fence.h

 
#ifndef _FENCE_H_
#define _FENCE_H_
 
enum FENCE_TYPE {KEEP_IN = 0,KEEP_OUT = 1};
 
#ifdef __cplusplus
 
#include <vector>
#include "Position.h"
#include "Velocity.h"
#include "Vect2.h"
#include "Vect3.h"
#include "AircraftState.h"
#include "EuclideanProjection.h"
#include "ParameterData.h"
#include "SimplePoly.h"
#include "PolyPath.h"
#include "Poly3D.h"
#include "CDPolycarp.h"
#include "CDIIPolygon.h"
#include "PolycarpDetection.h"
#include "PolycarpResolution.h"
#include "Plan.h"
#include "math.h"
 
using namespace larcfm;
 
class fence{
 
private:
 
    FENCE_TYPE fenceType;
    int16_t id;
    uint16_t nVertices;
    double floor;
    double ceiling;
    double BUFF = 0.1;
    double entryTime;
    double exitTime;
    bool violation;
    bool conflict;
    bool projectedViolation;
    EuclideanProjection proj;
    SimplePoly geoPoly0;          // Original polygon in lat,lon
    SimplePoly geoPoly1;          // Expanded/Contracted polygon in lat,lon
    Poly3D geoPoly3D;             // 3D polygon in cartesian coordinates
    CDPolycarp geoPolyCarp;
    PolycarpResolution geoPolyResolution;
    PolycarpDetection geoPolyDetect;
    CDIIPolygon geoCDIIPolygon;
    std::vector<Vect2> fenceVertices0; // Cartesian coordinates of vertices of geoPoly0
    std::vector<Vect2> fenceVertices1; //Cartesian coordinates of vertices of geoPoly1
    Position recoveryPoint;
    PolyPath geoPolyPath;
 
public:
    fence(){};
    fence(int ID, FENCE_TYPE ftype, uint16_t nVert, double infloor, double inCeiling);
    void AddVertex(int index, double lat, double lon,double ResolBUFF);
    void CheckViolation(AircraftState acState,double elapsedTime,Plan fp);
    bool CollisionDetection(Position pos, Vect2 v,double startTime, double stopTime);
    bool CheckWPFeasibility(Position current, Position nextWP);
    int16_t GetID();
    uint16_t GetSize();
    Poly3D* GetPoly3D();
    Position GetRecoveryPoint();
    bool GetConflictStatus();
    bool GetProjectedStatus();
    bool GetViolationStatus();
    FENCE_TYPE GetType();
    void GetEntryExitTime(double& in, double& out);
    SimplePoly* GetPoly();
    SimplePoly* GetPolyMod();
    PolyPath* GetPolyPath();
    EuclideanProjection* GetProjection();
    double GetCeiling();
    void clear(){id = -1;};
    void Print();
    std::vector<Vect2>* getCartesianVertices();
    std::vector<Vect2>* getModCartesianVertices();
};
 
#endif
 
#endif /* _FENCE_H_ */