RoadObjectBook Class Reference

Detailed Description

Abstract interface for providing access to RoadObjects in a road network.

RoadObjectBook provides methods to query road objects by various criteria such as ID, type, lane association, or proximity to a position. Implementations are provided by specific backends (e.g., maliput_malidrive for OpenDRIVE maps, maliput_osm for OpenStreetMap data).

This follows the same pattern as TrafficLightBook and TrafficSignBook.

#include <include/maliput/api/objects/road_object_book.h>

Inheritance diagram for RoadObjectBook:

Public Member Functions
virtual	~RoadObjectBook ()=default
std::vector< const RoadObject * >	RoadObjects () const
	Returns all RoadObjects in this book. More...
const RoadObject *	GetRoadObject (const RoadObject::Id &id) const
	Gets the RoadObject with the specified ID. More...
std::vector< const RoadObject * >	FindByType (RoadObjectType type) const
	Returns all RoadObjects of the specified type. More...
std::vector< const RoadObject * >	FindByLane (const LaneId &lane_id) const
	Returns all RoadObjects whose related_lanes() includes lane_id. More...
std::vector< const RoadObject * >	FindInRadius (const InertialPosition &position, double radius) const
	Returns all RoadObjects within a specified radius of an inertial position. More...

Protected Member Functions
	RoadObjectBook ()=default

Constructor & Destructor Documentation

~RoadObjectBook()

virtual ~RoadObjectBook ( )

virtualdefault

Reimplemented in RoadObjectBook.

RoadObjectBook()

RoadObjectBook ( )

protecteddefault

Member Function Documentation

FindByLane()

std::vector<const RoadObject*> FindByLane

(

const LaneId &

lane_id

)

const

Returns all RoadObjects whose related_lanes() includes lane_id.

Parameters

lane_id

The identifier of the lane.

Returns

A vector of pointers to RoadObjects associated with that lane. Empty if none match.

FindByType()

std::vector<const RoadObject*> FindByType

(

RoadObjectType

type

)

const

Returns all RoadObjects of the specified type.

Parameters

type	The type of road objects to retrieve.

Returns

A vector of pointers to matching RoadObjects. Empty if none match.

FindInRadius()

std::vector<const RoadObject*> FindInRadius	(	const InertialPosition &	position,
		double	radius
	)		const

Returns all RoadObjects within a specified radius of an inertial position.

This performs a spatial proximity query using the object's position in the inertial frame. Useful for perception-like queries (e.g., "what objects are near this vehicle?").

Parameters

position	The center position for the search.
radius	The search radius in meters. Must be non-negative.

Returns

A vector of pointers to RoadObjects within the specified radius. Empty if none are found.

GetRoadObject()

const RoadObject* GetRoadObject

(

const RoadObject::Id &

id

)

const

Gets the RoadObject with the specified ID.

Parameters

id	The unique identifier of the road object.

Returns

A pointer to the RoadObject, or nullptr if not found.

RoadObjects()

std::vector<const RoadObject*> RoadObjects

(

)

const

Returns all RoadObjects in this book.

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

• api/objects/road_object_book.h