org.opentrafficsim.road.gtu.lane.perception.categories.DirectDefaultSimplePerception

All Implemented Interfaces:: Serializable, PerceptionCategory<LaneBasedGTU,LanePerception>, DefaultSimplePerception, LaneBasedPerceptionCategory

public class DirectDefaultSimplePerception
extends LaneBasedAbstractPerceptionCategory
implements DefaultSimplePerception

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 22, 2016
Author:: Alexander Verbraeck, Peter Knoppers, Wouter Schakel
See Also:: Serialized Form

Field Summary

Fields
Modifier and Type	Field	Description
`protected static ParameterTypeLength`	`LOOKAHEAD`	Look ahead parameter type.
`protected static ParameterTypeLength`	`LOOKBACKOLD`	Look back parameter type.

Fields inherited from class org.opentrafficsim.road.gtu.lane.perception.categories.LaneBasedAbstractPerceptionCategory

MAX_RED_DECELERATION, MAX_YELLOW_DECELERATION

Constructor Summary

Constructors

Constructor Description

DirectDefaultSimplePerception(LanePerception perception)

Method Summary

Modifier and Type	Method	Description
`Lane`	`bestAccessibleAdjacentLane(Lane currentLane, LateralDirectionality lateralDirection, Length longitudinalPosition)`	Determine whether there is a lane to the left or to the right of this lane, which is accessible from this lane, or null if no lane could be found.
`Map<Lane,Set<Lane>>`	`getAccessibleAdjacentLanes(LateralDirectionality lateralDirection)`
`Map<Lane,Set<Lane>>`	`getAccessibleAdjacentLanesLeft()`
`Map<Lane,Set<Lane>>`	`getAccessibleAdjacentLanesRight()`
`Headway`	`getBackwardHeadway()`
`Headway`	`getForwardHeadwayGTU()`
`Headway`	`getForwardHeadwayObject()`
`LanePathInfo`	`getLanePathInfo()`	Retrieve the last perceived lane path info.
`Collection<Headway>`	`getNeighboringHeadways(LateralDirectionality lateralDirection)`
`Collection<Headway>`	`getNeighboringHeadwaysLeft()`
`Collection<Headway>`	`getNeighboringHeadwaysRight()`
`Collection<Headway>`	`getParallelHeadways(LateralDirectionality lateralDirection)`
`Collection<Headway>`	`getParallelHeadwaysLeft()`
`Collection<Headway>`	`getParallelHeadwaysRight()`
`Speed`	`getSpeedLimit()`
`TimeStampedObject<Map<Lane,Set<Lane>>>`	`getTimeStampedAccessibleAdjacentLanes(LateralDirectionality lateralDirection)`
`TimeStampedObject<Map<Lane,Set<Lane>>>`	`getTimeStampedAccessibleAdjacentLanesLeft()`
`TimeStampedObject<Map<Lane,Set<Lane>>>`	`getTimeStampedAccessibleAdjacentLanesRight()`
`TimeStampedObject<Headway>`	`getTimeStampedBackwardHeadway()`
`TimeStampedObject<Headway>`	`getTimeStampedForwardHeadwayGTU()`
`TimeStampedObject<Headway>`	`getTimeStampedForwardHeadwayObject()`
`TimeStampedObject<LanePathInfo>`	`getTimeStampedLanePathInfo()`	Retrieve the time stamped last perceived lane path info.
`TimeStampedObject<Collection<Headway>>`	`getTimeStampedNeighboringHeadways(LateralDirectionality lateralDirection)`
`TimeStampedObject<Collection<Headway>>`	`getTimeStampedNeighboringHeadwaysLeft()`
`TimeStampedObject<Collection<Headway>>`	`getTimeStampedNeighboringHeadwaysRight()`
`TimeStampedObject<Collection<Headway>>`	`getTimeStampedParallelHeadways(LateralDirectionality lateralDirection)`
`TimeStampedObject<Collection<Headway>>`	`getTimeStampedParallelHeadwaysLeft()`
`TimeStampedObject<Collection<Headway>>`	`getTimeStampedParallelHeadwaysRight()`
`TimeStampedObject<Speed>`	`getTimeStampedSpeedLimit()`
`String`	`toString()`
`void`	`updateAccessibleAdjacentLanesLeft()`	Update the accessible adjacent lanes on the left.
`void`	`updateAccessibleAdjacentLanesRight()`	Update the accessible adjacent lanes on the right.
`void`	`updateBackwardHeadway()`	Update the backward headway and first object (e.g., a GTU) behind.
`void`	`updateForwardHeadwayGTU()`	Update the forward headway and first object (a GTU) in front.
`void`	`updateForwardHeadwayObject()`	Update the forward headway and first object (but not a GTU) in front.
`void`	`updateLanePathInfo()`
`void`	`updateNeighboringHeadways(LateralDirectionality lateralDirection)`	Update the objects (e.g., GTUs) in parallel, in front and behind for the lane in the given direction, with their headway relative to our GTU, and information about the status of the adjacent objects.
`void`	`updateNeighboringHeadwaysLeft()`	Update the objects (e.g., GTUs) in parallel, in front and behind on the left neighboring lane, with their headway relative to our GTU, and information about the status of the adjacent objects.
`void`	`updateNeighboringHeadwaysRight()`	Update the objects (e.g., GTUs) in parallel, in front and behind on the right neighboring lane, with their headway relative to our GTU, and information about the status of the adjacent objects.
`void`	`updateParallelHeadways(LateralDirectionality lateralDirection)`	Update the parallel objects (e.g., GTUs) for the given direction, with information about their status and parallel overlap with our GTU.
`void`	`updateParallelHeadwaysLeft()`	Update the parallel objects (e.g., GTUs) on the left, with information about their status and parallel overlap with our GTU.
`void`	`updateParallelHeadwaysRight()`	Update the parallel objects (e.g., GTUs) on the right, with information about their status and parallel overlap with our GTU.
`void`	`updateSpeedLimit()`	Update speedLimit.

Methods inherited from class org.opentrafficsim.road.gtu.lane.perception.categories.LaneBasedAbstractPerceptionCategory

computeIfAbsent, computeIfAbsent, computeIfAbsent

Methods inherited from class org.opentrafficsim.core.gtu.perception.AbstractPerceptionCategory

getGtu, getObjectOrNull, getPerception, getTimestamp

Methods inherited from class org.opentrafficsim.base.Type

isType

Methods inherited from class java.lang.Object

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

Methods inherited from interface org.opentrafficsim.road.gtu.lane.perception.categories.DefaultSimplePerception

updateAccessibleAdjacentLanes, updateAll

Field Details
- LOOKAHEAD
  
  protected static final ParameterTypeLength LOOKAHEAD
  
  Look ahead parameter type.
- LOOKBACKOLD
  
  protected static final ParameterTypeLength LOOKBACKOLD
  
  Look back parameter type.
Constructor Details
- DirectDefaultSimplePerception
  
  public DirectDefaultSimplePerception(LanePerception perception)
  
  Parameters:
  
  perception - LanePerception; perception
Method Details
- updateLanePathInfo
  
  public final void updateLanePathInfo() throws GTUException, NetworkException, ParameterException
  
  Specified by:
  
  updateLanePathInfo in interface DefaultSimplePerception
  
  Throws:
  
  GTUException - when the GTU was not initialized yet.
  
  NetworkException - when the speed limit for a GTU type cannot be retrieved from the network.
  
  ParameterException - in case of not being able to retrieve parameter ParameterTypes.LOOKAHEAD
- updateForwardHeadwayGTU
  
  public final void updateForwardHeadwayGTU() throws GTUException, NetworkException, ParameterException
  
  Update the forward headway and first object (a GTU) in front.
  
  Specified by:
  
  updateForwardHeadwayGTU in interface DefaultSimplePerception
  
  Throws:
  
  GTUException - when the GTU was not yet initialized
  
  NetworkException - in case of network exception
  
  ParameterException - if parameter is not defined or out of bounds
- updateForwardHeadwayObject
  
  public final void updateForwardHeadwayObject() throws GTUException, NetworkException, ParameterException
  
  Update the forward headway and first object (but not a GTU) in front.
  
  Specified by:
  
  updateForwardHeadwayObject in interface DefaultSimplePerception
  
  Throws:
  
  GTUException - when the GTU was not yet initialized
  
  NetworkException - in case of network exception
  
  ParameterException - if parameter is not defined or out of bounds
- updateBackwardHeadway
  
  public final void updateBackwardHeadway() throws GTUException, ParameterException, NetworkException
  
  Update the backward headway and first object (e.g., a GTU) behind.
  
  Specified by:
  
  updateBackwardHeadway in interface DefaultSimplePerception
  
  Throws:
  
  GTUException - when the GTU was not yet initialized
  
  ParameterException - if parameter is not defined or out of bounds
  
  NetworkException - in case of network exception
- updateAccessibleAdjacentLanesLeft
  
  public final void updateAccessibleAdjacentLanesLeft() throws GTUException
  
  Update the accessible adjacent lanes on the left.
  
  Specified by:
  
  updateAccessibleAdjacentLanesLeft in interface DefaultSimplePerception
  
  Throws:
  
  GTUException - when the GTU was not yet initialized
- updateAccessibleAdjacentLanesRight
  
  public final void updateAccessibleAdjacentLanesRight() throws GTUException
  
  Update the accessible adjacent lanes on the right.
  
  Specified by:
  
  updateAccessibleAdjacentLanesRight in interface DefaultSimplePerception
  
  Throws:
  
  GTUException - when the GTU was not yet initialized
- updateNeighboringHeadwaysLeft
  
  public final void updateNeighboringHeadwaysLeft() throws GTUException, ParameterException, NetworkException
  
  Update the objects (e.g., GTUs) in parallel, in front and behind on the left neighboring lane, with their headway relative to our GTU, and information about the status of the adjacent objects.
  
  Specified by:
  
  updateNeighboringHeadwaysLeft in interface DefaultSimplePerception
  
  Throws:
  
  GTUException - when the GTU was not yet initialized
  
  ParameterException - if parameter is not defined or out of bounds
  
  NetworkException - in case of network exception
- updateNeighboringHeadwaysRight
  
  public final void updateNeighboringHeadwaysRight() throws GTUException, ParameterException, NetworkException
  
  Update the objects (e.g., GTUs) in parallel, in front and behind on the right neighboring lane, with their headway relative to our GTU, and information about the status of the adjacent objects.
  
  Specified by:
  
  updateNeighboringHeadwaysRight in interface DefaultSimplePerception
  
  Throws:
  
  GTUException - when the GTU was not yet initialized
  
  ParameterException - if parameter is not defined or out of bounds
  
  NetworkException - in case of network exception
- updateNeighboringHeadways
  
  public final void updateNeighboringHeadways(LateralDirectionality lateralDirection) throws GTUException, ParameterException, NetworkException
  
  Update the objects (e.g., GTUs) in parallel, in front and behind for the lane in the given direction, with their headway relative to our GTU, and information about the status of the adjacent objects.
  
  Specified by:
  
  updateNeighboringHeadways in interface DefaultSimplePerception
  
  Parameters:
  
  lateralDirection - LateralDirectionality; the direction to update the parallel headway collection for
  
  Throws:
  
  GTUException - when the GTU was not yet initialized
  
  ParameterException - if parameter is not defined or out of bounds
  
  NetworkException - in case of network exception
- updateParallelHeadwaysLeft
  
  public final void updateParallelHeadwaysLeft() throws GTUException
  
  Update the parallel objects (e.g., GTUs) on the left, with information about their status and parallel overlap with our GTU.
  
  Specified by:
  
  updateParallelHeadwaysLeft in interface DefaultSimplePerception
  
  Throws:
  
  GTUException - when the GTU was not yet initialized
- updateParallelHeadwaysRight
  
  public final void updateParallelHeadwaysRight() throws GTUException
  
  Update the parallel objects (e.g., GTUs) on the right, with information about their status and parallel overlap with our GTU.
  
  Specified by:
  
  updateParallelHeadwaysRight in interface DefaultSimplePerception
  
  Throws:
  
  GTUException - when the GTU was not yet initialized
- updateParallelHeadways
  
  public final void updateParallelHeadways(LateralDirectionality lateralDirection) throws GTUException
  
  Update the parallel objects (e.g., GTUs) for the given direction, with information about their status and parallel overlap with our GTU.
  
  Specified by:
  
  updateParallelHeadways in interface DefaultSimplePerception
  
  Parameters:
  
  lateralDirection - LateralDirectionality; the direction to return the neighboring headway collection for
  
  Throws:
  
  GTUException - when the GTU was not yet initialized
- updateSpeedLimit
  
  public final void updateSpeedLimit() throws GTUException, NetworkException
  
  Update speedLimit.
  
  Specified by:
  
  updateSpeedLimit in interface DefaultSimplePerception
  
  Throws:
  
  GTUException - when the GTU was not yet initialized
  
  NetworkException - in case of network exception
- getLanePathInfo
  
  public final LanePathInfo getLanePathInfo()
  
  Retrieve the last perceived lane path info.
  
  Specified by:
  
  getLanePathInfo in interface DefaultSimplePerception
  
  Returns:
  
  LanePathInfo
- getForwardHeadwayGTU
  
  public final Headway getForwardHeadwayGTU()
  
  Specified by:
  
  getForwardHeadwayGTU in interface DefaultSimplePerception
  
  Returns:
  
  forwardHeadway, the forward headway and first object (GTU) in front
- getForwardHeadwayObject
  
  public final Headway getForwardHeadwayObject()
  
  Specified by:
  
  getForwardHeadwayObject in interface DefaultSimplePerception
  
  Returns:
  
  forwardHeadway, the forward headway and first object (not a GTU) in front
- getBackwardHeadway
  
  public final Headway getBackwardHeadway()
  
  Specified by:
  
  getBackwardHeadway in interface DefaultSimplePerception
  
  Returns:
  
  backwardHeadwayGTU, the backward headway and first object (e.g., a GTU) behind
- getAccessibleAdjacentLanesLeft
  
  public final Map<Lane,Set<Lane>> getAccessibleAdjacentLanesLeft()
  
  Specified by:
  
  getAccessibleAdjacentLanesLeft in interface DefaultSimplePerception
  
  Returns:
  
  accessibleAdjacentLanesLeft, the accessible adjacent lanes on the left
- getAccessibleAdjacentLanesRight
  
  public final Map<Lane,Set<Lane>> getAccessibleAdjacentLanesRight()
  
  Specified by:
  
  getAccessibleAdjacentLanesRight in interface DefaultSimplePerception
  
  Returns:
  
  accessibleAdjacentLanesRight, the accessible adjacent lanes on the right
- getAccessibleAdjacentLanes
  
  public final Map<Lane,Set<Lane>> getAccessibleAdjacentLanes(LateralDirectionality lateralDirection)
  
  Specified by:
  
  getAccessibleAdjacentLanes in interface DefaultSimplePerception
  
  Parameters:
  
  lateralDirection - LateralDirectionality; the direction to return the accessible adjacent lane map for
  
  Returns:
  
  the accessible adjacent lane map for the given direction
- getNeighboringHeadwaysLeft
  
  public final Collection<Headway> getNeighboringHeadwaysLeft()
  
  Specified by:
  
  getNeighboringHeadwaysLeft in interface DefaultSimplePerception
  
  Returns:
  
  neighboringHeadwaysLeft, the objects (e.g., GTUs) in parallel, in front and behind on the left neighboring lane, with their headway relative to our GTU, and information about the status of the adjacent objects
- getNeighboringHeadwaysRight
  
  public final Collection<Headway> getNeighboringHeadwaysRight()
  
  Specified by:
  
  getNeighboringHeadwaysRight in interface DefaultSimplePerception
  
  Returns:
  
  neighboringHeadwaysRight, the objects (e.g., GTUs) in parallel, in front and behind on the right neighboring lane, with their headway relative to our GTU, and information about the status of the adjacent objects
- getNeighboringHeadways
  
  public final Collection<Headway> getNeighboringHeadways(LateralDirectionality lateralDirection)
  
  Specified by:
  
  getNeighboringHeadways in interface DefaultSimplePerception
  
  Parameters:
  
  lateralDirection - LateralDirectionality; the direction to return the parallel headway collection for
  
  Returns:
  
  the the objects (e.g., GTUs) in parallel, in front and behind for the lane in the given direction, with their headway relative to our GTU, and information about the status of the adjacent objects
- getParallelHeadwaysLeft
  
  public final Collection<Headway> getParallelHeadwaysLeft()
  
  Specified by:
  
  getParallelHeadwaysLeft in interface DefaultSimplePerception
  
  Returns:
  
  parallelHeadwaysLeft, the parallel objects (e.g., GTUs) on the left, with information about their status and parallel overlap with our GTU.
- getParallelHeadwaysRight
  
  public final Collection<Headway> getParallelHeadwaysRight()
  
  Specified by:
  
  getParallelHeadwaysRight in interface DefaultSimplePerception
  
  Returns:
  
  parallelHeadwaysRight, the parallel objects (e.g., GTUs) on the right, with information about their status and parallel overlap with our GTU.
- getParallelHeadways
  
  public final Collection<Headway> getParallelHeadways(LateralDirectionality lateralDirection)
  
  Specified by:
  
  getParallelHeadways in interface DefaultSimplePerception
  
  Parameters:
  
  lateralDirection - LateralDirectionality; the direction to return the neighboring headway collection for
  
  Returns:
  
  the the parallel objects (e.g., GTUs) for the given direction, with information about their status and parallel overlap with our GTU.
- getSpeedLimit
  
  public final Speed getSpeedLimit()
  
  Specified by:
  
  getSpeedLimit in interface DefaultSimplePerception
  
  Returns:
  
  speedLimit
- getTimeStampedForwardHeadwayGTU
  
  public final TimeStampedObject<Headway> getTimeStampedForwardHeadwayGTU()
  
  Returns:
  
  TimeStamped forwardHeadway, the forward headway and first object (GTU) in front
- getTimeStampedForwardHeadwayObject
  
  public final TimeStampedObject<Headway> getTimeStampedForwardHeadwayObject()
  
  Returns:
  
  TimeStamped forwardHeadway, the forward headway and first object (not a GTU) in front
- getTimeStampedBackwardHeadway
  
  public final TimeStampedObject<Headway> getTimeStampedBackwardHeadway()
  
  Returns:
  
  TimeStamped backwardHeadwayGTU, the backward headway and first object (e.g., a GTU) behind
- getTimeStampedAccessibleAdjacentLanesLeft
  
  public final TimeStampedObject<Map<Lane,Set<Lane>>> getTimeStampedAccessibleAdjacentLanesLeft()
  
  Returns:
  
  TimeStamped accessibleAdjacentLanesLeft, the accessible adjacent lanes on the left
- getTimeStampedAccessibleAdjacentLanesRight
  
  public final TimeStampedObject<Map<Lane,Set<Lane>>> getTimeStampedAccessibleAdjacentLanesRight()
  
  Returns:
  
  TimeStamped accessibleAdjacentLanesRight, the accessible adjacent lanes on the right
- getTimeStampedAccessibleAdjacentLanes
  
  public final TimeStampedObject<Map<Lane,Set<Lane>>> getTimeStampedAccessibleAdjacentLanes(LateralDirectionality lateralDirection)
  
  Parameters:
  
  lateralDirection - LateralDirectionality; the direction to return the accessible adjacent lanes for
  
  Returns:
  
  TimeStamped accessibleAdjacentLanesRight, the accessible adjacent lanes on the right
- getTimeStampedNeighboringHeadwaysLeft
  
  public final TimeStampedObject<Collection<Headway>> getTimeStampedNeighboringHeadwaysLeft()
  
  Returns:
  
  TimeStamped neighboringHeadwaysLeft, the objects (e.g., GTUs) in parallel, in front and behind on the left neighboring lane, with their headway relative to our GTU, and information about the status of the adjacent objects
- getTimeStampedNeighboringHeadwaysRight
  
  public final TimeStampedObject<Collection<Headway>> getTimeStampedNeighboringHeadwaysRight()
  
  Returns:
  
  TimeStamped neighboringHeadwaysRight, the objects (e.g., GTUs) in parallel, in front and behind on the right neighboring lane, with their headway relative to our GTU, and information about the status of the adjacent objects
- getTimeStampedNeighboringHeadways
  
  public final TimeStampedObject<Collection<Headway>> getTimeStampedNeighboringHeadways(LateralDirectionality lateralDirection)
  
  Parameters:
  
  lateralDirection - LateralDirectionality; the direction to return the neighboring headways for
  
  Returns:
  
  TimeStamped neighboringHeadwaysRight, the objects (e.g., GTUs) in parallel, in front and behind on the right neighboring lane, with their headway relative to our GTU, and information about the status of the adjacent objects
- getTimeStampedParallelHeadwaysLeft
  
  public final TimeStampedObject<Collection<Headway>> getTimeStampedParallelHeadwaysLeft()
  
  Returns:
  
  TimeStamped parallelHeadwaysLeft, the parallel objects (e.g., GTUs) on the left, with information about their status and parallel overlap with our GTU.
- getTimeStampedParallelHeadwaysRight
  
  public final TimeStampedObject<Collection<Headway>> getTimeStampedParallelHeadwaysRight()
  
  Returns:
  
  TimeStamped parallelHeadwaysRight, the parallel objects (e.g., GTUs) on the right, with information about their status and parallel overlap with our GTU.
- getTimeStampedParallelHeadways
  
  public final TimeStampedObject<Collection<Headway>> getTimeStampedParallelHeadways(LateralDirectionality lateralDirection)
  
  Parameters:
  
  lateralDirection - LateralDirectionality; the direction to return the parallel headways for
  
  Returns:
  
  TimeStamped parallelHeadwaysRight, the parallel objects (e.g., GTUs) on the right, with information about their status and parallel overlap with our GTU.
- getTimeStampedSpeedLimit
  
  public final TimeStampedObject<Speed> getTimeStampedSpeedLimit()
  
  Returns:
  
  TimeStamped speedLimit
- getTimeStampedLanePathInfo
  
  public final TimeStampedObject<LanePathInfo> getTimeStampedLanePathInfo()
  
  Retrieve the time stamped last perceived lane path info.
  
  Returns:
  
  LanePathInfo time stamped last perceived lane path info
- bestAccessibleAdjacentLane
  
  public final Lane bestAccessibleAdjacentLane(Lane currentLane, LateralDirectionality lateralDirection, Length longitudinalPosition)
  
  Determine whether there is a lane to the left or to the right of this lane, which is accessible from this lane, or null if no lane could be found. The method takes the LongitidinalDirectionality of the lane into account. In other words, if we drive FORWARD and look for a lane on the LEFT, and there is a lane but the Directionality of that lane is not FORWARD or BOTH, null will be returned.
  A lane is called adjacent to another lane if the lateral edges are not more than a delta distance apart. This means that a lane that overlaps with another lane is not returned as an adjacent lane.
  The algorithm also looks for RoadMarkerAcross elements between the lanes to determine the lateral permeability for a GTU. A RoadMarkerAcross is seen as being between two lanes if its center line is not more than delta distance from the relevant lateral edges of the two adjacent lanes.
  When there are multiple lanes that are adjacent, which could e.g. be the case if an overlapping tram lane and a car lane are adjacent to the current lane, the widest lane that best matches the GTU accessibility of the provided GTUType is returned.
  Note: LEFT is seen as a negative lateral direction, RIGHT as a positive lateral direction.
  FIXME In other places in OTS LEFT is positive (and RIGHT is negative). This should be made more consistent.
  
  Specified by:
  
  bestAccessibleAdjacentLane in interface DefaultSimplePerception
  
  Parameters:
  
  currentLane - Lane; the lane to look for the best accessible adjacent lane
  
  lateralDirection - LateralDirectionality; the direction (LEFT, RIGHT) to look at
  
  longitudinalPosition - Length; the position of the GTU along currentLane
  
  Returns:
  
  the lane if it is accessible, or null if there is no lane, it is not accessible, or the driving direction does not match.
- toString
  
  public final String toString()
  
  Overrides:
  
  toString in class Object

Class DirectDefaultSimplePerception

Field Summary

Fields inherited from class org.opentrafficsim.road.gtu.lane.perception.categories.LaneBasedAbstractPerceptionCategory

Constructor Summary

Method Summary

Methods inherited from class org.opentrafficsim.road.gtu.lane.perception.categories.LaneBasedAbstractPerceptionCategory

Methods inherited from class org.opentrafficsim.core.gtu.perception.AbstractPerceptionCategory

Methods inherited from class org.opentrafficsim.base.Type

Methods inherited from class java.lang.Object

Methods inherited from interface org.opentrafficsim.road.gtu.lane.perception.categories.DefaultSimplePerception

Field Details

Constructor Details

Method Details