KDTreeStrategy Class Referencefinal

Detailed Description

Implements StrategyBase by reorganizing the maliput::api::Lane space into a kd-tree for achieving significantly more performant queries than BruteForceStrategy.

The kd-tree is built in construction time by sampling the lanes, therefore the RoadGeometry should be entirely built before this class instantiation.

#include <include/maliput/geometry_base/kd_tree_strategy.h>

Inheritance diagram for KDTreeStrategy:

Public Member Functions

 KDTreeStrategy (const api::RoadGeometry *rg, double sampling_step)
 ~KDTreeStrategy () override=default
- Public Member Functions inherited from StrategyBase
virtual ~StrategyBase ()=default
api::RoadPositionResult ToRoadPosition (const api::InertialPosition &inertial_position, const std::optional< api::RoadPosition > &hint) const
std::vector< api::RoadPositionResultFindRoadPositions (const api::InertialPosition &inertial_position, double radius) const

Additional Inherited Members

- Protected Member Functions inherited from StrategyBase
 StrategyBase (const api::RoadGeometry *rg)
const api::RoadGeometryget_road_geometry () const

Constructor & Destructor Documentation

◆ KDTreeStrategy()

KDTreeStrategy ( const api::RoadGeometry rg,
double  sampling_step 

◆ ~KDTreeStrategy()

~KDTreeStrategy ( )

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