org.opentrafficsim.core.perception

Class PerceivedObject2D

java.lang.Object

org.opentrafficsim.core.perception.PerceivedObject2D

All Implemented Interfaces:

Serializable, PerceivedObject

public class PerceivedObject2D
extends Object
implements PerceivedObject

Information about a perceived object, which can be a GTU, a road sign, a traffic light, or an obstacle. This implementation stores the information internally as (perceived) absolute locations.

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.

$LastChangedDate: 2015-07-24 02:58:59 +0200 (Fri, 24 Jul 2015) $, @version $Revision: 1147 $, by $Author: averbraeck $, initial version Dec 10, 2015

Author:

Alexander Verbraeck, Peter Knoppers

See Also:

Serialized Form

Field Summary

Fields

Modifier and Type	Field and Description
(package private) PerceivedObjectType	perceivedObjectType the perceived object type.

Constructor Summary

Constructors

Constructor and Description
PerceivedObject2D()

Method Summary

Modifier and Type	Method and Description
org.djunits.value.vdouble.scalar.Length.Rel	getPerceivedDistance() Get the perceived distance to the object.
OTSPoint3D	getPerceivedLocation() Get the perceived location of the object.
Rotation3D.Abs	getPerceivedMovingDirection() Get the perceived absolute 3D moving angle.
PerceivedObjectType	getPerceivedObjectType() Get the object type.
Rotation3D.Rel	getPerceivedRelativeAngle() Get the perceived 3D-angle from our reference point and own direction to the object.
Rotation3D.Rel	getPerceivedRelativeMovingDirection() Get the perceived 3D moving angle from our reference point to the object.
org.djunits.value.vdouble.scalar.Speed	getPerceivedSpeed() Get the perceived speed of the object.
Speed3D	getPerceivedSpeed3D() Get the perceived speed of the object, split into movement in the X, Y, and Z direction.

Methods inherited from class java.lang.Object

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

Field Detail

perceivedObjectType

PerceivedObjectType perceivedObjectType

the perceived object type.

Constructor Detail

PerceivedObject2D

public PerceivedObject2D()

Method Detail

getPerceivedObjectType

public PerceivedObjectType getPerceivedObjectType()

Get the object type.

Specified by:

getPerceivedObjectType in interface PerceivedObject

Returns:

the type of the perceived object

getPerceivedDistance

public org.djunits.value.vdouble.scalar.Length.Rel getPerceivedDistance()

Get the perceived distance to the object. When we combine relative distance and angle with our own location, the object's location can be calculated.

Specified by:

getPerceivedDistance in interface PerceivedObject

Returns:

the perceived distance to the object

getPerceivedRelativeAngle

public Rotation3D.Rel getPerceivedRelativeAngle()

Get the perceived 3D-angle from our reference point and own direction to the object. When we combine relative distance and angle with our own location, the object's location can be calculated.

Specified by:

getPerceivedRelativeAngle in interface PerceivedObject

Returns:

the perceived 3D-angle to the object

getPerceivedLocation

public OTSPoint3D getPerceivedLocation()

Get the perceived location of the object. The perceived location of the object is providing the same information as the combination of perceived distance and relative angle, combined with our own location and RPY direction.

Specified by:

getPerceivedLocation in interface PerceivedObject

Returns:

the perceived XYZ-location of the object

getPerceivedRelativeMovingDirection

public Rotation3D.Rel getPerceivedRelativeMovingDirection()

Get the perceived 3D moving angle from our reference point to the object.

Specified by:

getPerceivedRelativeMovingDirection in interface PerceivedObject

Returns:

the perceived 3D-angle of movement of the object

getPerceivedMovingDirection

public Rotation3D.Abs getPerceivedMovingDirection()

Get the perceived absolute 3D moving angle.

Specified by:

getPerceivedMovingDirection in interface PerceivedObject

Returns:

the perceived 3D-angle of movement of the object

getPerceivedSpeed

public org.djunits.value.vdouble.scalar.Speed getPerceivedSpeed()

Get the perceived speed of the object.

Specified by:

getPerceivedSpeed in interface PerceivedObject

Returns:

the perceived speed of the object, in the RPY-direction it is facing

getPerceivedSpeed3D

public Speed3D getPerceivedSpeed3D()

Get the perceived speed of the object, split into movement in the X, Y, and Z direction.

Specified by:

getPerceivedSpeed3D in interface PerceivedObject

Returns:

a speed vector in 3 dimensions.