ICAROUS
|
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 | |