Inheritance diagram for larcfm::DaidalusRealBands:

Public Member Functions
	DaidalusRealBands (double mod=0)

	DaidalusRealBands (const DaidalusRealBands &b)

virtual bool	get_recovery (const DaidalusParameters &parameters) const =0

virtual double	get_step (const DaidalusParameters &parameters) const =0

virtual double	get_min (const DaidalusParameters &parameters) const =0

virtual double	get_max (const DaidalusParameters &parameters) const =0

virtual double	get_min_rel (const DaidalusParameters &parameters) const =0

virtual double	get_max_rel (const DaidalusParameters &parameters) const =0

virtual double	own_val (const TrafficState &ownship) const =0

virtual double	time_step (const DaidalusParameters &parameters, const TrafficState &ownship) const =0

virtual bool	instantaneous_bands (const DaidalusParameters &parameters) const =0

virtual double	max_delta_resolution (const DaidalusParameters &parameters) const =0

virtual bool	saturate_corrective_bands (const DaidalusParameters &parameters, int dta_status) const

virtual void	set_special_configuration (const DaidalusParameters &parameters, int dta_status)

double	get_min_val_ () const

double	get_max_val_ () const

double	get_mod () const

void	set_min_max_rel (double min_rel, double max_rel)

bool	kinematic_conflict (const DaidalusParameters &parameters, const TrafficState &ownship, const TrafficState &traffic, Detection3D *detector, int epsh, int epsv, double alerting_time, int dta_status)

int	length (DaidalusCore &core)

const Interval &	interval (DaidalusCore &core, int i)

BandsRegion::Region	region (DaidalusCore &core, int i)

int	indexOf (DaidalusCore &core, double val)

void	stale ()

void	clear_hysteresis ()

bool	isFresh () const

void	refresh (DaidalusCore &core)

void	force_compute (DaidalusCore &core)

const std::vector< IndexLevelT > &	acs_peripheral_bands (DaidalusCore &core, int conflict_region)

RecoveryInformation	recoveryInformation (DaidalusCore &core)

const std::vector< BandsRange > &	ranges (DaidalusCore &core)

double	resolution (DaidalusCore &core, bool dir)

double	raw_resolution (DaidalusCore &core, bool dir)

bool	preferred_direction (DaidalusCore &core)

double	last_time_to_maneuver (DaidalusCore &core, const TrafficState &intruder)

void	toIntervalSet (IntervalSet &noneset, const std::vector< Integerval > &l, double scal, double add) const

virtual void	none_bands (IntervalSet &noneset, const Detection3D conflict_det, const Detection3D recovery_det, int epsh, int epsv, double B, double T, const DaidalusParameters &parameters, const TrafficState &ownship, const TrafficState &traffic) const

virtual bool	any_red (const Detection3D conflict_det, const Detection3D recovery_det, int epsh, int epsv, double B, double T, const DaidalusParameters &parameters, const TrafficState &ownship, const TrafficState &traffic) const

virtual bool	all_red (const Detection3D conflict_det, const Detection3D recovery_det, int epsh, int epsv, double B, double T, const DaidalusParameters &parameters, const TrafficState &ownship, const TrafficState &traffic) const

bool	all_green (const Detection3D conflict_det, const Detection3D recovery_det, int epsh, int epsv, double B, double T, const DaidalusParameters &parameters, const TrafficState &ownship, const TrafficState &traffic) const

bool	any_green (const Detection3D conflict_det, const Detection3D recovery_det, int epsh, int epsv, double B, double T, const DaidalusParameters &parameters, const TrafficState &ownship, const TrafficState &traffic) const

std::string	rawString () const

std::string	toString () const

std::string	toPVS () const

Public Member Functions inherited from larcfm::DaidalusIntegerBands
virtual std::pair< Vect3, Velocity >	trajectory (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

Private Member Functions
double	min_rel (const DaidalusParameters &parameters) const

double	max_rel (const DaidalusParameters &parameters) const

bool	set_input (const DaidalusParameters &parameters, const TrafficState &ownship, int dta_status)

void	peripheral_aircraft (DaidalusCore &core, int conflict_region)

void	color_values (std::vector< ColorValue > &lcvs, const std::vector< IntervalSet > &none_sets, DaidalusCore &core, bool recovery, int last_region)

void	saturateNoneIntervalSet (IntervalSet &noneset) const

void	compute_none_bands (IntervalSet &none_set_region, const std::vector< IndexLevelT > &ilts, Detection3D det, Detection3D recovery, bool recovery_case, double B, DaidalusCore &core)

bool	compute_recovery_bands (IntervalSet &none_set_region, const std::vector< IndexLevelT > &ilts, DaidalusCore &core)

bool	compute_region (std::vector< IntervalSet > &none_sets, int conflict_region, int corrective_region, DaidalusCore &core)

void	compute (DaidalusCore &core)

int	maxdown (const DaidalusParameters &parameters, const TrafficState &ownship) const

int	maxup (const DaidalusParameters &parameters, const TrafficState &ownship) const

void	add_noneset (IntervalSet &noneset, double lb, double ub) const

Private Attributes
double	mod_

double	min_rel_

double	max_rel_

bool	outdated_

int	checked_

std::vector< std::vector< IndexLevelT > >	acs_peripheral_bands_

std::vector< std::vector< IndexLevelT > >	acs_bands_

std::vector< BandsRange >	ranges_

double	recovery_time_

int	recovery_nfactor_

double	recovery_horizontal_distance_

double	recovery_vertical_distance_

double	min_val_

double	max_val_

double	min_relative_

double	max_relative_

bool	circular_

BandsHysteresis	bands_hysteresis_

Additional Inherited Members
Static Public Member Functions inherited from larcfm::DaidalusIntegerBands
static void	append_intband (std::vector< Integerval > &l, std::vector< Integerval > &r)

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

Member Function Documentation

◆ acs_peripheral_bands()

const std::vector< IndexLevelT > & larcfm::DaidalusRealBands::acs_peripheral_bands	(	DaidalusCore &	core,
		int	conflict_region
	)

Requires 0 <= conflict_region < CONFICT_BANDS

Returns: sorted list of aircraft indices and alert_levels contributing to peripheral bands for given conflict region. INTERNAL USE ONLY

◆ add_noneset()

void larcfm::DaidalusRealBands::add_noneset	(	IntervalSet &	noneset,
		double	lb,
		double	ub
	)		const

private

Add (lb,ub) to noneset. In the case of mod_ > 0, lb can be greater than ub. This function takes care of the mod logic. This function doesn't do anything when lb and ub are almost equals.

Parameters

noneset	Interval set where (lb,ub) will be added
lb	lower bound
ub	upper bound When mod_ = 0, lb <= ub.

◆ clear_hysteresis()

void larcfm::DaidalusRealBands::clear_hysteresis ( )

clear hysteresis

◆ color_values()

void larcfm::DaidalusRealBands::color_values	(	std::vector< ColorValue > &	lcvs,
		const std::vector< IntervalSet > &	none_sets,
		DaidalusCore &	core,
		bool	recovery,
		int	last_region
	)

private

Compute list of color values in lcvs from sets of none bands Ensure that the intervals are "complete", filling in missing intervals and ensuring the bands end at the proper bounds.

◆ compute()

void larcfm::DaidalusRealBands::compute ( DaidalusCore & core )

private

Compute all bands.

◆ compute_none_bands()

void larcfm::DaidalusRealBands::compute_none_bands	(	IntervalSet &	none_set_region,
		const std::vector< IndexLevelT > &	ilts,
		Detection3D *	det,
		Detection3D *	recovery,
		bool	recovery_case,
		double	B,
		DaidalusCore &	core
	)

private

Compute none bands for a const std::vector<IndexLevelT>& ilts of IndexLevelT in none_set_region. The none_set_region is initiated as a saturated green band. Uses aircraft detector if parameter detector is none. The epsilon parameters for coordinations are handled according to the recovery_case flag.

◆ compute_recovery_bands()

bool larcfm::DaidalusRealBands::compute_recovery_bands	(	IntervalSet &	none_set_region,
		const std::vector< IndexLevelT > &	ilts,
		DaidalusCore &	core
	)

private

Compute recovery bands. Class variables recovery_time_, recovery_horizontal_distance_, and recovery_vertical_distance_ are set. Return true if non-saturated recovery bands where computed

◆ compute_region()

bool larcfm::DaidalusRealBands::compute_region	(	std::vector< IntervalSet > &	none_sets,
		int	conflict_region,
		int	corrective_region,
		DaidalusCore &	core
	)

private

Requires: compute_bands(conflict_region) = true && 0 <= conflict_region < CONFLICT_BANDS Compute bands for one region. Return true iff recovery bands were computed.

◆ force_compute()

void larcfm::DaidalusRealBands::force_compute ( DaidalusCore & core )

Force computation of kinematic bands

◆ indexOf()

int larcfm::DaidalusRealBands::indexOf	(	DaidalusCore &	core,
		double	val
	)

Return index in ranges_ where val is found, -1 if invalid input or not found

Return index in ranges_ where val is found, -1 if invalid input, >= length if not found

◆ isFresh()

bool larcfm::DaidalusRealBands::isFresh ( ) const

Returns true is object is fresh

◆ last_time_to_maneuver()

double larcfm::DaidalusRealBands::last_time_to_maneuver	(	DaidalusCore &	core,
		const TrafficState &	intruder
	)

Return last time to maneuver, in seconds, for ownship with respect to traffic aircraft at ac_idx for conflict alert level. Return NaN if the ownship is not in conflict with aircraft within lookahead time. Return negative infinity if there is no time to maneuver. Note: 1 <= alert_level <= alerter.size()

◆ none_bands()

void larcfm::DaidalusRealBands::none_bands	(	IntervalSet &	noneset,
		const Detection3D *	conflict_det,
		const Detection3D *	recovery_det,
		int	epsh,
		int	epsv,
		double	B,
		double	T,
		const DaidalusParameters &	parameters,
		const TrafficState &	ownship,
		const TrafficState &	traffic
	)		const

virtual

The output parameter noneset has a list of non-conflict ranges orderd within [min,max] values (or [0,mod] in the case of circular bands, i.e., when mod == 0).

Reimplemented in larcfm::DaidalusAltBands.

◆ peripheral_aircraft()

void larcfm::DaidalusRealBands::peripheral_aircraft	(	DaidalusCore &	core,
		int	conflict_region
	)

private

Requires 0 <= conflict_region < CONFICT_BANDS and acs_peripheral_bands_ is empty Put in acs_peripheral_bands_ the list of aircraft predicted to have a peripheral band for the given region.

◆ preferred_direction()

bool larcfm::DaidalusRealBands::preferred_direction ( DaidalusCore & core )

Compute preferred direction based on resolution that is closer to current value.

◆ ranges()

const std::vector< BandsRange > & larcfm::DaidalusRealBands::ranges ( DaidalusCore & core )

Return list of bands ranges

◆ raw_resolution()

double larcfm::DaidalusRealBands::raw_resolution	(	DaidalusCore &	core,
		bool	dir
	)

Returns raw resolution maneuver (no hysteresis, no persistence). Return NaN if there is no conflict or if input is invalid. Return positive/negative infinity if there is no resolution to the right/up and negative infinity if there is no resolution to the left/down.

◆ recoveryInformation()

RecoveryInformation larcfm::DaidalusRealBands::recoveryInformation ( DaidalusCore & core )

Return recovery information.

◆ refresh()

void larcfm::DaidalusRealBands::refresh ( DaidalusCore & core )

Refresh cached values

◆ resolution()

double larcfm::DaidalusRealBands::resolution	(	DaidalusCore &	core,
		bool	dir
	)

Returns resolution maneuver. Return NaN if there is no conflict or if input is invalid. Return positive/negative infinity if there is no resolution to the right/up and negative infinity if there is no resolution to the left/down.

◆ saturateNoneIntervalSet()

void larcfm::DaidalusRealBands::saturateNoneIntervalSet ( IntervalSet & noneset ) const

private

Create an IntervalSet that represents a satured NONE band

◆ set_min_max_rel()

void larcfm::DaidalusRealBands::set_min_max_rel	(	double	min_rel,
		double	max_rel
	)

Overwrite relative values from those in the parameters. When mod_ > 0, requires min_rel and max_rel to be in [0,mod/2]. When mod_ == 0, a negative min_rel value represents val-min and a negative value max_rel value represents max-val.

◆ stale()

void larcfm::DaidalusRealBands::stale ( )

Set cached values to stale conditions as they are no longer fresh

◆ toIntervalSet()

void larcfm::DaidalusRealBands::toIntervalSet	(	IntervalSet &	noneset,
		const std::vector< Integerval > &	l,
		double	scal,
		double	add
	)		const

This function scales the interval, add a constant, and constraint the intervals to min and max. The function takes care of modulo logic, in the case of circular bands.

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

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

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Member Function Documentation

◆ acs_peripheral_bands()

◆ add_noneset()

◆ clear_hysteresis()

◆ color_values()

◆ compute()

◆ compute_none_bands()

◆ compute_recovery_bands()

◆ compute_region()

◆ force_compute()

◆ indexOf()

◆ isFresh()

◆ last_time_to_maneuver()

◆ none_bands()

◆ peripheral_aircraft()

◆ preferred_direction()

◆ ranges()

◆ raw_resolution()

◆ recoveryInformation()

◆ refresh()

◆ resolution()

◆ saturateNoneIntervalSet()

◆ set_min_max_rel()

◆ stale()

◆ toIntervalSet()