records a partial collisions result as it is generated by the detection handlers.
recordMotionList(List) - Method in class cdx.Partition
Method to add a list of motions in parts[i].
reduce - Variable in class cdx.InputFrameHandler
The event to release ReducerHandler
reduceAndPartitionMotions(Reducer, List) - Method in class cdx.ReducerHandler
Method to input a list of motions to a reducer to implement the reduction based on voxels hashing.
reduceCollisionSet(LinkedList) - Method in class cdx.Reducer
Takes a List of Motions and returns an List of Lists of Motions, where the inner lists implement RandomAccess.
Reducer - Class in cdx
Reduces the set of collisions to be tested using a voxel hashing algorithm.
Reducer(float) - Constructor for class cdx.Reducer
Initialise the reducer with a voxel size.
ReducerHandler - Class in cdx
ReducerHandler performs two preparational tasks prior to the parallel detection phase.
ReducerHandler(CDxMission, AperiodicEvent, DetectorControl, AperiodicEvent) - Constructor for class cdx.ReducerHandler
Constructor
remove(Object) - Method in class cdx.CHashMap
Removes an value from the map that is associated with a given key.
remove(CallSign) - Method in class cdx.StateTable
Method to remove a postion from the StateTable by its callsign
rotate(Vector3d, float, Vector3d) - Static method in class cdx.VectorMath
The rotate method takes a Vector3d and a scalar float value and will rotate the vector in the xy plane.

S

scale(Vector3d, float, Vector3d) - Static method in class cdx.VectorMath
The scale method takes a Vector3d and a scalar float value multiplies each component of the Vector, storing the result in the third parameter.
scale(Vector2d, float, Vector2d) - Static method in class cdx.VectorMath
The scale method takes a Vector2d and a scalar float value multiplies each component of the Vector, storing the result in the third parameter.
SE_QUADRANT - Static variable in class cdx.VectorConstants
 
set(float, float) - Method in class cdx.Vector2d
The set method is basically a convenience method that sets the internal values of the coordinates.
set(Vector2d) - Method in class cdx.Vector2d
The set method is basically a convenience method that sets the internal values of the coordinates copying them from another vector.
set(float, float, float) - Method in class cdx.Vector3d
The set method is basically a convenience method that sets the internal values of the coordinates.
set(Vector3d) - Method in class cdx.Vector3d
The set is basically a convenience method that sets the internal values of the coordinates copying them from another vector.
setFrame(RawFrame) - Method in class cdx.CDxMission
Method to set the current frame object.
setState(StateTable) - Method in class cdx.CDxMission
Method to set the state of previous frame.
setup() - Method in class cdx.CDxSafelet
The setup phase
setWork(Partition) - Method in class cdx.CDxMission
Method to set the shared work variable.
south(Vector3d) - Static method in class cdx.VectorConstants
The south method is a utility function that will set the destination operand to a unit vector pointing in the "south" direction.
south(Vector2d) - Static method in class cdx.VectorConstants
The south method is a utility function that will set the destination operand to a unit vector pointing in the "south" direction.
sqDistance(Vector3d, Vector3d) - Static method in class cdx.VectorMath
The sqDistance method takes two vectors and computes the square of their (Euclidean) distance.
sqDistance(Vector2d, Vector2d) - Static method in class cdx.VectorMath
The sqDistance method takes two vectors and computes the square of their (Euclidean) distance.
sqDistance(Vector3d, Vector2d) - Static method in class cdx.VectorMath
The sqDistance method takes two vectors and computes the square of their (Euclidean) distance.
sqDistance(Vector2d, Vector3d) - Static method in class cdx.VectorMath
The sqDistance method takes two vectors and computes the square of their (Euclidean) distance.
start() - Method in class cdx.DetectorControl
Method to record the state of each DetectorHandler.
state - Variable in class cdx.CDxMission
Records previous aircraft positions.
StateTable - Class in cdx
The class StateTable records the state of the previous frame.
StateTable() - Constructor for class cdx.StateTable
Constructor that initialise CHahsMap, callsign and vectors.
StoreFrame(RawFrame) - Method in class cdx.InputFrameHandler
This method correspond to the StoreFrame action in the S anchor.
subtract(Vector3d, Vector3d, Vector3d) - Static method in class cdx.VectorMath
The subtract method takes two vectors and subtracts them, placing the result in a third vector.
subtract(Vector2d, Vector2d, Vector2d) - Static method in class cdx.VectorMath
The subtract method takes two vectors and subtracts them, placing the result in a third vector.
SW_QUADRANT - Static variable in class cdx.VectorConstants
 

T

teardown() - Method in class cdx.CDxSafelet
The clean-up phase
theta(Vector3d) - Static method in class cdx.VectorMath
The theta method takes a Vector3d and calculates the angle between the X-axis and the vector, ignoring the z component of the vector.
toString() - Method in class cdx.Aircraft
Returns a helpful description of this object.
toString() - Method in class cdx.Motion
Convert a motion to a string
toString() - Method in class cdx.Vector2d
Convert a Vector2d to a string
toString() - Method in class cdx.Vector3d
Convert the value of a Vector3d to a string

U

up(Vector3d) - Static method in class cdx.VectorConstants
The up method is a utility function that will set the destination operand to a unit vector pointing in the "up" direction.
updateState() - Method in class cdx.InputFrameHandler
This method records the current positions of all aircrafts in the shared state variable of type StateTable.
usedSlots - Variable in class cdx.StateTable
To record the used pairs of callsign/vector

V

Vector2d - Class in cdx
The Vector2d class implements a 2-dimensional vector that can represent the position or velocity of an object within a 2D space.
Vector2d() - Constructor for class cdx.Vector2d
The default constructor for the Vector2d class returns an object representing the zero vector.
Vector2d(float, float) - Constructor for class cdx.Vector2d
The main constructor for the Vector2d class takes the two coordinates as parameters and produces an object representing that vector.
Vector2d(Vector2d) - Constructor for class cdx.Vector2d
The secondary constructor for the Vector2d class takes a vector to copy into this new instance and returns an instance that represents a copy of that vector.
Vector3d - Class in cdx
The Vector3d class implements a 3-dimensional vector that can represent the position or velocity of an object within a 3D space.
Vector3d() - Constructor for class cdx.Vector3d
The default constructor for the Vector3d class returns an object representing the zero vector.
Vector3d(float, float, float) - Constructor for class cdx.Vector3d
The main constructor for the Vector3d class takes the three coordinates as parameters and produces an object representing that vector.
Vector3d(Vector3d) - Constructor for class cdx.Vector3d
The secondary constructor for the Vector3d class takes a vector to copy into this new instance and returns an instance that represents a copy of that vector.
VectorConstants - Class in cdx
The VectorConstants class implements some simple utility methods for obtaining vectors that are commonly used, such as zero vectors unit direction vectors, and orthogonal vectors.
VectorConstants() - Constructor for class cdx.VectorConstants
 
VectorMath - Class in cdx
The VectorMath class implements the mathematical functions for manipulating vectors of two and three dimensions.
VectorMath() - Constructor for class cdx.VectorMath
 
vertical - Variable in class cdx.Reducer
The vertical side of a voxel.
voxel_size - Variable in class cdx.Reducer
The voxel size.
voxelHash(Vector3d, Vector2d) - Method in class cdx.Reducer
Creates a Vector2d that represents a voxel.
voxels(float) - Static method in class cdx.Constants
Utility method to calculate the number of voxels for a given voxel size.

W

west(Vector3d) - Static method in class cdx.VectorConstants
The west method is a utility function that will set the destination operand to a unit vector pointing in the "west" direction.
west(Vector2d) - Static method in class cdx.VectorConstants
The west method is a utility function that will set the destination operand to a unit vector pointing in the "west" direction.
work - Variable in class cdx.CDxMission
Records a partition of the computational work as it is distributed between the parallel detection handlers.

X

x - Variable in class cdx.Vector2d
Fields for the x and y coordinates of the vector.
x - Variable in class cdx.Vector3d
Fields for the x, y and z coordinates of the vector.

Y

y - Variable in class cdx.Vector2d
Fields for the x and y coordinates of the vector.
y - Variable in class cdx.Vector3d
Fields for the x, y and z coordinates of the vector.

Z

z - Variable in class cdx.Vector3d
Fields for the x, y and z coordinates of the vector.
zero() - Method in class cdx.Vector2d
The zero method is a convenience method to zero the coordinates of the vector.
zero() - Method in class cdx.Vector3d
The zero method is a convenience method to zero the coordinates of the vector.
ZeroVectorException - Exception in cdx
The ZeroVectorException exception is thrown by utilities that perform calculations on vectors.
ZeroVectorException(String) - Constructor for exception cdx.ZeroVectorException
The only constructor for the ZeroVectorException class takes a string as an argument and simply calls the super constructor.

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