LaneBasedGTU (Open Traffic Sim road classes 1.01.00 API)

All Superinterfaces:

Drawable, EventProducerInterface, GTU, Identifiable, Locatable, Serializable

All Known Implementing Classes:

AbstractLaneBasedGTU, AbstractLaneBasedIndividualGTU, LaneBasedIndividualGTU
```
public interface LaneBasedGTU
extends GTU
```
This interface defines a lane based GTU.
Copyright (c) 2013-2019 Delft University of Technology, PO Box 5, 2600 AA, Delft, the Netherlands. All rights reserved.
BSD-style license. See OpenTrafficSim License.

Version:

$Revision: 1401 $, $LastChangedDate: 2015-09-14 01:33:02 +0200 (Mon, 14 Sep 2015) $, by $Author: averbraeck $, initial version Oct 22, 2014

Author:

Alexander Verbraeck, Peter Knoppers

Field Summary

Fields
Modifier and Type	Field and Description
`static EventType`	`LANE_CHANGE_EVENT` The event type for pub/sub indicating that the GTU change lane.
`static EventType`	`LANE_ENTER_EVENT` The event type for pub/sub indicating that the GTU entered a new lane (with the FRONT position if driving forward; REAR if driving backward).
`static EventType`	`LANE_EXIT_EVENT` The event type for pub/sub indicating that the GTU exited a lane (with the REAR position if driving forward; FRONT if driving backward).
`static EventType`	`LANEBASED_DESTROY_EVENT` The lane-based event type for pub/sub indicating destruction of the GTU.
`static EventType`	`LANEBASED_INIT_EVENT` The lane-based event type for pub/sub indicating the initialization of a new GTU.
`static EventType`	`LANEBASED_MOVE_EVENT` The lane-based event type for pub/sub indicating a move.
`static EventType`	`LINK_ENTER_EVENT` The event type for pub/sub indicating that the GTU entered a new link (with the FRONT position if driving forward; REAR if driving backward).
`static EventType`	`LINK_EXIT_EVENT` The event type for pub/sub indicating that the GTU exited a link (with the REAR position if driving forward; FRONT if driving backward).

Fields inherited from interface org.opentrafficsim.core.gtu.GTU
DESTROY_EVENT, INIT_EVENT, MOVE_EVENT

Fields inherited from interface nl.tudelft.simulation.event.EventProducerInterface
FIRST_POSITION, LAST_POSITION

Method Summary

All Methods Instance Methods Abstract Methods Default Methods
Modifier and Type	Method and Description
`void`	`addTrigger(Lane lane, SimEventInterface<SimTimeDoubleUnit> event)` Add an event to the list of lane triggers scheduled for this GTU.
`void`	`changeLaneInstantaneously(LateralDirectionality laneChangeDirection)` Change lanes instantaneously.
`void`	`enterLane(Lane lane, Length position, GTUDirectionality gtuDirection)` insert GTU at a certain position.
`double`	`fractionalPosition(Lane lane, RelativePosition relativePosition)` Return the longitudinal position of a point relative to this GTU, relative to the center line of the Lane, as a fraction of the length of the lane.
`double`	`fractionalPosition(Lane lane, RelativePosition relativePosition, Time when)` Return the longitudinal position of a point relative to this GTU, relative to the center line of the Lane, as a fraction of the length of the lane.
`Map<Lane,Double>`	`fractionalPositions(RelativePosition relativePosition)` Return the longitudinal positions of a point relative to this GTU, relative to the center line of the Lanes in which the vehicle is registered, as fractions of the length of the lane.
`Map<Lane,Double>`	`fractionalPositions(RelativePosition relativePosition, Time when)` Return the longitudinal positions of a point relative to this GTU, relative to the center line of the Lanes in which the vehicle is registered, as fractions of the length of the lane.
`Acceleration`	`getCarFollowingAcceleration()` This method returns the current car-following acceleration of the GTU.
`Speed`	`getDesiredSpeed()` This method returns the current desired speed of the GTU.
`GTUDirectionality`	`getDirection(Lane lane)` Return the directionality of a lane on which the GTU is registered for its current operational plan.
`DirectedPoint`	`getLocation()` Return the location without a RemoteException.
`DirectedLanePosition`	`getReferencePosition()` Return the current Lane, position and directionality of the GTU.
`LaneBasedStrategicalPlanner`	`getStrategicalPlanner()`
`LaneBasedStrategicalPlanner`	`getStrategicalPlanner(Time time)`
`default LaneBasedTacticalPlanner`	`getTacticalPlanner()`
`default LaneBasedTacticalPlanner`	`getTacticalPlanner(Time time)`
`TurnIndicatorStatus`	`getTurnIndicatorStatus()`
`TurnIndicatorStatus`	`getTurnIndicatorStatus(Time time)`
`default VehicleModel`	`getVehicleModel()` Returns the vehicle model.
`default boolean`	`isBrakingLightsOn()` The default implementation returns `true` if the deceleration is larger than a speed-dependent threshold given by: c0 * g(v) + c1 + c3*v^2 where c0 = 0.2, c1 = 0.15 and c3 = 0.00025 (with c2 = 0 implicit) are empirically derived averages, and g(v) is 0 below 25 km/h or 1 otherwise, representing that the engine is disengaged at low speeds.
`default boolean`	`isBrakingLightsOn(Time when)` The default implementation returns `true` if the deceleration is larger than a speed-dependent threshold given by: c0 * g(v) + c1 + c3*v^2 where c0 = 0.2, c1 = 0.15 and c3 = 0.00025 (with c2 = 0 implicit) are empirically derived averages, and g(v) is 0 below 25 km/h or 1 otherwise, representing that the engine is disengaged at low speeds.
`boolean`	`laneChangeAllowed()` Returns whether a lane change is allowed.
`void`	`leaveLane(Lane lane)` Unregister the GTU from a lane.
`Length`	`position(Lane lane, RelativePosition relativePosition)` Return the longitudinal position of a point relative to this GTU, relative to the center line of the Lane at the current simulation time.
`Length`	`position(Lane lane, RelativePosition relativePosition, Time when)` Return the longitudinal position of a point relative to this GTU, relative to the center line of the Lane.
`Map<Lane,Length>`	`positions(RelativePosition relativePosition)` Return the longitudinal positions of a point relative to this GTU, relative to the center line of the Lanes in which the vehicle is registered.
`Map<Lane,Length>`	`positions(RelativePosition relativePosition, Time when)` Return the longitudinal positions of a point relative to this GTU, relative to the center line of the Lanes in which the vehicle is registered.
`Length`	`projectedPosition(Lane projectionLane, RelativePosition relativePosition, Time when)` Return the longitudinal position on the projection lane that has the same fractional position on one of the current lanes of the indicated relative position.
`void`	`setFinalizeLaneChangeEvent(SimEventInterface<SimTimeDoubleUnit> event)` Sets event to finalize lane change.
`void`	`setNoLaneChangeDistance(Length distance)` Set distance over which the GTU should not change lane after being created.
`void`	`setTurnIndicatorStatus(TurnIndicatorStatus turnIndicatorStatus)` Set the status of the turn indicator.
`Length`	`translatedPosition(Lane projectionLane, RelativePosition relativePosition, Time when)` Return the longitudinal position that the indicated relative position of this GTU would have if it were to change to another Lane with a / the current CrossSectionLink.

Methods inherited from interface org.opentrafficsim.core.gtu.GTU
addGtu, destroy, getAcceleration, getAcceleration, getCenter, getChildren, getContourPoints, getFront, getGTUType, getId, getLength, getMaximumAcceleration, getMaximumDeceleration, getMaximumSpeed, getOdometer, getOdometer, getOperationalPlan, getOperationalPlan, getParameters, getParent, getRear, getReference, getRelativePositions, getSimulator, getSpeed, getSpeed, getWidth, isDestroyed, removeGtu, setParameters, setParent

Methods inherited from interface nl.tudelft.simulation.dsol.animation.Locatable
getBounds

Methods inherited from interface nl.tudelft.simulation.event.EventProducerInterface
addListener, addListener, addListener, addListener, removeListener

- Field Detail
  - LANEBASED_INIT_EVENT
```
static final EventType LANEBASED_INIT_EVENT
```
    The lane-based event type for pub/sub indicating the initialization of a new GTU.
    Payload: [String gtuId, DirectedPoint initialPosition, Length length, Length width, Lane referenceLane, Length positionOnReferenceLane, GTUDirectionality direction, GTUType gtuType]
  - LANEBASED_MOVE_EVENT
```
static final EventType LANEBASED_MOVE_EVENT
```
    The lane-based event type for pub/sub indicating a move.
    Payload: [String gtuId, DirectedPoint position, Speed speed, Acceleration acceleration, TurnIndicatorStatus turnIndicatorStatus, Length odometer, Lane referenceLane, Length positionOnReferenceLane, GTUDirectionality direction]
  - LANEBASED_DESTROY_EVENT
```
static final EventType LANEBASED_DESTROY_EVENT
```
    The lane-based event type for pub/sub indicating destruction of the GTU.
    Payload: [String gtuId, DirectedPoint lastPosition, Length odometer, Lane referenceLane, Length positionOnReferenceLane, GTUDirectionality direction]
  - LINK_ENTER_EVENT
```
static final EventType LINK_ENTER_EVENT
```
    The event type for pub/sub indicating that the GTU entered a new link (with the FRONT position if driving forward; REAR if driving backward).
    Payload: [String gtuId, Link link]
  - LINK_EXIT_EVENT
```
static final EventType LINK_EXIT_EVENT
```
    The event type for pub/sub indicating that the GTU exited a link (with the REAR position if driving forward; FRONT if driving backward).
    Payload: [String gtuId, Link link]
  - LANE_ENTER_EVENT
```
static final EventType LANE_ENTER_EVENT
```
    The event type for pub/sub indicating that the GTU entered a new lane (with the FRONT position if driving forward; REAR if driving backward).
    Payload: [String gtuId, Lane lane]
  - LANE_EXIT_EVENT
```
static final EventType LANE_EXIT_EVENT
```
    The event type for pub/sub indicating that the GTU exited a lane (with the REAR position if driving forward; FRONT if driving backward).
    Payload: [String gtuId, Lane lane]
  - LANE_CHANGE_EVENT
```
static final EventType LANE_CHANGE_EVENT
```
    The event type for pub/sub indicating that the GTU change lane.
    Payload: [String gtuId, LateralDirectionality direction, DirectedLanePosition from]
- Method Detail
  - getStrategicalPlanner
```
LaneBasedStrategicalPlanner getStrategicalPlanner()
```
    Specified by:
    
    getStrategicalPlanner in interface GTU
  - getStrategicalPlanner
```
LaneBasedStrategicalPlanner getStrategicalPlanner(Time time)
```
    Specified by:
    
    getStrategicalPlanner in interface GTU
  - getTacticalPlanner
```
default LaneBasedTacticalPlanner getTacticalPlanner()
```
    Specified by:
    
    getTacticalPlanner in interface GTU
  - getTacticalPlanner
```
default LaneBasedTacticalPlanner getTacticalPlanner(Time time)
```
    Specified by:
    
    getTacticalPlanner in interface GTU
  - getLocation
```
DirectedPoint getLocation()
```
    Return the location without a RemoteException.
    
    Specified by:
    
    getLocation in interface Locatable
  - enterLane
```
void enterLane(Lane lane,
               Length position,
               GTUDirectionality gtuDirection)
        throws GTUException
```
    insert GTU at a certain position. This can happen at setup (first initialization), and after a lane change of the GTU. The relative position that will be registered is the referencePosition (dx, dy, dz) = (0, 0, 0). Front and rear positions are relative towards this position.
    
    Parameters:
    
    lane - Lane; the lane to add to the list of lanes on which the GTU is registered.
    
    gtuDirection - GTUDirectionality; the direction of the GTU on the lane (which can be bidirectional). If the GTU has a positive speed, it is moving in this direction.
    
    position - Length; the position on the lane.
    
    Throws:
    
    GTUException - when positioning the GTU on the lane causes a problem
  - leaveLane
```
void leaveLane(Lane lane)
        throws GTUException
```
    Unregister the GTU from a lane.
    
    Parameters:
    
    lane - Lane; the lane to remove from the list of lanes on which the GTU is registered.
    
    Throws:
    
    GTUException - when leaveLane should not be called
  - changeLaneInstantaneously
```
void changeLaneInstantaneously(LateralDirectionality laneChangeDirection)
                        throws GTUException
```
    Change lanes instantaneously.
    
    Parameters:
    
    laneChangeDirection - LateralDirectionality; the direction to change to
    
    Throws:
    
    GTUException - in case lane change fails
  - setFinalizeLaneChangeEvent
```
void setFinalizeLaneChangeEvent(SimEventInterface<SimTimeDoubleUnit> event)
```
    Sets event to finalize lane change.
    
    Parameters:
    
    event - SimEventInterface<SimTimeDoubleUnit>; event
  - positions
```
Map<Lane,Length> positions(RelativePosition relativePosition)
                    throws GTUException
```
    Return the longitudinal positions of a point relative to this GTU, relative to the center line of the Lanes in which the vehicle is registered.
    Note: If a GTU is registered in multiple parallel lanes, the lateralLaneChangeModel is used to determine the center line of the vehicle at this point in time. Otherwise, the average of the center positions of the lines will be taken.
    
    Parameters:
    
    relativePosition - RelativePosition; the position on the vehicle relative to the reference point.
    
    Returns:
    
    the lanes and the position on the lanes where the GTU is currently registered, for the given position of the GTU.
    
    Throws:
    
    GTUException - when the vehicle is not on one of the lanes on which it is registered.
  - positions
```
Map<Lane,Length> positions(RelativePosition relativePosition,
                           Time when)
                    throws GTUException
```
    Return the longitudinal positions of a point relative to this GTU, relative to the center line of the Lanes in which the vehicle is registered.
    
    Parameters:
    
    relativePosition - RelativePosition; the position on the vehicle relative to the reference point.
    
    when - Time; the future time for which to calculate the positions.
    
    Returns:
    
    the lanes and the position on the lanes where the GTU will be registered at the time, for the given position of the GTU.
    
    Throws:
    
    GTUException - when the vehicle is not on one of the lanes on which it is registered.
  - position
```
Length position(Lane lane,
                RelativePosition relativePosition)
         throws GTUException
```
    Return the longitudinal position of a point relative to this GTU, relative to the center line of the Lane at the current simulation time.
    
    Parameters:
    
    lane - Lane; the position on this lane will be returned.
    
    relativePosition - RelativePosition; the position on the vehicle relative to the reference point.
    
    Returns:
    
    DoubleScalarAbs<LengthUnit>; the position, relative to the center line of the Lane.
    
    Throws:
    
    GTUException - when the vehicle is not on the given lane.
  - position
```
Length position(Lane lane,
                RelativePosition relativePosition,
                Time when)
         throws GTUException
```
    Return the longitudinal position of a point relative to this GTU, relative to the center line of the Lane.
    
    Parameters:
    
    lane - Lane; the position on this lane will be returned.
    
    relativePosition - RelativePosition; the position on the vehicle relative to the reference point.
    
    when - Time; the future time for which to calculate the positions.
    
    Returns:
    
    DoubleScalarAbs<LengthUnit>; the position, relative to the center line of the Lane.
    
    Throws:
    
    GTUException - when the vehicle is not on the given lane.
  - fractionalPositions
```
Map<Lane,Double> fractionalPositions(RelativePosition relativePosition)
                              throws GTUException
```
    Return the longitudinal positions of a point relative to this GTU, relative to the center line of the Lanes in which the vehicle is registered, as fractions of the length of the lane. This is important when we want to see if two vehicles are next to each other and we compare an 'inner' and 'outer' curve.
    
    Parameters:
    
    relativePosition - RelativePosition; the position on the vehicle relative to the reference point.
    
    Returns:
    
    the lanes and the position on the lanes where the GTU is currently registered, for the given position of the GTU.
    
    Throws:
    
    GTUException - when the vehicle is not on one of the lanes on which it is registered.
  - fractionalPositions
```
Map<Lane,Double> fractionalPositions(RelativePosition relativePosition,
                                     Time when)
                              throws GTUException
```
    Return the longitudinal positions of a point relative to this GTU, relative to the center line of the Lanes in which the vehicle is registered, as fractions of the length of the lane. This is important when we want to see if two vehicles are next to each other and we compare an 'inner' and 'outer' curve.
    
    Parameters:
    
    relativePosition - RelativePosition; the position on the vehicle relative to the reference point.
    
    when - Time; the future time for which to calculate the positions.
    
    Returns:
    
    the lanes and the position on the lanes where the GTU will be registered at the time, for the given position of the GTU.
    
    Throws:
    
    GTUException - when the vehicle is not on one of the lanes on which it is registered.
  - fractionalPosition
```
double fractionalPosition(Lane lane,
                          RelativePosition relativePosition,
                          Time when)
                   throws GTUException
```
    Return the longitudinal position of a point relative to this GTU, relative to the center line of the Lane, as a fraction of the length of the lane. This is important when we want to see if two vehicles are next to each other and we compare an 'inner' and 'outer' curve.
    
    Parameters:
    
    lane - Lane; the position on this lane will be returned.
    
    relativePosition - RelativePosition; the position on the vehicle relative to the reference point.
    
    when - Time; the future time for which to calculate the positions.
    
    Returns:
    
    the fractional relative position on the lane at the given time.
    
    Throws:
    
    GTUException - when the vehicle is not on the given lane.
  - fractionalPosition
```
double fractionalPosition(Lane lane,
                          RelativePosition relativePosition)
                   throws GTUException
```
    Return the longitudinal position of a point relative to this GTU, relative to the center line of the Lane, as a fraction of the length of the lane. This is important when we want to see if two vehicles are next to each other and we compare an 'inner' and 'outer' curve.
    
    Parameters:
    
    lane - Lane; the position on this lane will be returned.
    
    relativePosition - RelativePosition; the position on the vehicle relative to the reference point.
    
    Returns:
    
    the fractional relative position on the lane at the given time.
    
    Throws:
    
    GTUException - when the vehicle is not on the given lane.
  - translatedPosition
```
Length translatedPosition(Lane projectionLane,
                          RelativePosition relativePosition,
                          Time when)
                   throws GTUException
```
    Return the longitudinal position that the indicated relative position of this GTU would have if it were to change to another Lane with a / the current CrossSectionLink. This point may be before the begin or after the end of the link of the projection lane of the GTU. This preserves the length of the GTU.
    
    Parameters:
    
    projectionLane - Lane; the lane onto which the position of this GTU must be projected
    
    relativePosition - RelativePosition; the point on this GTU that must be projected
    
    when - Time; the time for which to project the position of this GTU
    
    Returns:
    
    Length; the position of this GTU in the projectionLane
    
    Throws:
    
    GTUException - when projectionLane it not in any of the CrossSectionLink that the GTU is on
  - projectedPosition
```
Length projectedPosition(Lane projectionLane,
                         RelativePosition relativePosition,
                         Time when)
                  throws GTUException
```
    Return the longitudinal position on the projection lane that has the same fractional position on one of the current lanes of the indicated relative position. This preserves the fractional positions of all relative positions of the GTU.
    
    Parameters:
    
    projectionLane - Lane; the lane onto which the position of this GTU must be projected
    
    relativePosition - RelativePosition; the point on this GTU that must be projected
    
    when - Time; the time for which to project the position of this GTU
    
    Returns:
    
    Length; the position of this GTU in the projectionLane
    
    Throws:
    
    GTUException - when projectionLane it not in any of the CrossSectionLink that the GTU is on
  - getReferencePosition
```
DirectedLanePosition getReferencePosition()
                                   throws GTUException
```
    Return the current Lane, position and directionality of the GTU.
    
    Returns:
    
    DirectedLanePosition; the current Lane, position and directionality of the GTU
    
    Throws:
    
    GTUException - in case the reference position of the GTU cannot be found on the lanes in its current path
  - getDirection
```
GTUDirectionality getDirection(Lane lane)
                        throws GTUException
```
    Return the directionality of a lane on which the GTU is registered for its current operational plan.
    
    Parameters:
    
    lane - Lane; the lane for which we want to know the direction
    
    Returns:
    
    GTUDirectionality; the direction on the given lane
    
    Throws:
    
    GTUException - in case the GTU is not registered on the Lane
  - addTrigger
```
void addTrigger(Lane lane,
                SimEventInterface<SimTimeDoubleUnit> event)
```
    Add an event to the list of lane triggers scheduled for this GTU.
    
    Parameters:
    
    lane - Lane; the lane on which the event occurs
    
    event - SimEventInterface<SimTimeDoubleUnit>; SimeEvent<SimTimeDoubleUnit> the event
  - setNoLaneChangeDistance
```
void setNoLaneChangeDistance(Length distance)
```
    Set distance over which the GTU should not change lane after being created.
    
    Parameters:
    
    distance - Length; distance over which the GTU should not change lane after being created
  - laneChangeAllowed
```
boolean laneChangeAllowed()
```
    Returns whether a lane change is allowed.
    
    Returns:
    
    whether a lane change is allowed
  - getDesiredSpeed
```
Speed getDesiredSpeed()
```
    This method returns the current desired speed of the GTU. This value is required often, so implementations can cache it.
    
    Returns:
    
    Speed; current desired speed
  - getCarFollowingAcceleration
```
Acceleration getCarFollowingAcceleration()
```
    This method returns the current car-following acceleration of the GTU. This value is required often, so implementations can cache it.
    
    Returns:
    
    Acceleration; current car-following acceleration
  - getVehicleModel
```
default VehicleModel getVehicleModel()
```
    Returns the vehicle model.
    
    Returns:
    
    VehicleModel; vehicle model
  - isBrakingLightsOn
```
default boolean isBrakingLightsOn()
```
    The default implementation returns true if the deceleration is larger than a speed-dependent threshold given by:
    
    c0 * g(v) + c1 + c3*v^2
    
    where c0 = 0.2, c1 = 0.15 and c3 = 0.00025 (with c2 = 0 implicit) are empirically derived averages, and g(v) is 0 below 25 km/h or 1 otherwise, representing that the engine is disengaged at low speeds.
    
    Returns:
    
    boolean; whether the braking lights are on
  - isBrakingLightsOn
```
default boolean isBrakingLightsOn(Time when)
```
    The default implementation returns true if the deceleration is larger than a speed-dependent threshold given by:
    
    c0 * g(v) + c1 + c3*v^2
    
    where c0 = 0.2, c1 = 0.15 and c3 = 0.00025 (with c2 = 0 implicit) are empirically derived averages, and g(v) is 0 below 25 km/h or 1 otherwise, representing that the engine is disengaged at low speeds.
    
    Parameters:
    
    when - Time; time
    
    Returns:
    
    boolean; whether the braking lights are on
  - getTurnIndicatorStatus
```
TurnIndicatorStatus getTurnIndicatorStatus()
```
    Returns:
    
    the status of the turn indicator
  - getTurnIndicatorStatus
```
TurnIndicatorStatus getTurnIndicatorStatus(Time time)
```
    Parameters:
    
    time - Time; time to obtain the turn indicator status at
    
    Returns:
    
    the status of the turn indicator at the given time
  - setTurnIndicatorStatus
```
void setTurnIndicatorStatus(TurnIndicatorStatus turnIndicatorStatus)
                     throws GTUException
```
    Set the status of the turn indicator.
    
    Parameters:
    
    turnIndicatorStatus - TurnIndicatorStatus; the new status of the turn indicator.
    
    Throws:
    
    GTUException - when GTUType does not have a turn indicator

Interface LaneBasedGTU

Field Summary

Fields inherited from interface org.opentrafficsim.core.gtu.GTU

Fields inherited from interface nl.tudelft.simulation.event.EventProducerInterface

Method Summary

Methods inherited from interface org.opentrafficsim.core.gtu.GTU

Methods inherited from interface nl.tudelft.simulation.dsol.animation.Locatable

Methods inherited from interface nl.tudelft.simulation.event.EventProducerInterface

Field Detail

LANEBASED_INIT_EVENT

LANEBASED_MOVE_EVENT

LANEBASED_DESTROY_EVENT

LINK_ENTER_EVENT

LINK_EXIT_EVENT

LANE_ENTER_EVENT

LANE_EXIT_EVENT

LANE_CHANGE_EVENT

Method Detail

getStrategicalPlanner

getStrategicalPlanner

getTacticalPlanner

getTacticalPlanner

getLocation

enterLane

leaveLane

changeLaneInstantaneously

setFinalizeLaneChangeEvent

positions

positions

position

position

fractionalPositions

fractionalPositions

fractionalPosition

fractionalPosition

translatedPosition

projectedPosition

getReferencePosition

getDirection

addTrigger

setNoLaneChangeDistance

laneChangeAllowed

getDesiredSpeed

getCarFollowingAcceleration

getVehicleModel

isBrakingLightsOn

isBrakingLightsOn

getTurnIndicatorStatus

getTurnIndicatorStatus

setTurnIndicatorStatus