OperationalPlan.java
package org.opentrafficsim.core.gtu.plan.operational;
import java.io.Serializable;
import java.util.ArrayList;
import java.util.Arrays;
import java.util.Iterator;
import java.util.List;
import org.djunits.unit.AccelerationUnit;
import org.djunits.unit.DurationUnit;
import org.djunits.unit.LengthUnit;
import org.djunits.unit.SpeedUnit;
import org.djunits.unit.TimeUnit;
import org.djunits.value.vdouble.scalar.Acceleration;
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.djutils.exceptions.Throw;
import org.opentrafficsim.core.geometry.OTSGeometryException;
import org.opentrafficsim.core.geometry.OTSLine3D;
import org.opentrafficsim.core.geometry.OTSPoint3D;
import org.opentrafficsim.core.gtu.GTU;
import org.opentrafficsim.core.gtu.RelativePosition;
import org.opentrafficsim.core.math.Solver;
import nl.tudelft.simulation.dsol.logger.SimLogger;
import nl.tudelft.simulation.language.d3.DirectedPoint;
/**
* An Operational plan describes a path through the world with a speed profile that a GTU intends to follow. The OperationalPlan
* can be updated or replaced at any time (including before it has been totally executed), for which a tactical planner is
* responsible. The operational plan is implemented using segments of the movement (time, location, speed, acceleration) that
* the GTU will use to plan its location and movement. Within an OperationalPlan the GTU cannot reverse direction along the path
* of movement. This ensures that the timeAtDistance method will never have to select among several valid solutions.
* <p>
* Copyright (c) 2013-2019 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>
* $LastChangedDate: 2015-07-24 02:58:59 +0200 (Fri, 24 Jul 2015) $, @version $Revision: 1147 $, by $Author: averbraeck $,
* initial version Nov 14, 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 class OperationalPlan implements Serializable
{
/** */
private static final long serialVersionUID = 20151114L;
/** The path to follow from a certain time till a certain time. */
private final OTSLine3D path;
/** The absolute start time when we start executing the path. */
private final Time startTime;
/** The GTU speed when we start executing the path. */
private final Speed startSpeed;
/** The segments that make up the path with an acceleration, constant speed or deceleration profile. */
private final List<OperationalPlan.Segment> operationalPlanSegmentList;
/** The duration of executing the entire operational plan. */
private final Duration totalDuration;
/** The length of the entire operational plan. */
private final Length totalLength;
/** The speed at the end of the operational plan. */
private final Speed endSpeed;
/** Is this operational plan a wait plan? */
private final boolean waitPlan;
/** GTU for debugging purposes. */
private final GTU gtu;
/**
* An array of relative start times of each segment, expressed in the SI unit, where the last time is the overall ending
* time of the operational plan.
*/
private final double[] segmentStartTimesRelSI;
/**
* The maximum difference in the length of the path and the calculated driven distance implied by the segment list. The same
* constant is also used as a maximum between speeds of segments that should align in terms of speed.
*/
static final double MAX_DELTA_SI = 1E-6;
/** The drifting speed. Speeds under this value will be cropped to zero. */
public static final double DRIFTING_SPEED_SI = 1E-3;
/**
* Construct an operational plan.
* @param gtu GTU; the GTU for debugging purposes
* @param path OTSLine3D; the path to follow from a certain time till a certain time. The path should have <i>at
* least</i> the length
* @param startTime Time; the absolute start time when we start executing the path
* @param startSpeed Speed; the GTU speed when we start executing the path
* @param operationalPlanSegmentList List<Segment>; the segments that make up the path with an acceleration, constant
* speed or deceleration profile
* @throws OperationalPlanException when the path is too short for the operation
*/
public OperationalPlan(final GTU gtu, final OTSLine3D path, final Time startTime, final Speed startSpeed,
final List<Segment> operationalPlanSegmentList) throws OperationalPlanException
{
this.waitPlan = false;
this.gtu = gtu;
this.startTime = startTime;
this.startSpeed = startSpeed;
this.operationalPlanSegmentList = operationalPlanSegmentList;
this.segmentStartTimesRelSI = new double[this.operationalPlanSegmentList.size() + 1];
// check the driven distance of the segments
Speed v0 = this.startSpeed;
double distanceSI = 0.0;
double durationSI = 0.0;
for (int i = 0; i < this.operationalPlanSegmentList.size(); i++)
{
Segment segment = this.operationalPlanSegmentList.get(i);
if (Math.abs(v0.si) < DRIFTING_SPEED_SI && segment.accelerationSI(0.0) == 0.0)
{
v0 = Speed.ZERO;
}
segment.setV0(v0);
this.segmentStartTimesRelSI[i] = durationSI;
distanceSI += segment.distanceSI();
v0 = segment.endSpeed();
durationSI += segment.getDuration().si;
}
this.segmentStartTimesRelSI[this.segmentStartTimesRelSI.length - 1] = durationSI;
try
{
this.path = path.extract(0.0, Math.min(distanceSI, path.getLengthSI()));
}
catch (OTSGeometryException exception)
{
throw new OperationalPlanException(exception);
}
this.totalDuration = new Duration(durationSI, DurationUnit.SI);
this.totalLength = new Length(distanceSI, LengthUnit.SI);
this.endSpeed = v0;
// double pathDistanceDeviation = Math.abs(this.totalLength.si - this.path.getLengthSI()) / this.totalLength.si;
// if (pathDistanceDeviation < -0.01 || pathDistanceDeviation > 0.01)
// {
// System.err.println("path length and driven distance deviate more than 1% for operationalPlan: " + this);
// }
}
/**
* Build a plan where the GTU will wait for a certain time.
* @param gtu GTU; the GTU for debugging purposes
* @param waitPoint DirectedPoint; the point at which the GTU will wait
* @param startTime Time; the current time or a time in the future when the plan should start
* @param duration Duration; the waiting time
* @throws OperationalPlanException when construction of a waiting path fails
*/
public OperationalPlan(final GTU gtu, final DirectedPoint waitPoint, final Time startTime, final Duration duration)
throws OperationalPlanException
{
this.waitPlan = true;
this.gtu = gtu;
this.startTime = startTime;
this.startSpeed = Speed.ZERO;
this.endSpeed = Speed.ZERO;
this.totalDuration = duration;
this.totalLength = Length.ZERO;
// make a path
OTSPoint3D p2 = new OTSPoint3D(waitPoint.x + Math.cos(waitPoint.getRotZ()), waitPoint.y + Math.sin(waitPoint.getRotZ()),
waitPoint.z);
try
{
this.path = new OTSLine3D(new OTSPoint3D(waitPoint), p2);
}
catch (OTSGeometryException exception)
{
throw new OperationalPlanException(exception);
}
this.operationalPlanSegmentList = new ArrayList<>();
Segment segment = new SpeedSegment(duration);
segment.setV0(Speed.ZERO);
this.operationalPlanSegmentList.add(segment);
this.segmentStartTimesRelSI = new double[2];
this.segmentStartTimesRelSI[0] = 0.0;
this.segmentStartTimesRelSI[1] = duration.si;
}
/**
* Return the path that will be traveled. If the plan is a wait plan, the start point of the path is good; the end point of
* the path is bogus (should only be used to determine the orientation of the GTU).
* @return the path
*/
public final OTSLine3D getPath()
{
return this.path;
}
/**
* Return the (absolute) start time of the operational plan.
* @return startTime
*/
public final Time getStartTime()
{
return this.startTime;
}
/**
* Return the start speed of the entire plan.
* @return startSpeed
*/
public final Speed getStartSpeed()
{
return this.startSpeed;
}
/**
* @return the end speed when completing the entire plan.
*/
public final Speed getEndSpeed()
{
return this.endSpeed;
}
/**
* Return the segments (parts with constant speed, acceleration or deceleration) of the operational plan. <br>
* The caller MUST NOT MODIFY the returned object.
* @return operationalPlanSegmentList
*/
public final List<OperationalPlan.Segment> getOperationalPlanSegmentList()
{
return this.operationalPlanSegmentList;
}
/**
* Return the time it will take to complete the entire operational plan.
* @return the time it will take to complete the entire operational plan
*/
public final Duration getTotalDuration()
{
return this.totalDuration;
}
/**
* Return the distance the entire operational plan will cover.
* @return the distance of the entire operational plan
*/
public final Length getTotalLength()
{
return this.totalLength;
}
/**
* Return the time it will take to complete the entire operational plan.
* @return the time it will take to complete the entire operational plan
*/
public final Time getEndTime()
{
return this.startTime.plus(this.totalDuration);
}
/**
* Provide the end location of this operational plan as a DirectedPoint.
* @return the end location
*/
public final DirectedPoint getEndLocation()
{
try
{
if (this.waitPlan)
{
return this.path.getLocationFraction(0.0); // no move...
}
else
{
return this.path.getLocationFraction(1.0);
}
}
catch (OTSGeometryException exception)
{
// should not happen -- only for fractions less than 0.0 or larger than 1.0.
throw new RuntimeException(exception);
}
}
/**
* Store a Segment and the progress within that segment in one Object.
* <p>
* Copyright (c) 2013-2019 Delft University of Technology, PO Box 5, 2600 AA, Delft, the Netherlands. <br>
* 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 Dec 16, 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>
*/
private class SegmentProgress implements Serializable
{
/** */
private static final long serialVersionUID = 20160000L;
/** Active Segment. */
private final Segment segment;
/** Start time of the Segment. */
private final Time segmentStartTime;
/** Position on the path of the plan. */
private final Length segmentStartPosition;
/**
* Construct a new SegmentProgress object.
* @param segment Segment; the Segment
* @param segmentStartTime Time; the start time of the Segment
* @param segmentStartPosition Length; the position of the start of the segment on the path of the OperationalPlan
*/
SegmentProgress(final Segment segment, final Time segmentStartTime, final Length segmentStartPosition)
{
this.segment = segment;
this.segmentStartTime = segmentStartTime;
this.segmentStartPosition = segmentStartPosition;
}
/**
* Retrieve the Segment.
* @return Segment
*/
public final Segment getSegment()
{
return this.segment;
}
/**
* Retrieve the start time of the Segment.
* @return Time; the start time of the Segment
*/
public final Time getSegmentStartTime()
{
return this.segmentStartTime;
}
/**
* Retrieve the fractionalPosition at the start of the Segment.
* @return double; the fractional position at the start of the Segment
*/
public final Length getSegmentStartPosition()
{
return this.segmentStartPosition;
}
/** {@inheritDoc} */
@Override
public final String toString()
{
return String.format("SegmentProgress segment=%s startpos.rel=%s starttime.abs=%s", this.segment,
this.segmentStartPosition, this.segmentStartTime);
}
}
/**
* Find the Segment and the progress within that Segment at a specified time.
* @param time Time; the time
* @return SegmentProgress; the Segment and progress within that segment, or null when no Segment applies to the specified
* time
* @throws OperationalPlanException when SegmentProgress cannot be determined
*/
private SegmentProgress getSegmentProgress(final Time time) throws OperationalPlanException
{
if (time.lt(this.startTime))
{
throw new OperationalPlanException(
this.gtu + ", t = " + time + "SegmentProgress cannot be determined for time before startTime "
+ getStartTime() + " of this OperationalPlan");
}
double cumulativeDistance = 0;
for (int i = 0; i < this.segmentStartTimesRelSI.length - 1; i++)
{
if (this.startTime.si + this.segmentStartTimesRelSI[i + 1] >= time.si)
{
return new SegmentProgress(this.operationalPlanSegmentList.get(i),
new Time(this.startTime.si + this.segmentStartTimesRelSI[i], TimeUnit.BASE),
new Length(cumulativeDistance, LengthUnit.SI));
}
cumulativeDistance += this.operationalPlanSegmentList.get(i).distanceSI();
}
throw new OperationalPlanException(this.gtu + ", t = " + time
+ " SegmentProgress cannot be determined for time after endTime " + getEndTime() + " of this OperationalPlan");
}
/**
* Return the time when the GTU will reach the given distance.
* @param distance Length; the distance to calculate the time for
* @return the time it will take to have traveled the given distance
*/
public final Time timeAtDistance(final Length distance)
{
Throw.when(getTotalLength().lt(distance), RuntimeException.class, "Requesting %s from a plan with length %s", distance,
getTotalLength());
double remainingDistanceSI = distance.si;
double timeAtStartOfSegment = this.startTime.si;
Iterator<Segment> it = this.operationalPlanSegmentList.iterator();
while (it.hasNext() && remainingDistanceSI >= 0.0)
{
Segment segment = it.next();
double distanceOfSegment = segment.distanceSI();
if (distanceOfSegment > remainingDistanceSI)
{
return new Time(timeAtStartOfSegment + segment.timeAtDistance(Length.createSI(remainingDistanceSI)).si,
TimeUnit.BASE);
}
remainingDistanceSI -= distanceOfSegment;
timeAtStartOfSegment += segment.getDurationSI();
}
return new Time(Double.NaN, TimeUnit.BASE);
}
/**
* Calculate the location at the given time.
* @param time Time; the absolute time to look for a location
* @return the location at the given time.
* @throws OperationalPlanException when the time is after the validity of the operational plan
*/
public final DirectedPoint getLocation(final Time time) throws OperationalPlanException
{
SegmentProgress sp = getSegmentProgress(time);
Segment segment = sp.getSegment();
Duration deltaT = time.minus(sp.getSegmentStartTime());
double distanceTraveledInSegment = segment.distanceSI(deltaT.si);
double startDistance = sp.getSegmentStartPosition().si;
double fraction = (startDistance + distanceTraveledInSegment) / this.path.getLengthSI();
DirectedPoint p = new DirectedPoint();
try
{
p = this.path.getLocationFraction(fraction, 0.01);
}
catch (OTSGeometryException exception)
{
SimLogger.always().error("OperationalPlan.getLocation(): " + exception.getMessage());
p = this.path.getLocationFractionExtended(fraction);
}
p.setZ(p.getZ() + 0.001);
return p;
}
/**
* Calculate the speed of the GTU after the given duration since the start of the plan.
* @param time Duration; the relative time to look for a location
* @return the location after the given duration since the start of the plan.
* @throws OperationalPlanException when the time is after the validity of the operational plan
*/
public final Speed getSpeed(final Duration time) throws OperationalPlanException
{
return getSpeed(time.plus(this.startTime));
}
/**
* Calculate the speed of the GTU at the given time.
* @param time Time; the absolute time to look for a location
* @return the location at the given time.
* @throws OperationalPlanException when the time is after the validity of the operational plan
*/
public final Speed getSpeed(final Time time) throws OperationalPlanException
{
SegmentProgress sp = getSegmentProgress(time);
return new Speed(sp.getSegment().speedSI(time.minus(sp.getSegmentStartTime()).si), SpeedUnit.SI);
}
/**
* Calculate the acceleration of the GTU after the given duration since the start of the plan.
* @param time Duration; the relative time to look for a location
* @return the location after the given duration since the start of the plan.
* @throws OperationalPlanException when the time is after the validity of the operational plan
*/
public final Acceleration getAcceleration(final Duration time) throws OperationalPlanException
{
return getAcceleration(time.plus(this.startTime));
}
/**
* Calculate the acceleration of the GTU at the given time.
* @param time Time; the absolute time to look for a location
* @return the location at the given time.
* @throws OperationalPlanException when the time is after the validity of the operational plan
*/
public final Acceleration getAcceleration(final Time time) throws OperationalPlanException
{
SegmentProgress sp = getSegmentProgress(time);
return new Acceleration(sp.getSegment().accelerationSI(time.minus(sp.getSegmentStartTime()).si), AccelerationUnit.SI);
}
/**
* Calculate the location after the given duration since the start of the plan.
* @param time Duration; the relative time to look for a location
* @return the location after the given duration since the start of the plan.
* @throws OperationalPlanException when the time is after the validity of the operational plan
*/
public final DirectedPoint getLocation(final Duration time) throws OperationalPlanException
{
double distanceSI = getTraveledDistanceSI(time);
return this.path.getLocationExtendedSI(distanceSI);
}
/**
* Calculate the location after the given duration since the start of the plan.
* @param time Time; the relative time to look for a location
* @param pos RelativePosition; relative position
* @return the location after the given duration since the start of the plan.
* @throws OperationalPlanException when the time is after the validity of the operational plan
*/
public final DirectedPoint getLocation(final Time time, final RelativePosition pos) throws OperationalPlanException
{
double distanceSI = getTraveledDistanceSI(time) + pos.getDx().si;
return this.path.getLocationExtendedSI(distanceSI);
}
/**
* Calculate the distance traveled as part of this plan after the given duration since the start of the plan. This method
* returns the traveled distance as a double in SI units.
* @param duration Duration; the relative time to calculate the traveled distance
* @return the distance traveled as part of this plan after the given duration since the start of the plan.
* @throws OperationalPlanException when the time is after the validity of the operational plan
*/
public final double getTraveledDistanceSI(final Duration duration) throws OperationalPlanException
{
return getTraveledDistanceSI(this.startTime.plus(duration));
}
/**
* Calculate the distance traveled as part of this plan after the given duration since the start of the plan.
* @param duration Duration; the relative time to calculate the traveled distance
* @return the distance traveled as part of this plan after the given duration since the start of the plan.
* @throws OperationalPlanException when the time is after the validity of the operational plan
*/
public final Length getTraveledDistance(final Duration duration) throws OperationalPlanException
{
return new Length(getTraveledDistanceSI(duration), LengthUnit.SI);
}
/**
* Calculate the distance traveled as part of this plan at the given absolute time. This method returns the traveled
* distance as a double in SI units.
* @param time Time; the absolute time to calculate the traveled distance for as part of this plan
* @return the distance traveled as part of this plan at the given time
* @throws OperationalPlanException when the time is after the validity of the operational plan
*/
public final double getTraveledDistanceSI(final Time time) throws OperationalPlanException
{
Throw.when(time.lt(this.getStartTime()), OperationalPlanException.class,
"getTravelDistance exception: requested traveled distance before start of plan");
Throw.when(time.si > this.getEndTime().si + 1e-6, OperationalPlanException.class,
"getTravelDistance exception: requested traveled distance beyond end of plan");
if (this.operationalPlanSegmentList.size() == 1)
{
return this.operationalPlanSegmentList.get(0).distanceSI(time.si - this.startTime.si);
}
SegmentProgress sp = getSegmentProgress(time);
return sp.getSegmentStartPosition().si + sp.getSegment().distanceSI(time.minus(sp.getSegmentStartTime()).si);
}
/**
* Calculates when the GTU will be at the given point. The point does not need to be at the traveled path, as the point is
* projected to the path at 90 degrees. The point may for instance be the end of a lane, which is crossed by a GTU possibly
* during a lane change.
* @param point DirectedPoint; point with angle, which will be projected to the path at 90 degrees
* @param upstream boolean; true if the point is upstream of the path
* @return Time; time at point
*/
public final Time timeAtPoint(final DirectedPoint point, final boolean upstream)
{
OTSPoint3D p1 = new OTSPoint3D(point);
// point at 90 degrees
OTSPoint3D p2 = new OTSPoint3D(point.x - Math.sin(point.getRotZ()), point.y + Math.cos(point.getRotZ()), point.z);
double traveledDistanceAlongPath = 0.0;
try
{
if (upstream)
{
OTSPoint3D p = OTSPoint3D.intersectionOfLines(this.path.get(0), this.path.get(1), p1, p2);
double dist = traveledDistanceAlongPath - this.path.get(0).distance(p).si;
dist = dist >= 0.0 ? dist : 0.0; // negative in case of a gap
return timeAtDistance(Length.createSI(dist));
}
for (int i = 0; i < this.path.size() - 1; i++)
{
OTSPoint3D prevPoint = this.path.get(i);
OTSPoint3D nextPoint = this.path.get(i + 1);
OTSPoint3D p = OTSPoint3D.intersectionOfLines(prevPoint, nextPoint, p1, p2);
if (p == null)
{
// point too close, check next section
continue;
}
boolean onSegment =
prevPoint.distanceSI(nextPoint) + 2e-5 > Math.max(prevPoint.distanceSI(p), nextPoint.distanceSI(p));
// (prevPoint.x - p.x) * (nextPoint.x - p.x) <= 2e-5/* PK 1e-6 is too small */
// && (prevPoint.y - p.y) * (nextPoint.y - p.y) <= 2e-5/* PK 1e-6 is too small */;
// if (i > 64)
// {
// System.err.println(String.format("i=%d, prevPoint=%s, nextPoint=%s, intersection=%s, onSegment=%s", i,
// prevPoint, nextPoint, p, onSegment));
// }
if (p != null // on segment, or last segment
&& (i == this.path.size() - 2 || onSegment))
{
// point is on the line
traveledDistanceAlongPath += this.path.get(i).distance(p).si;
if (traveledDistanceAlongPath > this.path.getLengthSI())
{
return Time.createSI(getEndTime().si - 1e-9); // -1e-9 prevents that next move() reschedules enter
}
return timeAtDistance(Length.createSI(traveledDistanceAlongPath));
}
else
{
traveledDistanceAlongPath += this.path.get(i).distance(this.path.get(i + 1)).si;
}
}
}
catch (OTSGeometryException exception)
{
throw new RuntimeException("Index out of bounds on projection of point to path of operational plan", exception);
}
SimLogger.always().error("timeAtPoint failed");
return null;
}
/**
* Calculate the distance traveled as part of this plan at the given absolute time.
* @param time Time; the absolute time to calculate the traveled distance for as part of this plan
* @return the distance traveled as part of this plan at the given time
* @throws OperationalPlanException when the time is after the validity of the operational plan
*/
public final Length getTraveledDistance(final Time time) throws OperationalPlanException
{
return new Length(getTraveledDistanceSI(time.minus(this.startTime)), LengthUnit.SI);
}
/** {@inheritDoc} */
@SuppressWarnings("checkstyle:designforextension")
@Override
public int hashCode()
{
final int prime = 31;
int result = 1;
result = prime * result + ((this.operationalPlanSegmentList == null) ? 0 : this.operationalPlanSegmentList.hashCode());
result = prime * result + ((this.path == null) ? 0 : this.path.hashCode());
result = prime * result + ((this.startSpeed == null) ? 0 : this.startSpeed.hashCode());
result = prime * result + ((this.startTime == null) ? 0 : this.startTime.hashCode());
return result;
}
/** {@inheritDoc} */
@SuppressWarnings({"checkstyle:needbraces", "checkstyle:designforextension"})
@Override
public boolean equals(final Object obj)
{
if (this == obj)
return true;
if (obj == null)
return false;
if (getClass() != obj.getClass())
return false;
OperationalPlan other = (OperationalPlan) obj;
if (this.operationalPlanSegmentList == null)
{
if (other.operationalPlanSegmentList != null)
return false;
}
else if (!this.operationalPlanSegmentList.equals(other.operationalPlanSegmentList))
return false;
if (this.path == null)
{
if (other.path != null)
return false;
}
else if (!this.path.equals(other.path))
return false;
if (this.startSpeed == null)
{
if (other.startSpeed != null)
return false;
}
else if (!this.startSpeed.equals(other.startSpeed))
return false;
if (this.startTime == null)
{
if (other.startTime != null)
return false;
}
else if (!this.startTime.equals(other.startTime))
return false;
return true;
}
/** {@inheritDoc} */
@SuppressWarnings("checkstyle:designforextension")
@Override
public String toString()
{
return "OperationalPlan [path=" + this.path + ", startTime=" + this.startTime + ", startSpeed=" + this.startSpeed
+ ", operationalPlanSegmentList=" + this.operationalPlanSegmentList + ", totalDuration=" + this.totalDuration
+ ", segmentStartTimesSI=" + Arrays.toString(this.segmentStartTimesRelSI) + ", endSpeed = " + this.endSpeed
+ "]";
}
/****************************************************************************************************************/
/******************************************** SEGMENT DEFINITIONS ***********************************************/
/****************************************************************************************************************/
/**
* The segment of an operational plan contains a part of the speed profile of a movement in which some of the variables
* determining movement (speed, acceleration) are constant.
* <p>
* Copyright (c) 2013-2019 Delft University of Technology, PO Box 5, 2600 AA, Delft, the Netherlands. <br>
* All rights reserved. <br>
* BSD-style license. See <a href="http://opentrafficsim.org/docs/license.html">OpenTrafficSim License</a>.
* </p>
* $LastChangedDate: 2015-07-24 02:58:59 +0200 (Fri, 24 Jul 2015) $, @version $Revision: 1147 $, by $Author: averbraeck $,
* initial version Nov 14, 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 static class Segment implements Serializable
{
/** */
private static final long serialVersionUID = 20151114L;
/** The duration of the acceleration or speed for this segment. */
@SuppressWarnings("checkstyle:visibilitymodifier")
protected final Duration duration;
/** The initial speed for this segment. */
@SuppressWarnings("checkstyle:visibilitymodifier")
protected Speed v0;
/**
* @param duration Duration; the duration of the acceleration or speed for this segment
*/
public Segment(final Duration duration)
{
super();
this.duration = duration;
}
/**
* @param v0 the initial speed of this segment; called from the Operational Plan constructor.
*/
final void setV0(final Speed v0)
{
this.v0 = v0;
}
/**
* @return duration the duration of the acceleration or speed for this segment
*/
public final Duration getDuration()
{
return this.duration;
}
/**
* @return duration the duration of the acceleration or speed for this segment
*/
public final double getDurationSI()
{
return this.duration.si;
}
/**
* Calculate the distance covered by a GTU in this segment.
* @return distance covered
*/
final double distanceSI()
{
return distanceSI(getDuration().si);
}
/**
* Calculate the distance covered by a GTU in this segment after relative time t.
* @param t double; the relative time since starting this segment for which to calculate the distance covered
* @return distance covered
*/
abstract double distanceSI(double t);
/**
* Calculate the speed of a GTU in this segment after relative time t.
* @param t double; the relative time since starting this segment for which to calculate the speed
* @return speed at relative time t
*/
abstract double speedSI(double t);
/**
* Calculate the acceleration of a GTU in this segment after relative time t.
* @param t double; the relative time since starting this segment for which to calculate the acceleration
* @return acceleration at relative time t
*/
abstract double accelerationSI(double t);
/**
* Calculate the end speed for this segment.
* @return speed at end of the segment
*/
abstract Speed endSpeed();
/**
* Calculate the time it takes for the GTU to travel from the start of this Segment to the specified distance within
* this Segment.
* @param distance Length; the distance for which the travel time has to be calculated
* @return the time at distance
*/
abstract Duration timeAtDistance(final Length distance);
/** {@inheritDoc} */
@SuppressWarnings("checkstyle:designforextension")
@Override
public int hashCode()
{
final int prime = 31;
int result = 1;
result = prime * result + ((this.duration == null) ? 0 : this.duration.hashCode());
result = prime * result + ((this.v0 == null) ? 0 : this.v0.hashCode());
return result;
}
/** {@inheritDoc} */
@SuppressWarnings({"checkstyle:needbraces", "checkstyle:designforextension"})
@Override
public boolean equals(final Object obj)
{
if (this == obj)
return true;
if (obj == null)
return false;
if (getClass() != obj.getClass())
return false;
Segment other = (Segment) obj;
if (this.duration == null)
{
if (other.duration != null)
return false;
}
else if (!this.duration.equals(other.duration))
return false;
if (this.v0 == null)
{
if (other.v0 != null)
return false;
}
else if (!this.v0.equals(other.v0))
return false;
return true;
}
}
/**
* The segment of an operational plan in which the acceleration is constant.
* <p>
* Copyright (c) 2013-2019 Delft University of Technology, PO Box 5, 2600 AA, Delft, the Netherlands. <br>
* All rights reserved. <br>
* BSD-style license. See <a href="http://opentrafficsim.org/docs/license.html">OpenTrafficSim License</a>.
* </p>
* $LastChangedDate: 2015-07-24 02:58:59 +0200 (Fri, 24 Jul 2015) $, @version $Revision: 1147 $, by $Author: averbraeck $,
* initial version Nov 14, 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 static class AccelerationSegment extends Segment
{
/** */
private static final long serialVersionUID = 20151114L;
/** The acceleration for the given duration. */
private final Acceleration acceleration;
/**
* @param duration Duration; the duration of the constant acceleration for this segment
* @param acceleration Acceleration; the acceleration for the given duration
*/
public AccelerationSegment(final Duration duration, final Acceleration acceleration)
{
super(duration);
this.acceleration = acceleration;
}
/** {@inheritDoc} */
@Override
final double distanceSI(final double t)
{
return this.v0.si * t + 0.5 * this.acceleration.si * t * t;
}
/** {@inheritDoc} */
@Override
final double accelerationSI(final double t)
{
return this.acceleration.si;
}
/** {@inheritDoc} */
@Override
final double speedSI(final double t)
{
return this.v0.si + this.acceleration.si * t;
}
/** {@inheritDoc} */
@Override
final Speed endSpeed()
{
return this.v0.plus(this.acceleration.multiplyBy(getDuration()));
}
/** {@inheritDoc} */
@Override
public final int hashCode()
{
final int prime = 31;
int result = super.hashCode();
result = prime * result + ((this.acceleration == null) ? 0 : this.acceleration.hashCode());
return result;
}
/** {@inheritDoc} */
@Override
@SuppressWarnings("checkstyle:needbraces")
public final boolean equals(final Object obj)
{
if (this == obj)
return true;
if (!super.equals(obj))
return false;
if (getClass() != obj.getClass())
return false;
AccelerationSegment other = (AccelerationSegment) obj;
if (this.acceleration == null)
{
if (other.acceleration != null)
return false;
}
else if (!this.acceleration.equals(other.acceleration))
return false;
return true;
}
/** {@inheritDoc} */
@Override
public final Duration timeAtDistance(final Length distance)
{
double[] solutions = Solver.solve(this.acceleration.si / 2, this.v0.si, -distance.si);
// Find the solution that occurs within our duration (there should be only one).
for (double solution : solutions)
{
if (solution >= 0 && solution <= this.duration.si)
{
return new Duration(solution, DurationUnit.SI);
}
}
SimLogger.always().error("AccelerationSegment " + this + " timeAtDistance( " + distance + ") failed");
return null; // No valid solution
}
/** {@inheritDoc} */
@Override
public final String toString()
{
return "AccelerationSegment [t=" + this.duration + ", v0=" + this.v0 + ", a=" + this.acceleration + "]";
}
}
/**
* The segment of an operational plan in which the speed is constant.
* <p>
* Copyright (c) 2013-2019 Delft University of Technology, PO Box 5, 2600 AA, Delft, the Netherlands. <br>
* All rights reserved. <br>
* BSD-style license. See <a href="http://opentrafficsim.org/docs/license.html">OpenTrafficSim License</a>.
* </p>
* $LastChangedDate: 2015-07-24 02:58:59 +0200 (Fri, 24 Jul 2015) $, @version $Revision: 1147 $, by $Author: averbraeck $,
* initial version Nov 14, 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 static class SpeedSegment extends Segment
{
/** */
private static final long serialVersionUID = 20151114L;
/**
* @param duration Duration; the duration of the constant speed for this segment
*/
public SpeedSegment(final Duration duration)
{
super(duration);
}
/** {@inheritDoc} */
@Override
final double distanceSI(final double t)
{
return this.v0.si * t;
}
/** {@inheritDoc} */
@Override
final double accelerationSI(final double t)
{
return 0.0;
}
/** {@inheritDoc} */
@Override
final double speedSI(final double t)
{
return this.v0.si;
}
/** {@inheritDoc} */
@Override
final Speed endSpeed()
{
return this.v0;
}
/**
* @return speed
*/
public final Speed getSpeed()
{
return this.v0;
}
/** {@inheritDoc} */
@Override
public final Duration timeAtDistance(final Length distance)
{
double[] solution = Solver.solve(this.v0.si, -distance.si);
if (solution.length > 0 && solution[0] >= 0 && solution[0] <= getDurationSI())
{
return new Duration(solution[0], DurationUnit.SI);
}
SimLogger.always().error("SpeedSegment " + this + " timeAtDistance( " + distance + ") failed");
return null; // No valid solution
}
/** {@inheritDoc} */
@Override
public final String toString()
{
return "SpeedSegment [t=" + this.duration + ", v0=" + this.v0 + "]";
}
}
}