larcfm::TCAS3D Class Reference

Inheritance diagram for larcfm::TCAS3D:

Public Member Functions
	TCAS3D ()
	TCAS3D (const TCASTable &tables)
TCASTable &	getTCASTable ()
void	setDefaultTCASIIThresholds (bool ra)
void	setTCASTable (const TCASTable &tables)
bool	TCASII_RA (const Vect3 &so, const Vect3 &vo, const Vect3 &si, const Vect3 &vi) const
Triple< double, double, double >	RA3D_interval (int sl, const Vect2 &so2, double soz, const Vect2 &vo2, double voz, const Vect2 &si2, double siz, const Vect2 &vi2, double viz, double B, double T) const
ConflictData	RA3D (const Vect3 &so, const Velocity &vo, const Vect3 &si, const Velocity &vi, double B, double T) const
ConflictData	conflictDetection (const Vect3 &so, const Velocity &vo, const Vect3 &si, const Velocity &vi, double B, double T) const
TCAS3D *	copy () const
TCAS3D *	make () const
virtual std::string	getSimpleClassName () const
double	getTAU (int sl) const
double	getTCOA (int sl) const
double	getDMOD (int sl) const
double	getDMOD (int sl, const std::string &u) const
double	getZTHR (int sl) const
double	getZTHR (int sl, const std::string &u) const
double	getHMD (int sl) const
double	getHMD (int sl, const std::string &u) const
void	setTAU (int sl, double val)
void	setTCOA (int sl, double val)
void	setDMOD (int sl, double val)
void	setDMOD (int sl, double val, const std::string &u)
void	setZTHR (int sl, double val)
void	setZTHR (int sl, double val, const std::string &u)
void	setHMD (int sl, double val)
void	setHMD (int sl, double val, const std::string &u)
void	setHMDFilter (bool flag)
bool	getHMDFilter ()
virtual std::string	toString () const
virtual std::string	toPVS () const
virtual std::string	getIdentifier () const
virtual void	setIdentifier (const std::string &id)
virtual bool	equals (Detection3D *d) const
ParameterData	getParameters () const
void	updateParameterData (ParameterData &p) const
void	setParameters (const ParameterData &p)
bool	contains (const Detection3D *cd) const
virtual void	horizontalHazardZone (std::vector< Position > &haz, const TrafficState &ownship, const TrafficState &intruder, double T) const
Public Member Functions inherited from larcfm::Detection3D
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
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
std::string	getCanonicalClassName () const
std::string	getCanonicalSuperClassName () const
virtual std::string	getSimpleSuperClassName () const
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

Static Public Member Functions
static const TCAS3D &	A_TCAS3D ()
static const TCAS3D &	TCASII_RA ()
static const TCAS3D &	TCASII_TA ()
static TCAS3D	make_Empty ()
static TCAS3D	make_TCASII_RA ()
static TCAS3D	make_TCASII_TA ()
static bool	vertical_RA (double sz, double vz, double ZTHR, double TCOA)
static bool	cd2d_TCAS_after (double HMD, Vect2 s, Vect2 vo, Vect2 vi, double t)
static bool	cd2d_TCAS (double HMD, Vect2 s, Vect2 vo, Vect2 vi)

Private Attributes
TCASTable	table_
std::string	id

Constructor & Destructor Documentation

TCAS3D() [1/2]

larcfm::TCAS3D::TCAS3D

(

)

Constructor that uses the default TCAS tables.

TCAS3D() [2/2]

larcfm::TCAS3D::TCAS3D ( const TCASTable &  tables )

explicit

Constructor that specifies a particular instance of the TCAS tables.

Member Function Documentation

A_TCAS3D()

const TCAS3D & larcfm::TCAS3D::A_TCAS3D ( )

static

Returns

one static TCAS3D

conflictDetection()

ConflictData larcfm::TCAS3D::conflictDetection ( const Vect3 &  so, const Velocity &  vo, const Vect3 &  si, const Velocity &  vi, 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

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

Implements larcfm::Detection3D.

contains()

bool larcfm::TCAS3D::contains ( const Detection3D *  cd ) const

virtual

Implements larcfm::Detection3D.

copy()

TCAS3D * larcfm::TCAS3D::copy ( ) const

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.

Implements larcfm::Detection3D.

equals()

bool larcfm::TCAS3D::equals ( Detection3D *  o ) const

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; }

Implements larcfm::Detection3D.

getDMOD() [1/2]

double larcfm::TCAS3D::getDMOD

(

int

sl

)

const

Returns DMOD for sensitivity level sl in internal units.

getDMOD() [2/2]

double larcfm::TCAS3D::getDMOD	(	int	sl,
		const std::string &	u
	)		const

Returns DMOD for sensitivity level sl in u units.

getHMD() [1/2]

double larcfm::TCAS3D::getHMD

(

int

sl

)

const

Returns HMD for sensitivity level sl in internal units.

getHMD() [2/2]

double larcfm::TCAS3D::getHMD	(	int	sl,
		const std::string &	u
	)		const

Returns HMD for sensitivity level sl in u units.

getIdentifier()

std::string larcfm::TCAS3D::getIdentifier ( ) const

virtual

Implements larcfm::Detection3D.

getParameters()

ParameterData larcfm::TCAS3D::getParameters ( ) const

virtual

Implements larcfm::ParameterProvider.

getSimpleClassName()

std::string larcfm::TCAS3D::getSimpleClassName ( ) const

virtual

Implements larcfm::Detection3D.

getTAU()

double larcfm::TCAS3D::getTAU

(

int

sl

)

const

Returns TAU threshold for sensitivity level sl in seconds

getTCASTable()

TCASTable & larcfm::TCAS3D::getTCASTable

(

)

This returns a copy of the internal TCAS table

getTCOA()

double larcfm::TCAS3D::getTCOA

(

int

sl

)

const

Returns TCOA threshold for sensitivity level sl in seconds

getZTHR() [1/2]

double larcfm::TCAS3D::getZTHR

(

int

sl

)

const

Returns Z threshold for sensitivity level sl in internal units.

getZTHR() [2/2]

double larcfm::TCAS3D::getZTHR	(	int	sl,
		const std::string &	u
	)		const

Returns Z threshold for sensitivity level sl in u units.

horizontalHazardZone()

void larcfm::TCAS3D::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 from larcfm::Detection3D.

make()

TCAS3D * larcfm::TCAS3D::make ( ) const

virtual

Implements larcfm::Detection3D.

make_Empty()

TCAS3D larcfm::TCAS3D::make_Empty ( )

static

Make TCAS3D object with empty Table

make_TCASII_RA()

TCAS3D larcfm::TCAS3D::make_TCASII_RA ( )

static

Make TCAS3D object with an RA Table

make_TCASII_TA()

TCAS3D larcfm::TCAS3D::make_TCASII_TA ( )

static

Make TCAS3D objec with a TA Table

setDefaultTCASIIThresholds()

void larcfm::TCAS3D::setDefaultTCASIIThresholds

(

bool

ra

)

Set table to TCASII Thresholds (RA Table when ra is true, TA Table when ra is false)

setDMOD() [1/2]

void larcfm::TCAS3D::setDMOD	(	int	sl,
		double	val
	)

Modify the value of DMOD for a given sensitivity level (2-8) Parameter val is given in internal units

setDMOD() [2/2]

void larcfm::TCAS3D::setDMOD	(	int	sl,
		double	val,
		const std::string &	u
	)

Modify the value of DMOD for a given sensitivity level (2-8) Parameter val is given in u units

setHMD() [1/2]

void larcfm::TCAS3D::setHMD	(	int	sl,
		double	val
	)

Modify the value of HMD for a given sensitivity level (2-8) Parameter val is given in internal units

setHMD() [2/2]

void larcfm::TCAS3D::setHMD	(	int	sl,
		double	val,
		const std::string &	u
	)

Modify the value of HMD for a given sensitivity level (2-8) Parameter val is given in u units

setIdentifier()

void larcfm::TCAS3D::setIdentifier ( const std::string &  id )

virtual

Implements larcfm::Detection3D.

setParameters()

void larcfm::TCAS3D::setParameters ( const ParameterData &  p )

virtual

Implements larcfm::ParameterAcceptor.

setTAU()

void larcfm::TCAS3D::setTAU	(	int	sl,
		double	val
	)

Modify the value of Tau Threshold for a given sensitivity level (2-8) Parameter val is given in seconds

setTCASTable()

void larcfm::TCAS3D::setTCASTable

(

const TCASTable &

tables

)

This sets the internal table to be a deep copy of the supplied one. Any previous links will be broken.

setTCOA()

void larcfm::TCAS3D::setTCOA	(	int	sl,
		double	val
	)

Modify the value of TCOA Threshold for a given sensitivity level (2-8) Parameter val is given in seconds

setZTHR() [1/2]

void larcfm::TCAS3D::setZTHR	(	int	sl,
		double	val
	)

Modify the value of ZTHR for a given sensitivity level (2-8) Parameter val is given in internal units

setZTHR() [2/2]

void larcfm::TCAS3D::setZTHR	(	int	sl,
		double	val,
		const std::string &	u
	)

Modify the value of ZTHR for a given sensitivity level (2-8) Parameter val is given in u units

TCASII_RA()

const TCAS3D & larcfm::TCAS3D::TCASII_RA ( )

static

Returns

one static TCASII_RA

TCASII_TA()

const TCAS3D & larcfm::TCAS3D::TCASII_TA ( )

static

Returns

one static TCASII_TA

toPVS()

std::string larcfm::TCAS3D::toPVS ( ) const

virtual

Implements larcfm::Detection3D.

toString()

std::string larcfm::TCAS3D::toString ( ) const

virtual

Implements larcfm::Detection3D.

updateParameterData()

void larcfm::TCAS3D::updateParameterData ( ParameterData &  p ) const

virtual

Implements larcfm::ParameterProvider.

---

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

• Modules/ACCoRD/inc/TCAS3D.h
• Modules/ACCoRD/src/TCAS3D.cpp