org.opentrafficsim.road.gtu.lane.CollisionDetector Maven / Gradle / Ivy

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package org.opentrafficsim.road.gtu.lane;

import java.util.Iterator;

import org.opentrafficsim.core.gtu.GtuException;
import org.opentrafficsim.core.gtu.plan.operational.OperationalPlanException;
import org.opentrafficsim.core.network.Network;
import org.opentrafficsim.road.gtu.lane.perception.PerceptionCollectable;
import org.opentrafficsim.road.gtu.lane.perception.PerceptionCollectable.UnderlyingDistance;
import org.opentrafficsim.road.gtu.lane.perception.RelativeLane;
import org.opentrafficsim.road.gtu.lane.perception.categories.neighbors.NeighborsPerception;
import org.opentrafficsim.road.gtu.lane.perception.headway.HeadwayGtu;

/**
 * Checks for collisions.
 * 
 * Copyright (c) 2013-2024 Delft University of Technology, PO Box 5, 2600 AA, Delft, the Netherlands. All rights reserved. 

 * BSD-style license. See OpenTrafficSim License.
 * 
 * @author Alexander Verbraeck
 * @author Peter Knoppers
 * @author Wouter Schakel
 */
public class CollisionDetector extends AbstractLaneBasedMoveChecker
{

    /**
     * Constructor.
     * @param network Network; network
     */
    public CollisionDetector(final Network network)
    {
        super(network);
    }

    /** {@inheritDoc} */
    @Override
    public void checkMove(final LaneBasedGtu gtu) throws Exception
    {
        try
        {
            NeighborsPerception neighbors =
                    gtu.getTacticalPlanner().getPerception().getPerceptionCategory(NeighborsPerception.class);
            PerceptionCollectable leaders = neighbors.getLeaders(RelativeLane.CURRENT);
            Iterator> gtus = leaders.underlyingWithDistance();
            if (!gtus.hasNext())
            {
                return;
            }
            UnderlyingDistance leader = gtus.next();
            if (leader.getDistance().lt0())
            {
                throw new CollisionException("GTU " + gtu.getId() + " collided with GTU " + leader.getObject().getId());
            }
        }
        catch (OperationalPlanException exception)
        {
            throw new GtuException(exception);
        }
    }

}