AgentModel.h

// Copyright (c) 2020 Institute for Automotive Engineering (ika), RWTH Aachen University. All rights reserved.
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
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// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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// Created by Jens Klimke on 2019-03-23.
// Contributors:
//
// AgentModel.h

#ifndef AGENT_MODEL_H
#define AGENT_MODEL_H

#include "Interface.h"
#include "VelocityHorizon.h"
#include "StopHorizon.h"
#include "Filter.h"
#include "DistanceTimeInterval.h"


class AgentModel : public agent_model::Interface {


protected:

    agent_model::StopHorizon _stop_horizon{};                         
    agent_model::VelocityHorizon _vel_horizon{};                      
    agent_model::Filter _filter{};                                    
    agent_model::DistanceTimeInterval _lateral_offset_interval;       
    agent_model::DistanceTimeInterval _lane_change_process_interval;  


public:


    AgentModel() = default;


    ~AgentModel() override = default;


    void init();


    void step(double simulationTime);


protected:

    void decisionProcessStop();


    void decisionLaneChange();


    void decisionLateralOffset();


    void consciousVelocity();


    void consciousStop();


    void consciousFollow();

    void consciousLaneChange();


    void consciousLateralOffset();


    void consciousReferencePoints();


    double subconsciousLateralControl();


    double subconsciousFollow();


    double subconsciousStop();


    double subconsciousSpeed();


    double subconsciousStartStop();


};


#endif // AGENT_MODEL_H