Detailed Description

template<typename T>
class delphyne::RoadPath< T >

RoadPath converts a sequence of Maliput Lanes into a PiecewisePolynomial for the purpose of generating a path for a car to follow.

The path is created from the start of a user-specified initial lane and direction of travel, and proceeds in that direction until either the end of the road is reached (there exist no ongoing lanes), or the given number of specified breaks have been traversed. The resulting path is a cubic spline that matches the r = 0 coordinate of the lanes at each specified break point. The resulting piecewise curve is C2-continuous throughout with zero first and second derivatives at the start and end of the path.

This class is explicitly instantiated for the following scalar types. No other scalar types are supported.

double

Template Parameters

T	The vector element type, which must be a valid Eigen scalar. Only double is supported.

#include <src/systems/road_path.h>

Public Member Functions
	RoadPath (const LaneDirection &initial_lane_direction, const T &step_size, int num_breaks)
	Constructs a single RoadPath from a sequence of Maliput lanes based on the following parameters: More...

	~RoadPath ()

const drake::trajectories::PiecewisePolynomial< T > &	get_path () const

const T	GetClosestPathPosition (const drake::Vector3< T > &geo_position, const T &s_guess) const
	Computes the closest `s`-position on the path to an arbitrary point in the world frame of the provided Maliput Lanes. More...

Constructor & Destructor Documentation

◆ RoadPath()

RoadPath	(	const LaneDirection &	initial_lane_direction,
		const T &	step_size,
		int	num_breaks
	)

Constructs a single RoadPath from a sequence of Maliput lanes based on the following parameters:

Parameters

initial_lane_direction	contains the initial LaneDirection. This must be a valid `road` Lane.
step_size	is the size of each step (in the `s`-direction) between knot points.
num_breaks	are the number of breaks at which the knot points will be evaluated.

◆ ~RoadPath()

~RoadPath

Member Function Documentation

◆ get_path()

const PiecewisePolynomial< T > & get_path

◆ GetClosestPathPosition()

const T GetClosestPathPosition	(	const drake::Vector3< T > &	geo_position,
		const T &	s_guess
	)		const

Computes the closest s-position on the path to an arbitrary point in the world frame of the provided Maliput Lanes.

(Not yet implemented)

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