double VectFuns::distAtTau(const Vect3& s, const Vect3& vo, const Vect3& vi, bool futureOnly) { double tau = VectFuns::tau(s,vo,vi); if (tau < 0 && futureOnly) return s.norm(); // return distance now else { Vect3 v = vo.Sub(vi); Vect3 sAtTau = s.Add(v.Scal(tau)); return sAtTau.norm(); } }
// time of closest approach double VectFuns::tau(const Vect3& s, const Vect3& vo, const Vect3& vi) { double rtn; Vect3 v = vo.Sub(vi); double nv = v.norm(); if (Util::almost_equals(nv,0.0)) { rtn = std::numeric_limits<double>::max(); // pseudo infinity } else rtn = -s.dot(v)/(nv*nv); return rtn; }// tau
Vect3 VectFuns::closestPoint(const Vect3& a, const Vect3& b, const Vect3& so) { if (a.almostEquals(b)) return Vect3::INVALID(); Vect2 c = closestPoint(a.vect2(), b.vect2(), so.vect2()); Vect3 v = b.Sub(a); double d1 = v.vect2().norm(); double d2 = c.Sub(a.vect2()).norm(); double d3 = c.Sub(b.vect2()).norm(); double f = d2/d1; if (d3 > d1 && d3 > d2) { // negative direction f = -f; } return a.AddScal(f, v); // Vect3 v = a.Sub(b).PerpL().Hat2D(); // perpendicular vector to line // Vect3 s2 = so.AddScal(100, v); // std::pair<Vect3, double> i = intersectionAvgZ(a,b,100,so,s2); // // need to fix altitude to be along the a-b line // return interpolate(a,b,i.second/100.0); }
TrafficState DCPAUrgencyStrategy::mostUrgentAircraft(Detection3D* detector, const TrafficState& ownship, const std::vector<TrafficState>& traffic, double T) { TrafficState repac = TrafficState::INVALID; if (!ownship.isValid() || traffic.empty()) { return repac; } double mindcpa = 0; double mintcpa = 0; double D = ACCoRDConfig::NMAC_D; double H = ACCoRDConfig::NMAC_H; Vect3 so = ownship.get_s(); Velocity vo = ownship.get_v(); for (TrafficState::nat ac = 0; ac < traffic.size(); ++ac) { Vect3 si = traffic[ac].get_s(); Velocity vi = traffic[ac].get_v(); Vect3 s = so.Sub(si); Velocity v = vo.Sub(vi); ConflictData det = detector->conflictDetection(so,vo,si,vi,0,T); if (det.conflict()) { double tcpa = CD3D::tccpa(s,vo,vi,D,H); double dcpa = v.ScalAdd(tcpa,s).cyl_norm(D,H); // If aircraft have almost same tcpa, select the one with smallest dcpa // Otherwise, select aircraft with smallest tcpa bool tcpa_strategy = Util::almost_equals(tcpa,mintcpa,PRECISION5) ? dcpa < mindcpa : tcpa < mintcpa; // If aircraft have almost same dcpa, select the one with smallest tcpa // Otherwise, select aircraft with smallest dcpa bool dcpa_strategy = Util::almost_equals(dcpa,mindcpa,PRECISION5) ? tcpa < mintcpa : dcpa < mindcpa; // If aircraft are both in a min recovery trajectory, follows tcpa strategy. Otherwise follows dcpa strategy if (!repac.isValid() || // There are no candidates (dcpa <= 1 ? mindcpa > 1 || tcpa_strategy : dcpa_strategy)) { repac = traffic[ac]; mindcpa = dcpa; mintcpa = tcpa; } } } return repac; }
ConflictData WCV_tvar::conflictDetection(const Vect3& so, const Velocity& vo, const Vect3& si, const Velocity& vi, double B, double T) const { LossData ret = WCV3D(so,vo,si,vi,B,T); double t_tca = (ret.getTimeIn() + ret.getTimeOut())/2; double dist_tca = so.linear(vo, t_tca).Sub(si.linear(vi, t_tca)).cyl_norm(table.getDTHR(),table.getZTHR()); return ConflictData(ret, t_tca,dist_tca,so.Sub(si),vo.Sub(vi)); }
// f should be between 0 and 1 to interpolate Vect3 VectFuns::interpolate(const Vect3& v1, const Vect3& v2, double f) { Vect3 dv = v2.Sub(v1); return v1.Add(dv.Scal(f)); }
bool VectFuns::collinear(const Vect3& p0, const Vect3& p1, const Vect3& p2) { Vect3 v01 = p0.Sub(p1); Vect3 v02 = p1.Sub(p2); return v01.parallel(v02); }
bool VectFuns::LoS(const Vect3& so, const Vect3& si, double D, double H) { Vect3 s = so.Sub(si); return s.x*s.x + s.y*s.y < D*D && std::abs(s.z) < H; }
double VectFuns::distanceH(const Vect3& soA, const Vect3& soB) { return soA.Sub(soB).vect2().norm(); }
bool VectFuns::divergent(const Vect3& so, const Velocity& vo, const Vect3& si, const Velocity& vi) { return so.Sub(si).dot(vo.Sub(vi)) > 0; }
bool KinematicIntegerBands::vert_repul_at(double tstep, bool trajdir, int k, const TrafficState& ownship, const TrafficState& repac, int epsv) const { // repac is not NULL at this point and k >= 0 if (k==0) { return true; } std::pair<Vect3,Velocity> sovo = trajectory(ownship,0,trajdir); Vect3 so = sovo.first; Vect3 vo = sovo.second; Vect3 si = repac.get_s(); Vect3 vi = repac.get_v(); bool rep = true; if (k==1) { rep = CriteriaCore::vertical_new_repulsive_criterion(so.Sub(si),vo,vi,linvel(ownship,tstep,trajdir,0),epsv); } if (rep) { std::pair<Vect3,Velocity> sovot = trajectory(ownship,k*tstep,trajdir); Vect3 sot = sovot.first; Vect3 vot = sovot.second; Vect3 sit = vi.ScalAdd(k*tstep,si); Vect3 st = sot.Sub(sit); Vect3 vop = linvel(ownship,tstep,trajdir,k-1); Vect3 vok = linvel(ownship,tstep,trajdir,k); return CriteriaCore::vertical_new_repulsive_criterion(st,vop,vi,vot,epsv) && CriteriaCore::vertical_new_repulsive_criterion(st,vot,vi,vok,epsv) && CriteriaCore::vertical_new_repulsive_criterion(st,vop,vi,vok,epsv); } return false; }
bool KinematicIntegerBands::no_instantaneous_conflict(Detection3D* conflict_det, Detection3D* recovery_det, double B, double T, double B2, double T2, bool trajdir, const TrafficState& ownship, const std::vector<TrafficState>& traffic, const TrafficState& repac, int epsh, int epsv) { bool usehcrit = repac.isValid() && epsh != 0; bool usevcrit = repac.isValid() && epsv != 0; std::pair<Vect3,Velocity> nsovo = trajectory(ownship,0,trajdir); Vect3 so = ownship.get_s(); Vect3 vo = ownship.get_v(); Vect3 si = repac.get_s(); Vect3 vi = repac.get_v(); Vect3 nvo = nsovo.second; Vect3 s = so.Sub(si); return (!usehcrit || CriteriaCore::horizontal_new_repulsive_criterion(s,vo,vi,nvo,epsh)) && (!usevcrit || CriteriaCore::vertical_new_repulsive_criterion(s,vo,vi,nvo,epsv)) && no_conflict(conflict_det,recovery_det,B,T,B2,T2,trajdir,0,ownship,traffic); }