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<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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<div class="headertitle"><div class="title">Detection3D.h</div></div>
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<div class="contents">
<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno"> 1</span><span class="comment">/*</span></div>
<div class="line"><a id="l00002" name="l00002"></a><span class="lineno"> 2</span><span class="comment"> * Copyright (c) 2013-2021 United States Government as represented by</span></div>
<div class="line"><a id="l00003" name="l00003"></a><span class="lineno"> 3</span><span class="comment"> * the National Aeronautics and Space Administration. No copyright</span></div>
<div class="line"><a id="l00004" name="l00004"></a><span class="lineno"> 4</span><span class="comment"> * is claimed in the United States under Title 17, U.S.Code. All Other</span></div>
<div class="line"><a id="l00005" name="l00005"></a><span class="lineno"> 5</span><span class="comment"> * Rights Reserved.</span></div>
<div class="line"><a id="l00006" name="l00006"></a><span class="lineno"> 6</span><span class="comment"> */</span></div>
<div class="line"><a id="l00007" name="l00007"></a><span class="lineno"> 7</span><span class="comment">/*</span></div>
<div class="line"><a id="l00008" name="l00008"></a><span class="lineno"> 8</span><span class="comment"> * Detection3D.h</span></div>
<div class="line"><a id="l00009" name="l00009"></a><span class="lineno"> 9</span><span class="comment"> *</span></div>
<div class="line"><a id="l00010" name="l00010"></a><span class="lineno"> 10</span><span class="comment"> * Created on: Dec 12, 2012</span></div>
<div class="line"><a id="l00011" name="l00011"></a><span class="lineno"> 11</span><span class="comment"> * Author: ghagen</span></div>
<div class="line"><a id="l00012" name="l00012"></a><span class="lineno"> 12</span><span class="comment"> */</span></div>
<div class="line"><a id="l00013" name="l00013"></a><span class="lineno"> 13</span> </div>
<div class="line"><a id="l00014" name="l00014"></a><span class="lineno"> 14</span><span class="preprocessor">#ifndef DETECTION3D_H_</span></div>
<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"> 15</span><span class="preprocessor">#define DETECTION3D_H_</span></div>
<div class="line"><a id="l00016" name="l00016"></a><span class="lineno"> 16</span> </div>
<div class="line"><a id="l00017" name="l00017"></a><span class="lineno"> 17</span><span class="preprocessor">#include "Vect3.h"</span></div>
<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"> 18</span><span class="preprocessor">#include "ParameterData.h"</span></div>
<div class="line"><a id="l00019" name="l00019"></a><span class="lineno"> 19</span><span class="preprocessor">#include "TrafficState.h"</span></div>
<div class="line"><a id="l00020" name="l00020"></a><span class="lineno"> 20</span><span class="preprocessor">#include "ConflictData.h"</span></div>
<div class="line"><a id="l00021" name="l00021"></a><span class="lineno"> 21</span><span class="preprocessor">#include "string_util.h"</span></div>
<div class="line"><a id="l00022" name="l00022"></a><span class="lineno"> 22</span><span class="preprocessor">#include "ParameterAcceptor.h"</span></div>
<div class="line"><a id="l00023" name="l00023"></a><span class="lineno"> 23</span><span class="preprocessor">#include <string></span></div>
<div class="line"><a id="l00024" name="l00024"></a><span class="lineno"> 24</span> </div>
<div class="line"><a id="l00025" name="l00025"></a><span class="lineno"> 25</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacelarcfm.html">larcfm</a> {</div>
<div class="line"><a id="l00026" name="l00026"></a><span class="lineno"> 26</span> </div>
<div class="line"><a id="l00027" name="l00027"></a><span class="lineno"><a class="line" href="classlarcfm_1_1_detection3_d.html"> 27</a></span><span class="keyword">class </span><a class="code hl_class" href="classlarcfm_1_1_detection3_d.html">Detection3D</a> : <span class="keyword">public</span> <a class="code hl_class" href="classlarcfm_1_1_parameter_acceptor.html">ParameterAcceptor</a> {</div>
<div class="line"><a id="l00028" name="l00028"></a><span class="lineno"> 28</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00029" name="l00029"></a><span class="lineno"> 29</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classlarcfm_1_1_detection3_d.html">~Detection3D</a>() = 0;</div>
<div class="line"><a id="l00030" name="l00030"></a><span class="lineno"> 30</span> </div>
<div class="line"><a id="l00031" name="l00031"></a><span class="lineno"> 31</span> <span class="keywordtype">bool</span> isValid()<span class="keyword"> const </span>{</div>
<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"> 32</span> <span class="keywordflow">return</span> getSimpleClassName() != <span class="stringliteral">""</span>; </div>
<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"> 33</span> }</div>
<div class="line"><a id="l00034" name="l00034"></a><span class="lineno"> 34</span> </div>
<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"> 35</span> <span class="comment">/* Note: this interface might be better (i.e. more efficient and internally consistent) if all parameters are Euclidean Vect3s.</span></div>
<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"> 36</span><span class="comment"> * Internally, doing things like taking the dot product of positions and velocities is somewhat iffy from a type-consistency point</span></div>
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"> 37</span><span class="comment"> * of view, and also potentially less efficient in C++, due to various type conversions (needs testing).</span></div>
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"> 38</span><span class="comment"> * Externally, we have semantically distinct types as inputs, even though they are actually all just Euclidean triples.</span></div>
<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"> 39</span><span class="comment"> */</span></div>
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"> 40</span> </div>
<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"> 49</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classlarcfm_1_1_detection3_d.html#a4dd7cb29e70e319022bfc9cf7c9e65f8">violation</a>(<span class="keyword">const</span> <a class="code hl_class" href="classlarcfm_1_1_vect3.html">Vect3</a>& so, <span class="keyword">const</span> <a class="code hl_class" href="classlarcfm_1_1_vect3.html">Vect3</a>& vo, <span class="keyword">const</span> <a class="code hl_class" href="classlarcfm_1_1_vect3.html">Vect3</a>& si, <span class="keyword">const</span> <a class="code hl_class" href="classlarcfm_1_1_vect3.html">Vect3</a>& vi) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00050" name="l00050"></a><span class="lineno"> 50</span> </div>
<div class="line"><a id="l00061" name="l00061"></a><span class="lineno"> 61</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classlarcfm_1_1_detection3_d.html#a039eee6eec33cc72492e18fd4b07886d">conflict</a>(<span class="keyword">const</span> <a class="code hl_class" href="classlarcfm_1_1_vect3.html">Vect3</a>& so, <span class="keyword">const</span> <a class="code hl_class" href="classlarcfm_1_1_vect3.html">Vect3</a>& vo, <span class="keyword">const</span> <a class="code hl_class" href="classlarcfm_1_1_vect3.html">Vect3</a>& si, <span class="keyword">const</span> <a class="code hl_class" href="classlarcfm_1_1_vect3.html">Vect3</a>& vi, <span class="keywordtype">double</span> B, <span class="keywordtype">double</span> T) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00062" name="l00062"></a><span class="lineno"> 62</span> </div>
<div class="line"><a id="l00075" name="l00075"></a><span class="lineno"><a class="line" href="classlarcfm_1_1_detection3_d.html#a3a80dcbc2a508536a3acf1ff0590add2"> 75</a></span> <span class="keyword">virtual</span> <a class="code hl_class" href="classlarcfm_1_1_conflict_data.html">ConflictData</a> <a class="code hl_function" href="classlarcfm_1_1_detection3_d.html#a3a80dcbc2a508536a3acf1ff0590add2">conflictDetection</a>(<span class="keyword">const</span> <a class="code hl_class" href="classlarcfm_1_1_vect3.html">Vect3</a>& so, <span class="keyword">const</span> <a class="code hl_class" href="classlarcfm_1_1_vect3.html">Vect3</a>& vo, <span class="keyword">const</span> <a class="code hl_class" href="classlarcfm_1_1_vect3.html">Vect3</a>& si, <span class="keyword">const</span> <a class="code hl_class" href="classlarcfm_1_1_vect3.html">Vect3</a>& vi, <span class="keywordtype">double</span> B, <span class="keywordtype">double</span> T) <span class="keyword">const</span> = 0;</div>
<div class="line"><a id="l00076" name="l00076"></a><span class="lineno"> 76</span> </div>
<div class="line"><a id="l00084" name="l00084"></a><span class="lineno"> 84</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classlarcfm_1_1_detection3_d.html#aa2ca0cc23aa820425db5e932e37a6f2b">violationAtWithTrafficState</a>(<span class="keyword">const</span> <a class="code hl_class" href="classlarcfm_1_1_traffic_state.html">TrafficState</a>& ownship, <span class="keyword">const</span> <a class="code hl_class" href="classlarcfm_1_1_traffic_state.html">TrafficState</a>& intruder, <span class="keywordtype">double</span> t) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00085" name="l00085"></a><span class="lineno"> 85</span> </div>
<div class="line"><a id="l00094" name="l00094"></a><span class="lineno"> 94</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classlarcfm_1_1_detection3_d.html#a9f65a5297136257692e5ef909fe172a6">conflictWithTrafficState</a>(<span class="keyword">const</span> <a class="code hl_class" href="classlarcfm_1_1_traffic_state.html">TrafficState</a>& ownship, <span class="keyword">const</span> <a class="code hl_class" href="classlarcfm_1_1_traffic_state.html">TrafficState</a>& intruder, <span class="keywordtype">double</span> B, <span class="keywordtype">double</span> T) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00095" name="l00095"></a><span class="lineno"> 95</span> </div>
<div class="line"><a id="l00106" name="l00106"></a><span class="lineno"> 106</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classlarcfm_1_1_conflict_data.html">ConflictData</a> <a class="code hl_function" href="classlarcfm_1_1_detection3_d.html#a06c5d18137ac3a130bcb9ca27a16b06d">conflictDetectionWithTrafficState</a>(<span class="keyword">const</span> <a class="code hl_class" href="classlarcfm_1_1_traffic_state.html">TrafficState</a>& ownship, <span class="keyword">const</span> <a class="code hl_class" href="classlarcfm_1_1_traffic_state.html">TrafficState</a>& intruder, <span class="keywordtype">double</span> B, <span class="keywordtype">double</span> T) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00107" name="l00107"></a><span class="lineno"> 107</span> </div>
<div class="line"><a id="l00109" name="l00109"></a><span class="lineno"><a class="line" href="classlarcfm_1_1_detection3_d.html#a38aba03a3b33636dc14091165be54d5c"> 109</a></span> <span class="keyword">virtual</span> <a class="code hl_class" href="classlarcfm_1_1_detection3_d.html">Detection3D</a>* <a class="code hl_function" href="classlarcfm_1_1_detection3_d.html#a38aba03a3b33636dc14091165be54d5c">copy</a>() <span class="keyword">const</span> = 0;</div>
<div class="line"><a id="l00110" name="l00110"></a><span class="lineno"> 110</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classlarcfm_1_1_detection3_d.html">Detection3D</a>* make() <span class="keyword">const</span> = 0;</div>
<div class="line"><a id="l00111" name="l00111"></a><span class="lineno"> 111</span> </div>
<div class="line"><a id="l00112" name="l00112"></a><span class="lineno"> 112</span> std::string getCanonicalClassName()<span class="keyword"> const </span>{</div>
<div class="line"><a id="l00113" name="l00113"></a><span class="lineno"> 113</span> <span class="keywordflow">return</span> <span class="stringliteral">"gov.nasa.larcfm.ACCoRD."</span>+getSimpleClassName();</div>
<div class="line"><a id="l00114" name="l00114"></a><span class="lineno"> 114</span> }</div>
<div class="line"><a id="l00115" name="l00115"></a><span class="lineno"> 115</span> </div>
<div class="line"><a id="l00116" name="l00116"></a><span class="lineno"> 116</span> std::string getCanonicalSuperClassName()<span class="keyword"> const </span>{</div>
<div class="line"><a id="l00117" name="l00117"></a><span class="lineno"> 117</span> <span class="keywordflow">return</span> <span class="stringliteral">"gov.nasa.larcfm.ACCoRD."</span>+getSimpleSuperClassName();</div>
<div class="line"><a id="l00118" name="l00118"></a><span class="lineno"> 118</span> }</div>
<div class="line"><a id="l00119" name="l00119"></a><span class="lineno"> 119</span> </div>
<div class="line"><a id="l00120" name="l00120"></a><span class="lineno"> 120</span> <span class="keyword">virtual</span> std::string getSimpleClassName() <span class="keyword">const</span> = 0;</div>
<div class="line"><a id="l00121" name="l00121"></a><span class="lineno"> 121</span> <span class="keyword">virtual</span> std::string getSimpleSuperClassName()<span class="keyword"> const </span>{</div>
<div class="line"><a id="l00122" name="l00122"></a><span class="lineno"> 122</span> <span class="keywordflow">return</span> getSimpleClassName();</div>
<div class="line"><a id="l00123" name="l00123"></a><span class="lineno"> 123</span> }</div>
<div class="line"><a id="l00124" name="l00124"></a><span class="lineno"> 124</span> <span class="keyword">virtual</span> std::string toString() <span class="keyword">const</span> = 0;</div>
<div class="line"><a id="l00125" name="l00125"></a><span class="lineno"> 125</span> <span class="keyword">virtual</span> std::string toPVS() <span class="keyword">const</span> = 0;</div>
<div class="line"><a id="l00126" name="l00126"></a><span class="lineno"> 126</span> </div>
<div class="line"><a id="l00127" name="l00127"></a><span class="lineno"> 127</span> <span class="keyword">virtual</span> std::string getIdentifier() <span class="keyword">const</span> = 0;</div>
<div class="line"><a id="l00128" name="l00128"></a><span class="lineno"> 128</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> setIdentifier(<span class="keyword">const</span> std::string& s) = 0;</div>
<div class="line"><a id="l00129" name="l00129"></a><span class="lineno"> 129</span> </div>
<div class="line"><a id="l00139" name="l00139"></a><span class="lineno"><a class="line" href="classlarcfm_1_1_detection3_d.html#ae187dc6d4c00d78ff393719317027ee8"> 139</a></span> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classlarcfm_1_1_detection3_d.html#ae187dc6d4c00d78ff393719317027ee8">equals</a>(<span class="keyword">const</span> <a class="code hl_class" href="classlarcfm_1_1_detection3_d.html">Detection3D</a>& o) <span class="keyword">const</span> = 0;</div>
<div class="line"><a id="l00140" name="l00140"></a><span class="lineno"> 140</span> </div>
<div class="line"><a id="l00141" name="l00141"></a><span class="lineno"> 141</span> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> contains(<span class="keyword">const</span> <a class="code hl_class" href="classlarcfm_1_1_detection3_d.html">Detection3D</a>& cd) <span class="keyword">const</span> = 0;</div>
<div class="line"><a id="l00142" name="l00142"></a><span class="lineno"> 142</span> </div>
<div class="line"><a id="l00143" name="l00143"></a><span class="lineno"> 143</span> <span class="keywordtype">bool</span> instanceOf(<span class="keyword">const</span> std::string& classname)<span class="keyword"> const </span>{</div>
<div class="line"><a id="l00144" name="l00144"></a><span class="lineno"> 144</span> <span class="keywordflow">return</span> <a class="code hl_function" href="namespacelarcfm.html#a70e71904b71bbd150854983eb667a733">larcfm::equals</a>(getCanonicalClassName(), classname);</div>
<div class="line"><a id="l00145" name="l00145"></a><span class="lineno"> 145</span> }</div>
<div class="line"><a id="l00146" name="l00146"></a><span class="lineno"> 146</span> </div>
<div class="line"><a id="l00159" name="l00159"></a><span class="lineno"> 159</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classlarcfm_1_1_detection3_d.html#af0b794e142c772fbaecf9447944596e8">horizontalContours</a>(std::vector<std::vector<Position> >& blobs, <span class="keyword">const</span> <a class="code hl_class" href="classlarcfm_1_1_traffic_state.html">TrafficState</a>& ownship, <span class="keyword">const</span> <a class="code hl_class" href="classlarcfm_1_1_traffic_state.html">TrafficState</a>& intruder,</div>
<div class="line"><a id="l00160" name="l00160"></a><span class="lineno"> 160</span> <span class="keywordtype">double</span> thr, <span class="keywordtype">double</span> T) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00161" name="l00161"></a><span class="lineno"> 161</span> </div>
<div class="line"><a id="l00177" name="l00177"></a><span class="lineno"> 177</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classlarcfm_1_1_detection3_d.html#a563197ae6fae4af5fd668ca19dc33bcd">horizontalHazardZone</a>(std::vector<Position>& haz, <span class="keyword">const</span> <a class="code hl_class" href="classlarcfm_1_1_traffic_state.html">TrafficState</a>& ownship, <span class="keyword">const</span> <a class="code hl_class" href="classlarcfm_1_1_traffic_state.html">TrafficState</a>& intruder,</div>
<div class="line"><a id="l00178" name="l00178"></a><span class="lineno"> 178</span> <span class="keywordtype">double</span> T) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00179" name="l00179"></a><span class="lineno"> 179</span> </div>
<div class="line"><a id="l00180" name="l00180"></a><span class="lineno"> 180</span><span class="keyword">private</span>:</div>
<div class="line"><a id="l00181" name="l00181"></a><span class="lineno"> 181</span> <span class="keyword">static</span> <span class="keywordtype">void</span> add_blob(std::vector<std::vector<Position> >& blobs, std::vector<Position>& vin, std::vector<Position>& vout);</div>
<div class="line"><a id="l00182" name="l00182"></a><span class="lineno"> 182</span>};</div>
<div class="line"><a id="l00183" name="l00183"></a><span class="lineno"> 183</span> </div>
<div class="line"><a id="l00184" name="l00184"></a><span class="lineno"> 184</span><span class="keyword">inline</span> Detection3D::~Detection3D(){}</div>
<div class="line"><a id="l00185" name="l00185"></a><span class="lineno"> 185</span> </div>
<div class="line"><a id="l00186" name="l00186"></a><span class="lineno"> 186</span>} <span class="comment">/* namespace larcfm */</span></div>
<div class="line"><a id="l00187" name="l00187"></a><span class="lineno"> 187</span><span class="preprocessor">#endif </span><span class="comment">/* DETECTION3D_H_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclasslarcfm_1_1_conflict_data_html"><div class="ttname"><a href="classlarcfm_1_1_conflict_data.html">larcfm::ConflictData</a></div><div class="ttdef"><b>Definition</b> ConflictData.h:27</div></div>
<div class="ttc" id="aclasslarcfm_1_1_detection3_d_html"><div class="ttname"><a href="classlarcfm_1_1_detection3_d.html">larcfm::Detection3D</a></div><div class="ttdef"><b>Definition</b> Detection3D.h:27</div></div>
<div class="ttc" id="aclasslarcfm_1_1_detection3_d_html_a039eee6eec33cc72492e18fd4b07886d"><div class="ttname"><a href="classlarcfm_1_1_detection3_d.html#a039eee6eec33cc72492e18fd4b07886d">larcfm::Detection3D::conflict</a></div><div class="ttdeci">bool conflict(const Vect3 &so, const Vect3 &vo, const Vect3 &si, const Vect3 &vi, double B, double T) const</div><div class="ttdef"><b>Definition</b> Detection3D.cpp:35</div></div>
<div class="ttc" id="aclasslarcfm_1_1_detection3_d_html_a06c5d18137ac3a130bcb9ca27a16b06d"><div class="ttname"><a href="classlarcfm_1_1_detection3_d.html#a06c5d18137ac3a130bcb9ca27a16b06d">larcfm::Detection3D::conflictDetectionWithTrafficState</a></div><div class="ttdeci">virtual ConflictData conflictDetectionWithTrafficState(const TrafficState &ownship, const TrafficState &intruder, double B, double T) const</div><div class="ttdef"><b>Definition</b> Detection3D.cpp:86</div></div>
<div class="ttc" id="aclasslarcfm_1_1_detection3_d_html_a38aba03a3b33636dc14091165be54d5c"><div class="ttname"><a href="classlarcfm_1_1_detection3_d.html#a38aba03a3b33636dc14091165be54d5c">larcfm::Detection3D::copy</a></div><div class="ttdeci">virtual Detection3D * copy() const =0</div></div>
<div class="ttc" id="aclasslarcfm_1_1_detection3_d_html_a3a80dcbc2a508536a3acf1ff0590add2"><div class="ttname"><a href="classlarcfm_1_1_detection3_d.html#a3a80dcbc2a508536a3acf1ff0590add2">larcfm::Detection3D::conflictDetection</a></div><div class="ttdeci">virtual ConflictData conflictDetection(const Vect3 &so, const Vect3 &vo, const Vect3 &si, const Vect3 &vi, double B, double T) const =0</div></div>
<div class="ttc" id="aclasslarcfm_1_1_detection3_d_html_a4dd7cb29e70e319022bfc9cf7c9e65f8"><div class="ttname"><a href="classlarcfm_1_1_detection3_d.html#a4dd7cb29e70e319022bfc9cf7c9e65f8">larcfm::Detection3D::violation</a></div><div class="ttdeci">bool violation(const Vect3 &so, const Vect3 &vo, const Vect3 &si, const Vect3 &vi) const</div><div class="ttdef"><b>Definition</b> Detection3D.cpp:21</div></div>
<div class="ttc" id="aclasslarcfm_1_1_detection3_d_html_a563197ae6fae4af5fd668ca19dc33bcd"><div class="ttname"><a href="classlarcfm_1_1_detection3_d.html#a563197ae6fae4af5fd668ca19dc33bcd">larcfm::Detection3D::horizontalHazardZone</a></div><div class="ttdeci">virtual void horizontalHazardZone(std::vector< Position > &haz, const TrafficState &ownship, const TrafficState &intruder, double T) const</div><div class="ttdef"><b>Definition</b> Detection3D.cpp:212</div></div>
<div class="ttc" id="aclasslarcfm_1_1_detection3_d_html_a9f65a5297136257692e5ef909fe172a6"><div class="ttname"><a href="classlarcfm_1_1_detection3_d.html#a9f65a5297136257692e5ef909fe172a6">larcfm::Detection3D::conflictWithTrafficState</a></div><div class="ttdeci">bool conflictWithTrafficState(const TrafficState &ownship, const TrafficState &intruder, double B, double T) const</div><div class="ttdef"><b>Definition</b> Detection3D.cpp:65</div></div>
<div class="ttc" id="aclasslarcfm_1_1_detection3_d_html_aa2ca0cc23aa820425db5e932e37a6f2b"><div class="ttname"><a href="classlarcfm_1_1_detection3_d.html#aa2ca0cc23aa820425db5e932e37a6f2b">larcfm::Detection3D::violationAtWithTrafficState</a></div><div class="ttdeci">bool violationAtWithTrafficState(const TrafficState &ownship, const TrafficState &intruder, double t) const</div><div class="ttdef"><b>Definition</b> Detection3D.cpp:53</div></div>
<div class="ttc" id="aclasslarcfm_1_1_detection3_d_html_ae187dc6d4c00d78ff393719317027ee8"><div class="ttname"><a href="classlarcfm_1_1_detection3_d.html#ae187dc6d4c00d78ff393719317027ee8">larcfm::Detection3D::equals</a></div><div class="ttdeci">virtual bool equals(const Detection3D &o) const =0</div></div>
<div class="ttc" id="aclasslarcfm_1_1_detection3_d_html_af0b794e142c772fbaecf9447944596e8"><div class="ttname"><a href="classlarcfm_1_1_detection3_d.html#af0b794e142c772fbaecf9447944596e8">larcfm::Detection3D::horizontalContours</a></div><div class="ttdeci">void horizontalContours(std::vector< std::vector< Position > > &blobs, const TrafficState &ownship, const TrafficState &intruder, double thr, double T) const</div><div class="ttdef"><b>Definition</b> Detection3D.cpp:114</div></div>
<div class="ttc" id="aclasslarcfm_1_1_parameter_acceptor_html"><div class="ttname"><a href="classlarcfm_1_1_parameter_acceptor.html">larcfm::ParameterAcceptor</a></div><div class="ttdef"><b>Definition</b> ParameterAcceptor.h:16</div></div>
<div class="ttc" id="aclasslarcfm_1_1_traffic_state_html"><div class="ttname"><a href="classlarcfm_1_1_traffic_state.html">larcfm::TrafficState</a></div><div class="ttdef"><b>Definition</b> TrafficState.h:19</div></div>
<div class="ttc" id="aclasslarcfm_1_1_vect3_html"><div class="ttname"><a href="classlarcfm_1_1_vect3.html">larcfm::Vect3</a></div><div class="ttdef"><b>Definition</b> Vect3.h:29</div></div>
<div class="ttc" id="anamespacelarcfm_html"><div class="ttname"><a href="namespacelarcfm.html">larcfm</a></div><div class="ttdef"><b>Definition</b> ACCoRDConfig.h:16</div></div>
<div class="ttc" id="anamespacelarcfm_html_a70e71904b71bbd150854983eb667a733"><div class="ttname"><a href="namespacelarcfm.html#a70e71904b71bbd150854983eb667a733">larcfm::equals</a></div><div class="ttdeci">bool equals(const std::string &, const std::string &)</div></div>
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