Detailed Description

A concrete implementation of the api::Intersection abstract interface.

#include <include/maliput/base/intersection.h>

Inheritance diagram for Intersection:

Public Member Functions
	Intersection (const Id &id, const std::vector< api::LaneSRange > &region, const api::rules::PhaseRing &ring, ManualPhaseProvider *phase_provider)
	Constructs an Intersection instance. More...

virtual	~Intersection ()=default

std::optional< api::rules::PhaseProvider::Result >	Phase () const override
	Returns the current phase. More...

void	SetPhase (const api::rules::Phase::Id &phase_id, const std::optional< api::rules::Phase::Id > &next_phase=std::nullopt, const std::optional< double > &duration_until=std::nullopt) override
	Sets the current Phase and optionally the next Phase. More...

Public Member Functions inherited from Intersection
	Intersection (const Id &id, const std::vector< LaneSRange > &region, const rules::PhaseRing &ring)
	Constructs an Intersection instance. More...

const Id &	id () const
	Returns the persistent identifier. More...

const std::vector< LaneSRange > &	region () const
	Returns the region. See constructor parameter `region` for more details. More...

const rules::PhaseRing::Id &	ring_id () const
	Returns the rules::PhaseRing::Id of the rules::PhaseRing that applies to this intersection. More...

const std::optional< rules::BulbStates >	bulb_states () const
	Returns the current bulb states within the intersection. More...

const std::optional< rules::DiscreteValueRuleStates >	DiscreteValueRuleStates () const
	Returns the current discrete value rule states within the intersection. More...

const std::optional< rules::RuleStates >	RuleStates () const
	Returns the current RightOfWayRule states within the intersection. More...

bool	Includes (const rules::TrafficLight::Id &id) const
	Determines whether the rules::TrafficLight::Id is within this Intersection. More...

bool	Includes (const rules::DiscreteValueRule::Id &id) const
	Determines whether the rules::DiscreteValueRule::Id is within this Intersection. More...

bool	Includes (const rules::RightOfWayRule::Id &id) const
	Determines whether the rules::RightOfWayRule::Id is within this Intersection. More...

bool	Includes (const InertialPosition &inertial_position, const RoadGeometry *road_geometry) const
	Determines whether `inertial_position` is within this Intersection::Region(). More...

Additional Inherited Members
Public Types inherited from Intersection
using	Id = TypeSpecificIdentifier< class Intersection >
	Unique identifier for an Intersection. More...

Constructor & Destructor Documentation

◆ Intersection()

Intersection	(	const Id &	id,
		const std::vector< api::LaneSRange > &	region,
		const api::rules::PhaseRing &	ring,
		ManualPhaseProvider *	phase_provider
	)

Constructs an Intersection instance.

Parameters

id	The intersection's unique ID.
region	The region of the road network that is part of the intersection.
ring	The PhaseRing that defines the phases within the intersection.
phase_provider	Enables the current phase within an api::rules::PhaseRing with ID `ring_id` to be specified and obtained. The pointer must remain valid throughout this class instance's lifetime.

◆ ~Intersection()

virtual ~Intersection ( )

virtualdefault

Reimplemented from Intersection.

Member Function Documentation

◆ Phase()

std::optional<api::rules::PhaseProvider::Result> Phase ( ) const

overridevirtual

Returns the current phase.

Implements Intersection.

◆ SetPhase()

void SetPhase	(	const api::rules::Phase::Id &	phase_id,
		const std::optional< api::rules::Phase::Id > &	next_phase = `std::nullopt`,
		const std::optional< double > &	duration_until = `std::nullopt`
	)

overridevirtual

Sets the current Phase and optionally the next Phase.

Exceptions

std::exception if duration_until is defined when next_phase is undefined.