maliput_object
|
The maliput::object API provides two functions to load a concrete maliput::object::api::ObjectBook implementation from a YAML description:
The only supported type of coordinate is maliput::math::Vector3 , meaning that concrete BoundingRegions are limited to BoundingBox.
See the following code snippet that shows an example of a YAML ObjectBook:
maliput_objects
maliput_object
is a dictionary of objects. Every first level key identifies a new maliput::object::api::Object :
bounding_region
A mapping describing a bounding region. For boxes:
Where:
position
: is the Inertial Frame position described as a 3D Vector: \([X, Y, Z]\).rotation
: is the Inertial Frame rotation described as a 3D Vector of Euler angles \([R, P, Y]\) (roll, pitch, yaw).type
: must be box
.box_size
: the size of the bounding box expressed as if the box is at the origin of the Inertial Frame and aligned with it. Each coordinate means \([Length, Depth, Height]\).properties
A listing of user defined properties. The listing is flat, meaning that it is a collection of key-value pairs with no depth. Keys and values will be read as strings.
Where:
user_defined_prop_1
and user_defined_prop_n
are examples of keys.my_value_1
and my_value_n
are examples of values.