Detailed Description
geometry_base provides basic implementations for a subset of the interfaces of maliput's geometry API (api::RoadGeometry, etc) that can be shared by most "leaf" backends.
It is suitable for use as base classes for a complete backend implementation, or for mock implementations for unit tests (such as test_utilities/mock_geometry.h).
geometry_base implements all the virtual methods involved in managing the object graph of the road network. It does not implement any of the fundamental geometric methods that define the immersion of lane-frame into Inertial-frame; that is the job of each specific backend. geometry_base's implementation of api::RoadGeometry.
A base implementation for the DoToRoadPosition and DoToFindRoadPosition virtual methods are offered. These methods could be initialize with two different strategies for performing their tasks:
- BruteForceStrategy: This strategy performs a brute force search for the nearest lane on the road network. It performs repetitive queries on the maliput::api::Lane::ToLanePosition method.
- KdTreeStrategy: This strategy performs a search for the nearest lane on the road network using a KdTree. In order to achieve this, the kdtree space needs to initialized, which is done by calling InitializeStrategy() method, after all the lanes have been added to the road geometry.
The InitializeStrategy() method allows you to indicate which strategy you want to use for the search and it is mandatory to call it before using the DoToRoadPosition and DoToFindRoadPosition methods. By default the BruteForceStrategy is used.
#include <include/maliput/geometry_base/road_geometry.h>
Public Member Functions | |
| MALIPUT_NO_COPY_NO_MOVE_NO_ASSIGN (RoadGeometry) | |
| RoadGeometry (const api::RoadGeometryId &id, double linear_tolerance, double angular_tolerance, double scale_length, const math::Vector3 &inertial_to_backend_frame_translation) | |
| Constructs an empty RoadGeometry with the specified tolerances. More... | |
| template<class T > | |
| T * | AddJunction (std::unique_ptr< T > junction) |
Adds junction to this RoadGeometry. More... | |
| template<class T > | |
| T * | AddBranchPoint (std::unique_ptr< T > branch_point) |
Adds branch_point to this RoadGeometry. More... | |
| template<class StrategyT = KDTreeStrategy, class... Args> | |
| void | InitializeStrategy (Args &&... args) |
| ~RoadGeometry () override=default | |
 Public Member Functions inherited from RoadGeometry | |
| RoadGeometryId | id () const |
| Returns the persistent identifier. More... | |
| int | num_junctions () const |
| Returns the number of Junctions in the RoadGeometry. More... | |
| const Junction * | junction (int index) const |
Returns the Junction indexed by index. More... | |
| int | num_branch_points () const |
| Returns the number of BranchPoints in the RoadGeometry. More... | |
| const BranchPoint * | branch_point (int index) const |
Returns the BranchPoint indexed by index. More... | |
| const IdIndex & | ById () const |
| Accesses the IdIndex interface, which allows getting elements of the RoadGeometry's object graph by their unique id's. More... | |
| RoadPositionResult | ToRoadPosition (const InertialPosition &inertial_position, const std::optional< RoadPosition > &hint=std::nullopt) const |
Determines the RoadPosition corresponding to InertialPosition inertial_position. More... | |
| std::vector< RoadPositionResult > | FindRoadPositions (const InertialPosition &inertial_position, double radius) const |
Obtains all RoadPositions within radius of inertial_position. More... | |
| double | linear_tolerance () const |
| Returns the tolerance guaranteed for linear measurements (positions). More... | |
| double | angular_tolerance () const |
| Returns the tolerance guaranteed for angular measurements (orientations). More... | |
| double | scale_length () const |
| Returns the characteristic scale length expressed by this RoadGeometry. More... | |
| std::vector< std::string > | CheckInvariants () const |
| Verifies certain invariants guaranteed by the API. More... | |
| std::vector< InertialPosition > | SampleAheadWaypoints (const LaneSRoute &lane_s_route, double path_length_sampling_rate) const |
Samples lane_s_route at path_length_sampling_rate and converts those LanePositions into InertialPositions. More... | |
| math::Vector3 | inertial_to_backend_frame_translation () const |
| The Backend Frame is an inertial frame similar to the Inertial Frame that differ one from another by an isometric transformation. More... | |
Additional Inherited Members | |
| Protected Member Functions inherited from RoadGeometry | |
| RoadGeometry ()=default | |
Constructor & Destructor Documentation
◆ RoadGeometry()
| RoadGeometry | ( | const api::RoadGeometryId & | id, |
| double | linear_tolerance, | ||
| double | angular_tolerance, | ||
| double | scale_length, | ||
| const math::Vector3 & | inertial_to_backend_frame_translation | ||
| ) |
Constructs an empty RoadGeometry with the specified tolerances.
- Parameters
-
id the ID of the RoadGeometry linear_tolerance the linear tolerance angular_tolerance the angular tolerance scale_length the scale length inertial_to_backend_frame_translation the Inertial Frame to Backend Frame translation vector
- Exceptions
-
maliput::common::assertion_error if either linear_toleranceorangular_toleranceorscale_lengthis non-positive.
◆ ~RoadGeometry()
|
overridevirtualdefault |
Reimplemented from RoadGeometry.
Member Function Documentation
◆ AddBranchPoint()
| T* AddBranchPoint | ( | std::unique_ptr< T > | branch_point | ) |
Adds branch_point to this RoadGeometry.
This RoadGeometry will take ownership of branch_point and will be assigned as its parent.
- Returns
branch_point's raw pointer.
- Template Parameters
-
T must be derived from geometry_base::BranchPoint.
- Exceptions
-
std::exception if branch_pointis empty.
◆ AddJunction()
| T* AddJunction | ( | std::unique_ptr< T > | junction | ) |
Adds junction to this RoadGeometry.
This RoadGeometry will take ownership of junction and will be assigned as its parent.
- Returns
junction's raw pointer.
- Template Parameters
-
T must be derived from geometry_base::Junction.
- Exceptions
-
std::exception if junctionis empty.
◆ InitializeStrategy()
| void InitializeStrategy | ( | Args &&... | args | ) |
◆ MALIPUT_NO_COPY_NO_MOVE_NO_ASSIGN()
| MALIPUT_NO_COPY_NO_MOVE_NO_ASSIGN | ( | RoadGeometry | ) |
The documentation for this class was generated from the following files:
