/*****************************************************************/
/* NAME: Michael Benjamin */
/* ORGN: Dept of Mechanical Eng / CSAIL, MIT Cambridge MA */
/* FILE: ContactStateSet.h */
/* DATE: Sep 9th 2020 */
/* */
/* This file is part of IvP Helm Core Libs */
/* */
/* IvP Helm Core Libs is free software: you can redistribute it */
/* and/or modify it under the terms of the Lesser GNU General */
/* Public License as published by the Free Software Foundation, */
/* either version 3 of the License, or (at your option) any */
/* later version. */
/* */
/* IvP Helm Core Libs is distributed in the hope that it will */
/* be useful but WITHOUT ANY WARRANTY; without even the implied */
/* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR */
/* PURPOSE. See the Lesser GNU General Public License for more */
/* details. */
/* */
/* You should have received a copy of the Lesser GNU General */
/* Public License along with MOOS-IvP. If not, see */
/* . */
/*****************************************************************/
#ifndef CONTACT_STATE_SET_HEADER
#define CONTACT_STATE_SET_HEADER
#include
#include
#include "ContactState.h"
class ContactStateSet {
public:
ContactStateSet();
~ContactStateSet() {}
//========================================================
// Setters
//========================================================
void set_cnutc(double v) {m_cnos_curr.set_cnutc(v);}
void set_update_ok(bool v) {m_cnos_curr.set_update_ok(v);}
void set_helm_iter(unsigned int v) {m_cnos_curr.set_helm_iter(v);}
void set_range(double v) {m_cnos_curr.set_range(v);}
void set_os_fore_of_cn(bool v) {m_cnos_curr.set_os_fore_of_cn(v);}
void set_os_aft_of_cn(bool v) {m_cnos_curr.set_os_aft_of_cn(v);}
void set_os_port_of_cn(bool v) {m_cnos_curr.set_os_port_of_cn(v);}
void set_os_star_of_cn(bool v) {m_cnos_curr.set_os_star_of_cn(v);}
void set_cn_fore_of_os(bool v) {m_cnos_curr.set_cn_fore_of_os(v);}
void set_cn_aft_of_os(bool v) {m_cnos_curr.set_cn_aft_of_os (v);}
void set_cn_port_of_os(bool v) {m_cnos_curr.set_cn_port_of_os(v);}
void set_cn_star_of_os(bool v) {m_cnos_curr.set_cn_star_of_os(v);}
void set_cn_spd_in_os_pos(double v) {m_cnos_curr.set_cn_spd_in_os_pos(v);}
void set_os_cn_rel_bng(double v) {m_cnos_curr.set_os_cn_rel_bng(v);}
void set_cn_os_rel_bng(double v) {m_cnos_curr.set_cn_os_rel_bng(v);}
void set_os_cn_abs_bng(double v) {m_cnos_curr.set_os_cn_abs_bng(v);}
void set_rate_of_closure(double v) {m_cnos_curr.set_rate_of_closure(v);}
void set_bearing_rate(double v) {m_cnos_curr.set_bearing_rate(v);}
void set_contact_rate(double v) {m_cnos_curr.set_contact_rate(v);}
void set_range_gamma(double v) {m_cnos_curr.set_range_gamma(v);}
void set_range_epsilon(double v) {m_cnos_curr.set_range_epsilon(v);}
void set_os_passes_cn(bool v) {m_cnos_curr.set_os_passes_cn(v);}
void set_os_passes_cn_port(bool v) {m_cnos_curr.set_os_passes_cn_port(v);}
void set_os_passes_cn_star(bool v) {m_cnos_curr.set_os_passes_cn_star(v);}
void set_cn_passes_os(bool v) {m_cnos_curr.set_cn_passes_os(v);}
void set_cn_passes_os_port(bool v) {m_cnos_curr.set_cn_passes_os_port(v);}
void set_cn_passes_os_star(bool v) {m_cnos_curr.set_cn_passes_os_star(v);}
void set_os_crosses_cn(bool v) {m_cnos_curr.set_os_crosses_cn(v);}
void set_os_crosses_cn_stern(bool v) {m_cnos_curr.set_os_crosses_cn_stern(v);}
void set_os_crosses_cn_bow(bool v) {m_cnos_curr.set_os_crosses_cn_bow(v);}
void set_os_crosses_cn_bow_dist(double v) {m_cnos_curr.set_os_crosses_cn_bow_dist(v);}
void set_cn_crosses_os(bool v) {m_cnos_curr.set_cn_crosses_os(v);}
void set_cn_crosses_os_bow(bool v) {m_cnos_curr.set_cn_crosses_os_bow(v);}
void set_cn_crosses_os_stern(bool v) {m_cnos_curr.set_cn_crosses_os_stern(v);}
void set_cn_crosses_os_bow_dist(double v) {m_cnos_curr.set_cn_crosses_os_bow_dist(v);}
void set_os_curr_cpa_dist(double v) {m_cnos_curr.set_os_curr_cpa_dist(v);}
unsigned int size() const {return(m_cnos_hist.size());}
//========================================================
// Getters: Bookkeeping
//========================================================
double cnutc(unsigned int ix=0) const;
bool update_ok(unsigned int ix=0) const;
unsigned int helm_iter(unsigned int ix=0) const;
//========================================================
// Getters: Direct measurements about os/cn relative
// positions at the current instant in time
//========================================================
public:
bool os_fore_of_cn(unsigned int ix=0) const;
bool os_aft_of_cn(unsigned int ix=0) const;
bool os_port_of_cn(unsigned int ix=0) const;
bool os_star_of_cn(unsigned int ix=0) const;
bool cn_fore_of_os(unsigned int ix=0) const;
bool cn_aft_of_os(unsigned int ix=0) const;
bool cn_port_of_os(unsigned int ix=0) const;
bool cn_star_of_os(unsigned int ix=0) const;
double cn_spd_in_os_pos(unsigned int ix=0) const;
double os_cn_rel_bng(unsigned int ix=0) const;
double cn_os_rel_bng(unsigned int ix=0) const;
double os_cn_abs_bng(unsigned int ix=0) const;
double rate_of_closure(unsigned int ix=0) const;
double bearing_rate(unsigned int ix=0) const;
double contact_rate(unsigned int ix=0) const;
double range_gamma(unsigned int ix=0) const;
double range_epsilon(unsigned int ix=0) const;
//========================================================
// Analyzers (1) About what WILL happen if os/cn continue
// Values come from the CPAEngine(s)
//========================================================
bool os_passes_cn(unsigned int ix=0) const;
bool os_passes_cn_port(unsigned int ix=0) const;
bool os_passes_cn_star(unsigned int ix=0) const;
bool cn_passes_os(unsigned int ix=0) const;
bool cn_passes_os_port(unsigned int ix=0) const;
bool cn_passes_os_star(unsigned int ix=0) const;
bool os_crosses_cn(unsigned int ix=0) const;
bool os_crosses_cn_bow_or_stern(unsigned int ix=0) const;
bool os_crosses_cn_stern(unsigned int ix=0) const;
bool os_crosses_cn_bow(unsigned int ix=0) const;
double os_crosses_cn_bow_dist(unsigned int ix=0) const;
bool cn_crosses_os(unsigned int ix=0) const;
bool cn_crosses_os_bow_or_stern(unsigned int ix=0) const;
bool cn_crosses_os_bow(unsigned int ix=0) const;
bool cn_crosses_os_stern(unsigned int ix=0) const;
double cn_crosses_os_bow_dist(unsigned int ix=0) const;
double os_curr_cpa_dist(unsigned int ix=0) const;
//========================================================
// Analyzers (2) About what just happened on this step
// Values come from cnos and cnos_hist
//========================================================
bool cpa_reached(double thresh=0.05) const;
bool rng_entered(double) const;
bool rng_exited(double) const;
bool os_passed_cn() const;
bool os_passed_cn_port() const;
bool os_passed_cn_star() const;
bool cn_passed_os() const;
bool cn_passed_os_port() const;
bool cn_passed_os_star() const;
bool os_crossed_cn() const;
bool os_crossed_cn_stern() const;
bool os_crossed_cn_bow() const;
bool cn_crossed_os() const;
bool cn_crossed_os_bow() const;
bool cn_crossed_os_stern() const;
protected:
unsigned int m_max_history;
public:
std::string cnMacroExpand(std::string, std::string) const;
void archiveCurrent();
protected:
ContactState cnos(unsigned int) const;
protected: // State Variables
ContactState m_cnos_curr;
std::vector m_cnos_hist;
unsigned int m_counter;
};
#endif