org.opentrafficsim.core.gtu.plan.operational

Class OperationalPlan

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) 2013-2018 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 and 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 and Description
static double	DRIFTING_SPEED_SI The drifting speed.

Constructor Summary

Constructors

Constructor and 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

Modifier and Type	Method and 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

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 - the GTU for debugging purposes

path - the path to follow from a certain time till a certain time. The path should have at least the length

startTime - the absolute start time when we start executing the path

startSpeed - the GTU speed when we start executing the path

operationalPlanSegmentList - 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 - the GTU for debugging purposes

waitPoint - the point at which the GTU will wait

startTime - the current time or a time in the future when the plan should start

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 - 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 - 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 - 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 - 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 - 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 - 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 - 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 - the relative time to look for a location

pos - 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 - 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 - 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 - 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 - 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