int KinematicBandsCore::epsilonH(const OwnshipState& ownship, const TrafficState& ac) {
Position pi = ac.getPosition();
Velocity vi = ac.getVelocity();
Vect2 s = ownship.get_s().Sub(ownship.pos_to_s(pi)).vect2();
Vect2 v = ownship.get_v().Sub(ownship.vel_to_v(pi,vi)).vect2();
return CriteriaCore::horizontalCoordination(s,v);
}
int KinematicBandsCore::epsilonV(const OwnshipState& ownship, const TrafficState& ac) {
Position pi = ac.getPosition();
Velocity vi = ac.getVelocity();
Vect3 si = ownship.pos_to_s(pi);
Vect3 s = ownship.get_s().Sub(si);
return CriteriaCore::verticalCoordinationLoS(s,ownship.get_v(),ownship.vel_to_v(pi,vi),
ownship.getId(), ac.getId());
}
int KinematicAltBands::first_band_alt_generic(Detection3D* conflict_det, Detection3D* recovery_det,
double B, double T, double B2, double T2,
const TrafficState& ownship, const std::vector<TrafficState>& traffic, bool dir, bool green) {
int upper = (int)(dir ? std::floor((max_val(ownship)-min_val(ownship))/get_step())+1 :
std::floor((ownship.altitude()-min_val(ownship))/get_step()));
int lower = dir ? (int)(std::ceil(ownship.altitude()-min_val(ownship))/get_step()) : 0;
if (ownship.altitude() < min_val(ownship) || ownship.altitude() > max_val(ownship)) {
return -1;
} else {
return first_nat(lower,upper,dir,conflict_det,recovery_det,B,T,B2,T2,ownship,traffic,green);
}
}
bool KinematicIntegerBands::cd_future_traj(Detection3D* det, double B, double T, bool trajdir, double t,
const TrafficState& ownship, const TrafficState& ac) const {
if (t > T || B > T) return false;
std::pair<Vect3,Velocity> sovot = trajectory(ownship,t,trajdir);
Vect3 sot = sovot.first;
Velocity vot = sovot.second;
Vect3 si = ac.get_s();
Velocity vi = ac.get_v();
Vect3 sit = vi.ScalAdd(t,si);
if (B > t) {
return conflict(det, sot, vot, sit, vi, B-t, T-t);
}
return conflict(det, sot, vot, sit, vi, 0, T-t);
}
bool KinematicIntegerBands::any_los_aircraft(Detection3D* det, bool trajdir, double tsk,
const TrafficState& ownship, const std::vector<TrafficState>& traffic) const {
for (TrafficState::nat i=0; i < traffic.size(); ++i) {
TrafficState ac = traffic[i];
std::pair<Vect3,Velocity> sovot = trajectory(ownship,tsk,trajdir);
Vect3 sot = sovot.first;
Velocity vot = sovot.second;
Vect3 si = ac.get_s();
Velocity vi = ac.get_v();
Vect3 sit = vi.ScalAdd(tsk,si);
if (det->violation(sot, vot, sit, vi))
return true;
}
return false;
}
std::pair<Vect3, Velocity> KinematicTrkBands::trajectory(const TrafficState& ownship, double time, bool dir) const {
std::pair<Position,Velocity> posvel;
if (instantaneous_bands()) {
double trk = ownship.getVelocity().trk()+(dir?1:-1)*j_step_*get_step();
posvel = std::pair<Position,Velocity>(ownship.getPosition(),ownship.getVelocity().mkTrk(trk));
} else {
double gso = ownship.groundSpeed();
double bank = turn_rate_ == 0 ? bank_angle_ : std::abs(Kinematics::bankAngle(gso,turn_rate_));
double R = Kinematics::turnRadius(ownship.get_v().gs(), bank);
posvel = ProjectedKinematics::turn(ownship.getPosition(),ownship.getVelocity(),time,R,dir);
}
return std::pair<Vect3, Velocity>(ownship.pos_to_s(posvel.first),ownship.vel_to_v(posvel.first,posvel.second));
}
// trajdir: false is left
bool KinematicIntegerBands::red_band_exist(Detection3D* conflict_det, Detection3D* recovery_det, double tstep,
double B, double T, double B2, double T2,
bool trajdir, int max, const TrafficState& ownship, const std::vector<TrafficState>& traffic, const TrafficState& repac,
int epsh, int epsv) const {
bool usehcrit = repac.isValid() && epsh != 0;
bool usevcrit = repac.isValid() && epsv != 0;
return (usehcrit && first_nonrepulsive_step(tstep,trajdir,max,ownship,repac,epsh) >= 0) ||
(usevcrit && first_nonvert_repul_step(tstep,trajdir,max,ownship,repac,epsv) >= 0) ||
any_conflict_step(conflict_det,tstep,B,T,trajdir,max,ownship,traffic) ||
(recovery_det != NULL && any_conflict_step(recovery_det,tstep,B2,T2,trajdir,max,ownship,traffic));
}
bool KinematicVsBands::all_red(Detection3D* conflict_det, Detection3D* recovery_det, const TrafficState& repac,
double B, double T, const OwnshipState& ownship, const std::vector<TrafficState>& traffic) const {
double vso = ownship.getVelocity().vs();
int maxdown = (int)std::max(std::ceil((vso-min)/step),0.0)+1;
int maxup = (int)std::max(std::ceil((max-vso)/step),0.0)+1;
double tstep = step/vertical_accel;
int epsv = 0;
if (repac.isValid()) {
epsv = KinematicBandsCore::epsilonV(ownship,repac);
}
return KinematicIntegerBands::all_int_red(conflict_det,recovery_det,tstep,B,T,0,B,maxdown,maxup,ownship,traffic,repac,0,epsv,0);
}
/**
* Put in conflict_acs_ the list of aircraft predicted to be in conflict for the given alert level.
* Requires: 1 <= alert_level <= parameters.alertor.mostSevereAlertLevel()
*/
void KinematicBandsCore::conflict_aircraft(int alert_level) {
double tin = PINFINITY;
double tout = NINFINITY;
bool conflict_band = BandsRegion::isConflictBand(parameters.alertor.getLevel(alert_level).getRegion());
Detection3D* detector = parameters.alertor.getLevel(alert_level).getDetectorRef();
double alerting_time = Util::min(parameters.getLookaheadTime(),
parameters.alertor.getLevel(alert_level).getAlertingTime());
for (TrafficState::nat i = 0; i < traffic.size(); ++i) {
TrafficState ac = traffic[i];
ConflictData det = detector->conflictDetection(ownship.get_s(),ownship.get_v(),ac.get_s(),ac.get_v(),
0,parameters.getLookaheadTime());
bool lowc = detector->violation(ownship.get_s(),ownship.get_v(),ac.get_s(),ac.get_v());
if (lowc || det.conflict()) {
if (conflict_band && (lowc || det.getTimeIn() < alerting_time)) {
conflict_acs_[alert_level-1].push_back(ac);
}
tin = Util::min(tin,det.getTimeIn());
tout = Util::max(tout,det.getTimeOut());
}
}
tiov_.push_back(Interval(tin,tout));
}
void KinematicVsBands::none_bands(IntervalSet& noneset, Detection3D* conflict_det, Detection3D* recovery_det, const TrafficState& repac, double B, double T,
const OwnshipState& ownship, const std::vector<TrafficState>& traffic) const {
double vso = ownship.getVelocity().vs();
int maxdown = (int)std::max(std::ceil((vso-min)/step),0.0)+1;
int maxup = (int)std::max(std::ceil((max-vso)/step),0.0)+1;
double tstep = step/vertical_accel;
std::vector<Integerval> vsint = std::vector<Integerval>();
int epsv = 0;
if (repac.isValid()) {
epsv = KinematicBandsCore::epsilonV(ownship,repac);
}
KinematicIntegerBands::kinematic_bands_combine(vsint,conflict_det,recovery_det,tstep,B,T,0,B,maxdown,maxup,ownship,traffic,repac,0,epsv);
KinematicIntegerBands::toIntervalSet(noneset,vsint,step,vso,min,max);
}
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;
}
int KinematicIntegerBands::bands_search_index(Detection3D* conflict_det, Detection3D* recovery_det, double tstep,
double B, double T, double B2, double T2,
bool trajdir, int max, const TrafficState& ownship, const std::vector<TrafficState>& traffic, const TrafficState& repac,
int epsh, int epsv) const {
bool usehcrit = repac.isValid() && epsh != 0;
bool usevcrit = repac.isValid() && epsv != 0;
int FirstLos = first_los_search_index(conflict_det,recovery_det,tstep,B,T,B2,T2,trajdir,max,ownship,traffic);
int FirstNonHRep = !usehcrit || FirstLos == 0 ? FirstLos :
first_nonrepulsive_step(tstep,trajdir,FirstLos-1,ownship,repac,epsh);
int FirstProbHcrit = FirstNonHRep < 0 ? max+1 : FirstNonHRep;
int FirstProbHL = std::min(FirstLos,FirstProbHcrit);
int FirstNonVRep = !usevcrit || FirstProbHL == 0 ? FirstProbHL :
first_nonvert_repul_step(tstep,trajdir,FirstProbHL-1,ownship,repac,epsv);
int FirstProbVcrit = FirstNonVRep < 0 ? max+1 : FirstNonVRep;
return std::min(FirstProbHL,FirstProbVcrit);
}
// trajdir: false is left
int KinematicIntegerBands::first_green(Detection3D* conflict_det, Detection3D* recovery_det, double tstep,
double B, double T, double B2, double T2,
bool trajdir, int max, const TrafficState& ownship, const std::vector<TrafficState>& traffic, const TrafficState& repac,
int epsh, int epsv) const {
bool usehcrit = repac.isValid() && epsh != 0;
bool usevcrit = repac.isValid() && epsv != 0;
for (int k=0; k <= max; ++k) {
double tsk = tstep*k;
if ((tsk >= B && tsk <= T && any_los_aircraft(conflict_det,trajdir,tsk,ownship,traffic)) ||
(recovery_det != NULL && tsk >= B2 && tsk <= T2 &&
any_los_aircraft(recovery_det,trajdir,tsk,ownship,traffic)) ||
(usehcrit && !repulsive_at(tstep,trajdir,k,ownship,repac,epsh)) ||
(usevcrit && !vert_repul_at(tstep,trajdir,k,ownship,repac,epsv))) {
return -1;
} else if (!any_conflict_aircraft(conflict_det,B,T,trajdir,tsk,ownship,traffic) &&
!(recovery_det != NULL &&
any_conflict_aircraft(recovery_det,B2,T2,trajdir,tsk,ownship,traffic)))
return k;
}
return -1;
}
bool KinematicAltBands::conflict_free_traj_step(Detection3D* conflict_det, Detection3D* recovery_det,
double B, double T, double B2, double T2,
const TrafficState& ownship, const std::vector<TrafficState>& traffic) const {
bool trajdir = true;
if (instantaneous_bands()) {
return no_conflict(conflict_det,recovery_det,B,T,B2,T2,trajdir,0,ownship,traffic);
} else {
double tstep = time_step(ownship);
double target_alt = min_val(ownship)+j_step_*get_step();
Tuple5<double,double,double,double,double> tsqj = Kinematics::vsLevelOutTimes(ownship.altitude(),ownship.verticalSpeed(),
vertical_rate_,target_alt,vertical_accel_,-vertical_accel_,true);
double tsqj1 = tsqj.first+0;
double tsqj2 = tsqj.second+0;
double tsqj3 = tsqj.third+tstep;
for (int i=0; i<=std::floor(tsqj1/tstep);++i) {
double tsi = i*tstep;
if ((B<=tsi && tsi<=T && any_los_aircraft(conflict_det,trajdir,tsi,ownship,traffic)) ||
(recovery_det != NULL && B2 <= tsi && tsi <= T2 &&
any_los_aircraft(recovery_det,trajdir,tsi,ownship,traffic))) {
return false;
}
}
if ((tsqj2>=B &&
any_conflict_aircraft(conflict_det,B,std::min(T,tsqj2),trajdir,std::max(tsqj1,0.0),ownship,traffic)) ||
(recovery_det != NULL && tsqj2>=B2 &&
any_conflict_aircraft(recovery_det,B2,std::min(T2,tsqj2),trajdir,std::max(tsqj1,0.0),ownship,traffic))) {
return false;
}
for (int i=(int)std::ceil(tsqj2/tstep); i<=std::floor(tsqj3/tstep);++i) {
double tsi = i*tstep;
if ((B<=tsi && tsi<=T && any_los_aircraft(conflict_det,trajdir,tsi,ownship,traffic)) ||
(recovery_det != NULL && B2 <= tsi && tsi <= T2 &&
any_los_aircraft(recovery_det,trajdir,tsi,ownship,traffic))) {
return false;
}
}
return no_conflict(conflict_det,recovery_det,B,T,B2,T2,trajdir,std::max(tsqj3,0.0),ownship,traffic);
}
}
double KinematicAltBands::own_val(const TrafficState& ownship) const {
return ownship.altitude();
}
void printBands(Daidalus& daa, KinematicMultiBands& bands) {
bool nowind = daa.getWindField().isZero();
TrafficState own = daa.getOwnshipState();
std::string trkstr = nowind ? "Track" : "Heading";
std::string gsstr = nowind ? "Ground Speed" : "Airspeed";
std::cout << std::endl;
for (int alert_level = 1; alert_level <= daa.parameters.alertor.mostSevereAlertLevel(); ++alert_level) {
std::cout << "Conflict Aircraft for Alert Level " << Fmi(alert_level) << ": " <<
TrafficState::listToString(bands.conflictAircraft(alert_level)) << std::endl;
}
std::cout << std::endl;
// Track/Heading
double trk_deg = own.track("deg");
std::cout << "Ownship " << trkstr << ": "+Fm2(trk_deg) << " [deg]" << std::endl;
std::cout << "Region of Current " << trkstr+": " <<
BandsRegion::to_string(bands.regionOfTrack(trk_deg,"deg")) << std::endl;
std::cout << trkstr << " Bands [deg,deg]" << std::endl;
for (int i=0; i < bands.trackLength(); ++i) {
Interval ii = bands.track(i,"deg");
std::cout << " " << BandsRegion::to_string(bands.trackRegion(i)) << ":\t" << ii.toString(2) << std::endl;
}
for (int alert_level = 1; alert_level <= daa.parameters.alertor.mostSevereAlertLevel(); ++alert_level) {
std::cout << "Peripheral " << trkstr << " Aircraft for Alert Level " << Fmi(alert_level) << ": " <<
TrafficState::listToString(bands.peripheralTrackAircraft(alert_level)) << std::endl;
}
std::cout << trkstr << " Resolution (right): " << num2str(bands.trackResolution(true,"deg"),"deg") << std::endl;
std::cout << trkstr << " Resolution (left): " << num2str(bands.trackResolution(false,"deg"),"deg") << std::endl;
std::cout << "Preferred "+trkstr+" Direction: ";
if (bands.preferredTrackDirection()) {
std::cout << "right" << std::endl;
} else {
std::cout << "left" << std::endl;
}
std::cout << "Time to " << trkstr << " Recovery: " << num2str(bands.timeToTrackRecovery(),"s") << std::endl;
// Ground Speed/Air Speed
double gs_knot = own.groundSpeed("knot");
std::cout << "Ownship " << gsstr << ": "+Fm2(gs_knot) << " [knot]" << std::endl;
std::cout << "Region of Current " << gsstr+": " <<
BandsRegion::to_string(bands.regionOfGroundSpeed(gs_knot,"knot")) << std::endl;
std::cout << gsstr << " Bands [knot,knot]:" << std::endl;
for (int i=0; i < bands.groundSpeedLength(); ++i) {
Interval ii = bands.groundSpeed(i,"knot");
std::cout << " " << BandsRegion::to_string(bands.groundSpeedRegion(i)) << ":\t" << ii.toString(2) << std::endl;
}
for (int alert_level = 1; alert_level <= daa.parameters.alertor.mostSevereAlertLevel(); ++alert_level) {
std::cout << "Peripheral " << gsstr << " Aircraft for Alert Level " << Fmi(alert_level) << ": " <<
TrafficState::listToString(bands.peripheralGroundSpeedAircraft(alert_level)) << std::endl;
}
std::cout << gsstr << " Resolution (up): " << num2str(bands.groundSpeedResolution(true,"knot"),"knot") << std::endl;
std::cout << gsstr << " Resolution (down): " << num2str(bands.groundSpeedResolution(false,"knot"),"knot") << std::endl;
std::cout << "Preferred "+gsstr+" Direction: ";
if (bands.preferredGroundSpeedDirection()) {
std::cout << "up" << std::endl;
} else {
std::cout << "down" << std::endl;
}
std::cout << "Time to " << gsstr << " Recovery: " << num2str(bands.timeToGroundSpeedRecovery(),"s") << std::endl;
// Vertical Speed
double vs_fpm = own.verticalSpeed("fpm");
std::cout << "Ownship Vertical Speed: "+Fm2(vs_fpm) << " [fpm]" << std::endl;
std::cout << "Region of Current Vertical Speed: " <<
BandsRegion::to_string(bands.regionOfVerticalSpeed(vs_fpm,"fpm")) << std::endl;
std::cout << "Vertical Speed Bands [fpm,fpm]:" << std::endl;
for (int i=0; i < bands.verticalSpeedLength(); ++i) {
Interval ii = bands.verticalSpeed(i,"fpm");
std::cout << " " << BandsRegion::to_string(bands.verticalSpeedRegion(i)) << ":\t" << ii.toString(2) << std::endl;
}
for (int alert_level = 1; alert_level <= daa.parameters.alertor.mostSevereAlertLevel(); ++alert_level) {
std::cout << "Peripheral Vertical Speed Aircraft for Alert Level " << Fmi(alert_level) << ": " <<
TrafficState::listToString(bands.peripheralVerticalSpeedAircraft(alert_level)) << std::endl;
}
std::cout << "Vertical Speed Resolution (up): " << num2str(bands.verticalSpeedResolution(true,"fpm"),"fpm") << std::endl;
std::cout << "Vertical Speed Resolution (down): " << num2str(bands.verticalSpeedResolution(false,"fpm"),"fpm") << std::endl;
std::cout << "Preferred Vertical Speed Direction: ";
if (bands.preferredVerticalSpeedDirection()) {
std::cout << "up" << std::endl;
} else {
std::cout << "down" << std::endl;
}
std::cout << "Time to Vertical Speed Recovery: " << num2str(bands.timeToVerticalSpeedRecovery(),"s") << std::endl;
// Altitude
double alt_ft = own.altitude("ft");
std::cout << "Ownship Altitude: "+Fm2(alt_ft) << " [ft]" << std::endl;
std::cout << "Region of Current Altitude: " <<
BandsRegion::to_string(bands.regionOfAltitude(alt_ft,"ft")) << std::endl;
std::cout << "Altitude Bands [ft,ft]:" << std::endl;
for (int i=0; i < bands.altitudeLength(); ++i) {
Interval ii = bands.altitude(i,"ft");
std::cout << " " << BandsRegion::to_string(bands.altitudeRegion(i)) << ":\t" << ii.toString(2) << std::endl;
}
for (int alert_level = 1; alert_level <= daa.parameters.alertor.mostSevereAlertLevel(); ++alert_level) {
std::cout << "Peripheral Altitude Aircraft for Alert Level " << Fmi(alert_level) << ": " <<
TrafficState::listToString(bands.peripheralAltitudeAircraft(alert_level)) << std::endl;
}
std::cout << "Altitude Resolution (up): " << num2str(bands.altitudeResolution(true,"ft"),"ft") << std::endl;
std::cout << "Altitude Resolution (down): " << num2str(bands.altitudeResolution(false,"ft"),"ft") << std::endl;
std::cout << "Preferred Altitude Direction: ";
if (bands.preferredAltitudeDirection()) {
std::cout << "up" << std::endl;
} else {
std::cout << "down" << std::endl;
}
std::cout << "Time to Altitude Recovery: " << num2str(bands.timeToAltitudeRecovery(),"s") << std::endl;
std::cout << std::endl;
// Last times to maneuver
for (int ac_idx=1; ac_idx <= daa.lastTrafficIndex(); ++ac_idx) {
TrafficState ac = daa.getAircraftState(ac_idx);
std::cout << "Last Times to Maneuver with Respect to " << ac.getId() << ":" << std::endl;
std::cout << " "+trkstr+" Maneuver: "+num2str(bands.lastTimeToTrackManeuver(ac),"s") << std::endl;
std::cout << " "+gsstr+" Maneuver: "+num2str(bands.lastTimeToGroundSpeedManeuver(ac),"s") << std::endl;
std::cout <<" Vertical Speed Maneuver: "+num2str(bands.lastTimeToVerticalSpeedManeuver(ac),"s") << std::endl;
std::cout <<" Altitude Maneuver: "+num2str(bands.lastTimeToAltitudeManeuver(ac),"s") << std::endl;
}
std::cout << std::endl;
}
std::pair<Vect3, Velocity> KinematicAltBands::trajectory(const TrafficState& ownship, double time, bool dir) const {
double target_alt = min_val(ownship)+j_step_*get_step();
std::pair<Position,Velocity> posvel;
if (instantaneous_bands()) {
posvel = std::pair<Position,Velocity>(ownship.getPosition().mkZ(target_alt),ownship.getVelocity().mkVs(0));
} else {
double tsqj = ProjectedKinematics::vsLevelOutTime(ownship.getPosition(),ownship.getVelocity(),vertical_rate_,
target_alt,vertical_accel_)+time_step(ownship);
if (time <= tsqj) {
posvel = ProjectedKinematics::vsLevelOut(ownship.getPosition(), ownship.getVelocity(), time, vertical_rate_, target_alt, vertical_accel_);
} else {
Position npo = ownship.getPosition().linear(ownship.getVelocity(),time);
posvel = std::pair<Position,Velocity>(npo.mkZ(target_alt),ownship.getVelocity().mkVs(0));
}
}
return std::pair<Vect3,Velocity>(ownship.pos_to_s(posvel.first),ownship.vel_to_v(posvel.first,posvel.second));
}
double KinematicTrkBands::own_val(const TrafficState& ownship) const {
return ownship.track();
}
double KinematicTrkBands::time_step(const TrafficState& ownship) const {
double gso = ownship.groundSpeed();
double omega = turn_rate_ == 0 ? Kinematics::turnRate(gso,bank_angle_) : turn_rate_;
return get_step()/omega;
}
Velocity KinematicBandsCore::traffic_v(const TrafficState& ac) const {
return vel_to_v(ac.getPosition(),ac.getVelocity());
}
Vect3 KinematicBandsCore::traffic_s(const TrafficState& ac) const {
return pos_to_s(ac.getPosition());
}
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;
}
int KinematicBandsCore::epsilonV(const TrafficState& ownship, const TrafficState& ac) {
if (ownship.isValid() && ac.isValid()) {
Vect3 s = ownship.get_s().Sub(ac.get_s());
return CriteriaCore::verticalCoordinationLoS(s,ownship.get_v(),ac.get_v(),
ownship.getId(), ac.getId());
} else {
return 0;
}
}
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);
}
int KinematicBandsCore::epsilonH(const TrafficState& ownship, const TrafficState& ac) {
if (ownship.isValid() && ac.isValid()) {
Vect2 s = ownship.get_s().Sub(ac.get_s()).vect2();
Vect2 v = ownship.get_v().Sub(ac.get_v()).vect2();
return CriteriaCore::horizontalCoordination(s,v);
} else {
return 0;
}
}
