1 package org.opentrafficsim.road.gtu.lane.perception.headway;
2
3 import org.djunits.value.vdouble.scalar.Acceleration;
4 import org.djunits.value.vdouble.scalar.Length;
5 import org.djunits.value.vdouble.scalar.Speed;
6 import org.djutils.exceptions.Throw;
7 import org.opentrafficsim.core.gtu.GtuException;
8
9 /**
10 * Container for a reference to information about a (lane based) GTU and a headway. The Headway can store information about GTUs
11 * or objects ahead of the reference GTU, behind the reference GTU, or (partially) parallel to the reference GTU. In addition to
12 * the (perceived) headway, several other pieces of information can be stored, such as (perceived) speed, (perceived)
13 * acceleration, (perceived) turn indicators, and (perceived) braking lights. <br>
14 * Special care must be taken in curves when perceiving headway of a GTU or object on an adjacent lane.The question is whether
15 * we perceive the parallel or ahead/behind based on a line perpendicular to the front/back of the GTU (rectangular), or
16 * perpendicular to the center line of the lane (wedge-shaped in case of a curve). The difficulty of a wedge-shaped situation is
17 * that reciprocity might be violated: in case of a clothoid, for instance, it is not sure that the point on the center line
18 * when projected from lane 1 to lane 2 is the same as the projection from lane 2 to lane 1. The same holds for shapes with
19 * sharp bends. Therefore, algorithms implementing headway should only project the <i>reference point</i> of the reference GTU
20 * on the center line of the adjacent lane, and then calculate the forward position and backward position on the adjacent lane
21 * based on the reference point. Still, our human perception of what is parallel and what not, is not reflected by fractional
22 * positions.
23 * <p>
24 * Copyright (c) 2013-2024 Delft University of Technology, PO Box 5, 2600 AA, Delft, the Netherlands. All rights reserved. <br>
25 * BSD-style license. See <a href="https://opentrafficsim.org/docs/license.html">OpenTrafficSim License</a>.
26 * </p>
27 * @author <a href="https://github.com/averbraeck">Alexander Verbraeck</a>
28 * @author <a href="https://tudelft.nl/staff/p.knoppers-1">Peter Knoppers</a>
29 * @author <a href="https://github.com/wjschakel">Wouter Schakel</a>
30 */
31 public abstract class AbstractHeadwayCopy extends AbstractHeadway
32 {
33 /** */
34 private static final long serialVersionUID = 20160410L;
35
36 /** The id of the other object for comparison purposes, cannot be null. */
37 private final String id;
38
39 /** The (perceived) length of the other object. Can be null if unknown. */
40 private final Length length;
41
42 /** The (perceived) speed of the other object. v>0 seen from driver chair. Can be null if unknown. */
43 private final Speed speed;
44
45 /** The (perceived) acceleration of the other object. Can be null if unknown. */
46 private final Acceleration acceleration;
47
48 /** The object type. */
49 private final ObjectType objectType;
50
51 /**
52 * Construct a new Headway information object, for an object in front, behind, or in parallel with us. <br>
53 * @param objectType ObjectType; the perceived object type, can be null if object type unknown.
54 * @param id String; the id of the object for comparison purposes, can not be null.
55 * @param distance Length; the distance to the other object
56 * @param length Length; the length of the other object, can be null if not applicable.
57 * @param overlapFront Length; the front-front distance to the other object
58 * @param overlap Length; the 'center' overlap with the other object
59 * @param overlapRear Length; the rear-rear distance to the other object
60 * @param speed the (perceived) speed of the other object; can be null if unknown.
61 * @param acceleration the (perceived) acceleration of the other object; can be null if unknown.
62 * @throws GtuException when id is null, or parameters are inconsistent
63 */
64 @SuppressWarnings("checkstyle:parameternumber")
65 private AbstractHeadwayCopy(final ObjectType objectType, final String id, final Length distance, final Length length,
66 final Speed speed, final Acceleration acceleration, final Length overlapFront, final Length overlap,
67 final Length overlapRear) throws GtuException
68 {
69 super(distance, overlapFront, overlap, overlapRear);
70 Throw.when(id == null, GtuException.class, "Object id of a headway cannot be null");
71 this.id = id;
72
73 this.objectType = objectType;
74 this.length = length;
75 this.speed = speed;
76 this.acceleration = acceleration;
77 }
78
79 /**
80 * Construct a new Headway information object, for a moving object ahead of us or behind us.
81 * @param objectType ObjectType; the perceived object type, can be null if object type unknown.
82 * @param id String; the id of the object for comparison purposes, can not be null.
83 * @param distance the distance to the other object; if this constructor is used, distance cannot be null.
84 * @param speed the (perceived) speed of the other object; can be null if unknown.
85 * @param acceleration the (perceived) acceleration of the other object; can be null if unknown.
86 * @throws GtuException when id is null, or parameters are inconsistent
87 */
88 public AbstractHeadwayCopy(final ObjectType objectType, final String id, final Length distance, final Speed speed,
89 final Acceleration acceleration) throws GtuException
90 {
91 this(objectType, id, distance, null, speed, acceleration, null, null, null);
92 }
93
94 /**
95 * Construct a new Headway information object, for a non-moving object ahead of us or behind us.
96 * @param objectType ObjectType; the perceived object type, can be null if object type unknown.
97 * @param id String; the id of the object for comparison purposes, can not be null.
98 * @param distance the distance to the other object; if this constructor is used, distance cannot be null.
99 * @throws GtuException when id is null, or parameters are inconsistent
100 */
101 public AbstractHeadwayCopy(final ObjectType objectType, final String id, final Length distance) throws GtuException
102 {
103 this(objectType, id, distance, null, Speed.ZERO, Acceleration.ZERO, null, null, null);
104 }
105
106 /**
107 * Construct a new Headway information object, for a moving object parallel with us.
108 * @param objectType ObjectType; the perceived object type, can be null if object type unknown.
109 * @param id String; the id of the object for comparison purposes, can not be null.
110 * @param overlapFront the front-front distance to the other object; if this constructor is used, this value cannot be null.
111 * @param overlap the 'center' overlap with the other object; if this constructor is used, this value cannot be null.
112 * @param overlapRear the rear-rear distance to the other object; if this constructor is used, this value cannot be null.
113 * @param speed the (perceived) speed of the other object; can be null if unknown.
114 * @param acceleration the (perceived) acceleration of the other object; can be null if unknown.
115 * @throws GtuException when id is null, or parameters are inconsistent
116 */
117 @SuppressWarnings("checkstyle:parameternumber")
118 public AbstractHeadwayCopy(final ObjectType objectType, final String id, final Length overlapFront, final Length overlap,
119 final Length overlapRear, final Speed speed, final Acceleration acceleration) throws GtuException
120 {
121 this(objectType, id, null, null, speed, acceleration, overlapFront, overlap, overlapRear);
122 }
123
124 /**
125 * Construct a new Headway information object, for a non-moving object parallel with us.
126 * @param objectType ObjectType; the perceived object type, can be null if object type unknown.
127 * @param id String; the id of the object for comparison purposes, can not be null.
128 * @param overlapFront the front-front distance to the other object; if this constructor is used, this value cannot be null.
129 * @param overlap the 'center' overlap with the other object; if this constructor is used, this value cannot be null.
130 * @param overlapRear the rear-rear distance to the other object; if this constructor is used, this value cannot be null.
131 * @throws GtuException when id is null, or parameters are inconsistent
132 */
133 public AbstractHeadwayCopy(final ObjectType objectType, final String id, final Length overlapFront, final Length overlap,
134 final Length overlapRear) throws GtuException
135 {
136 this(objectType, id, null, null, null, null, overlapFront, overlap, overlapRear);
137 }
138
139 /**
140 * Construct a new Headway information object, for a moving object ahead of us or behind us.
141 * @param objectType ObjectType; the perceived object type, can be null if object type unknown.
142 * @param id String; the id of the object for comparison purposes, can not be null.
143 * @param distance the distance to the other object; if this constructor is used, distance cannot be null.
144 * @param length the length of the other object; if this constructor is used, length cannot be null.
145 * @param speed the (perceived) speed of the other object; can be null if unknown.
146 * @param acceleration the (perceived) acceleration of the other object; can be null if unknown.
147 * @throws GtuException when id is null, or parameters are inconsistent
148 */
149 public AbstractHeadwayCopy(final ObjectType objectType, final String id, final Length distance, final Length length,
150 final Speed speed, final Acceleration acceleration) throws GtuException
151 {
152 this(objectType, id, distance, length, speed, acceleration, null, null, null);
153 Throw.whenNull(length, "Length may not be null.");
154 }
155
156 /**
157 * Construct a new Headway information object, for a non-moving object ahead of us or behind us.
158 * @param objectType ObjectType; the perceived object type, can be null if object type unknown.
159 * @param id String; the id of the object for comparison purposes, can not be null.
160 * @param distance the distance to the other object; if this constructor is used, distance cannot be null.
161 * @param length the length of the other object; if this constructor is used, length cannot be null.
162 * @throws GtuException when id is null, or parameters are inconsistent
163 */
164 public AbstractHeadwayCopy(final ObjectType objectType, final String id, final Length distance, final Length length)
165 throws GtuException
166 {
167 this(objectType, id, distance, length, null, null, null, null, null);
168 Throw.whenNull(length, "Length may not be null.");
169 }
170
171 /**
172 * Construct a new Headway information object, for a moving object parallel with us.
173 * @param objectType ObjectType; the perceived object type, can be null if object type unknown.
174 * @param id String; the id of the object for comparison purposes, can not be null.
175 * @param overlapFront the front-front distance to the other object; if this constructor is used, this value cannot be null.
176 * @param overlap the 'center' overlap with the other object; if this constructor is used, this value cannot be null.
177 * @param overlapRear the rear-rear distance to the other object; if this constructor is used, this value cannot be null.
178 * @param length the length of the other object; if this constructor is used, length cannot be null.
179 * @param speed the (perceived) speed of the other object; can be null if unknown.
180 * @param acceleration the (perceived) acceleration of the other object; can be null if unknown.
181 * @throws GtuException when id is null, or parameters are inconsistent
182 */
183 @SuppressWarnings("checkstyle:parameternumber")
184 public AbstractHeadwayCopy(final ObjectType objectType, final String id, final Length overlapFront, final Length overlap,
185 final Length overlapRear, final Length length, final Speed speed, final Acceleration acceleration)
186 throws GtuException
187 {
188 this(objectType, id, null, length, speed, acceleration, overlapFront, overlap, overlapRear);
189 Throw.whenNull(length, "Length may not be null.");
190 }
191
192 /**
193 * Construct a new Headway information object, for a non-moving object parallel with us.
194 * @param objectType ObjectType; the perceived object type, can be null if object type unknown.
195 * @param id String; the id of the object for comparison purposes, can not be null.
196 * @param overlapFront the front-front distance to the other object; if this constructor is used, this value cannot be null.
197 * @param overlap the 'center' overlap with the other object; if this constructor is used, this value cannot be null.
198 * @param overlapRear the rear-rear distance to the other object; if this constructor is used, this value cannot be null.
199 * @param length the length of the other object; if this constructor is used, length cannot be null.
200 * @throws GtuException when id is null, or parameters are inconsistent
201 */
202 public AbstractHeadwayCopy(final ObjectType objectType, final String id, final Length overlapFront, final Length overlap,
203 final Length overlapRear, final Length length) throws GtuException
204 {
205 this(objectType, id, null, length, null, null, overlapFront, overlap, overlapRear);
206 Throw.whenNull(length, "Length may not be null.");
207 }
208
209 /** {@inheritDoc} */
210 @Override
211 public final String getId()
212 {
213 return this.id;
214 }
215
216 /** {@inheritDoc} */
217 @Override
218 public final Length getLength()
219 {
220 return this.length;
221 }
222
223 /** {@inheritDoc} */
224 @Override
225 public final Speed getSpeed()
226 {
227 return this.speed;
228 }
229
230 /** {@inheritDoc} */
231 @Override
232 public final ObjectType getObjectType()
233 {
234 return this.objectType;
235 }
236
237 /** {@inheritDoc} */
238 @Override
239 public final Acceleration getAcceleration()
240 {
241 return this.acceleration;
242 }
243
244 /** {@inheritDoc} */
245 @Override
246 public int hashCode()
247 {
248 final int prime = 31;
249 int result = super.hashCode();
250 result = prime * result + ((this.acceleration == null) ? 0 : this.acceleration.hashCode());
251 result = prime * result + ((this.id == null) ? 0 : this.id.hashCode());
252 result = prime * result + ((this.length == null) ? 0 : this.length.hashCode());
253 result = prime * result + ((this.objectType == null) ? 0 : this.objectType.hashCode());
254 result = prime * result + ((this.speed == null) ? 0 : this.speed.hashCode());
255 return result;
256 }
257
258 /** {@inheritDoc} */
259 @Override
260 public boolean equals(final Object obj)
261 {
262 if (this == obj)
263 {
264 return true;
265 }
266 if (!super.equals(obj))
267 {
268 return false;
269 }
270 if (getClass() != obj.getClass())
271 {
272 return false;
273 }
274 AbstractHeadwayCopy other = (AbstractHeadwayCopy) obj;
275 if (this.acceleration == null)
276 {
277 if (other.acceleration != null)
278 {
279 return false;
280 }
281 }
282 else if (!this.acceleration.equals(other.acceleration))
283 {
284 return false;
285 }
286 if (this.id == null)
287 {
288 if (other.id != null)
289 {
290 return false;
291 }
292 }
293 else if (!this.id.equals(other.id))
294 {
295 return false;
296 }
297 if (this.length == null)
298 {
299 if (other.length != null)
300 {
301 return false;
302 }
303 }
304 else if (!this.length.equals(other.length))
305 {
306 return false;
307 }
308 if (this.objectType != other.objectType)
309 {
310 return false;
311 }
312 if (this.speed == null)
313 {
314 if (other.speed != null)
315 {
316 return false;
317 }
318 }
319 else if (!this.speed.equals(other.speed))
320 {
321 return false;
322 }
323 return true;
324 }
325
326 }