Detailed Description

Provides a base interface for defining strategies that will affect the behavior of the queries RoadGeomoetry::ToRoadPosition and RoadGeomoetry::FindRoadPositions.

See RoadGeometry::InitializeStrategy().

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

Inheritance diagram for StrategyBase:

[legend]

Public Member Functions
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...

Protected Member Functions
	StrategyBase (const api::RoadGeometry *rg)

const api::RoadGeometry *	get_road_geometry () const

Constructor & Destructor Documentation

◆ ~StrategyBase()

virtual ~StrategyBase ( )

virtualdefault

◆ StrategyBase()

StrategyBase ( const api::RoadGeometry * rg )

protected

Member Function Documentation

◆ FindCandidateLanesXY()

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.

This is intended as a spatial pre-filter: it returns a superset of lanes that may be within the given radius. The caller is responsible for performing precise distance filtering on the results.

Parameters

x	The x-coordinate in the Inertial frame.
y	The y-coordinate in the Inertial frame.
radius	The 2D search radius (in meters). Implementations may expand this to account for sampling resolution (e.g., KDTree sampling step).

Returns: A set of unique lane pointers that are candidate matches.

◆ FindRoadPositions()

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

◆ get_road_geometry()

const api::RoadGeometry* get_road_geometry ( ) const