All Superinterfaces:: LaneBasedPerceptionCategory, PerceptionCategory<LaneBasedGTU,LanePerception>

All Known Implementing Classes:: DirectDefaultSimplePerception

public interface DefaultSimplePerception
extends LaneBasedPerceptionCategory

Default perception category.

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 14 feb. 2017
Author:: Alexander Verbraeck, Peter Knoppers, Wouter Schakel

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()`
`default void`	`updateAccessibleAdjacentLanes()`	Update the accessible adjacent lanes.
`void`	`updateAccessibleAdjacentLanesLeft()`	Update the accessible adjacent lanes on the left.
`void`	`updateAccessibleAdjacentLanesRight()`	Update the accessible adjacent lanes on the right.
`default void`	`updateAll()`
`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.

Method Details
- updateLanePathInfo
  
  void updateLanePathInfo() throws GTUException, NetworkException, ParameterException
  
  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
  
  void updateForwardHeadwayGTU() throws GTUException, NetworkException, ParameterException
  
  Update the forward headway and first object (a GTU) in front.
  
  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
- updateForwardHeadwayObject
  
  void updateForwardHeadwayObject() throws GTUException, NetworkException, ParameterException
  
  Update the forward headway and first object (but not a GTU) in front.
  
  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
- updateBackwardHeadway
  
  void updateBackwardHeadway() throws GTUException, ParameterException, NetworkException
  
  Update the backward headway and first object (e.g., a GTU) behind.
  
  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
- updateAccessibleAdjacentLanes
  
  default void updateAccessibleAdjacentLanes() throws GTUException
  
  Update the accessible adjacent lanes.
  
  Throws:
  
  GTUException - when the GTU was not yet initialized
- updateAccessibleAdjacentLanesLeft
  
  void updateAccessibleAdjacentLanesLeft() throws GTUException
  
  Update the accessible adjacent lanes on the left.
  
  Throws:
  
  GTUException - when the GTU was not yet initialized
- updateAccessibleAdjacentLanesRight
  
  void updateAccessibleAdjacentLanesRight() throws GTUException
  
  Update the accessible adjacent lanes on the right.
  
  Throws:
  
  GTUException - when the GTU was not yet initialized
- updateNeighboringHeadwaysLeft
  
  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.
  
  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
  
  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.
  
  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
  
  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.
  
  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
  
  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.
  
  Throws:
  
  GTUException - when the GTU was not yet initialized
- updateParallelHeadwaysRight
  
  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.
  
  Throws:
  
  GTUException - when the GTU was not yet initialized
- updateParallelHeadways
  
  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.
  
  Parameters:
  
  lateralDirection - LateralDirectionality; the direction to return the neighboring headway collection for
  
  Throws:
  
  GTUException - when the GTU was not yet initialized
- updateSpeedLimit
  
  void updateSpeedLimit() throws GTUException, NetworkException
  
  Update speedLimit.
  
  Throws:
  
  GTUException - when the GTU was not yet initialized
  
  NetworkException - in case of network exception
- getLanePathInfo
  
  LanePathInfo getLanePathInfo()
  
  Retrieve the last perceived lane path info.
  
  Returns:
  
  LanePathInfo
- getForwardHeadwayGTU
  
  Headway getForwardHeadwayGTU()
  
  Returns:
  
  forwardHeadway, the forward headway and first object (GTU) in front
- getForwardHeadwayObject
  
  Headway getForwardHeadwayObject()
  
  Returns:
  
  forwardHeadway, the forward headway and first object (not a GTU) in front
- getBackwardHeadway
  
  Headway getBackwardHeadway()
  
  Returns:
  
  backwardHeadwayGTU, the backward headway and first object (e.g., a GTU) behind
- getAccessibleAdjacentLanesLeft
  
  Map<Lane,Set<Lane>> getAccessibleAdjacentLanesLeft()
  
  Returns:
  
  accessibleAdjacentLanesLeft, the accessible adjacent lanes on the left
- getAccessibleAdjacentLanesRight
  
  Map<Lane,Set<Lane>> getAccessibleAdjacentLanesRight()
  
  Returns:
  
  accessibleAdjacentLanesRight, the accessible adjacent lanes on the right
- getAccessibleAdjacentLanes
  
  Map<Lane,Set<Lane>> getAccessibleAdjacentLanes(LateralDirectionality lateralDirection)
  
  Parameters:
  
  lateralDirection - LateralDirectionality; the direction to return the accessible adjacent lane map for
  
  Returns:
  
  the accessible adjacent lane map for the given direction
- getNeighboringHeadwaysLeft
  
  Collection<Headway> getNeighboringHeadwaysLeft()
  
  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
  
  Collection<Headway> getNeighboringHeadwaysRight()
  
  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
  
  Collection<Headway> getNeighboringHeadways(LateralDirectionality lateralDirection)
  
  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
  
  Collection<Headway> getParallelHeadwaysLeft()
  
  Returns:
  
  parallelHeadwaysLeft, the parallel objects (e.g., GTUs) on the left, with information about their status and parallel overlap with our GTU.
- getParallelHeadwaysRight
  
  Collection<Headway> getParallelHeadwaysRight()
  
  Returns:
  
  parallelHeadwaysRight, the parallel objects (e.g., GTUs) on the right, with information about their status and parallel overlap with our GTU.
- getParallelHeadways
  
  Collection<Headway> getParallelHeadways(LateralDirectionality lateralDirection)
  
  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
  
  Speed getSpeedLimit()
  
  Returns:
  
  speedLimit
- updateAll
  
  default void updateAll() throws GTUException, ParameterException, NetworkException
  
  Specified by:
  
  updateAll in interface PerceptionCategory<LaneBasedGTU,LanePerception>
  
  Throws:
  
  GTUException
  
  ParameterException
  
  NetworkException
- bestAccessibleAdjacentLane
  
  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.
  
  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.

Interface DefaultSimplePerception

Method Summary

Method Details