53#define DEBUG_COND2(obj) (obj->isSelected())
57#define DEBUG_COND_ZIPPER (ego->isSelected())
63#define INVALID_TIME -1000
66#define JM_CROSSING_GAP_DEFAULT 10
69#define DIVERGENCE_MIN_WIDTH 2.5
94 if (foeConflictIndex >= 0) {
95 return foeExitLink->
myConflicts[foeConflictIndex].conflictSize;
106 return lengthBehindCrossing;
114 double length,
double foeVisibilityDistance,
bool keepClear,
155 const double dist = from.back().distanceTo2D(to.front());
161 myLateralShift = (from.back().distanceTo2D(to.front()) < dist) ? dist : -dist;
187 if (cc.from == foeFrom && cc.to == foeTo) {
198 const std::vector<MSLink*>& foeLinks,
199 const std::vector<MSLane*>& foeLanes,
200 MSLane* internalLaneBefore) {
210 for (
MSLane* foeLane : foeLanes) {
218 if (internalLaneBefore !=
nullptr) {
220 lane = internalLaneBefore;
232 for (
MSLane* foeLane : foeLanes) {
233 assert(foeLane->isInternal());
234 MSLink* viaLink = foeLane->getIncomingLanes().front().viaLink;
241#ifdef MSLink_DEBUG_CROSSING_POINTS
244 if (lane !=
nullptr) {
245 const bool beforeInternalJunction = lane->
getLinkCont()[0]->getViaLaneOrLane()->getEdge().isInternal();
269 const CustomConflict* rcc = foeLane->getEntryLink()->getCustomConflict(lane);
270 bool haveIntersection =
false;
271 if (rcc ==
nullptr) {
276 const bool foeIsSecondPart = foeLane->getLogicalPredecessorLane()->isInternal();
279 if (foeIsSecondPart) {
280 foeStartPos -= foeLane->getLogicalPredecessorLane()->getLength();
282 const double foeEndPos = foeStartPos + foeConflictSize;
283 haveIntersection = ((foeStartPos > 0 && foeStartPos < foeLane->getLength())
284 || (foeEndPos > 0 && foeEndPos < foeLane->
getLength()));
286 if (haveIntersection) {
291#ifdef MSLink_DEBUG_CROSSING_POINTS
292 std::cout <<
" " << lane->
getID() <<
" custom conflict with " << foeLane->getID() <<
" customReverse=" << (rcc !=
nullptr)
293 <<
" haveIntersection=" << haveIntersection
294 <<
" startPos=" << startPos <<
" conflictSize=" << conflictSize
295 <<
" lbc=" <<
myConflicts.back().lengthBehindCrossing
302 if (sameTarget && !beforeInternalJunction && !
contIntersect(lane, foeLane)) {
306 if (lane->
getShape().back().distanceTo2D(foeLane->getShape().back()) >= minDist) {
308 if (foeLane->getEntryLink()->isIndirect()) {
310#ifdef MSLink_DEBUG_CROSSING_POINTS
311 std::cout <<
" " << lane->
getID() <<
" dummy merge with indirect" << foeLane->getID() <<
"\n";
315#ifdef MSLink_DEBUG_CROSSING_POINTS
316 std::cout <<
" " << lane->
getID() <<
" dummy merge with " << foeLane->getID() <<
"\n";
323#ifdef MSLink_DEBUG_CROSSING_POINTS
325 <<
" " << lane->
getID()
326 <<
" merges with " << foeLane->getID()
327 <<
" nextLane " << lane->
getLinkCont()[0]->getViaLaneOrLane()->getID()
328 <<
" dist1=" <<
myConflicts.back().lengthBehindCrossing
334#ifdef MSLink_DEBUG_CROSSING_POINTS_DETAILS
335 std::cout <<
" intersections1=" <<
toString(intersections1) <<
"\n";
337 bool haveIntersection =
true;
338 if (intersections1.size() == 0) {
340 haveIntersection =
false;
341 }
else if (intersections1.size() > 1) {
342 std::sort(intersections1.begin(), intersections1.end());
344 std::vector<double> intersections2 = foeLane->getShape().intersectsAtLengths2D(lane->
getShape());
345#ifdef MSLink_DEBUG_CROSSING_POINTS_DETAILS
346 std::cout <<
" intersections2=" <<
toString(intersections2) <<
"\n";
348 if (intersections2.size() == 0) {
349 intersections2.push_back(0);
350 }
else if (intersections2.size() > 1) {
351 std::sort(intersections2.begin(), intersections2.end());
353 double conflictSize = foeLane->getWidth();
355 if (haveIntersection) {
358 const double angle2 =
GeomHelper::naviDegree(foeLane->getShape().rotationAtOffset(intersections2.back()));
362 const double widthFactor = 1 /
MAX2(sin(
DEG2RAD(angleDiff)), 0.2) * 2 - 1;
364 conflictSize *= widthFactor;
366 intersections1.back() -= conflictSize / 2;
368 intersections1.back() =
MAX2(0.0, intersections1.back());
379 lane->
getLength() - intersections1.back(),
380 conflictSize,
flag));
382#ifdef MSLink_DEBUG_CROSSING_POINTS
384 <<
" intersection of " << lane->
getID()
386 <<
" with " << foeLane->getID()
387 <<
" totalLength=" << foeLane->getLength()
388 <<
" dist1=" <<
myConflicts.back().lengthBehindCrossing
389 <<
" widthFactor=" <<
myConflicts.back().conflictSize / foeLane->getWidth()
399 const MSLane*
const sibling = link->getViaLane();
400 if (sibling != lane && sibling !=
nullptr) {
402 if (lane->
getShape().front().distanceTo2D(sibling->
getShape().front()) >= minDist) {
412 lbcLane = lane->
getLength() - distToDivergence;
420 const int replacedIndex = (int)(it -
myFoeLanes.begin());
426#ifdef MSLink_DEBUG_CROSSING_POINTS
427 std::cout <<
" adding same-origin foe" << sibling->
getID()
428 <<
" dist1=" <<
myConflicts.back().lengthBehindCrossing
435 for (
int i = 0; i < (int)
myFoeLanes.size(); i++) {
439 for (
int i2 = 0; i2 < (int)foeExitLink->
myFoeLanes.size(); i2++) {
448#ifdef MSLink_DEBUG_CROSSING_POINTS
449 std::cout << lane->
getID() <<
" foeLane=" << foeLane->
getID() <<
" index=" << i <<
" foundIndex=" << foundIndex <<
"\n";
451 if (foundIndex < 0) {
463 const MSEdge* target = &(it->getLane()->getEdge());
467 if (target == myTarget) {
469#ifdef MSLink_DEBUG_CROSSING_POINTS
470 std::cout <<
" sublaneFoeLink (same target): " << it->getViaLaneOrLane()->getID() <<
"\n";
475#ifdef MSLink_DEBUG_CROSSING_POINTS
476 std::cout <<
" sublaneFoeLink2 (other target: " << it->getViaLaneOrLane()->getID() <<
"\n";
518#ifdef MSLink_DEBUG_CROSSING_POINTS
519 std::cout <<
" recheck l1=" << item.first->getDescription() <<
" l2=" << item.second->getDescription() <<
"\n";
521 MSLink* link = item.first;
522 MSLink* foeExitLink = item.second;
525 int conflictIndex = -1;
526 for (
int i = 0; i < (int)link->
myFoeLanes.size(); i++) {
532 if (conflictIndex == -1) {
538 if (intersections1.size() == 0) {
539#ifdef MSLink_DEBUG_CROSSING_POINTS
540 std::cout <<
" no intersection\n";
545 const double conflictSize2 = lane->
getWidth() * widthFactor;
546 std::sort(intersections1.begin(), intersections1.end());
547 intersections1.back() -= conflictSize2 / 2;
548 intersections1.back() =
MAX2(0.0, intersections1.back());
551#ifdef MSLink_DEBUG_CROSSING_POINTS
552 std::cout <<
" ci=" << conflictIndex <<
" wf=" << widthFactor <<
" flag=" << ci.
flag <<
" flbc=" << foeExitLink->
myConflicts.back().lengthBehindCrossing <<
"\n";
560 double lbcSibling = 0;
574 lbcSibling += s[-1].distanceTo2D(s[-2]);
580 lbcLane += l[-1].distanceTo2D(l[-2]);
584#ifdef MSLink_DEBUG_CROSSING_POINTS_DETAILS
585 std::cout <<
" sameSource=" << sameSource <<
" minDist=" << minDist <<
" backDist=" << l.back().distanceTo2D(s.back()) <<
"\n";
587 if (l.back().distanceTo2D(s.back()) > minDist) {
594 std::vector<double> distances = l.
distances(s);
595#ifdef MSLink_DEBUG_CROSSING_POINTS
596 std::cout <<
" distances=" <<
toString(distances) <<
"\n";
598 assert(distances.size() == l.size() + s.size());
599 if (distances.back() > minDist && distances[l.size() - 1] > minDist) {
601 for (
int j = (
int)s.size() - 2; j >= 0; j--) {
602 const int i = j + (int)l.size();
603 const double segLength = s[j].distanceTo2D(s[j + 1]);
604 if (distances[i] > minDist) {
605 lbcSibling += segLength;
608 lbcSibling += segLength - (minDist - distances[i]) * segLength / (distances[i + 1] - distances[i]);
612 for (
int i = (
int)l.size() - 2; i >= 0; i--) {
613 const double segLength = l[i].distanceTo2D(l[i + 1]);
614 if (distances[i] > minDist) {
615 lbcLane += segLength;
618 lbcLane += segLength - (minDist - distances[i]) * segLength / (distances[i + 1] - distances[i]);
623 assert(lbcSibling >= -NUMERICAL_EPS);
624 assert(lbcLane >= -NUMERICAL_EPS);
626 const double distToDivergence1 = sibling->
getLength() - lbcSibling;
627 const double distToDivergence2 = lane->
getLength() - lbcLane;
628 const double distToDivergence =
MIN3(
629 MAX2(distToDivergence1, distToDivergence2),
631#ifdef MSLink_DEBUG_CROSSING_POINTS
632 std::cout <<
" distToDivergence=" << distToDivergence
633 <<
" distTD1=" << distToDivergence1
634 <<
" distTD2=" << distToDivergence2
635 <<
" length=" << length
636 <<
" sibLength=" << sibLength
639 return distToDivergence;
645 if (foe->
getLinkCont()[0]->getViaLane() !=
nullptr) {
647 return intersections.size() > 0;
655 const bool setRequest,
const double arrivalSpeedBraking,
const SUMOTime waitingTime,
double dist,
double latOffset) {
657#ifdef DEBUG_APPROACHING
661 std::cout <<
"'" << i->first->getID() <<
"'" << std::endl;
667 arrivalSpeedBraking, waitingTime, dist, approaching->
getSpeed(), latOffset));
674#ifdef DEBUG_APPROACHING
678 std::cout <<
"'" << i->first->getID() <<
"'" << std::endl;
696 if ((*i)->isBlockingAnyone()) {
707#ifdef DEBUG_APPROACHING
710 std::cout <<
"' Removing approaching vehicle '" << veh->
getID() <<
"'\nCurrently registered vehicles:" << std::endl;
712 std::cout <<
"'" << i->first->getID() <<
"'" << std::endl;
739 const double leaveSpeed,
const double vehicleLength)
const {
746 double impatience,
double decel,
SUMOTime waitingTime,
double posLat,
748#ifdef MSLink_DEBUG_OPENED
763 assert(
myLane != foeLink->getLane());
764 for (
const auto& it : foeLink->myApproachingVehicles) {
768 ((posLat < foe->getLateralPositionOnLane() + it.second.latOffset &&
myLane->
getIndex() > foeLink->myLane->getIndex())
771 && (arrivalTime > it.second.arrivalTime
775 if (
blockedByFoe(foe, it.second, arrivalTime, leaveTime, arrivalSpeed, leaveSpeed,
false,
776 impatience, decel, waitingTime, ego)) {
777#ifdef MSLink_DEBUG_OPENED
779 std::cout <<
SIMTIME <<
" blocked by " << foe->
getID() <<
" arrival=" << arrivalTime <<
" foeArrival=" << it.second.arrivalTime <<
"\n";
782 if (collectFoes ==
nullptr) {
783#ifdef MSLink_DEBUG_OPENED
785 std::cout <<
" link=" <<
getViaLaneOrLane()->
getID() <<
" blocked by sublaneFoe=" << foe->
getID() <<
" foeLink=" << foeLink->getViaLaneOrLane()->getID() <<
" posLat=" << posLat <<
"\n";
790 collectFoes->push_back(it.first);
801 for (
const auto& it : foeLink->myApproachingVehicles) {
811 if (
blockedByFoe(foe, it.second, arrivalTime, leaveTime, arrivalSpeed, leaveSpeed,
false,
812 impatience, decel, waitingTime, ego)) {
813#ifdef MSLink_DEBUG_OPENED
815 std::cout <<
SIMTIME <<
" blocked by sublane foe " << foe->
getID() <<
" arrival=" << arrivalTime <<
" foeArrival=" << it.second.arrivalTime <<
"\n";
818 if (collectFoes ==
nullptr) {
819#ifdef MSLink_DEBUG_OPENED
821 std::cout <<
" link=" <<
getViaLaneOrLane()->
getID() <<
" blocked by sublaneFoe2=" << foe->
getID() <<
" foeLink=" << foeLink->getViaLaneOrLane()->getID() <<
" posLat=" << posLat <<
"\n";
826 collectFoes->push_back(it.first);
837 return collectFoes ==
nullptr || collectFoes->size() == 0;
844#ifdef MSLink_DEBUG_OPENED
854 for (
const MSLink*
const link : foeLinks) {
856 if (link->haveRed()) {
860#ifdef MSLink_DEBUG_OPENED
862 std::cout <<
" foeLink=" << link->getViaLaneOrLane()->getID() <<
" numApproaching=" << link->getApproaching().size() <<
"\n";
865 if (link->blockedAtTime(arrivalTime, leaveTime, arrivalSpeed, leaveSpeed,
myLane == link->getLane(),
866 impatience, decel, waitingTime, collectFoes, ego, lastWasContRed)) {
870 if (collectFoes !=
nullptr && collectFoes->size() > 0) {
879 bool sameTargetLane,
double impatience,
double decel,
SUMOTime waitingTime,
882#ifdef MSLink_DEBUG_OPENED
887 std::stringstream stream;
889 <<
" foeVeh=" << it.first->getID() <<
" (below ignore speed)"
892 std::cout << stream.str();
903 &&
blockedByFoe(it.first, it.second, arrivalTime, leaveTime, arrivalSpeed, leaveSpeed, sameTargetLane,
904 impatience, decel, waitingTime, ego)) {
905 if (collectFoes ==
nullptr) {
908 collectFoes->push_back(it.first);
918 SUMOTime arrivalTime,
SUMOTime leaveTime,
double arrivalSpeed,
double leaveSpeed,
919 bool sameTargetLane,
double impatience,
double decel,
SUMOTime waitingTime,
921#ifdef MSLink_DEBUG_OPENED
923 std::stringstream stream;
925 <<
" foeVeh=" << veh->
getID()
930 std::cout << stream.str();
937 assert(waitingTime > 0);
947 if (impatience > 0 && arrivalTime < avi.
arrivalTime) {
948#ifdef MSLink_DEBUG_OPENED
952 foeArrivalTime = (
SUMOTime)((1. - impatience) * (double)avi.
arrivalTime + impatience * (
double)fatb);
953#ifdef MSLink_DEBUG_OPENED
972#ifdef MSLink_DEBUG_OPENED
974 std::stringstream stream;
975 stream <<
" imp=" << impatience <<
" fAT2=" << foeArrivalTime <<
" fASb=" << foeArrivalSpeedBraking <<
" lA=" << lookAhead <<
" egoAT=" << arrivalTime <<
" egoLT=" << leaveTime <<
" egoLS=" << leaveSpeed <<
"\n";
976 std::cout << stream.str();
981 if (sameTargetLane && (arrivalTime - avi.
leavingTime < lookAhead
984#ifdef MSLink_DEBUG_OPENED
986 std::cout <<
" blocked (cannot follow)\n";
991 }
else if (foeArrivalTime > leaveTime + lookAhead) {
995#ifdef MSLink_DEBUG_OPENED
997 std::cout <<
" blocked (cannot lead)\n";
1004#ifdef MSLink_DEBUG_OPENED
1006 std::cout <<
" blocked (hard conflict)\n";
1023 if (arrivalTime - arrivalTime %
DELTA_T == foeArrivalTime - foeArrivalTime %
DELTA_T) {
1025 return foeArrivalTime;
1029 const double dt =
STEPS2TIME(foeArrivalTime - arrivalTime);
1030 const double d = dt * m;
1031 const double a = dt * d / 2;
1034 if (0.5 * v * v / m <= dist2) {
1036 std::cout <<
" dist=" << dist <<
" dist2=" << dist2 <<
" at=" <<
STEPS2TIME(arrivalTime) <<
" m=" << m <<
" d=" << d <<
" a=" << a <<
" canBrakeToStop\n";
1048 const double x = (sqrt(4 * (v - d) * (v - d) - 8 * m * a) * -0.5 - d + v) / m;
1050#ifdef MSLink_DEBUG_OPENED
1051 const double x2 = (sqrt(4 * (v - d) * (v - d) - 8 * m * a) * 0.5 - d + v) / m;
1053 std::cout <<
SIMTIME <<
" dist=" << dist <<
" dist2=" << dist2 <<
" at=" <<
STEPS2TIME(arrivalTime) <<
" m=" << m <<
" d=" << d <<
" v=" << v <<
" a=" << a <<
" x=" << x <<
" x2=" << x2 <<
"\n";
1056 fasb = v - (dt + x) * m;
1064 if (link->blockedAtTime(arrivalTime, leaveTime, speed, speed,
myLane == link->getLane(), 0, decel, 0)) {
1069 if (lane->getVehicleNumberWithPartials() > 0) {
1077std::pair<const SUMOVehicle*, const MSLink*>
1079 double closetDist = std::numeric_limits<double>::max();
1081 const MSLink* foeLink =
nullptr;
1083 for (
const auto& it : link->myApproachingVehicles) {
1086 return std::make_pair(
nullptr, wrapAround);
1087 }
else if (it.second.dist < closetDist) {
1088 closetDist = it.second.dist;
1089 if (it.second.willPass) {
1096 return std::make_pair(closest, foeLink);
1129 assert(pred2 !=
nullptr);
1131 assert(predLink !=
nullptr);
1155 assert(pred2 !=
nullptr);
1157 assert(predLink !=
nullptr);
1158 return predLink->
getState() == linkState;
1172 std::vector<std::pair<SUMOTime, const SUMOVehicle*> > toSort;
1174 toSort.push_back(std::make_pair(it.second.arrivalTime, it.first));
1176 std::sort(toSort.begin(), toSort.end());
1177 for (std::vector<std::pair<SUMOTime, const SUMOVehicle*> >::const_iterator it = toSort.begin(); it != toSort.end(); ++it) {
1200 while (lane !=
nullptr && lane->
isInternal()) {
1212 while (lane !=
nullptr && lane->
isInternal()) {
1227 double totalDist = 0.;
1228 bool foundCrossing =
false;
1229 while (via !=
nullptr) {
1235 foundCrossing =
true;
1242 if (foundCrossing) {
1253 for (foe_ix = 0; foe_ix != (int)
myFoeLanes.size(); ++foe_ix) {
1260#ifdef MSLink_DEBUG_CROSSING_POINTS
1267 if (dist == -10000.) {
1271#ifdef MSLink_DEBUG_CROSSING_POINTS
1273 <<
"' at distance " << dist <<
" (approach along '"
1320 const MSLink* link =
this;
1321 while (lane !=
nullptr) {
1331 const MSLink* link =
this;
1357 std::cout <<
SIMTIME <<
" getLeaderInfo link=" <<
getDescription() <<
" dist=" << dist <<
" isShadowLink=" << isShadowLink <<
"\n";
1363 std::cout <<
" ignore linkLeaders beyond red light\n";
1369 for (
int i = 0; i < (int)
myFoeLanes.size(); ++i) {
1373 double distToCrossing = dist -
myConflicts[i].getLengthBehindCrossing(
this);
1374 const double foeDistToCrossing = foeLane->
getLength() -
myConflicts[i].getFoeLengthBehindCrossing(foeExitLink);
1377 const double crossingWidth = (sameTarget || sameSource) ? 0 :
myConflicts[i].conflictSize;
1378 const double foeCrossingWidth = (sameTarget || sameSource) ? 0 :
myConflicts[i].getFoeConflictSize(foeExitLink);
1383 std::cout <<
" distToCrossing=" << distToCrossing <<
" foeLane=" << foeLane->
getID() <<
" cWidth=" << crossingWidth
1385 <<
" lbc=" <<
myConflicts[i].getLengthBehindCrossing(
this)
1386 <<
" flbc=" <<
myConflicts[i].getFoeLengthBehindCrossing(foeExitLink)
1387 <<
" cw=" << crossingWidth
1388 <<
" fcw=" << foeCrossingWidth
1389 <<
" contLane=" << contLane
1394 if (distToCrossing + crossingWidth < 0 && !sameTarget
1398 bool ignoreGreenCont =
false;
1399 bool foeIndirect =
false;
1404 if (entry !=
nullptr && entry->
haveGreen()
1405 && foeEntry !=
nullptr && foeEntry->
haveGreen()
1408 ignoreGreenCont =
true;
1413 std::cout <<
" ignore:noIntersection\n";
1427 const double leaderBackDist = foeDistToCrossing - leaderBack;
1428 const double l2 = ego !=
nullptr ? ego->
getLength() + 2 : 0;
1430 const bool pastTheCrossingPoint = leaderBackDist + foeCrossingWidth + sagitta < 0;
1434 const bool ignoreIndirectBicycleTurn = pastTheCrossingPoint && foeIsBicycleTurn;
1435 const bool cannotIgnore = ((contLane && !ignoreIndirectBicycleTurn) || sameTarget || sameSource) && ego !=
nullptr;
1436 const bool inTheWay = (((!pastTheCrossingPoint && distToCrossing > 0) || (sameTarget && distToCrossing > leaderBackDist - leader->
getLength()))
1437 && beforeTheCrossingPoint
1444 std::cout <<
" candidate leader=" << leader->
getID()
1445 <<
" cannotIgnore=" << cannotIgnore
1446 <<
" fdtc=" << foeDistToCrossing
1447 <<
" lb=" << leaderBack
1448 <<
" lbd=" << leaderBackDist
1449 <<
" fcwidth=" << foeCrossingWidth
1451 <<
" sagitta=" << sagitta
1452 <<
" foePastCP=" << pastTheCrossingPoint
1453 <<
" foeBeforeCP=" << beforeTheCrossingPoint
1454 <<
" inTheWay=" << inTheWay
1455 <<
" willPass=" << willPass
1457 <<
" ignoreGreenCont=" << ignoreGreenCont
1458 <<
" foeIndirect=" << foeIndirect
1459 <<
" foeBikeTurn=" << foeIsBicycleTurn
1460 <<
" isOpposite=" << isOpposite <<
"\n";
1462 if (leader == ego) {
1466 if (!inTheWay && ignoreGreenCont) {
1468 std::cout <<
" ignoreGreenCont\n";
1473 if (distToCrossing < -POSITION_EPS && !inTheWay
1474 && (ego ==
nullptr || !
MSGlobals::gComputeLC || distToCrossing < -ego->getVehicleType().getLength())) {
1476 std::cout <<
" ego entered conflict area\n";
1486 std::cout <<
" ego ahead of same-source foe\n";
1492 if ((!cannotIgnore || leader->
isStopped() || sameTarget)
1500 std::cout <<
" foe will not pass\n";
1510 && (!foeStrategicBlocked || sameInternalEdge)) {
1518 const double latGap = (fabs(posLat - posLatLeader)
1523 <<
" sameSource=" << sameSource
1524 <<
" sameTarget=" << sameTarget
1525 <<
" foeLane=" << foeLane->
getID()
1526 <<
" leader=" << leader->
getID()
1529 <<
" egoLat=" << posLat
1530 <<
" egoLatOffset=" << egoLatOffset
1531 <<
" leaderLat=" << posLatLeader
1532 <<
" leaderLatOffset=" << leader->
getLatOffset(foeLane)
1533 <<
" latGap=" << latGap
1534 <<
" maneuverDist=" << maneuverDist
1547 if ((posLat > posLatLeader) == leaderFromRight) {
1550 std::cout <<
" ignored (same source) leaderFromRight=" << leaderFromRight <<
"\n";
1561 leaderFromRight = !leaderFromRight;
1563 if ((posLat > posLatLeader) == leaderFromRight
1570 std::cout <<
" ignored (different source) leaderFromRight=" << leaderFromRight <<
"\n";
1584 bool fromLeft =
true;
1585 if (ego ==
nullptr) {
1588 gap = leaderBackDist;
1592 distToCrossing +=
myConflicts[i].conflictSize / 2;
1593 if (gap + foeCrossingWidth < 0) {
1600 fromLeft = foeDistToCrossing > 0.5 * foeLane->
getLength();
1601 }
else if ((contLane && !sameSource && !ignoreIndirectBicycleTurn) || isOpposite) {
1602 gap = -std::numeric_limits<double>::max();
1605 std::cout <<
" distToCrossing=" << distToCrossing <<
" leader back=" << leaderBack <<
" backDist=" << leaderBackDist
1610 if (pastTheCrossingPoint && !sameTarget) {
1625 const bool stopAsap = leader->
isFrontOnLane(foeLane) ? cannotIgnore : (sameTarget || sameSource);
1627 std::cout <<
" leader=" << leader->
getID() <<
" contLane=" << contLane <<
" cannotIgnore=" << cannotIgnore <<
" stopAsap=" << stopAsap <<
" gap=" << gap <<
"\n";
1636 result.emplace_back(leader, gap, stopAsap ? -1 : distToCrossing, llFlags, leader->
getLatOffset(foeLane));
1647 const double vehSideOffset = (foeDistToCrossing +
myLaneBefore->
getWidth() * 0.5 - vehWidth * 0.5
1653 result.emplace_back(
nullptr, -1, distToPeds);
1659 if (ego !=
nullptr) {
1667 const MSLane* foeLane = *it;
1671 if (leader == ego) {
1688 <<
" foeLane=" << foeLane->
getID()
1689 <<
" leader=" << leader->
getID()
1693 <<
" egoLat=" << posLat
1694 <<
" leaderLat=" << posLatLeader
1695 <<
" leaderLatOffset=" << leader->
getLatOffset(foeLane)
1697 <<
" foeIndex=" << foeLane->
getIndex()
1703 if ((posLat < posLatLeader && myInternalLaneBefore->
getIndex() > foeLane->
getIndex())
1706 std::cout <<
SIMTIME <<
" blocked by " << leader->
getID() <<
" (sublane split) foeLane=" << foeLane->
getID() <<
"\n";
1711 result.emplace_back(leader, gap, -1);
1727 double distToPeds = std::numeric_limits<double>::max();
1740#ifdef DEBUG_WALKINGAREA
1746 <<
" inFront=" << inFront
1747 <<
" dist=" << dist <<
"\n";
1750 if (dist < ego->getVehicleType().getWidth() / 2 || inFront) {
1755 dist =
MAX2(0.0, dist - pedDist);
1756#ifdef DEBUG_WALKINGAREA
1758 std::cout <<
" timeToStop=" << timeToStop <<
" pedDist=" << pedDist <<
" dist2=" << dist <<
"\n";
1765 distToPeds =
MIN2(distToPeds, dist);
1766 if (collectBlockers !=
nullptr) {
1767 collectBlockers->push_back(p);
1771 if (distToPeds != std::numeric_limits<double>::max()) {
1773 result.emplace_back(
nullptr, -1, distToPeds);
1782#ifdef DEBUG_WALKINGAREA
1784 std::cout <<
" angleDiff=" <<
RAD2DEG(angleDiff) <<
"\n";
1787 if (angleDiff <
DEG2RAD(75)) {
1798#ifdef DEBUG_WALKINGAREA
1800 std::cout <<
" ped-angleDiff=" <<
RAD2DEG(angleDiff) <<
"\n";
1803 return angleDiff <
DEG2RAD(75);
1810 const double dist = timeHorizon * p->
getMaxSpeed();
1812 const Position offset(cos(a) * dist, sin(a) * dist);
1819 if (direction == -1) {
1821 }
else if (direction == 1) {
1846 if (before !=
nullptr && after !=
nullptr) {
1848 if (link->getLane() == after) {
1866 throw ProcessError(
"Zipper junctions with more than two conflicting lanes are not supported (at junction '"
1874 <<
" dist=" << dist <<
" ignoring foes (arrival in " <<
STEPS2TIME(arrivalTime - now) <<
")\n")
1880 <<
" egoAT=" << arrivalTime
1882 <<
" brakeGap=" << brakeGap
1883 <<
" vSafe=" << vSafe
1884 <<
" numFoes=" << collectFoes->size()
1888 for (
const auto& item : *collectFoes) {
1903 <<
" ignoring foe=" << foe->
getID()
1905 <<
" foeDist=" << avi.
dist
1906 <<
" foeDist2=" << foeDist
1907 <<
" foeSpeed=" << avi.
speed
1909 <<
" deltaDist=" << foeDist - dist
1932 const double uEnd =
MIN2(uMax, uAccel);
1933 const double uAvg = (avi.
speed + uEnd) / 2;
1934 const double tf0 = foeDist /
MAX2(NUMERICAL_EPS, uAvg);
1935 const double tf =
MAX2(1.0, ceil((tf0) /
TS) *
TS);
1940 const double vEnd =
MIN3(vMax, vAccel,
MAX2(uEnd, vDecel));
1941 const double vAvg = (ego->
getSpeed() + vEnd) / 2;
1942 const double te0 = dist /
MAX2(NUMERICAL_EPS, vAvg);
1943 const double te =
MAX2(1.0, ceil((te0) /
TS) *
TS);
1950 const double deltaGap = gap + tf * uAvg - safeGap - vAvg * tf;
1951 const double a = 2 * deltaGap / (tf * tf);
1957 const double w =
MIN2(1.0, te / 10);
1959 const double vZipper =
MAX3(vFollow, ego->
getSpeed() -
ACCEL2SPEED(maxDecel), w * vSafeGap + (1 - w) * vFollow);
1961 vSafe =
MIN2(vSafe, vZipper);
1964 <<
" foeDist=" << foeDist
1965 <<
" foeSpeed=" << avi.
speed
1969 <<
" uAccel=" << uAccel
1973 <<
" safeGap=" << safeGap
1977 <<
" dg=" << deltaGap
1978 <<
" aSafeGap=" << a
1980 <<
" vAccel=" << vAccel
1981 <<
" vDecel=" << vDecel
1983 <<
" vSafeGap=" << vSafeGap
1984 <<
" vFollow=" << vFollow
1986 <<
" maxDecel=" << maxDecel
1987 <<
" vZipper=" << vZipper
1988 <<
" vSafe=" << vSafe
1999 followDist > leaderDist &&
2017 for (
const MSLink* link : cand->getLinkCont()) {
2028 return fabs(posLat2 - posLat) < (width + width2) / 2;
2049 if (
id == foe->
getID()) {
#define JM_CROSSING_GAP_DEFAULT
#define DIVERGENCE_MIN_WIDTH
#define DEBUG_COND_ZIPPER
#define WRITE_WARNING(msg)
std::string time2string(SUMOTime t)
convert SUMOTime to string
@ SVC_BICYCLE
vehicle is a bicycle
const int VEHPARS_JUNCTIONMODEL_PARAMS_SET
LinkDirection
The different directions a link between two lanes may take (or a stream between two edges)....
@ PARTLEFT
The link is a partial left direction.
@ RIGHT
The link is a (hard) right direction.
@ LEFT
The link is a (hard) left direction.
@ STRAIGHT
The link is a straight direction.
@ PARTRIGHT
The link is a partial right direction.
LinkState
The right-of-way state of a link between two lanes used when constructing a NBTrafficLightLogic,...
@ LINKSTATE_ALLWAY_STOP
This is an uncontrolled, all-way stop link.
@ LINKSTATE_STOP
This is an uncontrolled, minor link, has to stop.
@ LINKSTATE_TL_GREEN_MAJOR
The link has green light, may pass.
@ LINKSTATE_ZIPPER
This is an uncontrolled, zipper-merge link.
@ LINKSTATE_TL_OFF_BLINKING
The link is controlled by a tls which is off and blinks, has to brake.
@ LINKSTATE_TL_RED
The link has red light (must brake)
@ LINKSTATE_TL_GREEN_MINOR
The link has green light, has to brake.
@ LINKSTATE_TL_OFF_NOSIGNAL
The link is controlled by a tls which is off, not blinking, may pass.
@ SUMO_ATTR_JM_IGNORE_FOE_SPEED
@ SUMO_ATTR_JM_IGNORE_IDS
@ SUMO_ATTR_JM_IGNORE_TYPES
@ SUMO_ATTR_JM_IGNORE_FOE_PROB
@ SUMO_ATTR_JM_CROSSING_GAP
@ SUMO_ATTR_JM_TIMEGAP_MINOR
bool gDebugFlag1
global utility flags for debugging
const double INVALID_DOUBLE
invalid double
const double SUMO_const_haltingSpeed
the speed threshold at which vehicles are considered as halting
std::string toString(const T &t, std::streamsize accuracy=gPrecision)
static double naviDegree(const double angle)
static double angleDiff(const double angle1, const double angle2)
Returns the difference of the second angle to the first angle in radiants.
static double getMinAngleDiff(double angle1, double angle2)
Returns the minimum distance (clockwise/counter-clockwise) between both angles.
bool isStrategicBlocked() const
double getManeuverDist() const
Returns the remaining unblocked distance for the current maneuver. (only used by sublane model)
MSLane * getShadowLane() const
Returns the lane the vehicle's shadow is on during continuous/sublane lane change.
double getSpeedLat() const
return the lateral speed of the current lane change maneuver
virtual bool isSelected() const
whether this vehicle is selected in the GUI
double getLength() const
Returns the vehicle's length.
const MSVehicleType & getVehicleType() const
Returns the vehicle's type definition.
bool isStopped() const
Returns whether the vehicle is at a stop.
double estimateSpeedAfterDistance(const double dist, const double v, const double accel) const
double getEmergencyDecel() const
Get the vehicle type's maximal phisically possible deceleration [m/s^2].
virtual double getSecureGap(const MSVehicle *const veh, const MSVehicle *const, const double speed, const double leaderSpeed, const double leaderMaxDecel) const
Returns the minimum gap to reserve if the leader is braking at maximum (>=0)
double getMaxAccel() const
Get the vehicle type's maximum acceleration [m/s^2].
double brakeGap(const double speed) const
Returns the distance the vehicle needs to halt including driver's reaction time tau (i....
double getMaxDecel() const
Get the vehicle type's maximal comfortable deceleration [m/s^2].
virtual double followSpeed(const MSVehicle *const veh, double speed, double gap2pred, double predSpeed, double predMaxDecel, const MSVehicle *const pred=0, const CalcReason usage=CalcReason::CURRENT) const =0
Computes the vehicle's follow speed (no dawdling)
A road/street connecting two junctions.
const std::set< MSTransportable *, ComparatorNumericalIdLess > & getPersons() const
Returns this edge's persons set.
const std::vector< MSLane * > & getLanes() const
Returns this edge's lanes.
const MSJunction * getFromJunction() const
bool isInternal() const
return whether this edge is an internal edge
static double gLateralResolution
static bool gComputeLC
whether the simulationLoop is in the lane changing phase
static bool gLefthand
Whether lefthand-drive is being simulated.
static SUMOTime gIgnoreJunctionBlocker
static bool gSublane
whether sublane simulation is enabled (sublane model or continuous lanechanging)
static bool gUsingInternalLanes
Information whether the simulation regards internal lanes.
The base class for an intersection.
AnyVehicleIterator is a structure, which manages the iteration through all vehicles on the lane,...
Representation of a lane in the micro simulation.
MSLane * getParallelLane(int offset, bool includeOpposite=true) const
Returns the lane with the given offset parallel to this one or 0 if it does not exist.
const MSLane * getNormalSuccessorLane() const
get normal lane following this internal lane, for normal lanes, the lane itself is returned
AnyVehicleIterator anyVehiclesEnd() const
end iterator for iterating over all vehicles touching this lane in downstream direction
const MSLink * getEntryLink() const
Returns the entry link if this is an internal lane, else nullptr.
const MSLink * getLinkTo(const MSLane *const) const
returns the link to the given lane or nullptr, if it is not connected
const std::vector< IncomingLaneInfo > & getIncomingLanes() const
double getLength() const
Returns the lane's length.
double getVehicleMaxSpeed(const SUMOTrafficObject *const veh) const
Returns the lane's maximum speed, given a vehicle's speed limit adaptation.
int getIndex() const
Returns the lane's index.
MSLane * getLogicalPredecessorLane() const
get the most likely precedecessor lane (sorted using by_connections_to_sorter). The result is cached ...
double interpolateGeometryPosToLanePos(double geometryPos) const
AnyVehicleIterator anyVehiclesBegin() const
begin iterator for iterating over all vehicles touching this lane in downstream direction
MSLane * getOpposite() const
return the neighboring opposite direction lane for lane changing or nullptr
virtual const PositionVector & getShape(bool) const
MSEdge & getEdge() const
Returns the lane's edge.
const MSLane * getNormalPredecessorLane() const
get normal lane leading to this internal lane, for normal lanes, the lane itself is returned
double getWidth() const
Returns the lane's width.
const std::vector< MSLink * > & getLinkCont() const
returns the container with all links !!!
bool fromInternalLane() const
return whether the fromLane of this link is an internal lane
void writeApproaching(OutputDevice &od, const std::string fromLaneID) const
write information about all approaching vehicles to the given output device
double computeDistToDivergence(const MSLane *lane, const MSLane *sibling, double minDist, bool sameSource) const
compute point of divergence for geomatries with a common start or end
double getLengthBeforeCrossing(const MSLane *foeLane) const
Returns the internal length from the beginning of the link's internal lane before to the crossing wit...
const MSLane * getInternalLaneBefore() const
return myInternalLaneBefore (always 0 when compiled without internal lanes)
LinkState getState() const
Returns the current state of the link.
void checkWalkingAreaFoe(const MSVehicle *ego, const MSLane *foeLane, std::vector< const MSPerson * > *collectBlockers, LinkLeaders &result) const
check for persons on walkingarea in the path of ego vehicle
SUMOTime myMesoTLSPenalty
penalty time at tls for mesoscopic simulation
bool hasApproachingFoe(SUMOTime arrivalTime, SUMOTime leaveTime, double speed, double decel) const
Returns the information whether a vehicle is approaching on one of the link's foe streams.
const bool myAmIndirect
whether this connection is an indirect turning movement
std::vector< MSLink * > mySublaneFoeLinks
double myGreenFraction
green fraction at tls for mesoscopic simulation
static const SUMOTime myLookaheadTime
ApproachInfos myApproachingVehicles
double myFoeVisibilityDistance
distance from which an approaching vehicle is able to see all relevant foes and may accelerate if the...
MSLink * computeParallelLink(int direction)
int myIndex
The position within this respond.
bool myHasFoes
Whether any foe links exist.
const ApproachInfos & getApproaching() const
return all approaching vehicles
void setApproaching(const SUMOVehicle *approaching, const SUMOTime arrivalTime, const double arrivalSpeed, const double leaveSpeed, const bool setRequest, const double arrivalSpeedBraking, const SUMOTime waitingTime, double dist, double latOffset)
Sets the information about an approaching vehicle.
const MSLane * myInternalLaneBefore
LinkState myState
The state of the link.
bool lastWasContState(LinkState linkState) const
whether this is a link past an internal junction where the entry to the junction currently has the gi...
void initParallelLinks()
initialize parallel links (to be called after all links are loaded)
void setTLState(LinkState state, SUMOTime t)
Sets the current tl-state.
static const SUMOTime myLookaheadTimeZipper
MSLane * getLane() const
Returns the connected lane.
std::vector< MSLink * > * myOffFoeLinks
bool isConflictEntryLink() const
return whether this link enters the conflict area (not a continuation link)
double myRadius
the turning radius for this link or doublemax for straight links
int getIndex() const
Returns the respond index (for visualization)
std::vector< const SUMOVehicle * > BlockingFoes
bool havePriority() const
Returns whether this link is a major link.
double myLength
The length of the link.
bool blockedByFoe(const SUMOVehicle *veh, const ApproachingVehicleInformation &avi, SUMOTime arrivalTime, SUMOTime leaveTime, double arrivalSpeed, double leaveSpeed, bool sameTargetLane, double impatience, double decel, SUMOTime waitingTime, const SUMOTrafficObject *ego) const
double getZipperSpeed(const MSVehicle *ego, const double dist, double vSafe, SUMOTime arrivalTime, BlockingFoes *collectFoes) const
return the speed at which ego vehicle must approach the zipper link
const LinkState myOffState
The state of the link when switching of traffic light control.
const LinkLeaders getLeaderInfo(const MSVehicle *ego, double dist, std::vector< const MSPerson * > *collectBlockers=0, bool isShadowLink=false) const
Returns all potential link leaders (vehicles on foeLanes) Valid during the planMove() phase.
static bool ignoreFoe(const SUMOTrafficObject *ego, const SUMOTrafficObject *foe)
bool isEntryLink() const
return whether the toLane of this link is an internal lane and fromLane is a normal lane
const MSLane * getLaneBefore() const
return the internalLaneBefore if it exists and the laneBefore otherwise
ApproachingVehicleInformation getApproaching(const SUMOVehicle *veh) const
const MSTrafficLightLogic * myLogic
the controlling logic or 0
@ CONFLICT_NO_INTERSECTION
@ CONFLICT_STOP_AT_INTERNAL_JUNCTION
static bool lateralOverlap(double posLat, double width, double posLat2, double width2)
check whether the given vehicle positions overlap laterally
std::vector< MSLink * > myFoeLinks
bool isInternalJunctionLink() const
return whether the fromLane and the toLane of this link are internal lanes
bool isExitLink() const
return whether the fromLane of this link is an internal lane and toLane is a normal lane
std::vector< const MSLane * > myFoeLanes
std::vector< LinkLeader > LinkLeaders
static std::set< std::pair< MSLink *, MSLink * > > myRecheck
links that need post processing after initialization (to deal with legacy networks)
void clearState()
Remove all approaching vehicles before quick-loading state.
bool willHaveBlockedFoe() const
MSLane * myLane
The lane behind the junction approached by this link.
static const double NO_INTERSECTION
LinkState getOffState() const
Returns the off-state for the link.
bool isInFront(const MSVehicle *ego, const PositionVector &egoPath, const Position &pPos) const
whether the given person is in front of the car
MSLane * getViaLane() const
Returns the following inner lane.
const int myTLIndex
the traffic light index
double getInternalLengthsAfter() const
Returns the cumulative length of all internal lanes after this link.
std::string getDescription() const
get string description for this link
static void recheckSetRequestInformation()
post-processing for legacy networks
bool hasFoes() const
Returns whether this link belongs to a junction where more than one edge is incoming.
LinkState myLastGreenState
The last green state of the link (minor or major)
static SUMOTime computeFoeArrivalTimeBraking(SUMOTime arrivalTime, const SUMOVehicle *foe, SUMOTime foeArrivalTime, double impatience, double dist, double &fasb)
compute arrival time if foe vehicle is braking for ego
MSJunction * myJunction
the junction to which this link belongs
bool blockedAtTime(SUMOTime arrivalTime, SUMOTime leaveTime, double arrivalSpeed, double leaveSpeed, bool sameTargetLane, double impatience, double decel, SUMOTime waitingTime, BlockingFoes *collectFoes=nullptr, const SUMOTrafficObject *ego=nullptr, bool lastWasContRed=false) const
Returns the information whether this link is blocked Valid after the vehicles have set their requests...
const MSLink * getCorrespondingEntryLink() const
returns the corresponding entry link for exitLinks to a junction.
void setRequestInformation(int index, bool hasFoes, bool isCont, const std::vector< MSLink * > &foeLinks, const std::vector< MSLane * > &foeLanes, MSLane *internalLaneBefore=0)
Sets the request information.
void removeApproaching(const SUMOVehicle *veh)
removes the vehicle from myApproachingVehicles
bool contIntersect(const MSLane *lane, const MSLane *foe)
check if the lane intersects with a foe cont-lane
bool isExitLinkAfterInternalJunction() const
return whether the fromLane of this link is an internal lane and its incoming lane is also an interna...
LinkState getLastGreenState() const
Returns the last green state of the link.
std::pair< const SUMOVehicle *, const MSLink * > getFirstApproachingFoe(const MSLink *wrapAround) const
get the foe vehicle that is closest to the intersection or nullptr along with the foe link This funct...
std::vector< MSLink * > mySublaneFoeLinks2
MSLink * getParallelLink(int direction) const
return the link that is parallel to this lane or 0
MSLane * getViaLaneOrLane() const
return the via lane if it exists and the lane otherwise
void addCustomConflict(const MSLane *from, const MSLane *to, double startPos, double endPos)
const CustomConflict * getCustomConflict(const MSLane *foeLane) const
return CustomConflict with foeLane if it is defined
MSLane *const myInternalLane
The following junction-internal lane if used.
void addBlockedLink(MSLink *link)
double myLateralShift
lateral shift to be applied when passing this link
std::vector< ConflictInfo > myConflicts
double getInternalLengthsBefore() const
Returns the cumulative length of all internal lanes before this link.
const MSLane * myWalkingAreaFoe
walkingArea that must be checked when entering the intersection
static bool couldBrakeForLeader(double followDist, double leaderDist, const MSVehicle *follow, const MSVehicle *leader)
whether follower could stay behind leader (possibly by braking)
bool isOnComingPed(const MSVehicle *ego, const MSPerson *p) const
whether the given person is walking towards the car
bool opened(SUMOTime arrivalTime, double arrivalSpeed, double leaveSpeed, double vehicleLength, double impatience, double decel, SUMOTime waitingTime, double posLat=0, BlockingFoes *collectFoes=nullptr, bool ignoreRed=false, const SUMOTrafficObject *ego=nullptr) const
Returns the information whether the link may be passed.
std::vector< CustomConflict > myCustomConflicts
Position getFuturePosition(const MSPerson *p, double timeHorizon=1) const
return extrapolated position of the given person after the given time
const MSLane * myWalkingAreaFoeExit
walkingArea that must be checked when leaving the intersection
MSLane * myLaneBefore
The lane approaching this link.
@ LL_SAME_SOURCE
link leader is coming from the same (normal) lane
@ LL_SAME_TARGET
link leader is targeting the same outgoing lane
@ LL_IN_THE_WAY
vehicle is in the way
@ LL_FROM_LEFT
link leader is passing from left to right
std::set< MSLink * > myBlockedFoeLinks
bool lastWasContMajor() const
whether this is a link past an internal junction which currently has priority
double getLengthsBeforeCrossing(const MSLane *foeLane) const
Returns the sum of the lengths along internal lanes following this link to the crossing with the give...
bool myHavePedestrianCrossingFoe
whether on of myFoeLanes is a crossing
SUMOTime myLastStateChange
The time of the last state change.
LinkDirection myDirection
An abstract (hopefully human readable) definition of the link's direction.
const MSTrafficLightLogic * getTLLogic() const
Returns the TLS index.
bool checkContOff() const
figure out whether the cont status remains in effect when switching off the tls
const MSLink * getCorrespondingExitLink() const
returns the corresponding exit link for entryLinks to a junction.
static bool unsafeMergeSpeeds(double leaderSpeed, double followerSpeed, double leaderDecel, double followerDecel)
return whether the given vehicles may NOT merge safely
SUMOTime getLeaveTime(const SUMOTime arrivalTime, const double arrivalSpeed, const double leaveSpeed, const double vehicleLength) const
return the expected time at which the given vehicle will clear the link
MSLink * getOppositeDirectionLink() const
return the link that is the opposite entry link to this one
MSLink(MSLane *predLane, MSLane *succLane, MSLane *via, LinkDirection dir, LinkState state, double length, double foeVisibilityDistance, bool keepClear, MSTrafficLightLogic *logic, int tlLinkIdx, bool indirect)
Constructor for simulation which uses internal lanes.
std::vector< MSLane * > mySublaneFoeLanes
LinkDirection getDirection() const
Returns the direction the vehicle passing this link take.
bool keepClear() const
whether the junction after this link must be kept clear
bool haveRed() const
Returns whether this link is blocked by a red (or redyellow) traffic light.
double getLength() const
Returns the length of this link.
static MSNet * getInstance()
Returns the pointer to the unique instance of MSNet (singleton).
SUMOTime getCurrentTimeStep() const
Returns the current simulation step.
bool hasPersons() const
Returns whether persons are simulated.
virtual MSTransportableControl & getPersonControl()
Returns the person control.
virtual bool blockedAtDist(const SUMOTrafficObject *ego, const MSLane *lane, double vehSide, double vehWidth, double oncomingGap, std::vector< const MSPerson * > *collectBlockers)
whether a pedestrian is blocking the crossing of lane for the given vehicle bondaries
static const double SAFETY_GAP
The parent class for traffic light logics.
MSPModel * getMovementModel()
Returns the default movement model for this kind of transportables.
virtual double getAngle() const
return the current angle of the transportable
Position getPosition(const double) const
Return current position (x/y, cartesian)
const MSVehicleType & getVehicleType() const
Returns the object's "vehicle" type.
double getMaxSpeed() const
Returns the maximum speed (the minimum of desired and physical maximum speed)
Representation of a vehicle in the micro simulation.
bool willStop() const
Returns whether the vehicle will stop on the current edge.
SUMOTime getLastActionTime() const
Returns the time of the vehicle's last action point.
SUMOTime getWaitingTime() const
Returns the SUMOTime waited (speed was lesser than 0.1m/s)
bool isActive() const
Returns whether the current simulation step is an action point for the vehicle.
bool isFrontOnLane(const MSLane *lane) const
Returns the information whether the front of the vehicle is on the given lane.
MSAbstractLaneChangeModel & getLaneChangeModel()
Position getPosition(const double offset=0) const
Return current position (x/y, cartesian)
double getBackPositionOnLane(const MSLane *lane) const
Get the vehicle's position relative to the given lane.
double getLatOffset(const MSLane *lane) const
Get the offset that that must be added to interpret myState.myPosLat for the given lane.
const MSLane * getLane() const
Returns the lane the vehicle is on.
double getLateralPositionOnLane() const
Get the vehicle's lateral position on the lane.
double getSpeed() const
Returns the vehicle's current speed.
const MSCFModel & getCarFollowModel() const
Returns the vehicle's car following model definition.
bool ignoreRed(const MSLink *link, bool canBrake) const
decide whether a red (or yellow light) may be ignore
double getPositionOnLane() const
Get the vehicle's position along the lane.
double getAngle() const
Returns the vehicle's direction in radians.
double getWidth() const
Get the width which vehicles of this class shall have when being drawn.
SUMOVehicleClass getVehicleClass() const
Get this vehicle type's vehicle class.
const std::string & getID() const
Returns the name of the vehicle type.
double getMinGap() const
Get the free space in front of vehicles of this class.
double getMaxSpeedLat() const
Get vehicle's maximum lateral speed [m/s].
const MSCFModel & getCarFollowModel() const
Returns the vehicle type's car following model definition (const version)
double getLength() const
Get vehicle's length [m].
const SUMOVTypeParameter & getParameter() const
const std::string & getID() const
Returns the id.
Static storage of an output device and its base (abstract) implementation.
OutputDevice & writeAttr(const SumoXMLAttr attr, const T &val)
writes a named attribute
OutputDevice & openTag(const std::string &xmlElement)
Opens an XML tag.
bool closeTag(const std::string &comment="")
Closes the most recently opened tag and optionally adds a comment.
virtual const std::string getParameter(const std::string &key, const std::string defaultValue="") const
Returns the value for a given key.
A point in 2D or 3D with translation and scaling methods.
double distanceTo2D(const Position &p2) const
returns the euclidean distance in the x-y-plane
double angleTo2D(const Position &other) const
returns the angle in the plane of the vector pointing from here to the other position
double length2D() const
Returns the length.
double rotationAtOffset(double pos) const
Returns the rotation at the given length.
std::vector< double > intersectsAtLengths2D(const PositionVector &other) const
For all intersections between this vector and other, return the 2D-length of the subvector from this ...
double distance2D(const Position &p, bool perpendicular=false) const
closest 2D-distance to point p (or -1 if perpendicular is true and the point is beyond this vector)
std::vector< double > distances(const PositionVector &s, bool perpendicular=false) const
distances of all my points to s and all of s points to myself
void move2side(double amount, double maxExtension=100)
move position vector to side using certain ammount
double angleAt2D(int pos) const
get angle in certain position of position vector
PositionVector reverse() const
reverse position vector
static double rand(SumoRNG *rng=nullptr)
Returns a random real number in [0, 1)
Representation of a vehicle, person, or container.
virtual const MSVehicleType & getVehicleType() const =0
Returns the object's "vehicle" type.
virtual double getSpeed() const =0
Returns the object's current speed.
virtual const SUMOVehicleParameter & getParameter() const =0
Returns the vehicle's parameter (including departure definition)
virtual SumoRNG * getRNG() const =0
Returns the associated RNG for this object.
virtual bool isSelected() const =0
whether this object is selected in the GUI
double getJMParam(const SumoXMLAttr attr, const double defaultValue) const
Returns the named value from the map, or the default if it is not contained there.
Representation of a vehicle.
virtual double getLateralPositionOnLane() const =0
Get the vehicle's lateral position on the lane.
Structure representing possible vehicle parameter.
bool wasSet(int what) const
Returns whether the given parameter was set.
const unsigned char flag[]
pre-computed information for conflict points
double getLengthBehindCrossing(const MSLink *exitLink) const
double getFoeConflictSize(const MSLink *foeExitLink) const
int foeConflictIndex
the conflict from the perspective of the foe
double conflictSize
the length of the conflict space
double getFoeLengthBehindCrossing(const MSLink *foeExitLink) const
holds user defined conflict positions (must be interpreted for the correct exitLink)