maliput
maliput::api Namespace Reference

Namespaces

 rules
 
 test
 

Classes

class  BasicIdIndex
 Basic general-purpose concrete implementation of the RoadGeometry::IdIndex interface. More...
 
class  BranchPoint
 A BranchPoint is a node in the network of a RoadGeometry at which Lanes connect to one another. More...
 
class  HBounds
 Bounds in the elevation dimension (h component) of a Lane-frame, consisting of a pair of minimum and maximum h value. More...
 
class  InertialPosition
 A position in 3-dimensional geographical Cartesian space, i.e., in the Inertial-frame, consisting of three components x, y, and z. More...
 
class  Intersection
 An abstract convenience class that aggregates information pertaining to an intersection. More...
 
class  IntersectionBook
 An abstract interface for providing the mapping from Intersection::Id to Intersection. More...
 
struct  IsoLaneVelocity
 Isometric velocity vector in a Lane-frame. More...
 
class  Junction
 A Junction is a closed set of Segments which have physically coplanar road surfaces, in the sense that RoadPositions with the same h value (height above surface) in the domains of two Segments map to the same InertialPosition. More...
 
class  Lane
 A Lane represents a lane of travel in a road network. More...
 
struct  LaneEnd
 A specific endpoint of a specific Lane. More...
 
class  LaneEndSet
 A set of LaneEnds. More...
 
class  LanePosition
 A 3-dimensional position in a Lane-frame, consisting of three components: More...
 
struct  LanePositionResult
 Included in the return result of Lane::ToLanePosition(). More...
 
class  LaneSRange
 Directed longitudinal range of a specific Lane, identified by a LaneId. More...
 
class  LaneSRoute
 A route, possibly spanning multiple (end-to-end) lanes. More...
 
class  RBounds
 Bounds in the lateral dimension (r component) of a Lane-frame, consisting of a pair of minimum and maximum r value. More...
 
class  RoadGeometry
 Abstract API for the geometry of a road network, including both the network topology and the geometry of its embedding in 3-space. More...
 
class  RoadNetwork
 A container that aggregates everything pertaining to Maliput. More...
 
struct  RoadNetworkValidatorOptions
 Provides configuration options for the RoadNetworkValidator. More...
 
struct  RoadPosition
 A position in the road network, consisting of a pointer to a specific Lane and a Lane-frame position in that Lane. More...
 
struct  RoadPositionResult
 Included in the return result of RoadGeometry::FindRoadPositions() and RoadGeometry::ToRoadPosition(). More...
 
class  Rotation
 A 3-dimensional rotation. More...
 
class  Segment
 A Segment represents a bundle of adjacent Lanes which share a continuously traversable road surface. More...
 
class  SRange
 Directed, inclusive longitudinal (s value) range from s0 to s1. More...
 
class  TypeSpecificIdentifier
 TypeSpecificIdentifier<T> represents an identifier specifically identifying an entity of type T. More...
 
class  UniqueId
 Represents an unique identifier. More...
 

Typedefs

using BranchPointId = TypeSpecificIdentifier< class BranchPoint >
 
using JunctionId = TypeSpecificIdentifier< class Junction >
 Persistent identifier for a Junction element. More...
 
using LaneId = TypeSpecificIdentifier< class Lane >
 Persistent identifier for a Lane element. More...
 
using RoadGeometryId = TypeSpecificIdentifier< class RoadGeometry >
 Persistent identifier for a RoadGeometry element. More...
 
using SegmentId = TypeSpecificIdentifier< class Segment >
 Persistent identifier for a Segment element. More...
 

Functions

std::ostream & operator<< (std::ostream &out, const LaneEnd::Which &which_end)
 Streams a string representation of which_end into out. More...
 
std::ostream & operator<< (std::ostream &out, const InertialPosition &inertial_position)
 Streams a string representation of inertial_position into out. More...
 
std::ostream & operator<< (std::ostream &out, const Rotation &rotation)
 Streams a string representation of rotation into out. More...
 
std::ostream & operator<< (std::ostream &out, const LanePosition &lane_position)
 Streams a string representation of lane_position into out. More...
 
bool IsContiguous (const LaneSRange &lane_range_a, const LaneSRange &lane_range_b, const RoadGeometry *road_geometry)
 Evaluates whether lane_range_a end point is G1 contiguous with lane_range_b start pose. More...
 
bool IsIncluded (const InertialPosition &inertial_position, const std::vector< LaneSRange > &lane_s_ranges, const RoadGeometry *road_geometry)
 Evaluates whether inertial_position is within lane_s_ranges. More...
 
void ValidateRoadNetwork (const RoadNetwork &road_network, const RoadNetworkValidatorOptions &options)
 Validates a RoadNetwork. More...
 

Typedef Documentation

◆ BranchPointId

◆ JunctionId

Persistent identifier for a Junction element.

◆ LaneId

Persistent identifier for a Lane element.

◆ RoadGeometryId

Persistent identifier for a RoadGeometry element.

◆ SegmentId

Persistent identifier for a Segment element.

Function Documentation

◆ IsContiguous()

bool IsContiguous ( const LaneSRange lane_range_a,
const LaneSRange lane_range_b,
const RoadGeometry road_geometry 
)

Evaluates whether lane_range_a end point is G1 contiguous with lane_range_b start pose.

Parameters
lane_range_aA LaneSRange in road_geometry. Its ID must belong to a road_geometry's Lane.
lane_range_bA LaneSRange in road_geometry. Its ID must belong to a road_geometry's Lane.
road_geometryThe RoadGeometry where lane_range_a and lane_range_b are contained. It must not be nullptr.
Returns
True When lane_range_a end pose and lane_range_b start pose are within linear and angular tolerance in the Inertial-frame. Otherwise, it returns false.
Exceptions
common::assertion_errorWhen lane_range_a's Lane is not found in road_geometry.
common::assertion_errorWhen lane_range_b's Lane is not found in road_geometry.
common::assertion_errorWhen road_geometry is nullptr.

◆ IsIncluded()

bool IsIncluded ( const InertialPosition inertial_position,
const std::vector< LaneSRange > &  lane_s_ranges,
const RoadGeometry road_geometry 
)

Evaluates whether inertial_position is within lane_s_ranges.

Parameters
inertial_positionA InertialPosition in the Inertial-frame.
lane_s_rangesA vector of LaneSRanges that define a region.
road_geometryThe RoadGeometry where lane_s_ranges is contained. It must not be nullptr.
Returns
True when inertial_position is within lane_s_ranges. inertial_position is contained if the distance to the closest LanePosition of lane_s_ranges is less or equal than the linear tolerance of the road_geometry.
Exceptions
common::assertion_errorWhen road_geometry is nullptr.
common::assertion_errorWhen Lanes in lane_s_ranges are not found in road_geometry.

◆ operator<<() [1/4]

std::ostream & operator<< ( std::ostream &  out,
const InertialPosition inertial_position 
)

Streams a string representation of inertial_position into out.

Returns out. This method is provided for the purposes of debugging or text-logging. It is not intended for serialization.

◆ operator<<() [2/4]

std::ostream & operator<< ( std::ostream &  out,
const LaneEnd::Which which_end 
)

Streams a string representation of which_end into out.

Returns out. This method is provided for the purposes of debugging or text-logging. It is not intended for serialization.

◆ operator<<() [3/4]

std::ostream & operator<< ( std::ostream &  out,
const LanePosition lane_position 
)

Streams a string representation of lane_position into out.

Returns out. This method is provided for the purposes of debugging or text-logging. It is not intended for serialization.

◆ operator<<() [4/4]

std::ostream & operator<< ( std::ostream &  out,
const Rotation rotation 
)

Streams a string representation of rotation into out.

Returns out. This method is provided for the purposes of debugging or text-logging. It is not intended for serialization.

◆ ValidateRoadNetwork()

void ValidateRoadNetwork ( const RoadNetwork road_network,
const RoadNetworkValidatorOptions options 
)

Validates a RoadNetwork.

Parameters
road_networkThe RoadNetwork to validate.
optionsOptions for selecting what aspects of RoadNetwork to check.
Exceptions
maliput::common::assertion_errorWhen road_network is not valid.