Package 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) 2013-2019 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

  • Field Details

  • Constructor Details

    • OperationalPlan

      public OperationalPlan​(GTU gtu, OTSLine3D path, Time startTime, Speed startSpeed, List<OperationalPlan.Segment> operationalPlanSegmentList) throws OperationalPlanException
      Construct an operational plan.
      Parameters:
      gtu - GTU; the GTU for debugging purposes
      path - OTSLine3D; the path to follow from a certain time till a certain time. The path should have <i>at least</i> the length
      startTime - Time; the absolute start time when we start executing the path
      startSpeed - Speed; the GTU speed when we start executing the path
      operationalPlanSegmentList - List<Segment>; 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 - GTU; the GTU for debugging purposes
      waitPoint - DirectedPoint; the point at which the GTU will wait
      startTime - Time; the current time or a time in the future when the plan should start
      duration - Duration; the waiting time
      Throws:
      OperationalPlanException - when construction of a waiting path fails

  • Method Details

    • 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 - Length; 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 - 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 - Duration; 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 - 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 - Duration; 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 - 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 - Duration; 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 - Time; the relative time to look for a location
      pos - RelativePosition; 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 - 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 - 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 - 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 - 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