Detailed Description

A Segment represents a bundle of adjacent Lanes which share a continuously traversable road surface.

Every LanePosition on a given Lane of a Segment has a corresponding LanePosition on each other Lane, all with the same height-above-surface h, that all map to the same GeoPoint in 3-space.

Segments are grouped by Junction.

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

Inheritance diagram for Segment:

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Public Member Functions
virtual	~Segment ()=default

SegmentId	id () const
	Returns the persistent identifier. More...

const Junction *	junction () const
	Returns the Junction to which this Segment belongs. More...

int	num_lanes () const
	Returns the number of Lanes contained in this Segment. More...

const Lane *	lane (int index) const
	Returns the Lane indexed by `index`. More...

int	num_boundaries () const
	Returns the number of LaneBoundaries contained in this Segment. More...

const LaneBoundary *	boundary (int index) const
	Returns the LaneBoundary indexed by `index`. More...

std::optional< bool >	is_intersection () const
	Returns whether this segment is an intersection. More...

Protected Member Functions
	Segment ()=default

Constructor & Destructor Documentation

◆ ~Segment()

virtual ~Segment ( )

virtualdefault

Reimplemented in Segment.

◆ Segment()

Segment ( )

protecteddefault

Member Function Documentation

◆ boundary()

const LaneBoundary* boundary ( int index ) const

Returns the LaneBoundary indexed by index.

Boundaries are indexed from 0 (rightmost, minimum r) to num_lanes() (leftmost, maximum r). For a segment with N lanes:

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

Precondition: index must be >= 0 and <= num_lanes().

Returns: The LaneBoundary at the given index, or nullptr if boundary information is not available for this Segment.

◆ id()

SegmentId id ( ) const

Returns the persistent identifier.

◆ is_intersection()

std::optional<bool> is_intersection ( ) const

Returns whether this segment is an intersection.

Returns: true when segment is in an intersection.; false when segment is known not to be in an intersection.; std::nullopt when intersection information is unavailable.

◆ junction()

const Junction* junction ( ) const

Returns the Junction to which this Segment belongs.

◆ lane()

const Lane* lane ( int index ) const

Returns the Lane indexed by index.

The indexing order is meaningful; numerically adjacent indices correspond to geometrically adjacent Lanes. Indices increase "to the left", i.e., in the direction of increasing r coordinate.

Precondition: index must be >= 0 and < num_lanes().

◆ num_boundaries()

int num_boundaries ( ) const

Returns the number of LaneBoundaries contained in this Segment.

For a Segment with N lanes, there are N+1 boundaries:

Boundary 0 is the rightmost edge (minimum r coordinate).
Boundary N is the leftmost edge (maximum r coordinate).

Return value is non-negative (always >= 1 for a valid Segment).

◆ num_lanes()

int num_lanes ( ) const

Returns the number of Lanes contained in this Segment.

Return value is non-negative.

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

api/segment.h