package org.opentrafficsim.road.gtu.generator;
   
   import java.io.Serializable;
   import java.util.ArrayList;
   import java.util.LinkedHashSet;
   import java.util.List;
   import java.util.Set;
   
   import nl.tudelft.simulation.dsol.SimRuntimeException;
  
  import org.djunits.unit.LengthUnit;
  import org.djunits.unit.SpeedUnit;
  import org.djunits.unit.TimeUnit;
  import org.djunits.value.vdouble.scalar.Duration;
  import org.djunits.value.vdouble.scalar.Length;
  import org.djunits.value.vdouble.scalar.Speed;
  import org.djunits.value.vdouble.scalar.Time;
  import org.opentrafficsim.core.dsol.OTSDEVSSimulatorInterface;
  import org.opentrafficsim.core.dsol.OTSSimTimeDouble;
  import org.opentrafficsim.core.gtu.GTUDirectionality;
  import org.opentrafficsim.core.gtu.GTUException;
  import org.opentrafficsim.core.gtu.GTUType;
  import org.opentrafficsim.core.gtu.RelativePosition;
  import org.opentrafficsim.core.gtu.animation.GTUColorer;
  import org.opentrafficsim.core.network.NetworkException;
  import org.opentrafficsim.core.network.OTSNetwork;
  import org.opentrafficsim.core.units.distributions.ContinuousDistDoubleScalar;
  import org.opentrafficsim.road.gtu.animation.DefaultCarAnimation;
  import org.opentrafficsim.road.gtu.lane.LaneBasedGTU;
  import org.opentrafficsim.road.gtu.lane.LaneBasedIndividualGTU;
  import org.opentrafficsim.road.gtu.lane.LaneBasedIndividualGTU.LaneBasedIndividualCarBuilder;
  import org.opentrafficsim.road.gtu.lane.perception.LanePerception;
  import org.opentrafficsim.road.gtu.lane.perception.headway.Headway;
  import org.opentrafficsim.road.gtu.lane.perception.headway.HeadwayDistance;
  import org.opentrafficsim.road.gtu.lane.perception.headway.HeadwayGTUSimple;
  import org.opentrafficsim.road.gtu.lane.tactical.following.GTUFollowingModelOld;
  import org.opentrafficsim.road.gtu.lane.tactical.following.IDMPlusOld;
  import org.opentrafficsim.road.gtu.strategical.LaneBasedStrategicalPlanner;
  import org.opentrafficsim.road.gtu.strategical.LaneBasedStrategicalPlannerFactory;
  import org.opentrafficsim.road.network.lane.DirectedLanePosition;
  import org.opentrafficsim.road.network.lane.Lane;
  
  /**
   * Common code for LaneBasedGTU generators that may have to postpone putting a GTU on the road due to congestion growing into
   * the generator. <br>
   * Generally, these generators will discover that there is not enough room AFTER having decided what kind (particular length) of
   * GTU will be constructed next. When this happens, the generator must remember the properties of the GTU, but postpone actual
   * generation until there is enough room.
   * <p>
   * Copyright (c) 2013-2016 Delft University of Technology, PO Box 5, 2600 AA, Delft, the Netherlands. All rights reserved. <br>
   * BSD-style license. See <a href="http://opentrafficsim.org/docs/license.html">OpenTrafficSim License</a>.
   * <p>
   * @version $Revision: 1401 $, $LastChangedDate: 2015-09-14 01:33:02 +0200 (Mon, 14 Sep 2015) $, by $Author: averbraeck $,
   *          initial version Feb 2, 2015 <br>
   * @author <a href="http://www.tbm.tudelft.nl/averbraeck">Alexander Verbraeck</a>
   * @author <a href="http://www.tudelft.nl/pknoppers">Peter Knoppers</a>
   */
  public abstract class AbstractGTUGenerator implements Serializable
  {
      /** */
      private static final long serialVersionUID = 20150202L;
  
      /** The generator name. Will be used for generated GTUs as Name:# where # is the id of the GTU when ID is a String. */
      private final String name;
  
      /** The type of GTU to generate. */
      private final GTUType gtuType;
  
      /** The GTU class to instantiate. */
      private final Class<?> gtuClass;
  
      /** Distribution of the initial speed of the GTU. */
      private final ContinuousDistDoubleScalar.Rel<Speed, SpeedUnit> initialSpeedDist;
  
      /** Distribution of the interarrival time. */
      private final ContinuousDistDoubleScalar.Rel<Duration, TimeUnit> interarrivelTimeDist;
  
      /** Generated number of GTUs. */
      private long generatedGTUs = 0;
  
      /** Maximum number of GTUs to generate. */
      private final long maxGTUs;
  
      /** Start time of generation (delayed start). */
      private final Time startTime;
  
      /** End time of generation. */
      private final Time endTime;
  
      /** Lane to generate the GTU on -- at the end for now. */
      private final Lane lane;
  
      /** Position on the lane, relative to the design line of the link. */
      private final Length position;
  
      /** The direction in which the GTU has to be generated; DIR_PLUS or DIR_MINUS. */
      private final GTUDirectionality direction;
  
      /** GTUColorer to use. */
     private final GTUColorer gtuColorer;
 
     /** The lane-based strategical planner factory to use. */
     private final LaneBasedStrategicalPlannerFactory<? extends LaneBasedStrategicalPlanner> strategicalPlannerFactory;
 
     /** The network. */
     private final OTSNetwork network;
 
     /** Car builder list. */
     private List<LaneBasedIndividualCarBuilder> carBuilderList = new ArrayList<>();
 
     /** Number of generated GTUs. */
     @SuppressWarnings("checkstyle:visibilitymodifier")
     protected long numberGTUs = 0;
 
     /**
      * @param name the name of the generator
      * @param simulator the simulator to schedule the start of the generation
      * @param gtuType the type of GTU to generate
      * @param gtuClass the GTU class to instantiate
      * @param initialSpeedDist distribution of the initial speed of the GTU
      * @param interarrivelTimeDist distribution of the interarrival time
      * @param maxGTUs maximum number of GTUs to generate
      * @param startTime start time of generation (delayed start)
      * @param endTime end time of generation
      * @param lane the lane to generate the GTU on
      * @param position position on the lane, relative to the design line of the link
      * @param direction the direction on the lane in which the GTU has to be generated (DIR_PLUS, or DIR_MINUS)
      * @param gtuColorer the GTUColorer to use
      * @param strategicalPlannerFactory the lane-based strategical planner factory to use
      * @param network the network to register the generated GTUs into
      * @throws SimRuntimeException when simulation scheduling fails
      */
     @SuppressWarnings("checkstyle:parameternumber")
     public AbstractGTUGenerator(final String name, final OTSDEVSSimulatorInterface simulator, final GTUType gtuType,
             final Class<?> gtuClass, final ContinuousDistDoubleScalar.Rel<Speed, SpeedUnit> initialSpeedDist,
             final ContinuousDistDoubleScalar.Rel<Duration, TimeUnit> interarrivelTimeDist, final long maxGTUs,
             final Time startTime, final Time endTime, final Lane lane, final Length position,
             final GTUDirectionality direction, final GTUColorer gtuColorer,
             final LaneBasedStrategicalPlannerFactory<? extends LaneBasedStrategicalPlanner> strategicalPlannerFactory,
             final OTSNetwork network) throws SimRuntimeException
     {
         super();
         this.name = name;
         this.gtuType = gtuType;
         this.gtuClass = gtuClass;
         this.initialSpeedDist = initialSpeedDist;
         this.interarrivelTimeDist = interarrivelTimeDist;
         this.maxGTUs = maxGTUs;
         this.startTime = startTime;
         this.endTime = endTime;
         this.lane = lane;
         this.position = position;
         this.direction = direction;
         this.gtuColorer = gtuColorer;
         this.strategicalPlannerFactory = strategicalPlannerFactory;
         this.network = network;
 
         simulator.scheduleEventAbs(startTime, this, this, "generate", null);
     }
 
     /**
      * Generate a GTU.
      * @throws Exception when something in the generation fails.
      */
     protected final void generate() throws Exception
     {
         // check if we are after the end time
         if (getSimulator().getSimulatorTime().getTime().gt(this.endTime))
         {
             return;
         }
 
         // check if we have generated sufficient GTUs
         if (this.generatedGTUs >= this.maxGTUs)
         {
             return;
         }
 
         // create a unique id
         this.numberGTUs++;
         String id = this.name + ":" + this.numberGTUs;
 
         // create the GTU
         if (LaneBasedIndividualGTU.class.isAssignableFrom(getGtuClass()))
         {
             LaneBasedIndividualCarBuilder carBuilder = new LaneBasedIndividualCarBuilder();
             carBuilder.setId(id);
             carBuilder.setGtuType(getGtuType());
             Length carLength = getLengthDist().draw();
             carBuilder.setLength(carLength);
             carBuilder.setWidth(getWidthDist().draw());
             carBuilder.setMaximumSpeed(getMaximumSpeedDist().draw());
             carBuilder.setInitialSpeed(getInitialSpeedDist().draw());
             carBuilder.setSimulator(getSimulator());
             Set<DirectedLanePosition> initialLongitudinalPositions = new LinkedHashSet<>(1);
             initialLongitudinalPositions.add(new DirectedLanePosition(this.lane, this.position, this.direction));
             carBuilder.setInitialLongitudinalPositions(initialLongitudinalPositions);
             carBuilder.setAnimationClass(DefaultCarAnimation.class);
             carBuilder.setGtuColorer(this.gtuColorer);
             carBuilder.setNetwork(this.network);
             this.generatedGTUs++;
 
             if (enoughSpace(carBuilder))
             {
                 carBuilder.build(this.strategicalPlannerFactory);
             }
             else
             {
                 // put the car in the queue and take it from there -- if the headway is enough, build the car.
                 this.carBuilderList.add(carBuilder);
                 // System.out.println("GTUGenerator - backlog = " + this.carBuilderList.size());
                 if (this.carBuilderList.size() == 1)
                 {
                     // first entry in list - start the watch thread
                     getSimulator()
                             .scheduleEventRel(new Duration(0.1, TimeUnit.SECOND), this, this, "checkCarBuilderList", null);
                 }
             }
         }
         else
         {
             throw new GTUException("GTU class " + getGtuClass().getName() + ": cannot instantiate, no builder.");
         }
 
         // reschedule next arrival
         OTSSimTimeDouble nextTime = getSimulator().getSimulatorTime().plus(this.interarrivelTimeDist.draw());
         if (nextTime.get().le(this.endTime))
         {
             getSimulator().scheduleEventAbs(nextTime, this, this, "generate", null);
         }
     }
 
     /**
      * Check if the car to be built is not overlapping with another GTU on the same lane, and if it has enough headway to be
      * generated safely.
      * @param carBuilder the car to be generated
      * @return true if car can be safely built, false otherwise.
      * @throws NetworkException when the speed limit of the lane is not known
      * @throws GTUException if GTU does not have a position on the lane where it is registered
      */
     protected final boolean enoughSpace(final LaneBasedIndividualCarBuilder carBuilder) throws NetworkException, GTUException
     {
         DirectedLanePosition directedLanePosition = carBuilder.getInitialLongitudinalPositions().iterator().next();
         Lane generatorLane = directedLanePosition.getLane();
         double genPosSI = directedLanePosition.getPosition().getSI();
         //GTUDirectionality direction = directedLanePosition.getGtuDirection();
         // XXX different from this.direction?
         double lengthSI = generatorLane.getLength().getSI();
         double frontNew = (genPosSI + carBuilder.getLength().getSI()) / lengthSI;
         double rearNew = genPosSI / lengthSI;
 
         // test for overlap with other GTUs
         for (LaneBasedGTU gtu : generatorLane.getGtuList())
         {
             double frontGTU = gtu.fractionalPosition(generatorLane, gtu.getFront());
             double rearGTU = gtu.fractionalPosition(generatorLane, gtu.getRear());
             if ((frontNew >= rearGTU && frontNew <= frontGTU) || (rearNew >= rearGTU && rearNew <= frontGTU)
                     || (frontGTU >= rearNew && frontGTU <= frontNew) || (rearGTU >= rearNew && rearGTU <= frontNew))
             {
                 // System.out.println(getSimulator().getSimulatorTime() + ", generator overlap with GTU " + gtu);
                 return false;
             }
         }
 
         // test for sufficient headway
         GTUFollowingModelOld followingModel = new IDMPlusOld();
         // carBuilder.getStrategicalPlanner().getBehavioralCharacteristics().getGTUFollowingModel();
 
         Headway headway = headway(new Length(250.0, LengthUnit.METER), generatorLane);
         Length minimumHeadway = new Length(0.0, LengthUnit.METER);
         if (headway.getObjectType().isGtu())
         {
             minimumHeadway =
                     followingModel.minimumHeadway(carBuilder.getInitialSpeed(), headway.getSpeed(), new Length(1.0,
                             LengthUnit.CENTIMETER), new Length(250.0, LengthUnit.METER), generatorLane
                             .getSpeedLimit(carBuilder.getGtuType()), carBuilder.getMaximumSpeed());
             double acc =
                     followingModel.computeAcceleration(carBuilder.getInitialSpeed(), carBuilder.getMaximumSpeed(),
                             headway.getSpeed(), minimumHeadway, carBuilder.getMaximumSpeed()).getSI();
             if (acc < 0)
             {
                 System.err.println(getSimulator().getSimulatorTime() + ", generator headway for GTU " + headway.getId()
                         + ", distance " + headway.getDistance().si + " m, max " + minimumHeadway + ", has to brake with a="
                         + acc + " m/s^2");
                 return false;
             }
         }
 
         // System.out.println(getSimulator().getSimulatorTime() + ", generator headway for GTU " + headwayGTU.getOtherGTU()
         // + ", distance " + headwayGTU.getDistance().si + " m, max " + minimumHeadway);
         return headway.getDistance().ge(minimumHeadway);
     }
 
     /**
      * Calculate the minimum headway, possibly on subsequent lanes, in DIR_PLUS direction.
      * @param theLane the lane where we are looking right now
      * @param lanePositionSI from which position on this lane do we start measuring? This is the current position of the GTU
      *            when we measure in the lane where the original GTU is positioned, and 0.0 for each subsequent lane
      * @param cumDistanceSI the distance we have already covered searching on previous lanes
      * @param maxDistanceSI the maximum distance to look for in SI units; stays the same in subsequent calls
      * @param when the current or future time for which to calculate the headway
      * @return the headway in SI units when we have found the GTU, or a null GTU with a distance of Double.MAX_VALUE meters when
      *         no other GTU could not be found within maxDistanceSI meters
      * @throws GTUException when there is a problem with the geometry of the network
      */
     private Headway headwayRecursiveForwardSI(final Lane theLane, final double lanePositionSI, final double cumDistanceSI,
             final double maxDistanceSI, final Time when) throws GTUException
     {
         // TODO: THIS METHOD IS ALSO IN PERCEPTION -- DON'T DUPLICATE; ALSO, THIS VERSION IS WRONG.
         LaneBasedGTU otherGTU =
                 theLane.getGtuAhead(new Length(lanePositionSI, LengthUnit.METER), GTUDirectionality.DIR_PLUS,
                         RelativePosition.REAR, when);
         if (otherGTU != null)
         {
             double distanceM = cumDistanceSI + otherGTU.position(theLane, otherGTU.getRear(), when).getSI() - lanePositionSI;
             if (distanceM > 0 && distanceM <= maxDistanceSI)
             {
                 return new HeadwayGTUSimple(otherGTU.getId(), otherGTU.getGTUType(), new Length(distanceM, LengthUnit.SI),
                         otherGTU.getLength(), otherGTU.getSpeed(), null);
             }
             return new HeadwayDistance(Double.MAX_VALUE);
         }
 
         // Continue search on successor lanes.
         if (cumDistanceSI + theLane.getLength().getSI() - lanePositionSI < maxDistanceSI)
         {
             // is there a successor link?
             if (theLane.nextLanes(this.gtuType).size() > 0)
             {
                 Headway foundMaxGTUDistanceSI = new HeadwayDistance(Double.MAX_VALUE);
                 for (Lane nextLane : theLane.nextLanes(this.gtuType).keySet())
                 {
                     // TODO Only follow links on the Route if there is a "real" Route
                     // if (routeNavigator.getRoute() == null || routeNavigator.getRoute().size() == 0 /* XXXXX STUB dummy route
                     // */
                     // || routeNavigator.getRoute().containsLink((Link) theLane.getParentLink()))
                     {
                         double traveledDistanceSI = cumDistanceSI + theLane.getLength().getSI() - lanePositionSI;
                         Headway closest = headwayRecursiveForwardSI(nextLane, 0.0, traveledDistanceSI, maxDistanceSI, when);
                         if (closest.getDistance().si < maxDistanceSI
                                 && closest.getDistance().si < foundMaxGTUDistanceSI.getDistance().si)
                         {
                             foundMaxGTUDistanceSI = closest;
                         }
                     }
                 }
                 return foundMaxGTUDistanceSI;
             }
         }
 
         // No other GTU was not on one of the current lanes or their successors.
         return new HeadwayDistance(Double.MAX_VALUE);
     }
 
     /**
      * Calculate the minimum headway, possibly on subsequent lanes, in DIR_MINUS direction.
      * @param theLane the lane where we are looking right now
      * @param lanePositionSI from which position on this lane do we start measuring? This is the current position of the GTU
      *            when we measure in the lane where the original GTU is positioned, and 0.0 for each subsequent lane
      * @param cumDistanceSI the distance we have already covered searching on previous lanes
      * @param maxDistanceSI the maximum distance to look for in SI units; stays the same in subsequent calls
      * @param when the current or future time for which to calculate the headway
      * @return the headway in SI units when we have found the GTU, or a null GTU with a distance of Double.MAX_VALUE meters when
      *         no other GTU could not be found within maxDistanceSI meters
      * @throws GTUException when there is a problem with the geometry of the network
      */
     private Headway headwayRecursiveBackwardSI(final Lane theLane, final double lanePositionSI, final double cumDistanceSI,
             final double maxDistanceSI, final Time when) throws GTUException
     {
         // TODO: THIS METHOD IS ALSO IN PERCEPTION -- DON'T DUPLICATE; ALSO, THIS VERSION IS RONG.
         LaneBasedGTU otherGTU =
                 theLane.getGtuBehind(new Length(lanePositionSI, LengthUnit.METER), GTUDirectionality.DIR_PLUS,
                         RelativePosition.FRONT, when);
         if (otherGTU != null)
         {
             double distanceM = cumDistanceSI + otherGTU.position(theLane, otherGTU.getFront(), when).getSI() - lanePositionSI;
             if (distanceM > 0 && distanceM <= maxDistanceSI)
             {
                 return new HeadwayGTUSimple(otherGTU.getId(), otherGTU.getGTUType(), new Length(distanceM, LengthUnit.SI),
                         otherGTU.getLength(), otherGTU.getSpeed(), null);
             }
             return new HeadwayDistance(Double.MAX_VALUE);
         }
 
         // Continue search on all predecessor lanes.
         if (cumDistanceSI + theLane.getLength().getSI() - lanePositionSI < maxDistanceSI)
         {
             // is there a predecessor link?
             if (theLane.prevLanes(this.gtuType).size() > 0)
             {
                 Headway foundMaxGTUDistanceSI = new HeadwayDistance(Double.MAX_VALUE);
                 for (Lane prevLane : theLane.prevLanes(this.gtuType).keySet())
                 {
                     // TODO Only follow links on the Route if there is a "real" Route
                     // if (routeNavigator.getRoute() == null || routeNavigator.getRoute().size() == 0 /* XXXXX STUB dummy route
                     // */
                     // || routeNavigator.getRoute().containsLink((Link) theLane.getParentLink()))
                     {
                         double traveledDistanceSI = cumDistanceSI + theLane.getLength().getSI() - lanePositionSI;
                         Headway closest = headwayRecursiveBackwardSI(prevLane, 0.0, traveledDistanceSI, maxDistanceSI, when);
                         if (closest.getDistance().si < maxDistanceSI
                                 && closest.getDistance().si < foundMaxGTUDistanceSI.getDistance().si)
                         {
                             foundMaxGTUDistanceSI = closest;
                         }
                     }
                 }
                 return foundMaxGTUDistanceSI;
             }
         }
 
         // No other GTU was not on one of the current lanes or their successors.
         return new HeadwayDistance(Double.MAX_VALUE);
     }
 
     /**
      * Find the first GTU starting on the specified lane following the specified route.
      * @param maxDistanceSI the maximum distance to look for in SI units
      * @param generatorLane Lane; the lane on which the the search for a leader starts
      * @return the nearest GTU and the net headway to this GTU in SI units when we have found the GTU, or a null GTU with a
      *         distance of Double.MAX_VALUE meters when no other GTU could not be found within maxDistanceSI meters
      * @throws GTUException when there is a problem with the geometry of the network
      */
     private Headway headwayGTUSIForward(final double maxDistanceSI, final Lane generatorLane) throws GTUException
     {
         Time when = getSimulator().getSimulatorTime().getTime();
         Headway foundMaxGTUDistanceSI = new HeadwayDistance(Double.MAX_VALUE);
         // search for the closest GTU on all current lanes we are registered on.
         Headway closest;
         if (this.direction.equals(GTUDirectionality.DIR_PLUS))
         {
             closest = headwayRecursiveForwardSI(this.lane, generatorLane.getLength().getSI(), 0.0, maxDistanceSI, when);
         }
         else
         {
             closest = headwayRecursiveBackwardSI(this.lane, generatorLane.getLength().getSI(), 0.0, maxDistanceSI, when);
         }
         if (closest.getDistance().si < maxDistanceSI && closest.getDistance().si < foundMaxGTUDistanceSI.getDistance().si)
         {
             foundMaxGTUDistanceSI = closest;
         }
         return foundMaxGTUDistanceSI;
     }
 
     /**
      * Check the available headway for GTU that is about to be constructed.
      * @param maxDistance Length; the maximum distance to look for a leader
      * @param generatorLane Lane; the lane on which the GTU is generated
      * @return HeadwayGTU; the available headway and the GTU at that headway
      * @throws GTUException on network inconsistency
      */
     public final Headway headway(final Length maxDistance, final Lane generatorLane) throws GTUException
     {
         return headwayGTUSIForward(maxDistance.getSI(), generatorLane);
     }
 
     /**
      * Check if car can be generated.
      * @throws Exception on any problem
      */
     protected final void checkCarBuilderList() throws Exception
     {
         if (!this.carBuilderList.isEmpty())
         {
             LaneBasedIndividualCarBuilder carBuilder = this.carBuilderList.get(0);
             if (enoughSpace(carBuilder))
             {
                 this.carBuilderList.remove(0);
                 carBuilder.build(this.strategicalPlannerFactory);
             }
         }
 
         // only reschedule if list not empty
         if (!this.carBuilderList.isEmpty())
         {
             getSimulator().scheduleEventRel(new Duration(0.1, TimeUnit.SECOND), this, this, "checkCarBuilderList", null);
         }
     }
 
     /** @return simulator. */
     public abstract OTSDEVSSimulatorInterface getSimulator();
 
     /** @return lengthDist. */
     public abstract ContinuousDistDoubleScalar.Rel<Length, LengthUnit> getLengthDist();
 
     /** @return widthDist. */
     public abstract ContinuousDistDoubleScalar.Rel<Length, LengthUnit> getWidthDist();
 
     /** @return maximumSpeedDist. */
     public abstract ContinuousDistDoubleScalar.Rel<Speed, SpeedUnit> getMaximumSpeedDist();
 
     /**
      * @return name.
      */
     public final String getName()
     {
         return this.name;
     }
 
     /**
      * @return gtuType.
      */
     public final GTUType getGtuType()
     {
         return this.gtuType;
     }
 
     /**
      * @return gtuClass.
      */
     public final Class<?> getGtuClass()
     {
         return this.gtuClass;
     }
 
     /**
      * @return initialSpeedDist.
      */
     public final ContinuousDistDoubleScalar.Rel<Speed, SpeedUnit> getInitialSpeedDist()
     {
         return this.initialSpeedDist;
     }
 
     /**
      * @return interarrivelTimeDist.
      */
     public final ContinuousDistDoubleScalar.Rel<Duration, TimeUnit> getInterarrivelTimeDist()
     {
         return this.interarrivelTimeDist;
     }
 
     /**
      * @return maxGTUs.
      */
     public final long getMaxGTUs()
     {
         return this.maxGTUs;
     }
 
     /**
      * @return startTime.
      */
     public final Time getStartTime()
     {
         return this.startTime;
     }
 
     /**
      * @return endTime.
      */
     public final Time getEndTime()
     {
         return this.endTime;
     }
 
     /**
      * @return gtuColorer.
      */
     public final GTUColorer getGtuColorer()
     {
         return this.gtuColorer;
     }
 
     /**
      * @return strategicalPlanner
      */
     public final LaneBasedStrategicalPlannerFactory<? extends LaneBasedStrategicalPlanner> getStrategicalPlannerFactory()
     {
         return this.strategicalPlannerFactory;
     }
 
 }