#include <BandsCore.h>

Public Member Functions
	BandsCore ()

	BandsCore (double D, double H, double T, double max_gs, double max_vs)

	BandsCore (double D, double H, double B, double T, double max_gs, double max_vs)

void	setTime (double t)

void	setStartTime (double t)

double	getTime () const

double	getStartTime () const

void	setTimeRange (double b, double t)

void	setDiameter (double d)

double	getDiameter () const

void	setHeight (double h)

double	getHeight () const

void	setMaxGroundSpeed (double gs)

double	getMaxGroundSpeed () const

void	setMaxVerticalSpeed (double vs)

double	getMaxVerticalSpeed () const

virtual void	setTrackTolerance (double trk)

virtual double	getTrackTolerance () const

virtual void	setGroundSpeedTolerance (double gs)

virtual double	getGroundSpeedTolerance () const

virtual void	setVerticalSpeedTolerance (double vs)

virtual double	getVerticalSpeedTolerance () const

void	addTraffic (const Vect3 &s3, const Velocity &vo3, const Velocity &vi3, bool do_trk, bool do_gs, bool do_vs)

void	addTraffic (const Vect3 &s3, const Velocity &vo3, const Velocity &vi3)

void	clearTrackRegions ()

void	clearGroundSpeedRegions ()

void	clearVerticalSpeedRegions ()

void	clear (bool do_trk, bool do_gs, bool do_vs)

void	clear ()

const IntervalSet &	trackBands () const

bool	trackBands (double trk) const

int	trackSize () const

const IntervalSet &	groundSpeedBands () const

bool	groundSpeedBands (double gs) const

int	groundSpeedSize () const

const IntervalSet &	verticalSpeedBands () const

bool	verticalSpeedBands (double vs) const

int	verticalSpeedSize () const

void	clearNarrowBands (bool do_trk, bool do_gs, bool do_vs)

void	clearTrackBreaks ()

void	clearGroundSpeedBreaks ()

void	clearVerticalSpeedBreaks ()

void	clearBreaks (bool do_trk, bool do_gs, bool do_vs)

void	clearBreaks ()

std::string	toString () const

Private Member Functions
void	calcTrkBands (Vect3 s3, Vect3 vo3, Vect3 vi3) const

void	calcGsBands (Vect3 s3, Vect3 vo3, Vect3 vi3) const

void	calcVsBands (Vect3 s3, Vect3 vo3, Vect3 vi3) const

void	init (double D, double H, double B, double T, double max_gs, double max_vs)

Private Attributes
double	D

double	H

double	B

double	T

double	max_gs

double	max_vs

double	trkTol

double	gsTol

double	vsTol

IntervalSet	trk_regions

IntervalSet	gs_regions

IntervalSet	vs_regions

IntervalSet	regions

Detailed Description

Objects of class "BandsCore" compute the conflict prevention bands using linear state-based predictions of ownship and (multiple) traffic aircraft positions. This class presumes the use "internal" units and Cartesian coordinates and it doesn't perform bookkeeping of its parameters. For instance, if D, H, etc are set after traffic has been added, the method clear() has to be explicitly called. Otherwise, the state of the bands object is undetermined. For all these reasons, this class is not intended for general use. It is most appropriate for building algorithms that include prevention band information. For a more "user-friendly" version, try the Bands class.

The bands consist of ranges of guidance maneuvers: track angles, ground speeds, and vertical speeds. If a path is (immediately) taken that is within one these bands and no traffic aircraft maneuvers, then a loss of separation will occur within the specified lookahead time. Implicitly, any path that is not in a band does not have a loss of separation within the lookahead time.

Disclaimers: Only parts of these algorithms have been formally verified. We plan to advance the formal verification, but it is currently not complete. Even with a 'complete' verification, there will still be certain assumptions. For instance, the formal proofs use real numbers while these implementations use floating point numbers, so numerical differences could result. In addition, the geodesic computations include certain inaccuracies, especially near the poles.

The basic usages is

Bands b(..with configuration parameters..);
b.clear();
b.addTraffic(relative position of ownship and traffic,
             velocity of ownship, 
             velocity of one traffic aircraft);
b.addTraffic(relative position of ownship and traffic,
             velocity of ownship, 
             velocity of one traffic aircraft);
...add other traffic aircraft...

IntervalSet track_bands = b.trackBands();
IntervalSet ground_speed_bands = b.groundSpeedBands();
IntervalSet vertical_speed_bands = b.verticalSpeedBands();

When any "parameter" to this class is set (lookahead time, etc.), any previous bands information is cleared; therefore, all traffic aircraft must be added after the parameters are configured.

Constructor & Destructor Documentation

◆ BandsCore() [1/3]

BandsCore::BandsCore ( )

Construct a BandsCore object with default values for configuration parameters.

◆ BandsCore() [2/3]

BandsCore::BandsCore	(	double	D,
		double	H,
		double	T,
		double	max_gs,
		double	max_vs
	)

Construct a BandsCore object with the given configuration parameters. The bands always begin as "empty" bands: green track bands from 0 to 2pi, green ground speed bands from 0 to max_gs, and green vertical speed bands from -max_vs to max_vs.

Parameters

D	the minimum horizontal separation distance
H	the minimum vertical separation distance
T	the lookahead range end time (start time is 0)
max_gs	the maximum ground speed that is output by BandsCore, the minimum is 0.
max_vs	the range of vertical speeds is -max_vs to max_vs [feet/min]

◆ BandsCore() [3/3]

BandsCore::BandsCore	(	double	D,
		double	H,
		double	B,
		double	T,
		double	max_gs,
		double	max_vs
	)

Construct a BandsCore object with the given configuration parameters. The bands always begin as "empty" bands: green track bands from 0 to 2pi, green ground speed bands from 0 to max_gs, and green vertical speed bands from -max_vs to max_vs.

Parameters

D	the minimum horizontal separation distance
H	the minimum vertical separation distance
B	the lookahead range start
T	the lookahead range end
max_gs	the maximum ground speed that is output by BandsCore, the minimum is 0.
max_vs	the range of vertical speeds is -max_vs to max_vs [feet/min]

Member Function Documentation

◆ addTraffic()

void BandsCore::addTraffic	(	const Vect3 &	s3,
		const Velocity &	vo3,
		const Velocity &	vi3,
		bool	do_trk,
		bool	do_gs,
		bool	do_vs
	)

Compute the conflict prevention band information for one ownship/traffic aircraft pair and add this information to any existing band information. For a collection of "band" information to make sense, all ownship aircraft must be the same. All parameters are in cartesian coordinates in "internal" units.

Parameters

s	the relative position of the traffic and ownship aircraft
vo	the velocity of the ownship
vi	the velocity of the traffic

◆ calcGsBands()

void BandsCore::calcGsBands	(	Vect3	s3,
		Vect3	vo3,
		Vect3	vi3
	)		const

private

This method computes the conflict bands for ground speed for the given aircraft pair. This method is nearly static, it only relies on the configuration parameters for the class (diameter, time, maximum gs, etc.)

◆ calcTrkBands()

void BandsCore::calcTrkBands	(	Vect3	s3,
		Vect3	vo3,
		Vect3	vi3
	)		const

private

This method computes the conflict bands for track angles for the given aircraft pair. This method is nearly static, it only relies on the configuration parameters for the class (diameter, time, maximum gs, etc.)

◆ calcVsBands()

void BandsCore::calcVsBands	(	Vect3	s3,
		Vect3	vo3,
		Vect3	vi3
	)		const

private

This method computes the conflict bands for vertical speed for the given aircraft pair. This method is nearly static, it only relies on the configuration parameters for the class (diameter, time, maximum gs, etc.)

◆ clearNarrowBands()

void BandsCore::clearNarrowBands	(	bool	do_trk,
		bool	do_gs,
		bool	do_vs
	)

Internally modify the bands to remove narrow bands (-—X-— becomes ------—). This should be run after the bands have been populated (if at all). This should be used on "green" bands. Tolerances define the filter sizes. trkTol in [rad], gsTol in [m/s], vsTol in [m/s]

◆ clearTrackBreaks()

void BandsCore::clearTrackBreaks ( )

Internally modify the bands to remove narrow gaps (XXXX-XXXX becomes XXXXXXXXX). This should be run after the bands have been populated (if at all). This should be used on "red" bands. Tolerances define the filter sizes. trkTol in [rad], gsTol in [m/s], vsTol in [m/s]

◆ clearTrackRegions()

void BandsCore::clearTrackRegions ( )

Clear all bands to "empty" bands.

◆ getDiameter()

double BandsCore::getDiameter ( ) const

Returns the minimum horizontal separation distance in internal units.

◆ getGroundSpeedTolerance()

double BandsCore::getGroundSpeedTolerance ( ) const

virtual

Returns minimum acceptable ground speed

◆ getHeight()

double BandsCore::getHeight ( ) const

Returns the minimum vertical separation distance in internal units.

◆ getMaxGroundSpeed()

double BandsCore::getMaxGroundSpeed ( ) const

Returns the maximum ground speed in internal units.

◆ getMaxVerticalSpeed()

double BandsCore::getMaxVerticalSpeed ( ) const

Returns the range of vertical speed in internal units output by BandsCore.

◆ getStartTime()

double BandsCore::getStartTime ( ) const

Returns the lookahead start time in internal units.

◆ getTime()

double BandsCore::getTime ( ) const

Returns the end lookahead time in internal units.

◆ getTrackTolerance()

double BandsCore::getTrackTolerance ( ) const

virtual

Returns minimum acceptable track angle

◆ getVerticalSpeedTolerance()

double BandsCore::getVerticalSpeedTolerance ( ) const

virtual

Returns minimum acceptable ground speed

◆ groundSpeedBands() [1/2]

const IntervalSet & BandsCore::groundSpeedBands ( ) const

The ground speed bands in internal units. The range of ground speed bands is from 0 to max_gs.

◆ groundSpeedBands() [2/2]

bool BandsCore::groundSpeedBands ( double gs ) const

Is there a conflict (within the given lookahead time) for this ground speed?

◆ setDiameter()

void BandsCore::setDiameter ( double d )

Sets the minimum horizontal separation distance in internal units.

◆ setGroundSpeedTolerance()

void BandsCore::setGroundSpeedTolerance ( double gs )

virtual

Sets a minimum size for green/no conflict bands to be allowed, to avoid "eye of the needle" situations. Any green bands smaller than this will not be reported.

Parameters

gs	minimum acceptable ground speed

◆ setHeight()

void BandsCore::setHeight ( double h )

Sets the minimum vertical separation distance in internal units.

◆ setMaxGroundSpeed()

void BandsCore::setMaxGroundSpeed ( double gs )

Sets the maximum ground speed in internal units, the minimum is 0.

◆ setMaxVerticalSpeed()

void BandsCore::setMaxVerticalSpeed ( double vs )

Sets the range of vertical speeds in internal units, -max_vs to max_vs.

◆ setTime()

void BandsCore::setTime ( double t )

Set the end lookahead time in internal units. The lookahead range start is set to 0.

◆ setTimeRange()

void BandsCore::setTimeRange	(	double	b,
		double	t
	)

Set the lookahead time range in internal units with start and end times.

◆ setTrackTolerance()

void BandsCore::setTrackTolerance ( double trk )

virtual

Sets a minimum size for green/no conflict bands to be allowed, to avoid "eye of the needle" situations. Any green bands smaller than this will not be reported.

Parameters

trk	minimum acceptable track angle

◆ setVerticalSpeedTolerance()

void BandsCore::setVerticalSpeedTolerance ( double vs )

virtual

Sets a minimum size for green/no conflict bands to be allowed, to avoid "eye of the needle" situations. Any green bands smaller than this will not be reported.

Parameters

vs	minimum acceptable vertical speed

◆ toString()

std::string BandsCore::toString ( ) const

Return a string representation of this object

◆ trackBands() [1/2]

const IntervalSet & BandsCore::trackBands ( ) const

The track angle bands. The angles are in 'compass' angles in internal units, counter-clockwise from true north.

◆ trackBands() [2/2]

bool BandsCore::trackBands ( double trk ) const

Is there a conflict (within the given lookahead time) for this track angle?

◆ verticalSpeedBands() [1/2]

const IntervalSet & BandsCore::verticalSpeedBands ( ) const

The vertical speed bands in internal units. The range of vertical speeds is -max_vs to max_vs.

◆ verticalSpeedBands() [2/2]

bool BandsCore::verticalSpeedBands ( double vs ) const

Is there a conflict (within the given lookahead time) for this vertical speed?

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

Modules/ACCoRD/inc/BandsCore.h
Modules/ACCoRD/src/BandsCore.cpp

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ BandsCore() [1/3]

◆ BandsCore() [2/3]

◆ BandsCore() [3/3]

Member Function Documentation

◆ addTraffic()

◆ calcGsBands()

◆ calcTrkBands()

◆ calcVsBands()

◆ clearNarrowBands()

◆ clearTrackBreaks()

◆ clearTrackRegions()

◆ getDiameter()

◆ getGroundSpeedTolerance()

◆ getHeight()

◆ getMaxGroundSpeed()

◆ getMaxVerticalSpeed()

◆ getStartTime()

◆ getTime()

◆ getTrackTolerance()

◆ getVerticalSpeedTolerance()

◆ groundSpeedBands() [1/2]

◆ groundSpeedBands() [2/2]

◆ setDiameter()

◆ setGroundSpeedTolerance()

◆ setHeight()

◆ setMaxGroundSpeed()

◆ setMaxVerticalSpeed()

◆ setTime()

◆ setTimeRange()

◆ setTrackTolerance()

◆ setVerticalSpeedTolerance()

◆ toString()

◆ trackBands() [1/2]

◆ trackBands() [2/2]

◆ verticalSpeedBands() [1/2]

◆ verticalSpeedBands() [2/2]