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.

// create road geometry.
RoadGeometry road_geometry("road_geometry", 0.1, 0.1, 1.0, math::Vector3(0., 0., 0.));
// Add lanes to the road geometry.
road_geometry.AddJunction(...);
// ...
// Add branchpoints to the road geometry.
road_geometry.AddBranchPoint(...);
// ...
// Initialize the strategy.
road_geometry->InitializeStrategy<maliput::geometry_base::KDTreeStrategy>(0.25 /* sampling step */);
// or road_geometry->InitializeStrategy<maliput::geometry_base::BruteForceStrategy>();

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

Inheritance diagram for RoadGeometry:

[legend]

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...

std::vector< RoadPositionResult >	FindSurfaceRoadPositionsAtXY (double x, double y, double radius) const
	Finds all RoadPositions within a 2D radius of the given (x, y) inertial coordinates. 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...

std::string	BackendCustomCommand (const std::string &command) const
	This method is meant to provide an extra feature for the backend implementation. More...

std::string	GeoReferenceInfo () const
	Returns the Geo Reference info of this RoadGeometry. More...

Protected Member Functions
const StrategyBase *	strategy () const
	Returns a pointer to the active strategy. More...

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_tolerance or angular_tolerance or scale_length is non-positive.

◆ ~RoadGeometry()

~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_point is 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 junction is empty.

◆ InitializeStrategy()

void InitializeStrategy ( Args &&... args )

◆ MALIPUT_NO_COPY_NO_MOVE_NO_ASSIGN()

MALIPUT_NO_COPY_NO_MOVE_NO_ASSIGN ( RoadGeometry )

◆ strategy()

const StrategyBase* strategy ( ) const

protected

Returns a pointer to the active strategy.

Subclasses can use this to access strategy capabilities (e.g., FindCandidateLanesXY) for implementing backend-specific overrides of DoFindSurfaceRoadPositionsAtXY and similar methods.

Precondition: strategy_ must be initialized (via InitializeStrategy).

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

Detailed Description

Public Member Functions

Protected Member Functions

Constructor & Destructor Documentation

◆ RoadGeometry()

◆ ~RoadGeometry()

Member Function Documentation

◆ AddBranchPoint()

◆ AddJunction()

◆ InitializeStrategy()

◆ MALIPUT_NO_COPY_NO_MOVE_NO_ASSIGN()

◆ strategy()