ICAROUS
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Public Member Functions | |
Cognition (const std::string callSign, const std::string config) | |
Construct a new Cognition object. More... | |
void | ReadParamsFromFile (const std::string config) |
Read parameters from provided config file. More... | |
void | Reset () |
Reset event management framework. | |
void | InputVehicleState (const larcfm::Position &pos, const larcfm::Velocity &vel, const double heading) |
Input current aircraft state data. More... | |
void | InputFlightPlanData (const std::string &plan_id, const std::list< waypoint_t > &waypoints, const double initHeading, bool repair, double repairTurnRate) |
Input flightplan data. More... | |
void | InputTrajectoryMonitorData (const trajectoryMonitorData_t &tjMonData) |
Input trajectory monitoring data. More... | |
void | InputParameters (const cognition_params_t &new_params) |
Input paramaters directly. More... | |
void | InputDitchStatus (const larcfm::Position &ditch_site, const double todAltitude, const bool ditch_requested) |
Input ditch status. More... | |
void | InputMergeStatus (const int merge_status) |
Input merging status. More... | |
void | InputTrackBands (const bands_t &track_bands) |
Input track bands. More... | |
void | InputSpeedBands (const bands_t &speed_bands) |
Input speed bands. More... | |
void | InputAltBands (const bands_t &alt_bands) |
Input altitude bands. More... | |
void | InputVSBands (const bands_t &vs_bands) |
Input vertical speed bands. More... | |
void | InputGeofenceConflictData (const geofenceConflict_t &gf_conflict) |
Input geofence conflict data. More... | |
void | ReachedWaypoint (const std::string &plan_id, const int wp_reached_id) |
Input waypoint reached data. More... | |
int | GetCognitionOutput (Command &command) |
Get the Cognition Output object. More... | |
void | StartMission (const int mission_start_value, const double scenario_time) |
start mission More... | |
void | Run (double time) |
Run decision making process for the current time. More... | |
void | InputTrafficAlert (std::string, int alert) |
Input traffic alert data. More... | |
Public Attributes | |
CognitionState_t | cogState |
internal state | |
Private Member Functions | |
void | InitializeState () |
void | InitializeEvents () |
void | InitializeEventHandlers () |
Initialize event handlers. More... | |
Private Attributes | |
EventManagement< CognitionState_t > | eventMng |
Cognition::Cognition | ( | const std::string | callSign, |
const std::string | config | ||
) |
callSign | name for vehicle |
config | name of configuration file |
int Cognition::GetCognitionOutput | ( | Command & | command | ) |
command | output command |
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private |
Get input priorities
Nominal mission related triggers
Conflict related triggers
Ditching related triggers
void Cognition::InputAltBands | ( | const bands_t & | alt_bands | ) |
alt_bands |
void Cognition::InputDitchStatus | ( | const larcfm::Position & | ditch_site, |
const double | todAltitude, | ||
const bool | ditch_requested | ||
) |
ditch_site | position of ditch site |
todAltitude | top of descent altitude |
ditch_requested | initiate ditching |
void Cognition::InputFlightPlanData | ( | const std::string & | plan_id, |
const std::list< waypoint_t > & | waypoints, | ||
const double | initHeading, | ||
bool | repair, | ||
double | repairTurnRate | ||
) |
plan_id | name for plan |
waypoints | list of waypoints |
initHeading | initial Heading |
repair | true if plan should be converted into kinematic plan |
repairTurnRate | turn rate used to convert to kinematic plan |
void Cognition::InputGeofenceConflictData | ( | const geofenceConflict_t & | gf_conflict | ) |
gf_conflict |
void Cognition::InputMergeStatus | ( | const int | merge_status | ) |
merge_status |
void Cognition::InputParameters | ( | const cognition_params_t & | new_params | ) |
new_params | parameters |
void Cognition::InputSpeedBands | ( | const bands_t & | speed_bands | ) |
speed_bands |
void Cognition::InputTrackBands | ( | const bands_t & | track_bands | ) |
track_bands |
void Cognition::InputTrafficAlert | ( | std::string | callsign, |
int | alert | ||
) |
alert |
void Cognition::InputTrajectoryMonitorData | ( | const trajectoryMonitorData_t & | tjMonData | ) |
tjMonData | trajectory monitoring info |
void Cognition::InputVehicleState | ( | const larcfm::Position & | pos, |
const larcfm::Velocity & | vel, | ||
const double | heading | ||
) |
pos | position information |
vel | velocity information |
heading | heading information |
void Cognition::InputVSBands | ( | const bands_t & | vs_bands | ) |
vs_bands |
void Cognition::ReachedWaypoint | ( | const std::string & | plan_id, |
const int | wp_reached_id | ||
) |
plan_id | name of flightplan |
wp_reached_id | index of waypoint reached |
void Cognition::ReadParamsFromFile | ( | const std::string | config | ) |
config | name of configuration file |
void Cognition::Run | ( | double | time | ) |
time | current time |
void Cognition::StartMission | ( | const int | mission_start_value, |
const double | scenario_time | ||
) |
mission_start_value | index of waypoint to which vehicle should start flight. |
scenario_time |