1 package org.opentrafficsim.road.gtu.lane.perception;
2
3 import java.util.Set;
4 import java.util.TreeMap;
5
6 import org.djunits.value.vdouble.scalar.Length;
7 import org.opentrafficsim.road.network.lane.object.LaneBasedObject;
8
9 /**
10 * Provides 'friendly' access to the LaneStructure from a GTU point of view.
11 * <p>
12 * Copyright (c) 2013-2016 Delft University of Technology, PO Box 5, 2600 AA, Delft, the Netherlands. All rights reserved. <br>
13 * BSD-style license. See <a href="http://opentrafficsim.org/docs/license.html">OpenTrafficSim License</a>.
14 * </p>
15 * $LastChangedDate: 2015-07-24 02:58:59 +0200 (Fri, 24 Jul 2015) $, @version $Revision: 1147 $, by $Author: averbraeck $,
16 * initial version Sep 9, 2016 <br>
17 * @author <a href="http://www.tbm.tudelft.nl/averbraeck">Alexander Verbraeck</a>
18 * @author <a href="http://www.tudelft.nl/pknoppers">Peter Knoppers</a>
19 * @author <a href="http://www.transport.citg.tudelft.nl">Wouter Schakel</a>
20 */
21 public interface EnvironmentState
22 {
23
24 /**
25 * Retrieve objects on a lane of a specific type.
26 * @param viewingDirection direction to look at
27 * @param relativeLane lane to look at
28 * @param clazz class of objects to obtain
29 * @param <T> type of the objects
30 * @return Sorted set of objects of requested class
31 */
32 <T extends LaneBasedObject> TreeMap<Length, Set<T>> getSortedObjects(final ViewingDirection viewingDirection,
33 final RelativeLane relativeLane, final Class<T> clazz);
34
35 /**
36 * Direction to look.
37 * <p>
38 * Copyright (c) 2013-2016 Delft University of Technology, PO Box 5, 2600 AA, Delft, the Netherlands. All rights reserved.
39 * <br>
40 * BSD-style license. See <a href="http://opentrafficsim.org/node/13">OpenTrafficSim License</a>.
41 * <p>
42 * @version $Revision$, $LastChangedDate$, by $Author$, initial version 20 okt. 2016 <br>
43 * @author <a href="http://www.tbm.tudelft.nl/averbraeck">Alexander Verbraeck</a>
44 * @author <a href="http://www.tudelft.nl/pknoppers">Peter Knoppers</a>
45 * @author <a href="http://www.transport.citg.tudelft.nl">Wouter Schakel</a>
46 */
47 enum ViewingDirection
48 {
49 /** Forward direction. */
50 FORWARD,
51
52 /** Backward direction. */
53 BACKWARD;
54 }
55
56 /**
57 * <p>
58 * Copyright (c) 2013-2016 Delft University of Technology, PO Box 5, 2600 AA, Delft, the Netherlands. All rights reserved.
59 * <br>
60 * BSD-style license. See <a href="http://opentrafficsim.org/docs/current/license.html">OpenTrafficSim License</a>.
61 * <p>
62 * @version $Revision$, $LastChangedDate$, by $Author$, initial version Sep 15, 2016 <br>
63 * @author <a href="http://www.tbm.tudelft.nl/averbraeck">Alexander Verbraeck</a>
64 * @author <a href="http://www.tudelft.nl/pknoppers">Peter Knoppers</a>
65 * @author <a href="http://www.transport.citg.tudelft.nl">Wouter Schakel</a>
66 * @param <T> class of lane based object contained
67 */
68 class Entry<T extends LaneBasedObject> implements Comparable<Entry<T>>
69 {
70
71 /** Distance to lane based object. */
72 private final Length distance;
73
74 /** Lane based object. */
75 private final T laneBasedObject;
76
77 /**
78 * @param distance distance to lane based object
79 * @param laneBasedObject lane based object
80 */
81 public Entry(final Length distance, final T laneBasedObject)
82 {
83 super();
84 this.distance = distance;
85 this.laneBasedObject = laneBasedObject;
86 }
87
88 /**
89 * @return distance.
90 */
91 public final Length getDistance()
92 {
93 return this.distance;
94 }
95
96 /**
97 * @return laneBasedObject.
98 */
99 public final T getLaneBasedObject()
100 {
101 return this.laneBasedObject;
102 }
103
104 /** {@inheritDoc} */
105 @Override
106 public final int hashCode()
107 {
108 final int prime = 31;
109 int result = 1;
110 result = prime * result + ((this.distance == null) ? 0 : this.distance.hashCode());
111 result = prime * result + ((this.laneBasedObject == null) ? 0 : this.laneBasedObject.hashCode());
112 return result;
113 }
114
115 /** {@inheritDoc} */
116 @Override
117 public final boolean equals(final Object obj)
118 {
119 if (this == obj)
120 {
121 return true;
122 }
123 if (obj == null)
124 {
125 return false;
126 }
127 if (getClass() != obj.getClass())
128 {
129 return false;
130 }
131 Entry<?> other = (Entry<?>) obj;
132 if (this.distance == null)
133 {
134 if (other.distance != null)
135 {
136 return false;
137 }
138 }
139 else if (!this.distance.equals(other.distance))
140 {
141 return false;
142 }
143 if (this.laneBasedObject == null)
144 {
145 if (other.laneBasedObject != null)
146 {
147 return false;
148 }
149 }
150 // laneBasedObject does not implement equals...
151 else if (!this.laneBasedObject.equals(other.laneBasedObject))
152 {
153 return false;
154 }
155 return true;
156 }
157
158 /** {@inheritDoc} */
159 @Override
160 public final int compareTo(final Entry<T> arg)
161 {
162 int d = this.distance.compareTo(arg.distance);
163 if (d != 0 || this.laneBasedObject.equals(arg.laneBasedObject))
164 {
165 return d; // different distance (-1 or 1), or same distance but also equal lane based object (0)
166 }
167 return 1; // same distance, unequal lane based object (1)
168 }
169
170 /** {@inheritDoc} */
171 @Override
172 public String toString()
173 {
174 return "EnvironmentState.Entry [distance=" + this.distance + ", laneBasedObject=" + this.laneBasedObject + "]";
175 }
176
177 }
178 }