#include <WsfFusionStrategy.hpp>

Inheritance diagram for WsfFusionStrategy:

[legend]

Collaboration diagram for WsfFusionStrategy:

Public Types
using	FusionStrategyTypes = WsfObjectTypeList<WsfFusionStrategy>
Public Types inherited from WsfObject
typedef std::vector< WsfStringId >	TypeList
	The list of types returned by GetTypeList.

Public Member Functions
	~WsfFusionStrategy () override=default
WsfFusionStrategy *	Clone () const override=0
	Create a clone of "this" object.
bool	ProcessInput (UtInput &aInput) override
	Process input from a common source.
virtual bool	Initialize (WsfTrackManager *aTrackManagerPtr)
	Perform any necessary initialization.
virtual bool	Initialize (WsfProcessor *aProcessorPtr)
	Perform any necessary initialization.
virtual bool	DebugEnabled () const
	Return whether debug is enabled for this instance.
virtual bool	UpdateLocalTrackFromNonLocalTrack (double aSimTime, WsfLocalTrack &aLocalTrack, const WsfTrack &aNonLocalTrack)=0
virtual bool	UpdateLocalResultFromNonLocalResult (double aSimTime, WsfLocalSensorResult &aLocalResult, const WsfSensorResult &aNonLocalResult)=0
virtual bool	InitializeLocalTrackFromNonLocalTrack (double aSimTime, WsfLocalTrack &aLocalTrack, const WsfTrack &aNonLocalTrack)
virtual bool	InitializeLocalResultFromNonLocalResult (double aSimTime, WsfLocalSensorResult &aLocalResult, const WsfSensorResult &aNonLocalResult)
virtual void	ReviewTrack (WsfLocalTrack &aLocalTrack)=0
virtual bool	UpdateNonKinematicData (double aSimTime, WsfLocalTrack &aLocalTrack, const WsfTrack &aNonLocalTrack)
WsfSimulation *	GetSimulation () const
double	GetSimTime ()
WsfPlatform *	GetPlatform () const
WsfTrackManager &	GetTrackManager ()
	Return a reference to the track manager being accessed internally by this object.
const WsfTrackManager &	GetTrackManager () const
WsfProcessor &	GetProcessor ()
	Return a reference to the processor being accessed internally by this object.
Public Member Functions inherited from WsfObject
	WsfObject ()
	This is the constructor for the WsfObject class.
	~WsfObject () override
	This is the destructor for the WsfObject class.
const char *	GetScriptClassName () const override
const std::string &	GetType () const
WsfStringId	GetTypeId () const
	Get the string ID of the 'type' of the object.
void	SetType (WsfStringId aType)
const std::string &	GetBaseType () const
WsfStringId	GetBaseTypeId () const
const TypeList &	GetTypeList () const
bool	IsA_TypeOf (WsfStringId aType) const
WsfObject &	operator= (const WsfObject &aRhs)
	Assignment operator.
template<typename T>
void	Serialize (T &aBuff)
	For XIO (de)serialization.
const std::string &	GetName () const
WsfStringId	GetNameId () const
void	SetName (WsfStringId aName)

Static Public Member Functions
static bool	UpdateNonKinematicData (double aSimTime, WsfTrackManager &aTracManager, WsfLocalTrack &aLocalTrack, const WsfTrack &aNonLocalTrack)

Protected Member Functions
	WsfFusionStrategy ()
	WsfFusionStrategy (const WsfFusionStrategy &aSrc)
WsfFusionStrategy &	operator= (const WsfFusionStrategy &)=delete
void	SetTrackManager (WsfTrackManager &aTrackManager)
	Set the track manager reference.
void	SetProcessor (WsfProcessor &aProcessor)
	Set the processor reference.
virtual bool	UpdateIFF_Status (double aSimTime, WsfLocalTrack &aLocalTrack, const WsfTrack &aNonLocalTrack)
virtual bool	UpdateSide (double aSimTime, WsfLocalTrack &aLocalTrack, const WsfTrack &aNonLocalTrack)
virtual bool	UpdateType (double aSimTime, WsfLocalTrack &aLocalTrack, const WsfTrack &aNonLocalTrack)
virtual bool	UpdateSpatialDomain (double aSimTime, WsfLocalTrack &aLocalTrack, const WsfTrack &aNonLocalTrack)
virtual bool	UpdateTrackQuality (double aSimTime, WsfLocalTrack &aLocalTrack, const WsfTrack &aNonLocalTrack)
virtual bool	UpdateSignalToNoise (double aSimTime, WsfLocalTrack &aLocalTrack, const WsfTrack &aNonLocalTrack)
virtual bool	UpdateSignalList (double aSimTime, WsfLocalTrack &aLocalTrack, const WsfTrack &aNonLocalTrack)
virtual bool	UpdateAuxData (double aSimTime, WsfLocalTrack &aLocalTrack, const WsfTrack &aNonLocalTrack)
	WsfObject (const WsfObject &aSrc)
	Copy constructor (for Clone()).

Static Protected Member Functions
static void	FuseEstimates (const UtMatrixd &aEstimate1, const UtMatrixd &aEstimate2, const UtMatrixd &aCovar1, const UtMatrixd &aCovar2, UtMatrixd &aEstimateOut, UtMatrixd &aCovarOut)
static void	NormalizeAzRangeEstimate (const UtMatrixd &aEstimate, const UtMatrixd &aCovar, const double &aElevation, UtMatrixd &aNormEstimate, UtMatrixd &aNormCovar)
static void	NormalizeElRangeEstimate (const UtMatrixd &aEstimate, const UtMatrixd &aCovar, const double &aAzimuth, UtMatrixd &aNormEstimate, UtMatrixd &aNormCovar)

Detailed Description

This class defines the interface for a fusion strategy. It is to be used and configured by the WsfTrackManager or a specialized WsfProcessor. A factory method called WsfFusionStrategy::Create is provided to return new instances of existing correlation object prototypes.

Currently the only implemented concrete instance is WsfDefaultFusion. In order to create new fusion objects, the implementor should do the following:

Re-implement WsfFusionStrategy::UpdateLocalTrackFromNonLocalTrack, the method that implements the fusion algorithm.
Re-implement WsfFusionStrategy::ReviewTrack.
Re-implement WsfFusionStrategy::Clone.
Add a prototype in WsfFusionStrategy::GetTypes(), in the static initialization section; or, add a call to WsfFusionStrategy::GetTypes::Add (see WsfObjectTypeList<T>::Add()) elsewhere in the code.

Note: It is suggested that the developer prefer the use of WsfFusionStrategy::Create over Clone() as the former (factory) method ties in the desired instance of WsfTrackManager.

Member Typedef Documentation

◆ FusionStrategyTypes

using WsfFusionStrategy::FusionStrategyTypes = WsfObjectTypeList<WsfFusionStrategy>

Constructor & Destructor Documentation

◆ ~WsfFusionStrategy()

WsfFusionStrategy::~WsfFusionStrategy ( )

overridedefault

◆ WsfFusionStrategy() [1/2]

WsfFusionStrategy::WsfFusionStrategy ( )

protected

Referenced by WsfDefaultFusion::Clone(), Clone(), WsfOrbitDeterminationFusion::Clone(), operator=(), WsfDefaultFusion::WsfDefaultFusion(), and WsfFusionStrategy().

◆ WsfFusionStrategy() [2/2]

WsfFusionStrategy::WsfFusionStrategy ( const WsfFusionStrategy & aSrc )

protected

References WsfFusionStrategy().

Member Function Documentation

◆ Clone()

WsfFusionStrategy * WsfFusionStrategy::Clone ( ) const

overridepure virtual

Create a clone of "this" object.

Implements WsfObject.

Implemented in WsfDefaultFusion, WsfMTT_Fusion, and WsfOrbitDeterminationFusion.

References WsfFusionStrategy().

Referenced by WsfFusionStrategyTypes::Create().

◆ DebugEnabled()

bool WsfFusionStrategy::DebugEnabled ( ) const

virtual

Return whether debug is enabled for this instance.

Referenced by WsfDefaultFusion::PerformMirrorTrackUpdate(), WsfDefaultFusion::PerformStandardTrackUpdate(), WsfDefaultFusion::UpdateLocalResultFromNonLocalResult(), and WsfMTT_Fusion::UpdateLocalTrackFromNonLocalTrack().

◆ FuseEstimates()

void WsfFusionStrategy::FuseEstimates	(	const UtMatrixd &	aEstimate1,
		const UtMatrixd &	aEstimate2,
		const UtMatrixd &	aCovar1,
		const UtMatrixd &	aCovar2,
		UtMatrixd &	aEstimateOut,
		UtMatrixd &	aCovarOut )

staticprotected

Fuse estimates from two tracks. The two tracks must contain identical kinds of data in their state estimates and covariance matrices (for instance, don't mix 3-d and 2-d based covariance matrices or two different kinds of 2-d covariances).

Note: The two estimates are fused based on their associated covariances; the larger the covariance, the smaller the weight given to the estimate in the fusion. It is assumed that the two estimates are independent (an assumption that is only approximate due to common process noise, and should be revisited).; The weighted average fusion algorithm is based on the open-source algorithm referenced in Bar Shalom and Li, Multi-target-Multisensor Fusion, equations 8.3.3-12 and 8.3.3-15, p.443.

the check_fuse_estimates flag in the user input).

References WsfFusionStrategyTypes::mCheckFuseEstimates.

◆ GetPlatform()

WsfPlatform * WsfFusionStrategy::GetPlatform ( ) const

Referenced by WsfDefaultFusion::PerformMirrorTrackUpdate(), WsfDefaultFusion::PerformStandardTrackUpdate(), WsfDefaultFusion::UpdateLocalResultFromNonLocalResult(), and WsfOrbitDeterminationFusion::UpdateLocalTrackFromNonLocalTrack().

◆ GetProcessor()

WsfProcessor & WsfFusionStrategy::GetProcessor ( )

inline

Return a reference to the processor being accessed internally by this object.

◆ GetSimTime()

double WsfFusionStrategy::GetSimTime ( )

References simTime.

◆ GetSimulation()

WsfSimulation * WsfFusionStrategy::GetSimulation ( ) const

Referenced by WsfDefaultFusion::Initialize(), and WsfOrbitDeterminationFusion::UpdateLocalTrackFromNonLocalTrack().

◆ GetTrackManager() [1/2]

WsfTrackManager & WsfFusionStrategy::GetTrackManager ( )

inline

Return a reference to the track manager being accessed internally by this object.

Referenced by WsfDefaultFusion::Initialize(), WsfDefaultFusion::PerformMirrorTrackUpdate(), WsfDefaultFusion::ReviewTrack(), WsfOrbitDeterminationFusion::ReviewTrack(), WsfDefaultFusion::UpdateAuxData(), WsfDefaultFusion::UpdateIFF_Status(), WsfMTT_Fusion::UpdateLocalTrackFromNonLocalTrack(), and WsfOrbitDeterminationFusion::UpdateLocalTrackFromNonLocalTrack().

◆ GetTrackManager() [2/2]

const WsfTrackManager & WsfFusionStrategy::GetTrackManager ( ) const

inline

◆ Initialize() [1/2]

virtual bool WsfFusionStrategy::Initialize ( WsfProcessor * aProcessorPtr )

inlinevirtual

Perform any necessary initialization.

◆ Initialize() [2/2]

virtual bool WsfFusionStrategy::Initialize ( WsfTrackManager * aTrackManagerPtr )

inlinevirtual

Perform any necessary initialization.

Reimplemented in WsfDefaultFusion, WsfMTT_Fusion, and WsfOrbitDeterminationFusion.

Referenced by WsfDefaultFusion::Initialize(), and WsfOrbitDeterminationFusion::Initialize().

◆ InitializeLocalResultFromNonLocalResult()

virtual bool WsfFusionStrategy::InitializeLocalResultFromNonLocalResult	(	double	aSimTime,
		WsfLocalSensorResult &	aLocalResult,
		const WsfSensorResult &	aNonLocalResult )

inlinevirtual

Allow the fusion strategy to perform initial fusion from an non-local result.

Returns: true if the local result was updated with non-local result data.

Note: This is currently not used but included for completeness.

◆ InitializeLocalTrackFromNonLocalTrack()

virtual bool WsfFusionStrategy::InitializeLocalTrackFromNonLocalTrack	(	double	aSimTime,
		WsfLocalTrack &	aLocalTrack,
		const WsfTrack &	aNonLocalTrack )

inlinevirtual

Allow the fusion strategy to perform initial fusion from an non-local track.

Returns: true if the local track was updated with non-local track data.

◆ NormalizeAzRangeEstimate()

void WsfFusionStrategy::NormalizeAzRangeEstimate	(	const UtMatrixd &	aEstimate,
		const UtMatrixd &	aCovar,
		const double &	aElevation,
		UtMatrixd &	aNormEstimate,
		UtMatrixd &	aNormCovar )

staticprotected

Convert an azimuth-range estimate and covariance into a 3-d equivalent. No covariance contribution from elevation is considered for this method.

◆ NormalizeElRangeEstimate()

void WsfFusionStrategy::NormalizeElRangeEstimate	(	const UtMatrixd &	aEstimate,
		const UtMatrixd &	aCovar,
		const double &	aAzimuth,
		UtMatrixd &	aNormEstimate,
		UtMatrixd &	aNormCovar )

staticprotected

Convert an el-range estimate and covariance into a 3-d equivalent. No covariance contribution from azimuth is considered for this method.

◆ operator=()

WsfFusionStrategy & WsfFusionStrategy::operator= ( const WsfFusionStrategy & )

protecteddelete

References WsfFusionStrategy().

◆ ProcessInput()

bool WsfFusionStrategy::ProcessInput ( UtInput & aInput )

inlineoverridevirtual

Process input from a common source.

Reimplemented from WsfObject.

Reimplemented in WsfOrbitDeterminationFusion.

Referenced by WsfFusionStrategyTypes::LoadInstance().

◆ ReviewTrack()

virtual void WsfFusionStrategy::ReviewTrack ( WsfLocalTrack & aLocalTrack )

pure virtual

Review a track, adjusting parameters based on available information. Usually these are IFF and track quality. This review is usually performed after a track de-correlation.

Implemented in WsfDefaultFusion, and WsfOrbitDeterminationFusion.

References UpdateNonKinematicData().

◆ SetProcessor()

void WsfFusionStrategy::SetProcessor ( WsfProcessor & aProcessor )

inlineprotected

Set the processor reference.

◆ SetTrackManager()

void WsfFusionStrategy::SetTrackManager ( WsfTrackManager & aTrackManager )

inlineprotected

Set the track manager reference.

◆ UpdateAuxData()

virtual bool WsfFusionStrategy::UpdateAuxData	(	double	aSimTime,
		WsfLocalTrack &	aLocalTrack,
		const WsfTrack &	aNonLocalTrack )

inlineprotectedvirtual

Reimplemented in WsfDefaultFusion.

Referenced by UpdateNonKinematicData().

◆ UpdateIFF_Status()

virtual bool WsfFusionStrategy::UpdateIFF_Status	(	double	aSimTime,
		WsfLocalTrack &	aLocalTrack,
		const WsfTrack &	aNonLocalTrack )

inlineprotectedvirtual

Reimplemented in WsfDefaultFusion.

Referenced by UpdateNonKinematicData().

◆ UpdateLocalResultFromNonLocalResult()

virtual bool WsfFusionStrategy::UpdateLocalResultFromNonLocalResult	(	double	aSimTime,
		WsfLocalSensorResult &	aLocalResult,
		const WsfSensorResult &	aNonLocalResult )

pure virtual

Fuse a non-local result with an existing local result.

Returns: true if the local result was updated with non-local result data or false if the non-local result data was out-of-date.

Implemented in WsfDefaultFusion, and WsfOrbitDeterminationFusion.

◆ UpdateLocalTrackFromNonLocalTrack()

virtual bool WsfFusionStrategy::UpdateLocalTrackFromNonLocalTrack	(	double	aSimTime,
		WsfLocalTrack &	aLocalTrack,
		const WsfTrack &	aNonLocalTrack )

pure virtual

Fuse a non-local track with an existing local track.

Returns: true if the local track was updated with non-local track data or false if the non-local track data was out-of-date.

Implemented in WsfDefaultFusion, WsfMTT_Fusion, and WsfOrbitDeterminationFusion.

◆ UpdateNonKinematicData() [1/2]

bool WsfFusionStrategy::UpdateNonKinematicData	(	double	aSimTime,
		WsfLocalTrack &	aLocalTrack,
		const WsfTrack &	aNonLocalTrack )

virtual

A general-purpose method for updating the "non-kinematic" fields of the track (frequency, side, type, iff, track quality). TODO At some point we may want to break these out as individual, script-able methods, but only for default fusion.

Parameters

aSimTime	The current simulation time.
aLocalTrack	The track to be updated.
aNonLocalTrack	The track with information to be extracted to the local track.

Reimplemented in WsfDefaultFusion.

References UpdateAuxData(), UpdateIFF_Status(), UpdateSide(), UpdateSignalList(), UpdateSignalToNoise(), UpdateSpatialDomain(), UpdateTrackQuality(), and UpdateType().

Referenced by ReviewTrack(), WsfDefaultFusion::UpdateNonKinematicData(), and UpdateNonKinematicData().

◆ UpdateNonKinematicData() [2/2]

bool WsfFusionStrategy::UpdateNonKinematicData	(	double	aSimTime,
		WsfTrackManager &	aTrackManager,
		WsfLocalTrack &	aLocalTrack,
		const WsfTrack &	aNonLocalTrack )

static

A general-purpose method for updating the "non-kinematic" fields of the track (frequency, side, type, iff, track quality). TODO At some point we may want to break these out as individual, script-able methods, but only for default fusion.

References WsfTrackManager::GetFusionStrategy(), and UpdateNonKinematicData().

◆ UpdateSide()

virtual bool WsfFusionStrategy::UpdateSide	(	double	aSimTime,
		WsfLocalTrack &	aLocalTrack,
		const WsfTrack &	aNonLocalTrack )

inlineprotectedvirtual

Reimplemented in WsfDefaultFusion.

Referenced by UpdateNonKinematicData().

◆ UpdateSignalList()

virtual bool WsfFusionStrategy::UpdateSignalList	(	double	aSimTime,
		WsfLocalTrack &	aLocalTrack,
		const WsfTrack &	aNonLocalTrack )

inlineprotectedvirtual

Reimplemented in WsfDefaultFusion.

Referenced by UpdateNonKinematicData().

◆ UpdateSignalToNoise()

virtual bool WsfFusionStrategy::UpdateSignalToNoise	(	double	aSimTime,
		WsfLocalTrack &	aLocalTrack,
		const WsfTrack &	aNonLocalTrack )

inlineprotectedvirtual

Reimplemented in WsfDefaultFusion.

Referenced by UpdateNonKinematicData().

◆ UpdateSpatialDomain()

virtual bool WsfFusionStrategy::UpdateSpatialDomain	(	double	aSimTime,
		WsfLocalTrack &	aLocalTrack,
		const WsfTrack &	aNonLocalTrack )

inlineprotectedvirtual

Reimplemented in WsfDefaultFusion.

Referenced by UpdateNonKinematicData().

◆ UpdateTrackQuality()

virtual bool WsfFusionStrategy::UpdateTrackQuality	(	double	aSimTime,
		WsfLocalTrack &	aLocalTrack,
		const WsfTrack &	aNonLocalTrack )

inlineprotectedvirtual

Reimplemented in WsfDefaultFusion.

Referenced by UpdateNonKinematicData().

◆ UpdateType()

virtual bool WsfFusionStrategy::UpdateType	(	double	aSimTime,
		WsfLocalTrack &	aLocalTrack,
		const WsfTrack &	aNonLocalTrack )

inlineprotectedvirtual

Reimplemented in WsfDefaultFusion.

Referenced by UpdateNonKinematicData().

The documentation for this class was generated from the following files:

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Static Protected Member Functions

Detailed Description

Member Typedef Documentation

◆ FusionStrategyTypes

Constructor & Destructor Documentation

◆ ~WsfFusionStrategy()

◆ WsfFusionStrategy() [1/2]

◆ WsfFusionStrategy() [2/2]

Member Function Documentation

◆ Clone()

◆ DebugEnabled()

◆ FuseEstimates()

◆ GetPlatform()

◆ GetProcessor()

◆ GetSimTime()

◆ GetSimulation()

◆ GetTrackManager() [1/2]

◆ GetTrackManager() [2/2]

◆ Initialize() [1/2]

◆ Initialize() [2/2]

◆ InitializeLocalResultFromNonLocalResult()

◆ InitializeLocalTrackFromNonLocalTrack()

◆ NormalizeAzRangeEstimate()

◆ NormalizeElRangeEstimate()

◆ operator=()

◆ ProcessInput()

◆ ReviewTrack()

◆ SetProcessor()

◆ SetTrackManager()

◆ UpdateAuxData()

◆ UpdateIFF_Status()

◆ UpdateLocalResultFromNonLocalResult()

◆ UpdateLocalTrackFromNonLocalTrack()

◆ UpdateNonKinematicData() [1/2]

◆ UpdateNonKinematicData() [2/2]

◆ UpdateSide()

◆ UpdateSignalList()

◆ UpdateSignalToNoise()

◆ UpdateSpatialDomain()

◆ UpdateTrackQuality()

◆ UpdateType()