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));
}
bool VectFuns::divergent(const Vect3& so, const Velocity& vo, const Vect3& si, const Velocity& vi) {
return so.Sub(si).dot(vo.Sub(vi)) > 0;
}