DAIDALUS

https://nasa.github.io/daidalus
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### Get Help for DAIDALUS Example Application

Source: https://nasa.github.io/daidalus

To view the available command-line options for the 'DaidalusExample' application, use the '--help' flag. This provides information on how to configure and run the example.

```bash
$ <dir>/DaidalusExample --help
```

--------------------------------

### Run DAIDALUS Example Application

Source: https://nasa.github.io/daidalus

Execute the compiled 'DaidalusExample' application to illustrate DAIDALUS functionalities. The '<dir>' placeholder should be replaced with the actual directory path.

```bash
$ <dir>/DaidalusExample
```

--------------------------------

### Checkout DAIDALUS Release Version

Source: https://nasa.github.io/daidalus

To switch to a specific release version of DAIDALUS, use the 'git checkout' command followed by the desired version tag. This example shows how to checkout version v2.0.1.

```bash
$ git checkout v2.0.1
```

--------------------------------

### Compile DAIDALUS Java Code

Source: https://nasa.github.io/daidalus

The 'make' command compiles the Java code for DAIDALUS, producing a JAR file for the library and then compiling example applications. This process requires Java 8 or later.

```bash
$ make
** Building library lib/DAIDALUSv2.X.x.jar
javac src/gov/nasa/larcfm/IO/*.java src/gov/nasa/larcfm/Util/*.java src/gov/nasa/larcfm/ACCoRD/*.java
...
** Building example applications
javac -cp lib/DAIDALUSv2.X.x.jar src/*.java
```

--------------------------------

### Get Aircraft Contributing to Conflict Bands

Source: https://nasa.github.io/daidalus

Populates a list with the identifiers of aircraft that are contributing to conflict bands for a specified region. The list is passed by reference and modified in place.

```java
List<String> acs = new ArrayList<String>();
daa.conflictBandsAircraft(acs,region);
```

--------------------------------

### Get Recovery Information for Maneuver Guidance

Source: https://nasa.github.io/daidalus

Retrieves RecoveryInformation objects for horizontal direction, horizontal speed, vertical speed, and altitude. These objects contain data about recovery maneuvers when well-clear is lost.

```java
RecoveryInformation recovery_hdir = daa.horizontalDirectionRecoveryInformation();
RecoveryInformation recovery_hs = daa.horizontalSpeedRecoveryInformation();
RecoveryInformation recovery_vs = daa.verticalSpeedRecoveryInformation();
RecoveryInformation recovery_alt = daa.altitudeRecoveryInformation();
```

--------------------------------

### Get Aircraft Contributing to Peripheral Bands

Source: https://nasa.github.io/daidalus

Populates lists with aircraft identifiers contributing to peripheral bands for different maneuver types (horizontal direction, horizontal speed, vertical speed, altitude) within a specified region. The lists are passed by reference.

```java
List<String> acs = new ArrayList<String>();
daa.peripheralHorizontalDirectionBandsAircraft(acs,region);
daa.peripheralHorizontalSpeedBandsAircraft(acs,region);
daa.peripheralVerticalSpeedBandsAircraft(acs,region);
daa.peripheralAltitudeBandsAircraft(acs,region);
```

--------------------------------

### Get Alert Level

Source: https://nasa.github.io/daidalus

Retrieves the alert level between the ownship and a traffic aircraft. Returns a negative value for an invalid aircraft index, zero for no alert, and a positive integer for specific alert levels (e.g., 1 for Preventive, 2 for Corrective, 3 for Warning in DO-365A).

```java
int alert_level = daa.alertLevel(ac_idx);
```

--------------------------------

### Load Daidalus Configuration from File

Source: https://nasa.github.io/daidalus

Loads a Daidalus configuration from a specified file. Ensure the configuration file exists in the distribution.

```javascript
daa.loadFromFile("DO_365A_SUM.conf");
```

--------------------------------

### Load Daidalus Configuration by Filename

Source: https://nasa.github.io/daidalus

Loads a Daidalus configuration from a file specified by its name. The file can contain partial or full configuration settings.

```javascript
daa.loadFromFile(filename);
```

--------------------------------

### Initialize Daidalus with Default Configuration

Source: https://nasa.github.io/daidalus

Instantiates a Daidalus object using the default configuration, which is WC_SC_228_std.txt. This configuration is suitable for reference to an ideal algorithm with perfect information.

```java
Daidalus daa  = new Daidalus();
```

--------------------------------

### Generate Graphical Bands with DrawMultiBands

Source: https://nasa.github.io/daidalus

The DrawMultiBands program produces guidance and alerting information in a graphical form, outputting a .draw file that can be processed further.

```bash
<DAIDALUS_DIR>/Java/DrawMultiBands --config Configurations/DO_365B_no_SUM.conf Scenarios/H1.daa 
Writing file H1.draw, which can be processed with the Python script drawmultibands.py 

```

```bash
<DAIDALUS_DIR>/Scripts/drawmultibands.py H1.draw 
Writing H1.pdf 

```

--------------------------------

### Configurable Parameters

Source: https://nasa.github.io/daidalus

DAIDALUS DAA capabilities can be configured programmatically using getter/setter methods or via a configuration file using `loadFromFile`.

```APIDOC
## Configurable Parameters

DAIDALUS DAA capabilities can be configured either programmatically, i.e., using getter/setter methods in the class `Daidalus` or via a configuration file, using the method `loadFromFile` in the class `Daidalus`.

### Bands Parameters

The following is a list of parameters that can be configured in DAIDALUS:

| Configuration Parameter | Programatic Getter/Setter | Description (Type) |
|---|---|---|
| `lookahead_time` | `get/setLookaheadTime` | Time horizon of all DAIDALUS functions (Time) |
| `left_trk` | `get/setLeftTrack` | Relative maximum horizontal direction maneuver to the left of current ownship direction (Angle) |
| `right_trk` | `get/setRightTrack` | Relative maximum horizontal direction maneuver to the right of current ownship direction (Angle) |
| `min_hs` | `get/setMinHorizontalSpeed` | Absolute minimum horizontal speed maneuver (Speed) |
| `max_hs` | `get/setMaxHorizontalSpeed` | Absolute maximum horizontal speed maneuver (Speed) |
| `min_vs` | `get/setMinVerticalSpeed` | Absolute minimum vertical speed maneuver (Speed) |
| `max_vs` | `get/setMaxVerticalSpeed` | Absolute maximum vertical speed maneuver (Speed) |
| `min_alt` | `get/setMinAltitude` | Absolute minimum altitude maneuver (Altitude) |
| `max_alt` | `get/setMaxAltitude` | Absolute maximum altitude maneuver (Altitude) |
| `trk_step` | `get/setTrackStep` | Granularity of horizontal direction maneuvers (Angle) |
| `hs_step` | `get/setHorizontalSpeedStep` | Granularity of horizontal speed maneuvers (Speed) |
| `vs_step` | `get/setVerticalSpeedStep` | Granularity of vertical speed maneuvers (Speed) |
| `alt_step` | `get/setAltitudeStep` | Granularity of altitude maneuvers (Altitude) |
```

--------------------------------

### Configure Daidalus for Nominal Aircraft (Low Turn Rate)

Source: https://nasa.github.io/daidalus

Sets up Daidalus for aircraft with a turn rate of 1.5 deg/s, using buffered definitions for alerting and maneuvering volumes to account for sensor uncertainty. Maneuver guidance is computed until NMAC.

```java
Daidalus daa  = new Daidalus();
daa.set_Buffered_WC_SC_228_MOPS(false);
```

--------------------------------

### Wind Model Configuration

Source: https://nasa.github.io/daidalus

How to set a global wind vector that affects all aircraft states.

```APIDOC
## Winds

DAIDALUS supports a global wind model applied as a velocity vector. When set, all computations and outputs become relative to this wind. The wind vector can be provided using either a "TO" (wind blowing direction) or "FROM" (direction wind source is from) convention.
```

--------------------------------

### Generate DAA Encounters with DAAGenerator and Wind

Source: https://nasa.github.io/daidalus

Add wind conditions to generated DAA encounters using `DAAGenerator` by specifying wind speed and direction. Ensure correct units for wind parameters.

```bash
$ <DAIDALUS_DIR>/Java/DAAGenerator --backward 100 --forward 20 --lat 40.754377 --lon -74.007436 --wind_speed='40[kn]' --wind_from='170[deg]' --out C1_0_120_W.daa C1.txt

```

--------------------------------

### Position Creation Methods

Source: https://nasa.github.io/daidalus

Methods for creating Position objects using geodesic or Cartesian coordinates.

```APIDOC
## Position Class

### Geodesic Coordinates

`static Position makeLatLonAlt(double lat, String lat_unit, double lon, String lon_unit, double alt, String alt_unit)`

Creates a position using latitude, longitude, and altitude. Northern latitudes and eastern longitudes are positive. Units for latitude, longitude, and altitude are specified by `lat_unit`, `lon_unit`, and `alt_unit` respectively.
```

```APIDOC
### Cartesian Coordinates (ENU)

`static Position makeXYZ(double x, String x_unit, double y, String y_unit, double z, String z_unit)`

Creates a position using Euclidean coordinates (x, y, z) in the local East, North, Up (ENU) system. Units for x, y, and z are specified by `x_unit`, `y_unit`, and `z_unit` respectively.
```

--------------------------------

### Generate DAA Files from DAIDALUS Log with daidalize

Source: https://nasa.github.io/daidalus

Use the `daidalize.pl` script to convert a DAIDALUS log file into DAA encounter and configuration files. Ensure aircraft states strictly increase in time; use `--fixtimes` if necessary.

```bash
$ <DAIDALUS_DIR>/Scripts/daidalize.pl name.log 
Processing name.log
Writing traffic file: name.daa
Writing configuration file: name.conf 

```

--------------------------------

### Compute Alerting Metrics with DaidalusAlerting

Source: https://nasa.github.io/daidalus

Use `DaidalusAlerting` to compute alerting and DAA metrics for a given encounter and configuration file, outputting results to a CSV file. This tool is available in Java and C++.

```bash
$ <DAIDALUS_DIR>/Java/DaidalusAlerting --config Configurations/DO_365B_no_SUM.conf Scenarios/H1.daa 
Generating CSV file H1.csv 

```

--------------------------------

### Configure Daidalus for Nominal Aircraft (High Turn Rate)

Source: https://nasa.github.io/daidalus

Sets up Daidalus for aircraft with a turn rate of 3.0 deg/s, using buffered definitions for alerting and maneuvering volumes to account for sensor uncertainty. Maneuver guidance is computed until NMAC.

```java
Daidalus daa  = new Daidalus();
daa.set_Buffered_WC_SC_228_MOPS(true);
```

--------------------------------

### Run DAIDALUS in Batch Mode

Source: https://nasa.github.io/daidalus

Use DaidalusBatch to run DAIDALUS on a given encounter with a specified configuration. It prints time-step by time-step alerting and banding information.

```bash
$ <DAIDALUS_DIR>/Java/DaidalusBatch --config Configurations/DO_365B_no_SUM.conf Scenarios/H1.daa

```

--------------------------------

### Set Max Ground Speed with Units

Source: https://nasa.github.io/daidalus

Configure the maximum ground speed with explicit units. If no units are provided, internal units are assumed.

```plaintext
max_hs = 700.0 [knot]

```

--------------------------------

### Configure Daidalus with Type and SUM Options

Source: https://nasa.github.io/daidalus

Configures the Daidalus object with DO 365A defaults, allowing customization of turn rate and Sensor Uncertainty Mitigation (SUM) via boolean parameters.

```javascript
daa.set_DO_365A(type,sum);
```

--------------------------------

### Units Conversion Methods

Source: https://nasa.github.io/daidalus

The Units class provides static methods for converting values between internal units (meters, seconds, radians) and specified external units, as well as converting between two different external units.

```APIDOC
## Units Class Methods

### Description
Provides static methods for unit conversion.

### Methods

#### `static double to(String unit, double value)`
Converts `value` to the units indicated by the parameter `unit` from internal units.

#### `static double from(String unit, double value)`
Converts `value` from the units indicated by the parameter `unit` to internal units.

#### `static double convert(String fromUnit, String toUnit, double value)`
Converts `value` from the units indicated by the parameter `fromUnit` to the units indicated by the parameter `toUnit`.
```

--------------------------------

### Set Daidalus to DO 365A Defaults

Source: https://nasa.github.io/daidalus

Use this method to set the Daidalus object to the DO 365A default configuration, enabling specific alerting and maneuver guidance logic.

```javascript
daa.set_DO_365A();
```

--------------------------------

### Load Daidalus Configuration without SUM

Source: https://nasa.github.io/daidalus

Loads a Daidalus configuration file that specifically excludes SUM. This is useful for testing or specific operational scenarios.

```javascript
daa.loadFromFile("DO_365A_no_SUM.conf");
```

--------------------------------

### DAA Performance Metrics

Source: https://nasa.github.io/daidalus

These methods compute DAA performance metrics between ownship and aircraft at index `ac_idx`. Units can be specified using `u`.

```APIDOC
## DAA Performance Metrics

Assuming `daa` is an object of type `Daidalus`, the following methods compute DAA performance metrics between ownship and aircraft at index `ac_idx` in `u` units. These methods return the Not-A-Number (NaN) value if `ac_idx` is not a valid index. If the unit parameters are not provided the returned values are in internal units, i.e., meters, seconds, etc.

### `daa.currentHorizontalSeparation(ac_idx, u)`

**Description**: Returns current horizontal separation.

### `daa.currentVerticalSeparation(ac_idx, u)`

**Description**: Returns current vertical separation.

### `daa.horizontalClosureRate(ac_idx, u)`

**Description**: Returns current horizontal closure rate.

### `daa.verticalClosureRate(ac_idx, u)`

**Description**: Returns current vertical closure rate.

### `daa.predictedHorizontalMissDistance(ac_idx, u)`

**Description**: Returns predicted horizontal miss distance, within lookahead time.

### `daa.predictedVerticalMissDistance(ac_idx, u)`

**Description**: Returns predicted vertical miss distance, within lookahead time.

### `daa.timeToHorizontalClosestPointOfApproach(ac_idx, u)`

**Description**: Returns time to horizontal closest point of approach, relative to ownship time. The returned time is 0 when aircraft are horizontally divergent or parallel.

### `daa.distanceAtHorizontalClosestPointOfApproach(ac_idx, u)`

**Description**: Returns distance at horizontal closest point of approach. The returned value is current horizontal range when aircraft are diverging or parallel.

### `daa.timeToCoAltitude(ac_idx, u)`

**Description**: Returns time to co-altitude. The returned time is negative if aircraft are diverging. Negative infinity is returned when vertical closure rate is zero.

### `daa.modifiedTau(ac_idx, DMOD, DMODu, u)`

**Description**: Returns modified Tau with respect to a modified distance `DMOD` provided in `DMODu` units.

### `daa.lastTimeToHorizontalDirectionManeuver(ac_idx, u)`

**Description**: Returns the last time to horizontal direction maneuver before a loss of corrective volume is unavoidable.

### `daa.lastTimeToHorizontalSpeedManeuver(ac_idx, u)`

**Description**: Returns the last time to horizontal speed maneuver before a loss of corrective volume is unavoidable.

### `daa.lastTimeToVerticalSpeedManeuver(ac_idx, u)`

**Description**: Returns the last time to vertical speed maneuver before a loss of corrective volume is unavoidable.

### `daa.lastTimeToAltitudeManeuver(ac_idx, u)`

**Description**: Returns the last time to altitude maneuver before a loss of corrective volume is unavoidable.

*Note*: For the `lastTimeTo...` methods, positive infinity is returned if the aircraft are not in conflict, and negative infinity if there is no time to maneuver. These methods return Not-A-Number (NaN) if `ac_idx` is not a valid index.
```

--------------------------------

### Save Daidalus Configuration to File

Source: https://nasa.github.io/daidalus

Writes the current Daidalus object's configuration to a specified file. Returns false if an I/O error occurs.

```javascript
daa.saveToFile(filename);
```

--------------------------------

### Generate DAA Encounters with DAAGenerator (Forward and Backward Projection)

Source: https://nasa.github.io/daidalus

Use `DAAGenerator` to project aircraft states both backward and forward in time. The output format (geodesic or Euclidean) depends on the input and optional latitude/longitude parameters.

```bash
$ <DAIDALUS_DIR>/Java/DAAGenerator --backward 100 --forward 20 --out H0_0_120a.xyz H0.txt

```

```bash
$ <DAIDALUS_DIR>/Java/DAAGenerator --backward 100 --forward 20 --lat 40.67233 --lon -74.04466 --out H0_0_120.daa H0.txt

```

--------------------------------

### Generate DAA Encounters with DAAGenerator (Backward Projection)

Source: https://nasa.github.io/daidalus

Use `DAAGenerator` to project aircraft states backward in time from an initial encounter file. This is useful for creating scenarios like collision avoidance.

```bash
$ <DAIDALUS_DIR>/Java/DAAGenerator --backward 120 --out C0_0_120.daa C0.txt 

```

--------------------------------

### Clone DAIDALUS Development Version

Source: https://nasa.github.io/daidalus

Use this git command to retrieve the latest development version of DAIDALUS from GitHub. This command is executed in a Unix terminal.

```bash
$ git clone https://github.com/nasa/daidalus.git
```

--------------------------------

### ConflictData Methods

Source: https://nasa.github.io/daidalus

Provides methods to query information about a detected conflict interval.

```APIDOC
## ConflictData

### Description
Provides information about a time interval of conflict between aircraft.

### Methods
#### conflict()
- **Description**: Returns `true` if the time interval is non-empty, `false` otherwise.
- **Returns**: `boolean`

#### getTimeIn()
- **Description**: When the time interval is non-empty, returns time to first loss relative to ownship’s time.
- **Returns**: `double`

#### getTimeOut()
- **Description**: When the time interval is non-empty, returns time to last loss relative to ownship’s time.
- **Returns**: `double`
```

--------------------------------

### RecoveryInformation Methods

Source: https://nasa.github.io/daidalus

These methods are available on the RecoveryInformation class and provide details about the computed recovery bands. Times and distances are returned in specified units or internal units (meters, seconds).

```APIDOC
## RecoveryInformation Class Methods

### `recoveryBandsComputed()`

**Description**: Returns `true` if the recovery bands algorithm was used, as opposed to the well-clear bands algorithm.

### `recoveryBandsSaturated()`

**Description**: Returns `true` if recovery bands saturate. This may occur if recovery bands are disabled or well-clear recovery is not possible based on configuration.

### `timeToToRecovery(String u)`

**Description**: Returns the upper bound to the time required to recover from a violation of the corrective volume.

**Parameters**:
- **u** (String) - The unit for the returned time value (e.g., "s" for seconds, or internal units).

### `recoveryHorizontalDistance(String u)`

**Description**: Returns the lower bound to the horizontal distance at the time of closest approach during a recovery maneuver.

**Parameters**:
- **u** (String) - The unit for the returned distance value (e.g., "m" for meters, or internal units).

### `recoveryVerticalDistance(String u)`

**Description**: Returns the lower bound to the vertical distance at the time of closest approach during a recovery maneuver.

**Parameters**:
- **u** (String) - The unit for the returned distance value (e.g., "m" for meters, or internal units).

### `nFactor()`

**Description**: Returns the number of times the configured recovery volume was reduced to compute recovery maneuvers. A higher number indicates a smaller separation can be maintained during recovery.

**Returns**:
- int - The number of reductions to the recovery volume.
```

--------------------------------

### Iterate Vertical Speed Bands

Source: https://nasa.github.io/daidalus

Iterates through vertical speed bands to retrieve interval bounds and region types. Units are in fpm.

```java
for (int i = 0; i < daa.verticalSpeedBandsLength(); i++ ) {
    Interval iv = daa.verticalSpeedIntervalAt(i,"fpm"); //i-th interval in fpm
    double lower_vs = iv.low; //[fpm]
    double upper_vs = iv.up;  //[fpm]
    BandsRegion regionType = daa.verticalSpeedRegionAt(i);
    ...
  }
```

--------------------------------

### Create Daidalus Object in Java

Source: https://nasa.github.io/daidalus

Instantiates a Daidalus object in Java. This object will manage DAA logic for the ownship.

```java
Daidalus daa = new Daidalus();

```

--------------------------------

### Iterate Altitude Bands

Source: https://nasa.github.io/daidalus

Iterates through altitude bands to retrieve interval bounds and region types. Units are in feet.

```java
for (int i = 0; i < daa.altitudeBandsLength(); i++ ) {
    Interval iv = daa.altitudeIntervalAt(i,"ft"); //i-th interval in ft
    double lower_alt = iv.low; //[ft]
    double upper_alt = iv.up;  //[ft]
    BandsRegion regionType = daa.altitudeRegionAt(i);
    ...
  }
```

--------------------------------

### Compute Preferred Resolution Maneuvers

Source: https://nasa.github.io/daidalus

Computes preferred resolution maneuvers for horizontal direction, horizontal speed, vertical speed, and altitude using specified units. Ensure the DAIDALUS instance is properly initialized.

```java
double hdir_deg = daa.horizontalDirectionResolution(daa.preferredHorizontalDirectionRightOrLeft(),"deg"); 
double hs_knot = daa. horizontalSpeedResolution(daa.preferredHorizontalSpeedUpOrDown(),"knot"); 
double vs_fpm = daa. verticalSpeedResolution(daa.preferredVerticalSpeedUpOrDown(),"fpm");
double alt_ft = altitudeResolution(daa.preferredAltitudeUpOrDown(),"ft");
```

--------------------------------

### Set Daidalus to DO 365A with Specific Type and No SUM

Source: https://nasa.github.io/daidalus

Applies a DO 365A configuration with a specific turn rate (determined by 'type') and disables Sensor Uncertainty Mitigation (SUM).

```javascript
daa. set_DO_365A(true,false);
```

--------------------------------

### Synchronize Aircraft States for Time Step

Source: https://nasa.github.io/daidalus

In an asynchronous environment, use this pattern to add states received during a time step. Daidalus will project states to synchronize with the ownship's time.

```javascript
daa.setOwnshipState(own,...,t_own);
daa.addTrafficState(A,...,t_A);
daa.addTrafficState(C,...,t_C);
```

```javascript
daa.addTrafficState(B,...,t_C);
```

--------------------------------

### Create Daidalus Object in C++

Source: https://nasa.github.io/daidalus

Instantiates a Daidalus object in C++ using stack memory. This object will manage DAA logic for the ownship.

```cpp
Daidalus daa;

```

--------------------------------

### Iterate Horizontal Speed Bands

Source: https://nasa.github.io/daidalus

Iterates through horizontal speed bands to retrieve interval bounds and region types. Units are in knots.

```java
for (int i = 0; i < daa.horizontalSpeedBandsLength(); ++i ) {
    Interval iv = daa.horizontalSpeedIntervalAt(i,"knot"); //i-th interval in knots
    double lower_hs = iv.low; //[knot]
    double upper_hs = iv.up;  //[knot]
    BandsRegion regionType = daa.horizontalSpeedRegionAt(i);
    ...
  }
```

--------------------------------

### Set Vertical Speed Uncertainty

Source: https://nasa.github.io/daidalus

Set the vertical speed uncertainty for an aircraft using its index. Provide the vertical speed uncertainty and its units.

```javascript
daa.setVerticalSpeedUncertainty(ac_idx, vz, vz_units);
```

--------------------------------

### Set Max Ground Speed Programmatically

Source: https://nasa.github.io/daidalus

Programmatically set the maximum ground speed with specified units. This method allows for dynamic configuration of DAA parameters.

```java
daa.setMaxGroundSpeed(700.0,"knot");

```

--------------------------------

### Velocity Creation Methods

Source: https://nasa.github.io/daidalus

Methods for creating Velocity objects using polar (track, ground speed, vertical speed) or Cartesian coordinates.

```APIDOC
## Velocity Class

### Polar Coordinates (Track, Ground Speed, Vertical Speed)

`static Velocity makeTrkGsVs(double trk, String trk_unit, double gs, String gs_unit, double vs, String vs_unit)`

Creates a velocity relative to the ground. Track (`trk`) is given in true north clockwise convention. Ground speed (`gs`) and vertical speed (`vs`) are also provided. Units for track, ground speed, and vertical speed are specified by `trk_unit`, `gs_unit`, and `vs_unit` respectively.
```

```APIDOC
### Cartesian Coordinates (ENU)

`static Velocity makeVxyz(double vx, double vy, String vxy_unit, double vz, String vz_unit)`

Creates a velocity using Euclidean coordinates (vx, vy, vz) in the local East, North, Up (ENU) system. Units for vx, vy, and vz are specified by `vxy_unit` and `vz_unit` respectively. Note: `vxy_unit` applies to both vx and vy.
```

--------------------------------

### verticalSpeedResolution

Source: https://nasa.github.io/daidalus

Returns vertical speed resolution maneuver for a given Boolean value `dir` and unit `u`. When `dir` is `true` (resp. `false`), resolution maneuver is up (resp. down) relative to ownship vertical speed.

```APIDOC
## verticalSpeedResolution

### Description
Computes the vertical speed resolution maneuver.

### Method
`double verticalSpeedResolution(boolean dir, String u)`

### Parameters
#### Path Parameters
- **dir** (boolean) - Required - `true` for up, `false` for down relative to ownship vertical speed.
- **u** (String) - Required - The unit for the resolution maneuver (e.g., "fpm").

### Returns
- **double** - The vertical speed resolution maneuver. Returns NaN if ownship is not in conflict, or infinite if resolution is not available.
```

--------------------------------

### Iterate Horizontal Direction Bands

Source: https://nasa.github.io/daidalus

Iterates through horizontal direction bands to retrieve interval bounds and region types. Units are in degrees.

```java
for (int i = 0; i < daa.horizontalDirectionBandsLength(); ++i ) {
    Interval iv = daa.horizontalDirectionIntervalAt(i,"deg"); //i-th interval in degrees
    double lower_trk = iv.low; //[deg]
    double upper_trk = iv.up;  //[deg]
    BandsRegion regionType = daa.horizontalDirectionRegionAt(i);
	...
  }
```

--------------------------------

### Setting Sensor Uncertainties

Source: https://nasa.github.io/daidalus

Allows setting sensor uncertainties for ownship or traffic aircraft if a SUM configuration is enabled. Uncertainties can be defined for horizontal and vertical position, as well as horizontal and vertical velocity.

```APIDOC
## Adding Sensor Uncertainty

### Description
Sets sensor uncertainties for ownship or traffic aircraft.

### Method Signatures
- `daa.setHorizontalPositionUncertainty(ac_idx, s_EW, s_NS, s_EN, xy_units)`
- `daa.setVerticalPositionUncertainty(ac_idx, sz, z_units)`
- `daa.setHorizontalVelocityUncertainty(ac_idx, v_EW, v_NS, v_EN, vxy_units)`
- `daa.setVerticalSpeedUncertainty(ac_idx, vz, vz_units)`

### Parameters
- **ac_idx** (number) - Index of the aircraft. `0` represents the ownship.
- **s_EW**, **s_NS**, **s_EN** (number) - Standard deviations for East-West, North-South, and East-North horizontal position in `xy_units`.
- **xy_units** (string) - Units for horizontal position uncertainties.
- **sz** (number) - Altitude uncertainty in `z_units`.
- **z_units** (string) - Units for vertical position uncertainty.
- **v_EW**, **v_NS**, **v_EN** (number) - Standard deviations for East-West, North-South, and East-North horizontal velocity in `vxy_units`.
- **vxy_units** (string) - Units for horizontal velocity uncertainties.
- **vz** (number) - Vertical speed uncertainty in `vz_units`.
- **vz_units** (string) - Units for vertical speed uncertainty.
```

--------------------------------

### altitudeResolution

Source: https://nasa.github.io/daidalus

Returns altitude resolution maneuver for a given Boolean value `dir` and unit `u`. When `dir` is `true` (resp. `false`), resolution maneuver is up (resp. down) relative to ownship altitude.

```APIDOC
## altitudeResolution

### Description
Computes the altitude resolution maneuver.

### Method
`double altitudeResolution(boolean dir, String u)`

### Parameters
#### Path Parameters
- **dir** (boolean) - Required - `true` for up, `false` for down relative to ownship altitude.
- **u** (String) - Required - The unit for the resolution maneuver (e.g., "ft").

### Returns
- **double** - The altitude resolution maneuver. Returns NaN if ownship is not in conflict, or infinite if resolution is not available.
```

--------------------------------

### Iterate Through Traffic Aircraft and Log Alert Information

Source: https://nasa.github.io/daidalus

Iterates through all traffic aircraft, logs their alert levels, predicted time to corrective volume violation, and time to violation of specific alert thresholds. Requires a formatted output object 'f' and assumes 'daa' is a configured Daidalus object.

```java
for (int ac_idx=1; ac_idx <= daa.lastTrafficIndex(); ++ac_idx) {
	TrafficState intruder = daa.getAircraftStateAt(ac_idx);
	int alert = daa.alertLevel(ac_idx);
	if (alert > 0) {
		System.out.println("Alert Level "+alert+" with "+intruder.getId());
	}
	double t2los = daa.timeToCorrectiveVolume(ac_idx);
	if (Double.isFinite(t2los)) {
		System.out.println("Predicted Time to Violation of Corrective Volume with "
		+intruder.getId()+ ": "+f.Fm2(t2los)+" [s]");
	}
 	for (int alert_level=1;alert_level <= daa.mostSevereAlertLevel(ac_idx);++alert_level) {
		ConflictData det = daa.violationOfAlertThresholds(ac_idx, alert_level);
		if (det.conflict()) {
			System.out.println("Predicted Time to Violation of Alert Thresholds at Level "
			+alert_level+" with "+intruder.getId()+ ": "+f.Fm2(det.getTimeIn())+" [s]");
	    }	
	}
}
```

--------------------------------

### Set Vertical Position Uncertainty

Source: https://nasa.github.io/daidalus

Set the vertical position uncertainty for an aircraft using its index. Provide the altitude uncertainty and its units.

```javascript
daa.setVerticalPositionUncertainty(ac_idx, sz, z_units);
```

--------------------------------

### horizontalDirectionResolution

Source: https://nasa.github.io/daidalus

Returns horizontal direction resolution maneuver for a given Boolean value `dir` and unit `u`. When `dir` is `true` (resp. `false`), resolution maneuver is right (resp. left) relative to ownship horizontal direction. When a wind vector is configured this method returns heading; otherwise, it returns track.

```APIDOC
## horizontalDirectionResolution

### Description
Computes the horizontal direction resolution maneuver.

### Method
`double horizontalDirectionResolution(boolean dir, String u)`

### Parameters
#### Path Parameters
- **dir** (boolean) - Required - `true` for right, `false` for left relative to ownship horizontal direction.
- **u** (String) - Required - The unit for the resolution maneuver (e.g., "deg").

### Returns
- **double** - The horizontal direction resolution maneuver. Returns NaN if ownship is not in conflict, or infinite if resolution is not available.
```

--------------------------------

### Compute Time to Corrective Volume Violation

Source: https://nasa.github.io/daidalus

Calculates the time in seconds until the corrective volume between the ownship and a traffic aircraft is violated. Returns positive infinity if no conflict is detected within the lookahead time, and NaN if the aircraft index is invalid.

```java
double t2v = daa.timeToCorrectiveVolume(ac_idx);
```

--------------------------------

### Set Horizontal Velocity Uncertainty

Source: https://nasa.github.io/daidalus

Set the horizontal velocity uncertainty for an aircraft using its index. Specify standard deviations for East-West, North-South, and East-North directions.

```javascript
daa.setHorizontalVelocityUncertainty(ac_idx, v_EW, v_NS, v_EN, vxy_units);
```

--------------------------------

### Set Wind Velocity (From Direction)

Source: https://nasa.github.io/daidalus

Provides wind information to the Daidalus object by specifying the direction the wind is coming from. This vector affects future aircraft states.

```javascript
daa.setWindVelocityFrom(wind_from);
```

--------------------------------

### horizontalSpeedResolution

Source: https://nasa.github.io/daidalus

Returns horizontal speed resolution maneuver for a given Boolean value `dir` and unit `u`. When `dir` is `true` (resp. `false`), resolution maneuver is up (resp. down) relative to ownship horizontal speed. When a wind vector is configured this method returns airspeed; otherwise, it returns ground speed.

```APIDOC
## horizontalSpeedResolution

### Description
Computes the horizontal speed resolution maneuver.

### Method
`double horizontalSpeedResolution(boolean dir, String u)`

### Parameters
#### Path Parameters
- **dir** (boolean) - Required - `true` for up, `false` for down relative to ownship horizontal speed.
- **u** (String) - Required - The unit for the resolution maneuver (e.g., "knot").

### Returns
- **double** - The horizontal speed resolution maneuver. Returns NaN if ownship is not in conflict, or infinite if resolution is not available.
```

--------------------------------

### Set Horizontal Position Uncertainty

Source: https://nasa.github.io/daidalus

Set the horizontal position uncertainty for an aircraft using its index. Specify standard deviations for East-West, North-South, and East-North directions.

```javascript
daa.setHorizontalPositionUncertainty(ac_idx, s_EW, s_NS, s_EN, xy_units);
```

--------------------------------

### Add Traffic State to Daidalus

Source: https://nasa.github.io/daidalus

Add traffic aircraft states to the Daidalus object. If a time stamp is provided, traffic states will be projected to synchronize with the ownship's time.

```javascript
aci_idx = daa.addTrafficState(idi,si,vi);
```

```javascript
daa.addTrafficState(idi,si,vi,ti);
```

--------------------------------

### Set Ownship State in Daidalus

Source: https://nasa.github.io/daidalus

Use this method to add the ownship's state. This action clears any previously set traffic aircraft states, so ensure ownship state is added first for a given time.

```javascript
daa.setOwnshipState(ido,so,vo,to);
```

--------------------------------

### Aircraft Contributing to Peripheral Bands

Source: https://nasa.github.io/daidalus

Retrieves lists of aircraft contributing to peripheral bands, which are not in the current path of the ownship. These are specific to different maneuver types.

```APIDOC
## Peripheral Bands Aircraft Retrieval

### `peripheralHorizontalDirectionBandsAircraft(List<String> acs, BandsRegion region)`

**Description**: Retrieves the list of aircraft contributing to peripheral horizontal direction bands.

**Parameters**:
- **acs** (List<String>) - Output parameter: A list of strings to be populated with aircraft identifiers. Passed by reference.
- **region** (BandsRegion) - The specific region to check for peripheral bands.

### `peripheralHorizontalSpeedBandsAircraft(List<String> acs, BandsRegion region)`

**Description**: Retrieves the list of aircraft contributing to peripheral horizontal speed bands.

**Parameters**:
- **acs** (List<String>) - Output parameter: A list of strings to be populated with aircraft identifiers. Passed by reference.
- **region** (BandsRegion) - The specific region to check for peripheral bands.

### `peripheralVerticalSpeedBandsAircraft(List<String> acs, BandsRegion region)`

**Description**: Retrieves the list of aircraft contributing to peripheral vertical speed bands.

**Parameters**:
- **acs** (List<String>) - Output parameter: A list of strings to be populated with aircraft identifiers. Passed by reference.
- **region** (BandsRegion) - The specific region to check for peripheral bands.

### `peripheralAltitudeBandsAircraft(List<String> acs, BandsRegion region)`

**Description**: Retrieves the list of aircraft contributing to peripheral altitude bands.

**Parameters**:
- **acs** (List<String>) - Output parameter: A list of strings to be populated with aircraft identifiers. Passed by reference.
- **region** (BandsRegion) - The specific region to check for peripheral bands.
```

--------------------------------

### Set Wind Velocity (To Direction)

Source: https://nasa.github.io/daidalus

Provides wind information to the Daidalus object by specifying the direction the wind blows towards. This vector affects future aircraft states.

```javascript
daa.setWindVelocityTo(wind_to);
```

--------------------------------

### Adding Traffic State

Source: https://nasa.github.io/daidalus

Adds traffic states to the Daidalus object. Traffic states can be added with or without an explicit time stamp. If a time stamp is provided, the traffic aircraft's position is projected to synchronize with the ownship's time.

```APIDOC
## Adding Traffic State

### Description
Adds traffic states to the `daa` object.

### Method Signatures
1. `aci_idx = daa.addTrafficState(idi, si, vi)`
2. `aci_idx = daa.addTrafficState(idi, si, vi, ti)`

### Parameters
- **idi** - Traffic identifier.
- **si** - Traffic position.
- **vi** - Traffic velocity.
- **ti** (optional, number) - Absolute time stamp in seconds for the traffic state. If provided, the position is projected to the ownship's time of applicability (`to`).

### Return Value
- **aci_idx** (number) - The index of the aircraft after it has been added.
```

--------------------------------

### Alert Level

Source: https://nasa.github.io/daidalus

Computes the alert level between the ownship and a traffic aircraft. Returns a negative value if the aircraft index is invalid. A positive value indicates the alert level (e.g., 1 for Preventive, 2 for Corrective, 3 for Warning in DO-365A).

```APIDOC
## alertLevel

### Description
Computes the alert level between the ownship and a traffic aircraft.

### Method Signature
```java
int alertLevel(int ac_idx)
```

### Parameters
#### Path Parameters
- **ac_idx** (int) - Required - The index of the traffic aircraft.

### Returns
- **int** - A negative value if `ac_idx` is invalid. A positive value indicating the alert level (e.g., 1, 2, or 3 for DO-365A).
```

--------------------------------

### Aircraft Contributing to Conflict Bands

Source: https://nasa.github.io/daidalus

Retrieves the list of aircraft identifiers that are contributing to conflict bands for a specified region.

```APIDOC
## `conflictBandsAircraft(List<String> acs, BandsRegion region)`

### Description
Obtains the list of identifiers for aircraft contributing to conflict bands, which are bands in the current path of the ownship. Conflict bands appear simultaneously for all maneuver types.

### Parameters
- **acs** (List<String>) - Output parameter: A list of strings to be populated with aircraft identifiers. Passed by reference.
- **region** (BandsRegion) - The specific region to check for conflict bands (e.g., `FAR`, `MID`, `NEAR`).
```

--------------------------------

### Invalid Value Checks

Source: https://nasa.github.io/daidalus

Methods for checking the validity of values within DAIDALUS classes.

```APIDOC
## Invalid Values

DAIDALUS methods may return invalid values when called with invalid parameters. The following methods can be used to check for validity:

- `Position.isInvalid()`
- `Velocity.isInvalid()`
- `TrafficState.isValid()`

For primitive `double` types, `Double.isFinite()` and `Double.isNaN()` can be used. For integer return types that normally return a natural number, a negative value (e.g., -1) indicates an invalid result.
```

--------------------------------

### Time to Corrective Volume

Source: https://nasa.github.io/daidalus

Computes the time, in seconds, to violation of the corrective volume between the ownship and a traffic aircraft. Returns positive infinity if no conflict within lookahead time, and NaN if the aircraft index is invalid.

```APIDOC
## timeToCorrectiveVolume

### Description
Computes the time to violation of the corrective volume between the ownship and a traffic aircraft.

### Method Signature
```java
double timeToCorrectiveVolume(int ac_idx)
```

### Parameters
#### Path Parameters
- **ac_idx** (int) - Required - The index of the traffic aircraft.

### Returns
- **double** - Time in seconds to violation of the corrective volume. Positive infinity if no conflict within lookahead time. NaN if `ac_idx` is invalid.
```

--------------------------------

### Violation of Alert Thresholds

Source: https://nasa.github.io/daidalus

Computes the time interval of violation with respect to a traffic aircraft and a specified alert level. Returns a `ConflictData` object containing information about the violation.

```APIDOC
## violationOfAlertThresholds

### Description
Computes the time interval of violation, with respect to aircraft at index `ac_idx`, to the volume defined by `alert_level`. Returns a `ConflictData` object.

### Method Signature
```java
ConflictData violationOfAlertThresholds(int ac_idx, int alert_level)
```

### Parameters
#### Path Parameters
- **ac_idx** (int) - Required - The index of the traffic aircraft.
- **alert_level** (int) - Required - The alert level to check violation against.

### Returns
- **ConflictData** - An object containing violation data. Use its methods like `conflict()`, `getTimeIn()`, and `getTimeOut()`.
```

--------------------------------

### Setting Ownship State

Source: https://nasa.github.io/daidalus

Adds the ownship state to a Daidalus object. This action clears any previously set traffic aircraft states. It's crucial to set the ownship state before adding any traffic aircraft states for a given time of applicability.

```APIDOC
## Setting Ownship State

### Description
Adds the ownship state to a `Daidalus` object `daa`.

### Method Signature
`daa.setOwnshipState(ido, so, vo, to)`

### Parameters
- **ido** (string) - Ownship identifier.
- **so** (`Position` object) - Ownship position.
- **vo** (`Velocity` object) - Ownship velocity.
- **to** (number) - Absolute time stamp in seconds of the ownship state (time of applicability).

### Notes
Setting the ownship state clears the list of traffic aircraft states. Ensure this is called before adding traffic states for a given time.
```

--------------------------------

### Disable Wind Computations

Source: https://nasa.github.io/daidalus

Disables wind calculations for both ownship and traffic aircraft states until a new wind vector is set. This is useful for scenarios where wind data is unavailable or not relevant.

```javascript
daa.setNoWind();
```
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