Package org.opentrafficsim.road.gtu.lane.tactical.util

Class Steering

java.lang.Object

org.opentrafficsim.road.gtu.lane.tactical.util.Steering

public final class Steering
extends java.lang.Object

Utility for tactical planners to implement more precise (in terms of physics) vehicle control.

Copyright (c) 2013-2018 Delft University of Technology, PO Box 5, 2600 AA, Delft, the Netherlands. All rights reserved.
BSD-style license. See OpenTrafficSim License.

Version:

$Revision$, $LastChangedDate$, by $Author$, initial version 8 jan. 2019

Author:

Alexander Verbraeck, Peter Knoppers, Wouter Schakel

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	Steering.FeedbackTable	Class containing feedback values for curvature determination.
static class	Steering.SteeringState	Object that stores the information the steering utility requires.

Method Summary

Modifier and Type	Method	Description
static OperationalPlan	fromReferencePlan(LaneBasedGTU gtu, Parameters params, Steering.SteeringState steeringState, OperationalPlan referencePlan, Steering.FeedbackTable feedbackTable)	Translates a reference trajectory in to steering angles and a resulting trajectory.
static OperationalPlan	fromReferencePoints(GTU gtu, Parameters params, Steering.SteeringState steeringState, java.util.Set<DirectedPoint> points, java.util.List<OperationalPlan.Segment> segments)	Translates reference points in to steering angles and a resulting trajectory.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Method Details

fromReferencePlan

public static OperationalPlan fromReferencePlan(LaneBasedGTU gtu, Parameters params, Steering.SteeringState steeringState, OperationalPlan referencePlan, Steering.FeedbackTable feedbackTable) throws ParameterException

Translates a reference trajectory in to steering angles and a resulting trajectory.

Parameters:

gtu - LaneBasedGTU; GTU

params - Parameters; parameters

steeringState - SteeringState; steering state between operational plans

referencePlan - OperationalPlan; operational reference plan

feedbackTable - FeedbackTable; table of feedback values

Returns:

actual operational plan

Throws:

ParameterException - undefined parameter

fromReferencePoints

public static OperationalPlan fromReferencePoints(GTU gtu, Parameters params, Steering.SteeringState steeringState, java.util.Set<DirectedPoint> points, java.util.List<OperationalPlan.Segment> segments) throws ParameterException

Translates reference points in to steering angles and a resulting trajectory.

Parameters:

gtu - GTU; GTU

params - Parameters; parameters

steeringState - SteeringState; steering state between operational plans

points - Set<DirectedPoint>; reference points

segments - List<Segment>; speed segments

Returns:

operational plan

Throws:

ParameterException - undefined parameter