package org.opentrafficsim.road.gtu.lane.tactical.following;
   
   import org.djunits.value.vdouble.scalar.Acceleration;
   import org.djunits.value.vdouble.scalar.Length;
   import org.djunits.value.vdouble.scalar.Speed;
   import org.opentrafficsim.base.parameters.ParameterException;
   import org.opentrafficsim.base.parameters.Parameters;
   import org.opentrafficsim.road.gtu.lane.perception.PerceptionIterable;
   import org.opentrafficsim.road.gtu.lane.perception.object.PerceivedObject;
  
  /**
   * Implementation of the IDM. See <a
   * href=https://en.wikipedia.org/wiki/Intelligent_driver_model>https://en.wikipedia.org/wiki/Intelligent_driver_model</a>
   * <p>
   * Copyright (c) 2013-2024 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 <a href="https://github.com/wjschakel">Wouter Schakel</a>
   */
  public class Idm extends AbstractIdm
  {
  
      /**
       * Default constructor using default models for desired headway and desired speed.
       */
      public Idm()
      {
          super(HEADWAY, DESIRED_SPEED);
      }
  
      /**
       * Constructor with modular models for desired headway and desired speed.
       * @param desiredHeadwayModel desired headway model
       * @param desiredSpeedModel desired speed model
       */
      public Idm(final DesiredHeadwayModel desiredHeadwayModel, final DesiredSpeedModel desiredSpeedModel)
      {
          super(desiredHeadwayModel, desiredSpeedModel);
      }
  
      @Override
      public final String getName()
      {
          return "IDM";
      }
  
      @Override
      public final String getLongName()
      {
          return "Intelligent Driver Model";
      }
  
      @Override
      protected final Acceleration combineInteractionTerm(final Acceleration aFree, final Parameters parameters,
              final Speed speed, final Speed desiredSpeed, final Length desiredHeadway,
              final PerceptionIterable<? extends PerceivedObject> leaders) throws ParameterException
      {
          Acceleration a = parameters.getParameter(A);
          PerceivedObject leader = leaders.first();
          double sRatio =
                  dynamicDesiredHeadway(parameters, speed, desiredHeadway, leader.getSpeed()).si / leader.getDistance().si;
          double aInt = -a.si * sRatio * sRatio;
          return Acceleration.ofSI(aFree.si + aInt);
      }
  
  }