* Copyright (c) 2013-2019 Delft University of Technology, PO Box 5, 2600 AA, Delft, the Netherlands. All rights reserved.
* BSD-style license. See OpenTrafficSim License.
*
* @version $Revision: 1401 $, $LastChangedDate: 2015-09-14 01:33:02 +0200 (Mon, 14 Sep 2015) $, by $Author: averbraeck $,
* initial version Oct 22, 2014
* @author Alexander Verbraeck
* @author Peter Knoppers
*/
public interface LaneBasedGTU extends GTU
{
/** {@inheritDoc} */
@Override
LaneBasedStrategicalPlanner getStrategicalPlanner();
/** {@inheritDoc} */
@Override
LaneBasedStrategicalPlanner getStrategicalPlanner(Time time);
/** {@inheritDoc} */
@Override
default LaneBasedTacticalPlanner getTacticalPlanner()
{
return getStrategicalPlanner().getTacticalPlanner();
}
/** {@inheritDoc} */
@Override
default LaneBasedTacticalPlanner getTacticalPlanner(final Time time)
{
return getStrategicalPlanner(time).getTacticalPlanner(time);
}
/**
* Return the location without a RemoteException. {@inheritDoc}
*/
@Override
DirectedPoint getLocation();
/**
* insert GTU at a certain position. This can happen at setup (first initialization), and after a lane change of the GTU.
* The relative position that will be registered is the referencePosition (dx, dy, dz) = (0, 0, 0). Front and rear positions
* are relative towards this position.
* @param lane Lane; the lane to add to the list of lanes on which the GTU is registered.
* @param gtuDirection GTUDirectionality; the direction of the GTU on the lane (which can be bidirectional). If the GTU has
* a positive speed, it is moving in this direction.
* @param position Length; the position on the lane.
* @throws GTUException when positioning the GTU on the lane causes a problem
*/
void enterLane(Lane lane, Length position, GTUDirectionality gtuDirection) throws GTUException;
/**
* Unregister the GTU from a lane.
* @param lane Lane; the lane to remove from the list of lanes on which the GTU is registered.
* @throws GTUException when leaveLane should not be called
*/
void leaveLane(Lane lane) throws GTUException;
/**
* Change lanes instantaneously.
* @param laneChangeDirection LateralDirectionality; the direction to change to
* @throws GTUException in case lane change fails
*/
void changeLaneInstantaneously(LateralDirectionality laneChangeDirection) throws GTUException;
/**
* Sets event to finalize lane change.
* @param event SimEventInterface<SimTimeDoubleUnit>; event
*/
void setFinalizeLaneChangeEvent(SimEventInterface
* Note: If a GTU is registered in multiple parallel lanes, the lateralLaneChangeModel is used to determine the
* center line of the vehicle at this point in time. Otherwise, the average of the center positions of the lines will be
* taken.
* @param relativePosition RelativePosition; the position on the vehicle relative to the reference point.
* @return the lanes and the position on the lanes where the GTU is currently registered, for the given position of the GTU.
* @throws GTUException when the vehicle is not on one of the lanes on which it is registered.
*/
Map
* @param lane Lane; the position on this lane will be returned.
* @param relativePosition RelativePosition; the position on the vehicle relative to the reference point.
* @return DoubleScalarAbs<LengthUnit>; the position, relative to the center line of the Lane.
* @throws GTUException when the vehicle is not on the given lane.
*/
Length position(Lane lane, RelativePosition relativePosition) throws GTUException;
/**
* Return the longitudinal position of a point relative to this GTU, relative to the center line of the Lane.
* @param lane Lane; the position on this lane will be returned.
* @param relativePosition RelativePosition; the position on the vehicle relative to the reference point.
* @param when Time; the future time for which to calculate the positions.
* @return DoubleScalarAbs<LengthUnit>; the position, relative to the center line of the Lane.
* @throws GTUException when the vehicle is not on the given lane.
*/
Length position(Lane lane, RelativePosition relativePosition, Time when) throws GTUException;
/**
* Return the longitudinal positions of a point relative to this GTU, relative to the center line of the Lanes in which the
* vehicle is registered, as fractions of the length of the lane. This is important when we want to see if two vehicles are
* next to each other and we compare an 'inner' and 'outer' curve.
* @param relativePosition RelativePosition; the position on the vehicle relative to the reference point.
* @return the lanes and the position on the lanes where the GTU is currently registered, for the given position of the GTU.
* @throws GTUException when the vehicle is not on one of the lanes on which it is registered.
*/
Map
* @param lane Lane; the position on this lane will be returned.
* @param relativePosition RelativePosition; the position on the vehicle relative to the reference point.
* @return the fractional relative position on the lane at the given time.
* @throws GTUException when the vehicle is not on the given lane.
*/
double fractionalPosition(Lane lane, RelativePosition relativePosition) throws GTUException;
/**
* Return the longitudinal position that the indicated relative position of this GTU would have if it were to change to
* another Lane with a / the current CrossSectionLink. This point may be before the begin or after the end of the link of
* the projection lane of the GTU. This preserves the length of the GTU.
* @param projectionLane Lane; the lane onto which the position of this GTU must be projected
* @param relativePosition RelativePosition; the point on this GTU that must be projected
* @param when Time; the time for which to project the position of this GTU
* @return Length; the position of this GTU in the projectionLane
* @throws GTUException when projectionLane it not in any of the CrossSectionLink that the GTU is on
*/
Length translatedPosition(Lane projectionLane, RelativePosition relativePosition, Time when) throws GTUException;
/**
* Return the longitudinal position on the projection lane that has the same fractional position on one of the current lanes
* of the indicated relative position. This preserves the fractional positions of all relative positions of the GTU.
* @param projectionLane Lane; the lane onto which the position of this GTU must be projected
* @param relativePosition RelativePosition; the point on this GTU that must be projected
* @param when Time; the time for which to project the position of this GTU
* @return Length; the position of this GTU in the projectionLane
* @throws GTUException when projectionLane it not in any of the CrossSectionLink that the GTU is on
*/
Length projectedPosition(Lane projectionLane, RelativePosition relativePosition, Time when) throws GTUException;
/**
* Return the current Lane, position and directionality of the GTU.
* @return DirectedLanePosition; the current Lane, position and directionality of the GTU
* @throws GTUException in case the reference position of the GTU cannot be found on the lanes in its current path
*/
DirectedLanePosition getReferencePosition() throws GTUException;
/**
* Return the directionality of a lane on which the GTU is registered for its current operational plan.
* @param lane Lane; the lane for which we want to know the direction
* @return GTUDirectionality; the direction on the given lane
* @throws GTUException in case the GTU is not registered on the Lane
*/
GTUDirectionality getDirection(Lane lane) throws GTUException;
/**
* Add an event to the list of lane triggers scheduled for this GTU.
* @param lane Lane; the lane on which the event occurs
* @param event SimEventInterface<SimTimeDoubleUnit>; SimeEvent<SimTimeDoubleUnit> the event
*/
void addTrigger(Lane lane, SimEventInterface
*
* c0 * g(v) + c1 + c3*v^2
*
* where c0 = 0.2, c1 = 0.15 and c3 = 0.00025 (with c2 = 0 implicit) are empirically derived averages, and g(v) is 0 below
* 25 km/h or 1 otherwise, representing that the engine is disengaged at low speeds.
* @return boolean; whether the braking lights are on
*/
default boolean isBrakingLightsOn()
{
return isBrakingLightsOn(getSimulator().getSimulatorTime());
}
/**
* The default implementation returns {@code true} if the deceleration is larger than a speed-dependent threshold given
* by:
*
* c0 * g(v) + c1 + c3*v^2
*
* where c0 = 0.2, c1 = 0.15 and c3 = 0.00025 (with c2 = 0 implicit) are empirically derived averages, and g(v) is 0 below
* 25 km/h or 1 otherwise, representing that the engine is disengaged at low speeds.
* @param when Time; time
* @return boolean; whether the braking lights are on
*/
default boolean isBrakingLightsOn(final Time when)
{
double v = getSpeed(when).si;
double a = getAcceleration(when).si;
return a < (v < 6.944 ? 0.0 : -0.2) - 0.15 * v - 0.00025 * v * v;
}
/** @return the status of the turn indicator */
TurnIndicatorStatus getTurnIndicatorStatus();
/**
* @param time Time; time to obtain the turn indicator status at
* @return the status of the turn indicator at the given time
*/
TurnIndicatorStatus getTurnIndicatorStatus(Time time);
/**
* Set the status of the turn indicator.
* @param turnIndicatorStatus TurnIndicatorStatus; the new status of the turn indicator.
* @throws GTUException when GTUType does not have a turn indicator
*/
void setTurnIndicatorStatus(TurnIndicatorStatus turnIndicatorStatus) throws GTUException;
/**
* The lane-based event type for pub/sub indicating the initialization of a new GTU.
* Payload: [String gtuId, DirectedPoint initialPosition, Length length, Length width, Lane referenceLane, Length
* positionOnReferenceLane, GTUDirectionality direction, GTUType gtuType]
*/
EventType LANEBASED_INIT_EVENT = new EventType("LANEBASEDGTU.INIT");
/**
* The lane-based event type for pub/sub indicating a move.
* Payload: [String gtuId, DirectedPoint position, Speed speed, Acceleration acceleration, TurnIndicatorStatus
* turnIndicatorStatus, Length odometer, Lane referenceLane, Length positionOnReferenceLane, GTUDirectionality direction]
*/
EventType LANEBASED_MOVE_EVENT = new EventType("LANEBASEDGTU.MOVE");
/**
* The lane-based event type for pub/sub indicating destruction of the GTU.
* Payload: [String gtuId, DirectedPoint lastPosition, Length odometer, Lane referenceLane, Length positionOnReferenceLane,
* GTUDirectionality direction]
*/
EventType LANEBASED_DESTROY_EVENT = new EventType("LANEBASEDGTU.DESTROY");
/**
* The event type for pub/sub indicating that the GTU entered a new link (with the FRONT position if driving forward; REAR
* if driving backward).
* Payload: [String gtuId, Link link]
*/
EventType LINK_ENTER_EVENT = new EventType("LINK.ENTER");
/**
* The event type for pub/sub indicating that the GTU exited a link (with the REAR position if driving forward; FRONT if
* driving backward).
* Payload: [String gtuId, Link link]
*/
EventType LINK_EXIT_EVENT = new EventType("LINK.EXIT");
/**
* The event type for pub/sub indicating that the GTU entered a new lane (with the FRONT position if driving forward; REAR
* if driving backward).
* Payload: [String gtuId, Lane lane]
*/
EventType LANE_ENTER_EVENT = new EventType("LANE.ENTER");
/**
* The event type for pub/sub indicating that the GTU exited a lane (with the REAR position if driving forward; FRONT if
* driving backward).
* Payload: [String gtuId, Lane lane]
*/
EventType LANE_EXIT_EVENT = new EventType("LANE.EXIT");
/**
* The event type for pub/sub indicating that the GTU change lane.
* Payload: [String gtuId, LateralDirectionality direction, DirectedLanePosition from]
*/
EventType LANE_CHANGE_EVENT = new EventType("LANE.CHANGE");
}