ICAROUS
•All Classes Namespaces Files Functions Variables Enumerations Enumerator Macros Modules Pages
Public Member Functions | Private Member Functions | Private Attributes | List of all members
Merger Class Reference

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:
Generated by doxygen 1.9.2