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::RoadPositionResult >	FindRoadPositions (const api::InertialPosition &inertial_position, double radius) const

std::unordered_set< const api::Lane * >	FindCandidateLanesXY (double x, double y, double radius) const
	Finds candidate lanes whose sampled points fall within a 2D radius of the given (x, y) coordinates. More...

Additional Inherited Members
Protected Member Functions inherited from StrategyBase
	StrategyBase (const api::RoadGeometry *rg)

const api::RoadGeometry *	get_road_geometry () const

Constructor & Destructor Documentation

~KDTreeStrategy ( )

overridedefault

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