Package org.opentrafficsim.core.gtu

Interface GTU

All Superinterfaces:
Drawable, EventProducerInterface, Identifiable, Locatable, java.io.Serializable
All Known Subinterfaces:
SpaceBasedGTU
All Known Implementing Classes:
AbstractGTU, AbstractLinkBasedGTU
public interface GTU
extends Locatable, java.io.Serializable, EventProducerInterface, Identifiable, Drawable
Generalized Travel Unit.
A GTU is an object (person, car, ship) that can travel over the infrastructure. It has a (directed) location, dimensions, and some properties that all GTUs share. The GTU is not bound to any infrastructure and can travel freely in the world.
For its movement, a GTU uses an OperationalPlan, which indicates a shape in the world with a speed profile that the GTU will use to move. The OperationalPlan can be updated or replaced, for which a tactical planner is responsible. A tactical plan can for instance be for a car to change two lanes to the left during the next 200 m to be able to make a left turn in 200 m. The operational plans are then the implementation of segments of the movement (time, location, speed, acceleration) that the car will make to drive on the road and (safely) make the lane changes. On the highest level, a StrategicPlan puts boundary conditions on the tactical plans. The strategic plan contains for instance the destination we want to reach and possibly some constraints on solutions that the tactical plans have to comply with.

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: 5570 $, $LastChangedDate: 2019-08-06 17:58:57 +0200 (Tue, 06 Aug 2019) $, by $Author: wjschakel $, initial version May 15, 2014
Author:
Alexander Verbraeck, Peter Knoppers

  • Field Details

    • INIT_EVENT

      static final EventType INIT_EVENT
      The event type for pub/sub indicating the initialization of a new GTU.
      Payload: [String id, DirectedPoint initialPosition, Length length, Length width]

    • MOVE_EVENT

      static final EventType MOVE_EVENT
      The event type for pub/sub indicating a move.
      Payload: [String id, DirectedPoint position, Speed speed, Acceleration acceleration, Length odometer]

    • DESTROY_EVENT

      static final EventType DESTROY_EVENT
      The event type for pub/sub indicating destruction of the GTU.
      Payload: [String id, DirectedPoint lastPosition, Length odometer]

  • Method Details

    • getId

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

    • getPerceivableContext

      PerceivableContext getPerceivableContext()
      Returns:
      the context to which the GTU belongs

    • getLength

      Length getLength()
      Returns:
      the maximum length of the GTU (parallel with driving direction).

    • getWidth

      Length getWidth()
      Returns:
      the maximum width of the GTU (perpendicular to driving direction).

    • getMaximumSpeed

      Speed getMaximumSpeed()
      Returns:
      the maximum speed of the GTU, in the direction of movement.

    • getMaximumAcceleration

      Acceleration getMaximumAcceleration()
      Returns:
      the maximum acceleration of the GTU, in the linear direction.

    • getMaximumDeceleration

      Acceleration getMaximumDeceleration()
      Returns:
      the maximum deceleration of the GTU, in the linear direction, stored as a negative number.

    • getGTUType

      GTUType getGTUType()
      Returns:
      the type of GTU, e.g. TruckType, CarType, BusType.

    • getSimulator

      OTSSimulatorInterface getSimulator()
      Returns:
      the simulator of the GTU.

    • getReference

      RelativePosition getReference()
      Returns:
      the reference position of the GTU, by definition (0, 0, 0).

    • getFront

      RelativePosition getFront()
      Returns:
      the front position of the GTU, relative to its reference point.

    • getRear

      RelativePosition getRear()
      Returns:
      the rear position of the GTU, relative to its reference point.

    • getCenter

      RelativePosition getCenter()
      Returns:
      the center position of the GTU, relative to its reference point.

    • getContourPoints

      ImmutableSet<RelativePosition> getContourPoints()
      Returns:
      the contour points of the GTU.

    • getRelativePositions

      ImmutableMap<RelativePosition.TYPE,​RelativePosition> getRelativePositions()
      Returns:
      the positions for this GTU, but not the contour points.

    • getSpeed

      Speed getSpeed()
      Returns:
      the current speed of the GTU, along the direction of movement.

    • getSpeed

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

    • getAcceleration

      Acceleration getAcceleration()
      Returns:
      the current acceleration of the GTU, along the direction of movement.

    • getAcceleration

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

    • getOdometer

      Length getOdometer()
      Returns:
      Length; the current odometer value.

    • getOdometer

      Length getOdometer​(Time time)
      Parameters:
      time - Time; time to obtain the odometer at
      Returns:
      Length; the odometer value at given time.

    • getParameters

      Parameters getParameters()
      Returns:
      Parameters.

    • setParameters

      void setParameters​(Parameters parameters)
      Parameters:
      parameters - Parameters; parameters

    • getStrategicalPlanner

      StrategicalPlanner getStrategicalPlanner()
      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

      StrategicalPlanner getStrategicalPlanner​(Time time)
      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.

    • getTacticalPlanner

      default TacticalPlanner<?,​?> getTacticalPlanner()
      Returns:
      TacticalPlanner; the current tactical planner that can generate an operational plan

    • getTacticalPlanner

      default TacticalPlanner<?,​?> getTacticalPlanner​(Time time)
      Parameters:
      time - Time; time to obtain the tactical planner at
      Returns:
      TacticalPlanner; the tactical planner that can generate an operational plan at the given time

    • getOperationalPlan

      OperationalPlan getOperationalPlan()
      Returns:
      the current operational plan for the GTU

    • getOperationalPlan

      OperationalPlan getOperationalPlan​(Time time)
      Parameters:
      time - Time; time to obtain the operational plan at
      Returns:
      the operational plan for the GTU at the given time.

    • destroy

      void destroy()
      Destroy the GTU from the simulation and animation.

    • isDestroyed

      boolean isDestroyed()
      Returns whether the GTU is destroyed.
      Returns:
      whether the GTU is destroyed

    • addGtu

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

    • removeGtu

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

    • setParent

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

    • getParent

      GTU getParent()
      Returns the parent GTU, or null if this GTU has no parent.
      Returns:
      GTU; parent GTU, or null if this GTU has no parent

    • getChildren

      java.util.Set<GTU> getChildren()
      Returns the children GTU's.
      Returns:
      Set<GTU>; children GTU's

    • setErrorHandler

      void setErrorHandler​(GTUErrorHandler errorHandler)
      Sets the error handler.
      Parameters:
      errorHandler - GTUErrorHandler; error handler