Detailed Description

Provides the state of Right-Of-Way api::rules::DiscreteValueRule instances based on the current api::rules::Phase.

The states of the rules that govern an intersection are organized into phases. Each phase typically assigns different states to each rule to ensure intersection safety and fairness. For example, given an intersection between streets A and B governed by Rule_A and Rule_B, respectively, two phases are necessary:

Phase	Rule_A State	Rule_B State
1	Go	Stop
2	Stop	Go

The rules above will ensure vehicles traveling on Street A do not collide with vehicles traveling on Street B and vice versa.

This state provider also acts as a ManualDiscreteValueRuleStateProvider, but it overrides the behavior for Right-Of-Way rules with the aforementioned one. At build time, it is expected that the loader calls ManualDiscreteValueRuleStateProvider::SetState() for those non Right-Of-Way rules that are part of the RoadRulebook.

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

Inheritance diagram for PhasedDiscreteRuleStateProvider:

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Public Member Functions
	PhasedDiscreteRuleStateProvider (const api::rules::RoadRulebook rulebook, const api::rules::PhaseRingBook phase_ring_book, const api::rules::PhaseProvider *phase_provider)
	Constructs a PhasedDiscreteRuleStateProvider. More...

	~PhasedDiscreteRuleStateProvider () final=default

const api::rules::PhaseRingBook &	phase_ring_book () const

const api::rules::PhaseProvider &	phase_provider () const

Public Member Functions inherited from ManualDiscreteValueRuleStateProvider
	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...

Static Public Member Functions
static std::unique_ptr< PhasedDiscreteRuleStateProvider >	GetDefaultPhasedDiscreteRuleStateProvider (const maliput::api::rules::RoadRulebook rulebook, const maliput::api::rules::PhaseRingBook phase_ring_book, const maliput::api::rules::PhaseProvider *phase_provider)
	Constructs a PhasedDiscreteRuleStateProvider with the default states populated to be used when rules are not parte of a phase. More...

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...

Protected Member Functions inherited from ManualDiscreteValueRuleStateProvider
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 inherited from ManualDiscreteValueRuleStateProvider
const api::rules::RoadRulebook *	rulebook_ {nullptr}

Constructor & Destructor Documentation

◆ PhasedDiscreteRuleStateProvider()

PhasedDiscreteRuleStateProvider	(	const api::rules::RoadRulebook *	rulebook,
		const api::rules::PhaseRingBook *	phase_ring_book,
		const api::rules::PhaseProvider *	phase_provider
	)

Constructs a PhasedDiscreteRuleStateProvider.

All pointer parameters are aliased; they must not be nullptr and their lifespans must exceed that of this instance.

Exceptions

common::assertion_error	When `rulebook` is nullptr.
common::assertion_error	When `phase_ring_book` is nullptr.
common::assertion_error	When `phase_provider` is nullptr.

◆ ~PhasedDiscreteRuleStateProvider()

~PhasedDiscreteRuleStateProvider ( )

finaldefault

Member Function Documentation

◆ GetDefaultPhasedDiscreteRuleStateProvider()

std::unique_ptr< PhasedDiscreteRuleStateProvider > GetDefaultPhasedDiscreteRuleStateProvider	(	const maliput::api::rules::RoadRulebook *	rulebook,
		const maliput::api::rules::PhaseRingBook *	phase_ring_book,
		const maliput::api::rules::PhaseProvider *	phase_provider
	)

static

Constructs a PhasedDiscreteRuleStateProvider with the default states populated to be used when rules are not parte of a phase.

Parameters

rulebook	The RoadRulebook to use.
phase_ring_book	The PhaseRingBook to use.
phase_provider	The PhaseProvider to use.

Exceptions

maliput::common::assertion_error When phase_ring_book is nullptr.

◆ phase_provider()

const api::rules::PhaseProvider& phase_provider ( ) const

◆ phase_ring_book()

const api::rules::PhaseRingBook& phase_ring_book ( ) const

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