agi.foundation.routedesign

(agi.foundation.routedesign-2024r2.jar)

Class FollowPathProcedure

java.lang.Object

agi.foundation.infrastructure.DefinitionalObject

agi.foundation.routedesign.RouteSegment

agi.foundation.routedesign.RouteProcedure

agi.foundation.routedesign.FollowPathProcedure

All Implemented Interfaces:

ICloneWithContext, IEnumerateDependencies, IEquatableDefinition, IFreezable

public class FollowPathProcedure
extends RouteProcedure

A procedure that follows a path specified by a set of vertices, with turns inscribed at each vertex. This is useful for ground vehicles traversing map data or when specifying a sequence of waypoints with a common RouteProfile. The position will move in rhumb lines of constant heading between vertices and turn toward the next vertex just prior to reaching each vertex (see InscribedTurnProcedure). If there isn't enough room to inscribe a turn, it will turn after the vertex.

Constructor Summary

Constructors

Modifier	Constructor and Description
	FollowPathProcedure() Create a new instance.
	FollowPathProcedure(Ellipsoid surfaceShape, List<Cartographic> vertices, double turningRadius, ConstantHeightProfile profile) Create a new instance based on the given set of vertices and specified profile.
	FollowPathProcedure(Ellipsoid surfaceShape, List<Cartographic> vertices, double turningRadius, double speed, double height, RouteHeightReference heightReference) Create a new instance based on the given set of vertices.
protected	FollowPathProcedure(FollowPathProcedure existingInstance, CopyContext context) Initializes a new instance as a copy of an existing instance.
	FollowPathProcedure(TerrainProvider terrainSurface, List<Cartographic> vertices, double turningRadius, double speed, double height) Create a new instance based on the given set of vertices with respect to the terrain surface.

Method Summary

Modifier and Type	Method and Description
protected boolean	checkForSameDefinition(FollowPathProcedure other) Checks to determine if another instance has the same definition as this instance and returns true if it does.
protected boolean	checkForSameDefinition(RouteProcedure other) Checks to determine if another instance has the same definition as this instance and returns true if it does.
Object	clone(CopyContext context) Clones this object using the specified context.
protected int	computeCurrentDefinitionHashCode() Computes a hash code based on the current properties of this object.
ConfigurableProfile	createConfigurableProfile(SurfaceSegment surfacePath) Create a profile based on the given settings that the RoutePropagator can use to configure this profile in relation to all other profiles along the route.
ConstantHeightProfile	getProfile() Gets the profile to use for the speed and height of the path.
ConfigurableSurfaceProcedure	getSurfacePath() Get an object that will allow configuration of the surface geometry as it connects with other procedures.
Ellipsoid	getSurfaceShape() Gets the shape of the surface over which the path is defined.
double	getTurningRadius() Gets the turning radius, in meters.
List<Cartographic>	getVertices() Gets the list of vertices that define the waypoints of the path.
void	setProfile(ConstantHeightProfile value) Sets the profile to use for the speed and height of the path.
void	setSurfaceShape(Ellipsoid value) Sets the shape of the surface over which the path is defined.
void	setTurningRadius(double value) Sets the turning radius, in meters.

Methods inherited from class agi.foundation.routedesign.RouteProcedure

checkForSameDefinition

Methods inherited from class agi.foundation.routedesign.RouteSegment

checkForSameDefinition

Methods inherited from class agi.foundation.infrastructure.DefinitionalObject

areSameDefinition, areSameDefinition, areSameDefinition, areSameDefinition, areSameDefinition, collectionItemsAreSameDefinition, collectionItemsAreSameDefinition, collectionItemsAreSameDefinition, dictionaryItemsAreSameDefinition, enumerateDependencies, freeze, freezeAggregatedObjects, getCollectionHashCode, getCollectionHashCode, getCollectionHashCode, getDefinitionHashCode, getDefinitionHashCode, getDefinitionHashCode, getDefinitionHashCode, getDefinitionHashCode, getDefinitionHashCode, getDictionaryHashCode, getIsFrozen, isSameDefinition, throwIfFrozen

Methods inherited from class java.lang.Object

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

Constructor Detail

FollowPathProcedure

public FollowPathProcedure()

Create a new instance.

FollowPathProcedure

public FollowPathProcedure(TerrainProvider terrainSurface,
                           List<Cartographic> vertices,
                           double turningRadius,
                           double speed,
                           double height)

Create a new instance based on the given set of vertices with respect to the terrain surface.

Parameters:

terrainSurface - The terrain provider that defines the reference surface for the vehicle.

vertices - The vertices defining a path along the surface.

turningRadius - The turning radius to use when turning from one segment to the next, in meters.

speed - The target speed of the platform along the path, in meters per second.

height - The height of the platform with respect to the terrain, in meters.

FollowPathProcedure

public FollowPathProcedure(Ellipsoid surfaceShape,
                           List<Cartographic> vertices,
                           double turningRadius,
                           double speed,
                           double height,
                           @Nonnull
                           RouteHeightReference heightReference)

Create a new instance based on the given set of vertices.

Parameters:

surfaceShape - The shape of the surface over which to traverse.

vertices - The list of vertices that define the waypoints of the path.

turningRadius - The turning radius to use when turning at waypoints, in meters.

speed - The speed at which to move along the surface, in meters per second.

height - The height above the surface at which to traverse the path, in meters.

heightReference - An enumeration indicating with respect to which reference surface the given height is defined.

FollowPathProcedure

public FollowPathProcedure(Ellipsoid surfaceShape,
                           List<Cartographic> vertices,
                           double turningRadius,
                           ConstantHeightProfile profile)

Create a new instance based on the given set of vertices and specified profile.

To specify the position driving along a road whose surface is defined above a terrain reference surface, use a ConstantHeightProfile with its reference surface set to the respective TerrainProvider.

Parameters:

surfaceShape - The shape of the surface over which to traverse.

vertices - The list of vertices that define the waypoints of the path.

turningRadius - The turning radius to use when turning at waypoints, in meters.

profile - The profile specifying the height and the speed along the path.

FollowPathProcedure

protected FollowPathProcedure(@Nonnull
                              FollowPathProcedure existingInstance,
                              @Nonnull
                              CopyContext context)

Initializes a new instance as a copy of an existing instance.

See ICloneWithContext.clone(CopyContext) for more information about how to implement this constructor in a derived class.

Parameters:

existingInstance - The existing instance to copy.

context - A CopyContext that controls the depth of the copy.

Throws:

ArgumentNullException - Thrown when existingInstance or context is null.

Method Detail

clone

public Object clone(CopyContext context)

Clones this object using the specified context.

This method should be implemented to call a copy constructor on the class of the object being cloned. The copy constructor should take the CopyContext as a parameter in addition to the existing instance to copy. The copy constructor should first call CopyContext.addObjectMapping(T, T) to identify the newly constructed instance as a copy of the existing instance. It should then copy all fields, using CopyContext.updateReference(T) to copy any reference fields.

A typical implementation of ICloneWithContext:

public static class MyClass implements ICloneWithContext {
    public MyClass(MyClass existingInstance, CopyContext context) {
        context.addObjectMapping(existingInstance, this);
        someReference = context.updateReference(existingInstance.someReference);
    }

    @Override
    public final Object clone(CopyContext context) {
        return new MyClass(this, context);
    }

    private Object someReference;
}

In general, all fields that are reference types should be copied with a call to CopyContext.updateReference(T). There are a couple of exceptions:

1. Fields that are aggregate parts of the object should always be copied. A referenced object is an aggregate if properties or methods on the object being copied can modify the externally-visible value of the referenced object.
2. If the semantics of the referenced object require that it have a single parent, owner, context, etc., and the object being copied is that parent, owner, or context, then the referenced object should always be copied.

If one of these exceptions applies, the CopyContext should be given an opportunity to update the reference before the reference is copied explicitly. Use CopyContext.updateReference(T) to update the reference. If CopyContext.updateReference(T) returns the original object, indicating that the context does not have a replacement registered, then copy the object manually by invoking a Clone method, a copy constructor, or by manually constructing a new instance and copying the values.

alwaysCopy = context.updateReference(existingInstance.alwaysCopy);
if (existingInstance.alwaysCopy != null && alwaysCopy == existingInstance.alwaysCopy) {
    alwaysCopy = (AlwaysCopy) existingInstance.alwaysCopy.clone(context);
}

If you are implementing an evaluator (a class that implements IEvaluator), the IEvaluator.updateEvaluatorReferences(agi.foundation.infrastructure.CopyContext) method shares some responsibilities with the copy context constructor. Code duplication can be avoided by doing the following:

1. For references to other evaluators ONLY, simply assign the reference in the constructor instead of calling CopyContext.updateReference(T). You should still call CopyContext.updateReference(T) on any references to non-evaluators.
2. Call IEvaluator.updateEvaluatorReferences(agi.foundation.infrastructure.CopyContext) as the last line in the constructor and pass it the same CopyContext passed to the constructor.
3. Implement IEvaluator.updateEvaluatorReferences(agi.foundation.infrastructure.CopyContext) as normal. See the reference documentation for IEvaluator.updateEvaluatorReferences(agi.foundation.infrastructure.CopyContext) for more information on implementing that method.

public MyClass(MyClass existingInstance, CopyContext context) {
    super(existingInstance, context);
    someReference = context.updateReference(existingInstance.someReference);
    evaluatorReference = existingInstance.evaluatorReference;
    updateEvaluatorReferences(context);
}

@Override
public void updateEvaluatorReferences(CopyContext context) {
    evaluatorReference = context.updateReference(evaluatorReference);
}

@Override
public Object clone(CopyContext context) {
    return new MyClass(this, context);
}

private Object someReference;
private IEvaluator evaluatorReference;

Specified by:

clone in interface ICloneWithContext

Specified by:

clone in class DefinitionalObject

Parameters:

context - The context to use to perform the copy.

Returns:

A new instance which is a copy of this object.

checkForSameDefinition

protected final boolean checkForSameDefinition(RouteProcedure other)

Checks to determine if another instance has the same definition as this instance and returns true if it does. Derived classes MUST override this method and check all new fields introduced by the derived class for definitional equivalence. It is NOT necessary to check base class fields because the base class will already have done that. When overriding this method, you should NOT call the base implementation because it will return false for all derived-class instances. Derived classes should check the type of other to preserve the symmetric nature of IEquatableDefinition.isSameDefinition(java.lang.Object).

Specified by:

checkForSameDefinition in class RouteProcedure

Parameters:

other - The other instance to compare to this one.

Returns:

true if the two objects are defined equivalently; otherwise false.

checkForSameDefinition

protected boolean checkForSameDefinition(FollowPathProcedure other)

Checks to determine if another instance has the same definition as this instance and returns true if it does. Derived classes MUST override this method and check all new fields introduced by the derived class for definitional equivalence. It is NOT necessary to check base class fields because the base class will already have done that. When overriding this method, you should NOT call the base implementation because it will return false for all derived-class instances. Derived classes should check the type of other to preserve the symmetric nature of IEquatableDefinition.isSameDefinition(java.lang.Object).

Parameters:

other - The other instance to compare to this one.

Returns:

true if the two objects are defined equivalently; otherwise false.

computeCurrentDefinitionHashCode

protected int computeCurrentDefinitionHashCode()

Computes a hash code based on the current properties of this object. Derived classes MUST override this method and compute a hash code that combines: a unique hash code seed, the base implementation result, and the hash codes of all new fields introduced by the derived class which are used in the FollowPathProcedure.checkForSameDefinition(agi.foundation.routedesign.RouteProcedure) method.

Overrides:

computeCurrentDefinitionHashCode in class RouteProcedure

Returns:

The computed hash code.

getSurfaceShape

public final Ellipsoid getSurfaceShape()

Gets the shape of the surface over which the path is defined.

setSurfaceShape

public final void setSurfaceShape(Ellipsoid value)

Sets the shape of the surface over which the path is defined.

getTurningRadius

public final double getTurningRadius()

Gets the turning radius, in meters.

setTurningRadius

public final void setTurningRadius(double value)

Sets the turning radius, in meters.

getVertices

public final List<Cartographic> getVertices()

Gets the list of vertices that define the waypoints of the path.

getProfile

public final ConstantHeightProfile getProfile()

Gets the profile to use for the speed and height of the path.

setProfile

public final void setProfile(ConstantHeightProfile value)

Sets the profile to use for the speed and height of the path.

getSurfacePath

public ConfigurableSurfaceProcedure getSurfacePath()

Get an object that will allow configuration of the surface geometry as it connects with other procedures.

This is used by the RoutePropagator to ensure smooth connection between procedures.

Specified by:

getSurfacePath in class RouteProcedure

Returns:

The configurable surface geometry.

createConfigurableProfile

public ConfigurableProfile createConfigurableProfile(SurfaceSegment surfacePath)

Create a profile based on the given settings that the RoutePropagator can use to configure this profile in relation to all other profiles along the route.

Specified by:

createConfigurableProfile in class RouteSegment

Parameters:

surfacePath - The surface path over which the profile is defined.

Returns:

The configurable profile used by the RoutePropagator to configure the route.