org.opentrafficsim.core.gtu

Class AbstractGTU

java.lang.Object

org.opentrafficsim.core.gtu.AbstractGTU

All Implemented Interfaces:

Serializable, nl.tudelft.simulation.dsol.animation.LocatableInterface, GTU

Direct Known Subclasses:

AbstractLinkBasedGTU

public abstract class AbstractGTU
extends Object
implements GTU

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

Copyright (c) 2013-2015 Delft University of Technology, PO Box 5, 2600 AA, Delft, the Netherlands. All rights reserved.
BSD-style license. See OpenTrafficSim License.

Version:

$Revision: 1724 $, $LastChangedDate: 2016-02-01 00:15:36 +0100 (Mon, 01 Feb 2016) $, by $Author: averbraeck $, initial version Oct 22, 2014

Author:

Alexander Verbraeck, Peter Knoppers

See Also:

Serialized Form

Constructor Summary

Constructors

Constructor and Description
AbstractGTU(String id, GTUType gtuType, OTSDEVSSimulatorInterface simulator, StrategicalPlanner strategicalPlanner, Perception perception, nl.tudelft.simulation.language.d3.DirectedPoint initialLocation, org.djunits.value.vdouble.scalar.Speed initialSpeed, PerceivableContext perceivableContext)

Method Summary

Modifier and Type	Method and Description
void	destroy() Destructor.
org.djunits.value.vdouble.scalar.Acceleration	getAcceleration()
org.djunits.value.vdouble.scalar.Acceleration	getAcceleration(org.djunits.value.vdouble.scalar.Time.Abs time)
GTUType	getGTUType()
String	getId()
nl.tudelft.simulation.language.d3.DirectedPoint	getLocation()
org.djunits.value.vdouble.scalar.Acceleration	getMaximumAcceleration()
org.djunits.value.vdouble.scalar.Acceleration	getMaximumDeceleration()
org.djunits.value.vdouble.scalar.Length.Rel	getOdometer()
OperationalPlan	getOperationalPlan()
Perception	getPerception()
RelativePosition	getReference()
OTSDEVSSimulatorInterface	getSimulator()
StrategicalPlanner	getStrategicalPlanner()
TacticalPlanner	getTacticalPlanner()
org.djunits.value.vdouble.scalar.Speed	getVelocity()
org.djunits.value.vdouble.scalar.Speed	getVelocity(org.djunits.value.vdouble.scalar.Time.Abs time)
protected void	interruptMove() Interrupt the move and ask for a new plan.
protected void	move(nl.tudelft.simulation.language.d3.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	setMaximumAcceleration(org.djunits.value.vdouble.scalar.Acceleration maximumAcceleration)
void	setMaximumDeceleration(org.djunits.value.vdouble.scalar.Acceleration maximumDeceleration)

Methods inherited from class java.lang.Object

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

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

getBounds, getDrivingCharacteristics, getFront, getLength, getMaximumVelocity, getRear, getRelativePositions, getWidth

Constructor Detail

AbstractGTU

public AbstractGTU(String id,
                   GTUType gtuType,
                   OTSDEVSSimulatorInterface simulator,
                   StrategicalPlanner strategicalPlanner,
                   Perception perception,
                   nl.tudelft.simulation.language.d3.DirectedPoint initialLocation,
                   org.djunits.value.vdouble.scalar.Speed initialSpeed,
                   PerceivableContext perceivableContext)
            throws nl.tudelft.simulation.dsol.SimRuntimeException,
                   GTUException

Parameters:

id - the id of the GTU

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

simulator - the simulator to schedule plan changes on

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.

perception - the perception unit that takes care of observing the environment of the GTU

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

initialSpeed - the initial speed of the GTU

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

Throws:

nl.tudelft.simulation.dsol.SimRuntimeException - when scheduling after the first move fails

GTUException - when the construction of the original waiting path fails

Method Detail

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(nl.tudelft.simulation.language.d3.DirectedPoint fromLocation)
             throws nl.tudelft.simulation.dsol.SimRuntimeException,
                    OperationalPlanException,
                    GTUException,
                    NetworkException

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

Throws:

nl.tudelft.simulation.dsol.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

interruptMove

protected void interruptMove()
                      throws nl.tudelft.simulation.dsol.SimRuntimeException,
                             OperationalPlanException,
                             GTUException,
                             NetworkException

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

nl.tudelft.simulation.dsol.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

getId

public final String getId()

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 OTSDEVSSimulatorInterface getSimulator()

Specified by:

getSimulator in interface GTU

Returns:

simulator the simulator to schedule plan changes on

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.

getTacticalPlanner

public final TacticalPlanner getTacticalPlanner()

Specified by:

getTacticalPlanner in interface GTU

Returns:

tacticalPlanner the tactical planner that can generate an operational plan

getOperationalPlan

public final OperationalPlan getOperationalPlan()

Specified by:

getOperationalPlan in interface GTU

Returns:

operationalPlan the current operational plan, which provides a short-term movement over time

getPerception

public Perception getPerception()

Specified by:

getPerception in interface GTU

Returns:

the perception module of this GTU

getOdometer

public final org.djunits.value.vdouble.scalar.Length.Rel getOdometer()

Specified by:

getOdometer in interface GTU

Returns:

Length.Rel; the current odometer value.

getVelocity

public final org.djunits.value.vdouble.scalar.Speed getVelocity(org.djunits.value.vdouble.scalar.Time.Abs time)

Specified by:

getVelocity in interface GTU

Parameters:

time - the time for which the velocity needs to be calculated.

Returns:

the acceleration of the GTU at the given time, combining longitudinal, lateral and vertical acceleration components.

getVelocity

public final org.djunits.value.vdouble.scalar.Speed getVelocity()

Specified by:

getVelocity in interface GTU

Returns:

the current velocity of the GTU, combining longitudinal, lateral and vertical speed components.

getAcceleration

public final org.djunits.value.vdouble.scalar.Acceleration getAcceleration(org.djunits.value.vdouble.scalar.Time.Abs time)

Specified by:

getAcceleration in interface GTU

Parameters:

time - the time for which the acceleration needs to be calculated.

Returns:

the acceleration of the GTU at the given time, combining longitudinal, lateral and vertical acceleration components.

getMaximumAcceleration

public final org.djunits.value.vdouble.scalar.Acceleration getMaximumAcceleration()

Specified by:

getMaximumAcceleration in interface GTU

Returns:

maximumAcceleration

setMaximumAcceleration

public final void setMaximumAcceleration(org.djunits.value.vdouble.scalar.Acceleration maximumAcceleration)

Parameters:

maximumAcceleration - set maximumAcceleration

getMaximumDeceleration

public final org.djunits.value.vdouble.scalar.Acceleration getMaximumDeceleration()

Specified by:

getMaximumDeceleration in interface GTU

Returns:

maximumDeceleration

setMaximumDeceleration

public final void setMaximumDeceleration(org.djunits.value.vdouble.scalar.Acceleration maximumDeceleration)

Parameters:

maximumDeceleration - set maximumDeceleration, stored as a negative number

getAcceleration

public final org.djunits.value.vdouble.scalar.Acceleration getAcceleration()

Specified by:

getAcceleration in interface GTU

Returns:

the current acceleration of the GTU, combining longitudinal, lateral and vertical acceleration components.

getLocation

public nl.tudelft.simulation.language.d3.DirectedPoint getLocation()

Specified by:

getLocation in interface nl.tudelft.simulation.dsol.animation.LocatableInterface

Specified by:

getLocation in interface GTU