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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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<title>Multi-functional Missions Queue Project: MissionSolver< T > Class Template Reference</title>
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<div id="projectname">Multi-functional Missions Queue Project
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<div class="header">
<div class="summary">
<a href="#pub-methods">Public Member Functions</a> |
<a href="#pri-methods">Private Member Functions</a> |
<a href="#pri-attribs">Private Attributes</a> |
<a href="classMissionSolver-members.html">List of all members</a> </div>
<div class="headertitle">
<div class="title">MissionSolver< T > Class Template Reference</div> </div>
</div><!--header-->
<div class="contents">
<p><code>#include <<a class="el" href="Missions_8h_source.html">Missions.h</a>></code></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a76473bff5fe9fb86e937ea8b2f7c2df3"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classMissionSolver.html#a76473bff5fe9fb86e937ea8b2f7c2df3">get_n_aeronaves</a> ()</td></tr>
<tr class="separator:a76473bff5fe9fb86e937ea8b2f7c2df3"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a9b090a8e93c2d404af5bab39afb7f212"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classMissionSolver.html#a9b090a8e93c2d404af5bab39afb7f212">get_indice</a> ()</td></tr>
<tr class="separator:a9b090a8e93c2d404af5bab39afb7f212"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a02bfe1b8b5ba55822fb64f9ec7a9f43e"><td class="memItemLeft" align="right" valign="top">T </td><td class="memItemRight" valign="bottom"><a class="el" href="classMissionSolver.html#a02bfe1b8b5ba55822fb64f9ec7a9f43e">get_distancia_minima</a> ()</td></tr>
<tr class="separator:a02bfe1b8b5ba55822fb64f9ec7a9f43e"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:aee512e677bf6d83f523e89dbef11cfb3"><td class="memItemLeft" align="right" valign="top">T </td><td class="memItemRight" valign="bottom"><a class="el" href="classMissionSolver.html#aee512e677bf6d83f523e89dbef11cfb3">get_raio</a> ()</td></tr>
<tr class="separator:aee512e677bf6d83f523e89dbef11cfb3"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:aaafa5fda04153357ecda907b1702b61f"><td class="memItemLeft" align="right" valign="top">T </td><td class="memItemRight" valign="bottom"><a class="el" href="classMissionSolver.html#aaafa5fda04153357ecda907b1702b61f">get_velocidade</a> ()</td></tr>
<tr class="separator:aaafa5fda04153357ecda907b1702b61f"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a8776d42ddea12c5a83cf0c628c31816d"><td class="memItemLeft" align="right" valign="top">T </td><td class="memItemRight" valign="bottom"><a class="el" href="classMissionSolver.html#a8776d42ddea12c5a83cf0c628c31816d">get_delta</a> ()</td></tr>
<tr class="separator:a8776d42ddea12c5a83cf0c628c31816d"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:adcd7d30b25838bc9180f336a891e1f59"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classMissionSolver.html#adcd7d30b25838bc9180f336a891e1f59">get_changes</a> ()</td></tr>
<tr class="separator:adcd7d30b25838bc9180f336a891e1f59"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a026bf36012f673f772d747e9645dbd95"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classMissionSolver.html#a026bf36012f673f772d747e9645dbd95">set_raio</a> (T r)</td></tr>
<tr class="separator:a026bf36012f673f772d747e9645dbd95"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a1eb5bad35bcff80e34db0c7a61be7ca2"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classMissionSolver.html#a1eb5bad35bcff80e34db0c7a61be7ca2">set_changes</a> (int c)</td></tr>
<tr class="separator:a1eb5bad35bcff80e34db0c7a61be7ca2"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a8c18042a3d747fdb6167c43b07a2c4f0"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classMissionSolver.html#a8c18042a3d747fdb6167c43b07a2c4f0">set_velocidade</a> (T v)</td></tr>
<tr class="separator:a8c18042a3d747fdb6167c43b07a2c4f0"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ad13a138fde7cd261d5f2d16360735f30"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classMissionSolver.html#ad13a138fde7cd261d5f2d16360735f30">MissionSolver</a> (int id, int <a class="el" href="classMissionSolver.html#a21c99d42ace70b719ec7cec5d9060832">n_aeronaves</a>, T <a class="el" href="classMissionSolver.html#af04d814241590c41620cdfd30cfd65f5">delta</a>, T vel)</td></tr>
<tr class="separator:ad13a138fde7cd261d5f2d16360735f30"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a3dd8dc2f1ba357f179139b6388b72e61"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classMissionSolver.html#a3dd8dc2f1ba357f179139b6388b72e61">insert_mission</a> (<a class="el" href="classMission.html">Mission</a>< T > *m)</td></tr>
<tr class="separator:a3dd8dc2f1ba357f179139b6388b72e61"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ab518e45c342dea1ed9c2f441662d5e64"><td class="memItemLeft" align="right" valign="top">vector< vector< T > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classMissionSolver.html#ab518e45c342dea1ed9c2f441662d5e64">run_missions</a> ()</td></tr>
<tr class="separator:ab518e45c342dea1ed9c2f441662d5e64"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a66fcd8fb7fef82663933ec25bebb654c"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classMissionLongitudinal.html">MissionLongitudinal</a>< T > * </td><td class="memItemRight" valign="bottom"><a class="el" href="classMissionSolver.html#a66fcd8fb7fef82663933ec25bebb654c">first_position</a> (<a class="el" href="classMissionLongitudinal.html">MissionLongitudinal</a>< T > *m)</td></tr>
<tr class="separator:a66fcd8fb7fef82663933ec25bebb654c"><td class="memSeparator" colspan="2"> </td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pri-methods"></a>
Private Member Functions</h2></td></tr>
<tr class="memitem:a5d4f370b1a3da402a12a1c8a4b29cd01"><td class="memItemLeft" align="right" valign="top"><a class="el" href="trajetorias_8h.html#a76a91165e2c3bd798415bf5c752fd397">direcao_t</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classMissionSolver.html#a5d4f370b1a3da402a12a1c8a4b29cd01">lado</a> (<a class="el" href="classMission.html">Mission</a>< T > *origem, <a class="el" href="classMission.html">Mission</a>< T > *destino)</td></tr>
<tr class="separator:a5d4f370b1a3da402a12a1c8a4b29cd01"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a692b57a75908047d23457642ed6b938c"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classMissionSolver.html#a692b57a75908047d23457642ed6b938c">dados_do_cruzamento</a> (<a class="el" href="classMission.html">Mission</a>< T > *origem, <a class="el" href="classMission.html">Mission</a>< T > *destino, T &t0, T &t1)</td></tr>
<tr class="separator:a692b57a75908047d23457642ed6b938c"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a445ec646fa631837f790dc8865926ed5"><td class="memItemLeft" align="right" valign="top"><a class="el" href="trajetorias_8h.html#af1c22b9613796d0c64cfaeb50909c171">sentido_t</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classMissionSolver.html#a445ec646fa631837f790dc8865926ed5">sentido_paralelo</a> (<a class="el" href="classMission.html">Mission</a>< T > *origem, <a class="el" href="classMission.html">Mission</a>< T > *destino)</td></tr>
<tr class="separator:a445ec646fa631837f790dc8865926ed5"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ae934e514559e1419c52d838e85cd03f8"><td class="memItemLeft" align="right" valign="top"><a class="el" href="trajetorias_8h.html#a3f4ccd1cc7858c5d335c60ee08727c6a">proximidade_t</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classMissionSolver.html#ae934e514559e1419c52d838e85cd03f8">proximidade_perpendicular</a> (<a class="el" href="classMission.html">Mission</a>< T > *origem, <a class="el" href="classMission.html">Mission</a>< T > *destino)</td></tr>
<tr class="separator:ae934e514559e1419c52d838e85cd03f8"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a906fa4119134e8f330e769067f3bff45"><td class="memItemLeft" align="right" valign="top"><a class="el" href="trajetorias_8h.html#a3f4ccd1cc7858c5d335c60ee08727c6a">proximidade_t</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classMissionSolver.html#a906fa4119134e8f330e769067f3bff45">proximidade_paralela</a> (<a class="el" href="classMission.html">Mission</a>< T > *origem, <a class="el" href="classMission.html">Mission</a>< T > *destino)</td></tr>
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<tr class="memitem:a9346bf810e4d85fe11c8437eb2459884"><td class="memItemLeft" align="right" valign="top"><a class="el" href="trajetorias_8h.html#af1c22b9613796d0c64cfaeb50909c171">sentido_t</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classMissionSolver.html#a9346bf810e4d85fe11c8437eb2459884">sentido</a> (<a class="el" href="classMission.html">Mission</a>< T > *origem, <a class="el" href="classMission.html">Mission</a>< T > *destino, T &t)</td></tr>
<tr class="separator:a9346bf810e4d85fe11c8437eb2459884"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a037ea543ea685a526522161763e9cf44"><td class="memItemLeft" align="right" valign="top">vector< <a class="el" href="classMission.html">Mission</a>< T > * > </td><td class="memItemRight" valign="bottom"><a class="el" href="classMissionSolver.html#a037ea543ea685a526522161763e9cf44">get_startings</a> ()</td></tr>
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<tr class="memitem:ad5285281a16d31787163a475c0cbd09a"><td class="memItemLeft" align="right" valign="top">vector< vector< T > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classMissionSolver.html#ad5285281a16d31787163a475c0cbd09a">connect_two_points</a> (<a class="el" href="classMission.html">Mission</a>< T > *origem, <a class="el" href="classMission.html">Mission</a>< T > *destino, vector< vector< T > > &trajetoria)</td></tr>
<tr class="separator:ad5285281a16d31787163a475c0cbd09a"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a911f490691522693322ca45edd6e11e8"><td class="memItemLeft" align="right" valign="top">vector< vector< T > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classMissionSolver.html#a911f490691522693322ca45edd6e11e8">encerramento_paralelo</a> (<a class="el" href="classMission.html">Mission</a>< T > *origem, <a class="el" href="classMission.html">Mission</a>< T > *destino, vector< vector< T > > &traj)</td></tr>
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<tr class="memitem:afdc8bf63825d10882c2eae5765716f0f"><td class="memItemLeft" align="right" valign="top">vector< vector< T > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classMissionSolver.html#afdc8bf63825d10882c2eae5765716f0f">afasta_se_paralelamente_do_destino</a> (<a class="el" href="classMission.html">Mission</a>< T > *origem, <a class="el" href="classMission.html">Mission</a>< T > *destino, vector< vector< T > > &traj)</td></tr>
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<tr class="memitem:a96e617e5119913c6f3d37876cd3432ec"><td class="memItemLeft" align="right" valign="top">vector< vector< T > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classMissionSolver.html#a96e617e5119913c6f3d37876cd3432ec">perpendicular_do_destino</a> (<a class="el" href="classMission.html">Mission</a>< T > *origem, <a class="el" href="classMission.html">Mission</a>< T > *destino, vector< vector< T > > &traj)</td></tr>
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<tr class="memitem:a15b631ee79c89e6221f0edfae72421de"><td class="memItemLeft" align="right" valign="top">vector< vector< T > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classMissionSolver.html#a15b631ee79c89e6221f0edfae72421de">procura_paralela</a> (<a class="el" href="classMission.html">Mission</a>< T > *origem, <a class="el" href="classMission.html">Mission</a>< T > *destino, vector< vector< T > > &traj)</td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pri-attribs"></a>
Private Attributes</h2></td></tr>
<tr class="memitem:a5c1e6112dcebbe6a14af5b1bb7fe081f"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classMissionSolver.html#a5c1e6112dcebbe6a14af5b1bb7fe081f">aircraft_indice</a></td></tr>
<tr class="memdesc:a5c1e6112dcebbe6a14af5b1bb7fe081f"><td class="mdescLeft"> </td><td class="mdescRight">The index of the aircraft that executes this source-code. <a href="classMissionSolver.html#a5c1e6112dcebbe6a14af5b1bb7fe081f">More...</a><br /></td></tr>
<tr class="separator:a5c1e6112dcebbe6a14af5b1bb7fe081f"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a21c99d42ace70b719ec7cec5d9060832"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classMissionSolver.html#a21c99d42ace70b719ec7cec5d9060832">n_aeronaves</a></td></tr>
<tr class="memdesc:a21c99d42ace70b719ec7cec5d9060832"><td class="mdescLeft"> </td><td class="mdescRight">The total number of aerial vehicles in the squadron. <a href="classMissionSolver.html#a21c99d42ace70b719ec7cec5d9060832">More...</a><br /></td></tr>
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<tr class="memitem:af04d814241590c41620cdfd30cfd65f5"><td class="memItemLeft" align="right" valign="top">T </td><td class="memItemRight" valign="bottom"><a class="el" href="classMissionSolver.html#af04d814241590c41620cdfd30cfd65f5">delta</a></td></tr>
<tr class="memdesc:af04d814241590c41620cdfd30cfd65f5"><td class="mdescLeft"> </td><td class="mdescRight">The delta distances, in the case of latitudinal and longitudinal formations. <a href="classMissionSolver.html#af04d814241590c41620cdfd30cfd65f5">More...</a><br /></td></tr>
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<tr class="memitem:ae907dac8efc051f1f3344a7984c88e6e"><td class="memItemLeft" align="right" valign="top">T </td><td class="memItemRight" valign="bottom"><a class="el" href="classMissionSolver.html#ae907dac8efc051f1f3344a7984c88e6e">distancia_minima</a></td></tr>
<tr class="memdesc:ae907dac8efc051f1f3344a7984c88e6e"><td class="mdescLeft"> </td><td class="mdescRight">The minimum distance spent by the squadron, i.e., delta x (n-1), where n is the number of aerial vehicles. <a href="classMissionSolver.html#ae907dac8efc051f1f3344a7984c88e6e">More...</a><br /></td></tr>
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<tr class="memitem:a794a53f949e1b55ecee4eb3808f50c9c"><td class="memItemLeft" align="right" valign="top">T </td><td class="memItemRight" valign="bottom"><a class="el" href="classMissionSolver.html#a794a53f949e1b55ecee4eb3808f50c9c">raio</a></td></tr>
<tr class="memdesc:a794a53f949e1b55ecee4eb3808f50c9c"><td class="mdescLeft"> </td><td class="mdescRight">The radius of the circular movements in latitudinal formations. <a href="classMissionSolver.html#a794a53f949e1b55ecee4eb3808f50c9c">More...</a><br /></td></tr>
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<tr class="memitem:a8835fdbdb4a88e02f391473d163e0f7d"><td class="memItemLeft" align="right" valign="top">T </td><td class="memItemRight" valign="bottom"><a class="el" href="classMissionSolver.html#a8835fdbdb4a88e02f391473d163e0f7d">velocidade</a></td></tr>
<tr class="memdesc:a8835fdbdb4a88e02f391473d163e0f7d"><td class="mdescLeft"> </td><td class="mdescRight">The initial and standard velocity of each aerial vehicle. <a href="classMissionSolver.html#a8835fdbdb4a88e02f391473d163e0f7d">More...</a><br /></td></tr>
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<tr class="memitem:a2ee78769876ca24064d0ebf02d063b6e"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classMissionSolver.html#a2ee78769876ca24064d0ebf02d063b6e">changes</a></td></tr>
<tr class="memdesc:a2ee78769876ca24064d0ebf02d063b6e"><td class="mdescLeft"> </td><td class="mdescRight">The number of times the squadron has re-configured between longitudinal and parallel formations or vice-versa. <a href="classMissionSolver.html#a2ee78769876ca24064d0ebf02d063b6e">More...</a><br /></td></tr>
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<tr class="memitem:ad2de7fd7dd773320e24e7c29f89f9738"><td class="memItemLeft" align="right" valign="top">vector< <a class="el" href="classMission.html">Mission</a>< T > * > </td><td class="memItemRight" valign="bottom"><a class="el" href="classMissionSolver.html#ad2de7fd7dd773320e24e7c29f89f9738">vet_missions</a></td></tr>
<tr class="memdesc:ad2de7fd7dd773320e24e7c29f89f9738"><td class="mdescLeft"> </td><td class="mdescRight">The vector of missions. Each element is a polymorphic object, i.e., it is able to represent different kinds of missions. <a href="classMissionSolver.html#ad2de7fd7dd773320e24e7c29f89f9738">More...</a><br /></td></tr>
<tr class="separator:ad2de7fd7dd773320e24e7c29f89f9738"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a20b2ac3444aa942b1b4e2b9bb8da0f9a"><td class="memItemLeft" align="right" valign="top">vector< <a class="el" href="classMission.html">Mission</a>< T > * > </td><td class="memItemRight" valign="bottom"><a class="el" href="classMissionSolver.html#a20b2ac3444aa942b1b4e2b9bb8da0f9a">vet_startings</a></td></tr>
<tr class="memdesc:a20b2ac3444aa942b1b4e2b9bb8da0f9a"><td class="mdescLeft"> </td><td class="mdescRight">The vector of starting points, which is a copy of the mission object translated to the place where it needs begin, so that the related aircraft concludes the proposed mission accordingly. <a href="classMissionSolver.html#a20b2ac3444aa942b1b4e2b9bb8da0f9a">More...</a><br /></td></tr>
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</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><h3>template<typename T><br />
class MissionSolver< T ></h3>
<p>This class is responsible for implementing the unification framework, i.e., it implements the integration among the other classes. Besides, it concentrates the most part of the source-code. According do these purposes, this class stores important attributes, such as the number of aerial vehicles in the squadron, the index of the aircraft, the delta distance, the radius for latitudinal formations, the initial and standard velocity and the number of changes, i.e., the number of times the squadron has re-configured between longitudinal and parallel formations or vice-versa. Besides, this class stores the vector of missions and of starting points, where the last represents the previous one translated to the place where it has to begin so that the aircraft executes the specified mission accordingly. </p>
</div><h2 class="groupheader">Constructor & Destructor Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#ad13a138fde7cd261d5f2d16360735f30">◆ </a></span>MissionSolver()</h2>
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template<typename T > </div>
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<td class="memname"><a class="el" href="classMissionSolver.html">MissionSolver</a>< T >::<a class="el" href="classMissionSolver.html">MissionSolver</a> </td>
<td>(</td>
<td class="paramtype">int </td>
<td class="paramname"><em>id</em>, </td>
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<td class="paramtype">int </td>
<td class="paramname"><em>n_aeronaves</em>, </td>
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<p>This method is the constructor of the class <a class="el" href="classMissionSolver.html">MissionSolver</a>. It takes into account the index of the aircraft, which begins in zero, the total number of aerial vehicles in the squadron, the longitudinal and latitudinal distances and the minimum velocity. As every constructor, this method does not return any value. </p><dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">id</td><td>The index of the aircraft. </td></tr>
<tr><td class="paramname">n_aeronaves</td><td>The total number of aerial vehicles in the squadron. </td></tr>
<tr><td class="paramname">delta</td><td>The distance between two neighbors aerial vehicles in latitudinal and longitudinal formations. </td></tr>
<tr><td class="paramname">vel</td><td>The minimum velocity of the aerial vehicles (and also the standard) in the squadron. </td></tr>
</table>
</dd>
</dl>
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</div>
<h2 class="groupheader">Member Function Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#afdc8bf63825d10882c2eae5765716f0f">◆ </a></span>afasta_se_paralelamente_do_destino()</h2>
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<td class="memname">vector< vector< T > > <a class="el" href="classMissionSolver.html">MissionSolver</a>< T >::afasta_se_paralelamente_do_destino </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classMission.html">Mission</a>< T > * </td>
<td class="paramname"><em>origem</em>, </td>
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<td class="paramtype"><a class="el" href="classMission.html">Mission</a>< T > * </td>
<td class="paramname"><em>destino</em>, </td>
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<td class="paramtype">vector< vector< T > > & </td>
<td class="paramname"><em>traj</em> </td>
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<p>This method takes into account several data so that it makes the aircraft move in parallel away from the destination, such as the side (direcao_t), the nearness (proximidade_t) and the sense (sentido_t). With these data, it makes the aircraft to turn one time and travel in longitudinal formation possibly before and after the turn. </p><dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">origem</td><td>The current starting mission. </td></tr>
<tr><td class="paramname">destino</td><td>The next starting mission. </td></tr>
<tr><td class="paramname">traj</td><td>The vector of references that command the aircraft to travel according to the objective of this method. </td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>The content of the variable traj. </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#ad5285281a16d31787163a475c0cbd09a">◆ </a></span>connect_two_points()</h2>
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<td class="memname">vector< vector< T > > <a class="el" href="classMissionSolver.html">MissionSolver</a>< T >::connect_two_points </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classMission.html">Mission</a>< T > * </td>
<td class="paramname"><em>origem</em>, </td>
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<td class="paramtype"><a class="el" href="classMission.html">Mission</a>< T > * </td>
<td class="paramname"><em>destino</em>, </td>
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<td class="paramtype">vector< vector< T > > & </td>
<td class="paramname"><em>trajetoria</em> </td>
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<td>)</td>
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<p>This method has the highest level of interaction in the source-code, since it is responsible for producing the references that connect any two missions. As a consequence, after executing small maneuvers, it calls in this order the methods "procura_paralela", "perpendicular_do_destino", "afasta_se_paralelamente_do_destino" and "encerramento_paralelo". </p><dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">origem</td><td>The current starting mission. </td></tr>
<tr><td class="paramname">destino</td><td>The next starting mission. </td></tr>
<tr><td class="paramname">trajetoria</td><td>The vector of references that command the aircraft to travel from the source to the destination starting points. </td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>The content of the variable trajetoria. </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a692b57a75908047d23457642ed6b938c">◆ </a></span>dados_do_cruzamento()</h2>
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<td class="memname">void <a class="el" href="classMissionSolver.html">MissionSolver</a>< T >::dados_do_cruzamento </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classMission.html">Mission</a>< T > * </td>
<td class="paramname"><em>origem</em>, </td>
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<td class="paramtype"><a class="el" href="classMission.html">Mission</a>< T > * </td>
<td class="paramname"><em>destino</em>, </td>
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<td class="paramtype">T & </td>
<td class="paramname"><em>t0</em>, </td>
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<td class="paramtype">T & </td>
<td class="paramname"><em>t1</em> </td>
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<p>This method determines the 2D point (x, y) = (t0, t1) where the aircraft has to go when executing the parallel closing to the destination. </p><dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">origem</td><td>The current starting mission. </td></tr>
<tr><td class="paramname">destino</td><td>The next starting mission. </td></tr>
<tr><td class="paramname">t0</td><td>The x coordinate of the place where the aircraft has to go. </td></tr>
<tr><td class="paramname">t1</td><td>The y coordinate of the place where the aircraft has to go. </td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>This method does not return any information with the exception of t0 and t1. </dd></dl>
</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a911f490691522693322ca45edd6e11e8">◆ </a></span>encerramento_paralelo()</h2>
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<td class="memname">vector< vector< T > > <a class="el" href="classMissionSolver.html">MissionSolver</a>< T >::encerramento_paralelo </td>
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<p>This method takes into account several data so that it makes the aircraft to arrive at the destination by assuming the specified heading and gamma angles and at the specified position, such as the side (direcao_t), the point (t0, t1) of crossing and the sense (sentido_t). With these data, it makes the aircraft to turn two times (the side may be different for each turn) and travel in longitudinal formation before and after them. </p><dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">origem</td><td>The current starting mission. </td></tr>
<tr><td class="paramname">destino</td><td>The next starting mission. </td></tr>
<tr><td class="paramname">traj</td><td>The vector of references that command the aircraft to travel according to the objective of this method. </td></tr>
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</dd>
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<dl class="section return"><dt>Returns</dt><dd>The content of the variable traj. </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a66fcd8fb7fef82663933ec25bebb654c">◆ </a></span>first_position()</h2>
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<td class="memname"><a class="el" href="classMissionLongitudinal.html">MissionLongitudinal</a>< T > * <a class="el" href="classMissionSolver.html">MissionSolver</a>< T >::first_position </td>
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<p>This method is executed in the beginning of the execution. It determines each aircraft's initial position in the first longitudinal formation of the multi-functional missions queue, since the longitudinal formation is required for beginning to process the missions. </p><dl class="section return"><dt>Returns</dt><dd>An object of the class <a class="el" href="classMissionLongitudinal.html">MissionLongitudinal</a> containing the correct initial position of the given aircraft in the beginning of the execution of the multi-functional missions queue. </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#adcd7d30b25838bc9180f336a891e1f59">◆ </a></span>get_changes()</h2>
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<td class="memname">int <a class="el" href="classMissionSolver.html">MissionSolver</a>< T >::get_changes</td>
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<p>This method returns the number of times the squadron has re-configured between latitudinal and longitudinal formations. It does not receive any parameter. </p><dl class="section return"><dt>Returns</dt><dd>The number of times the squadron has re-configured between latitudinal and longitudinal formations. </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a8776d42ddea12c5a83cf0c628c31816d">◆ </a></span>get_delta()</h2>
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<p>This method returns the delta distance for latitudinal and longitudinal formations. It does not receive any parameter. </p><dl class="section return"><dt>Returns</dt><dd>The delta distance for latitudinal and longitudinal formations. </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a02bfe1b8b5ba55822fb64f9ec7a9f43e">◆ </a></span>get_distancia_minima()</h2>
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<p>This method returns the minimum length of the squadron in longitudinal formation. It does not receive any parameter. </p><dl class="section return"><dt>Returns</dt><dd>The minimum length of the squadron in longitudinal formation. </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a9b090a8e93c2d404af5bab39afb7f212">◆ </a></span>get_indice()</h2>
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<p>This method returns the index of the current aircraft. It does not receive any parameter. </p><dl class="section return"><dt>Returns</dt><dd>The index of the current aircraft. </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a76473bff5fe9fb86e937ea8b2f7c2df3">◆ </a></span>get_n_aeronaves()</h2>
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<p>This method returns the total number of aerial vehicles in the squadron. It does not receive any parameter. </p><dl class="section return"><dt>Returns</dt><dd>The total number of aerial vehicles in the squadron. </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#aee512e677bf6d83f523e89dbef11cfb3">◆ </a></span>get_raio()</h2>
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<p>This method returns the radius of the circular movements during the latitudinal re-configurations. It does not receive any parameter. </p><dl class="section return"><dt>Returns</dt><dd>The radius of the circular movements during the latitudinal re-configurations. </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a037ea543ea685a526522161763e9cf44">◆ </a></span>get_startings()</h2>
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<p>Translate the vector of missions into the vector of starting points, which are exactly equal to the missions, but with the coordinates translated to the points where the re-configurations must start. This is also a vector of polymorphic elements. Since the radius and angles of the circular maneuvers and lengtht of the straight forward maneuvers are all known, the starting points of all mission can be therefore deterministically calculated. </p><dl class="section return"><dt>Returns</dt><dd>The vector of pointers to the starting points. </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#aaafa5fda04153357ecda907b1702b61f">◆ </a></span>get_velocidade()</h2>
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<p>This method returns the minimum and standard velocity of all aerial vehicles in the squadron. It does not receive any parameter. </p><dl class="section return"><dt>Returns</dt><dd>The minimum and standard velocity of all aerial vehicles in the squadron. </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a3dd8dc2f1ba357f179139b6388b72e61">◆ </a></span>insert_mission()</h2>
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<p>This method inserts the specified mission, which may be longitudinal, latitudinal or circular, in the vector of missions. Although the data structure used to store the missions is a vector, the missions are executed in a first-in first-out (FIFO) fashion. The vector is used due to simplicity reasons. This method does not return any information. </p><dl class="params"><dt>Parameters</dt><dd>
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<tr><td class="paramname">m</td><td>The pointer to an object of the class mission, which is polymorphic. </td></tr>
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<h2 class="memtitle"><span class="permalink"><a href="#a5d4f370b1a3da402a12a1c8a4b29cd01">◆ </a></span>lado()</h2>
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<td class="memname"><a class="el" href="trajetorias_8h.html#a76a91165e2c3bd798415bf5c752fd397">direcao_t</a> <a class="el" href="classMissionSolver.html">MissionSolver</a>< T >::lado </td>
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<td class="paramname"><em>destino</em> </td>
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<p>This method determines the side where the aircraft has to turn, i.e., left, middle or right. This decision is taken based on the current and next starting points of the related aerial vehicle. The starting point is the place where the formation re-configuration must begin so that the mission is performed accordingly. </p><dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">origem</td><td>The current starting mission. </td></tr>
<tr><td class="paramname">destino</td><td>The next starting mission. </td></tr>
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</dd>
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<dl class="section return"><dt>Returns</dt><dd>ESQUERDA (LEFT), DIREITA (RIGHT) OR MEIO (MIDDLE). </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a96e617e5119913c6f3d37876cd3432ec">◆ </a></span>perpendicular_do_destino()</h2>
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<td class="memname">vector< vector< T > > <a class="el" href="classMissionSolver.html">MissionSolver</a>< T >::perpendicular_do_destino </td>
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<p>This method takes into account several data so that it makes the aircraft to fly perpendicularly to the destination, such as the side (direcao_t) and the nearness (proximidade_t). With these data, it makes the aircraft to turn one time and travel in longitudinal formation possibly before and after the turn. </p><dl class="params"><dt>Parameters</dt><dd>
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<tr><td class="paramname">origem</td><td>The current starting mission. </td></tr>
<tr><td class="paramname">destino</td><td>The next starting mission. </td></tr>
<tr><td class="paramname">traj</td><td>The vector of references that command the aircraft to travel according to the objective of this method. </td></tr>
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</dd>
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<dl class="section return"><dt>Returns</dt><dd>The content of the variable traj. </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a15b631ee79c89e6221f0edfae72421de">◆ </a></span>procura_paralela()</h2>
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<p>This method takes into account the side of the destination so that it makes the aircraft to turn a suitable angle in order to command the aircraft to fly in parallel to the destination. </p><dl class="params"><dt>Parameters</dt><dd>
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<tr><td class="paramname">origem</td><td>The current starting mission. </td></tr>
<tr><td class="paramname">destino</td><td>The next starting mission. </td></tr>
<tr><td class="paramname">traj</td><td>The vector of references that command the aircraft to travel according to the objective of this method. </td></tr>
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<dl class="section return"><dt>Returns</dt><dd>The content of the variable traj. </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a906fa4119134e8f330e769067f3bff45">◆ </a></span>proximidade_paralela()</h2>
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<td class="memname"><a class="el" href="trajetorias_8h.html#a3f4ccd1cc7858c5d335c60ee08727c6a">proximidade_t</a> <a class="el" href="classMissionSolver.html">MissionSolver</a>< T >::proximidade_paralela </td>
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<p>This method says if, after turning an angle of PI/2 rad, the next starting point is near (PERTO) or far (LONGE). The decision is taken based on the value of |t0|, which is the x coordinate of the crossing point (t0, t1). If |t0| >= 2 x d + 4 x r, then it is considered far, where d is the length of the squadron in longitudinal formation and r is the radius of the movements performed during latitudinal re-configurations. Otherwise, it is considered near. </p><dl class="params"><dt>Parameters</dt><dd>
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<tr><td class="paramname">origem</td><td>The current starting mission. </td></tr>
<tr><td class="paramname">destino</td><td>The next starting mission. </td></tr>
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<dl class="section return"><dt>Returns</dt><dd>PERTO (near) or LONGE (far), with regard to the destination. </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#ae934e514559e1419c52d838e85cd03f8">◆ </a></span>proximidade_perpendicular()</h2>
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<td class="memname"><a class="el" href="trajetorias_8h.html#a3f4ccd1cc7858c5d335c60ee08727c6a">proximidade_t</a> <a class="el" href="classMissionSolver.html">MissionSolver</a>< T >::proximidade_perpendicular </td>
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<p>This method says if, after turning an angle of PI/2 rad, the next starting point is near (PERTO) or far (LONGE). The decision is taken based on the value of |t1|, which is the y coordinate of the crossing point (t0, t1) between the current and the next positions. If |t1| >= 2 x d + 3 x r, then it is considered far, where d is the length of the squadron in longitudinal formation and r is the radius of the movements performed during latitudinal re-configurations. Otherwise, it is considered near. </p><dl class="params"><dt>Parameters</dt><dd>
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<tr><td class="paramname">origem</td><td>The current starting mission. </td></tr>
<tr><td class="paramname">destino</td><td>The next starting mission. </td></tr>
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<h2 class="memtitle"><span class="permalink"><a href="#ab518e45c342dea1ed9c2f441662d5e64">◆ </a></span>run_missions()</h2>
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<p>This method determines the vector of references (3D points) that command each aerial vehicle to execute the multi-functional missions queue accordingly. Since the method "run_mission" is known for each mission, this method only calculates the starting points of each mission (by calling the method get_starting) and call the method "run_mission" for each element of the vector, which is processed in a FIFO order (in a "for" loop). </p>
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<h2 class="memtitle"><span class="permalink"><a href="#a9346bf810e4d85fe11c8437eb2459884">◆ </a></span>sentido()</h2>
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<td class="memname"><a class="el" href="trajetorias_8h.html#af1c22b9613796d0c64cfaeb50909c171">sentido_t</a> <a class="el" href="classMissionSolver.html">MissionSolver</a>< T >::sentido </td>
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<td class="paramtype"><a class="el" href="classMission.html">Mission</a>< T > * </td>
<td class="paramname"><em>origem</em>, </td>
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<td class="paramtype"><a class="el" href="classMission.html">Mission</a>< T > * </td>
<td class="paramname"><em>destino</em>, </td>
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<td class="paramtype">T & </td>
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<p>This method calculates the distance t between the source starting point (origem) and the target starting point (destino). Besides, it returns a constant that may be APROXIMANDO (nearing to) or AFASTANDO (moving away from) the destination. </p><dl class="params"><dt>Parameters</dt><dd>
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<tr><td class="paramname">origem</td><td>The current starting mission. </td></tr>
<tr><td class="paramname">destino</td><td>The next starting mission. </td></tr>
<tr><td class="paramname">t</td><td>The distance between the source starting point (origem) and the target starting point (destino). It is passed by reference. </td></tr>
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<dl class="section return"><dt>Returns</dt><dd>APROXIMANDO (approaching to) or AFASTANDO (moving away from) the destination. </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a445ec646fa631837f790dc8865926ed5">◆ </a></span>sentido_paralelo()</h2>
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<td class="memname"><a class="el" href="trajetorias_8h.html#af1c22b9613796d0c64cfaeb50909c171">sentido_t</a> <a class="el" href="classMissionSolver.html">MissionSolver</a>< T >::sentido_paralelo </td>
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<td class="paramtype"><a class="el" href="classMission.html">Mission</a>< T > * </td>
<td class="paramname"><em>origem</em>, </td>
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<td class="paramtype"><a class="el" href="classMission.html">Mission</a>< T > * </td>
<td class="paramname"><em>destino</em> </td>
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<p>This method says if the related aircraft is nearing to (APROXIMANDO) or moving away (AFASTANDO) from the destination, after turning an angle of PI/2 rad. </p><dl class="params"><dt>Parameters</dt><dd>