#include <TripleBands.h>

Inheritance diagram for larcfm::TripleBands:

Public Member Functions
	TripleBands (double D, const std::string &dunit, double H, const std::string &hunit, double Tnear, double Tmid, const std::string &tunit, double max_gs, const std::string &gsunit, double max_vs, const std::string &vsunit)

	TripleBands ()

void	setTimeNear (double t, const std::string &unit)

double	getTimeNear (const std::string &unit) const

void	setTimeMid (double t, const std::string &unit)

double	getTimeMid (const std::string &unit) const

void	setLookaheadTime (double t, const std::string &unit)

double	getLookaheadTime (const std::string &unit) const

void	setTimeRange (double b, double t, const std::string &tunit)

double	getStartTime (const std::string &unit) const

bool	isLatLon () const

void	setDistance (double d, const std::string &unit)

double	getDistance (const std::string &unit) const

void	setHeight (double h, const std::string &unit)

double	getHeight (const std::string &unit) const

void	setMaxGroundSpeed (double gs, const std::string &unit)

double	getMaxGroundSpeed (const std::string &unit)

void	setMaxVerticalSpeed (double vs, const std::string &unit)

double	getMaxVerticalSpeed (const std::string &unit)

void	setTrackTolerance (double trk, const std::string &unit)

double	getTrackTolerance (const std::string &unit) const

void	setGroundSpeedTolerance (double gs, const std::string &unit)

double	getGroundSpeedTolerance (const std::string &unit) const

void	setVerticalSpeedTolerance (double vs, const std::string &unit)

double	getVerticalSpeedTolerance (const std::string &unit) const

void	setOwnship (const std::string &id, const Position &s, const Velocity &v)

void	setOwnshipLL (double lat, double lon, const std::string &hunit, double alt, const std::string &vunit, double trk, const std::string &trkunit, double gs, const std::string &gsunit, double vs, const std::string &vsunit)

void	setOwnshipXYZ (double sx, double sy, const std::string &hpunit, double sz, const std::string &vpunit, double vx, double vy, const std::string &hvunit, double vz, const std::string &vvunit)

void	addTraffic (const std::string &id, const Position &p, const Velocity &v)

void	addTrafficLL (double lat, double lon, const std::string &hunit, double alt, const std::string &vunit, double trk, const std::string &trkunit, double gs, const std::string &gsunit, double vs, const std::string &vsunit)

void	addTrafficXYZ (double sx, double sy, const std::string &hpunit, double sz, const std::string &vpunit, double vx, double vy, const std::string &hvunit, double vz, const std::string &vvunit)

void	clear ()

int	trackLength ()

Interval	track (int i, const std::string &unit)

BandsRegion::Region	trackRegion (int i)

BandsRegion::Region	regionOfTrack (double trk, const std::string &unit)

int	groundSpeedLength ()

Interval	groundSpeed (int i, const std::string &unit)

BandsRegion::Region	groundSpeedRegion (int i)

BandsRegion::Region	regionOfGroundSpeed (double gs, const std::string &unit)

int	verticalSpeedLength ()

Interval	verticalSpeed (int i, const std::string &unit)

BandsRegion::Region	verticalSpeedRegion (int i)

BandsRegion::Region	regionOfVerticalSpeed (double vs, const std::string &unit)

std::string	toString () const

bool	hasError () const

bool	hasMessage () const

std::string	getMessage ()

std::string	getMessageNoClear () const

Public Member Functions inherited from larcfm::GenericBands
virtual double	getMaxGroundSpeed (const std::string &unit) const =0

virtual double	getMaxVerticalSpeed (const std::string &unit) const =0

Private Member Functions
Interval	track (int i, double unit)

Interval	groundSpeed (int i, double unit)

Interval	verticalSpeed (int i, double unit)

void	init (double D, const std::string &dunit, double H, const std::string &hunit, double Tnear, double Tmid, const std::string &tunit, double max_gs, const std::string &gsunit, double max_vs, const std::string &vsunit)

void	recompute ()

void	trackCompute ()

void	groundCompute ()

void	verticalCompute ()

void	toArrays (Interval interval[], BandsRegion::Region intRegion[], int &size, const IntervalSet &red, const IntervalSet &amber, const IntervalSet &green)

void	add (Interval arr[], int size, int i, const Interval &r)

void	add (BandsRegion::Region arr[], int size, int i, BandsRegion::Region color)

int	order (Interval arr[], int size, const Interval &n)

Private Attributes
BandsCore	red

BandsCore	amber

bool	ownship

bool	needCompute

IntervalSet	tmp_amber

IntervalSet	tmp_green

ErrorLog	error

Position	so

Velocity	vo

Interval	trackArray [NUM_REGIONS]

BandsRegion::Region	trackRegionArray [NUM_REGIONS]

int	trackSize

Interval	groundArray [NUM_REGIONS]

BandsRegion::Region	groundRegionArray [NUM_REGIONS]

int	groundSize

Interval	verticalArray [NUM_REGIONS]

BandsRegion::Region	verticalRegionArray [NUM_REGIONS]

int	verticalSize

Static Private Attributes
static const int	NUM_REGIONS = 400

Detailed Description

Objects of class "TripleBands" compute the near term, mid term, and 'no conflict' conflict prevention (CP) bands using linear state-based preditions of ownship and (multiple) traffic aircraft positions. The bands consist of ranges of guidance maneuvers: track angles, ground speeds, and vertical speeds. If the ownship immediately executes a "no conflict" guidance maneuver and no traffic aircraft maneuvers, then the new path is conflict free (within the mid-term lookahead time). If the ownship immediately executes an "MID" guidance maneuver and no traffic aircraft maneuvers, then the new path is conflict free within the near term lookahead, but there is a conflict before the mid-term lookahead time. If the ownship immediately executes a "NEAR" guidance maneuver and no traffic aircraft maneuvers, then there will be a loss of separation within the near term lookahead time.

Note that in the case of geodetic coordinates, bands performs an internal projection of the coordinates and velocities into the Euclidean frame (see Util/Projection). An error will be logged if the distance between traffic and ownship exceeds Util.Projection.projectionMaxRange().

Disclaimer: Only the mathematical core of these algorithms have been formally verified, certain book-keeping operations have not been verified. Even with a formal verification, there will still be certain assumptions. For instance, the formal proofs use real numbers while these implementations use floating point numbers, so numerical differences could result. In addition, the geodesic computations include certain inaccuracies, especially near the earth's poles.

The basic usage is

TripleBands b(..with configuration parameters..);
b.setOwnship(position of ownship, velocity of ownship);
b.addTraffic(position of traffic, velocity of traffic);
b.addTraffic(position of traffic, velocity of traffic);
...add other aircraft...

for (int i = 0; i < b.trackLength(); i++) {
   use band information from b.track(i) and b.trackRegion(i);
}
..similar for ground speed and vertical speed bands..

When any configuration parameter is set (horizontal separation distance, etc.), any previous bands information is cleared out; therefore, all configuration parameters must be set, before any traffic aircraft information is added. For more complete example usage see the file Batch.cpp.

Constructor & Destructor Documentation

◆ TripleBands() [1/2]

larcfm::TripleBands::TripleBands	(	double	D,
		const std::string &	dunit,
		double	H,
		const std::string &	hunit,
		double	Tnear,
		double	Tmid,
		const std::string &	tunit,
		double	max_gs,
		const std::string &	gsunit,
		double	max_vs,
		const std::string &	vsunit
	)

Construct a TripleBands object with the given configuration parameters. The bands always begin as "NONE" bands: track bands from 0 to 2pi, ground speed bands from 0 to max_gs, and vertical speed bands from -max_vs to max_vs. Both the positions and velocities of the aircraft are assumed to be in Euclidean coordinates (see setLatLon() and setTrackVelocity() to change this behavior).

Parameters

D	the minimum horizontal separation distance [nmi]
H	the minimum vertical separation distance [feet]
Tnear	the near-term lookahead time [s]
Tmid	the mid-term lookahead time [s]
max_gs	the maximum ground speed that is output by Bands, the minimum is 0. [knots]
max_vs	the range of vertical speeds is -max_vs to max_vs [feet/min]

◆ TripleBands() [2/2]

larcfm::TripleBands::TripleBands ( )

Construct a TripleBands object with default values for configuration parameters. These default values include: 5 nmi horizontal separation, 1000 ft vertical separation, 3 minutes for a near term lookahead time, 5 minutes for a mid-term lookahead time, 1000 knots max ground speed, 5000 fpm max vertical speed. The bands always begin as "NONE" bands: track bands from 0 to 2pi, ground speed bands from 0 to max_gs, and vertical speed bands from -max_vs to max_vs. Both the positions and velocities of the aircraft are assumed to be in Euclidean coordinates (see setLatLon() and setTrackVelocity() to change this behavior).

Member Function Documentation

◆ addTraffic()

void larcfm::TripleBands::addTraffic	(	const std::string &	id,
		const Position &	si,
		const Velocity &	vi
	)

virtual

Add a traffic aircraft to this set of the conflict prevention bands. No traffic aircraft can be added until the ownship is set (see setOwnship()). The coordinate frame of the traffic position must be the same as that of the object.

Parameters

si	position of the traffic
vi	velocity of the traffic

Implements larcfm::GenericStateBands.

◆ clear()

void larcfm::TripleBands::clear ( )

virtual

Clear all bands information.

void larcfm::TripleBands::setTimeMid	(	double	t,
		const std::string &	unit
	)

void larcfm::TripleBands::setTimeNear	(	double	t,
		const std::string &	unit
	)

void larcfm::TripleBands::setTimeRange	(	double	b,
		double	t,
		const std::string &	tunit
	)

Public Member Functions

Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ TripleBands() [1/2]

◆ TripleBands() [2/2]

Member Function Documentation

◆ addTraffic()

◆ clear()

◆ getDistance()

◆ getHeight()

◆ getLookaheadTime()

◆ getMessage()

◆ getMessageNoClear()

◆ getStartTime()

◆ getTimeMid()

◆ getTimeNear()

◆ groundCompute()

◆ groundSpeed()

◆ groundSpeedLength()

◆ groundSpeedRegion()

◆ hasError()

◆ hasMessage()

◆ isLatLon()

◆ regionOfGroundSpeed()

◆ regionOfTrack()

◆ regionOfVerticalSpeed()

◆ setDistance()

◆ setHeight()

◆ setLookaheadTime()

◆ setMaxGroundSpeed()

◆ setMaxVerticalSpeed()

◆ setOwnship()

◆ setTimeMid()

◆ setTimeNear()

◆ setTimeRange()

◆ toString()

◆ track()

◆ trackCompute()

◆ trackLength()

◆ trackRegion()

◆ verticalCompute()

◆ verticalSpeed()

◆ verticalSpeedLength()

◆ verticalSpeedRegion()