Inheritance diagram for larcfm::Detection3D:

Public Member Functions
bool	violation (const Vect3 &so, const Velocity &vo, const Vect3 &si, const Velocity &vi) const

bool	conflict (const Vect3 &so, const Velocity &vo, const Vect3 &si, const Velocity &vi, double B, double T) const

virtual ConflictData	conflictDetection (const Vect3 &so, const Velocity &vo, const Vect3 &si, const Velocity &vi, double B, double T) const =0

bool	violationAtWithTrafficState (const TrafficState &ownship, const TrafficState &intruder, double t) const

bool	conflictWithTrafficState (const TrafficState &ownship, const TrafficState &intruder, double B, double T) const

virtual ConflictData	conflictDetectionWithTrafficState (const TrafficState &ownship, const TrafficState &intruder, double B, double T) const

virtual Detection3D *	copy () const =0

virtual Detection3D *	make () const =0

std::string	getCanonicalClassName () const

std::string	getCanonicalSuperClassName () const

virtual std::string	getSimpleClassName () const =0

virtual std::string	getSimpleSuperClassName () const

virtual std::string	toString () const =0

virtual std::string	toPVS () const =0

virtual std::string	getIdentifier () const =0

virtual void	setIdentifier (const std::string &s)=0

virtual bool	equals (Detection3D *o) const =0

virtual bool	contains (const Detection3D *cd) const =0

bool	instanceOf (const std::string &classname) const

void	horizontalContours (std::vector< std::vector< Position > > &blobs, const TrafficState &ownship, const TrafficState &intruder, double thr, double T) const

virtual void	horizontalHazardZone (std::vector< Position > &haz, const TrafficState &ownship, const TrafficState &intruder, double T) const

Public Member Functions inherited from larcfm::ParameterAcceptor
virtual void	setParameters (const ParameterData &p)=0

Public Member Functions inherited from larcfm::ParameterProvider
virtual ParameterData	getParameters () const =0

virtual void	updateParameterData (ParameterData &p) const =0

Static Private Member Functions
static void	add_blob (std::vector< std::vector< Position > > &blobs, std::vector< Position > &vin, std::vector< Position > &vout)

Member Function Documentation

◆ conflict()

bool larcfm::Detection3D::conflict	(	const Vect3 &	so,
		const Velocity &	vo,
		const Vect3 &	si,
		const Velocity &	vi,
		double	B,
		double	T
	)		const

This functional call returns true if there will be a violation between times B and T from now (relative).

Parameters

so	ownship position
vo	ownship velocity
si	intruder position
vi	intruder velocity
B	beginning of detection time (>=0)
T	end of detection time (if T < 0 then use an "infinite" lookahead time)

Returns: true if there is a conflict within times B to T

◆ conflictDetection()

virtual ConflictData larcfm::Detection3D::conflictDetection	(	const Vect3 &	so,
		const Velocity &	vo,
		const Vect3 &	si,
		const Velocity &	vi,
		double	B,
		double	T
	)		const

pure virtual

This functional call returns a ConflictData object detailing the conflict between times B and T from now (relative), if any.

Parameters

so	ownship position
vo	ownship velocity
si	intruder position
vi	intruder velocity
D	horizontal separation
H	vertical separation
B	beginning of detection time (>=0)
T	end of detection time (if T < 0 then use an "infinite" lookahead time)

Returns: a ConflictData object detailing the conflict

Implemented in larcfm::CDCylinder, larcfm::TCAS3D, and larcfm::WCV_tvar.

◆ conflictDetectionWithTrafficState()

ConflictData larcfm::Detection3D::conflictDetectionWithTrafficState	(	const TrafficState &	ownship,
		const TrafficState &	intruder,
		double	B,
		double	T
	)		const

virtual

This functional call returns a ConflictData object detailing the conflict between times B and T from now (relative), if any.

Parameters

ownship	ownship state
intruder	intruder state
D	horizontal separation
H	vertical separation
B	beginning of detection time (>=0)
T	end of detection time (if T < 0 then use an "infinite" lookahead time)

Returns: a ConflictData object detailing the conflict

Reimplemented in larcfm::WCV_TAUMOD_SUM.

◆ conflictWithTrafficState()

bool larcfm::Detection3D::conflictWithTrafficState	(	const TrafficState &	ownship,
		const TrafficState &	intruder,
		double	B,
		double	T
	)		const

This functional call returns true if there will be a violation between times B and T from now (relative).

Parameters

ownship	ownship state
intruder	intruder state
B	beginning of detection time (>=0)
T	end of detection time (if T < 0 then use an "infinite" lookahead time)

Returns: true if there is a conflict within times B to T

◆ copy()

virtual Detection3D * larcfm::Detection3D::copy ( ) const

pure virtual

This returns a pointer to a new instance of this type of Detector3D. You are responsible for destroying this instance when it is no longer needed.

Implemented in larcfm::CDCylinder, larcfm::TCAS3D, larcfm::WCV_HZ, larcfm::WCV_TAUMOD, larcfm::WCV_TAUMOD_SUM, larcfm::WCV_TCPA, larcfm::WCV_TEP, and larcfm::WCV_tvar.

◆ equals()

virtual bool larcfm::Detection3D::equals ( Detection3D * o ) const

pure virtual

Return true if two instances have identical parameters (including identifiers). Use address equality (&x == &y) to distinguish instances. A generic implementation, assuming the identifier is included in the ParameterData object, would be virtual bool equals(Detection3D* o) const { if (!larcfmequals(getClassName(), o->getClassName())) return false; if (!getParameterData().equals(o->getParameterData())) return false; return true; }

Implemented in larcfm::CDCylinder, larcfm::TCAS3D, and larcfm::WCV_tvar.

◆ horizontalContours()

void larcfm::Detection3D::horizontalContours	(	std::vector< std::vector< Position > > &	blobs,
		const TrafficState &	ownship,
		const TrafficState &	intruder,
		double	thr,
		double	T
	)		const

Computes horizontal list of contours contributed by intruder aircraft. A contour is a list of points in counter-clockwise direction representing a polygon. Last point should be connected to first one.

Parameters

thr	This is a contour threshold in radians [0,pi]. This threshold indicates how far from current direction to look for contours. A value of 0 means only conflict contour. A value of pi means all contours.
T	Lookahead time in seconds

NOTE: The computed polygon should only be used for display purposes since it's merely an approximation of the actual contours defined by the violation and detection methods.

◆ horizontalHazardZone()

void larcfm::Detection3D::horizontalHazardZone	(	std::vector< Position > &	haz,
		const TrafficState &	ownship,
		const TrafficState &	intruder,
		double	T
	)		const

virtual

Return a list of points (polygon) that approximates the horizontal hazard zone around the ownship, with respect to a traffic aircraft. A polygon is a list of points in counter-clockwise direction, where the last point is connected to the first one.

Parameters

T	This time represents a time horizon in seconds. When T is 0, the polygon represents the hazard zone. Otherwise, the are represents the hazard zone with time horizon T.

NOTE 1: This polygon should only be used for display purposes since it's merely an approximation of the actual hazard zone defined by the violation and detection methods.

NOTE 2: This method has to be redefined as appropriate for every specific hazard zone.

Reimplemented in larcfm::CDCylinder, larcfm::TCAS3D, and larcfm::WCV_tvar.

◆ violation()

bool larcfm::Detection3D::violation	(	const Vect3 &	so,
		const Velocity &	vo,
		const Vect3 &	si,
		const Velocity &	vi
	)		const

This functional call returns true if there is a violation given the current states.

Parameters

so	ownship position
vo	ownship velocity
si	intruder position
vi	intruder velocity

Returns: true if there is a violation

◆ violationAtWithTrafficState()

bool larcfm::Detection3D::violationAtWithTrafficState	(	const TrafficState &	ownship,
		const TrafficState &	intruder,
		double	t
	)		const

This functional call returns true if there is a violation at time t.

Parameters

ownship	ownship state
intruder	intruder state
t	time in seconds

Returns: true if there is a violation at time t

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

Modules/ACCoRD/inc/Detection3D.h
Modules/ACCoRD/src/Detection3D.cpp

Public Member Functions

Static Private Member Functions

Member Function Documentation

◆ conflict()

◆ conflictDetection()

◆ conflictDetectionWithTrafficState()

◆ conflictWithTrafficState()

◆ copy()

◆ equals()

◆ horizontalContours()

◆ horizontalHazardZone()

◆ violation()

◆ violationAtWithTrafficState()