Package org.opentrafficsim.road.gtu.lane.plan.operational

Class LaneChange.LaneChangePath.InterpolatedLaneChangePath

java.lang.Object

org.opentrafficsim.road.gtu.lane.plan.operational.LaneChange.LaneChangePath.InterpolatedLaneChangePath

All Implemented Interfaces:

LaneChange.LaneChangePath

Enclosing interface:

LaneChange.LaneChangePath

public abstract static class LaneChange.LaneChangePath.InterpolatedLaneChangePath
extends Object
implements LaneChange.LaneChangePath

Helper class for interpolation between the from and to center lines.

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 May 3, 2019

Author:

Alexander Verbraeck, Peter Knoppers, Wouter Schakel

Nested Class Summary

Nested classes/interfaces inherited from interface org.opentrafficsim.road.gtu.lane.plan.operational.LaneChange.LaneChangePath

LaneChange.LaneChangePath.InterpolatedLaneChangePath, LaneChange.LaneChangePath.SequentialLaneChangePath

Field Summary

Fields inherited from interface org.opentrafficsim.road.gtu.lane.plan.operational.LaneChange.LaneChangePath

BEZIER, LINEAR, POLY3, SINE, SINE_INTERP

Constructor Summary

Constructors

Constructor	Description
InterpolatedLaneChangePath()

Method Summary

Modifier and Type	Method	Description
PolyLine3d	getPath(Duration timeStep, Length planDistance, Speed meanSpeed, DirectedLanePosition from, Ray3d startPosition, LateralDirectionality laneChangeDirection, PolyLine3d fromLine, PolyLine3d toLine, Duration laneChangeDuration, double lcFraction)	Returns a (partial) path for a lane change.

Methods inherited from class java.lang.Object

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

Constructor Detail

InterpolatedLaneChangePath

public InterpolatedLaneChangePath()

Method Detail

getPath

public PolyLine3d getPath(Duration timeStep,
                          Length planDistance,
                          Speed meanSpeed,
                          DirectedLanePosition from,
                          Ray3d startPosition,
                          LateralDirectionality laneChangeDirection,
                          PolyLine3d fromLine,
                          PolyLine3d toLine,
                          Duration laneChangeDuration,
                          double lcFraction)

Returns a (partial) path for a lane change. The method is called both at the start and during a lane change, and should return a valid path. This path should at least have a length of planDistance, unless the lane change will be finished during the coming time step. In that case, the caller of this method is to lengthen the path along the center line of the target lane.

Specified by:

getPath in interface LaneChange.LaneChangePath

Parameters:

timeStep - Duration; time step

planDistance - Length; distance covered during the operational plan

meanSpeed - Speed; mean speed during time step

from - DirectedLanePosition; current position on the from-lanes

startPosition - Ray3d; current 2D position

laneChangeDirection - LateralDirectionality; lane change direction

fromLine - OTSLine3D; from line

toLine - OTSLine3D; to line

laneChangeDuration - Duration; current considered duration of the entire lane change

lcFraction - double; fraction of lane change done so far

Returns:

OTSLine3D a (partial) path for a lane change