Detailed Description

An implementation of a manual api::rules::DiscreteValueRuleStateProvider.

This enables clients to directly set the states of api::rules::DiscreteValueRule instances.

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

Inheritance diagram for ManualDiscreteValueRuleStateProvider:

Public Member Functions
	ManualDiscreteValueRuleStateProvider (const api::rules::RoadRulebook *rulebook)
	Constructs a ManualDiscreteValueRuleStateProvider. More...

	~ManualDiscreteValueRuleStateProvider () override=default

void	SetState (const api::rules::Rule::Id &id, const api::rules::DiscreteValueRule::DiscreteValue &state, const std::optional< api::rules::DiscreteValueRule::DiscreteValue > &next_state, const std::optional< double > &duration_until)
	Sets the state, and optionally the next state and duration until the next state, of a DiscreteValueRule. More...

Public Member Functions inherited from DiscreteValueRuleStateProvider
virtual	~DiscreteValueRuleStateProvider ()=default

std::optional< StateResult >	GetState (const Rule::Id &id) const
	Gets the state of the DiscreteValueRule identified by `id`. More...

std::optional< StateResult >	GetState (const RoadPosition &road_position, const Rule::TypeId &rule_type, double tolerance) const
	Gets the state of the DiscreteValueRule that matches provided `road_position` and `rule_type` values according to certain `tolerance`. More...

Protected Member Functions
virtual std::optional< api::rules::DiscreteValueRuleStateProvider::StateResult >	DoGetState (const api::rules::Rule::Id &id) const override

virtual std::optional< api::rules::DiscreteValueRuleStateProvider::StateResult >	DoGetState (const api::RoadPosition &road_position, const api::rules::Rule::TypeId &rule_type, double tolerance) const override

std::map< api::rules::DiscreteValueRule::Id, api::rules::DiscreteValueRule >	GetFilteredDiscreteValueRules (const api::RoadPosition &road_position, const api::rules::Rule::TypeId &rule_type, double tolerance) const

Protected Member Functions inherited from DiscreteValueRuleStateProvider
	DiscreteValueRuleStateProvider ()=default

Protected Attributes
const api::rules::RoadRulebook *	rulebook_ {nullptr}

Additional Inherited Members
Public Types inherited from DiscreteValueRuleStateProvider
using	StateResult = StateProviderResult< DiscreteValueRule::DiscreteValue >
	The state of a DiscreteValueRule, returned by DiscreteValueRuleStateProvider::GetState(const Rule::Id&). More...

Constructor & Destructor Documentation

◆ ManualDiscreteValueRuleStateProvider()

ManualDiscreteValueRuleStateProvider ( const api::rules::RoadRulebook * rulebook )

explicit

Constructs a ManualDiscreteValueRuleStateProvider.

Parameters

rulebook A rulebook pointer to validate Rule::Id and their states. It must not be nullptr.

Exceptions

common::assertion_error When rulebook is nullptr.

◆ ~ManualDiscreteValueRuleStateProvider()

~ManualDiscreteValueRuleStateProvider ( )

overridedefault

Member Function Documentation

◆ DoGetState() [1/2]

std::optional< api::rules::DiscreteValueRuleStateProvider::StateResult > DoGetState	(	const api::RoadPosition &	road_position,
		const api::rules::Rule::TypeId &	rule_type,
		double	tolerance
	)		const

overrideprotectedvirtual

Implements DiscreteValueRuleStateProvider.

◆ DoGetState() [2/2]

std::optional< api::rules::DiscreteValueRuleStateProvider::StateResult > DoGetState ( const api::rules::Rule::Id & id ) const

overrideprotectedvirtual

Implements DiscreteValueRuleStateProvider.

◆ GetFilteredDiscreteValueRules()

std::map< api::rules::DiscreteValueRule::Id, api::rules::DiscreteValueRule > GetFilteredDiscreteValueRules	(	const api::RoadPosition &	road_position,
		const api::rules::Rule::TypeId &	rule_type,
		double	tolerance
	)		const

protected

◆ SetState()

void SetState	(	const api::rules::Rule::Id &	id,
		const api::rules::DiscreteValueRule::DiscreteValue &	state,
		const std::optional< api::rules::DiscreteValueRule::DiscreteValue > &	next_state,
		const std::optional< double > &	duration_until
	)

Sets the state, and optionally the next state and duration until the next state, of a DiscreteValueRule.

If id is new, a new entry is added to this provider.

next_state and duration_until are not managed by this provider, i.e. it is the client's responsibility to govern transitions from state to next_state after duration_until (if provided) time.

Parameters

id	DiscreteValueRule's ID. It must be recognized by the `rulebook` specified at time of construction.
state	The state of the rule. It must be one in DiscreteValueRule::states().
next_state	The optional next state of the rule. It must be one in DiscreteValueRule::states().
duration_until	If known, the estimated time until the transition to the next state, relative to when this method is called. When provided, it must be positive and `next_state` must not be nullopt.

Exceptions

std::out_of_range	When `id` is unrecognized by the `rulebook` specified at time of construction.
common::assertion_error	When `state` does not match any state in DiscreteValueRule::states().
common::assertion_error	When `next_state` does not match any state in DiscreteValueRule::states().
common::assertion_error	When `duration_until` is not positive or it is provided when `next_state` is nullopt.

Member Data Documentation

◆ rulebook_

const api::rules::RoadRulebook* rulebook_ {nullptr}