Inheritance diagram for larcfm::KinematicRealBands:

Public Member Functions
	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)

virtual bool	instantaneous_bands () const =0

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

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

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)

virtual 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)

virtual 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)

virtual 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)

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)

virtual 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)

std::string	toString () const

std::string	toPVS (int prec) const

Public Member Functions inherited from larcfm::KinematicIntegerBands
virtual std::pair< Vect3, Velocity >	trajectory (const TrafficState &ownship, double time, bool dir) const =0

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	rollover ()

double	mod_val (double val) const

void	update (KinematicBandsCore &core)

void	peripheral_aircraft (KinematicBandsCore &core, int alert_level)

void	color_bands (const std::vector< IntervalSet > &none_sets, const std::vector< BandsRegion::Region > &regions, KinematicBandsCore &core, bool recovery)

double	compute_recovery_bands (IntervalSet &noneset, KinematicBandsCore &core, const std::vector< TrafficState > &alerting_set)

double	compute_level (IntervalSet &noneset, KinematicBandsCore &core, int alert_level)

void	compute (KinematicBandsCore &core)

Interval	find_resolution (KinematicBandsCore &core, const IntervalSet &noneset)

int	maxdown (const TrafficState &ownship) const

int	maxup (const TrafficState &ownship) const

void	compute_none_bands (IntervalSet &noneset, KinematicBandsCore &core, int alert_level, const TrafficState &repac)

Private Attributes
bool	outdated_

int	checked_

std::vector< std::vector< TrafficState > >	peripheral_acs_

std::vector< BandsRange >	ranges_

double	recovery_time_

std::vector< Interval >	resolutions_

double	min_

double	max_

bool	rel_

double	mod_

bool	circular_

double	step_

bool	recovery_

Static Private Attributes
static const INT64FM	ALMOST_

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

◆ color_bands()

void larcfm::KinematicRealBands::color_bands	(	const std::vector< IntervalSet > &	none_sets,
		const std::vector< BandsRegion::Region > &	regions,
		KinematicBandsCore &	core,
		bool	recovery
	)

private

Ensure that the intervals are "complete", filling in missing intervals and ensuring the bands end at the proper bounds. Requires none_sets to be a non-empty list and size(none_sets) == size(regions)

◆ compute()

void larcfm::KinematicRealBands::compute ( KinematicBandsCore & core )

private

Compute all bands.

◆ compute_level()

double larcfm::KinematicRealBands::compute_level	(	IntervalSet &	noneset,
		KinematicBandsCore &	core,
		int	alert_level
	)

private

Compute bands for one level. Return recovery time (NaN if recover bands are not computed)

◆ compute_recovery_bands()

double larcfm::KinematicRealBands::compute_recovery_bands	(	IntervalSet &	noneset,
		KinematicBandsCore &	core,
		const std::vector< TrafficState > &	alerting_set
	)

private

Compute recovery bands. Returns recovery time.

◆ compute_resolution()

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

Returns resolution maneuver for given alert level and direction. 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. Requires: 0 <= alert_level <= alertor.size(). If alert_level is 0, conflict_level is used. Region of alert_level should be a conflict band type, e.g., NEAR, MID, or FAR.

◆ force_compute()

void larcfm::KinematicRealBands::force_compute ( KinematicBandsCore & core )

Force computation of kinematic bands

◆ last_time_to_maneuver()

double larcfm::KinematicRealBands::last_time_to_maneuver	(	KinematicBandsCore &	core,
		const TrafficState &	ac
	)

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

◆ max_rel()

double larcfm::KinematicRealBands::max_rel ( const TrafficState & ownship ) const

Positive distance from current value to maximum value. When mod_ > 0, max_rel is a value in [0,mod_/2]

◆ max_val()

double larcfm::KinematicRealBands::max_val ( const TrafficState & ownship ) const

When mod_ == 0, min_val <= max_val. When mod_ > 0, max_val is a value in [0,mod_]. In this case, it is not always true that min_val <= max_val

◆ min_rel()

double larcfm::KinematicRealBands::min_rel ( const TrafficState & ownship ) const

Positive distance from current value to minimum value. When mod_ > 0, min_rel is a value in [0,mod_/2]

◆ min_val()

double larcfm::KinematicRealBands::min_val ( const TrafficState & ownship ) const

When mod_ == 0, min_val <= max_val. When mod_ > 0, min_val is a value is in [0,mod_]. In this case, it is not always true that min_val <= max_val

◆ mod_val()

double larcfm::KinematicRealBands::mod_val ( double val ) const

private

Return val modulo mod_, when mod_ > 0. Otherwise, returns val.

◆ peripheral_aircraft()

void larcfm::KinematicRealBands::peripheral_aircraft	(	KinematicBandsCore &	core,
		int	alert_level
	)

private

Put in peripheral_acs_ the list of aircraft predicted to be in conflict for the given alert level Requires: 1 <= alert_level <= alertor.mostSevereAlertLevel()

◆ peripheralAircraft()

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

Return list of peripheral aircraft for a given alert level. Requires: 0 <= alert_level <= alertor.size(). If alert_level is 0, conflict_level is used.

◆ preferred_direction()

bool larcfm::KinematicRealBands::preferred_direction	(	KinematicBandsCore &	core,
		int	alert_level
	)

Compute preferred direction, for given alert level, based on resolution that is closer to current value.

◆ rangeOf()

int larcfm::KinematicRealBands::rangeOf	(	KinematicBandsCore &	core,
		double	val
	)

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

◆ ranges()

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

Return list of bands ranges

◆ reset()

void larcfm::KinematicRealBands::reset ( )

Reset cached values

◆ resolution()

virtual double larcfm::KinematicRealBands::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 in larcfm::KinematicAltBands.

◆ timeToRecovery()

double larcfm::KinematicRealBands::timeToRecovery ( KinematicBandsCore & core )

Return time to recovery. Return NaN if bands are not saturated and negative infinity when bands are saturated but no recovery within early alerting time.

◆ toIntervalSet()

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

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.

◆ update()

void larcfm::KinematicRealBands::update ( KinematicBandsCore & core )

private

Update cached values

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

Modules/ACCoRD/inc/KinematicRealBands.h

Public Member Functions

Private Member Functions

Private Attributes

Static Private Attributes

Additional Inherited Members

Member Function Documentation

◆ color_bands()

◆ compute()

◆ compute_level()

◆ compute_recovery_bands()

◆ compute_resolution()

◆ force_compute()

◆ last_time_to_maneuver()

◆ max_rel()

◆ max_val()

◆ min_rel()

◆ min_val()

◆ mod_val()

◆ peripheral_aircraft()

◆ peripheralAircraft()

◆ preferred_direction()

◆ rangeOf()

◆ ranges()

◆ reset()

◆ resolution()

◆ timeToRecovery()

◆ toIntervalSet()

◆ update()