All Superinterfaces:

Drawable, EventProducerInterface, Identifiable, Locatable, Serializable

All Known Subinterfaces:

SpaceBasedGTU

All Known Implementing Classes:

AbstractGTU, AbstractLinkBasedGTU
```
public interface GTU
extends Locatable, 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) 2013-2022 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 May 15, 2014

Author:

Alexander Verbraeck, Peter Knoppers

Field Summary

Fields
Modifier and Type	Field	Description
`static TimedEventType`	`DESTROY_EVENT`	The event type for pub/sub indicating destruction of the GTU.
`static TimedEventType`	`INIT_EVENT`	The event type for pub/sub indicating the initialization of a new GTU.
`static TimedEventType`	`MOVE_EVENT`	The event type for pub/sub indicating a move.

Fields inherited from interface org.djutils.event.EventProducerInterface
FIRST_POSITION, LAST_POSITION

Method Summary

All Methods Instance Methods Abstract Methods Default Methods
Modifier and Type	Method	Description
`void`	`addGtu(GTU gtu)`	Adds the provided GTU to this GTU, meaning it moves with this GTU.
`void`	`destroy()`	Destroy the GTU from the simulation and animation.
`Acceleration`	`getAcceleration()`
`Acceleration`	`getAcceleration(Time time)`
`RelativePosition`	`getCenter()`
`Set<GTU>`	`getChildren()`	Returns the children GTU's.
`ImmutableSet<RelativePosition>`	`getContourPoints()`
`RelativePosition`	`getFront()`
`GTUType`	`getGTUType()`
`String`	`getId()`
`Length`	`getLength()`
`DirectedPoint`	`getLocation()`
`Acceleration`	`getMaximumAcceleration()`
`Acceleration`	`getMaximumDeceleration()`
`Speed`	`getMaximumSpeed()`
`Length`	`getOdometer()`
`Length`	`getOdometer(Time time)`
`OperationalPlan`	`getOperationalPlan()`
`OperationalPlan`	`getOperationalPlan(Time time)`
`Parameters`	`getParameters()`
`GTU`	`getParent()`	Returns the parent GTU, or `null` if this GTU has no parent.
`PerceivableContext`	`getPerceivableContext()`
`RelativePosition`	`getRear()`
`RelativePosition`	`getReference()`
`ImmutableMap<RelativePosition.TYPE,RelativePosition>`	`getRelativePositions()`
`OTSSimulatorInterface`	`getSimulator()`
`Speed`	`getSpeed()`
`Speed`	`getSpeed(Time time)`
`StrategicalPlanner`	`getStrategicalPlanner()`
`StrategicalPlanner`	`getStrategicalPlanner(Time time)`
`default TacticalPlanner<?,?>`	`getTacticalPlanner()`
`default TacticalPlanner<?,?>`	`getTacticalPlanner(Time time)`
`Length`	`getWidth()`
`boolean`	`isDestroyed()`	Returns whether the GTU is destroyed.
`void`	`removeGtu(GTU gtu)`	Removes the provided GTU from this GTU, meaning it no longer moves with this GTU.
`void`	`setErrorHandler(GTUErrorHandler errorHandler)`	Sets the error handler.
`void`	`setParameters(Parameters parameters)`
`void`	`setParent(GTU gtu)`	Set the parent GTU.

Methods inherited from interface org.djutils.event.EventProducerInterface
addListener, addListener, addListener, addListener, getEventTypesWithListeners, getSourceId, hasListeners, numberOfListeners, removeListener

Methods inherited from interface nl.tudelft.simulation.dsol.animation.Locatable
getBounds, getDirZ, getZ

- Field Detail
  - INIT_EVENT
```
static final TimedEventType INIT_EVENT
```
    The event type for pub/sub indicating the initialization of a new GTU.
    Payload: [String id, PositionVector initialPosition, Direction initialDirection, Length length, Length width]
  - MOVE_EVENT
```
static final TimedEventType 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 TimedEventType DESTROY_EVENT
```
    The event type for pub/sub indicating destruction of the GTU.
    Payload: [String id, DirectedPoint lastPosition, Length odometer]
- Method Detail
  - getId
```
String getId()
```
    Specified by:
    
    getId in interface Identifiable
    
    Returns:
    
    the id of the GTU
  - getLocation
```
DirectedPoint getLocation()
```
    Specified by:
    
    getLocation in interface Locatable
  - 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
```
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

Interface GTU

Field Summary

Fields inherited from interface org.djutils.event.EventProducerInterface

Method Summary

Methods inherited from interface org.djutils.event.EventProducerInterface

Methods inherited from interface nl.tudelft.simulation.dsol.animation.Locatable

Field Detail

INIT_EVENT

MOVE_EVENT

DESTROY_EVENT

Method Detail

getId

getLocation

getPerceivableContext

getLength

getWidth

getMaximumSpeed

getMaximumAcceleration

getMaximumDeceleration

getGTUType

getSimulator

getReference

getFront

getRear

getCenter

getContourPoints

getRelativePositions

getSpeed

getSpeed

getAcceleration

getAcceleration

getOdometer

getOdometer

getParameters

setParameters

getStrategicalPlanner

getStrategicalPlanner

getTacticalPlanner

getTacticalPlanner

getOperationalPlan

getOperationalPlan

destroy

isDestroyed

addGtu

removeGtu

setParent

getParent

getChildren

setErrorHandler