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CognitionState_t Struct Reference

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::PlanflightPlans
 List of flight plans.
 
larcfm::PlanactivePlan
 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< CommandcognitionCommands
 output commands
 
std::ofstream log
 log file handle
 

The documentation for this struct was generated from the following file: