Package org.opentrafficsim.core.gtu

Class AbstractGTU

java.lang.Object
nl.tudelft.simulation.event.EventProducer
org.opentrafficsim.core.gtu.AbstractGTU
All Implemented Interfaces:
java.io.Serializable, Locatable, EventProducerInterface, Identifiable, Drawable, GTU
Direct Known Subclasses:
AbstractLinkBasedGTU
public abstract class AbstractGTU
extends EventProducer
implements GTU
Implements the basic functionalities of any GTU: the ability to move on 3D-space according to a plan.

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: 5717 $, $LastChangedDate: 2019-11-14 14:36:06 +0100 (Thu, 14 Nov 2019) $, by $Author: averbraeck $, initial version Oct 22, 2014
Author:
Alexander Verbraeck, Peter Knoppers
See Also:
Serialized Form

  • Field Details

  • Constructor Details

    • AbstractGTU

      public AbstractGTU​(java.lang.String id, GTUType gtuType, OTSSimulatorInterface simulator, PerceivableContext perceivableContext) throws GTUException
      Parameters:
      id - String; the id of the GTU
      gtuType - GTUType; the type of GTU, e.g. TruckType, CarType, BusType
      simulator - OTSSimulatorInterface; the simulator to schedule plan changes on
      perceivableContext - PerceivableContext; the perceivable context in which this GTU will be registered
      Throws:
      GTUException - when the preconditions of the constructor are not met

    • AbstractGTU

      public AbstractGTU​(IdGenerator idGenerator, GTUType gtuType, OTSSimulatorInterface simulator, PerceivableContext perceivableContext) throws GTUException
      Parameters:
      idGenerator - IdGenerator; the generator that will produce a unique id of the GTU
      gtuType - GTUType; the type of GTU, e.g. TruckType, CarType, BusType
      simulator - OTSSimulatorInterface; the simulator to schedule plan changes on
      perceivableContext - PerceivableContext; the perceivable context in which this GTU will be registered
      Throws:
      GTUException - when the preconditions of the constructor are not met

  • Method Details

    • init

      public void init​(StrategicalPlanner strategicalPlanner, DirectedPoint initialLocation, Speed initialSpeed) throws SimRuntimeException, GTUException
      Initialize the GTU at a location and speed, and give it a mission to fulfill through the strategical planner.
      Parameters:
      strategicalPlanner - StrategicalPlanner; the strategical planner responsible for the overall 'mission' of the GTU, usually indicating where it needs to go. It operates by instantiating tactical planners to do the work.
      initialLocation - DirectedPoint; the initial location (and direction) of the GTU
      initialSpeed - Speed; the initial speed of the GTU
      Throws:
      SimRuntimeException - when scheduling after the first move fails
      GTUException - when the preconditions of the parameters are not met or when the construction of the original waiting path fails

    • destroy

      public void destroy()
      Destructor. Don't forget to call with super.destroy() from any override to avoid memory leaks in the network.
      Specified by:
      destroy in interface GTU

    • move

      protected boolean move​(DirectedPoint fromLocation) throws SimRuntimeException, OperationalPlanException, GTUException, NetworkException, ParameterException
      Move from the current location according to an operational plan to a location that will bring us nearer to reaching the location provided by the strategical planner.
      This method can be overridden to carry out specific behavior during the execution of the plan (e.g., scheduling of triggers, entering or leaving lanes, etc.). Please bear in mind that the call to super.move() is essential, and that one has to take care to handle the situation that the plan gets interrupted.
      Parameters:
      fromLocation - DirectedPoint; the last known location (initial location, or end location of the previous operational plan)
      Returns:
      boolean; whether an exception occurred
      Throws:
      SimRuntimeException - when scheduling of the next move fails
      OperationalPlanException - when there is a problem creating a good path for the GTU
      GTUException - when there is a problem with the state of the GTU when planning a path
      NetworkException - in case of a problem with the network, e.g., a dead end where it is not expected
      ParameterException - in there is a parameter problem

    • interruptMove

      protected void interruptMove() throws SimRuntimeException, OperationalPlanException, GTUException, NetworkException, ParameterException
      Interrupt the move and ask for a new plan. This method can be overridden to carry out the bookkeeping needed when the current plan gets interrupted.
      Throws:
      OperationalPlanException - when there was a problem retrieving the location from the running plan
      SimRuntimeException - when scheduling of the next move fails
      OperationalPlanException - when there is a problem creating a good path for the GTU
      GTUException - when there is a problem with the state of the GTU when planning a path
      NetworkException - in case of a problem with the network, e.g., unreachability of a certain point
      ParameterException - when there is a problem with a parameter

    • getId

      public final java.lang.String getId()
      Specified by:
      getId in interface GTU
      Specified by:
      getId in interface Identifiable
      Returns:
      the id of the GTU

    • getGTUType

      public GTUType getGTUType()
      Specified by:
      getGTUType in interface GTU
      Returns:
      the type of GTU, e.g. TruckType, CarType, BusType.

    • getReference

      public final RelativePosition getReference()
      Specified by:
      getReference in interface GTU
      Returns:
      the reference position of the GTU, by definition (0, 0, 0).

    • getSimulator

      public final OTSSimulatorInterface getSimulator()
      Specified by:
      getSimulator in interface GTU
      Returns:
      the simulator of the GTU.

    • getParameters

      public final Parameters getParameters()
      Specified by:
      getParameters in interface GTU
      Returns:
      Parameters.

    • setParameters

      public final void setParameters​(Parameters parameters)
      Specified by:
      setParameters in interface GTU
      Parameters:
      parameters - Parameters; parameters

    • getStrategicalPlanner

      public StrategicalPlanner getStrategicalPlanner()
      Specified by:
      getStrategicalPlanner in interface GTU
      Returns:
      StrategicalPlanner; the planner responsible for the overall 'mission' of the GTU, usually indicating where it needs to go. It operates by instantiating tactical planners to do the work.

    • getStrategicalPlanner

      public StrategicalPlanner getStrategicalPlanner​(Time time)
      Specified by:
      getStrategicalPlanner in interface GTU
      Parameters:
      time - Time; time to obtain the strategical planner at
      Returns:
      StrategicalPlanner; the planner responsible for the overall 'mission' of the GTU, usually indicating where it needs to go. It operates by instantiating tactical planners to do the work.

    • getOperationalPlan

      public final OperationalPlan getOperationalPlan()
      Specified by:
      getOperationalPlan in interface GTU
      Returns:
      the current operational plan for the GTU

    • getOperationalPlan

      public final OperationalPlan getOperationalPlan​(Time time)
      Specified by:
      getOperationalPlan in interface GTU
      Parameters:
      time - Time; time to obtain the operational plan at
      Returns:
      the operational plan for the GTU at the given time.

    • getOdometer

      public final Length getOdometer()
      Specified by:
      getOdometer in interface GTU
      Returns:
      Length; the current odometer value.

    • getOdometer

      public final Length getOdometer​(Time time)
      Specified by:
      getOdometer in interface GTU
      Parameters:
      time - Time; time to obtain the odometer at
      Returns:
      Length; the odometer value at given time.

    • getSpeed

      public final Speed getSpeed()
      Specified by:
      getSpeed in interface GTU
      Returns:
      the current speed of the GTU, along the direction of movement.

    • getSpeed

      public final Speed getSpeed​(Time time)
      Specified by:
      getSpeed in interface GTU
      Parameters:
      time - Time; time at which to obtain the speed
      Returns:
      the current speed of the GTU, along the direction of movement.

    • getAcceleration

      public final Acceleration getAcceleration()
      Specified by:
      getAcceleration in interface GTU
      Returns:
      the current acceleration of the GTU, along the direction of movement.

    • getAcceleration

      public final Acceleration getAcceleration​(Time time)
      Specified by:
      getAcceleration in interface GTU
      Parameters:
      time - Time; time at which to obtain the acceleration
      Returns:
      the current acceleration of the GTU, along the direction of movement.

    • getMaximumAcceleration

      public final Acceleration getMaximumAcceleration()
      Specified by:
      getMaximumAcceleration in interface GTU
      Returns:
      maximumAcceleration

    • setMaximumAcceleration

      public final void setMaximumAcceleration​(Acceleration maximumAcceleration)
      Parameters:
      maximumAcceleration - Acceleration; set maximumAcceleration

    • getMaximumDeceleration

      public final Acceleration getMaximumDeceleration()
      Specified by:
      getMaximumDeceleration in interface GTU
      Returns:
      maximumDeceleration

    • setMaximumDeceleration

      public final void setMaximumDeceleration​(Acceleration maximumDeceleration)
      Parameters:
      maximumDeceleration - Acceleration; set maximumDeceleration, stored as a negative number

    • getLocation

      public DirectedPoint getLocation()
      Specified by:
      getLocation in interface Locatable

    • isDestroyed

      public final boolean isDestroyed()
      Returns whether the GTU is destroyed.
      Specified by:
      isDestroyed in interface GTU
      Returns:
      whether the GTU is destroyed

    • getPerceivableContext

      public PerceivableContext getPerceivableContext()
      Specified by:
      getPerceivableContext in interface GTU
      Returns:
      the context to which the GTU belongs

    • addGtu

      public void addGtu​(GTU gtu) throws GTUException
      Adds the provided GTU to this GTU, meaning it moves with this GTU.
      Specified by:
      addGtu in interface GTU
      Parameters:
      gtu - GTU; gtu to enter this GTU
      Throws:
      GTUException - if the gtu already has a parent

    • removeGtu

      public void removeGtu​(GTU gtu)
      Removes the provided GTU from this GTU, meaning it no longer moves with this GTU.
      Specified by:
      removeGtu in interface GTU
      Parameters:
      gtu - GTU; gtu to exit this GTU

    • setParent

      public void setParent​(GTU gtu) throws GTUException
      Set the parent GTU.
      Specified by:
      setParent in interface GTU
      Parameters:
      gtu - GTU; parent GTU, may be null
      Throws:
      GTUException - if the gtu already has a parent

    • getParent

      public GTU getParent()
      Returns the parent GTU, or null if this GTU has no parent.
      Specified by:
      getParent in interface GTU
      Returns:
      GTU; parent GTU, or null if this GTU has no parent

    • getChildren

      public java.util.Set<GTU> getChildren()
      Returns the children GTU's.
      Specified by:
      getChildren in interface GTU
      Returns:
      Set<GTU>; children GTU's

    • getErrorHandler

      protected GTUErrorHandler getErrorHandler()
      Returns:
      errorHandler.

    • setErrorHandler

      public void setErrorHandler​(GTUErrorHandler errorHandler)
      Sets the error handler.
      Specified by:
      setErrorHandler in interface GTU
      Parameters:
      errorHandler - GTUErrorHandler; error handler

    • getNextMoveEvent

      public final SimEvent<SimTimeDoubleUnit> getNextMoveEvent()
      Note that destroying the next move event of the GTU can be dangerous!
      Returns:
      nextMoveEvent the next move event of the GTU, e.g. to cancel it from outside.

    • hashCode

      public int hashCode()
      Overrides:
      hashCode in class java.lang.Object

    • equals

      public boolean equals​(java.lang.Object obj)
      Overrides:
      equals in class java.lang.Object