java.lang.Object
- org.opentrafficsim.core.gtu.plan.operational.OperationalPlan

All Implemented Interfaces:

Serializable
```
public class OperationalPlan
extends Object
implements Serializable
```
An Operational plan describes a path through the world with a speed profile that a GTU intends to follow. The OperationalPlan can be updated or replaced at any time (including before it has been totally executed), for which a tactical planner is responsible. The operational plan is implemented using segments of the movement (time, location, speed, acceleration) that the GTU will use to plan its location and movement. Within an OperationalPlan the GTU cannot reverse direction along the path of movement. This ensures that the timeAtDistance method will never have to select among several valid solutions.
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.
$LastChangedDate: 2015-07-24 02:58:59 +0200 (Fri, 24 Jul 2015) $, @version $Revision: 1147 $, by $Author: averbraeck $, initial version Nov 14, 2015

Author:

Alexander Verbraeck, Peter Knoppers

See Also:

Serialized Form

Nested Class Summary

Nested Classes
Modifier and Type	Class	Description
`static class`	`OperationalPlan.AccelerationSegment`	The segment of an operational plan in which the acceleration is constant.
`static class`	`OperationalPlan.Segment`	The segment of an operational plan contains a part of the speed profile of a movement in which some of the variables determining movement (speed, acceleration) are constant.
`static class`	`OperationalPlan.SpeedSegment`	The segment of an operational plan in which the speed is constant.

Field Summary

Fields
Modifier and Type	Field	Description
`static double`	`DRIFTING_SPEED_SI`	The drifting speed.
`(package private) static double`	`MAX_DELTA_SI`	The maximum difference in the length of the path and the calculated driven distance implied by the segment list.

Constructor Summary

Constructors
Constructor	Description
`OperationalPlan(GTU gtu, DirectedPoint waitPoint, Time startTime, Duration duration)`	Build a plan where the GTU will wait for a certain time.
`OperationalPlan(GTU gtu, OTSLine3D path, Time startTime, Speed startSpeed, List<OperationalPlan.Segment> operationalPlanSegmentList)`	Construct an operational plan.

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method	Description
`boolean`	`equals(Object obj)`
`Acceleration`	`getAcceleration(Duration time)`	Calculate the acceleration of the GTU after the given duration since the start of the plan.
`Acceleration`	`getAcceleration(Time time)`	Calculate the acceleration of the GTU at the given time.
`DirectedPoint`	`getEndLocation()`	Provide the end location of this operational plan as a DirectedPoint.
`Speed`	`getEndSpeed()`
`Time`	`getEndTime()`	Return the time it will take to complete the entire operational plan.
`DirectedPoint`	`getLocation(Duration time)`	Calculate the location after the given duration since the start of the plan.
`DirectedPoint`	`getLocation(Time time)`	Calculate the location at the given time.
`DirectedPoint`	`getLocation(Time time, RelativePosition pos)`	Calculate the location after the given duration since the start of the plan.
`List<OperationalPlan.Segment>`	`getOperationalPlanSegmentList()`	Return the segments (parts with constant speed, acceleration or deceleration) of the operational plan.
`OTSLine3D`	`getPath()`	Return the path that will be traveled.
`Speed`	`getSpeed(Duration time)`	Calculate the speed of the GTU after the given duration since the start of the plan.
`Speed`	`getSpeed(Time time)`	Calculate the speed of the GTU at the given time.
`Speed`	`getStartSpeed()`	Return the start speed of the entire plan.
`Time`	`getStartTime()`	Return the (absolute) start time of the operational plan.
`Duration`	`getTotalDuration()`	Return the time it will take to complete the entire operational plan.
`Length`	`getTotalLength()`	Return the distance the entire operational plan will cover.
`Length`	`getTraveledDistance(Duration duration)`	Calculate the distance traveled as part of this plan after the given duration since the start of the plan.
`Length`	`getTraveledDistance(Time time)`	Calculate the distance traveled as part of this plan at the given absolute time.
`double`	`getTraveledDistanceSI(Duration duration)`	Calculate the distance traveled as part of this plan after the given duration since the start of the plan.
`double`	`getTraveledDistanceSI(Time time)`	Calculate the distance traveled as part of this plan at the given absolute time.
`int`	`hashCode()`
`Time`	`timeAtDistance(Length distance)`	Return the time when the GTU will reach the given distance.
`Time`	`timeAtPoint(DirectedPoint point, boolean upstream)`	Calculates when the GTU will be at the given point.
`String`	`toString()`

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

- Field Detail
  - MAX_DELTA_SI
```
static final double MAX_DELTA_SI
```
    The maximum difference in the length of the path and the calculated driven distance implied by the segment list. The same constant is also used as a maximum between speeds of segments that should align in terms of speed.
    
    See Also:
    
    Constant Field Values
  - DRIFTING_SPEED_SI
```
public static final double DRIFTING_SPEED_SI
```
    The drifting speed. Speeds under this value will be cropped to zero.
    
    See Also:
    
    Constant Field Values
- Constructor Detail
  - OperationalPlan
```
public OperationalPlan(GTU gtu,
                       OTSLine3D path,
                       Time startTime,
                       Speed startSpeed,
                       List<OperationalPlan.Segment> operationalPlanSegmentList)
                throws OperationalPlanException
```
    Construct an operational plan.
    
    Parameters:
    
    gtu - GTU; the GTU for debugging purposes
    
    path - OTSLine3D; the path to follow from a certain time till a certain time. The path should have <i>at least</i> the length
    
    startTime - Time; the absolute start time when we start executing the path
    
    startSpeed - Speed; the GTU speed when we start executing the path
    
    operationalPlanSegmentList - List<Segment>; the segments that make up the path with an acceleration, constant speed or deceleration profile
    
    Throws:
    
    OperationalPlanException - when the path is too short for the operation
  - OperationalPlan
```
public OperationalPlan(GTU gtu,
                       DirectedPoint waitPoint,
                       Time startTime,
                       Duration duration)
                throws OperationalPlanException
```
    Build a plan where the GTU will wait for a certain time.
    
    Parameters:
    
    gtu - GTU; the GTU for debugging purposes
    
    waitPoint - DirectedPoint; the point at which the GTU will wait
    
    startTime - Time; the current time or a time in the future when the plan should start
    
    duration - Duration; the waiting time
    
    Throws:
    
    OperationalPlanException - when construction of a waiting path fails
- Method Detail
  - getPath
```
public final OTSLine3D getPath()
```
    Return the path that will be traveled. If the plan is a wait plan, the start point of the path is good; the end point of the path is bogus (should only be used to determine the orientation of the GTU).
    
    Returns:
    
    the path
  - getStartTime
```
public final Time getStartTime()
```
    Return the (absolute) start time of the operational plan.
    
    Returns:
    
    startTime
  - getStartSpeed
```
public final Speed getStartSpeed()
```
    Return the start speed of the entire plan.
    
    Returns:
    
    startSpeed
  - getEndSpeed
```
public final Speed getEndSpeed()
```
    Returns:
    
    the end speed when completing the entire plan.
  - getOperationalPlanSegmentList
```
public final List<OperationalPlan.Segment> getOperationalPlanSegmentList()
```
    Return the segments (parts with constant speed, acceleration or deceleration) of the operational plan.
    The caller MUST NOT MODIFY the returned object.
    
    Returns:
    
    operationalPlanSegmentList
  - getTotalDuration
```
public final Duration getTotalDuration()
```
    Return the time it will take to complete the entire operational plan.
    
    Returns:
    
    the time it will take to complete the entire operational plan
  - getTotalLength
```
public final Length getTotalLength()
```
    Return the distance the entire operational plan will cover.
    
    Returns:
    
    the distance of the entire operational plan
  - getEndTime
```
public final Time getEndTime()
```
    Return the time it will take to complete the entire operational plan.
    
    Returns:
    
    the time it will take to complete the entire operational plan
  - getEndLocation
```
public final DirectedPoint getEndLocation()
```
    Provide the end location of this operational plan as a DirectedPoint.
    
    Returns:
    
    the end location
  - timeAtDistance
```
public final Time timeAtDistance(Length distance)
```
    Return the time when the GTU will reach the given distance.
    
    Parameters:
    
    distance - Length; the distance to calculate the time for
    
    Returns:
    
    the time it will take to have traveled the given distance
  - getLocation
```
public final DirectedPoint getLocation(Time time)
                                throws OperationalPlanException
```
    Calculate the location at the given time.
    
    Parameters:
    
    time - Time; the absolute time to look for a location
    
    Returns:
    
    the location at the given time.
    
    Throws:
    
    OperationalPlanException - when the time is after the validity of the operational plan
  - getSpeed
```
public final Speed getSpeed(Duration time)
                     throws OperationalPlanException
```
    Calculate the speed of the GTU after the given duration since the start of the plan.
    
    Parameters:
    
    time - Duration; the relative time to look for a location
    
    Returns:
    
    the location after the given duration since the start of the plan.
    
    Throws:
    
    OperationalPlanException - when the time is after the validity of the operational plan
  - getSpeed
```
public final Speed getSpeed(Time time)
                     throws OperationalPlanException
```
    Calculate the speed of the GTU at the given time.
    
    Parameters:
    
    time - Time; the absolute time to look for a location
    
    Returns:
    
    the location at the given time.
    
    Throws:
    
    OperationalPlanException - when the time is after the validity of the operational plan
  - getAcceleration
```
public final Acceleration getAcceleration(Duration time)
                                   throws OperationalPlanException
```
    Calculate the acceleration of the GTU after the given duration since the start of the plan.
    
    Parameters:
    
    time - Duration; the relative time to look for a location
    
    Returns:
    
    the location after the given duration since the start of the plan.
    
    Throws:
    
    OperationalPlanException - when the time is after the validity of the operational plan
  - getAcceleration
```
public final Acceleration getAcceleration(Time time)
                                   throws OperationalPlanException
```
    Calculate the acceleration of the GTU at the given time.
    
    Parameters:
    
    time - Time; the absolute time to look for a location
    
    Returns:
    
    the location at the given time.
    
    Throws:
    
    OperationalPlanException - when the time is after the validity of the operational plan
  - getLocation
```
public final DirectedPoint getLocation(Duration time)
                                throws OperationalPlanException
```
    Calculate the location after the given duration since the start of the plan.
    
    Parameters:
    
    time - Duration; the relative time to look for a location
    
    Returns:
    
    the location after the given duration since the start of the plan.
    
    Throws:
    
    OperationalPlanException - when the time is after the validity of the operational plan
  - getLocation
```
public final DirectedPoint getLocation(Time time,
                                       RelativePosition pos)
                                throws OperationalPlanException
```
    Calculate the location after the given duration since the start of the plan.
    
    Parameters:
    
    time - Time; the relative time to look for a location
    
    pos - RelativePosition; relative position
    
    Returns:
    
    the location after the given duration since the start of the plan.
    
    Throws:
    
    OperationalPlanException - when the time is after the validity of the operational plan
  - getTraveledDistanceSI
```
public final double getTraveledDistanceSI(Duration duration)
                                   throws OperationalPlanException
```
    Calculate the distance traveled as part of this plan after the given duration since the start of the plan. This method returns the traveled distance as a double in SI units.
    
    Parameters:
    
    duration - Duration; the relative time to calculate the traveled distance
    
    Returns:
    
    the distance traveled as part of this plan after the given duration since the start of the plan.
    
    Throws:
    
    OperationalPlanException - when the time is after the validity of the operational plan
  - getTraveledDistance
```
public final Length getTraveledDistance(Duration duration)
                                 throws OperationalPlanException
```
    Calculate the distance traveled as part of this plan after the given duration since the start of the plan.
    
    Parameters:
    
    duration - Duration; the relative time to calculate the traveled distance
    
    Returns:
    
    the distance traveled as part of this plan after the given duration since the start of the plan.
    
    Throws:
    
    OperationalPlanException - when the time is after the validity of the operational plan
  - getTraveledDistanceSI
```
public final double getTraveledDistanceSI(Time time)
                                   throws OperationalPlanException
```
    Calculate the distance traveled as part of this plan at the given absolute time. This method returns the traveled distance as a double in SI units.
    
    Parameters:
    
    time - Time; the absolute time to calculate the traveled distance for as part of this plan
    
    Returns:
    
    the distance traveled as part of this plan at the given time
    
    Throws:
    
    OperationalPlanException - when the time is after the validity of the operational plan
  - timeAtPoint
```
public final Time timeAtPoint(DirectedPoint point,
                              boolean upstream)
```
    Calculates when the GTU will be at the given point. The point does not need to be at the traveled path, as the point is projected to the path at 90 degrees. The point may for instance be the end of a lane, which is crossed by a GTU possibly during a lane change.
    
    Parameters:
    
    point - DirectedPoint; point with angle, which will be projected to the path at 90 degrees
    
    upstream - boolean; true if the point is upstream of the path
    
    Returns:
    
    Time; time at point
  - getTraveledDistance
```
public final Length getTraveledDistance(Time time)
                                 throws OperationalPlanException
```
    Calculate the distance traveled as part of this plan at the given absolute time.
    
    Parameters:
    
    time - Time; the absolute time to calculate the traveled distance for as part of this plan
    
    Returns:
    
    the distance traveled as part of this plan at the given time
    
    Throws:
    
    OperationalPlanException - when the time is after the validity of the operational plan
  - hashCode
```
public int hashCode()
```
    Overrides:
    
    hashCode in class Object
  - equals
```
public boolean equals(Object obj)
```
    Overrides:
    
    equals in class Object
  - toString
```
public String toString()
```
    Overrides:
    
    toString in class Object

Class OperationalPlan

Nested Class Summary

Field Summary

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Field Detail

MAX_DELTA_SI

DRIFTING_SPEED_SI

Constructor Detail

OperationalPlan

OperationalPlan

Method Detail

getPath

getStartTime

getStartSpeed

getEndSpeed

getOperationalPlanSegmentList

getTotalDuration

getTotalLength

getEndTime

getEndLocation

timeAtDistance

getLocation

getSpeed

getSpeed

getAcceleration

getAcceleration

getLocation

getLocation

getTraveledDistanceSI

getTraveledDistance

getTraveledDistanceSI

timeAtPoint

getTraveledDistance

hashCode

equals

toString