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

Interface DefaultSimplePerception

    • Method Detail

      • 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

      • 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

      • 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.