larcfm::CD2D Class Reference

#include <CD2D.h>

Static Public Member Functions
static LossData	detection (const Vect2 &s, const Vect2 &vo, const Vect2 &vi, const double D, const double B, const double T)
static LossData	detection (const Vect2 &s, const Vect2 &vo, const Vect2 &vi, const double D, const double T)
static LossData	detection (const Vect2 &s, const Vect2 &vo, const Vect2 &vi, const double D)
static bool	violation (const Vect2 &s, const double D)
static bool	cd2d (const Vect2 &s, const Vect2 &vo, const Vect2 &vi, const double D, const double B, const double T)
static bool	cd2d (const Vect2 &s, const Vect2 &vo, const Vect2 &vi, const double D, const double T)
static bool	cd2d (const Vect2 &s, const Vect2 &vo, const Vect2 &vi, const double D)
static double	tcpa (const Vect2 &s, const Vect2 &vo, const Vect2 &vi, const double B, const double T)
static double	tcpa (const Vect2 &s, const Vect2 &vo, const Vect2 &vi, const double T)
static double	tcpa (const Vect2 &s, const Vect2 &vo, const Vect2 &vi)

Detailed Description

CD2D is an algorithm for 2-D conflict detection.

All units in this file are internal:

• Units of distance are denoted [d]
• Units of time are denoted [t]
• Units of speed are denoted [d/t]

REMARK: X points to East, Y points to North.

Naming Convention
The intruder is fixed at the origin of the coordinate system.

• D : Diameter of the protected zone [d]
• B : Lower bound of lookahed time interval [t] (B >= 0)
• T : Upper bound of lookahead time interval [t] (B < T)
• s : Relative 2-D position of the ownship [d,d]
• vo : Ownship velocity vector [d/t,d/t]
• vi : Traffic velocity vector [d/t,d/t]

Functions

• violation : Check for 2-D loss of separation
• detection : 2-D conflict detection with calculation of conflict interval
• cd2d : Check for predicted conflict

Member Function Documentation

cd2d() [1/3]

bool larcfm::CD2D::cd2d ( const Vect2 &  s, const Vect2 &  vo, const Vect2 &  vi, const double  D  )

static

cd2d(s,vo,vi,D) IFF there is an horizontal conflict in the time interval [0,...).

cd2d() [2/3]

bool larcfm::CD2D::cd2d ( const Vect2 &  s, const Vect2 &  vo, const Vect2 &  vi, const double  D, const double  B, const double  T  )

static

cd2d(s,vo,vi,D,B,T) IFF there is an horizontal conflict in the time interval [B,T], where 0 <= B < T.

cd2d() [3/3]

bool larcfm::CD2D::cd2d ( const Vect2 &  s, const Vect2 &  vo, const Vect2 &  vi, const double  D, const double  T  )

static

cd2d(s,vo,vi,D,T) IFF there is an horizontal conflict in the time interval [0,T], where T > 0.

detection() [1/3]

LossData larcfm::CD2D::detection ( const Vect2 &  s, const Vect2 &  vo, const Vect2 &  vi, const double  D  )

static

detection(s,vo,vi,D) computes the horizontal conflict time interval (t_in,t_out) in [0,...).

detection() [2/3]

LossData larcfm::CD2D::detection ( const Vect2 &  s, const Vect2 &  vo, const Vect2 &  vi, const double  D, const double  B, const double  T  )

static

detection(s,vo,vi,D,B,T) computes the horizontal conflict time interval (t_in,t_out) in [B,T], where 0 <= B < T

detection() [3/3]

LossData larcfm::CD2D::detection ( const Vect2 &  s, const Vect2 &  vo, const Vect2 &  vi, const double  D, const double  T  )

static

detection(s,vo,vi,D,T) computes the horizontal conflict time interval (t_in,t_out) in [0,T], where 0 <= B < T.

tcpa() [1/3]

double larcfm::CD2D::tcpa ( const Vect2 &  s, const Vect2 &  vo, const Vect2 &  vi  )

static

Returns the time to horizontal closest point of approach for s,vo,vi, for interval [0,...).

tcpa() [2/3]

double larcfm::CD2D::tcpa ( const Vect2 &  s, const Vect2 &  vo, const Vect2 &  vi, const double  B, const double  T  )

static

Returns the time to horizontal closest point of approach for s,vo,vi during the interval [B,T], where 0 <= B < T.

tcpa() [3/3]

double larcfm::CD2D::tcpa ( const Vect2 &  s, const Vect2 &  vo, const Vect2 &  vi, const double  T  )

static

Returns the time to horizontal closest point of approach for s,vo,vi, for interval [0,T], where T > 0.

violation()

bool larcfm::CD2D::violation ( const Vect2 &  s, const double  D  )

static

violation(s,D) IFF there is an horizontal loss of separation at current time

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

• Modules/ACCoRD/inc/CD2D.h
• Modules/ACCoRD/src/CD2D.cpp