aim4.vehicle
Class VehicleUtil

java.lang.Object
  aim4.vehicle.VehicleUtil

public class VehicleUtil
extends Object

The utility functions for vehicles.

Method Summary

static double	calcDistanceIfAccel(double startVelocity, double accel, double targetVelocity, double duration) Determine how far the Vehicle will go in the given duration, if it starts at the given starting velocity and accelerates at the given acceleration toward the provided target velocity.
static double	calcDistanceToStop(double startingVelocity, double maxDeceleration) Get the amount of distance it will take to stop, given a starting velocity.
static double	distanceToCarInFront(AutoVehicleDriverView vehicle) Calculate the distance to the Vehicle in front of this one, in meters.
static double	distanceToChangeBetween(double v0, double vf, double acc) Calculate how much distance the Vehicle will cover while changing velocity.
static double	distanceToChangeBetween(double v0, double vf, double acc, double dec) Calculate how much distance the Vehicle will cover while changing velocity.
static boolean	intersects(VehicleSimView v, Area area) Determine whether the given Vehicle is currently inside an area
static double	maxTurnVelocity(VehicleSpec spec, Lane arrivalLane, Lane departureLane, IntersectionManager im) Get the maximum velocity that this Vehicle should make the turn between lanes through an intersection.
static double	maxVelocityToStopOverDistance(VehicleSpec spec, double distance) Calculate the maximum starting velocity for which the vehicle can stop within the given distance.
static double	minimumTimeToCover(double distance, double startVelocity, double topVelocity, double acc) Calculate the minimum amount of time, in seconds, it can take for the vehicle to cover the indicated distance, given a starting velocity and a top velocity allowed while covering the distance.
static double	timeToChangeBetween(double v0, double vf, double acc) Calculate how much time the Vehicle will cover to change velocity with a given acceleration.
static double	timeToChangeBetween(double v0, double vf, double acc, double dec) Calculate how much time the Vehicle will cover to change velocity with a given acceleration and a given deceleration

Methods inherited from class java.lang.Object

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

Method Detail

maxTurnVelocity

public static double maxTurnVelocity(VehicleSpec spec,
                                     Lane arrivalLane,
                                     Lane departureLane,
                                     IntersectionManager im)

Get the maximum velocity that this Vehicle should make the turn between lanes through an intersection. This method relies heavily on two types of caches. First, there is a cache for each instance that is used if the vehicle is a CUSTOM type. Second, there is a cache that belongs to the whole Vehicle class that is indexed by VehicleType, which essentially keeps a shared cache for each VehicleType.

Parameters:

spec - the vehicle's specification

arrivalLane - the Lane from which the Vehicle is turning

departureLane - the Lane into which the Vehicle is turning

im - the IntersectionManager controlling the intersection through which the Vehicle is making the turn

Returns:

the maximum safe velocity at which the Vehicle should make the turn

maxVelocityToStopOverDistance

public static double maxVelocityToStopOverDistance(VehicleSpec spec,
                                                   double distance)

Calculate the maximum starting velocity for which the vehicle can stop within the given distance.

Parameters:

spec - the vehicle specification

distance - the distance over which the Vehicle will be changing velocity

Returns:

the maximum starting velocity for which the vehicle can stop within the given distance

calcDistanceToStop

public static double calcDistanceToStop(double startingVelocity,
                                        double maxDeceleration)

Get the amount of distance it will take to stop, given a starting velocity.

Parameters:

startingVelocity - the velocity at which the Vehicle starts decelerating

maxDeceleration - the maximum deceleration

Returns:

the amount of distance it will take to stop

calcDistanceIfAccel

public static double calcDistanceIfAccel(double startVelocity,
                                         double accel,
                                         double targetVelocity,
                                         double duration)

Determine how far the Vehicle will go in the given duration, if it starts at the given starting velocity and accelerates at the given acceleration toward the provided target velocity.

Parameters:

startVelocity - the initial velocity of the Vehicle

accel - the acceleration of the Vehicle during this time

targetVelocity - the velocity at which the Vehicle will stop accelerating

duration - the duration for which this all takes place

Returns:

how far the Vehicle will travel in this time

timeToChangeBetween

public static double timeToChangeBetween(double v0,
                                         double vf,
                                         double acc)

Calculate how much time the Vehicle will cover to change velocity with a given acceleration.

Parameters:

v0 - the initial velocity of the Vehicle

vf - the final velocity of the Vehicle

acc - the acceleration

Returns:

the time it will take the Vehicle to change between the two given velocities

timeToChangeBetween

public static double timeToChangeBetween(double v0,
                                         double vf,
                                         double acc,
                                         double dec)

Calculate how much time the Vehicle will cover to change velocity with a given acceleration and a given deceleration

Parameters:

v0 - the initial velocity of the Vehicle

vf - the final velocity of the Vehicle

acc - the acceleration

dec - the deceleration

Returns:

the time it will take the Vehicle to change between the two given velocities

distanceToChangeBetween

public static double distanceToChangeBetween(double v0,
                                             double vf,
                                             double acc)

Calculate how much distance the Vehicle will cover while changing velocity.

Parameters:

v0 - the initial velocity of the Vehicle

vf - the final velocity of the Vehicle

acc - the acceleration

Returns:

the distance covered by the Vehicle while changing between the two given velocities

distanceToChangeBetween

public static double distanceToChangeBetween(double v0,
                                             double vf,
                                             double acc,
                                             double dec)

Calculate how much distance the Vehicle will cover while changing velocity.

Parameters:

v0 - the initial velocity of the Vehicle

vf - the final velocity of the Vehicle

acc - the acceleration

dec - the deceleration

Returns:

the distance covered by the Vehicle while changing between the two given velocities

minimumTimeToCover

public static double minimumTimeToCover(double distance,
                                        double startVelocity,
                                        double topVelocity,
                                        double acc)

Calculate the minimum amount of time, in seconds, it can take for the vehicle to cover the indicated distance, given a starting velocity and a top velocity allowed while covering the distance.

Parameters:

distance - the distance to cover

startVelocity - the velocity at the start of covering the distance

topVelocity - the top allowed velocity while covering the distance

acc - the acceleration

Returns:

the minimum amount of time, in seconds, to cover the distance

intersects

public static boolean intersects(VehicleSimView v,
                                 Area area)

Determine whether the given Vehicle is currently inside an area

Parameters:

v - the Vehicle

area - the area

Returns:

whether the Vehicle is currently in the area

distanceToCarInFront

public static double distanceToCarInFront(AutoVehicleDriverView vehicle)

Calculate the distance to the Vehicle in front of this one, in meters. Uses either the supplied distance in the intervalometer or the laser range finder, depending on whether the laser range finder is activated or not.

Parameters:

vehicle - the vehicle

Returns:

the distance to the Vehicle in front of this one, in meters