MSLaneChangerSublane.h

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/****************************************************************************/
// Eclipse SUMO, Simulation of Urban MObility; see https://eclipse.dev/sumo
// Copyright (C) 2002-2024 German Aerospace Center (DLR) and others.
// This program and the accompanying materials are made available under the
// terms of the Eclipse Public License 2.0 which is available at
// https://www.eclipse.org/legal/epl-2.0/
// This Source Code may also be made available under the following Secondary
// Licenses when the conditions for such availability set forth in the Eclipse
// Public License 2.0 are satisfied: GNU General Public License, version 2
// or later which is available at
// https://www.gnu.org/licenses/old-licenses/gpl-2.0-standalone.html
// SPDX-License-Identifier: EPL-2.0 OR GPL-2.0-or-later
/****************************************************************************/
// Performs sub-lane changing of vehicles
/****************************************************************************/
#pragma once
#include <config.h>
 
#include <microsim/lcmodels/MSAbstractLaneChangeModel.h>
#include "MSLaneChanger.h"
 
 
// ===========================================================================
// class declarations
// ===========================================================================
 
 
// ===========================================================================
// class definitions
// ===========================================================================
class MSLaneChangerSublane : public MSLaneChanger {
public:
    MSLaneChangerSublane(const std::vector<MSLane*>* lanes, bool allowChanging);
 
    ~MSLaneChangerSublane();
 
protected:
 
    virtual bool change();
 
    virtual void initChanger();
 
    virtual void updateChanger(bool vehHasChanged);
 
    int checkChangeSublane(
        int laneOffset,
        LaneChangeAction alternatives,
        const std::vector<MSVehicle::LaneQ>& preb,
        double& latDist,
        double& maneuverDist) const;
 
    /* @brief call lanechange model to check the merits of an opposite-direction
     * change and update state accordingly */
    bool checkChangeOpposite(
        MSVehicle* vehicle,
        int laneOffset,
        MSLane* targetLane,
        const std::pair<MSVehicle* const, double>& leader,
        const std::pair<MSVehicle* const, double>& neighLead,
        const std::pair<MSVehicle* const, double>& neighFollow,
        const std::vector<MSVehicle::LaneQ>& preb);
 
 
    //          (used to continue sublane changing in non-action steps).
    bool continueChangeSublane(MSVehicle* vehicle, ChangerIt& from);
 
    bool startChangeSublane(MSVehicle* vehicle, ChangerIt& from, double latDist, double maneuverDist);
 
    bool checkChangeToNewLane(MSVehicle* vehicle, const int direction, ChangerIt from, ChangerIt to);
 
    MSLeaderDistanceInfo getLeaders(const ChangerIt& target, const MSVehicle* ego) const;
 
    void abortLCManeuver(MSVehicle* vehicle);
 
    typedef MSAbstractLaneChangeModel::StateAndDist StateAndDist;
    StateAndDist checkChangeHelper(MSVehicle* vehicle, int laneOffset, LaneChangeAction alternatives);
 
    static std::pair<MSVehicle*, double> findClosestLeader(const MSLeaderDistanceInfo& leaders, const MSVehicle* vehicle);
 
    void outputLCStarted(MSVehicle* vehicle, ChangerIt& from, ChangerIt& to, int direction, double maneuverDist);
    void outputLCEnded(MSVehicle* vehicle, ChangerIt& from, ChangerIt& to, int direction);
 
    void addOutsideLeaders(const MSVehicle* vehicle, MSLeaderDistanceInfo& leaders) const;
 
    bool myCheckedChangeOpposite;
 
private:
    MSLaneChangerSublane();
 
    MSLaneChangerSublane(const MSLaneChangerSublane&);
 
    MSLaneChangerSublane& operator=(const MSLaneChangerSublane&);
};