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.Duration;
9 import org.djunits.value.vdouble.scalar.Speed;
10 import org.djunits.value.vdouble.scalar.Time;
11 import org.opentrafficsim.core.geometry.OTSLine3D;
12 import org.opentrafficsim.core.gtu.plan.operational.OperationalPlan;
13 import org.opentrafficsim.core.gtu.plan.operational.OperationalPlanException;
14 import org.opentrafficsim.road.gtu.lane.LaneBasedGTU;
15 import org.opentrafficsim.road.network.lane.Lane;
16
17 /**
18 * An operational plan with some extra information about the lanes and lane changes so this information does not have to be
19 * recalculated multiple times. Furthermore, it is quite expensive to check whether a lane change is part of the oprtational
20 * plan based on geographical data.
21 * <p>
22 * Copyright (c) 2013-2016 Delft University of Technology, PO Box 5, 2600 AA, Delft, the Netherlands. All rights reserved. <br>
23 * BSD-style license. See <a href="http://opentrafficsim.org/docs/license.html">OpenTrafficSim License</a>.
24 * </p>
25 * $LastChangedDate: 2015-07-24 02:58:59 +0200 (Fri, 24 Jul 2015) $, @version $Revision: 1147 $, by $Author: averbraeck $,
26 * initial version Jan 20, 2016 <br>
27 * @author <a href="http://www.tbm.tudelft.nl/averbraeck">Alexander Verbraeck</a>
28 * @author <a href="http://www.tudelft.nl/pknoppers">Peter Knoppers</a>
29 */
30 public class LaneBasedOperationalPlan extends OperationalPlan
31 {
32 /** */
33 private static final long serialVersionUID = 20160120L;
34
35 /** The list of lanes that are part of this plan; these will be deregistered in case of lane change. */
36 private final List<Lane> referenceLaneList;
37
38 /** The list of new lanes to which the GTU is driving, parallel to the referenceLaneList. */
39 private final List<Lane> targetLaneList;
40
41 /**
42 * Construct an operational plan without a lane change.
43 * @param gtu the GTU for debugging purposes
44 * @param path the path to follow from a certain time till a certain time. The path should have <i>at least</i> the length
45 * @param startTime the absolute start time when we start executing the path
46 * @param startSpeed the GTU speed when we start executing the path
47 * @param operationalPlanSegmentList the segments that make up the path with an acceleration, constant speed or deceleration
48 * profile
49 * @param referenceLaneList the list of lanes that are part of this plan
50 * @throws OperationalPlanException when the path is too short for the operation
51 */
52 public LaneBasedOperationalPlan(final LaneBasedGTU gtu, final OTSLine3D path, final Time startTime, final Speed startSpeed,
53 List<Segment> operationalPlanSegmentList, final List<Lane> referenceLaneList) throws OperationalPlanException
54 {
55 super(gtu, path, startTime, startSpeed, operationalPlanSegmentList);
56 this.referenceLaneList = referenceLaneList;
57 this.targetLaneList = null;
58 }
59
60 /**
61 * Build a plan where the GTU will wait for a certain time. Of course no lane change takes place.
62 * @param gtu the GTU for debugging purposes
63 * @param waitPoint the point at which the GTU will wait
64 * @param startTime the current time or a time in the future when the plan should start
65 * @param duration the waiting time
66 * @param referenceLane the reference lane where the halting takes place
67 * @throws OperationalPlanException when construction of a waiting path fails
68 */
69 public LaneBasedOperationalPlan(final LaneBasedGTU gtu, final DirectedPoint waitPoint, final Time startTime, final Duration duration,
70 final Lane referenceLane) throws OperationalPlanException
71 {
72 super(gtu, waitPoint, startTime, duration);
73 this.referenceLaneList = new ArrayList<>();
74 this.referenceLaneList.add(referenceLane);
75 this.targetLaneList = null;
76 }
77
78 /**
79 * Check if we make a lane change.
80 * @return whether this maneuver involves a lane change.
81 */
82 public boolean isLaneChange()
83 {
84 return this.targetLaneList != null;
85 }
86
87 /**
88 * @return referenceLane
89 */
90 public final Lane getReferenceLane()
91 {
92 return this.referenceLaneList.get(0);
93 }
94
95 /**
96 * @return referenceLaneList
97 */
98 public final List<Lane> getReferenceLaneList()
99 {
100 return this.referenceLaneList;
101 }
102
103 /**
104 * @return targetLaneList
105 */
106 public final List<Lane> getTargetLaneList()
107 {
108 return this.targetLaneList;
109 }
110
111 /** {@inheritDoc} */
112 @Override
113 public final String toString()
114 {
115 return "LaneBasedOperationalPlan [referenceLaneList=" + this.referenceLaneList + ", targetLaneList="
116 + this.targetLaneList + "]";
117 }
118 }