public class LaneStructure extends Object implements EnvironmentState, Serializable
(---- a ----)(---- b ----)(---- c ----)(---- d ----)(---- e ----)(---- f ----)(---- g ----)
__________ __________
/ _________ 1 / _________ 2
/ / / /
__________/ / _______________________/ /
1 ____________ ____________ /_ _ _ _ _ _/____________ /_ _ _ _ _ _ _ _ _ _ _ _ /
0 |_ _X_ _ _ _ |_ _ _ _ _ _ |_ _ _ _ _ _ |_ _ _ _ _ _ |_ _ _ _ _ _ |_ _ _ _ _ _ \____________
-1 |____________|_ _ _ _ _ _ |____________|____________| __________|____________|____________| 3
-2 / __________/ \ \
________/ / \ \___________
5 _________/ \____________ 4
When the GTU is looking ahead, it needs to know that when it continues to destination 3, it needs to shift one lane to the
right at some point, but not two lanes to the right in link b, and not later than at the end of link f. When it needs
to go to destination 1, it needs to shift to the left in link c. When it has to go to destination 2, it has to shift to the
left, but not earlier than at link e. At node [de], it is possible to leave the rightmost lane of link e, and go to
destination 4. The rightmost lane just splits into two lanes at the end of link d, and the GTU can either continue driving to
destination 3, turn right to destination 4. This means that the right lane of link d has two successor lanes.
In the data structures, lanes are numbered laterally. Suppose that the lane where vehicle X resides would be number 0. Consistent with "left is positive" for angles, the lane right of X would have number -1, and entry 5 would have number -2.
In the data structure, this can be indicated as follows (N = next, P = previous, L = left, R = right, D = lane drop, . = continued but not in this structure). The merge lane in b is considered "off limits" for the GTUs on the "main" lane -1; the "main" lane 0 is considered off limits from the exit lanes on c, e, and f. Still, we need to maintain pointers to these lanes, as we are interested in the GTUs potentially driving next to us, feeding into our lane, etc.
1 0 -1 -2
ROOT
_____|_____ ___________ ___________
|_-_|_._|_R_|----|_L_|_._|_-_| |_-_|_._|_-_| a
| | |
_____V_____ _____V_____ _____V_____
|_-_|_N_|_R_|----|_L_|_N_|_R_|<---|_L_|_D_|_-_| b
| |
___________ _____V_____ _____V_____
|_-_|_N_|_R_|<---|_L_|_N_|_R_|----|_L_|_N_|_-_| c
| | |
_____V_____ _____V_____ _____V_____
|_-_|_._|_-_| |_-_|_N_|_R_|----|_L_|_NN|_-_| d
| ||_______________
___________ _____V_____ _____V_____ _____V_____
|_-_|_N_|_R_|<---|_L_|_N_|_R_|----|_L_|_N_|_-_| |_-_|_N_|_-_| e
| | | |
_____V_____ _____V_____ _____V_____ _____V_____
|_-_|_N_|_R_|<---|_L_|_D_|_R_|----|_L_|_N_|_-_| |_-_|_._|_-_| f
| |
_____V_____ _____V_____
|_-_|_._|_-_| |_-_|_._|_-_| g
Copyright (c) 2013-2016 Delft University of Technology, PO Box 5, 2600 AA, Delft, the Netherlands. All rights reserved.
BSD-style license. See OpenTrafficSim License.
EnvironmentState.Entry<T extends LaneBasedObject>, EnvironmentState.ViewingDirection| Constructor and Description |
|---|
LaneStructure(LaneStructureRecord rootLSR,
org.djunits.value.vdouble.scalar.Length lookAhead) |
| Modifier and Type | Method and Description |
|---|---|
void |
addLaneStructureRecord(LaneStructureRecord lsr,
RelativeLane relativeLane)
Adds a lane structure record in a mapping from relative lanes.
|
SortedSet<RelativeLane> |
getCrossSection()
Returns the cross section.
|
LaneStructureRecord |
getLaneLSR(RelativeLane lane,
org.djunits.value.vdouble.scalar.Time now) |
LaneStructureRecord |
getRootLSR() |
<T extends LaneBasedObject> |
getSortedObjects(EnvironmentState.ViewingDirection viewingDirection,
RelativeLane relativeLane,
Class<T> clazz)
Retrieve objects on a lane of a specific type.
|
void |
removeInvalidMappings(Map<RelativeLane,?> map)
Removes all mappings to relative lanes that are not in the most recent cross section.
|
String |
toString() |
public LaneStructure(LaneStructureRecord rootLSR, org.djunits.value.vdouble.scalar.Length lookAhead)
rootLSR - the root record.lookAhead - look ahead distancepublic final LaneStructureRecord getRootLSR()
public final SortedSet<RelativeLane> getCrossSection()
public final LaneStructureRecord getLaneLSR(RelativeLane lane, org.djunits.value.vdouble.scalar.Time now) throws org.opentrafficsim.core.gtu.GTUException
lane - lane to checknow - current time to check if the cross section needs to be updatedorg.opentrafficsim.core.gtu.GTUException - if the lane is not in the cross sectionpublic final void removeInvalidMappings(Map<RelativeLane,?> map)
map - map to clear mappings frompublic final void addLaneStructureRecord(LaneStructureRecord lsr, RelativeLane relativeLane)
lsr - lane structure recordrelativeLane - relative lanepublic final <T extends LaneBasedObject> TreeMap<org.djunits.value.vdouble.scalar.Length,Set<T>> getSortedObjects(EnvironmentState.ViewingDirection viewingDirection, RelativeLane relativeLane, Class<T> clazz)
getSortedObjects in interface EnvironmentStateT - type of the objectsviewingDirection - direction to look atrelativeLane - lane to look atclazz - class of objects to obtainCopyright © 2014–2016 Delft University of Technology. All rights reserved.