def execute(self, t, dt):
StateAgent.execute(self, t, dt)
# Check threat is detected
if not self.beliefs.threat_state:
return
entity = self.beliefs.entity_state
threat = self.beliefs.threat_state
# Check if the threat heading is exactly reciprocal
if ut.is_reciprocal(entity.heading, threat.heading):
# Issue command to turn toward the threat aircraft
threat_bearing = ut.relative_bearing(entity.x, entity.y,
threat.x, threat.y)
if not ut.is_close(entity.desired_heading, threat_bearing,
abs_tol=1.0):
# self.commands.append(SetHeadingCmd(threat_bearing))
# TODO: extract GLoad, calculate based on desired displacement
self.commands.append(SetHeadingGLoadCmd(psi_c=threat_bearing, gload_c=5))
elif not ut.is_close(entity.desired_heading, threat.heading):
# Issue command to turn to match the threat aircraft heading
# self.commands.append(SetHeadingCmd(threat.heading))
# TODO: extract GLoad, calculate based on desired displacement
self.commands.append(SetHeadingGLoadCmd(psi_c=threat.heading, gload_c=5))
# Adjust the entity speed to avoid overshooting
if (entity.desired_v > threat.v and not
ut.is_close(entity.desired_v, threat.v)):
distance = ut.distance(entity.pos_2d(), threat.pos_2d())
if ut.metres_to_nautical_miles(distance) <= \
self.NO_CLOSER_RANGE:
# Issue command to match threat speed
self.commands.append(SetSpeedCmd(threat.v))
def process_state(self, t, dt):
StateAgent.process_state(self, t, dt)
if self.beliefs.threat_state:
entity = self.beliefs.entity_state
threat = self.beliefs.threat_state
# Check whether threat is aligned with aircraft
taa = ut.target_aspect_angle(entity.x, entity.y, threat.x,
threat.y, threat.heading)
bearing_to_entity = ut.relative_bearing(threat.x, threat.y,
entity.x, entity.y)
bearing_offset = abs(threat.heading - bearing_to_entity)
if bearing_offset > self.MAX_ALIGNMENT_DIFF:
# Threat not aligned so don't proceed to next state
return
# Check whether at turn range from threat
distance = ut.distance(entity.pos_2d(), threat.pos_2d())
if ut.metres_to_nautical_miles(distance) <= self.TURN_RANGE:
self.transition_request = FlyRelativeBearing
def process_state(self, t, dt):
StateAgent.process_state(self, t, dt)
if self.beliefs.threat_state:
entity = self.beliefs.entity_state
threat = self.beliefs.threat_state
distance = ut.distance(entity.pos_2d(), threat.pos_2d())
# Check whether the conversion point has been reached
if ut.metres_to_nautical_miles(distance) <= self.CONVERSION_RANGE:
self.transition_request = Converting
# Check if still closing with threat
if self._last_range:
if distance > self._last_range:
# Not closing with threat so return to default state
self.transition_request = PureIntercept
self._last_range = distance
else:
# No threats detected so return to default state
self.transition_request = PureIntercept