C++ TrafficState::isValid方法代码示例

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;
  }
}

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;
  }
}

// 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);
}

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);
}

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);
}

// 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;
}