#include <MTT.hpp>

Collaboration diagram for MTT:

[legend]

Public Member Functions
	MTT ()
	MTT (const MTT &aSrc)
MTT &	operator= (const MTT &)=delete
	~MTT ()=default
MTT *	Clone () const
bool	ProcessInput (UtInput &aInput)
WsfMTT_Interface *	GetInterface () const
MTT_Tracks &	GetTracks ()
const MTT_Parameters &	GetParameters () const
MTT_Parameters &	GetParameters ()
void	SetParameters (const MTT_Parameters &aParameters)
void	SetTrackManager (WsfTrackManager *aTrackManager)
	Called from MTT_Fusion/MTT_Correlation during initialization.
void	SaveData (MTT_PerceivedCluster aNonLocalTrackPtr, MTT_ActiveTrack::Data aTempData, MTT_ActiveTrack *aLocalTrackPtr)
	Save temporary data from the correlation step, that is needed for fusion.
bool	RemoveSavedData (int aMTT_TrackId, MTT_PerceivedCluster &aNonLocalTrackPtr, MTT_ActiveTrack::Data &aTempData, MTT_ActiveTrack *&aLocalTrackPtr)
MTT_ActiveTrack *	MTT_Correlate (double aSimTime, const MTT_PerceivedCluster &aNonlocalTrack, MTT_ActiveTrack::Data &aTempActiveData)
	!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
void	MTT_Fuse (double aSimTime, const MTT_PerceivedCluster &aNonlocalTrack, MTT_ActiveTrack &aLocalTrack, MTT_ActiveTrack::Data &aTempActiveData)
	Top-level fusion method.
void	mttc2a (const MTT_CandidateTrack::Data &aCandidateTrackData, MTT_ActiveTrack::Data &aActiveTrackData, bool &aError)
	Multiple target tracking - promote candidate track.
MTT_ActiveTrack *	mttcat (double aSimTime, const MTT_PerceivedCluster &aMeasurement)
	Multiple target tracking - check active track.
int	mttcct (double aSimTime, const MTT_PerceivedCluster &aMeasurement, MTT_ActiveTrack *&aActiveTrackPtr)
void	mttpvf (const UtMatrixd &aVerticalCovariance, MTT_Track &aCandidateTrack)
void	mttdps_Correlation (const double &aSimTime, const MTT_PerceivedCluster &aMeasurement, MTT_ActiveTrack *&aTrackPtr)
	Multiple target tracking - detection processing system (correlation).
void	mttdps_Fusion (const double &aSimTime, const MTT_PerceivedCluster &aMeasurement, MTT_ActiveTrack *aTrackPtr)
	Multiple target tracking - detection processing system (fusion).
void	mttet (double aSimTime, const MTT_PerceivedCluster &aMeasurement)
	Multiple target tracking - update embryonic tracks.
void	mttgtm (const MTT_ActiveTrack::Data &aActiveTrackData, const MTT_Track &aTrackHeader, const MTT_Measurement &aMeasurement, const double &aDT, double &aHypothesisTestValue, double &aInnovationValue)
	Multiple target tracking - measurement to trk gate test.
void	mttgtt (const MTT_ActiveTrack::Data &aActiveTrackData, const MTT_ActiveTrack::Data &aTempActiveTrackData, double aDt, double &aTestValue, double &aInnovationValue)
void	mttlfp (double aDt, UtMatrixd &aCovarianceMatrix, UtMatrixd &aStateVector)
void	mttlfm (UtMatrixd &aStraightFlightStateVector, UtMatrixd &aStraightFlightErrorCovarianceMatrix, const UtMatrixd &aVerticalErrorCovarianceMatrix, const UtMatrixd &aVerticalFlightInformationState, const MTT_Track &aTrack, const MTT_Measurement &aMeasurement, double aDt, double &aStraightFlightLikelihood)
void	mttlfq (const UtMatrixd &aStraightFlightState, const UtMatrixd &aStraightFlightErrorCovariance, const UtMatrixd &aVerticalErrorCovariance, const UtMatrixd &aVerticalFlightState, const MTT_Track &aTrack, const MTT_Measurement &aMeasurement, double aDT, double &aHypothesisTestValue, double &aInnovationValue)
void	mtttfe (const MTT_PerceivedCluster &aMeasurement, const MTT_ActiveTrack::Data &aUpdateData, MTT_Track &aTrack, double aUpdateInterval, double aSimTime)
void	mttflf (UtMatrixd &aFilterStates, UtMatrixd &aHorizontalInfo, const UtMatrixd &aFilterStatesUpdate, const UtMatrixd &aHorizontalInfoUpdate, const UtMatrixd &aPrevFilterStates, const UtMatrixd &aPrevHorizInfoMatrix, double aDt, double &aLikelihoodValue)
void	mttftf (UtMatrixd &aFilterStates, UtMatrixd &aHorizontalInfo, const UtMatrixd &aFilterStatesUpdate, const UtMatrixd &aHorizontalInfoUpdate, const UtMatrixd &aPrevFilterStates, const UtMatrixd &aPrevHorizInfoMatrix, double aDt, double &aLikelihoodValue)
void	mtttfm (UtMatrixd &aTurningFlightStateVector, UtMatrixd &aTurningFlightErrorCovarianceMatrix, const UtMatrixd &aVerticalErrorCovarianceMatrix, const UtMatrixd &aVerticalFlightInformationState, const MTT_Track &aTrack, const MTT_Measurement &aMeasurement, double aDt, double &aTurningFlightLikelihood)
void	mtttfp (double aDt, UtMatrixd &aCovarianceMatrix, UtMatrixd &aStateVector)
void	mtttfq (const UtMatrixd &aTurningFlightState, const UtMatrixd &aTurningFlightErrorCovariance, const UtMatrixd &aVerticalErrorCovariance, const UtMatrixd &aVerticalFlightState, const MTT_Track &aTrack, const MTT_Measurement &aMeasurement, const double &aDT, double &aHypothesisTestValue, double &aInnovationValue)
void	mtttfs_Correlation (double aSimTime, const MTT_PerceivedCluster &aNonlocalTrack, MTT_ActiveTrack::Data &aTempActiveData, MTT_ActiveTrack *&aLocalTrackPtr)
void	mtttfs_Fusion (double aSimTime, const MTT_PerceivedCluster &aNonlocalTrack, MTT_ActiveTrack::Data &aTempActiveData, MTT_ActiveTrack *&aLocalTrackPtr)
void	mttuat (double aSimTime, const MTT_PerceivedCluster &aNonLocalTrack, MTT_Track &aActiveTrack)
	Multiple target tracking - update an active track.
void	mttuhf (double aSimTime, const MTT_PerceivedCluster &aMeasurement, MTT_ActiveTrack *&aTrackPtr)
	Multiple target tracking - update height filter.
void	mttuhi (double aDt, const UtMatrixd &aHorizontalAcceleration, UtMatrixd &aHorizontalInfoMatrix, UtMatrixd &aHorizontalState, const UtMatrixd &aConnectionMatrix, const UtMatrixd &aConnectionMatrixTranspose, const UtMatrixd &aDxDyCovariance, double aSensorLocationX, double aSensorLocationY, double aDx, double aDy, int aTrackType)
	Multiple target tracking - update information filter.
void	mttuvi (double aDt, const UtMatrixd &aVerticalInfoFilter, UtMatrixd &aVerticalInfoMatrix, UtMatrixd &aVerticalState, const UtMatrixd &aVerticalCandidateInfoFilter, double aSensorLocationZ, double aTargetLocationZ, unsigned aRangeValid, unsigned aElevationValid, int aTrackType)
	Multiple target tracking - update vertical info filter.
void	mttuvp (double aDt, const UtMatrixd &aVerticalInfoFilter, UtMatrixd &aVerticalInfoMatrix, UtMatrixd &aVerticalState, int aTrackType)
	Multiple target tracking - update vertical info filter.
void	mttalt (const MTT_ActiveTrack *aLocalTrackPtr, double &aAlt)

Public Attributes
WsfPerfectCorrelation	mHF_Correlator

Detailed Description

A container for data related to the Suppressor Multi-Target Tracker (MTT). This container stores data that may be related to both correlation and fusion, or neither, and they are necessary but redundant parts of the implementation (i.e., the functionality exists in the track manager, but data and code are necessary for functionality of the MTT. The architecture is for the correlator to own the MTT instance. That way ProcessInput can be called, and the object can be cloned. The correlator then calls "Register;" At that point the fuser has access to it by calling "GetMTT."

Constructor & Destructor Documentation

◆ MTT() [1/2]

MTT::MTT ( )

References mHF_Correlator.

Referenced by Clone(), MTT(), and operator=().

◆ MTT() [2/2]

MTT::MTT ( const MTT & aSrc )

References mHF_Correlator, and MTT().

◆ ~MTT()

MTT::~MTT ( )

default

Member Function Documentation

◆ Clone()

MTT * MTT::Clone ( ) const

inline

References MTT().

◆ GetInterface()

WsfMTT_Interface * MTT::GetInterface ( ) const

inline

◆ GetParameters() [1/2]

MTT_Parameters & MTT::GetParameters ( )

inline

◆ GetParameters() [2/2]

const MTT_Parameters & MTT::GetParameters ( ) const

inline

◆ GetTracks()

MTT_Tracks & MTT::GetTracks ( )

inline

◆ MTT_Correlate()

MTT_ActiveTrack * MTT::MTT_Correlate	(	double	aSimTime,
		const MTT_PerceivedCluster &	aNonlocalTrack,
		MTT_ActiveTrack::Data &	aTempActiveData )

!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!

!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! Fortran-Converted routines from Suppressor 7+, mttexe.f

Generic distribution statement follows: Top-level correlation method.

References MTT_PerceivedCluster::mCombinedTrackPtr, MTT_PerceivedCluster::mMeasurementPtr, mttdps_Correlation(), and mtttfs_Correlation().

◆ MTT_Fuse()

void MTT::MTT_Fuse	(	double	aSimTime,
		const MTT_PerceivedCluster &	aNonlocalTrack,
		MTT_ActiveTrack &	aLocalTrack,
		MTT_ActiveTrack::Data &	aTempActiveData )

Top-level fusion method.

References MTT_PerceivedCluster::mCombinedTrackPtr, MTT_PerceivedCluster::mMeasurementPtr, and mtttfs_Fusion().

◆ mttalt()

void MTT::mttalt	(	const MTT_ActiveTrack *	aLocalTrackPtr,
		double &	aAlt )

get altitude for an active track

Parameters

aLocalTrackPtr	The active track from which the altitude is extracted.
aAlt	(output) The perceived altitude.

References MTT_ActiveTrack::GetData(), MTT_Track::mVerticalChannelActive, MTT_ActiveTrack::Data::mVerticalInfoMatrix, and MTT_ActiveTrack::Data::mVerticalState.

Referenced by mtttfs_Correlation().

◆ mttc2a()

void MTT::mttc2a	(	const MTT_CandidateTrack::Data &	aCandidateTrackData,
		MTT_ActiveTrack::Data &	aActiveTrackData,
		bool &	aError )

Multiple target tracking - promote candidate track.

References MTT_CandidateTrack::Data::mErrorInfoMatrix, MTT_ActiveTrack::Data::mFilterStates, MTT_ActiveTrack::Data::mHorizontalInfoMatrix, MTT_CandidateTrack::Data::mHorizontalState, MTT_ActiveTrack::Data::mPreviousFilterStates, MTT_ActiveTrack::Data::mPreviousHorizontalMatrix, MTT_ActiveTrack::Data::mStraightFlightModeProbability, MTT_ActiveTrack::Data::mTurningFlightModeProbability, MTT_CandidateTrack::Data::mVerticalErrorInfoMatrix, and MTT_ActiveTrack::Data::mVerticalInfoMatrix.

Referenced by mttcct().

◆ mttcat()

MTT_ActiveTrack * MTT::mttcat	(	double	aSimTime,
		const MTT_PerceivedCluster &	aMeasurement )

Multiple target tracking - check active track.

References WsfObserver::ActiveTrackDropped(), MTT_ActiveTrack::GetData(), MTT_Track::GetId(), MTT_PerceivedCluster::mMeasurementPtr, mttcat(), mttgtm(), MTT_Track::mUpdateTime, MTT_Track::mVerticalChannelActive, MTT_Track::mVerticalChannelUpdateTime, and MTT_ActiveTrack::Data::mVerticalInfoMatrix.

Referenced by mttcat(), and mttdps_Correlation().

◆ mttcct()

int MTT::mttcct	(	double	aSimTime,
		const MTT_PerceivedCluster &	aMeasurement,
		MTT_ActiveTrack *&	aActiveTrackPtr )

Multiple target tracking - check candidate track. Note: In the fortran function, the address of the active track is returned if the candidate track is promoted, -1 if the CT is correlated but not promoted, and 0 if no CT is correlated. For C++ we can't return these results without nasty casts, so I'm returning an int result of -1, 0, 1 (1 corresponding with the first case above), and the address is an in/out pointer parameter. 10/14/2010 In the latest version, the function has been replaced by a subroutine, where the pointer to the new active track and the new active track id are returned. So the new conversion will be closer to the original fortran.

References WsfObserver::ActiveTrackInitiated(), WsfObserver::CandidateTrackDropped(), MTT_CandidateTrack::GetData(), MTT_Track::GetId(), MTT_Tracks::mActiveTrackCounter, MTT_RadarMeasurement::Data::mAzimuth, MTT_RadarMeasurement::Data::mAzimuthStDev, MTT_Tracks::mCandidateTracks, MTT_Measurement::mDataAvailable, MTT_Measurement::mDataPtr, MTT_Track::mDataPtr, MTT_RadarMeasurement::Data::mElevation, MTT_RadarMeasurement::Data::mElevationStDev, MTT_CandidateTrack::Data::mErrorInfoMatrix, MTT_CandidateTrack::Data::mHorizontalState, MTT_PerceivedCluster::mMeasurementPtr, MTT_RadarMeasurement::Data::mRange, MTT_RadarMeasurement::Data::mRangeStDev, MTT_RadarMeasurement::Data::mSensorLocation, MTT_Track::mTrackId, mttc2a(), mttcct(), mttgtm(), mttpvf(), mttuat(), mttuhi(), mttuvi(), MTT_Track::mUpdateTime, MTT_Track::mVerticalChannelActive, MTT_Track::mVerticalChannelUpdateTime, MTT_CandidateTrack::Data::mVerticalErrorInfoMatrix, and MTT_CandidateTrack::Data::mVerticalState.

Referenced by mttcct(), and mttdps_Correlation().

◆ mttdps_Correlation()

void MTT::mttdps_Correlation	(	const double &	aSimTime,
		const MTT_PerceivedCluster &	aMeasurement,
		MTT_ActiveTrack *&	aTrackPtr )

Multiple target tracking - detection processing system (correlation).

References MTT_Track::mTrackId, MTT_PerceivedCluster::mTrackNumber, mttcat(), mttcct(), mttet(), mttuat(), and mttuhf().

Referenced by MTT_Correlate().

◆ mttdps_Fusion()

void MTT::mttdps_Fusion	(	const double &	aSimTime,
		const MTT_PerceivedCluster &	aMeasurement,
		MTT_ActiveTrack *	aTrackPtr )

Multiple target tracking - detection processing system (fusion).

References MTT_PerceivedCluster::mTrackNumber, and mttuhf().

◆ mttet()

void MTT::mttet	(	double	aSimTime,
		const MTT_PerceivedCluster &	aMeasurement )

Multiple target tracking - update embryonic tracks.

Referenced by mttdps_Correlation().

◆ mttflf()

void MTT::mttflf	(	UtMatrixd &	aFilterStates,
		UtMatrixd &	aHorizontalInfo,
		const UtMatrixd &	aFilterStatesUpdate,
		const UtMatrixd &	aHorizontalInfoUpdate,
		const UtMatrixd &	aPrevFilterStates,
		const UtMatrixd &	aPrevHorizInfoMatrix,
		double	aDt,
		double &	aLikelihoodValue )

Multiple target tracking - fuse external track into local straight flight filter with measurement.

References mttlfp().

Referenced by mtttfe().

◆ mttftf()

void MTT::mttftf	(	UtMatrixd &	aFilterStates,
		UtMatrixd &	aHorizontalInfo,
		const UtMatrixd &	aFilterStatesUpdate,
		const UtMatrixd &	aHorizontalInfoUpdate,
		const UtMatrixd &	aPrevFilterStates,
		const UtMatrixd &	aPrevHorizInfoMatrix,
		double	aDt,
		double &	aLikelihoodValue )

Multiple target tracking - fuse external track into local turning flight filter with measurement

References mtttfp().

Referenced by mtttfe().

◆ mttgtm()

void MTT::mttgtm	(	const MTT_ActiveTrack::Data &	aActiveTrackData,
		const MTT_Track &	aTrackHeader,
		const MTT_Measurement &	aMeasurement,
		const double &	aDT,
		double &	aHypothesisTestValue,
		double &	aInnovationValue )

Multiple target tracking - measurement to trk gate test.

References MTT_ActiveTrack::Data::mFilterStates, MTT_ActiveTrack::Data::mHorizontalInfoMatrix, mttlfq(), mtttfq(), MTT_ActiveTrack::Data::mVerticalInfoMatrix, and MTT_ActiveTrack::Data::mVerticalState.

Referenced by mttcat(), and mttcct().

◆ mttgtt()

void MTT::mttgtt	(	const MTT_ActiveTrack::Data &	aActiveTrackData,
		const MTT_ActiveTrack::Data &	aTempActiveTrackData,
		double	aDt,
		double &	aTestValue,
		double &	aInnovationValue )

Multiple target tracking - track to track gate test.

Parameters

aActiveTrackData	(active track data)
aTempActiveTrackData	(measurement data)
aDt	Time difference between measurment and last track update.
aTestValue	TODO_MIKE please document.
aInnovationValue	(test value to determine if within error ellipse)

References MTT_ActiveTrack::Data::mFilterStates, MTT_ActiveTrack::Data::mHorizontalInfoMatrix, mttlfp(), and mtttfp().

Referenced by mtttfs_Correlation().

◆ mttlfm()

void MTT::mttlfm	(	UtMatrixd &	aStraightFlightStateVector,
		UtMatrixd &	aStraightFlightErrorCovarianceMatrix,
		const UtMatrixd &	aVerticalErrorCovarianceMatrix,
		const UtMatrixd &	aVerticalFlightInformationState,
		const MTT_Track &	aTrack,
		const MTT_Measurement &	aMeasurement,
		double	aDt,
		double &	aStraightFlightLikelihood )

Multiple target tracking - update straight-flight model with measurement

Parameters

aStraightFlightStateVector	(straight-flight state vector)
aStraightFlightErrorCovarianceMatrix	(straight-flight error covariance matrix)
aVerticalErrorCovarianceMatrix	(vertical error covariance matrix)
aVerticalFlightInformationState	(vertical-flight information state)
aTrack	(pointer to track header)
aMeasurement	(pointer to measurement header block)
aDt	The time difference between measurment and last track update.
aStraightFlightLikelihood	(likelihood of straight-flight)

References MTT_RadarMeasurement::GetData(), MTT_RadarMeasurement::Data::mAzimuth, MTT_RadarMeasurement::Data::mAzimuthStDev, MTT_Measurement::mDataAvailable, MTT_RadarMeasurement::Data::mElevation, MTT_RadarMeasurement::Data::mRange, MTT_RadarMeasurement::Data::mRangeRate, MTT_RadarMeasurement::Data::mRangeRateStDev, MTT_RadarMeasurement::Data::mRangeStDev, MTT_RadarMeasurement::Data::mSensorLocation, MTT_RadarMeasurement::Data::mSensorVelocity, mttlfp(), and MTT_Track::mVerticalChannelActive.

Referenced by mttuat().

◆ mttlfp()

void MTT::mttlfp	(	double	aDt,
		UtMatrixd &	aCovarianceMatrix,
		UtMatrixd &	aStateVector )

Multiple target tracking - propagate lf states.

Parameters

aDt	delta time between measurment and last track update.
aCovarianceMatrix	Covariance matrix to propagate.
aStateVector	State vector to propagate.

Referenced by mttflf(), mttgtt(), mttlfm(), and mttlfq().

◆ mttlfq()

void MTT::mttlfq	(	const UtMatrixd &	aStraightFlightState,
		const UtMatrixd &	aStraightFlightErrorCovariance,
		const UtMatrixd &	aVerticalErrorCovariance,
		const UtMatrixd &	aVerticalFlightState,
		const MTT_Track &	aTrack,
		const MTT_Measurement &	aMeasurement,
		double	aDt,
		double &	aHypothesisTestValue,
		double &	aInnovationValue )

Multiple target tracking - gate querry for straight-flight.

Parameters

aStraightFlightState	(straight-flight state vector)
aStraightFlightErrorCovariance	(straight-flight error covariance matrix)
aVerticalErrorCovariance	(vertical error covariance matrix)
aVerticalFlightState	(vertical-flight information state)
aTrack	(track header)
aMeasurement	(measurement header)
aDt	Time difference between measurment and last track update.
aHypothesisTestValue	TODO_MIKE Please document.
aInnovationValue	(hypothesis test value)

References MTT_RadarMeasurement::GetData(), MTT_RadarMeasurement::Data::mAzimuth, MTT_RadarMeasurement::Data::mAzimuthStDev, MTT_Measurement::mDataAvailable, MTT_RadarMeasurement::Data::mElevation, MTT_RadarMeasurement::Data::mRange, MTT_RadarMeasurement::Data::mRangeStDev, MTT_RadarMeasurement::Data::mSensorLocation, mttlfp(), and MTT_Track::mVerticalChannelActive.

Referenced by mttgtm().

◆ mttpvf()

void MTT::mttpvf	(	const UtMatrixd &	aVerticalCovariance,
		MTT_Track &	aCandidateTrack )

References MTT_Track::mVerticalChannelActive.

Referenced by mttcct(), mttet(), mttuat(), and mttuhf().

◆ mtttfe()

void MTT::mtttfe	(	const MTT_PerceivedCluster &	aMeasurement,
		const MTT_ActiveTrack::Data &	aUpdateData,
		MTT_Track &	aTrack,
		double	aUpdateInterval,
		double	aSimTime )

Given that an external track correlated statistically with a local active track, combine the external with the local using a centralized kalman filter.

!!! (mjm) check this (todo)

Referenced by mtttfs_Fusion().

◆ mtttfm()

void MTT::mtttfm	(	UtMatrixd &	aTurningFlightStateVector,
		UtMatrixd &	aTurningFlightErrorCovarianceMatrix,
		const UtMatrixd &	aVerticalErrorCovarianceMatrix,
		const UtMatrixd &	aVerticalFlightInformationState,
		const MTT_Track &	aTrack,
		const MTT_Measurement &	aMeasurement,
		double	aDt,
		double &	aTurningFlightLikelihood )

Multiple target tracking - update turning flight model with measurement.

Parameters

aTurningFlightStateVector	(turning-flight state vector)
aTurningFlightErrorCovarianceMatrix	(turning-flight error covariance matrix)
aVerticalErrorCovarianceMatrix	(vertical error covariance matrix)
aVerticalFlightInformationState	(vertical-flight information state)
aTrack	(track header)
aMeasurement	(measurement header block)
aDt	Time difference between measurment and last track update.
aTurningFlightLikelihood	(likelihood of turning-flight)

References MTT_RadarMeasurement::GetData(), MTT_RadarMeasurement::Data::mAzimuth, MTT_RadarMeasurement::Data::mAzimuthStDev, MTT_Measurement::mDataAvailable, MTT_RadarMeasurement::Data::mElevation, MTT_RadarMeasurement::Data::mRange, MTT_RadarMeasurement::Data::mRangeRate, MTT_RadarMeasurement::Data::mRangeRateStDev, MTT_RadarMeasurement::Data::mRangeStDev, MTT_RadarMeasurement::Data::mSensorLocation, MTT_RadarMeasurement::Data::mSensorVelocity, mtttfp(), and MTT_Track::mVerticalChannelActive.

Referenced by mttuat().

◆ mtttfp()

void MTT::mtttfp	(	double	aDt,
		UtMatrixd &	aCovarianceMatrix,
		UtMatrixd &	aStateVector )

Multiple target tracking - propagate tf states.

Parameters

aDt	Delta time between measurment and last track update.
aCovarianceMatrix	(covariance matrix)
aStateVector	(state vector)

Referenced by mttftf(), mttgtt(), mtttfe(), mtttfm(), mtttfq(), mtttfs_Correlation(), mttuat(), and mttuhf().

◆ mtttfq()

void MTT::mtttfq	(	const UtMatrixd &	aTurningFlightState,
		const UtMatrixd &	aTurningFlightErrorCovariance,
		const UtMatrixd &	aVerticalErrorCovariance,
		const UtMatrixd &	aVerticalFlightState,
		const MTT_Track &	aTrack,
		const MTT_Measurement &	aMeasurement,
		const double &	aDt,
		double &	aHypothesisTestValue,
		double &	aInnovationValue )

Multiple target tracking - gate querry turning flight.

Parameters

aTurningFlightState	(turning flight state vector)
aTurningFlightErrorCovariance	(turning flight error covariance matrix)
aVerticalErrorCovariance	(vertical error covariance matrix)
aVerticalFlightState	(vertical-flight information state)
aTrack	(track header)
aMeasurement	(measurement header)
aDt	Time difference between measurment and last track update.
aHypothesisTestValue	TODO_MIKE Please document.
aInnovationValue	(hypothesis test value)

References MTT_RadarMeasurement::GetData(), MTT_RadarMeasurement::Data::mAzimuth, MTT_RadarMeasurement::Data::mAzimuthStDev, MTT_Measurement::mDataAvailable, MTT_RadarMeasurement::Data::mElevation, MTT_RadarMeasurement::Data::mRange, MTT_RadarMeasurement::Data::mRangeStDev, MTT_RadarMeasurement::Data::mSensorLocation, mtttfp(), and MTT_Track::mVerticalChannelActive.

Referenced by mttgtm().

◆ mtttfs_Correlation()

void MTT::mtttfs_Correlation	(	double	aSimTime,
		const MTT_PerceivedCluster &	aNonlocalTrack,
		MTT_ActiveTrack::Data &	aTempActiveData,
		MTT_ActiveTrack *&	aLocalTrackPtr )

Multiple target tracking - track fusion system (correlation).

Parameters

aSimTime	The current simulation time in seconds.
aNonlocalTrack	A new target perception data.
aTempActiveData	Temp mtt header (383) data.
aLocalTrackPtr	Active track (384).

!!!(mjm) Added the following line (error- todo report)

Referenced by MTT_Correlate().

◆ mtttfs_Fusion()

void MTT::mtttfs_Fusion	(	double	aSimTime,
		const MTT_PerceivedCluster &	aNonlocalTrack,
		MTT_ActiveTrack::Data &	aTempActiveData,
		MTT_ActiveTrack *&	aLocalTrackPtr )

Multiple target tracking - track fusion system (fusion).

Parameters

aSimTime	The current simulation time in seconds.
aNonlocalTrack	A new target perception data.
aTempActiveData	Temp mtt header (383) data.
aLocalTrackPtr	Active track (384).

References mtttfe(), and MTT_Track::mUpdateTime.

Referenced by MTT_Fuse().

◆ mttuat()

void MTT::mttuat	(	double	aSimTime,
		const MTT_PerceivedCluster &	aNonLocalTrack,
		MTT_Track &	aActiveTrack )

Multiple target tracking - update an active track.

!!! (mjm) check this (todo)

Referenced by mttcct(), and mttdps_Correlation().

◆ mttuhf()

void MTT::mttuhf	(	double	aSimTime,
		const MTT_PerceivedCluster &	aMeasurement,
		MTT_ActiveTrack *&	aTrackPtr )

Multiple target tracking - update height filter.

References MTT_ActiveTrack::GetData(), MTT_RadarMeasurement::GetData(), MTT_Measurement::mDataAvailable, MTT_RadarMeasurement::Data::mElevation, MTT_RadarMeasurement::Data::mElevationStDev, MTT_ActiveTrack::Data::mFilterStates, MTT_ActiveTrack::Data::mHorizontalInfoMatrix, MTT_PerceivedCluster::mMeasurementPtr, MTT_ActiveTrack::Data::mPreviousFilterStates, MTT_ActiveTrack::Data::mPreviousHorizontalMatrix, MTT_RadarMeasurement::Data::mRange, MTT_RadarMeasurement::Data::mRangeStDev, MTT_RadarMeasurement::Data::mSensorLocation, MTT_PerceivedCluster::mTrackNumber, mttpvf(), mtttfp(), mttuvi(), MTT_Track::mUpdateTime, MTT_Track::mVerticalChannelUpdateTime, MTT_ActiveTrack::Data::mVerticalInfoMatrix, and MTT_ActiveTrack::Data::mVerticalState.

Referenced by mttdps_Correlation(), and mttdps_Fusion().

◆ mttuhi()

void MTT::mttuhi	(	double	aDt,
		const UtMatrixd &	aHorizontalAcceleration,
		UtMatrixd &	aHorizontalInfoMatrix,
		UtMatrixd &	aHorizontalState,
		const UtMatrixd &	aConnectionMatrix,
		const UtMatrixd &	aConnectionMatrixTranspose,
		const UtMatrixd &	aDxDyCovariance,
		double	aSensorLocationX,
		double	aSensorLocationY,
		double	aDx,
		double	aDy,
		int	aTrackType )

Multiple target tracking - update information filter.

References pi.

Referenced by mttcct(), and mttet().

◆ mttuvi()

void MTT::mttuvi	(	double	aDt,
		const UtMatrixd &	aVerticalInfoFilter,
		UtMatrixd &	aVerticalInfoMatrix,
		UtMatrixd &	aVerticalState,
		const UtMatrixd &	aVerticalCandidateInfoFilter,
		double	aSensorLocationZ,
		double	aTargetLocationZ,
		unsigned	aRangeValid,
		unsigned	aElevationValid,
		int	aTrackType )

Multiple target tracking - update vertical info filter.

References mttuvp(), and pi.

Referenced by mttcct(), mttet(), mttuat(), and mttuhf().

◆ mttuvp()

void MTT::mttuvp	(	double	aDt,
		const UtMatrixd &	aVerticalInfoFilter,
		UtMatrixd &	aVerticalInfoMatrix,
		UtMatrixd &	aVerticalState,
		int	aTrackType )

Multiple target tracking - update vertical info filter.

Referenced by mtttfe(), mtttfs_Correlation(), and mttuvi().

◆ operator=()

MTT & MTT::operator= ( const MTT & )

delete

References MTT().

◆ ProcessInput()

bool MTT::ProcessInput ( UtInput & aInput )

Process input from a generic source.

Parameters

aInput The input source.

◆ RemoveSavedData()

bool MTT::RemoveSavedData	(	int	aMTT_TrackId,
		MTT_PerceivedCluster *&	aNonLocalTrackPtr,
		MTT_ActiveTrack::Data *&	aTempDataPtr,
		MTT_ActiveTrack *&	aLocalTrackPtr )

Remove data saved between correlation and fusion steps. The data should be deleted after use.

◆ SaveData()

void MTT::SaveData	(	MTT_PerceivedCluster *	aNonLocalTrackPtr,
		MTT_ActiveTrack::Data *	aTempData,
		MTT_ActiveTrack *	aLocalTrackPtr )

Save temporary data from the correlation step, that is needed for fusion.

References MTT_Track::mTrackId.

◆ SetParameters()

void MTT::SetParameters ( const MTT_Parameters & aParameters )

inline

◆ SetTrackManager()

void MTT::SetTrackManager ( WsfTrackManager * aTrackManager )

Called from MTT_Fusion/MTT_Correlation during initialization.

References WsfMTT_Interface::Find(), WsfTrackManager::GetSimulation(), and mHF_Correlator.

Member Data Documentation

◆ mHF_Correlator

WsfPerfectCorrelation MTT::mHF_Correlator

Referenced by MTT(), MTT(), and SetTrackManager().

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

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ MTT() [1/2]

◆ MTT() [2/2]

◆ ~MTT()

Member Function Documentation

◆ Clone()

◆ GetInterface()

◆ GetParameters() [1/2]

◆ GetParameters() [2/2]

◆ GetTracks()

◆ MTT_Correlate()

◆ MTT_Fuse()

◆ mttalt()

◆ mttc2a()

◆ mttcat()

◆ mttcct()

◆ mttdps_Correlation()

◆ mttdps_Fusion()

◆ mttet()

◆ mttflf()

◆ mttftf()

◆ mttgtm()

◆ mttgtt()

◆ mttlfm()

◆ mttlfp()

◆ mttlfq()

◆ mttpvf()

◆ mtttfe()

◆ mtttfm()

◆ mtttfp()

◆ mtttfq()

◆ mtttfs_Correlation()

◆ mtttfs_Fusion()

◆ mttuat()

◆ mttuhf()

◆ mttuhi()

◆ mttuvi()

◆ mttuvp()

◆ operator=()

◆ ProcessInput()

◆ RemoveSavedData()

◆ SaveData()

◆ SetParameters()

◆ SetTrackManager()

Member Data Documentation

◆ mHF_Correlator