SUMO - Simulation of Urban MObility
Data Structures | Public Member Functions | Static Public Member Functions | Static Public Attributes | Protected Member Functions | Protected Attributes | Static Protected Attributes | Private Member Functions | Private Attributes
MSAbstractLaneChangeModel Class Referenceabstract

Interface for lane-change models. More...

#include <MSAbstractLaneChangeModel.h>

Inheritance diagram for MSAbstractLaneChangeModel:
Inheritance graph
Collaboration diagram for MSAbstractLaneChangeModel:
Collaboration graph

Data Structures

class  MSLCMessager
 A class responsible for exchanging messages between cars involved in lane-change interaction. More...
 
struct  StateAndDist
 

Public Member Functions

bool alreadyChanged () const
 reset the flag whether a vehicle already moved to false More...
 
virtual void changed ()=0
 
void changedToOpposite ()
 called when a vehicle changes between lanes in opposite directions More...
 
void cleanupShadowLane ()
 
virtual bool debugVehicle () const
 whether the current vehicles shall be debugged More...
 
virtual StateAndDist decideDirection (StateAndDist sd1, StateAndDist sd2) const
 decide in which direction to move in case both directions are desirable More...
 
void endLaneChangeManeuver (const MSMoveReminder::Notification reason=MSMoveReminder::NOTIFICATION_LANE_CHANGE)
 
double getAngleOffset () const
 return the angle offset during a continuous change maneuver More...
 
double getCommittedSpeed () const
 
int getLaneChangeDirection () const
 return the direction of the current lane change maneuver More...
 
SUMOTime getLastLaneChangeOffset () const
 
int getOwnState () const
 
virtual std::string getParameter (const std::string &key) const
 try to retrieve the given parameter from this laneChangeModel. Throw exception for unsupported key More...
 
const std::pair< int, int > & getSavedState (const int dir) const
 
int getShadowDirection () const
 return the direction in which the current shadow lane lies More...
 
const std::vector< MSLane * > & getShadowFurtherLanes () const
 
const std::vector< double > & getShadowFurtherLanesPosLat () const
 
MSLane * getShadowLane () const
 Returns the lane the vehicles shadow is on during continuous/sublane lane change. More...
 
MSLane * getShadowLane (const MSLane *lane) const
 return the shadow lane for the given lane More...
 
MSLane * getShadowLane (const MSLane *lane, double posLat) const
 return the shadow lane for the given lane and lateral offset More...
 
double getSpeedLat () const
 return the lateral speed of the current lane change maneuver More...
 
virtual void * inform (void *info, MSVehicle *sender)=0
 
bool isChangingLanes () const
 return true if the vehicle currently performs a lane change maneuver More...
 
bool isOpposite () const
 
 MSAbstractLaneChangeModel (MSVehicle &v, const LaneChangeModel model)
 Constructor. More...
 
bool pastMidpoint () const
 return whether the vehicle passed the midpoint of a continuous lane change maneuver More...
 
virtual double patchSpeed (const double min, const double wanted, const double max, const MSCFModel &cfModel)=0
 Called to adapt the speed in order to allow a lane change. More...
 
virtual void prepareStep ()
 
void primaryLaneChanged (MSLane *source, MSLane *target, int direction)
 called once when the vehicles primary lane changes More...
 
SUMOTime remainingTime () const
 return whether the vehicle passed the midpoint of a continuous lane change maneuver More...
 
void removeShadowApproachingInformation () const
 
void resetChanged ()
 reset the flag whether a vehicle already moved to false More...
 
virtual void saveBlockerLength (double length)
 reserve space at the end of the lane to avoid dead locks More...
 
void saveState (const int dir, const int stateWithoutTraCI, const int state)
 
void setFollowerGaps (CLeaderDist follower, double secGap)
 
void setFollowerGaps (const MSLeaderDistanceInfo &vehicles)
 
void setLeaderGaps (CLeaderDist, double secGap)
 
void setLeaderGaps (const MSLeaderDistanceInfo &vehicles)
 
void setNoShadowPartialOccupator (MSLane *lane)
 
virtual void setOwnState (const int state)
 
virtual void setParameter (const std::string &key, const std::string &value)
 try to set the given parameter for this laneChangeModel. Throw exception for unsupported key More...
 
void setShadowApproachingInformation (MSLink *link) const
 set approach information for the shadow vehicle More...
 
void setShadowLane (MSLane *lane)
 set the shadow lane More...
 
void setShadowPartialOccupator (MSLane *lane)
 
void setSpeedLat (double speedLat)
 
bool startLaneChangeManeuver (MSLane *source, MSLane *target, int direction)
 start the lane change maneuver and return whether it continues More...
 
void unchanged ()
 
bool updateCompletion ()
 
virtual void updateExpectedSublaneSpeeds (const MSLeaderInfo &ahead, int sublaneOffset, int laneIndex)
 update expected speeds for each sublane of the current edge More...
 
void updateShadowLane ()
 
virtual int wantsChange (int laneOffset, MSAbstractLaneChangeModel::MSLCMessager &msgPass, int blocked, const std::pair< MSVehicle *, double > &leader, const std::pair< MSVehicle *, double > &neighLead, const std::pair< MSVehicle *, double > &neighFollow, const MSLane &neighLane, const std::vector< MSVehicle::LaneQ > &preb, MSVehicle **lastBlocked, MSVehicle **firstBlocked)
 Called to examine whether the vehicle wants to change using the given laneOffset. This method gets the information about the surrounding vehicles and whether another lane may be more preferable. More...
 
virtual int wantsChangeSublane (int laneOffset, LaneChangeAction alternatives, const MSLeaderDistanceInfo &leaders, const MSLeaderDistanceInfo &followers, const MSLeaderDistanceInfo &blockers, const MSLeaderDistanceInfo &neighLeaders, const MSLeaderDistanceInfo &neighFollowers, const MSLeaderDistanceInfo &neighBlockers, const MSLane &neighLane, const std::vector< MSVehicle::LaneQ > &preb, MSVehicle **lastBlocked, MSVehicle **firstBlocked, double &latDist, int &blocked)
 
virtual ~MSAbstractLaneChangeModel ()
 Destructor. More...
 

Static Public Member Functions

static MSAbstractLaneChangeModel * build (LaneChangeModel lcm, MSVehicle &vehicle)
 Factory method for instantiating new lane changing models. More...
 
static bool haveLCOutput ()
 whether lanechange-output is active More...
 
static void initGlobalOptions (const OptionsCont &oc)
 init global model parameters More...
 

Static Public Attributes

static const double NO_NEIGHBOR
 

Protected Member Functions

bool cancelRequest (int state)
 whether the influencer cancels the given request More...
 
virtual bool congested (const MSVehicle *const neighLeader)
 
void initLastLaneChangeOffset (int dir)
 
virtual bool predInteraction (const std::pair< MSVehicle *, double > &leader)
 

Protected Attributes

bool myAlreadyChanged
 whether the vehicle has already moved this step More...
 
const MSCFModel & myCarFollowModel
 The vehicle's car following model. More...
 
double myCommittedSpeed
 the speed when committing to a change maneuver More...
 
double myLaneChangeCompletion
 progress of the lane change maneuver 0:started, 1:complete More...
 
int myLaneChangeDirection
 direction of the lane change maneuver -1 means right, 1 means left More...
 
double myLastFollowerGap
 
double myLastFollowerSecureGap
 
double myLastLateralGapLeft
 the minimum lateral gaps to other vehicles that were found when last changing to the left and right More...
 
double myLastLateralGapRight
 
double myLastLeaderGap
 the actual minimum longitudinal distances to vehicles on the target lane More...
 
double myLastLeaderSecureGap
 the minimum longitudinal distances to vehicles on the target lane that would be necessary for stringent security More...
 
const LaneChangeModel myModel
 the type of this model More...
 
std::vector< MSLane * > myNoPartiallyOccupatedByShadow
 
int myOwnState
 The current state of the vehicle. More...
 
std::vector< MSLane * > myPartiallyOccupatedByShadow
 list of lanes where the shadow vehicle is partial occupator More...
 
std::map< int, std::pair< int, int > > mySavedStates
 
std::vector< MSLane * > myShadowFurtherLanes
 
std::vector< double > myShadowFurtherLanesPosLat
 
MSLane * myShadowLane
 A lane that is partially occupied by the front of the vehicle but that is not the primary lane. More...
 
double mySpeedLat
 the current lateral speed More...
 
MSVehicle & myVehicle
 The vehicle this lane-changer belongs to. More...
 

Static Protected Attributes

static bool myAllowOvertakingRight
 whether overtaking on the right is permitted More...
 
static bool myLCOutput
 whether to record lane-changing More...
 

Private Member Functions

MSAbstractLaneChangeModel & operator= (const MSAbstractLaneChangeModel &s)
 Invalidated assignment operator. More...
 

Private Attributes

bool myAmOpposite
 whether the vehicle is driving in the opposite direction More...
 
std::vector< MSLink * > myApproachedByShadow
 links which are approached by the shadow vehicle More...
 
SUMOTime myLastLaneChangeOffset
 

Detailed Description

Interface for lane-change models.

Definition at line 51 of file MSAbstractLaneChangeModel.h.

Constructor & Destructor Documentation

MSAbstractLaneChangeModel::MSAbstractLaneChangeModel ( MSVehicle &  v,
const LaneChangeModel  model 
)

Constructor.

Parameters
[in]vThe vehicle this lane-changer belongs to
[in]modelThe type of lane change model

Definition at line 86 of file MSAbstractLaneChangeModel.cpp.

Referenced by haveLCOutput().

MSAbstractLaneChangeModel::~MSAbstractLaneChangeModel ( )
virtual

Destructor.

Definition at line 102 of file MSAbstractLaneChangeModel.cpp.

Referenced by haveLCOutput().

Member Function Documentation

bool MSAbstractLaneChangeModel::alreadyChanged ( ) const
inline

reset the flag whether a vehicle already moved to false

Definition at line 355 of file MSAbstractLaneChangeModel.h.

References myAlreadyChanged.

Referenced by MSLaneChanger::change().

MSAbstractLaneChangeModel * MSAbstractLaneChangeModel::build ( LaneChangeModel  lcm,
MSVehicle &  vehicle 
)
static

Factory method for instantiating new lane changing models.

Parameters
[in]lcmThe type of model to build
[in]vehicleThe vehicle for which this model shall be built

Definition at line 63 of file MSAbstractLaneChangeModel.cpp.

References MSGlobals::gLateralResolution, LCM_DEFAULT, LCM_DK2008, LCM_LC2013, LCM_SL2015, and toString().

Referenced by MSVehicle::MSVehicle(), and MSAbstractLaneChangeModel::StateAndDist::sameDirection().

bool MSAbstractLaneChangeModel::cancelRequest ( int  state)
protected

whether the influencer cancels the given request

Definition at line 269 of file MSAbstractLaneChangeModel.cpp.

References MSVehicle::influenceChangeDecision(), and myVehicle.

Referenced by MSLCM_LC2013::_wantsChange(), and MSLCM_SL2015::_wantsChangeSublane().

virtual void MSAbstractLaneChangeModel::changed ( )
pure virtual

Implemented in MSLCM_SL2015, MSLCM_LC2013, and MSLCM_DK2008.

Referenced by decideDirection(), and primaryLaneChanged().

void MSAbstractLaneChangeModel::changedToOpposite ( )

called when a vehicle changes between lanes in opposite directions

Definition at line 374 of file MSAbstractLaneChangeModel.cpp.

References myAlreadyChanged, and myAmOpposite.

Referenced by debugVehicle(), endLaneChangeManeuver(), MSVehicle::executeMove(), and startLaneChangeManeuver().

void MSAbstractLaneChangeModel::cleanupShadowLane ( )

Definition at line 249 of file MSAbstractLaneChangeModel.cpp.

References debugVehicle(), myNoPartiallyOccupatedByShadow, myShadowFurtherLanes, myShadowLane, myVehicle, MSLane::resetPartialOccupation(), and SIMTIME.

Referenced by endLaneChangeManeuver(), resetChanged(), and MSVehicle::~MSVehicle().

bool MSAbstractLaneChangeModel::congested ( const MSVehicle *const  neighLeader)
protectedvirtual

Definition at line 115 of file MSAbstractLaneChangeModel.cpp.

References MSVehicle::congested(), MSVehicle::getLane(), MSLane::getSpeedLimit(), and myVehicle.

Referenced by MSLCM_DK2008::wantsChangeToLeft(), and MSLCM_DK2008::wantsChangeToRight().

virtual bool MSAbstractLaneChangeModel::debugVehicle ( ) const
inlinevirtual

whether the current vehicles shall be debugged

Reimplemented in MSLCM_SL2015, and MSLCM_LC2013.

Definition at line 284 of file MSAbstractLaneChangeModel.h.

References changedToOpposite().

Referenced by MSLaneChangerSublane::change(), cleanupShadowLane(), getShadowLane(), MSLaneChangerSublane::startChangeSublane(), and updateShadowLane().

virtual StateAndDist MSAbstractLaneChangeModel::decideDirection ( StateAndDist  sd1,
StateAndDist  sd2 
) const
inlinevirtual

decide in which direction to move in case both directions are desirable

Reimplemented in MSLCM_SL2015.

Definition at line 256 of file MSAbstractLaneChangeModel.h.

References changed(), inform(), max, min, myModel, patchSpeed(), toString(), and UNUSED_PARAMETER.

Referenced by MSLaneChangerSublane::change().

void MSAbstractLaneChangeModel::endLaneChangeManeuver ( const MSMoveReminder::Notification  reason = MSMoveReminder::NOTIFICATION_LANE_CHANGE)

Definition at line 207 of file MSAbstractLaneChangeModel.cpp.

References changedToOpposite(), cleanupShadowLane(), MSVehicle::fixPosition(), myAmOpposite, myLaneChangeCompletion, myNoPartiallyOccupatedByShadow, myVehicle, MSVehicle::switchOffSignal(), UNUSED_PARAMETER, MSVehicle::VEH_SIGNAL_BLINKER_LEFT, and MSVehicle::VEH_SIGNAL_BLINKER_RIGHT.

Referenced by MSVehicleTransfer::add(), MSLaneChanger::continueChange(), MSVehicle::executeMove(), resetChanged(), and updateShadowLane().

double MSAbstractLaneChangeModel::getAngleOffset ( ) const

return the angle offset during a continuous change maneuver

Definition at line 345 of file MSAbstractLaneChangeModel.cpp.

References MSGlobals::gLaneChangeDuration, myLaneChangeCompletion, myLaneChangeDirection, pastMidpoint(), and STEPS2TIME.

Referenced by getLaneChangeDirection().

double MSAbstractLaneChangeModel::getCommittedSpeed ( ) const
inline

Definition at line 407 of file MSAbstractLaneChangeModel.h.

References myCommittedSpeed.

Referenced by MSVehicle::planMoveInternal().

int MSAbstractLaneChangeModel::getLaneChangeDirection ( ) const
inline

return the direction of the current lane change maneuver

Definition at line 344 of file MSAbstractLaneChangeModel.h.

References getAngleOffset(), getShadowDirection(), and myLaneChangeDirection.

Referenced by MSLaneChanger::continueChange().

SUMOTime MSAbstractLaneChangeModel::getLastLaneChangeOffset ( ) const
inline

Definition at line 325 of file MSAbstractLaneChangeModel.h.

References myLastLaneChangeOffset.

int MSAbstractLaneChangeModel::getOwnState ( ) const
inline

Definition at line 157 of file MSAbstractLaneChangeModel.h.

References myOwnState, and setOwnState().

Referenced by MSLCM_SL2015::saveBlockerLength(), MSLCM_LC2013::saveBlockerLength(), and MSVehicle::setBlinkerInformation().

virtual std::string MSAbstractLaneChangeModel::getParameter ( const std::string &  key) const
inlinevirtual

try to retrieve the given parameter from this laneChangeModel. Throw exception for unsupported key

Reimplemented in MSLCM_SL2015, and MSLCM_LC2013.

Definition at line 421 of file MSAbstractLaneChangeModel.h.

References myModel, and toString().

Referenced by TraCI_Vehicle::getParameter().

const std::pair<int, int>& MSAbstractLaneChangeModel::getSavedState ( const int  dir) const
inline

Definition at line 163 of file MSAbstractLaneChangeModel.h.

References mySavedStates.

Referenced by TraCI_Vehicle::getLaneChangeState().

int MSAbstractLaneChangeModel::getShadowDirection ( ) const

return the direction in which the current shadow lane lies

Definition at line 328 of file MSAbstractLaneChangeModel.cpp.

References MSLane::getEdge(), MSLane::getIndex(), MSVehicle::getLane(), isChangingLanes(), myLaneChangeDirection, myShadowLane, myVehicle, and pastMidpoint().

Referenced by MSLaneChanger::continueChange(), MSVehicle::executeMove(), getLaneChangeDirection(), and GUIVehicle::selectBlockingFoes().

const std::vector<MSLane*>& MSAbstractLaneChangeModel::getShadowFurtherLanes ( ) const
inline

Definition at line 317 of file MSAbstractLaneChangeModel.h.

References myShadowFurtherLanes.

Referenced by MSVehicle::getBackPositionOnLane(), MSVehicle::getCenterOnEdge(), and MSVehicle::getLatOffset().

const std::vector<double>& MSAbstractLaneChangeModel::getShadowFurtherLanesPosLat ( ) const
inline

Definition at line 321 of file MSAbstractLaneChangeModel.h.

References myShadowFurtherLanesPosLat.

Referenced by MSVehicle::getCenterOnEdge(), and MSVehicle::getLatOffset().

MSLane* MSAbstractLaneChangeModel::getShadowLane ( ) const
inline

Returns the lane the vehicles shadow is on during continuous/sublane lane change.

Returns
The vehicle's shadow lane

Definition at line 302 of file MSAbstractLaneChangeModel.h.

References myShadowLane.

Referenced by MSVehicle::checkRewindLinkLanes(), MSLCM_SL2015::checkStrategicChange(), MSLaneChanger::continueChange(), MSLane::detectCollisions(), MSVehicle::executeMove(), MSVehicle::getBackPosition(), MSVehicle::getCenterOnEdge(), GUIVehicle::getParameterWindow(), getShadowLane(), MSVehicle::isFrontOnLane(), MSLane::isInsertionSuccess(), MSVehicle::planMoveInternal(), GUIVehicle::selectBlockingFoes(), MSLaneChangerSublane::startChangeSublane(), MSLaneChangerSublane::updateChanger(), and updateShadowLane().

MSLane * MSAbstractLaneChangeModel::getShadowLane ( const MSLane *  lane) const

return the shadow lane for the given lane

Definition at line 243 of file MSAbstractLaneChangeModel.cpp.

References MSVehicle::getLateralPositionOnLane(), getShadowLane(), and myVehicle.

MSLane * MSAbstractLaneChangeModel::getShadowLane ( const MSLane *  lane,
double  posLat 
) const

return the shadow lane for the given lane and lateral offset

Definition at line 221 of file MSAbstractLaneChangeModel.cpp.

References debugVehicle(), MSBaseVehicle::getID(), MSVehicle::getLateralOverlap(), MSLane::getParallelLane(), isChangingLanes(), myLaneChangeCompletion, myNoPartiallyOccupatedByShadow, myVehicle, NUMERICAL_EPS, and SIMTIME.

double MSAbstractLaneChangeModel::getSpeedLat ( ) const
inline

return the lateral speed of the current lane change maneuver

Definition at line 412 of file MSAbstractLaneChangeModel.h.

References mySpeedLat.

Referenced by MSLaneChanger::continueChange(), and GUIVehicle::getParameterWindow().

static bool MSAbstractLaneChangeModel::haveLCOutput ( )
inlinestatic

whether lanechange-output is active

Definition at line 144 of file MSAbstractLaneChangeModel.h.

References MSAbstractLaneChangeModel(), myLCOutput, and ~MSAbstractLaneChangeModel().

Referenced by MSLaneChangerSublane::startChangeSublane().

virtual void* MSAbstractLaneChangeModel::inform ( void *  info,
MSVehicle *  sender 
)
pure virtual

Implemented in MSLCM_SL2015, MSLCM_LC2013, and MSLCM_DK2008.

Referenced by decideDirection(), MSAbstractLaneChangeModel::MSLCMessager::informLeader(), MSAbstractLaneChangeModel::MSLCMessager::informNeighFollower(), and MSAbstractLaneChangeModel::MSLCMessager::informNeighLeader().

void MSAbstractLaneChangeModel::initGlobalOptions ( const OptionsCont &  oc)
static

init global model parameters

Definition at line 56 of file MSAbstractLaneChangeModel.cpp.

References OptionsCont::getBool(), OptionsCont::isSet(), myAllowOvertakingRight, and myLCOutput.

Referenced by MSAbstractLaneChangeModel::StateAndDist::sameDirection(), and MSFrame::setMSGlobals().

void MSAbstractLaneChangeModel::initLastLaneChangeOffset ( int  dir)
protected

Definition at line 276 of file MSAbstractLaneChangeModel.cpp.

References myLastLaneChangeOffset.

Referenced by primaryLaneChanged().

bool MSAbstractLaneChangeModel::isChangingLanes ( ) const
inline

return true if the vehicle currently performs a lane change maneuver

Definition at line 339 of file MSAbstractLaneChangeModel.h.

References myLaneChangeCompletion, and NUMERICAL_EPS.

Referenced by MSLaneChangerSublane::change(), MSLaneChanger::change(), MSVehicle::computeAngle(), MSLaneChanger::continueChange(), MSLane::detectCollisionBetween(), MSVehicle::enterLaneAtLaneChange(), MSVehicle::getBackPosition(), MSVehicle::getPosition(), getShadowDirection(), getShadowLane(), and updateShadowLane().

bool MSAbstractLaneChangeModel::isOpposite ( ) const
inline

Definition at line 403 of file MSAbstractLaneChangeModel.h.

References myAmOpposite.

Referenced by MSLCM_LC2013::_wantsChange(), MSLaneChanger::change(), MSLaneChanger::changeOpposite(), MSVehicle::checkRewindLinkLanes(), MSLane::detectCollisionBetween(), MSVehicle::enterLaneAtInsertion(), MSLink::getLeaderInfo(), MSLane::getOppositeFollower(), MSLane::getOppositeLeader(), MSLCM_LC2013::getRoundaboutAheadInfo(), MSLCM_LC2013::informLeader(), and MSVehicle::planMoveInternal().

MSAbstractLaneChangeModel& MSAbstractLaneChangeModel::operator= ( const MSAbstractLaneChangeModel &  s)
private

Invalidated assignment operator.

bool MSAbstractLaneChangeModel::pastMidpoint ( ) const
inline

return whether the vehicle passed the midpoint of a continuous lane change maneuver

Definition at line 331 of file MSAbstractLaneChangeModel.h.

References myLaneChangeCompletion, and remainingTime().

Referenced by getAngleOffset(), getShadowDirection(), and updateCompletion().

virtual double MSAbstractLaneChangeModel::patchSpeed ( const double  min,
const double  wanted,
const double  max,
const MSCFModel &  cfModel 
)
pure virtual

Called to adapt the speed in order to allow a lane change.

It is guaranteed that min<=wanted<=max, but the implementation needs to make sure that the return value is between min and max.

Parameters
minThe minimum resulting speed
wantedThe aspired speed of the car following model
maxThe maximum resulting speed
cfModelThe model used
Returns
the new speed of the vehicle as proposed by the lane changer

Implemented in MSLCM_SL2015, MSLCM_LC2013, and MSLCM_DK2008.

Referenced by decideDirection(), MSCFModel_Rail::moveHelper(), MSCFModel_KraussOrig1::moveHelper(), MSCFModel_Daniel1::moveHelper(), MSCFModel_SmartSK::moveHelper(), MSCFModel_KraussX::moveHelper(), and MSCFModel::moveHelper().

bool MSAbstractLaneChangeModel::predInteraction ( const std::pair< MSVehicle *, double > &  leader)
protectedvirtual

Definition at line 135 of file MSAbstractLaneChangeModel.cpp.

References MSVehicle::getSpeed(), MSCFModel::interactionGap(), myCarFollowModel, and myVehicle.

Referenced by MSLCM_DK2008::wantsChangeToLeft(), and MSLCM_DK2008::wantsChangeToRight().

virtual void MSAbstractLaneChangeModel::prepareStep ( )
inlinevirtual

Reimplemented in MSLCM_SL2015, MSLCM_LC2013, and MSLCM_DK2008.

Definition at line 176 of file MSAbstractLaneChangeModel.h.

References LCA_UNKNOWN, myCommittedSpeed, myLastFollowerGap, myLastFollowerSecureGap, myLastLateralGapLeft, myLastLateralGapRight, myLastLeaderGap, myLastLeaderSecureGap, NO_NEIGHBOR, and saveState().

Referenced by MSVehicle::executeMove(), MSLCM_DK2008::prepareStep(), MSLCM_LC2013::prepareStep(), and MSLCM_SL2015::prepareStep().

void MSAbstractLaneChangeModel::primaryLaneChanged ( MSLane *  source,
MSLane *  target,
int  direction 
)

called once when the vehicles primary lane changes

Definition at line 167 of file MSAbstractLaneChangeModel.cpp.

References changed(), OutputDevice::closeTag(), MSLane::enteredByLaneChange(), MSVehicle::enterLaneAtLaneChange(), OutputDevice::getDeviceByOption(), Named::getID(), MSBaseVehicle::getID(), MSVehicleType::getID(), MSNet::getInstance(), MSVehicle::getSpeed(), MSBaseVehicle::getVehicleType(), MSGlobals::gLateralResolution, initLastLaneChangeOffset(), LCA_LEFT, LCA_RIGHT, MSVehicle::leaveLane(), MSLane::leftByLaneChange(), myLastFollowerGap, myLastFollowerSecureGap, myLastLateralGapLeft, myLastLateralGapRight, myLastLeaderGap, myLastLeaderSecureGap, myLCOutput, myOwnState, myVehicle, NO_NEIGHBOR, MSMoveReminder::NOTIFICATION_LANE_CHANGE, OutputDevice::openTag(), SUMO_ATTR_DIR, SUMO_ATTR_FROM, SUMO_ATTR_ID, SUMO_ATTR_SPEED, SUMO_ATTR_TIME, SUMO_ATTR_TO, SUMO_ATTR_TYPE, time2string(), toString(), and OutputDevice::writeAttr().

Referenced by MSLaneChanger::continueChange(), setNoShadowPartialOccupator(), and startLaneChangeManeuver().

SUMOTime MSAbstractLaneChangeModel::remainingTime ( ) const

return whether the vehicle passed the midpoint of a continuous lane change maneuver

Definition at line 352 of file MSAbstractLaneChangeModel.cpp.

References MSGlobals::gLaneChangeDuration, and myLaneChangeCompletion.

Referenced by pastMidpoint().

void MSAbstractLaneChangeModel::removeShadowApproachingInformation ( ) const

Definition at line 364 of file MSAbstractLaneChangeModel.cpp.

References myApproachedByShadow, and myVehicle.

Referenced by MSVehicle::removeApproachingInformation(), and setNoShadowPartialOccupator().

void MSAbstractLaneChangeModel::resetChanged ( )
inline

reset the flag whether a vehicle already moved to false

Definition at line 360 of file MSAbstractLaneChangeModel.h.

References cleanupShadowLane(), endLaneChangeManeuver(), myAlreadyChanged, MSMoveReminder::NOTIFICATION_LANE_CHANGE, startLaneChangeManeuver(), updateCompletion(), and updateShadowLane().

Referenced by MSVehicle::planMove().

virtual void MSAbstractLaneChangeModel::saveBlockerLength ( double  length)
inlinevirtual

reserve space at the end of the lane to avoid dead locks

Reimplemented in MSLCM_LC2013, and MSLCM_SL2015.

Definition at line 384 of file MSAbstractLaneChangeModel.h.

References UNUSED_PARAMETER.

Referenced by MSLCM_LC2013::saveBlockerLength().

void MSAbstractLaneChangeModel::saveState ( const int  dir,
const int  stateWithoutTraCI,
const int  state 
)
inline

Definition at line 167 of file MSAbstractLaneChangeModel.h.

References mySavedStates, setFollowerGaps(), and setLeaderGaps().

Referenced by MSLaneChanger::checkChange(), MSLaneChangerSublane::checkChangeSublane(), and prepareStep().

void MSAbstractLaneChangeModel::setFollowerGaps ( CLeaderDist  follower,
double  secGap 
)

Definition at line 380 of file MSAbstractLaneChangeModel.cpp.

References myLastFollowerGap, and myLastFollowerSecureGap.

Referenced by MSLaneChanger::checkChange(), saveState(), and MSLaneChangerSublane::startChangeSublane().

void MSAbstractLaneChangeModel::setFollowerGaps ( const MSLeaderDistanceInfo &  vehicles)

Definition at line 396 of file MSAbstractLaneChangeModel.cpp.

References MSVehicle::getCarFollowModel(), MSCFModel::getMaxDecel(), MSVehicleType::getMinGap(), MSCFModel::getSecureGap(), MSVehicle::getSpeed(), MSLeaderInfo::getSubLanes(), MSBaseVehicle::getVehicleType(), myLastFollowerGap, myLastFollowerSecureGap, and myVehicle.

void MSAbstractLaneChangeModel::setLeaderGaps ( CLeaderDist  leader,
double  secGap 
)

Definition at line 388 of file MSAbstractLaneChangeModel.cpp.

References MSVehicleType::getMinGap(), MSBaseVehicle::getVehicleType(), myLastLeaderGap, myLastLeaderSecureGap, and myVehicle.

Referenced by MSLaneChanger::checkChange(), saveState(), and MSLaneChangerSublane::startChangeSublane().

void MSAbstractLaneChangeModel::setLeaderGaps ( const MSLeaderDistanceInfo &  vehicles)

Definition at line 415 of file MSAbstractLaneChangeModel.cpp.

References MSVehicle::getCarFollowModel(), MSCFModel::getMaxDecel(), MSVehicleType::getMinGap(), MSCFModel::getSecureGap(), MSVehicle::getSpeed(), MSLeaderInfo::getSubLanes(), MSBaseVehicle::getVehicleType(), myLastLeaderGap, myLastLeaderSecureGap, and myVehicle.

void MSAbstractLaneChangeModel::setNoShadowPartialOccupator ( MSLane *  lane)
inline

Definition at line 392 of file MSAbstractLaneChangeModel.h.

References myNoPartiallyOccupatedByShadow, primaryLaneChanged(), removeShadowApproachingInformation(), and setShadowApproachingInformation().

Referenced by MSVehicle::enterLaneAtLaneChange().

void MSAbstractLaneChangeModel::setOwnState ( const int  state)
virtual

Reimplemented in MSLCM_SL2015.

Definition at line 106 of file MSAbstractLaneChangeModel.cpp.

References MSVehicle::getInfluencer(), MSVehicle::hasInfluencer(), myOwnState, myVehicle, and MSVehicle::Influencer::setSublaneChange().

Referenced by MSLaneChangerSublane::change(), MSLaneChanger::change(), getOwnState(), and MSLCM_SL2015::setOwnState().

virtual void MSAbstractLaneChangeModel::setParameter ( const std::string &  key,
const std::string &  value 
)
inlinevirtual

try to set the given parameter for this laneChangeModel. Throw exception for unsupported key

Reimplemented in MSLCM_SL2015, and MSLCM_LC2013.

Definition at line 426 of file MSAbstractLaneChangeModel.h.

References myModel, toString(), and UNUSED_PARAMETER.

Referenced by TraCI_Vehicle::setParameter().

void MSAbstractLaneChangeModel::setShadowApproachingInformation ( MSLink *  link) const

set approach information for the shadow vehicle

Definition at line 358 of file MSAbstractLaneChangeModel.cpp.

References myApproachedByShadow.

Referenced by MSVehicle::checkRewindLinkLanes(), and setNoShadowPartialOccupator().

void MSAbstractLaneChangeModel::setShadowLane ( MSLane *  lane)
inline

set the shadow lane

Definition at line 313 of file MSAbstractLaneChangeModel.h.

References myShadowLane.

void MSAbstractLaneChangeModel::setShadowPartialOccupator ( MSLane *  lane)
inline

Definition at line 388 of file MSAbstractLaneChangeModel.h.

References myPartiallyOccupatedByShadow.

void MSAbstractLaneChangeModel::setSpeedLat ( double  speedLat)
inline

Definition at line 416 of file MSAbstractLaneChangeModel.h.

References mySpeedLat.

Referenced by MSLaneChangerSublane::change(), and MSLaneChangerSublane::startChangeSublane().

bool MSAbstractLaneChangeModel::startLaneChangeManeuver ( MSLane *  source,
MSLane *  target,
int  direction 
)

start the lane change maneuver and return whether it continues

Definition at line 148 of file MSAbstractLaneChangeModel.cpp.

References changedToOpposite(), DELTA_T, MSLane::getCenterOnEdge(), MSLane::getEdge(), MSGlobals::gLaneChangeDuration, myLaneChangeCompletion, myLaneChangeDirection, mySpeedLat, myVehicle, primaryLaneChanged(), MSVehicle::switchOffSignal(), MSVehicle::switchOnSignal(), MSVehicle::VEH_SIGNAL_BLINKER_LEFT, and MSVehicle::VEH_SIGNAL_BLINKER_RIGHT.

Referenced by MSLaneChanger::changeOpposite(), resetChanged(), MSLaneChanger::startChange(), and MSLaneChangerSublane::startChangeSublane().

void MSAbstractLaneChangeModel::unchanged ( )
inline

Definition at line 291 of file MSAbstractLaneChangeModel.h.

References DELTA_T, and myLastLaneChangeOffset.

Referenced by MSLaneChanger::registerUnchanged().

bool MSAbstractLaneChangeModel::updateCompletion ( )

Definition at line 199 of file MSAbstractLaneChangeModel.cpp.

References DELTA_T, MSGlobals::gLaneChangeDuration, myLaneChangeCompletion, and pastMidpoint().

Referenced by MSLaneChanger::continueChange(), and resetChanged().

virtual void MSAbstractLaneChangeModel::updateExpectedSublaneSpeeds ( const MSLeaderInfo &  ahead,
int  sublaneOffset,
int  laneIndex 
)
inlinevirtual

update expected speeds for each sublane of the current edge

Reimplemented in MSLCM_SL2015.

Definition at line 248 of file MSAbstractLaneChangeModel.h.

References myModel, toString(), and UNUSED_PARAMETER.

Referenced by MSLaneChangerSublane::change().

void MSAbstractLaneChangeModel::updateShadowLane ( )

Definition at line 285 of file MSAbstractLaneChangeModel.cpp.

References debugVehicle(), endLaneChangeManeuver(), MSLinkContHelper::getConnectingLink(), MSVehicle::getFurtherLanes(), MSVehicle::getFurtherLanesPosLat(), MSBaseVehicle::getID(), Named::getIDSecure(), MSNet::getInstance(), MSVehicle::getLane(), MSVehicle::getLateralOverlap(), getShadowLane(), isChangingLanes(), myShadowFurtherLanes, myShadowFurtherLanesPosLat, myShadowLane, myVehicle, NUMERICAL_EPS, MSLane::resetPartialOccupation(), MSLane::setPartialOccupation(), SIMTIME, time2string(), toString(), MSVehicle::updateFurtherLanes(), and WRITE_WARNING.

Referenced by MSLaneChanger::continueChange(), MSVehicle::enterLaneAtInsertion(), MSVehicle::executeMove(), resetChanged(), and MSLaneChangerSublane::startChangeSublane().

virtual int MSAbstractLaneChangeModel::wantsChange ( int  laneOffset,
MSAbstractLaneChangeModel::MSLCMessager &  msgPass,
int  blocked,
const std::pair< MSVehicle *, double > &  leader,
const std::pair< MSVehicle *, double > &  neighLead,
const std::pair< MSVehicle *, double > &  neighFollow,
const MSLane &  neighLane,
const std::vector< MSVehicle::LaneQ > &  preb,
MSVehicle **  lastBlocked,
MSVehicle **  firstBlocked 
)
inlinevirtual

Called to examine whether the vehicle wants to change using the given laneOffset. This method gets the information about the surrounding vehicles and whether another lane may be more preferable.

Reimplemented in MSLCM_SL2015, MSLCM_LC2013, and MSLCM_DK2008.

Definition at line 193 of file MSAbstractLaneChangeModel.h.

References myModel, toString(), and UNUSED_PARAMETER.

Referenced by MSLaneChanger::checkChange().

virtual int MSAbstractLaneChangeModel::wantsChangeSublane ( int  laneOffset,
LaneChangeAction  alternatives,
const MSLeaderDistanceInfo &  leaders,
const MSLeaderDistanceInfo &  followers,
const MSLeaderDistanceInfo &  blockers,
const MSLeaderDistanceInfo &  neighLeaders,
const MSLeaderDistanceInfo &  neighFollowers,
const MSLeaderDistanceInfo &  neighBlockers,
const MSLane &  neighLane,
const std::vector< MSVehicle::LaneQ > &  preb,
MSVehicle **  lastBlocked,
MSVehicle **  firstBlocked,
double &  latDist,
int &  blocked 
)
inlinevirtual

Reimplemented in MSLCM_SL2015.

Definition at line 216 of file MSAbstractLaneChangeModel.h.

References myModel, toString(), and UNUSED_PARAMETER.

Referenced by MSLaneChangerSublane::checkChangeSublane().

Field Documentation

bool MSAbstractLaneChangeModel::myAllowOvertakingRight
staticprotected

whether overtaking on the right is permitted

Definition at line 502 of file MSAbstractLaneChangeModel.h.

Referenced by MSLCM_LC2013::_wantsChange(), MSLCM_SL2015::checkStrategicChange(), MSLCM_LC2013::informFollower(), MSLCM_SL2015::informFollower(), MSLCM_LC2013::informLeader(), MSLCM_SL2015::informLeader(), and initGlobalOptions().

bool MSAbstractLaneChangeModel::myAlreadyChanged
protected

whether the vehicle has already moved this step

Definition at line 463 of file MSAbstractLaneChangeModel.h.

Referenced by alreadyChanged(), changedToOpposite(), and resetChanged().

bool MSAbstractLaneChangeModel::myAmOpposite
private

whether the vehicle is driving in the opposite direction

Definition at line 518 of file MSAbstractLaneChangeModel.h.

Referenced by changedToOpposite(), endLaneChangeManeuver(), and isOpposite().

std::vector<MSLink*> MSAbstractLaneChangeModel::myApproachedByShadow
mutableprivate

links which are approached by the shadow vehicle

Definition at line 515 of file MSAbstractLaneChangeModel.h.

Referenced by removeShadowApproachingInformation(), and setShadowApproachingInformation().

const MSCFModel& MSAbstractLaneChangeModel::myCarFollowModel
protected

The vehicle's car following model.

Definition at line 474 of file MSAbstractLaneChangeModel.h.

Referenced by MSLCM_LC2013::_wantsChange(), MSLCM_SL2015::checkStrategicChange(), MSLCM_DK2008::informBlocker(), MSLCM_LC2013::informFollower(), MSLCM_LC2013::informLeader(), MSLCM_SL2015::informLeader(), predInteraction(), MSLCM_LC2013::slowDownForBlocked(), MSLCM_SL2015::slowDownForBlocked(), MSLCM_SL2015::updateExpectedSublaneSpeeds(), MSLCM_DK2008::wantsChangeToLeft(), and MSLCM_DK2008::wantsChangeToRight().

double MSAbstractLaneChangeModel::myCommittedSpeed
protected

the speed when committing to a change maneuver

Definition at line 454 of file MSAbstractLaneChangeModel.h.

Referenced by MSLCM_SL2015::commitManoeuvre(), getCommittedSpeed(), and prepareStep().

double MSAbstractLaneChangeModel::myLaneChangeCompletion
protected

progress of the lane change maneuver 0:started, 1:complete

Definition at line 457 of file MSAbstractLaneChangeModel.h.

Referenced by endLaneChangeManeuver(), getAngleOffset(), getShadowLane(), isChangingLanes(), pastMidpoint(), remainingTime(), startLaneChangeManeuver(), and updateCompletion().

int MSAbstractLaneChangeModel::myLaneChangeDirection
protected

direction of the lane change maneuver -1 means right, 1 means left

Definition at line 460 of file MSAbstractLaneChangeModel.h.

Referenced by getAngleOffset(), getLaneChangeDirection(), getShadowDirection(), and startLaneChangeManeuver().

double MSAbstractLaneChangeModel::myLastFollowerGap
protected

Definition at line 492 of file MSAbstractLaneChangeModel.h.

Referenced by prepareStep(), primaryLaneChanged(), and setFollowerGaps().

double MSAbstractLaneChangeModel::myLastFollowerSecureGap
protected

Definition at line 495 of file MSAbstractLaneChangeModel.h.

Referenced by prepareStep(), primaryLaneChanged(), and setFollowerGaps().

SUMOTime MSAbstractLaneChangeModel::myLastLaneChangeOffset
private

Definition at line 512 of file MSAbstractLaneChangeModel.h.

Referenced by getLastLaneChangeOffset(), initLastLaneChangeOffset(), and unchanged().

double MSAbstractLaneChangeModel::myLastLateralGapLeft
protected

the minimum lateral gaps to other vehicles that were found when last changing to the left and right

Definition at line 487 of file MSAbstractLaneChangeModel.h.

Referenced by MSLCM_SL2015::keepLatGap(), prepareStep(), primaryLaneChanged(), and MSLCM_SL2015::updateGaps().

double MSAbstractLaneChangeModel::myLastLateralGapRight
protected

Definition at line 488 of file MSAbstractLaneChangeModel.h.

Referenced by MSLCM_SL2015::keepLatGap(), prepareStep(), primaryLaneChanged(), and MSLCM_SL2015::updateGaps().

double MSAbstractLaneChangeModel::myLastLeaderGap
protected

the actual minimum longitudinal distances to vehicles on the target lane

Definition at line 491 of file MSAbstractLaneChangeModel.h.

Referenced by prepareStep(), primaryLaneChanged(), and setLeaderGaps().

double MSAbstractLaneChangeModel::myLastLeaderSecureGap
protected

the minimum longitudinal distances to vehicles on the target lane that would be necessary for stringent security

Definition at line 494 of file MSAbstractLaneChangeModel.h.

Referenced by prepareStep(), primaryLaneChanged(), and setLeaderGaps().

bool MSAbstractLaneChangeModel::myLCOutput
staticprotected

whether to record lane-changing

Definition at line 505 of file MSAbstractLaneChangeModel.h.

Referenced by haveLCOutput(), initGlobalOptions(), and primaryLaneChanged().

const LaneChangeModel MSAbstractLaneChangeModel::myModel
protected

the type of this model

Definition at line 477 of file MSAbstractLaneChangeModel.h.

Referenced by decideDirection(), MSLCM_LC2013::getParameter(), MSLCM_SL2015::getParameter(), getParameter(), MSLCM_LC2013::setParameter(), MSLCM_SL2015::setParameter(), setParameter(), updateExpectedSublaneSpeeds(), wantsChange(), and wantsChangeSublane().

std::vector<MSLane*> MSAbstractLaneChangeModel::myNoPartiallyOccupatedByShadow
protected

Definition at line 484 of file MSAbstractLaneChangeModel.h.

Referenced by cleanupShadowLane(), endLaneChangeManeuver(), getShadowLane(), and setNoShadowPartialOccupator().

int MSAbstractLaneChangeModel::myOwnState
protected

The current state of the vehicle.

Definition at line 447 of file MSAbstractLaneChangeModel.h.

Referenced by MSLCM_LC2013::_patchSpeed(), MSLCM_SL2015::_patchSpeed(), MSLCM_LC2013::_wantsChange(), MSLCM_SL2015::_wantsChangeSublane(), MSLCM_DK2008::amBlockingFollower(), MSLCM_SL2015::amBlockingFollower(), MSLCM_LC2013::amBlockingFollower(), MSLCM_DK2008::amBlockingFollowerNB(), MSLCM_SL2015::amBlockingFollowerNB(), MSLCM_LC2013::amBlockingFollowerNB(), MSLCM_DK2008::amBlockingFollowerPlusNB(), MSLCM_SL2015::amBlockingFollowerPlusNB(), MSLCM_LC2013::amBlockingFollowerPlusNB(), MSLCM_DK2008::amBlockingLeader(), MSLCM_SL2015::amBlockingLeader(), MSLCM_LC2013::amBlockingLeader(), MSLCM_DK2008::changed(), MSLCM_LC2013::changed(), MSLCM_SL2015::changed(), getOwnState(), MSLCM_DK2008::inform(), MSLCM_LC2013::inform(), MSLCM_SL2015::inform(), MSLCM_DK2008::patchSpeed(), MSLCM_DK2008::prepareStep(), MSLCM_LC2013::prepareStep(), MSLCM_SL2015::prepareStep(), primaryLaneChanged(), setOwnState(), MSLCM_DK2008::wantsChangeToLeft(), and MSLCM_DK2008::wantsChangeToRight().

std::vector<MSLane*> MSAbstractLaneChangeModel::myPartiallyOccupatedByShadow
protected

list of lanes where the shadow vehicle is partial occupator

Definition at line 480 of file MSAbstractLaneChangeModel.h.

Referenced by setShadowPartialOccupator().

std::map<int, std::pair<int, int> > MSAbstractLaneChangeModel::mySavedStates
protected

Definition at line 448 of file MSAbstractLaneChangeModel.h.

Referenced by getSavedState(), and saveState().

std::vector<MSLane*> MSAbstractLaneChangeModel::myShadowFurtherLanes
protected

Definition at line 470 of file MSAbstractLaneChangeModel.h.

Referenced by cleanupShadowLane(), getShadowFurtherLanes(), and updateShadowLane().

std::vector<double> MSAbstractLaneChangeModel::myShadowFurtherLanesPosLat
protected

Definition at line 471 of file MSAbstractLaneChangeModel.h.

Referenced by getShadowFurtherLanesPosLat(), and updateShadowLane().

MSLane* MSAbstractLaneChangeModel::myShadowLane
protected

A lane that is partially occupied by the front of the vehicle but that is not the primary lane.

Definition at line 466 of file MSAbstractLaneChangeModel.h.

Referenced by cleanupShadowLane(), getShadowDirection(), getShadowLane(), setShadowLane(), and updateShadowLane().

double MSAbstractLaneChangeModel::mySpeedLat
protected

the current lateral speed

Definition at line 451 of file MSAbstractLaneChangeModel.h.

Referenced by MSLCM_SL2015::computeSpeedLat(), getSpeedLat(), setSpeedLat(), startLaneChangeManeuver(), and MSLCM_SL2015::wantsChangeSublane().

MSVehicle& MSAbstractLaneChangeModel::myVehicle
protected

The vehicle this lane-changer belongs to.

Definition at line 444 of file MSAbstractLaneChangeModel.h.

Referenced by MSLCM_LC2013::_patchSpeed(), MSLCM_SL2015::_patchSpeed(), MSLCM_LC2013::_wantsChange(), MSLCM_SL2015::_wantsChangeSublane(), MSLCM_LC2013::adaptSpeedToPedestrians(), cancelRequest(), MSLCM_LC2013::changed(), MSLCM_SL2015::changed(), MSLCM_SL2015::checkBlocking(), MSLCM_SL2015::checkStrategicChange(), cleanupShadowLane(), MSLCM_SL2015::commitFollowSpeed(), MSLCM_SL2015::commitManoeuvre(), MSLCM_SL2015::computeSpeedGain(), MSLCM_SL2015::computeSpeedLat(), congested(), MSLCM_SL2015::decideDirection(), endLaneChangeManeuver(), MSLCM_LC2013::getRoundaboutAheadInfo(), getShadowDirection(), getShadowLane(), MSLCM_SL2015::getSublaneWidth(), MSLCM_SL2015::getWidth(), MSLCM_LC2013::inform(), MSLCM_SL2015::inform(), MSLCM_DK2008::informBlocker(), MSLCM_LC2013::informFollower(), MSLCM_SL2015::informFollower(), MSLCM_LC2013::informLeader(), MSLCM_SL2015::informLeader(), MSLCM_SL2015::informLeaders(), MSLCM_SL2015::keepLatGap(), MSLCM_SL2015::msg(), MSLCM_LC2013::MSLCM_LC2013(), MSLCM_DK2008::patchSpeed(), MSLCM_LC2013::patchSpeed(), MSLCM_SL2015::patchSpeed(), predInteraction(), MSLCM_SL2015::prepareStep(), primaryLaneChanged(), removeShadowApproachingInformation(), MSLCM_SL2015::saveBlockerLength(), MSLCM_LC2013::saveBlockerLength(), setFollowerGaps(), setLeaderGaps(), MSLCM_SL2015::setOwnState(), setOwnState(), MSLCM_LC2013::slowDownForBlocked(), MSLCM_SL2015::slowDownForBlocked(), startLaneChangeManeuver(), MSLCM_SL2015::updateCFRelated(), MSLCM_SL2015::updateExpectedSublaneSpeeds(), MSLCM_SL2015::updateGaps(), updateShadowLane(), MSLCM_LC2013::wantsChange(), MSLCM_SL2015::wantsChange(), MSLCM_SL2015::wantsChangeSublane(), MSLCM_DK2008::wantsChangeToLeft(), and MSLCM_DK2008::wantsChangeToRight().

const double MSAbstractLaneChangeModel::NO_NEIGHBOR
static

Definition at line 431 of file MSAbstractLaneChangeModel.h.

Referenced by MSLaneChanger::checkChange(), MSLCM_SL2015::keepLatGap(), prepareStep(), and primaryLaneChanged().

The documentation for this class was generated from the following files: