ICAROUS
All Classes Namespaces Files Functions Variables Enumerations Enumerator Macros Modules Pages
Public Member Functions | Static Public Member Functions | Private Member Functions | List of all members
larcfm::DaidalusIntegerBands Class Referenceabstract
Inheritance diagram for larcfm::DaidalusIntegerBands:
larcfm::DaidalusRealBands larcfm::DaidalusAltBands larcfm::DaidalusDirBands larcfm::DaidalusHsBands larcfm::DaidalusVsBands

Public Member Functions

virtual std::pair< Vect3, Velocitytrajectory (const DaidalusParameters &parameters, const TrafficState &ownship, double time, bool dir, int target_step, bool instantaneous) const =0
 
bool CD_future_traj (const Detection3D *det, double B, double T, bool trajdir, double tsk, const DaidalusParameters &parameters, const TrafficState &ownship, const TrafficState &traffic, int target_step, bool instantaneous) const
 
bool no_CD_future_traj (const Detection3D *conflict_det, const Detection3D *recovery_det, double B, double T, bool trajdir, double tsk, const DaidalusParameters &parameters, const TrafficState &ownship, const TrafficState &traffic, int target_step, bool instantaneous) const
 
bool LOS_at (const Detection3D *det, bool trajdir, double tsk, const DaidalusParameters &parameters, const TrafficState &ownship, const TrafficState &traffic, int target_step, bool instantaneous) const
 
void integer_bands_combine (std::vector< Integerval > &l, const Detection3D *conflict_det, const Detection3D *recovery_det, double tstep, double B, double T, int maxl, int maxr, const DaidalusParameters &parameters, const TrafficState &ownship, const TrafficState &traffic, int epsh, int epsv) const
 
bool all_integer_red (const Detection3D *conflict_det, const Detection3D *recovery_det, double tstep, double B, double T, int maxl, int maxr, const DaidalusParameters &parameters, const TrafficState &ownship, const TrafficState &traffic, int epsh, int epsv, int dir) const
 
bool any_integer_red (const Detection3D *conflict_det, const Detection3D *recovery_det, double tstep, double B, double T, int maxl, int maxr, const DaidalusParameters &parameters, const TrafficState &ownship, const TrafficState &traffic, int epsh, int epsv, int dir) const
 

Static Public Member Functions

static void append_intband (std::vector< Integerval > &l, std::vector< Integerval > &r)
 
static void neg (std::vector< Integerval > &l)
 

Private Member Functions

int kinematic_first_los_step (const Detection3D *det, double tstep, bool trajdir, int min, int max, const DaidalusParameters &parameters, const TrafficState &ownship, const TrafficState &traffic) const
 
int kinematic_first_los_search_index (const Detection3D *conflict_det, const Detection3D *recovery_det, double tstep, double B, bool trajdir, int max, const DaidalusParameters &parameters, const TrafficState &ownship, const TrafficState &traffic) const
 
int kinematic_bands_search_index (const Detection3D *conflict_det, const Detection3D *recovery_det, double tstep, double B, bool trajdir, int max, const DaidalusParameters &parameters, const TrafficState &ownship, const TrafficState &traffic, int epsh, int epsv) const
 
void kinematic_traj_conflict_only_bands (std::vector< Integerval > &l, const Detection3D *conflict_det, const Detection3D *recovery_det, double tstep, double B, double T, bool trajdir, int max, const DaidalusParameters &parameters, const TrafficState &ownship, const TrafficState &traffic) const
 
void kinematic_bands (std::vector< Integerval > &l, const Detection3D *conflict_det, const Detection3D *recovery_det, double tstep, double B, double T, bool trajdir, int max, const DaidalusParameters &parameters, const TrafficState &ownship, const TrafficState &traffic, int epsh, int epsv) const
 
int first_kinematic_green (const Detection3D *conflict_det, const Detection3D *recovery_det, double tstep, double B, double T, bool trajdir, int max, const DaidalusParameters &parameters, const TrafficState &ownship, const TrafficState &traffic, int epsh, int epsv) const
 
Vect3 kinematic_linvel (const DaidalusParameters &parameters, const TrafficState &ownship, double tstep, bool trajdir, int k) const
 
bool kinematic_repulsive_at (double tstep, bool trajdir, int k, const DaidalusParameters &parameters, const TrafficState &ownship, const TrafficState &traffic, int epsh) const
 
int kinematic_first_nonrepulsive_step (double tstep, bool trajdir, int max, const DaidalusParameters &parameters, const TrafficState &ownship, const TrafficState &traffic, int epsh) const
 
bool kinematic_vert_repul_at (double tstep, bool trajdir, int k, const DaidalusParameters &parameters, const TrafficState &ownship, const TrafficState &traffic, int epsv) const
 
int kinematic_first_nonvert_repul_step (double tstep, bool trajdir, int max, const DaidalusParameters &parameters, const TrafficState &ownship, const TrafficState &traffic, int epsv) const
 
bool kinematic_any_conflict_step (const Detection3D *det, double tstep, double B, double T, bool trajdir, int max, const DaidalusParameters &parameters, const TrafficState &ownship, const TrafficState &traffic) const
 
bool kinematic_red_band_exist (const Detection3D *conflict_det, const Detection3D *recovery_det, double tstep, double B, double T, bool trajdir, int max, const DaidalusParameters &parameters, const TrafficState &ownship, const TrafficState &traffic, int epsh, int epsv) const
 
int first_instantaneous_green (const Detection3D *conflict_det, const Detection3D *recovery_det, double B, double T, bool trajdir, int max, const DaidalusParameters &parameters, const TrafficState &ownship, const TrafficState &traffic, int epsh, int epsv) const
 
bool no_instantaneous_conflict (const Detection3D *conflict_det, const Detection3D *recovery_det, double B, double T, bool trajdir, const DaidalusParameters &parameters, const TrafficState &ownship, const TrafficState &traffic, int epsh, int epsv, int target_step) const
 
void instantaneous_bands (std::vector< Integerval > &l, const Detection3D *conflict_det, const Detection3D *recovery_det, double B, double T, bool trajdir, int max, const DaidalusParameters &parameters, const TrafficState &ownship, const TrafficState &traffic, int epsh, int epsv) const
 
bool instantaneous_red_band_exist (const Detection3D *conflict_det, const Detection3D *recovery_det, double B, double T, bool trajdir, int max, const DaidalusParameters &parameters, const TrafficState &ownship, const TrafficState &traffic, int epsh, int epsv) const
 
void kinematic_bands_combine (std::vector< Integerval > &l, const Detection3D *conflict_det, const Detection3D *recovery_det, double tstep, double B, double T, int maxl, int maxr, const DaidalusParameters &parameters, const TrafficState &ownship, const TrafficState &traffic, int epsh, int epsv) const
 
void instantaneous_bands_combine (std::vector< Integerval > &l, const Detection3D *conflict_det, const Detection3D *recovery_det, double B, double T, int maxl, int maxr, const DaidalusParameters &parameters, const TrafficState &ownship, const TrafficState &traffic, int epsh, int epsv) const
 
bool all_kinematic_red (const Detection3D *conflict_det, const Detection3D *recovery_det, double tstep, double B, double T, int maxl, int maxr, const DaidalusParameters &parameters, const TrafficState &ownship, const TrafficState &traffic, int epsh, int epsv, int dir) const
 
bool all_instantaneous_red (const Detection3D *conflict_det, const Detection3D *recovery_det, double B, double T, int maxl, int maxr, const DaidalusParameters &parameters, const TrafficState &ownship, const TrafficState &traffic, int epsh, int epsv, int dir) const
 
bool any_kinematic_red (const Detection3D *conflict_det, const Detection3D *recovery_det, double tstep, double B, double T, int maxl, int maxr, const DaidalusParameters &parameters, const TrafficState &ownship, const TrafficState &traffic, int epsh, int epsv, int dir) const
 
bool any_instantaneous_red (const Detection3D *conflict_det, const Detection3D *recovery_det, double B, double T, int maxl, int maxr, const DaidalusParameters &parameters, const TrafficState &ownship, const TrafficState &traffic, int epsh, int epsv, int dir) const
 

Member Function Documentation

◆ CD_future_traj()

bool larcfm::DaidalusIntegerBands::CD_future_traj ( const Detection3D det,
double  B,
double  T,
bool  trajdir,
double  tsk,
const DaidalusParameters parameters,
const TrafficState ownship,
const TrafficState traffic,
int  target_step,
bool  instantaneous 
) const

In PVS: int_bands@CD_future_traj

◆ LOS_at()

bool larcfm::DaidalusIntegerBands::LOS_at ( const Detection3D det,
bool  trajdir,
double  tsk,
const DaidalusParameters parameters,
const TrafficState ownship,
const TrafficState traffic,
int  target_step,
bool  instantaneous 
) const

In PVS: LET kts = k*ts, sot=traj(kts)1, vot=traj(kts)2 IN LOS_at(sot-kts*vot,vot,si,vi,kts)

◆ no_CD_future_traj()

bool larcfm::DaidalusIntegerBands::no_CD_future_traj ( const Detection3D conflict_det,
const Detection3D recovery_det,
double  B,
double  T,
bool  trajdir,
double  tsk,
const DaidalusParameters parameters,
const TrafficState ownship,
const TrafficState traffic,
int  target_step,
bool  instantaneous 
) const

In PVS: NOT CD_future_traj(CD,B,T,traj,kts,si,vi)) AND (NOT (useLOS2 AND CD_future_traj(CD2,B2,T2,traj,kts,si,vi)

In PVS: NOT CD_future_traj(CD,B,T,traj,kts,si,vi)) AND (NOT (useLOS2 AND CD_future_traj(CD2,traj,kts,si,vi)


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