1 package org.opentrafficsim.core.perception;
2
3 import java.io.Serializable;
4
5 import org.djunits.value.vdouble.scalar.Length;
6 import org.djunits.value.vdouble.scalar.Speed;
7 import org.opentrafficsim.core.geometry.OTSPoint3D;
8 import org.opentrafficsim.core.math.Rotation3D;
9 import org.opentrafficsim.core.math.Speed3D;
10
11 /**
12 * Information about a perceived object, which can be a GTU, a road sign, a traffic light, or an obstacle.
13 * <p>
14 * Copyright (c) 2013-2015 Delft University of Technology, PO Box 5, 2600 AA, Delft, the Netherlands. All rights reserved. <br>
15 * BSD-style license. See <a href="http://opentrafficsim.org/docs/license.html">OpenTrafficSim License</a>.
16 * </p>
17 * $LastChangedDate: 2015-07-24 02:58:59 +0200 (Fri, 24 Jul 2015) $, @version $Revision: 1147 $, by $Author: averbraeck $,
18 * initial version Dec 10, 2015 <br>
19 * @author <a href="http://www.tbm.tudelft.nl/averbraeck">Alexander Verbraeck</a>
20 * @author <a href="http://www.tudelft.nl/pknoppers">Peter Knoppers</a>
21 */
22 public interface PerceivedObject extends Serializable
23 {
24 /**
25 * Get the object type.
26 * @return the type of the perceived object
27 */
28 PerceivedObjectType getPerceivedObjectType();
29
30 /**
31 * Get the perceived distance to the object. When we combine relative distance and angle with our own location, the object's
32 * location can be calculated.
33 * @return the perceived distance to the object
34 */
35 Length.Rel getPerceivedDistance();
36
37 /**
38 * Get the perceived 3D-angle from our reference point and own direction to the object. When we combine relative distance
39 * and angle with our own location, the object's location can be calculated.
40 * @return the perceived 3D-angle to the object
41 */
42 Rotation3D.Rel getPerceivedRelativeAngle();
43
44 /**
45 * Get the perceived location of the object. The perceived location of the object is providing the same information as the
46 * combination of perceived distance and relative angle, combined with our own location and RPY direction.
47 * @return the perceived XYZ-location of the object
48 */
49 OTSPoint3D getPerceivedLocation();
50
51 /**
52 * Get the perceived 3D moving angle from our reference point to the object.
53 * @return the perceived 3D-angle of movement of the object
54 */
55 Rotation3D.Rel getPerceivedRelativeMovingDirection();
56
57 /**
58 * Get the perceived absolute 3D moving angle.
59 * @return the perceived 3D-angle of movement of the object
60 */
61 Rotation3D.Abs getPerceivedMovingDirection();
62
63 /**
64 * Get the perceived speed of the object.
65 * @return the perceived speed of the object, in the RPY-direction it is facing
66 */
67 Speed getPerceivedSpeed();
68
69 /**
70 * Get the perceived speed of the object, split into movement in the X, Y, and Z direction.
71 * @return a speed vector in 3 dimensions.
72 */
73 Speed3D getPerceivedSpeed3D();
74 }