#include <WsfCoherentSensorProcessor.hpp>

Inheritance diagram for WsfCoherentSensorProcessor:

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Collaboration diagram for WsfCoherentSensorProcessor:

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Classes
class	ResultData
class	State

Public Types
enum	DetectionAlgorithmType { cDA_SNR , cDA_RSS_SNR }
	Detection Algorithm State. More...
enum	TargetSensingState { cSS_UNDETECTED , cSS_DETECTED }
	Target Sensing State. More...
using	Results = std::vector<ResultData>
	Type definitions for storing and processing sensor results.
using	SensorToResultsMap = std::map<WsfStringId, Results>
using	TargetToSensorToResultMap = std::map<WsfStringId, SensorToResultsMap>
using	ComponentList = WsfComponentListT<WsfProcessorComponent>
Public Types inherited from WsfPlatformPart
enum	{ cLEVEL_ONE_DEBUG = 0x00000001 , cLEVEL_TWO_DEBUG = 0x00000002 }
using	InternalMessageQueue = std::queue<WsfMessage*>
using	RecipientMessageQueue = std::queue<std::pair<WsfPlatformPart, WsfMessage>>
Public Types inherited from WsfObject
typedef std::vector< WsfStringId >	TypeList
	The list of types returned by GetTypeList.
Public Types inherited from WsfComponentT< WsfPlatform >
typedef WsfPlatform	ParentType
	This is needed to support the WsfComponentList template.

Public Member Functions
	WsfCoherentSensorProcessor (WsfScenario &aScenario)
	~WsfCoherentSensorProcessor () override
WsfProcessor *	Clone () const override
bool	Initialize (double aSimTime) override
bool	Initialize2 (double aSimTime) override
bool	ProcessInput (UtInput &aInput) override
void	Update (double aSimTime) override
void	OnSensorTurnedOff (double aSimTime, WsfSensor *aSensorPtr) override
	Called just after the sensor is turned off.
void	OnSensorDetectionAttempted (double aSimTime, WsfSensor aSensorPtr, WsfPlatform aTargetPtr, WsfSensorResult &aResult) override
	Called after each sensor detection attempt, per mode/beam for multi-mode/beam sensors.
void	OnSensorDeleting (WsfSensor *aSensorPtr) override
	Called before the sensor is actually deleted.
void	OnSensorTargetUpdated (double aSimTime, WsfSensor aSensorPtr, WsfPlatform aTargetPtr, WsfSensorResult &aResult) override
	Called after each sensor update.
WsfFusionStrategy &	GetFusionStrategy ()
	Return the correlation strategy used by this processor.
void	SetFusionStrategy (WsfStringId aTypeName)
	Sets the correlation strategy used by this processor.
Public Member Functions inherited from WsfSensorProcessor
	WsfSensorProcessor (WsfScenario &aScenario)
	~WsfSensorProcessor () override=default
bool	Initialize (double aSimTime) override
bool	ProcessInput (UtInput &aInput) override
void	PlatformAdded (double aSimTime, WsfPlatform *aPlatformPtr) override
void	PlatformDeleted (WsfPlatform *aPlatformPtr) override
virtual bool	AddSensor (WsfStringId aPlatformNameId, WsfStringId aSensorNameId)
virtual bool	RemoveSensor (WsfStringId aPlatformNameId, WsfStringId aSensorNameId)
Public Member Functions inherited from WsfProcessor
	WsfProcessor (const WsfScenario &aScenario)
	~WsfProcessor () override=default
ComponentList &	GetComponents ()
const ComponentList &	GetComponents () const
virtual void	ProcessCallback (double aSimTime, const WsfCallback &aCallback)
WsfComponent *	CloneComponent () const override
const int *	GetComponentRoles () const override
void *	QueryInterface (int aRole) override
int	GetComponentInitializationOrder () const override
const char *	GetScriptClassName () const override
bool	PreInitialize (double aSimTime) override
bool	Initialize2 (double aSimTime) override
void	PreInput () override
void	Update (double aSimTime) override
void	TurnOff (double aSimTime) override
void	TurnOn (double aSimTime) override
void	SetNonOperational (double aSimTime) override
void	SetOperational (double aSimTime) override
void	PartBroken (double aSimTime) override
double	GetUpdateInterval () const override
void	SetUpdateInterval (double aUpdateInterval) override
Public Member Functions inherited from WsfPlatformPart
	WsfPlatformPart (const WsfScenario &aScenario, int aPartType)
WsfPlatformPart &	operator= (const WsfPlatformPart &aRhs)=delete
	~WsfPlatformPart () override
bool	DebugEnabled () const
	Returns 'true' if debugging is enabled for this instance.
void	SetDebugEnabled (bool aDebugEnabled)
unsigned int	GetDebugMask ()
bool	IsExternallyControlled () const
virtual void	SetExternallyControlled (double aSimTime, bool aIsExternallyControlled)
int	GetPartType () const
const char *	GetScriptClassName () const override
WsfSimulation *	GetSimulation () const
const WsfScenario &	GetScenario () const
WsfStringId	GetComponentName () const override
void	ComponentParentChanged (WsfPlatform *aPlatformPtr) override
WsfPlatform *	GetPlatform () const
virtual void	SetPlatform (WsfPlatform *aPlatformPtr)
double	GetLastStatusChangeTime () const
void	SetLastStatusChangeTime (double aSimTime)
	Allows a system to set the time at which the device was initialized.
bool	CanBeMadeOperational () const
	Returns an indication that this system can be made operational.
bool	CanBeMadeNonOperational () const
	Returns an indication that this system can be made non-operational.
bool	CanBeTurnedOn () const
	Returns an indication that this system can be turned on.
bool	CanBeTurnedOff () const
	Returns an indication that this system can be turned off.
bool	IsTurnedOn () const
bool	InitiallyTurnedOn () const
	Is the system to be turned 'on' when added to the simulation?
void	SetInitiallyTurnedOn (bool aInitiallyTurnedOn)
	Sets if the system is turned on when added to the simulation.
virtual void	Restore (double aSimTime)
bool	IsOperational () const
bool	SetOperational (double aSimTime, bool aMakeOperational)
double	GetDamageFactor () const
bool	SetDamageFactor (double aSimTime, double aDamageFactor)
bool	IsCritical () const
void	SetCritical (bool aValue)
virtual void	OnPlatformBrokenEvent (double aSimTime)
	Owning platform has issued a broken event.
bool	IsBroken () const
WsfInternalLinks &	GetInternalLinks ()
	Return the internal links for this part.
virtual bool	HasInternalLinks () const
	Does this platform part have a communication link to other platform parts?
virtual bool	ProcessMessage (double aSimTime, const WsfMessage &aMessage)
virtual bool	ReceiveMessage (double aSimTime, const WsfMessage &aMessage)
virtual void	SendMessage (double aSimTime, const WsfMessage &aMessage)
virtual void	SendMessageTo (double aSimTime, const WsfMessage &aMessage, WsfStringId aRecipientId)
void	SendMessageToProcessor (double aSimTime, const WsfMessage &aMessage, WsfStringId aRecipientId)
virtual void	SendQueuedMessages (double aSimTime)
const WsfCategoryList &	GetCategories () const
	Get the categories to which this part belongs.
void	AddCategory (WsfStringId aCategoryId)
	Adds the provided category to the platform part's category list.
bool	IsCategoryMember (WsfStringId aCategoryId) const
const WsfGroupList &	GetGroups () const
	Get the groups to which this platform part belongs.
void	JoinGroup (WsfGroup *aGroupPtr)
	Join the given group.
void	LeaveGroup (WsfGroup *aGroupPtr)
	Leave the given group.
bool	IsGroupMember (WsfStringId aGroupId)
unsigned int	GetUpdateEventEpoch () const
void	IncrementUpdateEventEpoch ()
bool	UpdateEventActive () const
	Is an 'Update' event active?
void	SetUpdateEventActive (bool aUpdateEventActive)
	Indicate if the 'Update' event is active.
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)
Public Member Functions inherited from WsfComponentT< WsfPlatform >
	WsfComponentT ()
	WsfComponentT (const WsfComponentT &) noexcept
WsfComponentT &	operator= (const WsfComponentT &) noexcept
	~WsfComponentT () override=default
ParentType *	GetComponentParent () const
void	SetComponentParent (ParentType *aParentPtr)
Public Member Functions inherited from WsfComponent
virtual	~WsfComponent ()=default
template<typename T>
bool	QueryInterfaceT (T *&aRolePtr)
bool	ComponentHasRole (int aRole)
	Returns true if the component has the specified role.
Public Member Functions inherited from WsfUniqueId
	WsfUniqueId ()
	Construtor initializes the unique identifier to 0.
	WsfUniqueId (const WsfUniqueId &)
	Copy constructor initializes the unique identifier to 0.
WsfUniqueId &	operator= (const WsfUniqueId &)
unsigned int	GetUniqueId () const
	Get the unique identifier assigned to this object.
template<typename T>
void	Serialize (T &aBuff)
	For XIO (de)serialization.
Public Member Functions inherited from WsfAuxDataEnabled
	WsfAuxDataEnabled ()=default
	WsfAuxDataEnabled (const WsfAuxDataEnabled &aSrc)=default
WsfAuxDataEnabled &	operator= (const WsfAuxDataEnabled &aRhs)
	WsfAuxDataEnabled (WsfAuxDataEnabled &&)=default
WsfAuxDataEnabled &	operator= (WsfAuxDataEnabled &&)=default
virtual	~WsfAuxDataEnabled () noexcept
void	SetAuxData (const WsfAttributeContainer &aAuxData)
void	DeleteAuxData ()
	Delete the aux data container from the object.
void	MergeAuxData (const WsfAuxDataEnabled &aSrc)
	Merge the object's aux data with aux data from an existing object.
void	UpdateAuxData (const WsfAuxDataEnabled &aSrc)
	Update the object's aux data with aux data from an existing object.
bool	HasAuxData () const
	Returns true if this object has aux data.
bool	ProcessInput (UtInput &aInput)
template<typename T>
void	Serialize (T &aBuff)
	(De)serialization for XIO
WsfAttributeContainer &	GetAuxData ()
const WsfAttributeContainer &	GetAuxData () const noexcept
const WsfAttributeContainer &	GetAuxDataConst () const noexcept
Public Member Functions inherited from WsfSingleSensorObserver
virtual	~WsfSingleSensorObserver ()=default
virtual void	OnSensorTurnedOn (double aSimTime, WsfSensor *aSensorPtr)
	Called just after the sensor is turned on.
virtual void	OnSensorDeleted (WsfSensor *aSensorPtr)
	Called just before the sensor is removed from the simulation.
virtual void	OnSensorTrackInitiated (double aSimTime, WsfSensor *aSensorPtr, const WsfTrack &aTrack)
	Called after initial sensor track formation by a sensor (similar to Observer::SensorTrackInitiated).
virtual void	OnSensorTrackUpdated (double aSimTime, WsfSensor *aSensorPtr, const WsfTrack &aTrack)
	Called after each subsequent update of sensor track by a sensor (similar to Observer::SensorTrackUpdated).
virtual void	OnSensorTrackDropped (double aSimTime, WsfSensor *aSensorPtr, const WsfTrack &aTrack)
	Called after a sensor track is dropped by a sensor (similar to Observer::SensorTrackDropped).

Protected Member Functions
	WsfCoherentSensorProcessor (const WsfCoherentSensorProcessor &aSrc)
WsfCoherentSensorProcessor &	operator= (const WsfCoherentSensorProcessor &)=delete
bool	SensorAdded (WsfSensor *aSensorPtr) override
	Clear any data or lists maintained by inheriting classes.
bool	SensorRemoved (WsfSensor *aSensorPtr) override
void	ClearSensorResults (WsfStringId aSensorId)
virtual void	UpdateTrack (double aSimTime, WsfTrack aTrackPtr, WsfSensor aSensorPtr, WsfPlatform *aTargetPtr, WsfSensorResult &aResult)
virtual void	TrackUpdated (double aSimTime, WsfSensor aSensorPtr, WsfTrack aTrackPtr)
virtual void	TrackDropped (double aSimTime, const WsfTrack &aTrack)
void	SendTrackUpdateMessage (double aSimTime, WsfSensor aSensorPtr, const WsfTrack aTrackPtr)
	WsfSensorProcessor (const WsfSensorProcessor &aSrc)
WsfSensorProcessor &	operator= (const WsfSensorProcessor &aRhs)=delete
	WsfProcessor (const WsfProcessor &aSrc)
	Copy constructor (for Clone()).
WsfProcessor &	operator= (const WsfProcessor &aRhs)=delete
	WsfPlatformPart (const WsfPlatformPart &aSrc)
	Copy constructor (for Clone()).
	WsfObject (const WsfObject &aSrc)
	Copy constructor (for Clone()).
Protected Member Functions inherited from WsfUniqueId
void	AssignUniqueId (WsfSimulation *aSimulationPtr)

Additional Inherited Members
static void	RegisterScriptMethods (UtScriptTypes &aScriptTypes)
Static Public Attributes inherited from WsfAuxDataEnabled
static UtCallbackListN< void(const WsfAuxDataEnabled *)>	AuxDataAccessed
static UtCallbackListN< void(const WsfAuxDataEnabled *)>	AuxDataDestroyed
std::recursive_mutex	mIncomingMutex

Detailed Description

A processor that coherently sums signals from multiple sensors to locate targets that may be below detection thresholds of the individual sensors.

Member Typedef Documentation

◆ Results

using WsfCoherentSensorProcessor::Results = std::vector<ResultData>

Type definitions for storing and processing sensor results.

◆ SensorToResultsMap

using WsfCoherentSensorProcessor::SensorToResultsMap = std::map<WsfStringId, Results>

◆ TargetToSensorToResultMap

using WsfCoherentSensorProcessor::TargetToSensorToResultMap = std::map<WsfStringId, SensorToResultsMap>

Member Enumeration Documentation

◆ DetectionAlgorithmType

enum WsfCoherentSensorProcessor::DetectionAlgorithmType

Detection Algorithm State.

Enumerator
cDA_SNR
cDA_RSS_SNR

◆ TargetSensingState

enum WsfCoherentSensorProcessor::TargetSensingState

Target Sensing State.

Enumerator
cSS_UNDETECTED
cSS_DETECTED

Constructor & Destructor Documentation

◆ WsfCoherentSensorProcessor() [1/2]

WsfCoherentSensorProcessor::WsfCoherentSensorProcessor ( WsfScenario & aScenario )

References cDA_SNR, WsfFusionStrategyTypes::Create(), WsfFusionStrategyTypes::Get(), WsfFusionStrategyTypes::GetDefaultStrategyName(), and WsfSensorProcessor::WsfSensorProcessor().

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

◆ ~WsfCoherentSensorProcessor()

WsfCoherentSensorProcessor::~WsfCoherentSensorProcessor ( )

override

References SensorRemoved().

◆ WsfCoherentSensorProcessor() [2/2]

WsfCoherentSensorProcessor::WsfCoherentSensorProcessor ( const WsfCoherentSensorProcessor & aSrc )

protected

References Clone(), WsfCoherentSensorProcessor(), and WsfSensorProcessor::WsfSensorProcessor().

Member Function Documentation

◆ ClearSensorResults()

void WsfCoherentSensorProcessor::ClearSensorResults ( WsfStringId aSensorId )

protected

Referenced by OnSensorDeleting(), OnSensorTurnedOff(), operator=(), and SensorRemoved().

◆ Clone()

WsfProcessor * WsfCoherentSensorProcessor::Clone ( ) const

overridevirtual

Create a clone of this object.

Returns: A pointer to the new copy.

Implements WsfSensorProcessor.

References WsfCoherentSensorProcessor(), and WsfProcessor::WsfProcessor().

Referenced by WsfCoherentSensorProcessor().

◆ GetFusionStrategy()

WsfFusionStrategy & WsfCoherentSensorProcessor::GetFusionStrategy ( )

inline

Return the correlation strategy used by this processor.

Return the fusion strategy used by this processor.

◆ Initialize()

bool WsfCoherentSensorProcessor::Initialize ( double aSimTime )

overridevirtual

Perform phase 1 initialization. This is called by WsfPlatform::Initialize() during phase 1 initialization of the platform. The component should complete validation of input data that could not be done by ProcessInput, as well as any other functions to prepare for simulation use (subject to the next paragraph).

The order in which components are initialized is defined by GetComponentInitializationOrder. In general a component implementation of this method should not be dependent on the state of another component, i.e.: it should not assume that the other components Initialize() method has been called. If such a dependency exists one should use Initialize2() if possible, or specify a value GetComponentInitializationOrder to force things to initialize in a particular order.

Parameters

aSimTime The current simulation time.

Returns: true if successful or false if unsuccessful (bad input data, etc.)

Note: This method should NOT add any other components to the platform. This MUST be done in PreInitialize().

Reimplemented from WsfComponent.

References WsfProcessor::GetUpdateInterval(), WsfSensorProcessor::Initialize(), and ok.

◆ Initialize2()

bool WsfCoherentSensorProcessor::Initialize2 ( double aSimTime )

overridevirtual

Perform phase 2 initialization. This is called by WsfPlatform::Initialize() during phase 2 of platform initialization. This method is typically used when a component may have some dependency on another component having completed its phase 1 initialization. The component should be ready for use in the simulation upon completion of this method.

The order in which components are initialized is defined by GetComponentInitializationOrder.

Parameters

aSimTime The current simulation time.

Returns: true if successful or false if unsuccessful.

Note: This method MUST NOT add any other components to the platform. This MUST be done in PreInitialize().

Reimplemented from WsfComponent.

References WsfProcessor::Initialize2().

◆ OnSensorDeleting()

void WsfCoherentSensorProcessor::OnSensorDeleting ( WsfSensor * aSensorPtr )

overridevirtual

Called before the sensor is actually deleted.

Reimplemented from WsfSingleSensorObserver.

References ClearSensorResults(), and WsfObject::GetNameId().

◆ OnSensorDetectionAttempted()

void WsfCoherentSensorProcessor::OnSensorDetectionAttempted	(	double	aSimTime,
		WsfSensor *	aSensorPtr,
		WsfPlatform *	aTargetPtr,
		WsfSensorResult &	aResult )

overridevirtual

Called after each sensor detection attempt, per mode/beam for multi-mode/beam sensors.

Reimplemented from WsfSingleSensorObserver.

References WsfObject::GetNameId(), and WsfSensorProcessor::mIncomingMutex.

◆ OnSensorTargetUpdated()

void WsfCoherentSensorProcessor::OnSensorTargetUpdated	(	double	aSimTime,
		WsfSensor *	aSensorPtr,
		WsfPlatform *	aTargetPtr,
		WsfSensorResult &	aResult )

overridevirtual

Called after each sensor update.

Reimplemented from WsfSingleSensorObserver.

References WsfObject::GetNameId(), WsfProcessor::GetUpdateInterval(), and WsfSensorProcessor::mIncomingMutex.

◆ OnSensorTurnedOff()

void WsfCoherentSensorProcessor::OnSensorTurnedOff	(	double	aSimTime,
		WsfSensor *	aSensorPtr )

overridevirtual

Called just after the sensor is turned off.

Reimplemented from WsfSingleSensorObserver.

References ClearSensorResults(), and WsfObject::GetNameId().

◆ operator=()

WsfCoherentSensorProcessor & WsfCoherentSensorProcessor::operator= ( const WsfCoherentSensorProcessor & )

protecteddelete

References ClearSensorResults(), UpdateTrack(), and WsfCoherentSensorProcessor().

◆ ProcessInput()

bool WsfCoherentSensorProcessor::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.

References cDA_RSS_SNR, cDA_SNR, WsfFusionStrategyTypes::Create(), WsfFusionStrategyTypes::Get(), WsfPlatformPart::GetScenario(), and WsfSensorProcessor::ProcessInput().

◆ SensorAdded()

bool WsfCoherentSensorProcessor::SensorAdded ( WsfSensor * aSensorPtr )

overrideprotectedvirtual

Clear any data or lists maintained by inheriting classes.

Implements WsfSensorProcessor.

References WsfSensor::AttachObserver().

◆ SensorRemoved()

bool WsfCoherentSensorProcessor::SensorRemoved ( WsfSensor * aSensorPtr )

overrideprotectedvirtual

Implements WsfSensorProcessor.

References ClearSensorResults(), WsfSensor::DetachObserver(), and WsfObject::GetNameId().

Referenced by ~WsfCoherentSensorProcessor().

◆ SetFusionStrategy()

void WsfCoherentSensorProcessor::SetFusionStrategy ( WsfStringId aTypeName )

Sets the correlation strategy used by this processor.

Sets the fusion strategy used by this track manager.

Sets the fusion strategy used by this processor.

References WsfFusionStrategyTypes::Get(), and WsfPlatformPart::GetScenario().

◆ Update()

void WsfCoherentSensorProcessor::Update ( double aSimTime )

overridevirtual

Update the state of an platform part. Updates the platform part to reflect the state at the specified simulation time.

Parameters

aSimTime The current simulation time.

Reimplemented from WsfPlatformPart.

References WsfPlatformPart::cLEVEL_TWO_DEBUG, WsfPlatformPart::DebugEnabled(), WsfPlatformPart::GetDebugMask(), WsfObject::GetName(), and WsfObject::GetType().

◆ UpdateTrack()

void WsfCoherentSensorProcessor::UpdateTrack	(	double	aSimTime,
		WsfTrack *	aTrackPtr,
		WsfSensor *	aSensorPtr,
		WsfPlatform *	aTargetPtr,
		WsfSensorResult &	aResult )

protectedvirtual

Hook to allow derived classes to update the track prior to it being sent.

This is called by ProcessResults just before sending a track that reflects the perceived state of a sensor result's target. The base class implementation does nothing except issue some optional debug output. A derived class may provide an implementation to perform whatever special processing they desire.

Parameters

aSimTime	The current simulation time.
aTrackPtr	A pointer to the track to be updated.
aSensorPtr	Pointer to the sensor.
aTargetPtr	Pointer to the target.
aResult	The results of the current detection attempt

References WsfPlatformPart::cLEVEL_TWO_DEBUG, WsfPlatformPart::DebugEnabled(), WsfPlatformPart::GetDebugMask(), WsfObject::GetName(), WsfTrack::GetTargetName(), WsfTrack::GetTargetType(), WsfObject::GetType(), and WsfEM_Interaction::mSignalToNoise.

Referenced by operator=().

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

Classes

Public Types

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Results

◆ SensorToResultsMap

◆ TargetToSensorToResultMap

Member Enumeration Documentation

◆ DetectionAlgorithmType

◆ TargetSensingState

Constructor & Destructor Documentation

◆ WsfCoherentSensorProcessor() [1/2]

◆ ~WsfCoherentSensorProcessor()

◆ WsfCoherentSensorProcessor() [2/2]

Member Function Documentation

◆ ClearSensorResults()

◆ Clone()

◆ GetFusionStrategy()

◆ Initialize()

◆ Initialize2()

◆ OnSensorDeleting()

◆ OnSensorDetectionAttempted()

◆ OnSensorTargetUpdated()

◆ OnSensorTurnedOff()

◆ operator=()

◆ ProcessInput()

◆ SensorAdded()

◆ SensorRemoved()

◆ SetFusionStrategy()

◆ Update()

◆ UpdateTrack()