ToledoPerception.java
package org.opentrafficsim.road.gtu.lane.tactical.toledo;
import java.util.Map;
import java.util.SortedSet;
import java.util.TreeSet;
import org.djunits.value.vdouble.scalar.Length;
import org.opentrafficsim.base.TimeStampedObject;
import org.opentrafficsim.base.parameters.ParameterException;
import org.opentrafficsim.core.gtu.GTUException;
import org.opentrafficsim.core.gtu.perception.AbstractPerceptionCategory;
import org.opentrafficsim.core.gtu.perception.PerceptionCategory;
import org.opentrafficsim.core.network.LateralDirectionality;
import org.opentrafficsim.core.network.NetworkException;
import org.opentrafficsim.road.gtu.lane.perception.LanePerception;
import org.opentrafficsim.road.gtu.lane.perception.RelativeLane;
import org.opentrafficsim.road.gtu.lane.perception.categories.DirectInfrastructurePerception;
import org.opentrafficsim.road.network.speed.SpeedLimitProspect;
/**
* Wrapper class around {@code InfrastructureCategory} that forwards all methods except for infrastructure lane change info.
* These methods determine and return infrastructure information of type {@code InfrastructureLaneChangeInfoToledo}, which
* includes split number.
* <p>
* Copyright (c) 2013-2018 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/current/license.html">OpenTrafficSim License</a>.
* <p>
* @version $Revision$, $LastChangedDate$, by $Author$, initial version Jul 28, 2016 <br>
* @author <a href="http://www.tbm.tudelft.nl/averbraeck">Alexander Verbraeck</a>
* @author <a href="http://www.tudelft.nl/pknoppers">Peter Knoppers</a>
* @author <a href="http://www.transport.citg.tudelft.nl">Wouter Schakel</a>
*/
// TODO updateInfrastructureLaneChangeInfo with split number
public class ToledoPerception extends AbstractPerceptionCategory implements PerceptionCategory
{
/** */
private static final long serialVersionUID = 20160000L;
/** Infrastructure lane change info per relative lane. */
private Map<RelativeLane, TimeStampedObject<SortedSet<InfrastructureLaneChangeInfoToledo>>> infrastructureLaneChangeInfo;
/** Wrapped regular infrastructureCategory. */
private final DirectInfrastructurePerception infrastructureCategory;
/**
* @param perception perception
*/
public ToledoPerception(final LanePerception perception)
{
super(perception);
this.infrastructureCategory = new DirectInfrastructurePerception(perception);
}
/**
* Updates the infrastructural lane change info.
* @param lane relative lateral lane
* @throws GTUException when GTU is not initialized
*/
public void updateInfrastructureLaneChangeInfo(final RelativeLane lane) throws GTUException
{
//
}
/**
* Returns infrastructure lane change info of a lane. A set is returned as multiple points may force lane changes. Which
* point is considered most critical is a matter of driver interpretation and may change over time. This is shown below.
* Suppose vehicle A needs to take the off-ramp, and that behavior is that the minimum distance per required lane change
* determines how critical it is. First, 400m before the lane-drop, the off-ramp is critical. 300m downstream, the lane-drop
* is critical. Info is sorted by distance, closest first.
*
* <pre>
* _______
* _ _A_ _\_________
* _ _ _ _ _ _ _ _ _
* _________ _ _ ___
* \_______
* (-) Lane-drop: 1 lane change in 400m (400m per lane change)
* (--------) Off-ramp: 3 lane changes in 900m (300m per lane change, critical)
*
* (-) Lane-drop: 1 lane change in 100m (100m per lane change, critical)
* (--------) Off-ramp: 3 lane changes in 600m (200m per lane change)
* </pre>
*
* @param lane relative lateral lane
* @return infrastructure lane change info of a lane
*/
public final SortedSet<InfrastructureLaneChangeInfoToledo> getInfrastructureLaneChangeInfo(final RelativeLane lane)
{
return new TreeSet<>();
// return this.infrastructureLaneChangeInfo.get(lane).getObject();
}
/**
* Returns time stamped infrastructure lane change info of a lane. A set is returned as multiple points may force lane
* changes. Which point is considered most critical is a matter of driver interpretation and may change over time. This is
* shown below. Suppose vehicle A needs to take the off-ramp, and that behavior is that the minimum distance per required
* lane change determines how critical it is. First, 400m before the lane-drop, the off-ramp is critical. 300m downstream,
* the lane-drop is critical. Info is sorted by distance, closest first.
*
* <pre>
* _______
* _ _A_ _\_________
* _ _ _ _ _ _ _ _ _
* _________ _ _ ___
* \_______
* (-) Lane-drop: 1 lane change in 400m (400m per lane change)
* (--------) Off-ramp: 3 lane changes in 900m (300m per lane change, critical)
*
* (-) Lane-drop: 1 lane change in 100m (100m per lane change, critical)
* (--------) Off-ramp: 3 lane changes in 600m (200m per lane change)
* </pre>
*
* @param lane relative lateral lane
* @return time stamped infrastructure lane change info of a lane
*/
public final TimeStampedObject<SortedSet<InfrastructureLaneChangeInfoToledo>> getTimeStampedInfrastructureLaneChangeInfo(
final RelativeLane lane)
{
return this.infrastructureLaneChangeInfo.get(lane);
}
/**
* Updates the speed limit prospect.
* @param lane relative lateral lane
* @throws GTUException if the GTU was not initialized
* @throws ParameterException if a parameter is not defined
*/
public final void updateSpeedLimitProspect(final RelativeLane lane) throws GTUException, ParameterException
{
this.infrastructureCategory.updateSpeedLimitProspect(lane);
}
/**
* Updates the distance over which lane changes remains legally possible.
* @param fromLane lane from which the lane change possibility is requested
* @param lat LEFT or RIGHT, null not allowed
* @throws GTUException if the GTU was not initialized
* @throws ParameterException if a parameter is not defined
*/
public final void updateLegalLaneChangePossibility(final RelativeLane fromLane, final LateralDirectionality lat)
throws GTUException, ParameterException
{
this.infrastructureCategory.updateLegalLaneChangePossibility(fromLane, lat);
}
/**
* Updates the distance over which lane changes remains physically possible.
* @param fromLane lane from which the lane change possibility is requested
* @param lat LEFT or RIGHT, null not allowed
* @throws GTUException if the GTU was not initialized
* @throws ParameterException if a parameter is not defined
*/
public final void updatePhysicalLaneChangePossibility(final RelativeLane fromLane, final LateralDirectionality lat)
throws GTUException, ParameterException
{
this.infrastructureCategory.updatePhysicalLaneChangePossibility(fromLane, lat);
}
/**
* Updates a set of relative lanes representing the cross section.
* @throws GTUException if the GTU was not initialized
* @throws ParameterException if a parameter is not defined
*/
public final void updateCrossSection() throws GTUException, ParameterException
{
this.infrastructureCategory.updateCrossSection();
}
/**
* Returns the prospect for speed limits on a lane (dynamic speed limits may vary between lanes).
* @param lane relative lateral lane
* @return prospect for speed limits on a lane
*/
public final SpeedLimitProspect getSpeedLimitProspect(final RelativeLane lane)
{
return this.infrastructureCategory.getSpeedLimitProspect(lane);
}
/**
* Returns the distance over which a lane change remains legally possible.
* @param fromLane lane from which the lane change possibility is requested
* @param lat LEFT or RIGHT, null not allowed
* @return distance over which a lane change remains possible
* @throws NullPointerException if {@code lat == null}
*/
public final Length getLegalLaneChangePossibility(final RelativeLane fromLane, final LateralDirectionality lat)
{
return this.infrastructureCategory.getLegalLaneChangePossibility(fromLane, lat);
}
/**
* Returns the distance over which a lane change remains physically possible.
* @param fromLane lane from which the lane change possibility is requested
* @param lat LEFT or RIGHT, null not allowed
* @return distance over which a lane change remains possible
* @throws NullPointerException if {@code lat == null}
*/
public final Length getPhysicalLaneChangePossibility(final RelativeLane fromLane, final LateralDirectionality lat)
{
return this.infrastructureCategory.getPhysicalLaneChangePossibility(fromLane, lat);
}
/**
* Returns a set of relative lanes representing the cross section. Lanes are sorted left to right.
* @return set of relative lanes representing the cross section
*/
public final SortedSet<RelativeLane> getCrossSection()
{
return this.infrastructureCategory.getCrossSection();
}
/**
* Returns the time stamped prospect for speed limits on a lane (dynamic speed limits may vary between lanes).
* @param lane relative lateral lane
* @return time stamped prospect for speed limits on a lane
*/
public final TimeStampedObject<SpeedLimitProspect> getTimeStampedSpeedLimitProspect(final RelativeLane lane)
{
return this.infrastructureCategory.getTimeStampedSpeedLimitProspect(lane);
}
/**
* Returns the time stamped distance over which a lane change remains legally possible.
* @param fromLane lane from which the lane change possibility is requested
* @param lat LEFT or RIGHT, null not allowed
* @return time stamped distance over which a lane change remains possible
* @throws NullPointerException if {@code lat == null}
*/
public final TimeStampedObject<Length> getTimeStampedLegalLaneChangePossibility(final RelativeLane fromLane,
final LateralDirectionality lat)
{
return this.infrastructureCategory.getTimeStampedLegalLaneChangePossibility(fromLane, lat);
}
/**
* Returns the time stamped distance over which a lane change remains physically possible.
* @param fromLane lane from which the lane change possibility is requested
* @param lat LEFT or RIGHT, null not allowed
* @return time stamped distance over which a lane change remains possible
* @throws NullPointerException if {@code lat == null}
*/
public final TimeStampedObject<Length> getTimeStampedPhysicalLaneChangePossibility(final RelativeLane fromLane,
final LateralDirectionality lat)
{
return this.infrastructureCategory.getTimeStampedPhysicalLaneChangePossibility(fromLane, lat);
}
/**
* Returns a time stamped set of relative lanes representing the cross section. Lanes are sorted left to right.
* @return time stamped set of relative lanes representing the cross section
*/
public final TimeStampedObject<SortedSet<RelativeLane>> getTimeStampedCrossSection()
{
return this.infrastructureCategory.getTimeStampedCrossSection();
}
/** {@inheritDoc} */
@Override
public final void updateAll() throws GTUException, NetworkException, ParameterException
{
this.infrastructureCategory.updateAll();
}
/** {@inheritDoc} */
@Override
public final String toString()
{
return "ToledoPerceptionCategory";
}
}