java.lang.Object
- org.opentrafficsim.road.gtu.lane.tactical.util.Steering

```
public final class Steering
extends Object
```
Utility for tactical planners to implement more precise (in terms of physics) vehicle control.
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 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.

Field Summary

Fields
Modifier and Type	Field	Description
`(package private) static org.opentrafficsim.base.parameters.ParameterTypeDouble`	`C_FRONT`	Front tire cornering stiffness.
`(package private) static org.opentrafficsim.base.parameters.ParameterTypeDouble`	`C_REAR`	Rear tire cornering stiffness.
`(package private) static org.opentrafficsim.base.parameters.ParameterTypeDuration`	`DT`	Time step parameter.

Method Summary

All Methods Static Methods Concrete Methods
Modifier and Type	Method	Description
`static OperationalPlan`	`fromReferencePlan(LaneBasedGTU gtu, org.opentrafficsim.base.parameters.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, org.opentrafficsim.base.parameters.Parameters params, Steering.SteeringState steeringState, Set<DirectedPoint> points, 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

Field Detail

DT

static final org.opentrafficsim.base.parameters.ParameterTypeDuration DT

Time step parameter.

C_FRONT

static final org.opentrafficsim.base.parameters.ParameterTypeDouble C_FRONT

Front tire cornering stiffness.

C_REAR

static final org.opentrafficsim.base.parameters.ParameterTypeDouble C_REAR

Rear tire cornering stiffness.

Method Detail

fromReferencePlan

public static OperationalPlan fromReferencePlan(LaneBasedGTU gtu,
                                                org.opentrafficsim.base.parameters.Parameters params,
                                                Steering.SteeringState steeringState,
                                                OperationalPlan referencePlan,
                                                Steering.FeedbackTable feedbackTable)
                                         throws org.opentrafficsim.base.parameters.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:: org.opentrafficsim.base.parameters.ParameterException - undefined parameter

fromReferencePoints

public static OperationalPlan fromReferencePoints(GTU gtu,
                                                  org.opentrafficsim.base.parameters.Parameters params,
                                                  Steering.SteeringState steeringState,
                                                  Set<DirectedPoint> points,
                                                  List<OperationalPlan.Segment> segments)
                                           throws org.opentrafficsim.base.parameters.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:: org.opentrafficsim.base.parameters.ParameterException - undefined parameter

Class Steering