Detailed Description

Represents a boundary between adjacent lanes or at the edge of a Segment.

A LaneBoundary is owned by a Segment and serves as the interface between two adjacent lanes, or between a lane and the segment edge. For a Segment with N lanes, there are N+1 boundaries:

                                                      +r direction
                                                    <─────────────
 Boundary N    ...    Boundary 2    Boundary 1    Boundary 0
    |                     |             |             |
    | Lane N-1  |   ...   |   Lane 1    |   Lane 0    |
    |                     |             |             |
(left edge)                                     (right edge)

Where:

Boundary 0 is the right edge (minimum r coordinate).
Boundary N is the left edge (maximum r coordinate).
Boundaries are indexed with increasing r direction.

Each LaneBoundary provides:

Reference to the lane on its left (if any).
Reference to the lane on its right (if any).
Query methods for lane markings at specific s-coordinates.

The design ensures that adjacent lanes share the same boundary object, avoiding redundancy and ensuring consistency. For example, Lane 1's right boundary is the same object as Lane 0's left boundary (Boundary 1).

This design is influenced by OpenDRIVE's road marking model and OSI's lane boundary concept.

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

Inheritance diagram for LaneBoundary:

[legend]

Public Types
using	Id = TypeSpecificIdentifier< class LaneBoundary >
	Unique identifier for a LaneBoundary. More...

Public Member Functions
virtual	~LaneBoundary ()=default

Id	id () const

const Segment *	segment () const

int	index () const

const Lane *	lane_to_left () const

const Lane *	lane_to_right () const

std::optional< LaneMarkingResult >	GetMarking (double s) const
	Gets the lane marking at a specific s-coordinate along this boundary. More...

std::vector< LaneMarkingResult >	GetMarkings () const
	Gets all lane markings along this boundary. More...

std::vector< LaneMarkingResult >	GetMarkings (double s_start, double s_end) const
	Gets lane markings within a specified s-range. More...

Protected Member Functions
	LaneBoundary ()=default

Member Typedef Documentation

◆ Id

using Id = TypeSpecificIdentifier<class LaneBoundary>

Unique identifier for a LaneBoundary.

Constructor & Destructor Documentation

◆ ~LaneBoundary()

virtual ~LaneBoundary ( )

virtualdefault

Reimplemented in LaneBoundary.

◆ LaneBoundary()

LaneBoundary ( )

protecteddefault

Member Function Documentation

◆ GetMarking()

std::optional<LaneMarkingResult> GetMarking ( double s ) const

Gets the lane marking at a specific s-coordinate along this boundary.

Parameters

s	The s-coordinate along the boundary (in the lane coordinate system). Typically in the range [0, segment_length].

Returns: The lane marking result at the specified position, including the marking details and the s-range over which it is valid. Returns std::nullopt if no marking information is available at that location.

Note: The s-coordinate system follows the lane(s) adjacent to this boundary. For consistency, implementations should use the reference lane's s-coordinate (e.g., the lane to the right, or lane to the left if there's no lane to the right).

◆ GetMarkings() [1/2]

std::vector<LaneMarkingResult> GetMarkings ( ) const

Gets all lane markings along this boundary.

Returns: A vector of LaneMarkingResult, each describing a marking and the s-range over which it is valid. The results are ordered by increasing s_start. If no markings are available, returns an empty vector.

Note: The returned ranges should cover the entire boundary length without gaps, though some ranges may have type == kNone to indicate sections without visible markings.

◆ GetMarkings() [2/2]

std::vector<LaneMarkingResult> GetMarkings	(	double	s_start,
		double	s_end
	)		const

Gets lane markings within a specified s-range.

Parameters

s_start	Start of the s-range to query [m].
s_end	End of the s-range to query [m].

Returns: A vector of LaneMarkingResult for markings that overlap with the specified range. Results are ordered by increasing s_start. If no markings are available in the range, returns an empty vector.

Exceptions

maliput::common::assertion_error if s_start > s_end.

◆ id()

Id id ( ) const

Returns: The unique identifier for this LaneBoundary.

◆ index()

int index ( ) const

Returns: The index of this boundary within the parent Segment.

Boundaries are indexed from 0 (rightmost, minimum r) to num_lanes() (leftmost, maximum r).

◆ lane_to_left()

const Lane* lane_to_left ( ) const

Returns: The Lane immediately to the left of this boundary (increasing r direction), or nullptr if this is the leftmost boundary of the Segment.

◆ lane_to_right()

const Lane* lane_to_right ( ) const

Returns: The Lane immediately to the right of this boundary (decreasing r direction), or nullptr if this is the rightmost boundary of the Segment.

◆ segment()

const Segment* segment ( ) const

Returns: The Segment to which this LaneBoundary belongs.

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

api/lane_boundary.h