globalConst.hpp

#ifndef RIDE_GLOBAL_CONST_HPP
#define RIDE_GLOBAL_CONST_HPP

#include <math.h>
#include <iostream>

namespace jafar {

    namespace ride {

        class GC
        {
            public :
                // min distance between A/C
                static const double DMIN = 40.;
                // max distance between A/C
                static const double DMAX = 400.;
                // default corridor size
                static const double CORRIDOR = 200.;
                // acceleration of gravity
                static const double GRAV = 9.81;
                // max distance to switch from FLYBY to FLYOVER
                static const double DLIM = 60.0;
                // number of sector
                static const int JAM_SECTORS = 4;
                // step for allocations
                static const double JAMSTEP = 10.0;
                // max aperture for allocation
                static const double MAXAPERTURE = 100.*M_PI/180.;
                // distance for jamming anticipation
                static const double JAMEW_ANTICIP = 300.;
                // maximum number of EW that can be jammed in each sector
                static const int JAMEW_PER_SECTOR = 3;
                // aperture of defensive jammer
                static const double JAMTF_APERTURE = 3.*M_PI/180.;
                // distance that consider uav on slot
                static const double D_PROXY = 10.;
                // distance of a local move
                static const double D_LOCAL = 6.;
                // magnify dmin in config planification
                static const double COEF_DMIN_CONFIG = 1.5;
                // coef for replan (coef*D_LOCAL)
                static const double COEF_REPLAN = 1.5;
                // move step for multi traj planning
                static const double MULTI_TRAJ_STEP = 8.;
                // enable 3D move in multi traj planning
                static const bool ENABLE_MULTI_TRAJ_3D = true;
                // maximum number of nodes before failing A*
                static const int MULTI_TRAJ_MAX_NODE = 10000;
                // maximum number of reconfiguration step in A*
                static const int MULTI_TRAJ_MAX_LEVEL = 100;
                // maximum time for A* in ms
                static const int MULTI_TRAJ_MAX_TIME = 1000;
                // maximum time for smoother in ms
                static const int SMOOTHER_MAX_TIME = 500;
                // maximum number of iteration in smoother loop
                static const int SMOOTHER_MAX_ITERATION = 1000;
                // precision of the smoother to exist loop
                static const double SMOOTHER_PRECISION = 0.1;
                // smoother time step for simulation of dynamics
                static const double SMOOTHER_TIME_STEP = 0.1;
                // spring force coef in smoother
                static const double SMOOTHER_SPRING_COEF = 1.;
                // damp force coef in smoother
                static const double SMOOTHER_DAMP_COEF = 2.;
                // penality cost on time step
                static const double MULTI_TRAJ_TIME_COST = 2.;
                // penality cost for moving in not valid zone (multi traj)
                static const double PENALITY_NOT_VALID_ZONE = 10.;
                // penality cost for moving in limit zone (multi traj)
                static const double PENALITY_LIMIT_ZONE = 4.;
                // number of step between two slot updates
                static const int SLOT_UPDATE_RATE = 0;
                // number of step between two plan updates
                static const int PLAN_UPDATE_RATE = 30;
                // number of step in the get close point algo (Area)
                static const int NB_STEP_CLOSE_POINT = 80;
                // number of random tests per volume unit in close point algo
                static const int TEST_PER_VOLUME_CLOSE_POINT = 4;
                // number of valid points to find before stopping close point algo
                static const int MAX_VALID_CLOSE_POINT = 30;
                // optimal or best first method for slot allocation
                static const bool OPTIMAL_SLOT_ALLOC = true;
                // use estimated positions of the UAVs in the formation
                static const bool USE_ESTIMATE_STATE = true;
                // max delta time for estimated positions (in second)
                static const double MAX_TIME_ESTIMATE_STATE = 1.;
                // distance for split anticipation
                static const double SPLIT_ANTICIP = 50.;
                // staturation value for potentials
                static const double COEF_SAT_POTENTIAL = 100.;
                // coef on center attraction force
                static const double COEF_SLOT_POTENTIAL = 0.1;
                // coef on plan z=0 attraction force
                static const double COEF_VERT_POTENTIAL = 0.3;
                // coef on corridor force
                static const double COEF_CORRIDOR_POTENTIAL = 60.;
                // coef on uav force
                static const double COEF_UAV_POTENTIAL = 50.;
                // coef on EW threat force
                static const double COEF_THREAT_POTENTIAL = 30.;
                // coef on TF threat force
                static const double COEF_PROTEC_POTENTIAL = 6.;
                // minimum force value
                static const double D_FORCE_MIN = 0.1;

        };

    }

}

#endif