Public Member Functions
	Merger (std::string callsign, std::string config, int vehicleID)

void	ReadParamFromFile (std::string config)

void	SetVehicleConstraints (double minVel, double maxVel, double turnRadius)

void	SetMergefixParams (double separationTime, double coordzone, double schzone, double entryzone, double corridorWidth)

void	SetVehicleState (double position[], double velocity[])

void	SetIntersectionData (int i, int id, double position[])

unsigned char	RunMergingOperation (double time)

void	SetNodeLog (dataLog_t *mgData)

int	GetOutputTrajectory (int i, double wp[4])

void	GetOutputVelocity (double trk, double gs, double *vs)

bool	GetArrivalTimes (mergingData_t *arrData)

Private Member Functions
double	GetApproachPrecision (double position[], double velocity[], double intersection[])

void	ComputeArrivalData (void)

double	ComputePathLength (void)

bool	CheckIntersectionConflict (void)

void	CheckIntersectionExit (void)

void	ComputeSchedule ()

bool	ComputeMergingSpeed (uint32_t arrivalTime)

void	ComputeTrajectory (double xc1, double xc2)

void	ExecuteNewPath (void)

void	ExchangeArrivalTimes (void)

int32_t	FindCurrentIntersection (void)

uint32_t	ReviseEarlyArrTimeInEntryZone (void)

zoneType_e	IdentifyCurrentZone ()

void	AddLogEntry ()

void	ResetData ()

Private Attributes
FILE *	logFile1
	Log file descriptor.

FILE *	logFile2
	Log file descriptor.

std::string	callSign
	Vehicle call sign string.

unsigned int	vehicleID
	Numerial identifier.

double	mergeFixes [INTERSECTION_MAX][3]
	merge fixes

unsigned int	mergeFixId [INTERSECTION_MAX]
	Identifiers of merge fixes.

unsigned int	currentFixIndex
	Current fix index.

unsigned int	totalFixes
	Total number of merge fixes.

double	position [3]
	Current position.

double	velocity [3]
	Current velocity.

double	currentSpeed
	Current speed.

double	currentIntersection [3]
	Current intersection.

double	dist2Int
	Distance to intersection.

unsigned int	raftRole
	Raft node role.

double	currentLocalTime

double	coordZone
	Coordination zone size.

double	schedZone
	Schedule zone size.

double	entryZone
	Entry zone size.

double	corridorWidth
	Corridor width at the intersection.

double	separationTime
	Minimum separation time.

zoneType_e	currentZone
	Current zone.

double	turnRadius

double	maxSpeed

double	minSpeed

bool	publishMergingStatus
	Merging status publish notification.

bool	arrivalDataUpdated
	true if new arrival data exists

bool	defaultEntryPlan

bool	entryPointComputed

bool	executePath

bool	inComputeZone

bool	approaching

bool	mergeConflict

int	numSchedulesComputed
	Number of times schedule has been run.

unsigned char	waypointIndex

unsigned char	mergingStatus

unsigned char	nodeRole

bool	passive

double	dist2ZoneEntry
	Distance to entry point.

double	time2ZoneEntry
	Time to entry.

double	entryPoint [3]
	Entry point.

mergingData_t	ownshipArrivalData
	arrival data

mergingData_t	globalArrivalData [MERGER_MAXAIRCRAFT]
	Intersection entry data.

std::queue< mergingData_t >	outputArrData

double	Release [MERGER_MAXAIRCRAFT]

double	Deadline [MERGER_MAXAIRCRAFT]

double	arrivalTime [MERGER_MAXAIRCRAFT]

int	numNodesInt

double	newWaypoint [3]
	New detour waypoint.

double	mergingSpeed

double	detourDist

double	XtrkDev

double	nextNavWaypoint [3]

double	dist2NextWaypoint

double	speed2NextWaypoint

double	refSpeed

double	flightplan [3][4]

double	cmdOutput [3]

localMergerNavStates_e	navState

The documentation for this class was generated from the following files:

Modules/Core/Merger/Merger.hpp
Modules/Core/Merger/Merger.cpp

Public Member Functions

Private Member Functions

Private Attributes