bool
AATPoint::update_sample_near(const AIRCRAFT_STATE& state,
TaskEvents &task_events,
const TaskProjection &projection)
{
bool retval = OrderedTaskPoint::update_sample_near(state, task_events,
projection);
if (retval) {
// deadzone must be updated
assert(get_next());
// the deadzone is the convex hull formed from the sampled points
// with the inclusion of the destination of the next turnpoint.
m_deadzone = SearchPointVector(get_sample_points().begin(),
get_sample_points().end());
SearchPoint destination(get_next()->get_location_remaining(),
projection);
m_deadzone.push_back(destination);
prune_interior(m_deadzone);
}
retval |= check_target(state, false);
return retval;
}
void
AATPoint::update_deadzone(const TaskProjection &projection)
{
// deadzone must be updated
assert(get_next());
assert(get_previous());
// the deadzone is the convex hull formed from the sampled points
// with the inclusion of all points on the boundary closer than
// the max double distance to the sample polygon
m_deadzone = SearchPointVector(get_sample_points().begin(),
get_sample_points().end());
// do nothing if no samples (could happen if not achieved properly)
if (m_deadzone.empty())
return;
// previous and next targets
const SearchPoint pnext(get_next()->get_location_remaining(),
projection);
const SearchPoint pprevious(get_previous()->get_location_remaining(),
projection);
// find max distance
unsigned dmax = 0;
for (SearchPointVector::const_iterator it = get_sample_points().begin();
it != get_sample_points().end(); ++it) {
unsigned dd = pnext.flat_distance(*it) + pprevious.flat_distance(*it);
dmax = std::max(dd, dmax);
}
// now add boundary points closer than dmax
const SearchPointVector& boundary = get_boundary_points();
for (SearchPointVector::const_iterator it = boundary.begin();
it != boundary.end(); ++it) {
unsigned dd = pnext.flat_distance(*it) + pprevious.flat_distance(*it);
if (dd< dmax)
m_deadzone.push_back(*it);
}
// convert to convex polygon
prune_interior(m_deadzone);
}
