41 myFreeSublanes((int)myVehicles.size()),
44 myHasVehicles(false) {
72 int rightmost, leftmost;
75 for (
int sublane = rightmost; sublane <= leftmost; ++sublane) {
111 double rightVehSide = vehCenter - vehHalfWidth;
112 double leftVehSide = vehCenter + vehHalfWidth;
117 rightVehSide -= maneuverDist;
121 leftVehSide += maneuverDist;
124 if (rightVehSide >
myWidth || leftVehSide < 0) {
151 assert(sublane >= 0);
161 assert(sublane >= 0);
169 std::ostringstream oss;
170 oss.setf(std::ios::fixed, std::ios::floatfield);
171 oss << std::setprecision(2);
172 for (
int i = 0; i < (int)
myVehicles.size(); ++i) {
195 for (
int i = 0; i < (int)
myVehicles.size(); ++i) {
205 for (
int i = 0; i < (int)
myVehicles.size(); ++i) {
221 myDistances(myVehicles.size(),
std::numeric_limits<double>::max()) {
227 myDistances(1, cLeaderDist.second) {
241 if (veh ==
nullptr) {
248 if (sublane >= 0 && sublane < (
int)
myVehicles.size()) {
260 int rightmost, leftmost;
262 for (
int sublaneIdx = rightmost; sublaneIdx <= leftmost; ++sublaneIdx) {
286 assert(sublane >= 0);
294 std::ostringstream oss;
295 oss.setf(std::ios::fixed, std::ios::floatfield);
296 oss << std::setprecision(2);
297 for (
int i = 0; i < (int)
myVehicles.size(); ++i) {
314 for (
int i = 0; i < (int)
myVehicles.size(); ++i) {
316 if (
myVehicles[i]->getLaneChangeModel().isOpposite()) {
318 }
else if (isFollower &&
myDistances[i] > POSITION_EPS) {
330 for (
int i = 0; i < (int)
myVehicles.size(); ++i) {
342 minGap = std::numeric_limits<double>::max();
343 for (
int i = 0; i < (int)
myVehicles.size(); ++i) {
350 return std::make_pair(veh, minGap);
357 for (
int i = 0; i < (int)
myVehicles.size(); ++i) {
375 myMissingGaps(myVehicles.size(), -
std::numeric_limits<double>::max()),
376 myHaveOppositeLeaders(haveOppositeLeaders)
385 if (veh ==
nullptr) {
390 const double missingGap = requiredGap - gap;
415 if (sublane >= 0 && sublane < (
int)
myVehicles.size()) {
435 int rightmost, leftmost;
437 for (
int sublaneIdx = rightmost; sublaneIdx <= leftmost; ++sublaneIdx) {
442 || (missingGap > 0 && gap <
myDistances[sublaneIdx])
469 std::ostringstream oss;
470 oss.setf(std::ios::fixed, std::ios::floatfield);
471 oss << std::setprecision(2);
472 for (
int i = 0; i < (int)
myVehicles.size(); ++i) {
std::pair< const MSVehicle *, double > CLeaderDist
double getManeuverDist() const
Returns the remaining unblocked distance for the current maneuver. (only used by sublane model)
double getSpeedLat() const
return the lateral speed of the current lane change maneuver
const MSVehicleType & getVehicleType() const
Returns the vehicle's type definition.
virtual double getSecureGap(const MSVehicle *const, 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 getMaxDecel() const
Get the vehicle type's maximal comfortable deceleration [m/s^2].
bool myHaveOppositeLeaders
std::vector< double > myMissingGaps
virtual ~MSCriticalFollowerDistanceInfo()
Destructor.
MSCriticalFollowerDistanceInfo(const double laneWidth, const MSVehicle *ego, const double latOffset, const bool haveOppositeLeaders=false)
Constructor.
std::string toString() const
print a debugging representation
void clear()
discard all information
int addFollower(const MSVehicle *veh, const MSVehicle *ego, double gap, double latOffset=0, int sublane=-1)
static double gLateralResolution
Representation of a lane in the micro simulation.
MSEdge & getEdge() const
Returns the lane's edge.
saves leader/follower vehicles and their distances relative to an ego vehicle
virtual std::string toString() const
print a debugging representation
CLeaderDist getClosest() const
return vehicle with the smalles gap
virtual ~MSLeaderDistanceInfo()
Destructor.
MSLeaderDistanceInfo(const double laneWidth, const MSVehicle *ego, const double latOffset)
Constructor.
CLeaderDist operator[](int sublane) const
return the vehicle and its distance for the given sublane
virtual void clear()
discard all information
std::vector< double > myDistances
void fixOppositeGaps(bool isFollower)
subtract vehicle length from all gaps if the leader vehicle is driving in the opposite direction
void patchGaps(double amount)
add given value to all gaps
virtual int addLeader(const MSVehicle *veh, double gap, double latOffset=0, int sublane=-1)
void moveSamePosTo(const MSVehicle *ego, MSLeaderDistanceInfo &other)
std::vector< const MSVehicle * > myVehicles
int myFreeSublanes
the number of free sublanes
int myOffset
an extra offset for shifting the interpretation of sublane borders (default [0,myWidth])
void setSublaneOffset(int offset)
set number of sublanes by which to shift positions
bool hasStoppedVehicle() const
whether a stopped vehicle is leader
void removeOpposite(const MSLane *lane)
remove vehicles that are driving in the opposite direction (fully or partially) on the given lane
int egoRightMost
borders of the ego vehicle for filtering of free sublanes
void getSublaneBorders(int sublane, double latOffset, double &rightSide, double &leftSide) const
virtual int addLeader(const MSVehicle *veh, bool beyond, double latOffset=0.)
virtual std::string toString() const
print a debugging representation
virtual void clear()
discard all information
MSLeaderInfo(const double laneWidth, const MSVehicle *ego=nullptr, const double latOffset=0.)
Constructor.
virtual ~MSLeaderInfo()
Destructor.
const MSVehicle * operator[](int sublane) const
return the vehicle for the given sublane
void getSubLanes(const MSVehicle *veh, double latOffset, int &rightmost, int &leftmost) const
double myWidth
the width of the lane to which this instance applies
Representation of a vehicle in the micro simulation.
MSAbstractLaneChangeModel & getLaneChangeModel()
double getActionStepLengthSecs() const
Returns the vehicle's action step length in secs, i.e. the interval between two action points.
SUMOTime getActionStepLength() const
Returns the vehicle's action step length in millisecs, i.e. the interval between two action points.
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.
double getPositionOnLane() const
Get the vehicle's position along the lane.
double getWidth() const
Get the width which vehicles of this class shall have when being drawn.
double getMaxSpeedLat() const
Get vehicle's maximum lateral speed [m/s].
static std::string getIDSecure(const T *obj, const std::string &fallBack="NULL")
get an identifier for Named-like object which may be Null