43 myWidth(lane->getWidth()),
45 myFreeSublanes((int)myVehicles.size()),
48 myHasVehicles(false) {
76 int rightmost, leftmost;
79 for (
int sublane = rightmost; sublane <= leftmost; ++sublane) {
115 double rightVehSide = vehCenter - vehHalfWidth;
116 double leftVehSide = vehCenter + vehHalfWidth;
121 rightVehSide -= maneuverDist;
125 leftVehSide += maneuverDist;
128 if (rightVehSide >
myWidth || leftVehSide < 0) {
154 assert(sublane >= 0);
157 rightSide = sublane * res + latOffset;
158 leftSide =
MIN2((sublane + 1) * res,
myWidth) + latOffset;
164 assert(sublane >= 0);
172 std::ostringstream oss;
173 oss.setf(std::ios::fixed, std::ios::floatfield);
174 oss << std::setprecision(2);
175 for (
int i = 0; i < (int)
myVehicles.size(); ++i) {
191 for (
int i = 0; i < (int)
myVehicles.size(); ++i) {
201 for (
int i = 0; i < (int)
myVehicles.size(); ++i) {
218 myDistances(myVehicles.size(), std::numeric_limits<double>::max()) {
224 myDistances(1, cLeaderDist.second) {
238 if (veh ==
nullptr) {
245 if (sublane >= 0 && sublane < (
int)
myVehicles.size()) {
257 int rightmost, leftmost;
259 for (
int sublaneIdx = rightmost; sublaneIdx <= leftmost; ++sublaneIdx) {
283 assert(sublane >= 0);
291 std::ostringstream oss;
292 oss.setf(std::ios::fixed, std::ios::floatfield);
293 oss << std::setprecision(2);
294 for (
int i = 0; i < (int)
myVehicles.size(); ++i) {
311 for (
int i = 0; i < (int)
myVehicles.size(); ++i) {
313 if (
myVehicles[i]->getLaneChangeModel().isOpposite()) {
315 }
else if (isFollower &&
myDistances[i] > POSITION_EPS) {
329 minGap = std::numeric_limits<double>::max();
330 for (
int i = 0; i < (int)
myVehicles.size(); ++i) {
337 return std::make_pair(veh, minGap);
347 myMissingGaps(myVehicles.size(), -std::numeric_limits<double>::max()),
348 myHaveOppositeLeaders(haveOppositeLeaders)
357 if (veh ==
nullptr) {
362 const double missingGap = requiredGap - gap;
387 if (sublane >= 0 && sublane < (
int)
myVehicles.size()) {
407 int rightmost, leftmost;
409 for (
int sublaneIdx = rightmost; sublaneIdx <= leftmost; ++sublaneIdx) {
414 || (missingGap > 0 && gap <
myDistances[sublaneIdx])
441 std::ostringstream oss;
442 oss.setf(std::ios::fixed, std::ios::floatfield);
443 oss << std::setprecision(2);
444 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
MSCriticalFollowerDistanceInfo(const MSLane *lane, const MSVehicle *ego, double latOffset, bool haveOppositeLeaders=false)
Constructor.
virtual ~MSCriticalFollowerDistanceInfo()
Destructor.
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.
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
virtual int addLeader(const MSVehicle *veh, double gap, double latOffset=0, int sublane=-1)
MSLeaderDistanceInfo(const MSLane *lane, const MSVehicle *ego, double latOffset)
Constructor.
virtual int addLeader(const MSVehicle *veh, bool beyond, double latOffset=0)
std::vector< const MSVehicle * > myVehicles
int myFreeSublanes
the number of free sublanes
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
MSLeaderInfo(const MSLane *lane, const MSVehicle *ego=0, double latOffset=0)
Constructor.
virtual std::string toString() const
print a debugging representation
virtual void clear()
discard all information
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.
double getLateralPositionOnLane() const
Get the vehicle's lateral position on the lane.
double getSpeed() const
Returns the vehicle's current speed.
const MSLane * getLane() const
Returns the lane the vehicle is on.
const MSCFModel & getCarFollowModel() const
Returns the vehicle's car following model definition.
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