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ICAROUS
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state containing all data required for decision making
#include <Cognition.hpp>
Public Attributes | |
| double | utcTime |
| Current time. | |
| std::string | timeString |
| Formatted time string. | |
| std::string | callSign |
| Vehicle's callsign string. | |
| std::string | missionPlan |
| Mission plan id (should be "Plan0") | |
| larcfm::Position | launchPoint |
| Position for RTL. | |
| cognition_params_t | parameters |
| Configurable parameters used by Cognition. | |
| bool | icReady |
| True if icarous is ready. | |
| std::list< larcfm::Plan > | flightPlans |
| List of flight plans. | |
| larcfm::Plan * | activePlan |
| Pointer to the active flight plan. | |
| std::map< std::string, int > | nextWpId |
| Map from flight plan id to next waypoint id. | |
| int | nextFeasibleWpId |
| Next feasible waypoint id. | |
| bool | closestPointFeasible |
| Feasibility of nearest point on primary flight plan. | |
| resolutionType_e | resType |
| Resolution type. | |
| bool | primaryFPReceived |
| Received primary flightplan. | |
| bool | recovery [4] |
| true if recovery is active in the 4 dimensions (speed,track,altitude,vs) | |
| bool | validResolution [4] |
| true if there is a valid resolution | |
| double | scenarioTime |
| flightplan start time | |
| double | timeToTrafficViolation1 |
| time in to violation from DAA | |
| double | timeToTrafficViolation2 |
| time out of violation from DAA | |
| double | timeToTrafficViolation3 |
| time in to violation from Trajectory Monitor | |
| double | timeToFenceViolation |
| time to violate fence | |
| double | xtrackDeviation |
| Cross track deviation. | |
| larcfm::Position | position |
| position | |
| larcfm::Velocity | velocity |
| velocity | |
| double | hdg |
| heading | |
| double | speed |
| speed | |
| bool | keepInConflict |
| keep in geofence conflict | |
| bool | keepOutConflict |
| keep out geofence conflict | |
| larcfm::Position | recoveryPosition |
| recovery position (safe position) | |
| larcfm::Position | clstPoint |
| closest point on nominal plan | |
| bool | lineOfSight2Goal |
| true if line of sight to next feasible waypoint is available | |
| bool | lineOfSight2GoalPrev |
| previous value of lineOfSight2Goal | |
| bool | trafficConflict |
| true if there a traffic conflict | |
| bool | allTrafficConflicts [4] |
| traffic conflict with respect to each dimension | |
| bool | newAltConflict |
| new altitude conflict | |
| double | trafficConflictStartTime |
| traffic conflict start time | |
| bool | planProjectedTrafficConflict |
| traffic conflict based on projection of time to violation on current plan | |
| bool | planProjectedFenceConflict |
| fence conflict based on projection of time to violation on current plan | |
| bool | returnSafe |
| safe to return to mission | |
| double | resolutionStartSpeed |
| speed to start resolution | |
| double | preferredTrack |
| track resolution | |
| double | preferredSpeed |
| speed resolution | |
| double | preferredAlt |
| altitude resolution | |
| double | preferredVSpeed |
| vertical speed resolution | |
| int | vsBandsNum |
| number of vertical speed bands | |
| double | resVUp |
| up vertical resolution | |
| double | resVDown |
| down vertical resolution | |
| std::set< std::string > | conflictTraffics |
| conflicting traffic ids | |
| double | prevResSpeed |
| previous speed resolution | |
| double | prevResAlt |
| previous altitude resolution | |
| double | prevResTrack |
| previous track resolution | |
| double | prevResVspeed |
| previous vertical speed resolution | |
| int | trkBandNum |
| number of track bands | |
| int | trkBandType [20] |
| band types | |
| double | trkBandMin [20] |
| min track bands | |
| double | trkBandMax [20] |
| max track bands | |
| int | gsBandNum |
| number of ground speed bands | |
| int | gsBandType [20] |
| ground speed band type | |
| double | gsBandMin [20] |
| min ground speed | |
| double | gsBandMax [20] |
| max ground speed | |
| int | altBandNum |
| number of altitude bands | |
| int | altBandType [20] |
| altitude band types | |
| double | altBandMin [20] |
| min alt band | |
| double | altBandMax [20] |
| max alt band | |
| bool | XtrackConflict |
| cross track conflict | |
| bool | directPathToFeasibleWP1 |
| direct path to next feasible wp on primary plan | |
| bool | directPathToFeasibleWP2 |
| direct path to next feasible wp on secondary plan | |
| larcfm::Position | ditchSite |
| position of ditch site | |
| double | todAltitude |
| top of descent altitude | |
| bool | ditch |
| start ditching when true | |
| bool | resetDitch |
| reset ditching | |
| bool | endDitch |
| end ditching | |
| bool | ditchRouteFeasible |
| true if direct path to ditch site is feasible | |
| bool | leftTurnConflict |
| true if left turn is not possible | |
| bool | rightTurnConflict |
| true if right turn is not possible | |
| takeoff_status_e | takeoffState |
| takeoff state | |
| request_e | pathRequest |
| status of path request | |
| int | missionStart |
| mission start waypoint | |
| int | requestGuidance2NextWP |
| -1: undediced, 0: no guidance, 1: obtain guidance | |
| bool | p2pComplete |
| status of point 2 point guidance | |
| bool | topOfDescent |
| reached top of descent | |
| uint8_t | mergingActive |
| status of merging activity | |
| uint16_t | numSecPaths |
| number of secondary paths | |
| std::list< Command > | cognitionCommands |
| output commands | |
| std::ofstream | log |
| log file handle | |
1.9.2