org.opentrafficsim.core.gtu

Class AbstractGTU

java.lang.Object

nl.tudelft.simulation.event.EventProducer

org.opentrafficsim.core.gtu.AbstractGTU

All Implemented Interfaces:

Serializable, Locatable, EventProducerInterface, Identifiable, Drawable, GTU

Direct Known Subclasses:

AbstractLinkBasedGTU

public abstract class AbstractGTU
extends EventProducer
implements GTU

Implements the basic functionalities of any GTU: the ability to move on 3D-space according to a plan.

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: 4840 $, $LastChangedDate: 2019-01-14 00:15:27 +0100 (Mon, 14 Jan 2019) $, by $Author: averbraeck $, initial version Oct 22, 2014

Author:

Alexander Verbraeck, Peter Knoppers

See Also:

Serialized Form

Field Summary

Fields

Modifier and Type	Field and Description
static int	ALIGN_COUNT aligned schedule count.
static boolean	ALIGNED aligned or not.
protected Historical<OperationalPlan>	operationalPlan The current operational plan, which provides a short-term movement over time.

Fields inherited from class nl.tudelft.simulation.event.EventProducer

listeners

Fields inherited from interface org.opentrafficsim.core.gtu.GTU

DESTROY_EVENT, INIT_EVENT, MOVE_EVENT

Fields inherited from interface nl.tudelft.simulation.event.EventProducerInterface

FIRST_POSITION, LAST_POSITION

Constructor Summary

Constructors

Constructor and Description
AbstractGTU(IdGenerator idGenerator, GTUType gtuType, OTSSimulatorInterface simulator, PerceivableContext perceivableContext)
AbstractGTU(String id, GTUType gtuType, OTSSimulatorInterface simulator, PerceivableContext perceivableContext)

Method Summary

Modifier and Type	Method and Description
void	addGtu(GTU gtu) Adds the provided GTU to this GTU, meaning it moves with this GTU.
void	destroy() Destructor.
boolean	equals(Object obj)
Acceleration	getAcceleration()
Acceleration	getAcceleration(Time time)
Set<GTU>	getChildren() Returns the children GTU's.
GTUType	getGTUType()
String	getId()
DirectedPoint	getLocation()
Acceleration	getMaximumAcceleration()
Acceleration	getMaximumDeceleration()
SimEvent<SimTimeDoubleUnit>	getNextMoveEvent() Note that destroying the next move event of the GTU can be dangerous!
Length	getOdometer()
Length	getOdometer(Time time)
OperationalPlan	getOperationalPlan()
OperationalPlan	getOperationalPlan(Time time)
Parameters	getParameters()
GTU	getParent() Returns the parent GTU, or null if this GTU has no parent.
PerceivableContext	getPerceivableContext()
RelativePosition	getReference()
OTSSimulatorInterface	getSimulator()
Speed	getSpeed()
Speed	getSpeed(Time time)
StrategicalPlanner	getStrategicalPlanner()
StrategicalPlanner	getStrategicalPlanner(Time time)
int	hashCode()
void	init(StrategicalPlanner strategicalPlanner, DirectedPoint initialLocation, Speed initialSpeed) Initialize the GTU at a location and speed, and give it a mission to fulfill through the strategical planner.
protected void	interruptMove() Interrupt the move and ask for a new plan.
boolean	isDestroyed() Returns whether the GTU is destroyed.
protected void	move(DirectedPoint fromLocation) Move from the current location according to an operational plan to a location that will bring us nearer to reaching the location provided by the strategical planner.
void	removeGtu(GTU gtu) Removes the provided GTU from this GTU, meaning it no longer moves with this GTU.
void	setMaximumAcceleration(Acceleration maximumAcceleration)
void	setMaximumDeceleration(Acceleration maximumDeceleration)
void	setParameters(Parameters parameters)
void	setParent(GTU gtu) Set the parent GTU.

Methods inherited from class nl.tudelft.simulation.event.EventProducer

addListener, addListener, addListener, addListener, fireEvent, fireEvent, fireEvent, fireEvent, fireEvent, fireEvent, fireEvent, fireEvent, fireEvent, fireEvent, fireTimedEvent, fireTimedEvent, fireTimedEvent, fireTimedEvent, fireTimedEvent, fireTimedEvent, fireTimedEvent, removeAllListeners, removeAllListeners, removeListener

Methods inherited from class java.lang.Object

clone, finalize, getClass, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface org.opentrafficsim.core.gtu.GTU

getCenter, getContourPoints, getFront, getLength, getMaximumSpeed, getRear, getRelativePositions, getTacticalPlanner, getTacticalPlanner, getWidth

Methods inherited from interface nl.tudelft.simulation.dsol.animation.Locatable

getBounds

Methods inherited from interface nl.tudelft.simulation.event.EventProducerInterface

addListener, addListener, addListener, addListener, removeListener

Field Detail

operationalPlan

protected final Historical<OperationalPlan> operationalPlan

The current operational plan, which provides a short-term movement over time.

ALIGNED

public static boolean ALIGNED

aligned or not.

ALIGN_COUNT

public static int ALIGN_COUNT

aligned schedule count.

Constructor Detail

AbstractGTU

public AbstractGTU(String id,
                   GTUType gtuType,
                   OTSSimulatorInterface simulator,
                   PerceivableContext perceivableContext)
            throws GTUException

Parameters:

id - String; the id of the GTU

gtuType - GTUType; the type of GTU, e.g. TruckType, CarType, BusType

simulator - OTSSimulatorInterface; the simulator to schedule plan changes on

perceivableContext - PerceivableContext; the perceivable context in which this GTU will be registered

Throws:

GTUException - when the preconditions of the constructor are not met

AbstractGTU

public AbstractGTU(IdGenerator idGenerator,
                   GTUType gtuType,
                   OTSSimulatorInterface simulator,
                   PerceivableContext perceivableContext)
            throws GTUException

Parameters:

idGenerator - IdGenerator; the generator that will produce a unique id of the GTU

gtuType - GTUType; the type of GTU, e.g. TruckType, CarType, BusType

simulator - OTSSimulatorInterface; the simulator to schedule plan changes on

perceivableContext - PerceivableContext; the perceivable context in which this GTU will be registered

Throws:

GTUException - when the preconditions of the constructor are not met

Method Detail

init

public void init(StrategicalPlanner strategicalPlanner,
                 DirectedPoint initialLocation,
                 Speed initialSpeed)
          throws SimRuntimeException,
                 GTUException

Initialize the GTU at a location and speed, and give it a mission to fulfill through the strategical planner.

Parameters:

strategicalPlanner - StrategicalPlanner; the strategical planner responsible for the overall 'mission' of the GTU, usually indicating where it needs to go. It operates by instantiating tactical planners to do the work.

initialLocation - DirectedPoint; the initial location (and direction) of the GTU

initialSpeed - Speed; the initial speed of the GTU

Throws:

SimRuntimeException - when scheduling after the first move fails

GTUException - when the preconditions of the parameters are not met or when the construction of the original waiting path fails

destroy

public void destroy()

Destructor. Don't forget to call with super.destroy() from any override to avoid memory leaks in the network.

Specified by:

destroy in interface GTU

move

protected void move(DirectedPoint fromLocation)
             throws SimRuntimeException,
                    OperationalPlanException,
                    GTUException,
                    NetworkException,
                    ParameterException

Move from the current location according to an operational plan to a location that will bring us nearer to reaching the location provided by the strategical planner.
This method can be overridden to carry out specific behavior during the execution of the plan (e.g., scheduling of triggers, entering or leaving lanes, etc.). Please bear in mind that the call to super.move() is essential, and that one has to take care to handle the situation that the plan gets interrupted.

Parameters:

fromLocation - DirectedPoint; the last known location (initial location, or end location of the previous operational plan)

Throws:

SimRuntimeException - when scheduling of the next move fails

OperationalPlanException - when there is a problem creating a good path for the GTU

GTUException - when there is a problem with the state of the GTU when planning a path

NetworkException - in case of a problem with the network, e.g., a dead end where it is not expected

ParameterException - in there is a parameter problem

interruptMove

protected void interruptMove()
                      throws SimRuntimeException,
                             OperationalPlanException,
                             GTUException,
                             NetworkException,
                             ParameterException

Interrupt the move and ask for a new plan. This method can be overridden to carry out the bookkeeping needed when the current plan gets interrupted.

Throws:

OperationalPlanException - when there was a problem retrieving the location from the running plan

SimRuntimeException - when scheduling of the next move fails

OperationalPlanException - when there is a problem creating a good path for the GTU

GTUException - when there is a problem with the state of the GTU when planning a path

NetworkException - in case of a problem with the network, e.g., unreachability of a certain point

ParameterException - when there is a problem with a parameter

getId

public final String getId()

Specified by:

getId in interface Identifiable

Specified by:

getId in interface GTU

Returns:

the id of the GTU

getGTUType

public GTUType getGTUType()

Specified by:

getGTUType in interface GTU

Returns:

the type of GTU, e.g. TruckType, CarType, BusType.

getReference

public final RelativePosition getReference()

Specified by:

getReference in interface GTU

Returns:

the reference position of the GTU, by definition (0, 0, 0).

getSimulator

public final OTSSimulatorInterface getSimulator()

Specified by:

getSimulator in interface GTU

Returns:

the simulator of the GTU.

getParameters

public final Parameters getParameters()

Specified by:

getParameters in interface GTU

Returns:

Parameters.

setParameters

public final void setParameters(Parameters parameters)

Specified by:

setParameters in interface GTU

Parameters:

parameters - Parameters; parameters

getStrategicalPlanner

public StrategicalPlanner getStrategicalPlanner()

Specified by:

getStrategicalPlanner in interface GTU

Returns:

StrategicalPlanner; the planner responsible for the overall 'mission' of the GTU, usually indicating where it needs to go. It operates by instantiating tactical planners to do the work.

getStrategicalPlanner

public StrategicalPlanner getStrategicalPlanner(Time time)

Specified by:

getStrategicalPlanner in interface GTU

Parameters:

time - Time; time to obtain the strategical planner at

Returns:

StrategicalPlanner; the planner responsible for the overall 'mission' of the GTU, usually indicating where it needs to go. It operates by instantiating tactical planners to do the work.

getOperationalPlan

public final OperationalPlan getOperationalPlan()

Specified by:

getOperationalPlan in interface GTU

Returns:

the current operational plan for the GTU

getOperationalPlan

public final OperationalPlan getOperationalPlan(Time time)

Specified by:

getOperationalPlan in interface GTU

Parameters:

time - Time; time to obtain the operational plan at

Returns:

the operational plan for the GTU at the given time.

getOdometer

public final Length getOdometer()

Specified by:

getOdometer in interface GTU

Returns:

Length; the current odometer value.

getOdometer

public final Length getOdometer(Time time)

Specified by:

getOdometer in interface GTU

Parameters:

time - Time; time to obtain the odometer at

Returns:

Length; the odometer value at given time.

getSpeed

public final Speed getSpeed()

Specified by:

getSpeed in interface GTU

Returns:

the current speed of the GTU, along the direction of movement.

getSpeed

public final Speed getSpeed(Time time)

Specified by:

getSpeed in interface GTU

Parameters:

time - Time; time at which to obtain the speed

Returns:

the current speed of the GTU, along the direction of movement.

getAcceleration

public final Acceleration getAcceleration()

Specified by:

getAcceleration in interface GTU

Returns:

the current acceleration of the GTU, along the direction of movement.

getAcceleration

public final Acceleration getAcceleration(Time time)

Specified by:

getAcceleration in interface GTU

Parameters:

time - Time; time at which to obtain the acceleration

Returns:

the current acceleration of the GTU, along the direction of movement.

getMaximumAcceleration

public final Acceleration getMaximumAcceleration()

Specified by:

getMaximumAcceleration in interface GTU

Returns:

maximumAcceleration

setMaximumAcceleration

public final void setMaximumAcceleration(Acceleration maximumAcceleration)

Parameters:

maximumAcceleration - Acceleration; set maximumAcceleration

getMaximumDeceleration

public final Acceleration getMaximumDeceleration()

Specified by:

getMaximumDeceleration in interface GTU

Returns:

maximumDeceleration

setMaximumDeceleration

public final void setMaximumDeceleration(Acceleration maximumDeceleration)

Parameters:

maximumDeceleration - Acceleration; set maximumDeceleration, stored as a negative number

getLocation

public DirectedPoint getLocation()

Specified by:

getLocation in interface Locatable

isDestroyed

public final boolean isDestroyed()

Description copied from interface: GTU

Returns whether the GTU is destroyed.

Specified by:

isDestroyed in interface GTU

Returns:

whether the GTU is destroyed, for the animation.

getPerceivableContext

public final PerceivableContext getPerceivableContext()

Returns:

perceivableContext

addGtu

public void addGtu(GTU gtu)
            throws GTUException

Adds the provided GTU to this GTU, meaning it moves with this GTU.

Specified by:

addGtu in interface GTU

Parameters:

gtu - GTU; gtu to enter this GTU

Throws:

GTUException - if the gtu already has a parent

removeGtu

public void removeGtu(GTU gtu)

Removes the provided GTU from this GTU, meaning it no longer moves with this GTU.

Specified by:

removeGtu in interface GTU

Parameters:

gtu - GTU; gtu to exit this GTU

setParent

public void setParent(GTU gtu)
               throws GTUException

Set the parent GTU.

Specified by:

setParent in interface GTU

Parameters:

gtu - GTU; parent GTU, may be null

Throws:

GTUException - if the gtu already has a parent

getParent

public GTU getParent()

Returns the parent GTU, or null if this GTU has no parent.

Specified by:

getParent in interface GTU

Returns:

GTU; parent GTU, or null if this GTU has no parent

getChildren

public Set<GTU> getChildren()

Returns the children GTU's.

Specified by:

getChildren in interface GTU

Returns:

Set<GTU>; children GTU's

getNextMoveEvent

public final SimEvent<SimTimeDoubleUnit> getNextMoveEvent()

Note that destroying the next move event of the GTU can be dangerous!

Returns:

nextMoveEvent the next move event of the GTU, e.g. to cancel it from outside.

hashCode

public int hashCode()

Overrides:

hashCode in class Object

equals

public boolean equals(Object obj)

Overrides:

equals in class Object