Renamed property benefit/cost to property impact

src/de/tudarmstadt/maki/simonstrator/api/component/sensor/environment/costs/DefaultVehicularPropertyCostEstimator.java → src/de/tudarmstadt/maki/simonstrator/api/component/sensor/environment/costs/ConfigurableVehicularPropertyImpactEstimator.java

@@ -20,12 +20,6 @@
 
 package de.tudarmstadt.maki.simonstrator.api.component.sensor.environment.costs;
 
-import java.util.ArrayList;
-import java.util.Collections;
-import java.util.HashSet;
-import java.util.List;
-import java.util.Set;
-
 import de.tudarmstadt.maki.simonstrator.api.component.pubsub.Notification;
 import de.tudarmstadt.maki.simonstrator.api.component.sensor.environment.data.properties.BumpProperty;
 import de.tudarmstadt.maki.simonstrator.api.component.sensor.environment.data.properties.FogProperty;
@@ -37,22 +31,11 @@ import de.tudarmstadt.maki.simonstrator.api.component.sensor.environment.data.pr
 import de.tudarmstadt.maki.simonstrator.api.component.sensor.environment.data.properties.TrafficSignProperty;
 import de.tudarmstadt.maki.simonstrator.api.component.vehicular.information.EnvironmentInformation;
 import de.tudarmstadt.maki.simonstrator.api.component.vehicular.information.RoadInformation;
-import de.tudarmstadt.maki.simonstrator.api.component.vehicular.roadnetwork.RoadNetwork;
-import de.tudarmstadt.maki.simonstrator.api.component.vehicular.roadnetwork.RoadNetworkEdge;
-import de.tudarmstadt.maki.simonstrator.api.component.vehicular.roadnetwork.RoadNetworkRoute;
-import de.tudarmstadt.maki.simonstrator.api.component.vehicular.roadnetwork.paths.VehiclePathTracker;
-import de.tudarmstadt.maki.simonstrator.api.component.vehicular.roadnetwork.paths.VehiclePathTrackerFactory;
-import de.tudarmstadt.maki.simonstrator.api.component.vehicular.roadnetwork.routing.DijkstraAlgorithm;
-import de.tudarmstadt.maki.simonstrator.api.component.vehicular.roadnetwork.routing.RoutingAlgorithm;
-
-public class DefaultVehicularPropertyCostEstimator implements VehicularPropertyCostEstimator {
 
-	private static final int MAX_DETOUR = 3;
-
-	private RoutingAlgorithm routing = new DijkstraAlgorithm();
+public class ConfigurableVehicularPropertyImpactEstimator implements VehicularPropertyImpactEstimator {
 
 	@Override
-	public double calculateCostsIfKnown(Class<? extends RoadProperty> pProperty) {
+	public double calculateImpactIfKnown(Class<? extends RoadProperty> pProperty) {
 		if (pProperty.equals(JamProperty.class)) {
 			return 3 * Math.pow(10, 2);
 		} else if (pProperty.equals(RainProperty.class)) {
@@ -68,108 +51,31 @@ public class DefaultVehicularPropertyCostEstimator implements VehicularPropertyC
 	}
 
 	@Override
-	public double calculateCostsIfKnown(Notification pNotification) {
+	public double calculateImpactIfKnown(Notification pNotification) {
 		EnvironmentInformation<? extends LocationBasedEnvironmentProperty> environmentInformation = EnvironmentInformation
 				.createFromNotification(pNotification);
 
 		if (environmentInformation instanceof RoadInformation) {
-			return calculateCostsIfKnown(((RoadInformation) environmentInformation).getValue());
+			return calculateImpactIfKnown(((RoadInformation) environmentInformation).getValue());
 		}
 
 		throw new AssertionError("Cost calculation only valid for road information!");
 	}
 
 	@Override
-	public List<DecisionPoint> getDecisionPoints(Notification pNotification) {
+	public double calculateImpactIfUnknown(Notification pNotification) {
 		EnvironmentInformation<? extends LocationBasedEnvironmentProperty> environmentInformation = EnvironmentInformation
 				.createFromNotification(pNotification);
 
 		if (environmentInformation instanceof RoadInformation) {
-			RoadInformation roadInformation = (RoadInformation) environmentInformation;
-
-			List<DecisionPoint> decisionPoints = new ArrayList<>();
-
-			decisionPoints.add(new VehicularDecisionPoint(roadInformation.getEdge(), roadInformation.getLocation(),
-					calculateCostsIfKnown(roadInformation.getValue())));
-
-			if (roadInformation.getValue().isDetourable()) {
-				Set<RoadNetworkEdge> edges = new HashSet<>();
-				edges.add(roadInformation.getEdge());
-				for (int i = 0; i < MAX_DETOUR; i++) {
-					Set<RoadNetworkEdge> newEdges = new HashSet<>();
-					for (RoadNetworkEdge roadNetworkEdge : edges) {
-						newEdges.addAll(roadNetworkEdge.getIncomingEdges());
-					}
-					edges.addAll(newEdges);
-				}
-
-				for (RoadNetworkEdge roadNetworkEdge : edges) {
-					decisionPoints.add(new VehicularDetouringDecisionPoint(roadNetworkEdge, roadInformation.getEdge(),
-							roadInformation.getLocation(), calculateCostsIfKnown(roadInformation.getValue())));
-				}
-			}
-
-			return decisionPoints;
+			return calculateImpactIfUnknown(((RoadInformation) environmentInformation).getValue());
 		}
 
 		throw new AssertionError("Cost calculation only valid for road information!");
 	}
 
 	@Override
-	public double calculateCostsIfKnown(RoadProperty pProperty, RoadNetworkEdge pDecisionPoint,
-			VehicleCostPreference pVehicle, RoadNetworkRoute pPath) {
-		VehiclePathTracker tracker = VehiclePathTrackerFactory.getVehiclePathTracker();
-		if (pPath.containsEdge(pDecisionPoint) && pPath.containsEdge(pProperty.getEdge())) {
-			if (pPath.getStart().equals(pProperty.getEdge())) {
-				return calculateCostsIfKnown(pProperty);
-			}
-			if (pProperty.isDetourable()) {
-				// Find other route...
-				List<RoadNetworkEdge> edgesToAvoid = new ArrayList<>();
-				edgesToAvoid.add(pProperty.getEdge());
-				RoadNetworkRoute route = routing.findRoute(RoadNetwork.CURRENT_ROAD_NETWORK, pPath.getStart(),
-						pPath.getDestination(), Collections.emptyList(), edgesToAvoid);
-
-				if (route != null) {
-					double newRouteTravelTime = route.getTravelTime();
-					double routeTravelTime = pPath.getTravelTime();
-
-					boolean found = false;
-					for (int i = 0; i < pPath.getRoute().size() - 1; i++) {
-						if (pPath.getRoute().get(i).equals(pProperty.getEdge())) {
-							routeTravelTime -= tracker.getTravelTime(pPath.getRoute().get(i),
-									pPath.getRoute().get(i + 1));
-							found = true;
-						}
-					}
-					if (found) {
-						routeTravelTime += (pProperty.getEdge().getLength() / pProperty.getEdge().getMaxSpeed());
-					}
-
-					if (routeTravelTime > newRouteTravelTime) {
-						return calculateCostsIfKnown(pProperty) + (routeTravelTime - newRouteTravelTime) * 10;
-					}
-				}
-			}
-		}
-
-		return calculateCostsIfKnown(pProperty);
-	}
-
-	@Override
-	public double calculateCostsIfUnknown(Notification pNotification) {
-		EnvironmentInformation<? extends LocationBasedEnvironmentProperty> environmentInformation = EnvironmentInformation
-				.createFromNotification(pNotification);
-
-		if (environmentInformation instanceof RoadInformation) {
-			return calculateCostsIfUnknown(((RoadInformation) environmentInformation).getValue());
-		}
-
-		throw new AssertionError("Cost calculation only valid for road information!");
-	}
-
-	@Override
-	public double calculateCostsIfUnknown(Class<? extends RoadProperty> pProperty) {
+	public double calculateImpactIfUnknown(Class<? extends RoadProperty> pProperty) {
 		if (pProperty.equals(JamProperty.class)) {
 			return Math.pow(10, 4);
 		} else if (pProperty.equals(BumpProperty.class)) {
@@ -180,10 +86,4 @@ public class DefaultVehicularPropertyCostEstimator implements VehicularPropertyC
 		return 1;
 	}
 
-	@Override
-	public double calculateCostsIfUnknown(RoadProperty pProperty, RoadNetworkEdge pDecisionPoint,
-			VehicleCostPreference pVehicle, RoadNetworkRoute pPath) {
-		return 0;
-	}
-
 }

src/de/tudarmstadt/maki/simonstrator/api/component/sensor/environment/costs/DefaultVehicularPropertyImpactEstimator.java

+/*
+ * Copyright (c) 2005-2010 KOM – Multimedia Communications Lab
+ *
+ * This file is part of Simonstrator.KOM.
+ * 
+ * Simonstrator.KOM is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * any later version.
+ * 
+ * PeerfactSim.KOM is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ * 
+ * You should have received a copy of the GNU General Public License
+ * along with PeerfactSim.KOM.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+package de.tudarmstadt.maki.simonstrator.api.component.sensor.environment.costs;
+
+import de.tudarmstadt.maki.simonstrator.api.component.pubsub.Notification;
+import de.tudarmstadt.maki.simonstrator.api.component.sensor.environment.data.properties.BumpProperty;
+import de.tudarmstadt.maki.simonstrator.api.component.sensor.environment.data.properties.FogProperty;
+import de.tudarmstadt.maki.simonstrator.api.component.sensor.environment.data.properties.HazardProperty;
+import de.tudarmstadt.maki.simonstrator.api.component.sensor.environment.data.properties.JamProperty;
+import de.tudarmstadt.maki.simonstrator.api.component.sensor.environment.data.properties.LocationBasedEnvironmentProperty;
+import de.tudarmstadt.maki.simonstrator.api.component.sensor.environment.data.properties.RainProperty;
+import de.tudarmstadt.maki.simonstrator.api.component.sensor.environment.data.properties.RoadProperty;
+import de.tudarmstadt.maki.simonstrator.api.component.sensor.environment.data.properties.TrafficSignProperty;
+import de.tudarmstadt.maki.simonstrator.api.component.vehicular.information.EnvironmentInformation;
+import de.tudarmstadt.maki.simonstrator.api.component.vehicular.information.RoadInformation;
+
+public class DefaultVehicularPropertyImpactEstimator implements VehicularPropertyImpactEstimator {
+
+	@Override
+	public double calculateImpactIfKnown(Class<? extends RoadProperty> pProperty) {
+		if (pProperty.equals(JamProperty.class)) {
+			return 3 * Math.pow(10, 2);
+		} else if (pProperty.equals(RainProperty.class)) {
+			return 1;
+		} else if (pProperty.equals(FogProperty.class)) {
+			return 1;
+		} else if (pProperty.equals(HazardProperty.class)) {
+			return Math.pow(10, 3);
+		} else if (pProperty.equals(TrafficSignProperty.class)) {
+			return 10;
+		}
+		return 10;
+	}
+
+	@Override
+	public double calculateImpactIfKnown(Notification pNotification) {
+		EnvironmentInformation<? extends LocationBasedEnvironmentProperty> environmentInformation = EnvironmentInformation
+				.createFromNotification(pNotification);
+
+		if (environmentInformation instanceof RoadInformation) {
+			return calculateImpactIfKnown(((RoadInformation) environmentInformation).getValue());
+		}
+
+		throw new AssertionError("Cost calculation only valid for road information!");
+	}
+
+	@Override
+	public double calculateImpactIfUnknown(Notification pNotification) {
+		EnvironmentInformation<? extends LocationBasedEnvironmentProperty> environmentInformation = EnvironmentInformation
+				.createFromNotification(pNotification);
+
+		if (environmentInformation instanceof RoadInformation) {
+			return calculateImpactIfUnknown(((RoadInformation) environmentInformation).getValue());
+		}
+
+		throw new AssertionError("Cost calculation only valid for road information!");
+	}
+
+	@Override
+	public double calculateImpactIfUnknown(Class<? extends RoadProperty> pProperty) {
+		if (pProperty.equals(JamProperty.class)) {
+			return Math.pow(10, 4);
+		} else if (pProperty.equals(BumpProperty.class)) {
+			return Math.pow(10, -2);
+		} else if (pProperty.equals(HazardProperty.class)) {
+			return Math.pow(10, 6);
+		}
+		return 1;
+	}
+
+}

src/de/tudarmstadt/maki/simonstrator/api/component/sensor/environment/costs/PropertyBenefitEstimator.java → src/de/tudarmstadt/maki/simonstrator/api/component/sensor/environment/costs/PropertyImpactEstimator.java

@@ -20,14 +20,10 @@
 
 package de.tudarmstadt.maki.simonstrator.api.component.sensor.environment.costs;
 
-import java.util.List;
-
 import de.tudarmstadt.maki.simonstrator.api.component.pubsub.Notification;
 
-public interface PropertyBenefitEstimator {
-	double calculateCostsIfKnown(Notification pNotification);
-
-	double calculateCostsIfUnknown(Notification pNotification);
+public interface PropertyImpactEstimator {
+	double calculateImpactIfKnown(Notification pNotification);
 
-	List<DecisionPoint> getDecisionPoints(Notification pNotification);
+	double calculateImpactIfUnknown(Notification pNotification);
 }

src/de/tudarmstadt/maki/simonstrator/api/component/sensor/environment/costs/PropertyImpactEstimatorFactory.java

+/*
+ * Copyright (c) 2005-2010 KOM – Multimedia Communications Lab
+ *
+ * This file is part of Simonstrator.KOM.
+ * 
+ * Simonstrator.KOM is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * any later version.
+ * 
+ * PeerfactSim.KOM is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ * 
+ * You should have received a copy of the GNU General Public License
+ * along with PeerfactSim.KOM.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+package de.tudarmstadt.maki.simonstrator.api.component.sensor.environment.costs;
+
+public class PropertyImpactEstimatorFactory {
+	private static PropertyImpactEstimator _costEstimator = null;
+
+	public void registerPropertyBenefitEstimator(PropertyImpactEstimator pBenefitEstimator) {
+		synchronized (PropertyImpactEstimatorFactory.class) {
+			_costEstimator = pBenefitEstimator;
+		}
+	}
+
+	public static PropertyImpactEstimator getPropertyBenefitEstimator() {
+		synchronized (PropertyImpactEstimatorFactory.class) {
+			if (_costEstimator == null) {
+				System.err.println("No property impact estimator set! Falling back to "
+						+ DefaultVehicularPropertyImpactEstimator.class.getSimpleName());
+				_costEstimator = new DefaultVehicularPropertyImpactEstimator();
+			}
+		}
+		return _costEstimator;
+	}
+}

src/de/tudarmstadt/maki/simonstrator/api/component/sensor/environment/costs/PropertyBenefitEstimatorFactory.java → src/de/tudarmstadt/maki/simonstrator/api/component/sensor/environment/costs/VehicularPropertyImpactEstimator.java

@@ -20,10 +20,18 @@
 
 package de.tudarmstadt.maki.simonstrator.api.component.sensor.environment.costs;
 
-public class PropertyBenefitEstimatorFactory {
-	private static DefaultVehicularPropertyCostEstimator _costEstimator = new DefaultVehicularPropertyCostEstimator();
+import de.tudarmstadt.maki.simonstrator.api.component.sensor.environment.data.properties.RoadProperty;
 
-	public static PropertyBenefitEstimator getPropertyBenefitEstimator() {
-		return _costEstimator;
+public interface VehicularPropertyImpactEstimator extends PropertyImpactEstimator {
+	default double calculateImpactIfKnown(RoadProperty pProperty) {
+		return calculateImpactIfKnown(pProperty.getClass());
 	}
+
+	double calculateImpactIfKnown(Class<? extends RoadProperty> pProperty);
+
+	default double calculateImpactIfUnknown(RoadProperty pProperty) {
+		return calculateImpactIfUnknown(pProperty.getClass());
+	}
+
+	double calculateImpactIfUnknown(Class<? extends RoadProperty> pProperty);
 }

src/de/tudarmstadt/maki/simonstrator/api/component/sensor/environment/generator/JamPropertyGenerator.java

@@ -20,8 +20,8 @@
 
 package de.tudarmstadt.maki.simonstrator.api.component.sensor.environment.generator;
 
-import de.tudarmstadt.maki.simonstrator.api.component.sensor.environment.costs.PropertyBenefitEstimatorFactory;
-import de.tudarmstadt.maki.simonstrator.api.component.sensor.environment.costs.VehicularPropertyCostEstimator;
+import de.tudarmstadt.maki.simonstrator.api.component.sensor.environment.costs.PropertyImpactEstimatorFactory;
+import de.tudarmstadt.maki.simonstrator.api.component.sensor.environment.costs.VehicularPropertyImpactEstimator;
 import de.tudarmstadt.maki.simonstrator.api.component.sensor.environment.data.properties.JamProperty;
 import de.tudarmstadt.maki.simonstrator.api.component.sensor.environment.data.properties.RoadProperty;
 import de.tudarmstadt.maki.simonstrator.api.component.sensor.location.Location;
@@ -32,8 +32,8 @@ public class JamPropertyGenerator implements RoadPropertyGenerator {
 	@Override
 	public RoadProperty generateProperty(Location pLocation, RoadNetworkEdge pEdge) {
 		double travelTime = (pEdge.getLength() / pEdge.getMaxSpeed());
-		double newTravelTime = ((VehicularPropertyCostEstimator) PropertyBenefitEstimatorFactory
-				.getPropertyBenefitEstimator()).calculateCostsIfKnown(JamProperty.class) + travelTime;
+		double newTravelTime = ((VehicularPropertyImpactEstimator) PropertyImpactEstimatorFactory
+				.getPropertyBenefitEstimator()).calculateImpactIfKnown(JamProperty.class) + travelTime;
 		double newSpeed = pEdge.getLength() / newTravelTime;
 		return new JamProperty(pLocation, pEdge, true, newSpeed);
 	}

src/de/tudarmstadt/maki/simonstrator/api/component/vehicular/VehicleDecisionStrategyType.java

@@ -21,5 +21,5 @@
 package de.tudarmstadt.maki.simonstrator.api.component.vehicular;
 
 public enum VehicleDecisionStrategyType {
-	NONE, DUMMY, VISION_ONLY, STATIC_INFO, DYNAMIC_INFO, COMBINED_INFO, OPTIMAL
+	NONE, DUMMY, VISION_ONLY, STATIC_INFO, DYNAMIC_INFO, COMBINED_INFO, OPTIMAL, LATEST
 }

src/de/tudarmstadt/maki/simonstrator/api/component/vehicular/roadnetwork/RoadNetworkEdge.java

@@ -24,9 +24,9 @@ import java.util.ArrayList;
 import java.util.Collections;
 import java.util.List;
 
-import de.tudarmstadt.maki.simonstrator.api.component.sensor.environment.costs.PropertyBenefitEstimator;
-import de.tudarmstadt.maki.simonstrator.api.component.sensor.environment.costs.PropertyBenefitEstimatorFactory;
-import de.tudarmstadt.maki.simonstrator.api.component.sensor.environment.costs.VehicularPropertyCostEstimator;
+import de.tudarmstadt.maki.simonstrator.api.component.sensor.environment.costs.PropertyImpactEstimator;
+import de.tudarmstadt.maki.simonstrator.api.component.sensor.environment.costs.PropertyImpactEstimatorFactory;
+import de.tudarmstadt.maki.simonstrator.api.component.sensor.environment.costs.VehicularPropertyImpactEstimator;
 import de.tudarmstadt.maki.simonstrator.api.component.sensor.environment.data.properties.HazardProperty;
 import de.tudarmstadt.maki.simonstrator.api.component.sensor.environment.data.properties.JamProperty;
 import de.tudarmstadt.maki.simonstrator.api.component.sensor.environment.data.properties.RoadProperty;
@@ -36,6 +36,8 @@ import de.tudarmstadt.maki.simonstrator.api.component.vehicular.api.EdgeControll
 import de.tudarmstadt.maki.simonstrator.api.component.vehicular.roadnetwork.paths.VehiclePathTrackerFactory;
 
 public class RoadNetworkEdge {
+	private static final boolean ENABLE_SPEED_ADAPTATION = false;
+
 	private String _edgeID;
 	private double _angle;
 
@@ -95,20 +97,22 @@ public class RoadNetworkEdge {
 	}
 
 	private void adjustMaxSpeed() {
-		double maxSpeed = getOriginalMaxSpeed();
-		for (RoadProperty roadProperty : _activeProperties) {
-			if (roadProperty instanceof JamProperty) {
-				if (((JamProperty) roadProperty).getAverageSpeed() < maxSpeed) {
-					maxSpeed = ((JamProperty) roadProperty).getAverageSpeed();
-				}
-			} else if (roadProperty instanceof HazardProperty) {
-				if (0.001 < maxSpeed) {
-					maxSpeed = 0.001;
+		if (ENABLE_SPEED_ADAPTATION) {
+			double maxSpeed = getOriginalMaxSpeed();
+			for (RoadProperty roadProperty : _activeProperties) {
+				if (roadProperty instanceof JamProperty) {
+					if (((JamProperty) roadProperty).getAverageSpeed() < maxSpeed) {
+						maxSpeed = ((JamProperty) roadProperty).getAverageSpeed();
+					}
+				} else if (roadProperty instanceof HazardProperty) {
+					if (0.001 < maxSpeed) {
+						maxSpeed = 0.001;
+					}
 				}
 			}
-		}
 
-		changeEdgeMaxSpeed(maxSpeed);
+			changeEdgeMaxSpeed(maxSpeed);
+		}
 	}
 
 	/**
@@ -330,6 +334,10 @@ public class RoadNetworkEdge {
 	}
 
 	public double calculateStandardEdgeCosts() {
+		return calculateStandardDrivingDuration();
+	}
+
+	public double calculateStandardDrivingDuration() {
 		return VehiclePathTrackerFactory.getVehiclePathTracker().getTravelTime(this);
 	}
 
@@ -345,11 +353,11 @@ public class RoadNetworkEdge {
 		if (pProperty != null && pProperty.getDefaultProperty() != null
 				&& !propertyEquals(pProperty, pProperty.getDefaultProperty())) {
 			if (pProperty.getEdge().equals(this)) {
-				PropertyBenefitEstimator benefitEstimator = PropertyBenefitEstimatorFactory
+				PropertyImpactEstimator benefitEstimator = PropertyImpactEstimatorFactory
 						.getPropertyBenefitEstimator();
-				if (benefitEstimator instanceof VehicularPropertyCostEstimator) {
-					additionalCost = ((VehicularPropertyCostEstimator) benefitEstimator)
-							.calculateCostsIfKnown(pProperty);
+				if (benefitEstimator instanceof VehicularPropertyImpactEstimator) {
+					additionalCost = ((VehicularPropertyImpactEstimator) benefitEstimator)
+							.calculateImpactIfKnown(pProperty);
 				} else {
 					throw new AssertionError("VehicularPropertyCostEstimator required!");
 				}
@@ -368,11 +376,11 @@ public class RoadNetworkEdge {
 		double additionalCosts = 0;
 		if (pProperty != null && !propertyEquals(pProperty, pProperty.getDefaultProperty())) {
 			if (pProperty.getEdge().equals(this)) {
-				PropertyBenefitEstimator benefitEstimator = PropertyBenefitEstimatorFactory
+				PropertyImpactEstimator benefitEstimator = PropertyImpactEstimatorFactory
 						.getPropertyBenefitEstimator();
-				if (benefitEstimator instanceof VehicularPropertyCostEstimator) {
-					additionalCosts = ((VehicularPropertyCostEstimator) benefitEstimator)
-							.calculateCostsIfUnknown(pProperty);
+				if (benefitEstimator instanceof VehicularPropertyImpactEstimator) {
+					additionalCosts = ((VehicularPropertyImpactEstimator) benefitEstimator)
+							.calculateImpactIfUnknown(pProperty);
 				} else {
 					throw new AssertionError("VehicularPropertyCostEstimator required!");
 				}

src/de/tudarmstadt/maki/simonstrator/api/component/vehicular/roadnetwork/RoadNetworkRoute.java

@@ -155,4 +155,16 @@ public class RoadNetworkRoute implements Iterable<RoadNetworkEdge> {
 		}
 		return sum;
 	}
+
+	public double calculateDrivingDurationTo(RoadNetworkEdge pDestination) {
+		double sum = 0;
+		for (int i = 1; i < _route.size(); i++) {
+			if (!_route.get(i).equals(pDestination)) {
+				sum += _route.get(i).calculateStandardEdgeCosts();
+			} else {
+				break;
+			}
+		}
+		return sum;
+	}
 }

src/de/tudarmstadt/maki/simonstrator/api/component/sensor/environment/costs/VehicularPropertyCostEstimator.java → src/de/tudarmstadt/maki/simonstrator/api/component/vehicular/roadnetwork/routing/LatestPossibleDijkstraAlgorithm.java

@@ -18,29 +18,26 @@
  *
  */
 
-package de.tudarmstadt.maki.simonstrator.api.component.sensor.environment.costs;
+package de.tudarmstadt.maki.simonstrator.api.component.vehicular.roadnetwork.routing;
 
-import de.tudarmstadt.maki.simonstrator.api.component.sensor.environment.data.properties.RoadProperty;
-import de.tudarmstadt.maki.simonstrator.api.component.vehicular.roadnetwork.RoadNetworkEdge;
-import de.tudarmstadt.maki.simonstrator.api.component.vehicular.roadnetwork.RoadNetworkRoute;
-
-public interface VehicularPropertyCostEstimator extends PropertyBenefitEstimator {
-	default double calculateCostsIfKnown(RoadProperty pProperty) {
-		return calculateCostsIfKnown(pProperty.getClass());
-	}
-
-	double calculateCostsIfKnown(Class<? extends RoadProperty> pProperty);
+import java.util.List;
 
-	double calculateCostsIfKnown(RoadProperty pProperty, RoadNetworkEdge pDecisionPoint, VehicleCostPreference pVehicle,
-			RoadNetworkRoute pPath);
+import de.tudarmstadt.maki.simonstrator.api.component.vehicular.information.RoadInformation;
+import de.tudarmstadt.maki.simonstrator.api.component.vehicular.roadnetwork.RoadNetworkEdge;
 
-	default double calculateCostsIfUnknown(RoadProperty pProperty) {
-		return calculateCostsIfUnknown(pProperty.getClass());
+public class LatestPossibleDijkstraAlgorithm extends DijkstraAlgorithm {
+
+	protected double calculateAdditionalEdgeCosts(RoadNetworkEdge pEdge, List<RoadInformation> pInfo,
+			double pCurrentPathLength, List<RoadNetworkEdge> pCurrentRouteList) {
+		if (pInfo != null && pCurrentRouteList.size() > 0) {
+			for (RoadInformation roadInformation : pInfo) {
+				if (pCurrentRouteList.get(0).equals(roadInformation.getEdge())
+						|| pCurrentRouteList.get(0).getAccessibleEdges().contains(roadInformation.getEdge())) {
+					double additionalCostIfKnown = pEdge.calculateAdditionalCostIfKnown(roadInformation.getValue());
+					return additionalCostIfKnown;
+				}
+			}
+		}
+		return 0d;
 	}
-
-	double calculateCostsIfUnknown(Class<? extends RoadProperty> pProperty);
-
-	double calculateCostsIfUnknown(RoadProperty pProperty, RoadNetworkEdge pDecisionPoint,
-			VehicleCostPreference pVehicle, RoadNetworkRoute pPath);
-
 }

src/de/tudarmstadt/maki/simonstrator/api/component/vehicular/subscriptions/topic/CostBasedTopic.java

@@ -5,9 +5,9 @@ import java.util.regex.Pattern;
 import de.tudarmstadt.maki.simonstrator.api.Host;
 import de.tudarmstadt.maki.simonstrator.api.component.pubsub.PubSubComponent;
 import de.tudarmstadt.maki.simonstrator.api.component.pubsub.attribute.Topic;
-import de.tudarmstadt.maki.simonstrator.api.component.sensor.environment.costs.PropertyBenefitEstimator;
-import de.tudarmstadt.maki.simonstrator.api.component.sensor.environment.costs.PropertyBenefitEstimatorFactory;
-import de.tudarmstadt.maki.simonstrator.api.component.sensor.environment.costs.VehicularPropertyCostEstimator;
+import de.tudarmstadt.maki.simonstrator.api.component.sensor.environment.costs.PropertyImpactEstimator;
+import de.tudarmstadt.maki.simonstrator.api.component.sensor.environment.costs.PropertyImpactEstimatorFactory;
+import de.tudarmstadt.maki.simonstrator.api.component.sensor.environment.costs.VehicularPropertyImpactEstimator;
 import de.tudarmstadt.maki.simonstrator.api.component.vehicular.information.PointInformation;
 import de.tudarmstadt.maki.simonstrator.api.component.vehicular.information.RoadInformation;
 import de.tudarmstadt.maki.simonstrator.api.component.vehicular.subscriptions.SubscriptionTopicType;
@@ -45,9 +45,9 @@ public class CostBasedTopic implements ProcessedTopic, Comparable<CostBasedTopic
 	public boolean matchesInformationRequirements(PointInformation<?> pInformation) {
 		if (pInformation instanceof RoadInformation) {
 			RoadInformation roadInfo = (RoadInformation) pInformation;
-			PropertyBenefitEstimator costEstimator = PropertyBenefitEstimatorFactory.getPropertyBenefitEstimator();
-			double costsForMissingInformation = ((VehicularPropertyCostEstimator) costEstimator)
-					.calculateCostsIfUnknown(roadInfo.getValue());
+			PropertyImpactEstimator costEstimator = PropertyImpactEstimatorFactory.getPropertyBenefitEstimator();
+			double costsForMissingInformation = ((VehicularPropertyImpactEstimator) costEstimator)
+					.calculateImpactIfUnknown(roadInfo.getValue());
 
 			if (costsForMissingInformation >= _costs) {
 				return true;