java.lang.Object

org.djutils.event.EventProducer

org.opentrafficsim.core.gtu.AbstractGTU

All Implemented Interfaces:: Serializable, Locatable, EventProducerInterface, Identifiable, Drawable, GTU

Direct Known Subclasses:: AbstractLinkBasedGTU

public abstract class AbstractGTU
extends EventProducer
implements GTU

Implements the basic functionalities of any GTU: the ability to move on 3D-space according to a plan.

Copyright (c) 2013-2020 Delft University of Technology, PO Box 5, 2600 AA, Delft, the Netherlands. All rights reserved.
BSD-style license. See OpenTrafficSim License.

Version:: $Revision: 6119 $, $LastChangedDate: 2020-01-24 02:44:57 +0100 (Fri, 24 Jan 2020) $, by $Author: averbraeck $, initial version Oct 22, 2014
Author:: Alexander Verbraeck, Peter Knoppers
See Also:: Serialized Form

Field Summary

Fields
Modifier and Type	Field	Description
`static int`	`ALIGN_COUNT`	aligned schedule count.
`static boolean`	`ALIGNED`	aligned or not.
`protected Historical<OperationalPlan>`	`operationalPlan`	The current operational plan, which provides a short-term movement over time.

Fields inherited from class org.djutils.event.EventProducer

eventProducerImpl

Fields inherited from interface org.djutils.event.EventProducerInterface

FIRST_POSITION, LAST_POSITION

Fields inherited from interface org.opentrafficsim.core.gtu.GTU

DESTROY_EVENT, INIT_EVENT, MOVE_EVENT

Constructor Summary

Constructors
Constructor	Description
`AbstractGTU(String id, GTUType gtuType, OTSSimulatorInterface simulator, PerceivableContext perceivableContext)`
`AbstractGTU(IdGenerator idGenerator, GTUType gtuType, OTSSimulatorInterface simulator, PerceivableContext perceivableContext)`

Method Summary

Modifier and Type	Method	Description
`void`	`addGtu(GTU gtu)`	Adds the provided GTU to this GTU, meaning it moves with this GTU.
`void`	`destroy()`	Destructor.
`boolean`	`equals(Object obj)`
`Acceleration`	`getAcceleration()`
`Acceleration`	`getAcceleration(Time time)`
`Set<GTU>`	`getChildren()`	Returns the children GTU's.
`protected GTUErrorHandler`	`getErrorHandler()`
`GTUType`	`getGTUType()`
`String`	`getId()`
`DirectedPoint`	`getLocation()`
`Acceleration`	`getMaximumAcceleration()`
`Acceleration`	`getMaximumDeceleration()`
`SimEvent<SimTimeDoubleUnit>`	`getNextMoveEvent()`	Note that destroying the next move event of the GTU can be dangerous!
`Length`	`getOdometer()`
`Length`	`getOdometer(Time time)`
`OperationalPlan`	`getOperationalPlan()`
`OperationalPlan`	`getOperationalPlan(Time time)`
`Parameters`	`getParameters()`
`GTU`	`getParent()`	Returns the parent GTU, or `null` if this GTU has no parent.
`PerceivableContext`	`getPerceivableContext()`
`RelativePosition`	`getReference()`
`OTSSimulatorInterface`	`getSimulator()`
`Serializable`	`getSourceId()`
`Speed`	`getSpeed()`
`Speed`	`getSpeed(Time time)`
`StrategicalPlanner`	`getStrategicalPlanner()`
`StrategicalPlanner`	`getStrategicalPlanner(Time time)`
`int`	`hashCode()`
`void`	`init(StrategicalPlanner strategicalPlanner, DirectedPoint initialLocation, Speed initialSpeed)`	Initialize the GTU at a location and speed, and give it a mission to fulfill through the strategical planner.
`protected void`	`interruptMove()`	Interrupt the move and ask for a new plan.
`boolean`	`isDestroyed()`	Returns whether the GTU is destroyed.
`protected boolean`	`move(DirectedPoint fromLocation)`	Move from the current location according to an operational plan to a location that will bring us nearer to reaching the location provided by the strategical planner.
`void`	`removeGtu(GTU gtu)`	Removes the provided GTU from this GTU, meaning it no longer moves with this GTU.
`void`	`setErrorHandler(GTUErrorHandler errorHandler)`	Sets the error handler.
`void`	`setMaximumAcceleration(Acceleration maximumAcceleration)`
`void`	`setMaximumDeceleration(Acceleration maximumDeceleration)`
`void`	`setParameters(Parameters parameters)`
`void`	`setParent(GTU gtu)`	Set the parent GTU.

Methods inherited from class org.djutils.event.EventProducer

addListener, addListener, addListener, addListener, fireEvent, fireEvent, fireEvent, fireEvent, fireEvent, fireEvent, fireEvent, fireEvent, fireEvent, fireTimedEvent, fireTimedEvent, fireTimedEvent, fireTimedEvent, fireTimedEvent, fireTimedEvent, fireTimedEvent, getEventTypesWithListeners, getListenerReferences, hasListeners, numberOfListeners, removeAllListeners, removeAllListeners, removeListener

Methods inherited from class java.lang.Object

clone, finalize, getClass, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface org.djutils.event.EventProducerInterface

addListener, addListener, addListener, addListener, getEventTypesWithListeners, hasListeners, numberOfListeners, removeListener

Methods inherited from interface org.opentrafficsim.core.gtu.GTU

getCenter, getContourPoints, getFront, getLength, getMaximumSpeed, getRear, getRelativePositions, getTacticalPlanner, getTacticalPlanner, getWidth

Methods inherited from interface nl.tudelft.simulation.dsol.animation.Locatable

getBounds

Field Details
- operationalPlan
  
  protected final Historical<OperationalPlan> operationalPlan
  
  The current operational plan, which provides a short-term movement over time.
- ALIGNED
  
  public static boolean ALIGNED
  
  aligned or not.
- ALIGN_COUNT
  
  public static int ALIGN_COUNT
  
  aligned schedule count.
Constructor Details
- AbstractGTU
  
  public AbstractGTU(String id, GTUType gtuType, OTSSimulatorInterface simulator, PerceivableContext perceivableContext) throws GTUException
  
  Parameters:
  
  id - String; the id of the GTU
  
  gtuType - GTUType; the type of GTU, e.g. TruckType, CarType, BusType
  
  simulator - OTSSimulatorInterface; the simulator to schedule plan changes on
  
  perceivableContext - PerceivableContext; the perceivable context in which this GTU will be registered
  
  Throws:
  
  GTUException - when the preconditions of the constructor are not met
- AbstractGTU
  
  public AbstractGTU(IdGenerator idGenerator, GTUType gtuType, OTSSimulatorInterface simulator, PerceivableContext perceivableContext) throws GTUException
  
  Parameters:
  
  idGenerator - IdGenerator; the generator that will produce a unique id of the GTU
  
  gtuType - GTUType; the type of GTU, e.g. TruckType, CarType, BusType
  
  simulator - OTSSimulatorInterface; the simulator to schedule plan changes on
  
  perceivableContext - PerceivableContext; the perceivable context in which this GTU will be registered
  
  Throws:
  
  GTUException - when the preconditions of the constructor are not met
Method Details
- init
  
  public void init(StrategicalPlanner strategicalPlanner, DirectedPoint initialLocation, Speed initialSpeed) throws SimRuntimeException, GTUException
  
  Initialize the GTU at a location and speed, and give it a mission to fulfill through the strategical planner.
  
  Parameters:
  
  strategicalPlanner - StrategicalPlanner; the strategical planner responsible for the overall 'mission' of the GTU, usually indicating where it needs to go. It operates by instantiating tactical planners to do the work.
  
  initialLocation - DirectedPoint; the initial location (and direction) of the GTU
  
  initialSpeed - Speed; the initial speed of the GTU
  
  Throws:
  
  SimRuntimeException - when scheduling after the first move fails
  
  GTUException - when the preconditions of the parameters are not met or when the construction of the original waiting path fails
- destroy
  
  public void destroy()
  
  Destructor. Don't forget to call with super.destroy() from any override to avoid memory leaks in the network.
  
  Specified by:
  
  destroy in interface GTU
- move
  
  protected boolean move(DirectedPoint fromLocation) throws SimRuntimeException, OperationalPlanException, GTUException, NetworkException, ParameterException
  
  Move from the current location according to an operational plan to a location that will bring us nearer to reaching the location provided by the strategical planner.
  This method can be overridden to carry out specific behavior during the execution of the plan (e.g., scheduling of triggers, entering or leaving lanes, etc.). Please bear in mind that the call to super.move() is essential, and that one has to take care to handle the situation that the plan gets interrupted.
  
  Parameters:
  
  fromLocation - DirectedPoint; the last known location (initial location, or end location of the previous operational plan)
  
  Returns:
  
  boolean; whether an exception occurred
  
  Throws:
  
  SimRuntimeException - when scheduling of the next move fails
  
  OperationalPlanException - when there is a problem creating a good path for the GTU
  
  GTUException - when there is a problem with the state of the GTU when planning a path
  
  NetworkException - in case of a problem with the network, e.g., a dead end where it is not expected
  
  ParameterException - in there is a parameter problem
- interruptMove
  
  protected void interruptMove() throws SimRuntimeException, OperationalPlanException, GTUException, NetworkException, ParameterException
  
  Interrupt the move and ask for a new plan. This method can be overridden to carry out the bookkeeping needed when the current plan gets interrupted.
  
  Throws:
  
  OperationalPlanException - when there was a problem retrieving the location from the running plan
  
  SimRuntimeException - when scheduling of the next move fails
  
  OperationalPlanException - when there is a problem creating a good path for the GTU
  
  GTUException - when there is a problem with the state of the GTU when planning a path
  
  NetworkException - in case of a problem with the network, e.g., unreachability of a certain point
  
  ParameterException - when there is a problem with a parameter
- getId
  
  public final String getId()
  
  Specified by:
  
  getId in interface GTU
  
  Specified by:
  
  getId in interface Identifiable
  
  Returns:
  
  the id of the GTU
- getGTUType
  
  public GTUType getGTUType()
  
  Specified by:
  
  getGTUType in interface GTU
  
  Returns:
  
  the type of GTU, e.g. TruckType, CarType, BusType.
- getReference
  
  public final RelativePosition getReference()
  
  Specified by:
  
  getReference in interface GTU
  
  Returns:
  
  the reference position of the GTU, by definition (0, 0, 0).
- getSimulator
  
  public final OTSSimulatorInterface getSimulator()
  
  Specified by:
  
  getSimulator in interface GTU
  
  Returns:
  
  the simulator of the GTU.
- getParameters
  
  public final Parameters getParameters()
  
  Specified by:
  
  getParameters in interface GTU
  
  Returns:
  
  Parameters.
- setParameters
  
  public final void setParameters(Parameters parameters)
  
  Specified by:
  
  setParameters in interface GTU
  
  Parameters:
  
  parameters - Parameters; parameters
- getStrategicalPlanner
  
  public StrategicalPlanner getStrategicalPlanner()
  
  Specified by:
  
  getStrategicalPlanner in interface GTU
  
  Returns:
  
  StrategicalPlanner; the planner responsible for the overall 'mission' of the GTU, usually indicating where it needs to go. It operates by instantiating tactical planners to do the work.
- getStrategicalPlanner
  
  public StrategicalPlanner getStrategicalPlanner(Time time)
  
  Specified by:
  
  getStrategicalPlanner in interface GTU
  
  Parameters:
  
  time - Time; time to obtain the strategical planner at
  
  Returns:
  
  StrategicalPlanner; the planner responsible for the overall 'mission' of the GTU, usually indicating where it needs to go. It operates by instantiating tactical planners to do the work.
- getOperationalPlan
  
  public final OperationalPlan getOperationalPlan()
  
  Specified by:
  
  getOperationalPlan in interface GTU
  
  Returns:
  
  the current operational plan for the GTU
- getOperationalPlan
  
  public final OperationalPlan getOperationalPlan(Time time)
  
  Specified by:
  
  getOperationalPlan in interface GTU
  
  Parameters:
  
  time - Time; time to obtain the operational plan at
  
  Returns:
  
  the operational plan for the GTU at the given time.
- getOdometer
  
  public final Length getOdometer()
  
  Specified by:
  
  getOdometer in interface GTU
  
  Returns:
  
  Length; the current odometer value.
- getOdometer
  
  public final Length getOdometer(Time time)
  
  Specified by:
  
  getOdometer in interface GTU
  
  Parameters:
  
  time - Time; time to obtain the odometer at
  
  Returns:
  
  Length; the odometer value at given time.
- getSpeed
  
  public final Speed getSpeed()
  
  Specified by:
  
  getSpeed in interface GTU
  
  Returns:
  
  the current speed of the GTU, along the direction of movement.
- getSpeed
  
  public final Speed getSpeed(Time time)
  
  Specified by:
  
  getSpeed in interface GTU
  
  Parameters:
  
  time - Time; time at which to obtain the speed
  
  Returns:
  
  the current speed of the GTU, along the direction of movement.
- getAcceleration
  
  public final Acceleration getAcceleration()
  
  Specified by:
  
  getAcceleration in interface GTU
  
  Returns:
  
  the current acceleration of the GTU, along the direction of movement.
- getAcceleration
  
  public final Acceleration getAcceleration(Time time)
  
  Specified by:
  
  getAcceleration in interface GTU
  
  Parameters:
  
  time - Time; time at which to obtain the acceleration
  
  Returns:
  
  the current acceleration of the GTU, along the direction of movement.
- getMaximumAcceleration
  
  public final Acceleration getMaximumAcceleration()
  
  Specified by:
  
  getMaximumAcceleration in interface GTU
  
  Returns:
  
  maximumAcceleration
- setMaximumAcceleration
  
  public final void setMaximumAcceleration(Acceleration maximumAcceleration)
  
  Parameters:
  
  maximumAcceleration - Acceleration; set maximumAcceleration
- getMaximumDeceleration
  
  public final Acceleration getMaximumDeceleration()
  
  Specified by:
  
  getMaximumDeceleration in interface GTU
  
  Returns:
  
  maximumDeceleration
- setMaximumDeceleration
  
  public final void setMaximumDeceleration(Acceleration maximumDeceleration)
  
  Parameters:
  
  maximumDeceleration - Acceleration; set maximumDeceleration, stored as a negative number
- getLocation
  
  public DirectedPoint getLocation()
  
  Specified by:
  
  getLocation in interface Locatable
- isDestroyed
  
  public final boolean isDestroyed()
  
  Returns whether the GTU is destroyed.
  
  Specified by:
  
  isDestroyed in interface GTU
  
  Returns:
  
  whether the GTU is destroyed
- getPerceivableContext
  
  public PerceivableContext getPerceivableContext()
  
  Specified by:
  
  getPerceivableContext in interface GTU
  
  Returns:
  
  the context to which the GTU belongs
- addGtu
  
  public void addGtu(GTU gtu) throws GTUException
  
  Adds the provided GTU to this GTU, meaning it moves with this GTU.
  
  Specified by:
  
  addGtu in interface GTU
  
  Parameters:
  
  gtu - GTU; gtu to enter this GTU
  
  Throws:
  
  GTUException - if the gtu already has a parent
- removeGtu
  
  public void removeGtu(GTU gtu)
  
  Removes the provided GTU from this GTU, meaning it no longer moves with this GTU.
  
  Specified by:
  
  removeGtu in interface GTU
  
  Parameters:
  
  gtu - GTU; gtu to exit this GTU
- setParent
  
  public void setParent(GTU gtu) throws GTUException
  
  Set the parent GTU.
  
  Specified by:
  
  setParent in interface GTU
  
  Parameters:
  
  gtu - GTU; parent GTU, may be null
  
  Throws:
  
  GTUException - if the gtu already has a parent
- getParent
  
  public GTU getParent()
  
  Returns the parent GTU, or null if this GTU has no parent.
  
  Specified by:
  
  getParent in interface GTU
  
  Returns:
  
  GTU; parent GTU, or null if this GTU has no parent
- getChildren
  
  public Set<GTU> getChildren()
  
  Returns the children GTU's.
  
  Specified by:
  
  getChildren in interface GTU
  
  Returns:
  
  Set<GTU>; children GTU's
- getErrorHandler
  
  protected GTUErrorHandler getErrorHandler()
  
  Returns:
  
  errorHandler.
- setErrorHandler
  
  public void setErrorHandler(GTUErrorHandler errorHandler)
  
  Sets the error handler.
  
  Specified by:
  
  setErrorHandler in interface GTU
  
  Parameters:
  
  errorHandler - GTUErrorHandler; error handler
- getSourceId
  
  public final Serializable getSourceId()
  
  Specified by:
  
  getSourceId in interface EventProducerInterface
  
  Specified by:
  
  getSourceId in class EventProducer
- getNextMoveEvent
  
  public final SimEvent<SimTimeDoubleUnit> getNextMoveEvent()
  
  Note that destroying the next move event of the GTU can be dangerous!
  
  Returns:
  
  nextMoveEvent the next move event of the GTU, e.g. to cancel it from outside.
- hashCode
  
  public int hashCode()
  
  Overrides:
  
  hashCode in class Object
- equals
  
  public boolean equals(Object obj)
  
  Overrides:
  
  equals in class Object

Class AbstractGTU