1 package org.opentrafficsim.core.gtu;
2
3 import java.io.Serializable;
4 import java.util.Map;
5
6 import javax.media.j3d.Bounds;
7
8 import nl.tudelft.simulation.dsol.animation.LocatableInterface;
9 import nl.tudelft.simulation.language.d3.DirectedPoint;
10
11 import org.djunits.value.vdouble.scalar.Acceleration;
12 import org.djunits.value.vdouble.scalar.Length;
13 import org.djunits.value.vdouble.scalar.Speed;
14 import org.djunits.value.vdouble.scalar.Time;
15 import org.opentrafficsim.core.dsol.OTSDEVSSimulatorInterface;
16 import org.opentrafficsim.core.gtu.perception.Perception;
17 import org.opentrafficsim.core.gtu.plan.operational.OperationalPlan;
18 import org.opentrafficsim.core.gtu.plan.strategical.StrategicalPlanner;
19 import org.opentrafficsim.core.gtu.plan.tactical.TacticalPlanner;
20
21 /**
22 * Generalized Travel Unit. <br>
23 * A GTU is an object (person, car, ship) that can travel over the infrastructure. It has a (directed) location, dimensions, and
24 * some properties that all GTUs share. The GTU is not bound to any infrastructure and can travel freely in the world. <br>
25 * For its movement, a GTU uses an OperationalPlan, which indicates a shape in the world with a speed profile that the GTU will
26 * use to move. The OperationalPlan can be updated or replaced, for which a tactical planner is responsible. A tactical plan can
27 * for instance be for a car to change two lanes to the left during the next 200 m to be able to make a left turn in 200 m. The
28 * operational plans are then the implementation of segments of the movement (time, location, speed, acceleration) that the car
29 * will make to drive on the road and (safely) make the lane changes. On the highest level, a StrategicPlan puts boundary
30 * conditions on the tactical plans. The strategic plan contains for instance the destination we want to reach and possibly some
31 * constraints on solutions that the tactical plans have to comply with.
32 * <p>
33 * Copyright (c) 2013-2015 Delft University of Technology, PO Box 5, 2600 AA, Delft, the Netherlands. All rights reserved. <br>
34 * BSD-style license. See <a href="http://opentrafficsim.org/docs/license.html">OpenTrafficSim License</a>.
35 * <p>
36 * @version $Revision: 1889 $, $LastChangedDate: 2016-04-05 21:30:47 +0200 (Tue, 05 Apr 2016) $, by $Author: pknoppers $,
37 * initial version May 15, 2014 <br>
38 * @author <a href="http://www.tbm.tudelft.nl/averbraeck">Alexander Verbraeck</a>
39 * @author <a href="http://www.tudelft.nl/pknoppers">Peter Knoppers</a>
40 */
41 public interface GTU extends LocatableInterface, Serializable
42 {
43 /** @return the id of the GTU */
44 String getId();
45
46 /** @return the maximum length of the GTU (parallel with driving direction). */
47 Length.Rel getLength();
48
49 /** @return the maximum width of the GTU (perpendicular to driving direction). */
50 Length.Rel getWidth();
51
52 /** @return the maximum velocity of the GTU, in the linear direction. */
53 Speed getMaximumVelocity();
54
55 /** @return the maximum acceleration of the GTU, in the linear direction. */
56 Acceleration getMaximumAcceleration();
57
58 /** @return the maximum deceleration of the GTU, in the linear direction, stored as a negative number. */
59 Acceleration getMaximumDeceleration();
60
61 /** @return the type of GTU, e.g. TruckType, CarType, BusType. */
62 GTUType getGTUType();
63
64 /** @return the simulator of the GTU. */
65 OTSDEVSSimulatorInterface getSimulator();
66
67 /** @return the reference position of the GTU, by definition (0, 0, 0). */
68 RelativePosition getReference();
69
70 /** @return the front position of the GTU, relative to its reference point. */
71 RelativePosition getFront();
72
73 /** @return the rear position of the GTU, relative to its reference point. */
74 RelativePosition getRear();
75
76 /**
77 * @param time the time for which the velocity needs to be calculated.
78 * @return the acceleration of the GTU at the given time, combining longitudinal, lateral and vertical acceleration
79 * components.
80 * @throws GTUException when the time is outside the current operational plan's interval
81 */
82 Speed getVelocity(final Time.Abs time) throws GTUException;
83
84 /**
85 * @return the current velocity of the GTU, combining longitudinal, lateral and vertical speed components.
86 */
87 Speed getVelocity();
88
89 /** @return the positions for this GTU. */
90 Map<RelativePosition.TYPE, RelativePosition> getRelativePositions();
91
92 /** Destroy the GTU from the simulation and animation. */
93 void destroy();
94
95 /**
96 * @param time the time for which the acceleration needs to be calculated.
97 * @return the acceleration of the GTU at the given time, combining longitudinal, lateral and vertical acceleration
98 * components.
99 * @throws GTUException when the time is outside the current operational plan's interval
100 */
101 Acceleration getAcceleration(final Time.Abs time) throws GTUException;
102
103 /**
104 * @return the current acceleration of the GTU, combining longitudinal, lateral and vertical acceleration components.
105 */
106 Acceleration getAcceleration();
107
108 /** @return Length.Rel; the current odometer value. */
109 Length.Rel getOdometer();
110
111 /**
112 * @return strategicalPlanner the planner responsible for the overall 'mission' of the GTU, usually indicating where it
113 * needs to go. It operates by instantiating tactical planners to do the work.
114 */
115 StrategicalPlanner getStrategicalPlanner();
116
117 /** @return tacticalPlanner the tactical planner that can generate an operational plan */
118 TacticalPlanner getTacticalPlanner();
119
120 /** @return the operational plan for the GTU. */
121 OperationalPlan getOperationalPlan();
122
123 /** @return the perception module of this GTU */
124 Perception getPerception();
125
126 /** @return the driving characteristics of this GTU (driver). */
127 DrivingCharacteristics getBehavioralCharacteristics();
128
129 /** @return the status of the turn indicator. */
130 TurnIndicatorStatus getTurnIndicatorStatus();
131
132 /**
133 * Set the status of the turn indicator.
134 * @param turnIndicatorStatus the new status of the turn indicator.
135 * @throws GTUException when GTUType does not have a turn indicator
136 */
137 void setTurnIndicatorStatus(TurnIndicatorStatus turnIndicatorStatus) throws GTUException;
138
139 /** {@inheritDoc} */
140 @Override
141 DirectedPoint getLocation();
142
143 /** {@inheritDoc} */
144 @Override
145 Bounds getBounds();
146
147 }