Intersection Class Reference

Detailed Description

An abstract convenience class that aggregates information pertaining to an intersection.

Its primary purpose is to serve as a single source of this information and to remove the need for users to query numerous disparate data structures and state providers.

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

Inheritance diagram for Intersection:

Public Types
using	Id = TypeSpecificIdentifier< class Intersection >
	Unique identifier for an Intersection. More...

Public Member Functions
	Intersection (const Id &id, const std::vector< LaneSRange > &region, const rules::PhaseRing &ring)
	Constructs an Intersection instance. More...
virtual	~Intersection ()=default
const Id &	id () const
	Returns the persistent identifier. More...
virtual std::optional< rules::PhaseProvider::Result >	Phase () const =0
	Returns the current phase. More...
virtual 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)=0
	Sets the current Phase and optionally the next Phase. 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...

Member Typedef Documentation

Id

using Id = TypeSpecificIdentifier<class Intersection>

Unique identifier for an Intersection.

Constructor & Destructor Documentation

Intersection()

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

Constructs an Intersection instance.

Parameters

id	The intersection's unique ID.
region	The region of the road network that should be considered part of the intersection.
ring	The PhaseRing that defines the phases within the intersection.

~Intersection()

virtual ~Intersection ( )

virtualdefault

Reimplemented in Intersection.

Member Function Documentation

bulb_states()

const std::optional< BulbStates > bulb_states

(

)

const

Returns the current bulb states within the intersection.

DiscreteValueRuleStates()

const std::optional< rules::DiscreteValueRuleStates > DiscreteValueRuleStates

(

)

const

Returns the current discrete value rule states within the intersection.

id()

const Id& id

(

)

const

Returns the persistent identifier.

Includes() [1/4]

bool Includes	(	const InertialPosition &	inertial_position,
		const RoadGeometry *	road_geometry
	)		const

Determines whether inertial_position is within this Intersection::Region().

Parameters

inertial_position	A InertialPosition in the Inertial-frame.
road_geometry	The RoadGeometry where Intersection::Region() is contained. It must not be nullptr.

Returns

True When inertial_position is within Intersection::Region(). inertial_position is contained if the distance to the closest LanePosition in Intersection::Region() is less or equal than the linear tolerance of the road_geometry.

Exceptions

common::assertion_error	When road_geometry is nullptr.
common::assertion_error	When Lanes in Intersection::Region() are not found in road_geometry.

Includes() [2/4]

bool Includes

(

const rules::DiscreteValueRule::Id &

id

)

const

Determines whether the rules::DiscreteValueRule::Id is within this Intersection.

Parameters

id	A rules::DiscreteValueRule::Id.

Returns

True When id is within this Intersection.

Includes() [3/4]

bool Includes

(

const rules::RightOfWayRule::Id &

id

)

const

Determines whether the rules::RightOfWayRule::Id is within this Intersection.

Parameters

id	A rules::RightOfWayRule::Id.

Returns

True When id is within this Intersection.

Includes() [4/4]

bool Includes

(

const rules::TrafficLight::Id &

id

)

const

Determines whether the rules::TrafficLight::Id is within this Intersection.

Parameters

id	A rules::TrafficLight::Id.

Returns

True When id is within this Intersection.

Phase()

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

pure virtual

Returns the current phase.

Implemented in Intersection.

region()

const std::vector<LaneSRange>& region

(

)

const

Returns the region. See constructor parameter region for more details.

ring_id()

const rules::PhaseRing::Id& ring_id

(

)

const

Returns the rules::PhaseRing::Id of the rules::PhaseRing that applies to this intersection.

See constructor parameter ring for more details.

RuleStates()

const std::optional< rules::RuleStates > RuleStates

(

)

const

Returns the current RightOfWayRule states within the 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  )

pure virtual

Sets the current Phase and optionally the next Phase.

Exceptions

std::exception

if duration_until is defined when next_phase is undefined.

Implemented in Intersection.

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

• api/intersection.h
• api/intersection.cc