Detailed Description

Models a bulb within a bulb group.

#include <include/maliput/api/rules/traffic_lights.h>

Classes
struct	BoundingBox
	Defines the bounding box of the bulb. More...

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

Public Member Functions
	MALIPUT_NO_COPY_NO_MOVE_NO_ASSIGN (Bulb)

	Bulb (const Id &id, const InertialPosition &position_bulb_group, const Rotation &orientation_bulb_group, const BulbColor &color, const BulbType &type, const std::optional< double > &arrow_orientation_rad=std::nullopt, const std::optional< std::vector< BulbState >> &states=std::nullopt, BoundingBox bounding_box=BoundingBox(), const std::optional< BulbState > &initial_state=std::nullopt)
	Constructs a Bulb instance. More...

const Id &	id () const
	Returns this Bulb instance's ID. More...

UniqueBulbId	unique_id () const
	Returns this Bulb instance's unique identifier. More...

const InertialPosition &	position_bulb_group () const
	Returns the linear offset of this bulb's frame relative to the frame of the bulb group that contains it. More...

const Rotation &	orientation_bulb_group () const
	Returns the rotational offset of this bulb's frame relative to the frame of the bulb group that contains it. More...

const BulbColor &	color () const
	Returns the color of this bulb. More...

const BulbType &	type () const
	Returns the type of this bulb. More...

std::optional< double >	arrow_orientation_rad () const
	Returns the arrow's orientation. More...

const std::vector< BulbState > &	states () const
	Returns the possible states of this bulb. More...

BulbState	GetDefaultState () const
	Returns the default state of the bulb. More...

BulbState	GetInitialState () const
	Returns the initial state of this bulb. More...

bool	IsValidState (const BulbState &bulb_state) const
	Returns true if `bulb_state` is one of this bulb's possible states. More...

const BoundingBox &	bounding_box () const
	Returns the bounding box of the bulb. More...

const BulbGroup *	bulb_group () const
	Returns the parent BulbGroup of the bulb. More...

void	SetBulbGroup (common::Passkey< BulbGroup >, const BulbGroup *bulb_group)
	Sets the parent BulbGroup pointer. More...

Member Typedef Documentation

◆ Id

using Id = TypeSpecificIdentifier<class Bulb>

Unique identifier for a Bulb.

Constructor & Destructor Documentation

◆ Bulb()

Bulb	(	const Id &	id,
		const InertialPosition &	position_bulb_group,
		const Rotation &	orientation_bulb_group,
		const BulbColor &	color,
		const BulbType &	type,
		const std::optional< double > &	arrow_orientation_rad = `std::nullopt`,
		const std::optional< std::vector< BulbState >> &	states = `std::nullopt`,
		BoundingBox	bounding_box = `BoundingBox()`,
		const std::optional< BulbState > &	initial_state = `std::nullopt`
	)

Constructs a Bulb instance.

Parameters

id	The bulb's ID. It must be unique in the context of the BulbGroup that contains it.

See also: UniqueBulbId to uniquely identify a Bulb in the Inertial space.

Parameters

position_bulb_group	The linear offset of this bulb's frame relative to the frame of the bulb group that contains it. The origin of this bulb's frame should approximate the bulb's CoM.
orientation_bulb_group	The rotational offset of this bulb's frame relative to the frame of the bulb group that contains it. The +Z axis should align with the bulb's "up" direction and the +X axis should point in the direction that the bulb is facing. Following a right-handed coordinate frame, the +Y axis should point left when facing the +X direction.
color	The color of this bulb.
type	The type of this bulb.
arrow_orientation_rad	The orientation of the arrow when `type` is BulbType::kArrow. This is the angle along the bulb's +X axis relative to the bulb's +Y axis. For example, an angle of zero means the bulb's arrow is pointing along the bulb's +Y axis, which means it's a right-turn arrow when viewed by an approaching vehicle. Similarly, an angle of PI/2 points in the bulb's +Z direction (i.e., forward from an approaching vehicle's perspective), and an angle of PI points in the bulb's -Y direction (i.e., left from an approaching vehicle's perspective). This parameter must be defined when `type` is BulbType::kArrow, otherwise an exception will be thrown. An exception will also be thrown if this parameter is defined for non-kArrow BulbType values.
states	The possible states of this bulb. If this is std::nullopt or an empty vector, this bulb has states {BulbState::kOff, BulbState::kOn}.
bounding_box	The bounding box of the bulb. See BoundingBox for details about the default value.
initial_state	The initial state of the bulb.

Exceptions

common::traffic_light_book_error When unique_id.bulb_id != id.

Member Function Documentation

◆ arrow_orientation_rad()

std::optional<double> arrow_orientation_rad ( ) const

Returns the arrow's orientation.

Only applicable if type() returns BulbType::kArrow. See constructor's documentation for semantics.

◆ bounding_box()

const BoundingBox& bounding_box ( ) const

Returns the bounding box of the bulb.

◆ bulb_group()

const BulbGroup* bulb_group ( ) const

Returns the parent BulbGroup of the bulb.

When this bulb has not been registered in a BulbGroup, this method returns nullptr.

◆ color()

const BulbColor& color ( ) const

Returns the color of this bulb.

◆ GetDefaultState()

BulbState GetDefaultState ( ) const

Returns the default state of the bulb.

The priority order is BulbState::kOff, BulbState::kBlinking, then BulbState::kOn. For example, if a bulb can be in states {BulbState::kOff, BulbState::kOn}, its default state will be BulbState::kOff. Likewise, if a bulb can be in states {BulbState::kOn, BulbState::kBlinking}, its default state will be BulbState::kBlinking. The only case where the default state is BulbState::kOn is when this is the bulb's only possible state.

◆ GetInitialState()

BulbState GetInitialState ( ) const

Returns the initial state of this bulb.

If an explicit initial state was provided at construction, it is returned. Otherwise, defaults to BulbState::kOff.

◆ id()

const Id& id ( ) const

Returns this Bulb instance's ID.

◆ IsValidState()

bool IsValidState ( const BulbState & bulb_state ) const

Returns true if bulb_state is one of this bulb's possible states.

◆ MALIPUT_NO_COPY_NO_MOVE_NO_ASSIGN()

MALIPUT_NO_COPY_NO_MOVE_NO_ASSIGN ( Bulb )

◆ orientation_bulb_group()

const Rotation& orientation_bulb_group ( ) const

Returns the rotational offset of this bulb's frame relative to the frame of the bulb group that contains it.

◆ position_bulb_group()

const InertialPosition& position_bulb_group ( ) const

Returns the linear offset of this bulb's frame relative to the frame of the bulb group that contains it.

◆ SetBulbGroup()

void SetBulbGroup	(	common::Passkey< BulbGroup >	,
		const BulbGroup *	bulb_group
	)

Sets the parent BulbGroup pointer.

This method is thought to be called once by bulb_group at its construct time.

Exceptions

common::traffic_light_book_error When bulb_group is nullptr.

◆ states()

const std::vector<BulbState>& states ( ) const

Returns the possible states of this bulb.

◆ type()

const BulbType& type ( ) const

Returns the type of this bulb.

◆ unique_id()

UniqueBulbId unique_id ( ) const

Returns this Bulb instance's unique identifier.

Exceptions

common::traffic_light_book_error When the parent BulbGroup and TrafficLight have not been registered.

See also: SetBulbGroup() and; BulbGroup::SetTrafficLight().

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

Detailed Description

Classes

Public Types

Public Member Functions

Member Typedef Documentation

◆ Id

Constructor & Destructor Documentation

◆ Bulb()

Member Function Documentation

◆ arrow_orientation_rad()

◆ bounding_box()

◆ bulb_group()

◆ color()

◆ GetDefaultState()

◆ GetInitialState()

◆ id()

◆ IsValidState()

◆ MALIPUT_NO_COPY_NO_MOVE_NO_ASSIGN()

◆ orientation_bulb_group()

◆ position_bulb_group()

◆ SetBulbGroup()

◆ states()

◆ type()

◆ unique_id()