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);
}
