ArcLengthIntegrator Class Reference

Detailed Description

Wraps maliput::drake::systems::AntiderivativeFunction<double> by using a pImpl.

This convenient class helps to compute the arc length integral of the world function given a parameter and returns either the corresponding image arc length or a function that helps with multiple queries and return the arc length. This class does not expose any drake / eigen specific type, which serves as a useful interface for the future. Backends can rely on linking against this library only and private linkage will solve any required dependency.

#include <include/maliput/drake/arc_length_integrator.h>

Public Types
using	IntegrableFunction = std::function< double(const double &p, const math::Vector2 &k)>
	Type alias for the a scalar integrable function f(x; 𝐤) type. More...

Public Member Functions
	MALIPUT_NO_COPY_NO_MOVE_NO_ASSIGN (ArcLengthIntegrator)
	ArcLengthIntegrator (const IntegrableFunction &function, const IntegratorConfiguration &config)
	Constructs an ArcLengthIntegrator. More...
	~ArcLengthIntegrator ()
double	Evaluate (double p, const math::Vector2 &k) const
	Evaluates the arc length at p and with context k. More...
std::function< double(double)>	IntegralFunction (double p0, double p1, const math::Vector2 &k, double tolerance) const
	Computes a functor that can be used for sucessive queries at different p parameter values of the arc length. More...

Member Typedef Documentation

IntegrableFunction

using IntegrableFunction = std::function<double(const double& p, const math::Vector2& k)>

Type alias for the a scalar integrable function f(x; 𝐤) type.

Parameters

x	The variable of integration x ∈ ℝ .
k	The parameter vector 𝐤 ∈ ℝ².

Returns

The function value f(x; k).

Constructor & Destructor Documentation

ArcLengthIntegrator()

ArcLengthIntegrator	(	const IntegrableFunction &	function,
		const IntegratorConfiguration &	config
	)

Constructs an ArcLengthIntegrator.

Parameters

function	A functor with the IntegrableFunction.
config	A IntegratorConfiguration with the initial state of the integrator and its configurations.

~ArcLengthIntegrator()

~ArcLengthIntegrator ( )

default

Member Function Documentation

Evaluate()

double Evaluate	(	double	p,
		const math::Vector2 &	k
	)		const

Evaluates the arc length at p and with context k.

Parameters

p	The parameter of the integrable function.
k	The context of the function.

Returns

The arc length of the integrable function.

IntegralFunction()

std::function< double(double)> IntegralFunction	(	double	p0,
		double	p1,
		const math::Vector2 &	k,
		double	tolerance
	)		const

Computes a functor that can be used for sucessive queries at different p parameter values of the arc length.

Parameters

p0	The start of the integration domain.
p1	The end of the integration domain.
p1	The context k of the integration domain.
tolerance	The absolute tolerance to determine whether the used p parameter is within range [p0, p1].

Returns

A std::function that converts p values into the corresponding arc length.

MALIPUT_NO_COPY_NO_MOVE_NO_ASSIGN()

MALIPUT_NO_COPY_NO_MOVE_NO_ASSIGN

(

ArcLengthIntegrator

)

---

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

• arc_length_integrator.h
• arc_length_integrator.cc