#include <CriteriaCore.h>

Static Public Member Functions
static int	horizontalCoordination (const Vect2 &s, const Vect2 &v)

static int	horizontalCoordination (const Vect3 &s, const Vect3 &v)

static int	verticalCoordination (const Vect3 &s, const Vect3 &vo, const Vect3 &vi, double D, double H, std::string ownship, std::string traffic)

static bool	horizontal_criterion (const Vect2 &sp, const Vect2 &v, double D, int epsh)

static bool	vertical_criterion (int eps, const Vect3 &s, const Vect3 &v, const Vect3 &nv, double D, double H)

static bool	horizontal_los_criterion (const Vect2 &s, const Vect2 &vo, const Vect2 &vi, const Vect2 &nvo, int eps)

static void	printRepulsiveCriteria2DTerms (const Vect2 &s, const Vect2 &vo, const Vect2 &vi, const Vect2 &nvo, int eps)

static void	printRepulsiveCriteriaTerms (const Vect3 &s, const Vect3 &vo, const Vect3 &vi, const Vect3 &nvo, int eps)

static bool	horizontalRepulsiveCriteria (const Vect3 &s3, const Velocity &vo3, const Velocity &vi3, const Velocity &nvo3, int eps)

static bool	verticalRepulsiveCriterion (const Vect3 &s, const Vect3 &vo, const Vect3 &vi, const Vect3 &nvo, double H, double minrelvs, int epsv)

static bool	criteria (const Vect3 &s, const Velocity &vo, const Velocity &vi, const Velocity &nvo, double minRelVs, double D, double H, int epsh, int epsv)

static Vect2	incr_trk_vect (const Vect2 &vo, double step, int dir)

static int	losr_trk_iter_dir (const Vect2 &s, const Vect2 &vo, const Vect2 &vi, double step, int eps)

static int	trkSearchDirection (const Vect3 &s, const Vect3 &vo, const Vect3 &vi, int eps)

static Vect2	incr_gs_vect (const Vect2 &vo, double step, int dir)

static int	losr_gs_iter_dir (const Vect2 &s, const Vect2 &vo, const Vect2 &vi, double mings, double maxgs, double step, int eps)

static int	gsSearchDirection (const Vect3 &s, const Vect3 &vo, const Vect3 &vi, int eps)

static int	vsSearchDirection (int epsv)

static int	dataVsRateEpsilon (int epsv, double vsRate)

static int	dataTurnEpsilon (const Vect3 &s, const Velocity &vo, const Velocity &vi, int epsh, double trackRate)

static bool	horizontal_new_repulsive_criterion (const Vect2 &s, const Vect2 &vo, const Vect2 &vi, const Vect2 &nvo, int eps)

static bool	horizontal_new_repulsive_criterion (const Vect3 &s, const Vect3 &vo, const Vect3 &vi, const Vect3 &nvo, int eps)

static bool	vertical_new_repulsive_criterion (const Vect3 &s, const Vect3 &vo, const Vect3 &vi, const Vect3 &nvo, int eps)

static int	verticalCoordinationLoS (const Vect3 &s, const Vect3 &vo, const Vect3 &vi, std::string ownship, std::string traffic)

Static Private Member Functions
static bool	horizontal_criterion_0 (const Vect2 &sp, int eps, const Vect2 &v, double D)

static int	verticalCoordinationConflict (const Vect3 &s, const Vect3 &v, double D, std::string ownship, std::string traffic)

static bool	criterion_3D (const Vect3 &sp, const Velocity &v, int epsH, int epsV, const Velocity &nv, double D, double H)

static Vect3	vertical_decision_vect (const Vect3 &s, const Vect3 &vo, const Vect3 &vi, double caD, double caH)

static int	losr_vs_dir (const Vect3 &s, const Vect3 &vo, const Vect3 &vi, double caD, double caH, std::string ownship, std::string traffic)

static bool	vs_bound_crit (const Vect3 &v, const Vect3 &nv, int eps)

static double	min_rel_vert_speed (double vz, int eps, double minrelvs)

static bool	vertical_los_criterion (const Vect3 &s, const Vect3 &v, const Vect3 &nv, int eps, double H, double minrelvs)

static int	breakSymmetry (const Vect3 &s, std::string ownship, std::string traffic)

Detailed Description

This class provides criteria for

 horizontal conflict               (See ACCoRD PVS theory: horizontal_criterion.pvs)
 vertical conflict                 (See ACCoRD PVS theory: vertical_criterion.pvs)
 horizontal loss of separation     (See ACCoRD PVS theory: repulsive.pvs)
 vertical loss of separation       (See ACCoRD PVS Theory: vertical_los_generic.pvs)

Member Function Documentation

◆ breakSymmetry()

int larcfm::CriteriaCore::breakSymmetry	(	const Vect3 &	s,
		std::string	ownship,
		std::string	traffic
	)

staticprivate

Perform a symmetry calculation

◆ criteria()

bool larcfm::CriteriaCore::criteria	(	const Vect3 &	s,
		const Velocity &	vo,
		const Velocity &	vi,
		const Velocity &	nvo,
		double	minRelVs,
		double	D,
		double	H,
		int	epsh,
		int	epsv
	)

static

true iff the velocity vector nvo satisfies the implicit coordination criteria

Parameters

s	relative position of the ownship
vo	velocity of the ownship aircraft
vi	velocity of the traffic aircraft
nvo	velocity vector to be checked
minRelVs	desired minimum relative exit ground speed (used in LoS only)
D	diameter of the protection zone
H	height of the protection zone

◆ dataTurnEpsilon()

int larcfm::CriteriaCore::dataTurnEpsilon	(	const Vect3 &	s,
		const Velocity &	vo,
		const Velocity &	vi,
		int	epsh,
		double	trackRate
	)

static

Return the horizontal epsilon that corresponds to the direction the traffic aircraft is currently turning indicated by sign of trackRate

Parameters

s	relative position
vo	velocity of ownship
vi	velocity of intruder
epsh	horizontal epsilon
trackRate	trackRate of traffic

Returns: horizontal epsilon

◆ dataVsRateEpsilon()

int larcfm::CriteriaCore::dataVsRateEpsilon	(	int	epsv,
		double	vsRate
	)

static

Return the horizontal epsilon that corresponds to the direction the traffic aircraft is currently turning indicated by sign of trackRate

Parameters

s	relative position
vo	velocity of ownship
vi	velocity of intruder
epsh	horizontal epsilon
trackRate	trackRate of traffic

Returns: horizontal epsilon

◆ gsSearchDirection()

int larcfm::CriteriaCore::gsSearchDirection	(	const Vect3 &	s,
		const Vect3 &	vo,
		const Vect3 &	vi,
		int	eps
	)

static

Return an absolute repulsive ground speed search direction (or none) Assumes Velocity vo is non-zero.

Returns: +1 search is increasing, -1 search is decreasing

◆ horizontal_criterion()

bool larcfm::CriteriaCore::horizontal_criterion	(	const Vect2 &	sp,
		const Vect2 &	v,
		double	D,
		int	epsh
	)

static

The fundamental horizontal criterion (Conflict Case)

Parameters

sp	relative position assumed to be horizontally separated (Sp_vect2 : TYPE = (horizontal_sep?))
v	relative velocity
D	protection zone diameter
epsh	+1 or -1

◆ horizontal_los_criterion()

bool larcfm::CriteriaCore::horizontal_los_criterion	(	const Vect2 &	s,
		const Vect2 &	vo,
		const Vect2 &	vi,
		const Vect2 &	nvo,
		int	eps
	)

static

Checks whether a horizontal solution is repulsive or divergent in the turn direction indicated by nvo (2D geometry)

Parameters

s	relative position of the ownship
vo	velocity of the ownship aircraft
vi	velocity of the traffic aircraft
nvo	resolution velocity of the traffic aircraft
eps	horizontalCoordination

◆ horizontal_new_repulsive_criterion() [1/2]

bool larcfm::CriteriaCore::horizontal_new_repulsive_criterion	(	const Vect2 &	s,
		const Vect2 &	vo,
		const Vect2 &	vi,
		const Vect2 &	nvo,
		int	eps
	)

static

[CAM] This method replaces horizontal_old_repulsive_criterion. This definition is independent and coordinated for both state-based and iterative algorithms. This method is intended to be used with kinematic solvers, that is it is called iteratively with nvo progressing with each iteration.

Checks whether a horizontal solution is repulsive or divergent in the turn direction indicated by nvo (2D geometry). Derived from PVS predicate: repulsive.repulsive_criteria(s,v,eps)(nv): bool

Parameters

s	relative position of the ownship
vo	velocity of the ownship aircraft
vi	velocity of the traffic aircraft
nvo	resolution velocity of the traffic aircraft
eps	horizontalCoordination

◆ horizontal_new_repulsive_criterion() [2/2]

bool larcfm::CriteriaCore::horizontal_new_repulsive_criterion	(	const Vect3 &	s,
		const Vect3 &	vo,
		const Vect3 &	vi,
		const Vect3 &	nvo,
		int	eps
	)

static

[CAM] This method replaces horizontal_old_repulsive_criterion. This definition is independent and coordinated for both state-based and iterative algorithms. This method is intended to be used with kinematic solvers, that is it is called iteratively with nvo progressing with each iteration.

Checks whether a horizontal solution is repulsive or divergent in the turn direction indicated by nvo (2D geometry). Derived from PVS predicate: repulsive.repulsive_criteria(s,v,eps)(nv): bool

Parameters

s	relative position of the ownship
vo	velocity of the ownship aircraft
vi	velocity of the traffic aircraft
nvo	resolution velocity of the traffic aircraft
eps	horizontalCoordination

◆ horizontalCoordination() [1/2]

int larcfm::CriteriaCore::horizontalCoordination	(	const Vect2 &	s,
		const Vect2 &	v
	)

static

Horizontal coordination.

Parameters

s	the relative position
v	the relative velocity

Returns: the horizontal coordination sign -1 corresponds to turning right in the relative system +1 corresponds to turing left in the relative system

◆ horizontalCoordination() [2/2]

int larcfm::CriteriaCore::horizontalCoordination	(	const Vect3 &	s,
		const Vect3 &	v
	)

static

Horizontal coordination.

Parameters

s	the relative position
v	the relative velocity

Returns: the horizontal coordination sign -1 corresponds to turning right in the relative system +1 corresponds to turning left in the relative system

◆ horizontalRepulsiveCriteria()

bool larcfm::CriteriaCore::horizontalRepulsiveCriteria	(	const Vect3 &	s3,
		const Velocity &	vo3,
		const Velocity &	vi3,
		const Velocity &	nvo3,
		int	eps
	)

static

Checks whether a horizontal solution is repulsive or divergent in the turn direction indicated by nvo3

Parameters

s3	relative position of the ownship
vo3	velocity of the ownship aircraft
vi3	velocity of the traffic aircraft
nvo3	resolution velocity of the traffic aircraft
eps	horizontalCoordination

◆ trkSearchDirection()

int larcfm::CriteriaCore::trkSearchDirection	(	const Vect3 &	s,
		const Vect3 &	vo,
		const Vect3 &	vi,
		int	eps
	)

static

Return an absolute repulsive track search direction (or none) Assumes velocity vo is non-zero.

Returns: +1 search is increasing, -1 search is decreasing

◆ vertical_criterion()

bool larcfm::CriteriaCore::vertical_criterion	(	int	eps,
		const Vect3 &	s,
		const Vect3 &	v,
		const Vect3 &	nv,
		double	D,
		double	H
	)

static

vertical criterion (Conflict Case) (currently only used in VisualCriteriaCore)

Parameters

epsv	vertical coordination parameter
s	relative position
v	relative velocity
nv	new relative velocity
D	protection zone diameter
H	protection zone height

◆ vertical_new_repulsive_criterion()

bool larcfm::CriteriaCore::vertical_new_repulsive_criterion	(	const Vect3 &	s,
		const Vect3 &	vo,
		const Vect3 &	vi,
		const Vect3 &	nvo,
		int	eps
	)

static

[CAM] This method replaces vertical_old_repulsive_criterion. It's intended to be used for kinematic, iterative maneuvers. This criterion is like vs_bound_crit? but removes the else branch that restricts some vertical maneuvers.

Parameters

s	relative position of the ownship
vo	velocity of the ownship aircraft
vi	velocity of the traffic aircraft
nvo	resolution velocity of the traffic aircraft
eps	Vertical coordination

◆ verticalCoordination()

int larcfm::CriteriaCore::verticalCoordination	(	const Vect3 &	s,
		const Vect3 &	vo,
		const Vect3 &	vi,
		double	D,
		double	H,
		std::string	ownship,
		std::string	traffic
	)

static

Vertical coordination.

Parameters

s	the relative position
vo	the ownship velocity
vi	the traffic aircraft velocity
D	the horizontal distance
H	the vertical distance
ownship	the name of the ownship
traffic	the name of the traffic aircraft

Returns: the vertical coordination sign. -1 corresponds to reducing current vertical speed, +1 corresponds to increasing current vertical speed

◆ verticalRepulsiveCriterion()

bool larcfm::CriteriaCore::verticalRepulsiveCriterion	(	const Vect3 &	s,
		const Vect3 &	vo,
		const Vect3 &	vi,
		const Vect3 &	nvo,
		double	H,
		double	minrelvs,
		int	epsv
	)

static

Checks whether a velocity vector satisfies the repulsive LoS criteria

Parameters

s	relative position of the ownship
vo	velocity of the ownship aircraft
vi	velocity of the traffic aircraft
nvo	resolution velocity of the traffic aircraft
H	protection zone height
minrelvs	minimum relative exit speed
epsv	vertical coordination parameter

◆ vsSearchDirection()

int larcfm::CriteriaCore::vsSearchDirection ( int epsv )

static

Return an absolute repulsive vertical speed search direction (or none) Assumes Velocity vo is non-zero.

Returns: +1 search is increasing, -1 search is decreasing

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

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

Static Public Member Functions

Static Private Member Functions

Detailed Description

Member Function Documentation

◆ breakSymmetry()

◆ criteria()

◆ dataTurnEpsilon()

◆ dataVsRateEpsilon()

◆ gsSearchDirection()

◆ horizontal_criterion()

◆ horizontal_los_criterion()

◆ horizontal_new_repulsive_criterion() [1/2]

◆ horizontal_new_repulsive_criterion() [2/2]

◆ horizontalCoordination() [1/2]

◆ horizontalCoordination() [2/2]

◆ horizontalRepulsiveCriteria()

◆ trkSearchDirection()

◆ vertical_criterion()

◆ vertical_new_repulsive_criterion()

◆ verticalCoordination()

◆ verticalRepulsiveCriterion()

◆ vsSearchDirection()