#include <PriorityCore.h>

Static Public Member Functions
static bool	lateral_only (const Vect3 &so, const Vect3 &vo, const Vect3 &si, const Vect3 &vi)

static bool	check (const Vect3 &so, const Vect3 &vo, bool mo, const Vect3 &si, const Vect3 &vi, bool mi)

Static Public Attributes
static double	TC

static double	CRUISE_DEF

static double	VERTICAL_DEADBAND

static double	LATERAL_DEADBAND

static double	LATERAL_RELATIVE_DEADBAND

Static Private Member Functions
static bool	isDescending (const Vect3 &v)

static bool	isNotDescending (const Vect3 &v)

static bool	isCruising (const Vect3 &v)

static bool	isAscending (const Vect3 &v)

static bool	isNotAscending (const Vect3 &v)

static bool	isNotCruising (const Vect3 &v)

static bool	PossiblyDescendingORCruising (const Vect3 &v)

static bool	PossiblyCruisingORAscending (const Vect3 &v)

static bool	HorizontalRulesApply (const Vect3 &ao_V, const Vect3 &ai_V)

static bool	VerticalRulesApply (const Vect3 &ao_V, const Vect3 &ai_V)

static double	VelComponent (const Vect3 &so, const Vect3 &si, const Vect3 &vo, const Vect3 &vi)

static double	VelComponentAt (const double t, const Vect3 &so, const Vect3 &si, const Vect3 &vo, const Vect3 &vi)

static double	EntryComponent (const Vect3 &so, const Vect3 &si, const Vect3 &vo, const Vect3 &vi)

static bool	HorizontalDeadband (const Vect3 &ao_S, const Vect3 &ao_V, const Vect3 &ai_S, const Vect3 &ai_V)

static bool	VerticalDeadband (const Vect3 &ao_V, const Vect3 &ai_V)

Detailed Description

This is a collection of functions to determine if one aircraft has priority over another aircraft. It is an encapsulation of the "right of way" rules.

All values are in internal units.

Disclaimer: The current rules have been verified to have certain safety and liveness properties, but they have not been validated, that is, they may not behave "naturally." As we learn more about what is expected, these rules may evolve in the future.

Member Function Documentation

◆ check()

static bool larcfm::PriorityCore::check	(	const Vect3 &	so,
		const Vect3 &	vo,
		bool	mo,
		const Vect3 &	si,
		const Vect3 &	vi,
		bool	mi
	)

static

Determines if the ownship has priority over the given traffic aircraft.

Parameters

so	a 3D vector representing the position vector of ownship
vo	a 3D vector representing the velocity vector of the ownship
mo	true if the ownship is managed
si	a 3D vector representing the position vector of the traffic aircraft
vi	a 3D vector representing the velocity vector of the traffic aircraft
mi	true if the traffic aircraft is managed

Returns: true, if the ownship has priority over the traffic aircraft

◆ EntryComponent()

static double larcfm::PriorityCore::EntryComponent	(	const Vect3 &	so,
		const Vect3 &	si,
		const Vect3 &	vo,
		const Vect3 &	vi
	)

staticprivate

Parameters

so	a 3D vector representing the position vector of the ownship
si	a 3D vector representing the position vector of the traffic
vo	a 3D vector representing the velocity vector of the ownship
vi	a 3D vector representing the velocity vector of the traffic

Returns

◆ HorizontalDeadband()

static bool larcfm::PriorityCore::HorizontalDeadband	(	const Vect3 &	ao_S,
		const Vect3 &	ao_V,
		const Vect3 &	ai_S,
		const Vect3 &	ai_V
	)

staticprivate

Parameters

ao_S	a 3D vector representing the position vector of ownship
ao_V	a 3D vector representing the velocity vector of the ownship
ai_S	a 3D vector representing the position vector of traffic
ai_V	a 3D vector representing the velocity vector of traffic

Returns

◆ HorizontalRulesApply()

static bool larcfm::PriorityCore::HorizontalRulesApply	(	const Vect3 &	ao_V,
		const Vect3 &	ai_V
	)

staticprivate

Parameters

ao_V	a 3D vector representing ownship aircraft velocity vector
ai_V	a 3D vector representing traffic aircraft velocity vector

Returns

◆ isAscending()

static bool larcfm::PriorityCore::isAscending ( const Vect3 & v )

staticprivate

Parameters

v	a 3D vector representing an aircraft velocity vector

Returns: trune if the aircraft is ascending

◆ isCruising()

static bool larcfm::PriorityCore::isCruising ( const Vect3 & v )

staticprivate

Parameters

v	a 3D vector representing an aircraft velocity vector

Returns

◆ isDescending()

static bool larcfm::PriorityCore::isDescending ( const Vect3 & v )

staticprivate

Parameters

v	a 3D vector representing an aircraft velocity vector

Returns: true if the aircraft is descending

◆ isNotAscending()

static bool larcfm::PriorityCore::isNotAscending ( const Vect3 & v )

staticprivate

Parameters

v	a 3D vector representing an aircraft velocity vector

Returns: true if the aircraft is not descending

◆ isNotCruising()

static bool larcfm::PriorityCore::isNotCruising ( const Vect3 & v )

staticprivate

Parameters

v	a 3D vector representing an aircraft velocity vector

Returns

◆ isNotDescending()

static bool larcfm::PriorityCore::isNotDescending ( const Vect3 & v )

staticprivate

Parameters

v	a 3D vector representing an aircraft velocity vector

Returns: return true if the aircraft is not descending

◆ lateral_only()

static bool larcfm::PriorityCore::lateral_only	(	const Vect3 &	so,
		const Vect3 &	vo,
		const Vect3 &	si,
		const Vect3 &	vi
	)

static

Determines if the ownship has priority (in the lateral dimension only) over the traffic aircraft.

Parameters

so	a 3D vector representing the position vector of ownship
vo	a 3D veector representing the velocity vector of the ownship
si	a 3D vector representing the position vector of the traffic aircraft
vi	a 3D vector representing the velocity vector of the traffic aircraft

Returns: true, if the ownship has priority over the traffic aircraft

◆ PossiblyCruisingORAscending()

static bool larcfm::PriorityCore::PossiblyCruisingORAscending ( const Vect3 & v )

staticprivate

Parameters

v	a 3D vector representing an aircraft velocity vector

Returns: returns true if the aircraft is cruising or ascending

◆ PossiblyDescendingORCruising()

static bool larcfm::PriorityCore::PossiblyDescendingORCruising ( const Vect3 & v )

staticprivate

Parameters

v	a 3D vector representing an aircraft velocity vector

Returns: true if the aircraft is descending or cruising

◆ VelComponent()

static double larcfm::PriorityCore::VelComponent	(	const Vect3 &	so,
		const Vect3 &	si,
		const Vect3 &	vo,
		const Vect3 &	vi
	)

staticprivate

Parameters

so	a 3D vector representing the position vector of the ownship
si	a 3D vector representing the position vector of the traffic
vo	a 3D vector representing the velocity vector of the ownship
vi	a 3D vector representing the velocity vector of the traffic

Returns: the velocity component

◆ VelComponentAt()

static double larcfm::PriorityCore::VelComponentAt	(	const double	t,
		const Vect3 &	so,
		const Vect3 &	si,
		const Vect3 &	vo,
		const Vect3 &	vi
	)

staticprivate

Parameters

time	t (should be tca)
so	a 3D vector representing the position vector of the ownship
si	a 3D vector representing the position vector of the traffic
vo	a 3D vector representing the velocity vector of the ownship
vi	a 3D vector representing the velocity vector of the traffic

Returns: velocity component at time t

◆ VerticalDeadband()

static bool larcfm::PriorityCore::VerticalDeadband	(	const Vect3 &	ao_V,
		const Vect3 &	ai_V
	)

staticprivate

Parameters

ao_V
ai_V

Returns

◆ VerticalRulesApply()

static bool larcfm::PriorityCore::VerticalRulesApply	(	const Vect3 &	ao_V,
		const Vect3 &	ai_V
	)

staticprivate

Parameters

ao_V	a 3D vector representing ownship aircraft velocity vector
ai_V	a 3D vector representing traffic aircraft velocity vector

Returns

Member Data Documentation

◆ CRUISE_DEF

double larcfm::PriorityCore::CRUISE_DEF

static

The definition of cruise. If the absolute value a vehicle's vertical speed is within this value then, by definition, the aircraft is in cruise.

This values should be "final"; however, since its precise values is still to be experimentally determined, it is left modifiable.

◆ LATERAL_DEADBAND

double larcfm::PriorityCore::LATERAL_DEADBAND

static

This is a representation of the known uncertainty in the horizontal speed.

This values should be "final"; however, since its precise values is still to be experimentally determined, it is left modifiable.

◆ TC

double larcfm::PriorityCore::TC

static

The time "back" from the time of closest approach

◆ VERTICAL_DEADBAND

double larcfm::PriorityCore::VERTICAL_DEADBAND

static

This is a representation of the known uncertainty in the vertical speed.

This values should be "final"; however, since its precise values is still to be experimentally determined, it is left modifiable.

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

Modules/ACCoRD/inc/PriorityCore.h

Static Public Member Functions

Static Public Attributes

Static Private Member Functions

Detailed Description

Member Function Documentation

◆ check()

◆ EntryComponent()

◆ HorizontalDeadband()

◆ HorizontalRulesApply()

◆ isAscending()

◆ isCruising()

◆ isDescending()

◆ isNotAscending()

◆ isNotCruising()

◆ isNotDescending()

◆ lateral_only()

◆ PossiblyCruisingORAscending()

◆ PossiblyDescendingORCruising()

◆ VelComponent()

◆ VelComponentAt()

◆ VerticalDeadband()

◆ VerticalRulesApply()

Member Data Documentation

◆ CRUISE_DEF

◆ LATERAL_DEADBAND

◆ TC

◆ VERTICAL_DEADBAND