void KinematicIntegerBands::instantaneous_bands_combine(std::vector<Integerval>& l, Detection3D* conflict_det, Detection3D* recovery_det,
double B, double T, double B2, double T2,
int maxl, int maxr, const TrafficState& ownship, const std::vector<TrafficState>& traffic,
const TrafficState& repac,
int epsh, int epsv) {
instantaneous_bands(l,conflict_det,recovery_det,B,T,B2,T2,false,maxl,ownship,traffic,repac,epsh,epsv);
std::vector<Integerval> r = std::vector<Integerval>();
instantaneous_bands(r,conflict_det,recovery_det,B,T,B2,T2,true,maxr,ownship,traffic,repac,epsh,epsv);
neg(l);
append_intband(l,r);
}
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));
}
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));
}
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);
}
}
