1 package org.opentrafficsim.road.gtu.lane.plan.operational;
2
3 import java.util.ArrayList;
4 import java.util.List;
5
6 import nl.tudelft.simulation.language.d3.DirectedPoint;
7
8 import org.djunits.value.vdouble.scalar.Speed;
9 import org.djunits.value.vdouble.scalar.Time;
10 import org.opentrafficsim.core.geometry.OTSLine3D;
11 import org.opentrafficsim.core.gtu.plan.operational.OperationalPlan;
12 import org.opentrafficsim.core.gtu.plan.operational.OperationalPlanException;
13 import org.opentrafficsim.road.gtu.lane.LaneBasedGTU;
14 import org.opentrafficsim.road.network.lane.Lane;
15
16 /**
17 * An operational plan with some extra information about the lanes and lane changes so this information does not have to be
18 * recalculated multiple times. Furthermore, it is quite expensive to check whether a lane change is part of the oprtational
19 * plan based on geographical data.
20 * <p>
21 * Copyright (c) 2013-2015 Delft University of Technology, PO Box 5, 2600 AA, Delft, the Netherlands. All rights reserved. <br>
22 * BSD-style license. See <a href="http://opentrafficsim.org/docs/license.html">OpenTrafficSim License</a>.
23 * </p>
24 * $LastChangedDate: 2015-07-24 02:58:59 +0200 (Fri, 24 Jul 2015) $, @version $Revision: 1147 $, by $Author: averbraeck $,
25 * initial version Jan 20, 2016 <br>
26 * @author <a href="http://www.tbm.tudelft.nl/averbraeck">Alexander Verbraeck</a>
27 * @author <a href="http://www.tudelft.nl/pknoppers">Peter Knoppers</a>
28 */
29 public class LaneBasedOperationalPlan extends OperationalPlan
30 {
31 /** */
32 private static final long serialVersionUID = 20160120L;
33
34 /** The list of lanes that are part of this plan; these will be deregistered in case of lane change. */
35 private final List<Lane> referenceLaneList;
36
37 /** The list of new lanes to which the GTU is driving, parallel to the referenceLaneList. */
38 private final List<Lane> targetLaneList;
39
40 /**
41 * Construct an operational plan without a lane change.
42 * @param gtu the GTU for debugging purposes
43 * @param path the path to follow from a certain time till a certain time. The path should have <i>at least</i> the length
44 * @param startTime the absolute start time when we start executing the path
45 * @param startSpeed the GTU speed when we start executing the path
46 * @param operationalPlanSegmentList the segments that make up the path with an acceleration, constant speed or deceleration
47 * profile
48 * @param referenceLaneList the list of lanes that are part of this plan
49 * @throws OperationalPlanException when the path is too short for the operation
50 */
51 public LaneBasedOperationalPlan(final LaneBasedGTU gtu, final OTSLine3D path, final Time.Abs startTime, final Speed startSpeed,
52 List<Segment> operationalPlanSegmentList, final List<Lane> referenceLaneList) throws OperationalPlanException
53 {
54 super(gtu, path, startTime, startSpeed, operationalPlanSegmentList);
55 this.referenceLaneList = referenceLaneList;
56 this.targetLaneList = null;
57 }
58
59 /**
60 * Build a plan where the GTU will wait for a certain time. Of course no lane change takes place.
61 * @param gtu the GTU for debugging purposes
62 * @param waitPoint the point at which the GTU will wait
63 * @param startTime the current time or a time in the future when the plan should start
64 * @param duration the waiting time
65 * @param referenceLane the reference lane where the halting takes place
66 * @throws OperationalPlanException when construction of a waiting path fails
67 */
68 public LaneBasedOperationalPlan(final LaneBasedGTU gtu, final DirectedPoint waitPoint, final Time.Abs startTime, final Time.Rel duration,
69 final Lane referenceLane) throws OperationalPlanException
70 {
71 super(gtu, waitPoint, startTime, duration);
72 this.referenceLaneList = new ArrayList<>();
73 this.referenceLaneList.add(referenceLane);
74 this.targetLaneList = null;
75 }
76
77 /**
78 * Check if we make a lane change.
79 * @return whether this maneuver involves a lane change.
80 */
81 public boolean isLaneChange()
82 {
83 return this.targetLaneList != null;
84 }
85
86 /**
87 * @return referenceLane
88 */
89 public final Lane getReferenceLane()
90 {
91 return this.referenceLaneList.get(0);
92 }
93
94 /**
95 * @return referenceLaneList
96 */
97 public final List<Lane> getReferenceLaneList()
98 {
99 return this.referenceLaneList;
100 }
101
102 /**
103 * @return targetLaneList
104 */
105 public final List<Lane> getTargetLaneList()
106 {
107 return this.targetLaneList;
108 }
109 }