java.lang.Object
- org.opentrafficsim.road.gtu.lane.tactical.AbstractLaneBasedTacticalPlanner

All Implemented Interfaces:

Serializable, TacticalPlanner<LaneBasedGTU,LanePerception>, LaneBasedTacticalPlanner

Direct Known Subclasses:

AbstractIncentivesTacticalPlanner, LaneBasedCFLCTacticalPlanner, LaneBasedGTUFollowingDirectedChangeTacticalPlanner, LaneBasedGTUFollowingTacticalPlanner, SteeringLmrs, Toledo
```
public abstract class AbstractLaneBasedTacticalPlanner
extends Object
implements LaneBasedTacticalPlanner, Serializable
```
A lane-based tactical planner generates an operational plan for the lane-based GTU. It can ask the strategic planner for assistance on the route to take when the network splits. This abstract class contains a number of helper methods that make it easy to implement a tactical planner.
Copyright (c) 2013-2020 Delft University of Technology, PO Box 5, 2600 AA, Delft, the Netherlands. All rights reserved.
BSD-style license. See OpenTrafficSim License.
$LastChangedDate: 2015-07-24 02:58:59 +0200 (Fri, 24 Jul 2015) $, @version $Revision: 1147 $, by $Author: averbraeck $, initial version Nov 25, 2015

Author:

Alexander Verbraeck, Peter Knoppers

See Also:

Serialized Form

Field Summary

Fields
Modifier and Type	Field	Description
`protected static ParameterTypeDuration`	`DT`	Time step parameter type.
`protected static ParameterTypeLength`	`LOOKAHEAD`	Look ahead parameter type.
`static ParameterTypeClass<LaneBasedTacticalPlanner>`	`TACTICAL_PLANNER`	Tactical planner parameter.

Constructor Summary

Constructors
Constructor	Description
`AbstractLaneBasedTacticalPlanner(CarFollowingModel carFollowingModel, LaneBasedGTU gtu, LanePerception lanePerception)`	Instantiates a tactical planner.

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method	Description
`static LanePathInfo`	`buildLanePathInfo(LaneBasedGTU gtu, Length maxHeadway)`	Build a list of lanes forward, with a maximum headway relative to the reference point of the GTU.
`static LanePathInfo`	`buildLanePathInfo(LaneBasedGTU gtu, Length maxHeadway, Lane startLane, Length position, GTUDirectionality startDirectionality)`	Build a list of lanes forward, with a maximum headway relative to the reference point of the GTU.
`protected static List<LinkDirection>`	`buildLinkListForward(LaneBasedGTU gtu, Length maxHeadway)`	Make a list of links on which to drive next, with a maximum headway relative to the reference point of the GTU.
`static OTSLine3D`	`concatenateNull(OTSLine3D path, OTSLine3D centerLine)`	Concatenate two paths, where the first may be `null`.
`protected static boolean`	`connectsToPath(LaneBasedGTU gtu, Length maxHeadway, Lane startLane, Length startLanePosition, GTUDirectionality startDirectionality, Link linkAfterSplit)`	Determine whether the lane is directly connected to our route, in other words: if we would (continue to) drive on the given lane, can we take the right branch at the nextSplitNode without switching lanes?
`static NextSplitInfo`	`determineNextSplit(LaneBasedGTU gtu, Length maxHeadway)`	Calculate the next location where the network splits, with a maximum headway relative to the reference point of the GTU.
`CarFollowingModel`	`getCarFollowingModel()`	Returns the car-following model.
`LaneBasedGTU`	`getGtu()`
`LanePerception`	`getPerception()`
`protected static boolean`	`noLaneDrop(LaneBasedGTU gtu, Length maxHeadway, Lane startLane, Length startLanePosition, GTUDirectionality startDirectionality)`	Determine whether the lane does not drop, in other words: if we would (continue to) drive on the given lane, can we continue to drive at the nextSplitNode without switching lanes?
`void`	`setCarFollowingModel(CarFollowingModel carFollowingModel)`	Sets the car-following model.

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface org.opentrafficsim.road.gtu.lane.tactical.LaneBasedTacticalPlanner
chooseLaneAtSplit, okDistance

Methods inherited from interface org.opentrafficsim.core.gtu.plan.tactical.TacticalPlanner
generateOperationalPlan

- Field Detail
  - TACTICAL_PLANNER
```
public static final ParameterTypeClass<LaneBasedTacticalPlanner> TACTICAL_PLANNER
```
    Tactical planner parameter.
  - LOOKAHEAD
```
protected static final ParameterTypeLength LOOKAHEAD
```
    Look ahead parameter type.
  - DT
```
protected static final ParameterTypeDuration DT
```
    Time step parameter type.
- Constructor Detail
  - AbstractLaneBasedTacticalPlanner
```
public AbstractLaneBasedTacticalPlanner(CarFollowingModel carFollowingModel,
                                        LaneBasedGTU gtu,
                                        LanePerception lanePerception)
```
    Instantiates a tactical planner.
    
    Parameters:
    
    carFollowingModel - CarFollowingModel; car-following model
    
    gtu - LaneBasedGTU; GTU
    
    lanePerception - LanePerception; perception
- Method Detail
  - getGtu
```
public final LaneBasedGTU getGtu()
```
    Specified by:
    
    getGtu in interface TacticalPlanner<LaneBasedGTU,LanePerception>
  - buildLanePathInfo
```
public static LanePathInfo buildLanePathInfo(LaneBasedGTU gtu,
                                             Length maxHeadway)
                                      throws GTUException,
                                             NetworkException
```
    Build a list of lanes forward, with a maximum headway relative to the reference point of the GTU.
    
    Parameters:
    
    gtu - LaneBasedGTU; the GTU for which to calculate the lane list
    
    maxHeadway - Length; the maximum length for which lanes should be returned
    
    Returns:
    
    LanePathInfo; an instance that provides the following information for an operational plan: the lanes to follow, and the path to follow when staying on the same lane.
    
    Throws:
    
    GTUException - when the vehicle is not on one of the lanes on which it is registered
    
    NetworkException - when the strategic planner is not able to return a next node in the route
  - buildLanePathInfo
```
public static LanePathInfo buildLanePathInfo(LaneBasedGTU gtu,
                                             Length maxHeadway,
                                             Lane startLane,
                                             Length position,
                                             GTUDirectionality startDirectionality)
                                      throws GTUException,
                                             NetworkException
```
    Build a list of lanes forward, with a maximum headway relative to the reference point of the GTU.
    
    Parameters:
    
    gtu - LaneBasedGTU; the GTU for which to calculate the lane list
    
    maxHeadway - Length; the maximum length for which lanes should be returned
    
    startLane - Lane; the lane in which the path starts
    
    position - Length; the position on the start lane
    
    startDirectionality - GTUDirectionality; the driving direction on the start lane
    
    Returns:
    
    LanePathInfo; an instance that provides the following information for an operational plan: the lanes to follow, and the path to follow when staying on the same lane.
    
    Throws:
    
    GTUException - when the vehicle is not on one of the lanes on which it is registered
    
    NetworkException - when the strategic planner is not able to return a next node in the route
    
    GTUException - when the vehicle is not on one of the lanes on which it is registered
    
    NetworkException - when the strategic planner is not able to return a next node in the route
  - concatenateNull
```
public static OTSLine3D concatenateNull(OTSLine3D path,
                                        OTSLine3D centerLine)
                                 throws OTSGeometryException
```
    Concatenate two paths, where the first may be null.
    
    Parameters:
    
    path - OTSLine3D; path, may be null
    
    centerLine - OTSLine3D; center line of lane to add
    
    Returns:
    
    concatenated line
    
    Throws:
    
    OTSGeometryException - when lines are degenerate or too distant
  - determineNextSplit
```
public static NextSplitInfo determineNextSplit(LaneBasedGTU gtu,
                                               Length maxHeadway)
                                        throws GTUException,
                                               NetworkException
```
    Calculate the next location where the network splits, with a maximum headway relative to the reference point of the GTU. Note: a lane drop is also considered a split (!).
    
    Parameters:
    
    gtu - LaneBasedGTU; the GTU for which to calculate the lane list
    
    maxHeadway - Length; the maximum length for which lanes should be returned
    
    Returns:
    
    NextSplitInfo; an instance that provides the following information for an operational plan: whether the network splits, the node where it splits, and the current lanes that lead to the right node after the split node.
    
    Throws:
    
    GTUException - when the vehicle is not on one of the lanes on which it is registered
    
    NetworkException - when the strategic planner is not able to return a next node in the route
  - connectsToPath
```
protected static boolean connectsToPath(LaneBasedGTU gtu,
                                        Length maxHeadway,
                                        Lane startLane,
                                        Length startLanePosition,
                                        GTUDirectionality startDirectionality,
                                        Link linkAfterSplit)
                                 throws GTUException,
                                        NetworkException
```
    Determine whether the lane is directly connected to our route, in other words: if we would (continue to) drive on the given lane, can we take the right branch at the nextSplitNode without switching lanes?
    
    Parameters:
    
    gtu - LaneBasedGTU; the GTU for which we have to determine the lane suitability
    
    maxHeadway - Length; the maximum length for use in the calculation
    
    startLane - Lane; the first lane in the list
    
    startLanePosition - Length; the position on the start lane
    
    startDirectionality - GTUDirectionality; the driving direction on the start lane
    
    linkAfterSplit - Link; the link after the split to which we should connect
    
    Returns:
    
    boolean; true if the lane (XXXXX which lane?) is connected to our path
    
    Throws:
    
    GTUException - when the vehicle is not on one of the lanes on which it is registered
    
    NetworkException - when the strategic planner is not able to return a next node in the route
  - noLaneDrop
```
protected static boolean noLaneDrop(LaneBasedGTU gtu,
                                    Length maxHeadway,
                                    Lane startLane,
                                    Length startLanePosition,
                                    GTUDirectionality startDirectionality)
                             throws GTUException,
                                    NetworkException
```
    Determine whether the lane does not drop, in other words: if we would (continue to) drive on the given lane, can we continue to drive at the nextSplitNode without switching lanes?
    
    Parameters:
    
    gtu - LaneBasedGTU; the GTU for which we have to determine the lane suitability
    
    maxHeadway - Length; the maximum length for use in the calculation
    
    startLane - Lane; the first lane in the list
    
    startLanePosition - Length; the position on the start lane
    
    startDirectionality - GTUDirectionality; the driving direction on the start lane
    
    Returns:
    
    boolean; true if the lane (XXX which lane?) is connected to our path
    
    Throws:
    
    GTUException - when the vehicle is not on one of the lanes on which it is registered
    
    NetworkException - when the strategic planner is not able to return a next node in the route
  - buildLinkListForward
```
protected static List<LinkDirection> buildLinkListForward(LaneBasedGTU gtu,
                                                          Length maxHeadway)
                                                   throws GTUException,
                                                          NetworkException
```
    Make a list of links on which to drive next, with a maximum headway relative to the reference point of the GTU.
    
    Parameters:
    
    gtu - LaneBasedGTU; the GTU for which to calculate the link list
    
    maxHeadway - Length; the maximum length for which links should be returned
    
    Returns:
    
    List<LinkDirection>; a list of links on which to drive next
    
    Throws:
    
    GTUException - when the vehicle is not on one of the lanes on which it is registered
    
    NetworkException - when the strategic planner is not able to return a next node in the route
  - getCarFollowingModel
```
public final CarFollowingModel getCarFollowingModel()
```
    Returns the car-following model.
    
    Specified by:
    
    getCarFollowingModel in interface LaneBasedTacticalPlanner
    
    Returns:
    
    car following model
  - setCarFollowingModel
```
public final void setCarFollowingModel(CarFollowingModel carFollowingModel)
```
    Sets the car-following model.
    
    Parameters:
    
    carFollowingModel - CarFollowingModel; Car-following model to set.
  - getPerception
```
public final LanePerception getPerception()
```
    Specified by:
    
    getPerception in interface TacticalPlanner<LaneBasedGTU,LanePerception>

Class AbstractLaneBasedTacticalPlanner

Field Summary

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Methods inherited from interface org.opentrafficsim.road.gtu.lane.tactical.LaneBasedTacticalPlanner

Methods inherited from interface org.opentrafficsim.core.gtu.plan.tactical.TacticalPlanner

Field Detail

TACTICAL_PLANNER

LOOKAHEAD

DT

Constructor Detail

AbstractLaneBasedTacticalPlanner

Method Detail

getGtu

buildLanePathInfo

buildLanePathInfo

concatenateNull

determineNextSplit

connectsToPath

noLaneDrop

buildLinkListForward

getCarFollowingModel

setCarFollowingModel

getPerception