Inheritance diagram for larcfm::KinematicAltBands:

Public Member Functions
	KinematicAltBands (const KinematicBandsParameters &parameters)

	KinematicAltBands (const KinematicAltBands &b)

bool	instantaneous_bands () const

double	get_vertical_rate () const

void	set_vertical_rate (double val)

double	get_vertical_accel () const

void	set_vertical_accel (double val)

double	own_val (const TrafficState &ownship) const

double	time_step (const TrafficState &ownship) const

std::pair< Vect3, Velocity >	trajectory (const TrafficState &ownship, double time, bool dir) const

void	none_bands (IntervalSet &noneset, Detection3D conflict_det, Detection3D recovery_det, const TrafficState &repac, int epsh, int epsv, double B, double T, const TrafficState &ownship, const std::vector< TrafficState > &traffic)

bool	any_red (Detection3D conflict_det, Detection3D recovery_det, const TrafficState &repac, int epsh, int epsv, double B, double T, const TrafficState &ownship, const std::vector< TrafficState > &traffic)

bool	all_red (Detection3D conflict_det, Detection3D recovery_det, const TrafficState &repac, int epsh, int epsv, double B, double T, const TrafficState &ownship, const std::vector< TrafficState > &traffic)

double	resolution (Detection3D conflict_det, Detection3D recovery_det, const TrafficState &repac, int epsh, int epsv, double B, double T, const TrafficState &ownship, const std::vector< TrafficState > &traffic, bool dir)

Public Member Functions inherited from larcfm::KinematicRealBands
	KinematicRealBands (double min, double max, bool rel, double mod, double step, bool recovery)

	KinematicRealBands (double min, double max, double step, bool recovery)

	KinematicRealBands (const KinematicRealBands &b)

double	get_min () const

double	get_max () const

bool	get_rel () const

double	get_mod () const

double	get_step () const

bool	get_recovery () const

void	set_min (double val)

void	set_max (double val)

void	set_rel (bool val)

void	set_mod (double val)

void	set_step (double val)

void	set_recovery (bool flag)

double	min_val (const TrafficState &ownship) const

double	min_rel (const TrafficState &ownship) const

double	max_val (const TrafficState &ownship) const

double	max_rel (const TrafficState &ownship) const

bool	check_input (const KinematicBandsCore &core)

bool	kinematic_conflict (KinematicBandsCore &core, const TrafficState &ac, Detection3D *detector, double alerting_time)

int	length (KinematicBandsCore &core)

Interval	interval (KinematicBandsCore &core, int i)

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

int	rangeOf (KinematicBandsCore &core, double val)

void	reset ()

void	force_compute (KinematicBandsCore &core)

std::vector< TrafficState > const &	peripheralAircraft (KinematicBandsCore &core, int alert_level)

double	timeToRecovery (KinematicBandsCore &core)

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

double	compute_resolution (KinematicBandsCore &core, int alert_level, bool dir)

bool	preferred_direction (KinematicBandsCore &core, int alert_level)

double	last_time_to_maneuver (KinematicBandsCore &core, const TrafficState &ac)

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

bool	all_green (Detection3D conflict_det, Detection3D recovery_det, const TrafficState &repac, int epsh, int epsv, double B, double T, const TrafficState &ownship, const std::vector< TrafficState > &traffic)

bool	any_green (Detection3D conflict_det, Detection3D recovery_det, const TrafficState &repac, int epsh, int epsv, double B, double T, const TrafficState &ownship, const std::vector< TrafficState > &traffic)

std::string	toString () const

std::string	toPVS (int prec) const

Public Member Functions inherited from larcfm::KinematicIntegerBands
bool	no_conflict (Detection3D conflict_det, Detection3D recovery_det, double B, double T, double B2, double T2, bool trajdir, double tsk, const TrafficState &ownship, const std::vector< TrafficState > &traffic) const

void	kinematic_bands_combine (std::vector< Integerval > &l, Detection3D conflict_det, Detection3D recovery_det, double tstep, double B, double T, double B2, double T2, int maxl, int maxr, const TrafficState &ownship, const std::vector< TrafficState > &traffic, const TrafficState &repac, int epsh, int epsv) const

bool	any_los_aircraft (Detection3D *det, bool trajdir, double tsk, const TrafficState &ownship, const std::vector< TrafficState > &traffic) const

int	first_green (Detection3D conflict_det, Detection3D recovery_det, double tstep, double B, double T, double B2, double T2, bool trajdir, int max, const TrafficState &ownship, const std::vector< TrafficState > &traffic, const TrafficState &repac, int epsh, int epsv) const

bool	all_int_red (Detection3D conflict_det, Detection3D recovery_det, double tstep, double B, double T, double B2, double T2, int maxl, int maxr, const TrafficState &ownship, const std::vector< TrafficState > &traffic, const TrafficState &repac, int epsh, int epsv, int dir) const

bool	any_conflict_aircraft (Detection3D *det, double B, double T, bool trajdir, double tsk, const TrafficState &ownship, const std::vector< TrafficState > &traffic) const

void	instantaneous_bands_combine (std::vector< Integerval > &l, Detection3D conflict_det, Detection3D recovery_det, double B, double T, double B2, double T2, int maxl, int maxr, const TrafficState &ownship, const std::vector< TrafficState > &traffic, const TrafficState &repac, int epsh, int epsv)

bool	red_band_exist (Detection3D conflict_det, Detection3D recovery_det, double tstep, double B, double T, double B2, double T2, bool trajdir, int max, const TrafficState &ownship, const std::vector< TrafficState > &traffic, const TrafficState &repac, int epsh, int epsv) const

bool	any_int_red (Detection3D conflict_det, Detection3D recovery_det, double tstep, double B, double T, double B2, double T2, int maxl, int maxr, const TrafficState &ownship, const std::vector< TrafficState > &traffic, const TrafficState &repac, int epsh, int epsv, int dir) const

bool	all_instantaneous_red (Detection3D conflict_det, Detection3D recovery_det, double B, double T, double B2, double T2, int maxl, int maxr, const TrafficState &ownship, const std::vector< TrafficState > &traffic, const TrafficState &repac, int epsh, int epsv, int dir)

bool	any_instantaneous_red (Detection3D conflict_det, Detection3D recovery_det, double B, double T, double B2, double T2, int maxl, int maxr, const TrafficState &ownship, const std::vector< TrafficState > &traffic, const TrafficState &repac, int epsh, int epsv, int dir)

Private Member Functions
bool	conflict_free_traj_step (Detection3D conflict_det, Detection3D recovery_det, double B, double T, double B2, double T2, const TrafficState &ownship, const std::vector< TrafficState > &traffic) const

void	alt_bands_generic (std::vector< Integerval > &l, Detection3D conflict_det, Detection3D recovery_det, double B, double T, double B2, double T2, const TrafficState &ownship, const std::vector< TrafficState > &traffic)

int	first_nat (int mini, int maxi, bool dir, Detection3D conflict_det, Detection3D recovery_det, double B, double T, double B2, double T2, const TrafficState &ownship, const std::vector< TrafficState > &traffic, bool green)

int	first_band_alt_generic (Detection3D conflict_det, Detection3D recovery_det, double B, double T, double B2, double T2, const TrafficState &ownship, const std::vector< TrafficState > &traffic, bool dir, bool green)

Private Attributes
double	vertical_rate_

double	vertical_accel_

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

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

Protected Attributes inherited from larcfm::KinematicIntegerBands
int	j_step_

Member Function Documentation

◆ all_red()

bool larcfm::KinematicAltBands::all_red	(	Detection3D *	conflict_det,
		Detection3D *	recovery_det,
		const TrafficState &	repac,
		int	epsh,
		int	epsv,
		double	B,
		double	T,
		const TrafficState &	ownship,
		const std::vector< TrafficState > &	traffic
	)

virtual

Reimplemented from larcfm::KinematicRealBands.

◆ any_red()

bool larcfm::KinematicAltBands::any_red	(	Detection3D *	conflict_det,
		Detection3D *	recovery_det,
		const TrafficState &	repac,
		int	epsh,
		int	epsv,
		double	B,
		double	T,
		const TrafficState &	ownship,
		const std::vector< TrafficState > &	traffic
	)

virtual

Reimplemented from larcfm::KinematicRealBands.

◆ instantaneous_bands()

bool larcfm::KinematicAltBands::instantaneous_bands ( ) const

virtual

Implements larcfm::KinematicRealBands.

◆ none_bands()

void larcfm::KinematicAltBands::none_bands	(	IntervalSet &	noneset,
		Detection3D *	conflict_det,
		Detection3D *	recovery_det,
		const TrafficState &	repac,
		int	epsh,
		int	epsv,
		double	B,
		double	T,
		const TrafficState &	ownship,
		const std::vector< TrafficState > &	traffic
	)

virtual

Reimplemented from larcfm::KinematicRealBands.

◆ own_val()

double larcfm::KinematicAltBands::own_val ( const TrafficState & ownship ) const

virtual

Implements larcfm::KinematicRealBands.

◆ resolution()

double larcfm::KinematicAltBands::resolution	(	Detection3D *	conflict_det,
		Detection3D *	recovery_det,
		const TrafficState &	repac,
		int	epsh,
		int	epsv,
		double	B,
		double	T,
		const TrafficState &	ownship,
		const std::vector< TrafficState > &	traffic,
		bool	dir
	)

virtual

This function returns a resolution maneuver that is valid from B to T. It returns NaN if there is no conflict and +/- infinity, depending on dir, if there are no resolutions. The value dir=false is down and dir=true is up.

Reimplemented from larcfm::KinematicRealBands.