BulbGroup Class Reference

Detailed Description

Models a group of bulbs within a traffic light.

All of the bulbs within a group should share the same approximate orientation. However, this is not programmatically enforced.

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

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

Public Member Functions
	MALIPUT_NO_COPY_NO_MOVE_NO_ASSIGN (BulbGroup)
	BulbGroup (const Id &id, const InertialPosition &position_traffic_light, const Rotation &orientation_traffic_light, std::vector< std::unique_ptr< Bulb >> bulbs)
	Constructs a BulbGroup instance. More...
const Id &	id () const
	Returns this BulbGroup instance's unique identifier. More...
UniqueBulbGroupId	unique_id () const
	Returns this BulbGroup instance's unique identifier. More...
const InertialPosition &	position_traffic_light () const
	Returns the linear offset of this bulb group's frame relative to the frame of the traffic light that contains it. More...
const Rotation &	orientation_traffic_light () const
	Returns the rotational offset of this bulb group's frame relative to the frame of the traffic light that contains it. More...
std::vector< const Bulb * >	bulbs () const
	Returns the bulbs contained within this bulb group. More...
const Bulb *	GetBulb (const Bulb::Id &id) const
	Gets the specified Bulb. Returns nullptr if id is unrecognized. More...
const TrafficLight *	traffic_light () const
	Returns the parent TrafficLight of the bulb group. More...
void	SetTrafficLight (common::Passkey< TrafficLight >, const TrafficLight *traffic_light)
	Sets the parent TrafficLight pointer. More...

Member Typedef Documentation

Id

using Id = TypeSpecificIdentifier<BulbGroup>

Unique identifier for a BulbGroup.

Constructor & Destructor Documentation

BulbGroup()

BulbGroup	(	const Id &	id,
		const InertialPosition &	position_traffic_light,
		const Rotation &	orientation_traffic_light,
		std::vector< std::unique_ptr< Bulb >>	bulbs
	)

Constructs a BulbGroup instance.

Parameters

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

See also

UniqueBulbGroupId to uniquely identify a BulbGroup in the Inertial space.

Parameters

position_traffic_light	The linear offset of this bulb group's frame relative to the frame of the traffic light that contains it. The origin of this bulb group's frame should approximate the bulb group's CoM.
orientation_traffic_light	The rotational offset of this bulb group's frame relative to the frame of the traffic light that contains it. The +Z axis should align with the bulb group's "up" direction, and the +X axis should point in the direction that the bulb group is facing. Following a right-handed coordinate frame, the +Y axis should point left when facing the +X direction.
bulbs	The bulbs that are part of this BulbGroup. There must be at least one bulb within this group. There must not be Bulbs with the same Bulb::Id. Null bulbs are not allowed.

Exceptions

common::assertion_error	When there are Bulbs with the same Bulb::Id in bulbs.
common::assertion_error	When any of the Bulbs in bulbs is nullptr.

Member Function Documentation

bulbs()

std::vector< const Bulb * > bulbs

(

)

const

Returns the bulbs contained within this bulb group.

GetBulb()

const Bulb * GetBulb

(

const Bulb::Id &

id

)

const

Gets the specified Bulb. Returns nullptr if id is unrecognized.

id()

const Id& id

(

)

const

Returns this BulbGroup instance's unique identifier.

MALIPUT_NO_COPY_NO_MOVE_NO_ASSIGN()

MALIPUT_NO_COPY_NO_MOVE_NO_ASSIGN

(

BulbGroup

)

orientation_traffic_light()

const Rotation& orientation_traffic_light

(

)

const

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

position_traffic_light()

const InertialPosition& position_traffic_light

(

)

const

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

SetTrafficLight()

void SetTrafficLight	(	common::Passkey< TrafficLight >	,
		const TrafficLight *	traffic_light
	)

Sets the parent TrafficLight pointer.

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

Exceptions

common::assertion_error

When traffic_light is nullptr.

traffic_light()

const TrafficLight* traffic_light

(

)

const

Returns the parent TrafficLight of the bulb group.

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

unique_id()

UniqueBulbGroupId unique_id

(

)

const

Returns this BulbGroup instance's unique identifier.

Exceptions

common::assertion_error

When the parent TrafficLight has not been registered.

See also

SetTrafficLight().

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

• traffic_lights.h
• traffic_lights.cc