larcfm::Wx Class Reference

Static Public Member Functions
static Plan	reRoute (const Plan &own, const PolyPath &pp)
static Plan	reRoute (const Plan &own, const std::vector< PolyPath > &paths, double cellSize, bool adhere, bool solutionSmoothing)
static Plan	reRoute (const Plan &own, const std::vector< PolyPath > &paths, bool adhere, bool solutionSmoothing)
static Plan	reRoute (const Plan &own, const std::vector< PolyPath > &paths, bool adhere, bool solutionSmoothing, double timeOfCurrentPosition, double reRouteLeadIn)
static Plan	reRoute (const Plan &own, const std::vector< PolyPath > &paths, bool adhere)
static std::pair< Plan, DensityGrid >	reRoute (Position startPos, double startTime, Position endPos, double gs, const std::vector< PolyPath > &paths, double cellSize, double buffer, double factor, double T_p, std::vector< PolyPath > containment, double reRouteLeadIn)

Member Function Documentation

reRoute()

std::pair< Plan, DensityGrid > larcfm::Wx::reRoute ( Position  startPos, double  startTime, Position  endPos, double  gs, const std::vector< PolyPath > &  paths, double  cellSize, double  buffer, double  factor, double  T_p, std::vector< PolyPath >  containment, double  reRouteLeadIn  )

static

Produce a plan that travels between two end points and is approximately conflict free of any polygons.

(Note this code is experimental and may not always produce correct results.)

Note:

• "Approximately conflict free" means that there should be no intrusions that are greater than cellSize. This is intended to be a first step in a more thorough algorithm to avoid polygons.
• This methods can produce solutions with a small intrusion into one or more polygons (less than 1 cellSize). These usually happen at acute corners of polygons. Reducing the grid size will mitigate this (to the reduced grid size).
• If reduceGridPath is true, this is more likely.
• FastPolygonReroute uses an overestimation of polygons.

Parameters

startPos
startTime
endPos
gs
paths	a list of polypaths (i.e. a collection of polygons) to be routed around
cellSize	approximate size of grid square (in meters)
buffer	approximate size of extended grid area (in meters)
factor	weighting for closeness to path (1.0 = approximate distance in grid squares)
T_p	lookahead time, relative to timeOfCurrentPosition:: Conflicts beyond this time will be ignored, which can cause unexpected behavior. It is recommended that this be turned off (set to -1) for most cases.
containment
fastPolygonReroute

param reduceGridPath , perform a low-level smoothing operation on the resulting path. this may result in a solution that is not completely conflict free.

Parameters

timeOfCurrentPosition	location of aircraft in its plan (if -1 then, the first point of plan is used)
reRouteLeadIn	leadin time from current position (wait this amount of time before maneuvar)

Returns

new ownship plan (empty and/or error set on fail) and a Densitygrid used (for visualization) Note that even a successful return does not guarantee a completely conflict-free return path, only one that does not intrude into any polygons by more than cellSize.

Produce a plan that travels between two end points and is approximately conflict free of any polygons.

(Note this code is experimental and may not always produce correct results.)

Note:

• "Approximately conflict free" means that there should be no intrusions that are greater than cellSize. This is intended to be a first step in a more thorough algorithm to avoid polygons.
• This methods can produce solutions with a small intrusion into one or more polygons (less than 1 cellSize). These usually happen at acute corners of polygons. Reducing the grid size will mitigate this (to the reduced grid size).
• If reduceGridPath is true, this is more likely.
• FastPolygonReroute uses an overestimation of polygons.

Parameters

startPos
startTime
endPos
gs
paths	a list of polypaths (i.e. a collection of polygons) to be routed around
cellSize	approximate size of grid square (in meters)
buffer	approximate size of extended grid area (in meters)
factor	weighting for closeness to path (1.0 = approximate distance in grid squares)
T_p	lookahead time, relative to timeOfCurrentPosition:: Conflicts beyond this time will be ignored, which can cause unexpected behavior. It is recommended that this be turned off (set to -1) for most cases.
containment
fastPolygonReroute

param reduceGridPath , perform a low-level smoothing operation on the resulting path. this may result in a solution that is not completely conflict free.

Parameters

timeOfCurrentPosition	location of aircraft in its plan (if -1 then, the first point of plan is used)
reRouteLeadIn	leadin time from current position (wait this amount of time before maneuvar)

Returns

new ownship plan (empty and/or error set on fail) and a Densitygrid used (for visualization) Note that even a successful return does not guarantee a completely conflict-free return path, only one that does not intrude into any polygons by more than cellSize.

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

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