Package org.opentrafficsim.core.gtu.perception

Class AbstractPerception<G extends Gtu>

java.lang.Object

org.opentrafficsim.core.gtu.perception.AbstractPerception<G>

Type Parameters:

G - GTU type

All Implemented Interfaces:

Serializable, Perception<G>

public abstract class AbstractPerception<G extends Gtu>
extends Object
implements Perception<G>

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:

$Revision$, $LastChangedDate$, by $Author$, initial version Jul 29, 2016

Author:

Alexander Verbraeck, Peter Knoppers, Wouter Schakel

See Also:

Serialized Form

Constructor Summary

Constructors

Constructor	Description
AbstractPerception(G egoGtu)	Construct a new AbstractPerception.

Method Summary

Modifier and Type	Method	Description
<T extends PerceptionCategory<?,?>> void	addPerceptionCategory(T perceptionCategory)	Adds a perception category to the perception.
<T extends PerceptionCategory<?,?>> boolean	contains(Class<T> category)	Returns whether the given perception category is present in this Perception.
G	getEgoGtu()	Return the perceiving GTU.
<T extends PerceptionCategory<?,?>> T	getPerceptionCategory(Class<T> category)	Returns the given perception category.
<T extends PerceptionCategory<?,?>> T	getPerceptionCategoryOrNull(Class<T> category)	Returns the given perception category, or null if not present.
void	perceive()	Invoked by the GTU prior while determining an operational plan.
void	removePerceptionCategory(PerceptionCategory<?,?> perceptionCategory)	Remove a perception category.
String	toString()

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Constructor Detail

AbstractPerception

public AbstractPerception(G egoGtu)

Construct a new AbstractPerception.

Parameters:

egoGtu - G; the perceiving GTU

Method Detail

getEgoGtu

public G getEgoGtu()

Return the perceiving GTU.

Specified by:

getEgoGtu in interface Perception<G extends Gtu>

Returns:

G; the GTU of this perception

addPerceptionCategory

public final <T extends PerceptionCategory<?,?>> void addPerceptionCategory(T perceptionCategory)

Adds a perception category to the perception.

Specified by:

addPerceptionCategory in interface Perception<G extends Gtu>

Type Parameters:

T - perception category type

Parameters:

perceptionCategory - T; perception category to add

contains

public final <T extends PerceptionCategory<?,?>> boolean contains(Class<T> category)

Returns whether the given perception category is present in this Perception.

Specified by:

contains in interface Perception<G extends Gtu>

Type Parameters:

T - perception category

Parameters:

category - Class<T>; perception category class

Returns:

boolean; true if the given perception category is present; false if the given perception category is not present

getPerceptionCategory

public final <T extends PerceptionCategory<?,?>> T getPerceptionCategory(Class<T> category)
                                                                        throws OperationalPlanException

Returns the given perception category.

Specified by:

getPerceptionCategory in interface Perception<G extends Gtu>

Type Parameters:

T - perception category

Parameters:

category - Class<T>; perception category class

Returns:

T; the given perception category

Throws:

OperationalPlanException - if the perception category is not present

getPerceptionCategoryOrNull

public final <T extends PerceptionCategory<?,?>> T getPerceptionCategoryOrNull(Class<T> category)

Returns the given perception category, or null if not present.

Specified by:

getPerceptionCategoryOrNull in interface Perception<G extends Gtu>

Type Parameters:

T - perception category

Parameters:

category - Class<T>; perception category class

Returns:

T; the given perception category

removePerceptionCategory

public final void removePerceptionCategory(PerceptionCategory<?,?> perceptionCategory)

Remove a perception category. TODO should this throw an exception if the perception category is not among the current set?

Specified by:

removePerceptionCategory in interface Perception<G extends Gtu>

Parameters:

perceptionCategory - PerceptionCategory<?,?>; perception category to remove

perceive

public void perceive()
              throws GtuException,
                     NetworkException,
                     ParameterException

Invoked by the GTU prior while determining an operational plan. If the implementation works in-sync with the tactical planner, this method is used to update perceived information. It is however possible for the implementation to ignore this and have fully autonomous perception.

Specified by:

perceive in interface Perception<G extends Gtu>

Throws:

GtuException - when GTU has not been properly initialized.

NetworkException - in case of inconsistencies in the network during perception calculations.

ParameterException - in case of a parameter error.

toString

public String toString()

Overrides:

toString in class Object