#include <WsfSensorTracker.hpp>

Inheritance diagram for WsfSensorTracker:

Collaboration diagram for WsfSensorTracker:

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Classes
class	TargetState
	A nested class that defines the data returned by GetTargetState. More...

Public Types
using	Settings = WsfSensorTrackerSettings

Public Member Functions
	WsfSensorTracker ()
virtual	~WsfSensorTracker ()=default
virtual WsfSensorTracker *	Clone () const
	Clone this tracker.
bool	DebugEnabled () const
	Returns 'true' if debugging is enabled for the tracker.
virtual unsigned int	GetActiveTrackCount () const
	Return the number of tracks being maintained by the sensor.
virtual void	GetActiveTrackList (WsfTrackList &aActiveTrackList)
	Return the active tracks the sensor is maintaining.
virtual unsigned int	GetMaximumTrackCount () const
	Return the maximum number of tracks that can be maintained by the sensor.
virtual bool	GetTargetState (double aSimTime, const WsfTrackId &aRequestId, TargetState &aTargetState)
virtual void	GetRequestDataForTarget (size_t aObjectId, WsfTrackId &aRequestId, size_t &aModeIndex, WsfTrackId &aTrackId) const
virtual bool	Initialize (double aSimTime, WsfSensor aSensorPtr, WsfSensorScheduler aSchedulerPtr)
virtual bool	ProcessInput (UtInput &aInput)
virtual void	SchedulerModeChange (double aSimTime, const WsfTrackId &aRequestId, size_t aObjectId, WsfPlatform *aTargetPtr, WsfStringId aNewModeName)
virtual void	StopTracking (double aSimTime, const WsfTrackId &aRequestId)
virtual void	TargetBlocked (double aSimTime, const Settings &aSettings, const WsfTrackId &aRequestId, size_t aObjectId)
virtual bool	TargetDeleted (double aSimTime, const Settings &aSettings, const WsfTrackId &aRequestId, size_t aObjectId)
virtual void	TargetDetected (double aSimTime, const Settings &aSettings, const WsfTrackId &aRequestId, size_t aObjectId, WsfPlatform *aTargetPtr, WsfSensorResult &aResult)
virtual bool	TargetSkipped (double aSimTime, const Settings &aSettings, const WsfTrackId &aRequestId, size_t aObjectId)
virtual void	TargetUndetected (double aSimTime, const Settings &aSettings, const WsfTrackId &aRequestId, size_t aObjectId, WsfPlatform *aTargetPtr, WsfSensorResult &aResult)
virtual void	TurnOff (double aSimTime)
virtual void	TurnOn (double aSimTime)
WsfSensor *	GetSensor () const
WsfSimulation *	GetSimulation () const

Protected Member Functions
	WsfSensorTracker (const WsfSensorTracker &aSrc)
	Copy constructor (for Clone()).
WsfSensorTracker &	operator= (const WsfSensorTracker &aSrc)=delete
ut::Random &	GetRandom () const
bool	AllowTrackingP (double aSimTime, const Settings &aSettings, const WsfTrackId &aRequestId, size_t aObjectId, WsfTrack *aTrackPtr, WsfSensorResult &aResult)
	A convenience method for tracker implementations to ask components if an object should be allowed to tracked.
void	DropTrackP (double aSimTime, const Settings &aSettings, const WsfTrackId &aRequestId, size_t aObjectId, WsfSensorMode aModePtr, WsfTrack &aTrackPtr)
void	InitializeTrackP (double aSimTime, const Settings &aSettings, const WsfTrackId &aRequestId, size_t aObjectId, WsfSensorMode aModePtr, WsfTrack &aTrackPtr)
void	UpdateTrackP (double aSimTime, const Settings &aSettings, const WsfTrackId &aRequestId, size_t aObjectId, WsfSensorMode aModePtr, WsfTrack aTrackPtr, WsfPlatform *aTargetPtr, WsfSensorResult &aResult)

Protected Attributes
WsfSensor *	mSensorPtr
	The sensor to which the tracker is attached.
WsfSensorScheduler *	mSchedulerPtr

Detailed Description

A class that takes sensor detections and maintains tracks.

The sensor tracker is called by the sensor detection logic to report the results of detection attempts. The tracker will take the result and initiate, update and drop tracks.

Member Typedef Documentation

◆ Settings

using WsfSensorTracker::Settings = WsfSensorTrackerSettings

Constructor & Destructor Documentation

◆ WsfSensorTracker() [1/2]

WsfSensorTracker::WsfSensorTracker ( )

References mSchedulerPtr, and mSensorPtr.

Referenced by WsfDefaultSensorTracker::Clone(), Clone(), operator=(), WsfDefaultSensorTracker::WsfDefaultSensorTracker(), WsfDefaultSensorTracker::WsfDefaultSensorTracker(), WsfSensorTracker(), and ~WsfSensorTracker().

◆ ~WsfSensorTracker()

virtual WsfSensorTracker::~WsfSensorTracker ( )

virtualdefault

References Clone(), and WsfSensorTracker().

◆ WsfSensorTracker() [2/2]

WsfSensorTracker::WsfSensorTracker ( const WsfSensorTracker & aSrc )

protected

Copy constructor (for Clone()).

References mSchedulerPtr, mSensorPtr, and WsfSensorTracker().

Member Function Documentation

◆ AllowTrackingP()

bool WsfSensorTracker::AllowTrackingP	(	double	aSimTime,
		const Settings &	aSettings,
		const WsfTrackId &	aRequestId,
		size_t	aObjectId,
		WsfTrack *	aTrackPtr,
		WsfSensorResult &	aResult )

protected

A convenience method for tracker implementations to ask components if an object should be allowed to tracked.

References WsfSensorTrackerSettings::cSUPPRESS_ALLOW_TRACKING_CHECK, WsfSensorTrackerSettings::mOptions, and mSensorPtr.

Referenced by operator=(), and WsfDefaultSensorTracker::TargetDetected().

◆ Clone()

WsfSensorTracker * WsfSensorTracker::Clone ( ) const

virtual

Clone this tracker.

Reimplemented in WsfDefaultSensorTracker.

References WsfSensorTracker().

Referenced by ~WsfSensorTracker().

◆ DebugEnabled()

bool WsfSensorTracker::DebugEnabled ( ) const

inline

Returns 'true' if debugging is enabled for the tracker.

Referenced by WsfDefaultSensorTracker::SwitchMode().

◆ DropTrackP()

void WsfSensorTracker::DropTrackP	(	double	aSimTime,
		const Settings &	aSettings,
		const WsfTrackId &	aRequestId,
		size_t	aObjectId,
		WsfSensorMode *	aModePtr,
		WsfTrack *&	aTrackPtr )

protected

A convenience method for tracker implementations for dropping a track. This will invoke either WsfSensor::DropTrack or the component represented by the settings. Note that this is purely a notification. The track must be dropped by the caller.

References WsfComponentListT< COMPONENT_TYPE >::FindComponentByRole(), WsfSensorTrackerSettings::mComponentRole, mSensorPtr, and WsfSensorComponent::TrackerDropTrack().

Referenced by operator=(), WsfDefaultSensorTracker::TargetBlocked(), WsfDefaultSensorTracker::TargetDeleted(), WsfDefaultSensorTracker::TargetDetected(), WsfDefaultSensorTracker::TargetSkipped(), and WsfDefaultSensorTracker::TargetUndetected().

◆ GetActiveTrackCount()

unsigned int WsfSensorTracker::GetActiveTrackCount ( ) const

virtual

Return the number of tracks being maintained by the sensor.

Reimplemented in WsfDefaultSensorTracker.

◆ GetActiveTrackList()

void WsfSensorTracker::GetActiveTrackList ( WsfTrackList & aActiveTrackList )

virtual

Return the active tracks the sensor is maintaining.

Reimplemented in WsfDefaultSensorTracker.

◆ GetMaximumTrackCount()

unsigned int WsfSensorTracker::GetMaximumTrackCount ( ) const

virtual

Return the maximum number of tracks that can be maintained by the sensor.

Reimplemented in WsfDefaultSensorTracker.

◆ GetRandom()

ut::Random & WsfSensorTracker::GetRandom ( ) const

protected

References WsfSimulation::GetRandom(), and GetSimulation().

Referenced by operator=(), and WsfDefaultSensorTracker::TargetDetected().

◆ GetRequestDataForTarget()

void WsfSensorTracker::GetRequestDataForTarget	(	size_t	aObjectId,
		WsfTrackId &	aRequestId,
		size_t &	aModeIndex,
		WsfTrackId &	aTrackId ) const

virtual

Get the request ID particular target.

Parameters

aObjectId	The index of the target of interest.
aRequestId	The scheduler request ID for the target of interest.
aModeIndex	The mode index of the target request.
aTrackId	The track Id of the request, 'null' if not found.

Reimplemented in WsfDefaultSensorTracker.

References WsfTrackId::Null().

◆ GetSensor()

WsfSensor * WsfSensorTracker::GetSensor ( ) const

inline

References mSensorPtr.

Referenced by WsfDefaultSensorTracker::ProcessSensorDetectionChanged(), and WsfDefaultSensorTracker::TargetBlocked().

◆ GetSimulation()

WsfSimulation * WsfSensorTracker::GetSimulation ( ) const

References mSensorPtr.

Referenced by GetRandom(), WsfDefaultSensorTracker::ProcessSensorDetectionChanged(), WsfDefaultSensorTracker::TargetDetected(), and WsfDefaultSensorTracker::TargetUndetected().

◆ GetTargetState()

bool WsfSensorTracker::GetTargetState	(	double	aSimTime,
		const WsfTrackId &	aRequestId,
		TargetState &	aTargetState )

virtual

Get the current perceived state of a particular target.

Parameters

aSimTime	The current simulation time.
aRequestId	The scheduler request ID.
aTargetState	The returned target state data (valid only if the function return value is 'true').

Returns: 'true' if the tracker was able to provide target state data or 'false' if no data is available.

Reimplemented in WsfDefaultSensorTracker.

◆ Initialize()

bool WsfSensorTracker::Initialize	(	double	aSimTime,
		WsfSensor *	aSensorPtr,
		WsfSensorScheduler *	aSchedulerPtr )

virtual

Initialize the tracker.

Parameters

aSimTime	The current simulation time.
aSensorPtr	The pointer to the sensor that owns this tracker.
aSchedulerPtr	The pointer to the sensor scheduler that is associated with the sensor.

Note: A tracker may be associated with only one sensor.

Reimplemented in WsfDefaultSensorTracker.

References mSchedulerPtr, and mSensorPtr.

Referenced by WsfDefaultSensorTracker::Initialize().

◆ InitializeTrackP()

void WsfSensorTracker::InitializeTrackP	(	double	aSimTime,
		const Settings &	aSettings,
		const WsfTrackId &	aRequestId,
		size_t	aObjectId,
		WsfSensorMode *	aModePtr,
		WsfTrack *&	aTrackPtr )

protected

A convenience method for tracker implementations for initializing a track. This will invoke either WsfSensorMode::InitializeTrack or the component represented by the settings.

References WsfComponentListT< COMPONENT_TYPE >::FindComponentByRole(), WsfSensorMode::InitializeTrack(), WsfSensorTrackerSettings::mComponentRole, mSensorPtr, and WsfSensorComponent::TrackerInitializeTrack().

Referenced by operator=(), and WsfDefaultSensorTracker::TargetDetected().

◆ operator=()

WsfSensorTracker & WsfSensorTracker::operator= ( const WsfSensorTracker & aSrc )

protecteddelete

References AllowTrackingP(), DropTrackP(), GetRandom(), InitializeTrackP(), UpdateTrackP(), and WsfSensorTracker().

◆ ProcessInput()

bool WsfSensorTracker::ProcessInput ( UtInput & aInput )

virtual

Process tracker input.

See also: WsfObject::ProcessInput() for a description of this method.

Reimplemented in WsfDefaultSensorTracker.

Referenced by WsfDefaultSensorTracker::ProcessInput().

◆ SchedulerModeChange()

void WsfSensorTracker::SchedulerModeChange	(	double	aSimTime,
		const WsfTrackId &	aRequestId,
		size_t	aObjectId,
		WsfPlatform *	aTargetPtr,
		WsfStringId	aNewModeName )

virtual

The scheduler is changing the mode for the indicated object.

This method is called by the scheduler to indicate it is changing the mode.

Parameters

aSimTime	The current simulation time.
aRequestId	If non-zero, the associated sensor scheduler request ID.
aObjectId	A unique identifier of the object that is trying to be detected. For a platform this should be its platform ID and for other objects it should be their unique ID.
aTargetPtr	The platform that owns the object that is trying to be detected.
aNewModeName	The name (ID) of the new mode.

Reimplemented in WsfDefaultSensorTracker.

◆ StopTracking()

void WsfSensorTracker::StopTracking	(	double	aSimTime,
		const WsfTrackId &	aRequestId )

virtual

A request has been made to stop a tracking request.

Parameters

aSimTime	The current simulation time.
aRequestId	The request Id.

Reimplemented in WsfDefaultSensorTracker.

◆ TargetBlocked()

void WsfSensorTracker::TargetBlocked	(	double	aSimTime,
		const Settings &	aSettings,
		const WsfTrackId &	aRequestId,
		size_t	aObjectId )

virtual

Request that a target be 'blocked'.

An external component may call this to indicate that a target is 'block'. Its function is to immediately drop any track associated with the target.

Parameters

aSimTime	The current simulation time.
aSettings	The settings/options for the tracker update.
aRequestId	If non-zero, the associated sensor scheduler request ID.
aObjectId	A unique identifier of the object that is trying to be blocked. For a platform this should be its platform ID. For other objects it should be their unique ID.

Note: This routine may call WsfSensor::DropTrack() (or its derived class implementation) to drop a track.

◆ TargetDeleted()

bool WsfSensorTracker::TargetDeleted	(	double	aSimTime,
		const Settings &	aSettings,
		const WsfTrackId &	aRequestId,
		size_t	aObjectId )

virtual

Process a target object that has been deleted (or turned off)

Parameters

aSimTime	The current simulation time.
aSettings	The settings/options for the tracker update.
aRequestId	If non-zero, the associated sensor scheduler request ID.
aObjectId	A unique identifier of the object that is trying to be blocked. For a platform this should be its platform ID. For other objects it should be their unique ID.

Returns: 'true' if the target is no longer being tracked or 'false' if it is still being tracked. The caller should continue to call this method until the track is dropped.

Note: This routine may call WsfSensor::DropTrack() (or its derived class implementation) to drop a track.

Reimplemented in WsfDefaultSensorTracker.

◆ TargetDetected()

void WsfSensorTracker::TargetDetected	(	double	aSimTime,
		const Settings &	aSettings,
		const WsfTrackId &	aRequestId,
		size_t	aObjectId,
		WsfPlatform *	aTargetPtr,
		WsfSensorResult &	aResult )

virtual

Process a successful detection attempt.

This routine should be called whenever a detection attempt is successful. The tracker can do things like correlation and track maintenance.

Parameters

aSimTime	The current simulation time.
aSettings	The settings/options for the tracker update.
aRequestId	If non-zero, the associated sensor scheduler request ID.
aObjectId	A unique identifier of the object that is trying to be blocked. For a platform this should be its platform ID. For other objects it should be their unique ID.
aTargetPtr	The platform that owns the object that is trying to be detected.
aResult	The detection result structure that contains the data about the detection attempt.

Note: This routine may call WsfSensor::InitializeTrack() and WsfSensor::UpdateTrack() (or their derived class implementations) to initialize or update a track.

Reimplemented in WsfDefaultSensorTracker.

◆ TargetSkipped()

bool WsfSensorTracker::TargetSkipped	(	double	aSimTime,
		const Settings &	aSettings,
		const WsfTrackId &	aRequestId,
		size_t	aObjectId )

virtual

Process a skipped detection chance.

This is called when a detection chance is bypassed. This is most likely caused when a tracking mode is activated that precludes searching.

Parameters

aSimTime	The current simulation time.
aSettings	The settings/options for the tracker update.
aRequestId	If non-zero, the associated sensor scheduler request ID.
aObjectId	A unique identifier of the object that is trying to be blocked. For a platform this should be its platform ID. For other objects it should be their unique ID.

Returns: 'true' if the target is no longer being tracked and 'false' if the target is still being tracked. The caller should continue to call this method until the track is dropped.

Note: This routine may call WsfSensor::DropTrack() (or its derived class implementation) to drop a track.

Reimplemented in WsfDefaultSensorTracker.

◆ TargetUndetected()

void WsfSensorTracker::TargetUndetected	(	double	aSimTime,
		const Settings &	aSettings,
		const WsfTrackId &	aRequestId,
		size_t	aObjectId,
		WsfPlatform *	aTargetPtr,
		WsfSensorResult &	aResult )

virtual

Process an unsuccessful detection attempt.

This routine should be called whenever a detection attempt is unsuccessful. The tracker can do things like update a detection history and drop tracks.

Parameters

aSimTime	The current simulation time.
aSettings	The settings/options for the tracker update.
aRequestId	If non-zero, the associated sensor scheduler request ID.
aObjectId	A unique identifier of the object that is trying to be blocked. For a platform this should be its platform ID. For other objects it should be their unique ID.
aTargetPtr	The platform that owns the object that is trying to be detected.
aResult	The detection result structure that contains the data about the detection attempt.

Note: This routine may call WsfSensor::DropTrack() (or its derived class implementation) to drop a track.

Reimplemented in WsfDefaultSensorTracker.

◆ TurnOff()

void WsfSensorTracker::TurnOff ( double aSimTime )

virtual

The associated sensor is being turned off.

Parameters

aSimTime The current simulation time.

Reimplemented in WsfDefaultSensorTracker.

◆ TurnOn()

void WsfSensorTracker::TurnOn ( double aSimTime )

virtual

The associated sensor is being turned on.

Parameters

aSimTime The current simulation time.

◆ UpdateTrackP()

void WsfSensorTracker::UpdateTrackP	(	double	aSimTime,
		const Settings &	aSettings,
		const WsfTrackId &	aRequestId,
		size_t	aObjectId,
		WsfSensorMode *	aModePtr,
		WsfTrack *	aTrackPtr,
		WsfPlatform *	aTargetPtr,
		WsfSensorResult &	aResult )

protected

A convenience method for tracker implementations for updating a track. This will invoke either WsfSensorMode::UpdateTrack or the component represented by the settings.

References WsfComponentListT< COMPONENT_TYPE >::FindComponentByRole(), WsfSensorTrackerSettings::mComponentRole, mSensorPtr, WsfSensorComponent::TrackerUpdateTrack(), and WsfSensorMode::UpdateTrack().

Referenced by operator=(), WsfDefaultSensorTracker::TargetDetected(), and WsfDefaultSensorTracker::TargetUndetected().

Member Data Documentation

◆ mSchedulerPtr

WsfSensorScheduler* WsfSensorTracker::mSchedulerPtr

protected

The scheduler that is attached to the sensor. This scheduler will be notified of any track updates that are associated with a particular request.

Referenced by WsfDefaultSensorTracker::CheckForAutoModeSwitch(), Initialize(), WsfSensorTracker(), and WsfSensorTracker().

◆ mSensorPtr

WsfSensor* WsfSensorTracker::mSensorPtr

protected

The sensor to which the tracker is attached.

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

Classes

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ Settings

Constructor & Destructor Documentation

◆ WsfSensorTracker() [1/2]

◆ ~WsfSensorTracker()

◆ WsfSensorTracker() [2/2]

Member Function Documentation

◆ AllowTrackingP()

◆ Clone()

◆ DebugEnabled()

◆ DropTrackP()

◆ GetActiveTrackCount()

◆ GetActiveTrackList()

◆ GetMaximumTrackCount()

◆ GetRandom()

◆ GetRequestDataForTarget()

◆ GetSensor()

◆ GetSimulation()

◆ GetTargetState()

◆ Initialize()

◆ InitializeTrackP()

◆ operator=()

◆ ProcessInput()

◆ SchedulerModeChange()

◆ StopTracking()

◆ TargetBlocked()

◆ TargetDeleted()

◆ TargetDetected()

◆ TargetSkipped()

◆ TargetUndetected()

◆ TurnOff()

◆ TurnOn()

◆ UpdateTrackP()

Member Data Documentation

◆ mSchedulerPtr

◆ mSensorPtr