#include <WsfDefaultFusion.hpp>

Inheritance diagram for WsfDefaultFusion:

[legend]

Collaboration diagram for WsfDefaultFusion:

[legend]

Public Member Functions
	WsfDefaultFusion (const WsfScenario &aScenario, bool aIsWeightedAverage=false)
	~WsfDefaultFusion () override=default
bool	ProcessInput (UtInput &aInput) override
bool	Initialize (WsfTrackManager *aTrackManagerPtr) override
	Perform any necessary initialization.
WsfFusionStrategy *	Clone () const override
	Create a clone of "this" object.
bool	UpdateLocalTrackFromNonLocalTrack (double aSimTime, WsfLocalTrack &aLocalTrack, const WsfTrack &aNonLocalTrack) override
bool	UpdateLocalResultFromNonLocalResult (double aSimTime, WsfLocalSensorResult &aLocalResult, const WsfSensorResult &aNonLocalResult) override
void	ReviewTrack (WsfLocalTrack &aLocalTrack) override
bool	UpdateNonKinematicData (double aSimTime, WsfLocalTrack &aLocalTrack, const WsfTrack &aNonLocalTrack) override
Public Member Functions inherited from WsfFusionStrategy
	~WsfFusionStrategy () override=default
bool	ProcessInput (UtInput &aInput) override
	Process input from a common source.
virtual bool	Initialize (WsfProcessor *aProcessorPtr)
	Perform any necessary initialization.
virtual bool	DebugEnabled () const
	Return whether debug is enabled for this instance.
virtual bool	InitializeLocalTrackFromNonLocalTrack (double aSimTime, WsfLocalTrack &aLocalTrack, const WsfTrack &aNonLocalTrack)
virtual bool	InitializeLocalResultFromNonLocalResult (double aSimTime, WsfLocalSensorResult &aLocalResult, const WsfSensorResult &aNonLocalResult)
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 void	ReviewTrack (WsfTrackManager &aTrackManager, WsfLocalTrack &aLocalTrack)
Static Public Member Functions inherited from WsfFusionStrategy
static bool	UpdateNonKinematicData (double aSimTime, WsfTrackManager &aTracManager, WsfLocalTrack &aLocalTrack, const WsfTrack &aNonLocalTrack)

Protected Member Functions
	WsfDefaultFusion (const WsfDefaultFusion &aSrc)
WsfDefaultFusion &	operator= (const WsfDefaultFusion &)=delete
bool	UpdateIFF_Status (double aSimTime, WsfLocalTrack &aLocalTrack, const WsfTrack &aNonLocalTrack) override
bool	UpdateSide (double aSimTime, WsfLocalTrack &aLocalTrack, const WsfTrack &aNonLocalTrack) override
bool	UpdateType (double aSimTime, WsfLocalTrack &aLocalTrack, const WsfTrack &aNonLocalTrack) override
bool	UpdateSpatialDomain (double aSimTime, WsfLocalTrack &aLocalTrack, const WsfTrack &aNonLocalTrack) override
bool	UpdateTrackQuality (double aSimTime, WsfLocalTrack &aLocalTrack, const WsfTrack &aNonLocalTrack) override
bool	UpdateSignalToNoise (double aSimTime, WsfLocalTrack &aLocalTrack, const WsfTrack &aNonLocalTrack) override
bool	UpdateSignalList (double aSimTime, WsfLocalTrack &aLocalTrack, const WsfTrack &aNonLocalTrack) override
bool	UpdateAuxData (double aSimTime, WsfLocalTrack &aLocalTrack, const WsfTrack &aNonLocalTrack) override
void	SetWeightedAverage (bool aIsWeightedAverage)
void	PerformMirrorTrackUpdate (double aSimTime, WsfLocalTrack &aLocalTrack, const WsfTrack &aNonLocalTrack)
bool	PerformStandardTrackUpdate (double aSimTime, WsfLocalTrack &aLocalTrack, const WsfTrack &aNonLocalTrack)
Protected Member Functions inherited from WsfFusionStrategy
	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.
	WsfObject (const WsfObject &aSrc)
	Copy constructor (for Clone()).

Static Protected Member Functions
static void	ReviewIFF (WsfTrackManager &aTrackManager, WsfLocalTrack &aLocalTrack)
static void	ReviewTrackQuality (WsfTrackManager &aTrackManager, WsfLocalTrack &aLocalTrack)
Static Protected Member Functions inherited from WsfFusionStrategy
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)

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

Detailed Description

The wsf standard implementation of WsfFusionStratgey for track fusion. This class implements a series of standard algorithms for fusion of similar and complementary information. The one option for use of these algorithms is whether to use "replacement" or "weighted average" fusion. These choices are relevant when fusing location-based state data. For replacement fusion, a track update replaces the location data, whereas for weighted-average fusion, the location data are computed using the "weight" of the inverse covariance matrix.

Constructor & Destructor Documentation

◆ WsfDefaultFusion() [1/2]

WsfDefaultFusion::WsfDefaultFusion	(	const WsfScenario &	aScenario,
		bool	aIsWeightedAverage = false )

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

◆ ~WsfDefaultFusion()

WsfDefaultFusion::~WsfDefaultFusion ( )

overridedefault

◆ WsfDefaultFusion() [2/2]

WsfDefaultFusion::WsfDefaultFusion ( const WsfDefaultFusion & aSrc )

protected

References WsfDefaultFusion(), and WsfFusionStrategy::WsfFusionStrategy().

Member Function Documentation

◆ Clone()

WsfFusionStrategy * WsfDefaultFusion::Clone ( ) const

inlineoverridevirtual

Create a clone of "this" object.

Implements WsfFusionStrategy.

Reimplemented in WsfMTT_Fusion, and WsfOrbitDeterminationFusion.

References WsfDefaultFusion(), and WsfFusionStrategy::WsfFusionStrategy().

◆ Initialize()

bool WsfDefaultFusion::Initialize ( WsfTrackManager * aTrackManagerPtr )

overridevirtual

Perform any necessary initialization.

Reimplemented from WsfFusionStrategy.

Reimplemented in WsfMTT_Fusion, and WsfOrbitDeterminationFusion.

References WsfFusionStrategy::GetSimulation(), WsfFusionStrategy::GetTrackManager(), WsfFusionStrategy::Initialize(), and ok.

Referenced by WsfMTT_Fusion::Initialize().

◆ operator=()

WsfDefaultFusion & WsfDefaultFusion::operator= ( const WsfDefaultFusion & )

protecteddelete

References ReviewIFF(), ReviewTrackQuality(), and WsfDefaultFusion().

◆ PerformMirrorTrackUpdate()

void WsfDefaultFusion::PerformMirrorTrackUpdate	(	double	aSimTime,
		WsfLocalTrack &	aLocalTrack,
		const WsfTrack &	aNonLocalTrack )

protected

References WsfFusionStrategy::DebugEnabled(), WsfObject::GetName(), WsfTrack::GetOriginatorNameId(), WsfFusionStrategy::GetPlatform(), WsfFusionStrategy::GetTrackManager(), WsfLocalTrack::ReplacementUpdate(), and WsfTrackManager::UpdateAuxData().

Referenced by UpdateLocalTrackFromNonLocalTrack().

◆ PerformStandardTrackUpdate()

bool WsfDefaultFusion::PerformStandardTrackUpdate	(	double	aSimTime,
		WsfLocalTrack &	aLocalTrack,
		const WsfTrack &	aNonLocalTrack )

protected

The track will be marked as non-3d to prevent weighted-average fusion (the covariance matrix cannot be computed from sensor errors).

References WsfLocalTrack::ClearMirrorTrack(), WsfFusionStrategy::DebugEnabled(), WsfObject::GetName(), WsfTrack::GetOriginatorNameId(), WsfFusionStrategy::GetPlatform(), WsfLocalTrack::GetRawTrackIds(), WsfTrack::GetResidualCovariance(), WsfTrack::GetUpdateCount(), WsfTrack::GetUpdateTime(), WsfTrack::Is3D(), WsfTrack::KinematicUpdate(), WsfTrack::Set3D(), WsfTrack::SetResidualCovariance(), WsfTrack::SetUpdateCount(), WsfPlatform::Update(), WsfTrack::Update(), and UpdateNonKinematicData().

Referenced by UpdateLocalTrackFromNonLocalTrack().

◆ ProcessInput()

bool WsfDefaultFusion::ProcessInput ( UtInput & aInput )

overridevirtual

Process input from a generic source.

Examine the current input command. If it is NOT one of the commands recognized by this class then it simply returns 'false'. If it is one of the commands recognized by this class then it processes the command and returns 'true'.

Parameters

aInput a reference to a UtInput object.

Returns: 'true' if the command was one recognized by the class or 'false' if not.

Exceptions

UtInput::ExceptionBase (or an object derived from it) if the command was recognized but contains some sort of error.

Note: If a derived class does not recognize the command (i.e.: the return value is false) then it should call the base class ProcessInput method. This chain should continue until either the command is recognized or the top-level base class is encountered.

Reimplemented from WsfObject.

Reimplemented in WsfOrbitDeterminationFusion.

Referenced by WsfOrbitDeterminationFusion::ProcessInput().

◆ ReviewIFF()

void WsfDefaultFusion::ReviewIFF	(	WsfTrackManager &	aTrackManager,
		WsfLocalTrack &	aLocalTrack )

staticprotected

Determine whether IFF values are either all "friend" or "foe;" If so, set the value as the current IFF value.

References WsfTrack::cIFF_AMBIGUOUS, WsfTrack::cIFF_FOE, WsfTrack::cIFF_FRIEND, WsfTrack::cIFF_UNKNOWN, WsfTrack::GetIFF_Status(), WsfTrackManager::GetRawTrack(), WsfLocalTrack::GetRawTrackIds(), and WsfTrack::SetIFF_Status().

Referenced by operator=(), ReviewTrack(), ReviewTrack(), WsfOrbitDeterminationFusion::ReviewTrack(), WsfOrbitDeterminationFusion::ReviewTrack(), and UpdateIFF_Status().

◆ ReviewTrack() [1/2]

void WsfDefaultFusion::ReviewTrack ( WsfLocalTrack & aLocalTrack )

overridevirtual

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.

Implements WsfFusionStrategy.

Reimplemented in WsfOrbitDeterminationFusion.

References WsfFusionStrategy::GetTrackManager(), ReviewIFF(), ReviewTrackQuality(), and WsfLocalTrack::UpdateSignalList().

◆ ReviewTrack() [2/2]

void WsfDefaultFusion::ReviewTrack	(	WsfTrackManager &	aTrackManager,
		WsfLocalTrack &	aLocalTrack )

static

References ReviewIFF(), ReviewTrackQuality(), and WsfLocalTrack::UpdateSignalList().

◆ ReviewTrackQuality()

void WsfDefaultFusion::ReviewTrackQuality	(	WsfTrackManager &	aTrackManager,
		WsfLocalTrack &	aLocalTrack )

staticprotected

Determine the best track quality among a local track's raw tracks, and replace it as the local track's quality indicator.

References WsfTrackManager::GetRawTrack(), WsfLocalTrack::GetRawTrackIds(), WsfTrack::GetTrackId(), WsfTrack::GetTrackQuality(), WsfLocalTrack::SetHighestTrackQualityId(), and WsfTrack::SetTrackQuality().

Referenced by operator=(), ReviewTrack(), ReviewTrack(), WsfOrbitDeterminationFusion::ReviewTrack(), and WsfOrbitDeterminationFusion::ReviewTrack().

◆ SetWeightedAverage()

void WsfDefaultFusion::SetWeightedAverage ( bool aIsWeightedAverage )

inlineprotected

Referenced by WsfOrbitDeterminationFusion::Initialize().

◆ UpdateAuxData()

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

overrideprotectedvirtual

Reimplemented from WsfFusionStrategy.

References WsfFusionStrategy::GetTrackManager(), and WsfTrackManager::UpdateAuxData().

◆ UpdateIFF_Status()

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

overrideprotectedvirtual

Reimplemented from WsfFusionStrategy.

References WsfTrack::cIFF_AMBIGUOUS, WsfTrack::cIFF_FOE, WsfTrack::cIFF_FRIEND, WsfTrack::cIFF_UNKNOWN, WsfTrack::GetIFF_Status(), WsfFusionStrategy::GetTrackManager(), ReviewIFF(), and WsfTrack::SetIFF_Status().

◆ UpdateLocalResultFromNonLocalResult()

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

overridevirtual

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.

The result will be marked as non-3d to prevent weighted-average fusion (the covariance matrix cannot be computed from sensor errors).

Implements WsfFusionStrategy.

Reimplemented in WsfOrbitDeterminationFusion.

References WsfFusionStrategy::DebugEnabled(), WsfObject::GetName(), WsfObject::GetNameId(), WsfEM_XmtrRcvr::GetPlatform(), WsfFusionStrategy::GetPlatform(), WsfEM_Interaction::GetReceiver(), WsfEM_Interaction::GetTarget(), WsfMeasurement::KinematicUpdate(), WsfSensorResult::mMeasurement, WsfLocalSensorResult::mMeasurementCount, WsfMeasurement::Update(), and WsfPlatform::Update().

◆ UpdateLocalTrackFromNonLocalTrack()

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

overridevirtual

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.

Implements WsfFusionStrategy.

Reimplemented in WsfMTT_Fusion, and WsfOrbitDeterminationFusion.

References WsfLocalTrack::IsMirrorTrack(), PerformMirrorTrackUpdate(), and PerformStandardTrackUpdate().

◆ UpdateNonKinematicData()

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

overridevirtual

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.

Reimplemented from WsfFusionStrategy.

References WsfFusionStrategy::UpdateNonKinematicData().

Referenced by PerformStandardTrackUpdate().

◆ UpdateSide()

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

overrideprotectedvirtual

Reimplemented from WsfFusionStrategy.

◆ UpdateSignalList()

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

overrideprotectedvirtual

Reimplemented from WsfFusionStrategy.

References WsfTrack::GetSignalList(), WsfTrack::MergeSignalLists(), and WsfLocalTrack::UpdateSignalList().

◆ UpdateSignalToNoise()

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

overrideprotectedvirtual

Reimplemented from WsfFusionStrategy.

References WsfTrack::GetSignalToNoise(), WsfTrack::SetSignalToNoise(), and WsfTrack::SignalToNoiseValid().

◆ UpdateSpatialDomain()

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

overrideprotectedvirtual

Reimplemented from WsfFusionStrategy.

References WsfMeasurement::GetSpatialDomain(), WsfMeasurement::SetSpatialDomain(), and WSF_SPATIAL_DOMAIN_UNKNOWN.

◆ UpdateTrackQuality()

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

overrideprotectedvirtual

Reimplemented from WsfFusionStrategy.

References WsfTrack::GetTrackId(), WsfTrack::GetTrackQuality(), WsfLocalTrack::SetHighestTrackQualityId(), and WsfTrack::SetTrackQuality().

◆ UpdateType()

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

overrideprotectedvirtual

Reimplemented from WsfFusionStrategy.

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

Public Member Functions

Static Public Member Functions

Protected Member Functions

Static Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ WsfDefaultFusion() [1/2]

◆ ~WsfDefaultFusion()

◆ WsfDefaultFusion() [2/2]

Member Function Documentation

◆ Clone()

◆ Initialize()

◆ operator=()

◆ PerformMirrorTrackUpdate()

◆ PerformStandardTrackUpdate()

◆ ProcessInput()

◆ ReviewIFF()

◆ ReviewTrack() [1/2]

◆ ReviewTrack() [2/2]

◆ ReviewTrackQuality()

◆ SetWeightedAverage()

◆ UpdateAuxData()

◆ UpdateIFF_Status()

◆ UpdateLocalResultFromNonLocalResult()

◆ UpdateLocalTrackFromNonLocalTrack()

◆ UpdateNonKinematicData()

◆ UpdateSide()

◆ UpdateSignalList()

◆ UpdateSignalToNoise()

◆ UpdateSpatialDomain()

◆ UpdateTrackQuality()

◆ UpdateType()