package org.opentrafficsim.road.gtu.control;
   
   import org.djunits.value.vdouble.scalar.Acceleration;
   import org.djunits.value.vdouble.scalar.Speed;
   import org.opentrafficsim.base.parameters.ParameterException;
   import org.opentrafficsim.base.parameters.ParameterTypeDouble;
   import org.opentrafficsim.base.parameters.Parameters;
   import org.opentrafficsim.base.parameters.constraint.NumericConstraint;
   import org.opentrafficsim.road.gtu.LaneBasedGtu;
  import org.opentrafficsim.road.gtu.perception.PerceptionCollectable;
  import org.opentrafficsim.road.gtu.perception.object.PerceivedGtu;
  import org.opentrafficsim.road.network.speed.SpeedLimits;
  
  /**
   * Class that splits the desired acceleration of a controller in a fixed linear free term, and a term for following determined
   * by the sub-class.
   * <p>
   * Copyright (c) 2013-2026 Delft University of Technology, PO Box 5, 2600 AA, Delft, the Netherlands. All rights reserved. <br>
   * BSD-style license. See <a href="https://opentrafficsim.org/docs/license.html">OpenTrafficSim License</a>.
   * </p>
   * @author Alexander Verbraeck
   * @author Peter Knoppers
   * @author Wouter Schakel
   */
  public abstract class AbstractLinearFreeControl extends AbstractActuatedControl
  {
  
      /** Desired speed error gain parameter. */
      public static final ParameterTypeDouble KF =
              new ParameterTypeDouble("kf", "Desired speed error gain", 0.075, NumericConstraint.POSITIVE);
  
      /**
       * Constructor using default sensors with no delay.
       * @param delayedActuation delayed actuation
       */
      public AbstractLinearFreeControl(final DelayedActuation delayedActuation)
      {
          super(delayedActuation);
      }
  
      @Override
      public final Acceleration getDesiredAcceleration(final LaneBasedGtu gtu,
              final PerceptionCollectable<PerceivedGtu, LaneBasedGtu> leaders, final Parameters settings)
              throws ParameterException
      {
          SpeedLimits speedLimits = gtu.getLane().getSpeedLimits(gtu.getType());
          Speed v0 = gtu.getTacticalPlanner().getCarFollowingModel().desiredSpeed(gtu.getParameters(), speedLimits,
                  gtu.getMaximumSpeed());
          Acceleration a = Acceleration.ofSI(settings.getParameter(KF) * (v0.si - gtu.getSpeed().si));
          if (leaders.isEmpty())
          {
              return a;
          }
          return Acceleration.min(a, getFollowingAcceleration(gtu, leaders, settings));
      }
  
      /**
       * Returns the following acceleration of the longitudinal control. This method is only invoked if there is at least 1
       * leader.
       * @param gtu gtu
       * @param leaders leaders
       * @param settings system settings
       * @return following acceleration of the longitudinal control
       * @throws ParameterException if parameter is not present
       */
      public abstract Acceleration getFollowingAcceleration(LaneBasedGtu gtu,
              PerceptionCollectable<PerceivedGtu, LaneBasedGtu> leaders, Parameters settings) throws ParameterException;
  
  }