Namespaces
	test

Classes
class	Bulb
	Models a bulb within a bulb group. More...

class	BulbGroup
	Models a group of bulbs within a traffic light. More...

class	DiscreteValueRule
	Describes a discrete value rule. More...

class	DiscreteValueRuleStateProvider
	Abstract interface for the state provider of DiscreteValueRules. More...

class	Phase
	A group of RightOfWayRule instances and their states. More...

class	PhaseProvider
	Abstract interface for providing the dynamic states (Phase::Id) of a collection of PhaseRings. More...

class	PhaseRing
	A set of mutually exclusive phases, e.g., that comprise the signaling cycle for an intersection. More...

class	PhaseRingBook
	Abstract interface for providing the mapping from RightOfWayRule::Id to PhaseRing. More...

class	RangeValueRule
	Describes a numeric range based rule. More...

class	RangeValueRuleStateProvider
	Abstract interface for the state provider of RangeValueRules. More...

class	RoadRulebook
	Abstract interface for querying "rules of the road". More...

class	Rule
	Describes a generic rule type. More...

class	RuleRegistry
	A registry for Rule types. More...

struct	StateProviderResult
	The state returned by a state provider. More...

class	TrafficLight
	Models a traffic light. More...

class	TrafficLightBook
	Abstract interface for providing the mapping from TrafficLight::Id to TrafficLight. More...

class	UniqueBulbGroupId
	Uniquely identifies a bulb group in the `Inertial` space. More...

class	UniqueBulbId
	Uniquely identifies a bulb in the `Inertial` space. More...

Typedefs
using	deprecated = std::unordered_map< RightOfWayRule::Id, RightOfWayRule::State::Id >

using	BulbStates = std::unordered_map< UniqueBulbId, BulbState >
	A mapping from a UniqueBulbId to a BulbState. More...

using	DiscreteValueRuleStates = std::unordered_map< Rule::Id, DiscreteValueRule::DiscreteValue >
	A mapping from a Rule::Id to a DiscreteValueRule::DiscreteValue. More...

using	DiscreteValueRuleTypeAndValues = std::pair< Rule::TypeId, std::vector< DiscreteValueRule::DiscreteValue > >
	Convenient alias for clients that define DiscreteValueRule types. More...

using	RangeValueRuleTypeAndValues = std::pair< Rule::TypeId, std::vector< RangeValueRule::Range > >
	Convenient alias for clients that define RangeValueRule types. More...

Enumerations
enum	BulbColor { kRed = 0, kYellow, kGreen }
	Defines the possible bulb colors. More...

enum	BulbType { kRound = 0, kArrow }
	Defines the possible bulb types. More...

enum	BulbState { kOff = 0, kOn, kBlinking }
	Defines the possible bulb states. More...

Functions
class	MALIPUT_DEPRECATED ("DirectionUsageRule will be deprecated", "DiscreteValueRule") DirectionUsageRule final
	Rule describing direction usage for a road lane. More...

class	MALIPUT_DEPRECATED ("RightOfWayRule class will be deprecated", "DiscreteValueRule") RightOfWayRule final
	Rule describing right-of-way, a.k.a. More...

class	MALIPUT_DEPRECATED ("RigthOfWayRule class will be deprecated.") RightOfWayRuleStateProvider
	Abstract interface for the provider of the RightOfWayRule. More...

class	MALIPUT_DEPRECATED ("next release", "Use RangeValueRule instead.") SpeedLimitRule
	Rule describing speed limits. More...

std::unordered_map< BulbColor, const char *, maliput::common::DefaultHash >	BulbColorMapper ()
	Maps BulbColor enums to string representations. More...

std::unordered_map< BulbType, const char *, maliput::common::DefaultHash >	BulbTypeMapper ()
	Maps BulbType enums to string representations. More...

std::unordered_map< BulbState, const char *, maliput::common::DefaultHash >	BulbStateMapper ()
	Maps BulbState enums to string representations. More...

Typedef Documentation

◆ BulbStates

using BulbStates = std::unordered_map<UniqueBulbId, BulbState>

A mapping from a UniqueBulbId to a BulbState.

Just an alias for user convenience.

◆ deprecated

using deprecated = std::unordered_map<RightOfWayRule::Id, RightOfWayRule::State::Id>

◆ DiscreteValueRuleStates

using DiscreteValueRuleStates = std::unordered_map<Rule::Id, DiscreteValueRule::DiscreteValue>

A mapping from a Rule::Id to a DiscreteValueRule::DiscreteValue.

Just an alias for user convenience.

◆ DiscreteValueRuleTypeAndValues

using DiscreteValueRuleTypeAndValues = std::pair<Rule::TypeId, std::vector<DiscreteValueRule::DiscreteValue> >

Convenient alias for clients that define DiscreteValueRule types.

◆ RangeValueRuleTypeAndValues

using RangeValueRuleTypeAndValues = std::pair<Rule::TypeId, std::vector<RangeValueRule::Range> >

Convenient alias for clients that define RangeValueRule types.

Enumeration Type Documentation

◆ BulbColor

enum BulbColor

strong

Defines the possible bulb colors.

Enumerator
kRed
kYellow
kGreen

◆ BulbState

enum BulbState

strong

Defines the possible bulb states.

Enumerator
kOff
kOn
kBlinking

◆ BulbType

enum BulbType

strong

Defines the possible bulb types.

Enumerator
kRound
kArrow

Function Documentation

◆ BulbColorMapper()

std::unordered_map< BulbColor, const char *, maliput::common::DefaultHash > BulbColorMapper ( )

Maps BulbColor enums to string representations.

◆ BulbStateMapper()

std::unordered_map< BulbState, const char *, maliput::common::DefaultHash > BulbStateMapper ( )

Maps BulbState enums to string representations.

◆ BulbTypeMapper()

std::unordered_map< BulbType, const char *, maliput::common::DefaultHash > BulbTypeMapper ( )

Maps BulbType enums to string representations.

◆ MALIPUT_DEPRECATED() [1/4]

class maliput::api::rules::MALIPUT_DEPRECATED	(	"DirectionUsageRule will be deprecated"	,
		"DiscreteValueRule"
	)

final

Rule describing direction usage for a road lane.

DirectionUsageRules are comprised of:

a zone (a LaneSRange) which specifies the longitudinal section of the road-network to which the rule instance applies.
a catalog of one or more States, each of which indicate the possible DirectionUsageRule semantics for a vehicle traversing the zone.

A rule instance with a single State is considered "static", and has fixed semantics.

Each Lane location can be governed by at most one DirectionUsageRule.

Semantic state of the DirectionUsageRule. A State describes the current usage semantics of the lane section. This includes which direction traffic is allowed to travel on the lane and the severity of this restriction.

Unique identifier for a State

No vehicle should travel on this lane in violation of this rule.

Vehicles should avoid travelling against this rule but certain exceptions apply. E.g. passing is allowed.

Type of allowed travel on the lane. Categorized based on travel with or against the central axis (+S) of the lane frame.

Travel should proceed in the direction of the +S axis.

Travel should proceed opposite the +S axis direction.

Travel is allowed both with the lane direction(+S) or against it.

Travel is allowed both with the lane direction(+S) or against it but should be limited in duration, e.g. when approaching turns.

Travel on this lane is prohibited.

This lane is used to define a parking area.

There is no defined direction of travel on this lane.

Constructs a State instance.

Parameters

id	the unique Id
type	the semantic Type
severity	the Severity of the State

Returns the Id.

Returns the Type.

Returns the Severity.

Constructs a DirectionUsageRule.

Parameters

id	the unique ID of this rule (in the RoadRulebook)
zone	LaneSRange to which this rule applies
states	a vector of valid states for the rule

Exceptions

maliput::common::assertion_error

if size of states is not exactly

Returns the persistent identifier.

Returns the zone to which this rule instance applies.

Returns the catalog of possible States.

Returns true if the rule is static, i.e. has only one state, otherwise false.

Returns the static state of the rule.

This is a convenience function for returning a static rule's single state.

Exceptions

maliput::common::assertion_error if is_static() is false.

Maps DirectionUsageRule::State::Type enums to string representations.

◆ MALIPUT_DEPRECATED() [2/4]

class maliput::api::rules::MALIPUT_DEPRECATED	(	"next release"	,
		"Use RangeValueRule instead."
	)

Rule describing speed limits.

Each rule instance describes speed limits applied to a longitudinal portion of a Lane (which may be the entire length of the Lane). Each instance is tagged with a severity; multiple instances with different severities may apply to the same region of the road network.

Each instance mandates a maximum speed limit as well as a minimum speed limit. Since neither limit may be less than zero, a minimum limit of exactly zero is equivalent to having no minimum limit at all.

Severity classification.

< A strict limit is the established mandatory limit.

< An advisory limit is a recommendation, typically reflecting a road condition (e.g., a sharp curve).

Constructs a SpeedLimitRule.

Parameters

id	the unique ID of this rule (in the RoadRulebook)
zone	LaneSRange to which this rule applies
severity	Severity of the rule
min	minimum speed
max	maximum speed

min and max must be non-negative, and min must be less than or equal to max, otherwise a maliput::common::assertion_error is thrown.

Returns the persistent identifier.

Returns the zone to which this rule instance applies.

Returns the severity of this rule instance.

Returns the minimum limit.

Returns the maximum limit.

◆ MALIPUT_DEPRECATED() [3/4]

class maliput::api::rules::MALIPUT_DEPRECATED	(	"RightOfWayRule class will be deprecated"	,
		"DiscreteValueRule"
	)

final

Rule describing right-of-way, a.k.a.

priority.

Right-of-way rules cover things like stop signs, yield signs, and traffic lights: in other words, control over how competing traffic flows take turns traversing regions of the road network.

Each rule instance comprises:

a zone (a LaneSRoute) which specifies a contiguous longitudinal lane-wise section of the road network to which the rule instance applies;
a ZoneType describing whether or not stopping within the zone is allowed;
a catalog of one or more States, each of which indicate the possible right-of-way semantics for a vehicle traversing the zone.
a collection of related BulbGroup::Ids and their respective TrafficLight::Ids.

The zone is directed; the rule applies to vehicles traveling forward through the zone.

A rule instance with a single State is considered "static", and has fixed semantics. A rule instance with multiple States is considered "dynamic" and determination of the active rule State at any given time is delegated to a RuleStateProvider agent, linked by the rule's Id.

Rules and BulbGroups are linked via a many-to-many relationship. The Rule-to-BulbGroups relationship is stored in this class.

Unique identifier for a RightOfWayRule.

Alias for the related bulb groups type.

Description of stopping properties of the zone.

< Vehicles should not stop within the zone; vehicles should avoid entering the zone if traffic conditions may cause them to stop within the zone. Vehicles already in the zone when a kStop state occurs should exit the zone.

< Vehicles are allowed to stop within the zone.

Semantic state of a RightOfWayRule.

A State describes the semantic state of a RightOfWayRule, basically "Go", "Stop", or "Stop, Then Go". A RightOfWayRule may have multiple possible States, in which case its States must have Id's which are unique within the context of that RightOfWayRule.

A State also describes the yield logic of a RightOfWayRule, via a list of Id's of other RightOfWayRules (and thus the zones which they control) which have priority over this rule. An empty list means that a rule in this State has priority over all other rules. Vehicles with lower priority (i.e., traveling on lower-priority paths) must yield to vehicles with higher priority.

Unique identifier for a State

List of RightOfWayRule::Id's of rules/zones with priority.

Basic semantic type of a rule state.

< Vehicle has right-of-way and may proceed if safe to do so.

< Vehicle does not have right-of-way and must stop.

< Vehicle must come to complete stop before entering controlled zone, but may then proceed if safe;

Constructs a State instance.

Parameters

id	the unique Id
type	the semantic Type
yield_to	the other paths/rules which must be yielded to

Returns the Id.

Returns the Type.

Returns the YieldGroup.

Constructs a RightOfWayRule.

Parameters

id	the unique ID of this rule (in the RoadRulebook)
zone	to which this rule applies
zone_type	describing whether or not stopping within the zone is allowed
states	one or more States, each of which indicate the possible right-of-way semantics for a vehicle traversing the zone
related_bulb_groups	The related bulb groups. All IDs present within the supplied map are assumed to be valid.

Exceptions

maliput::common::assertion_error	if `states` is empty or if `states` contains duplicate State::Id's.
maliput::common::assertion_error	if any duplicate BulbGroup::Id is found.

Returns the rule's identifier.

Returns the zone controlled by the rule.

Returns the zone's type.

Returns the catalog of possible States.

Returns true if the rule is static, i.e., has no dynamic state, otherwise false.

This is true if and only if the rule has a single state.

Returns the static state of the rule.

This is a convenience function for returning a static rule's single state.

Exceptions

maliput::common::assertion_error if is_static() is false.

Returns the related bulb groups.

◆ MALIPUT_DEPRECATED() [4/4]

class maliput::api::rules::MALIPUT_DEPRECATED ( "RigthOfWayRule class will be deprecated." )

Abstract interface for the provider of the RightOfWayRule.

Result returned by GetState(const RightOfWayRule::Id).

Gets the state of the RightOfWayRule identified by id.

Returns a RightOfWayResult struct bearing the State::Id of the rule's current state. If a transition to a new state is anticipated, RightOfWayResult::next will be populated and bear the State::Id of the next state. If the time until the transition is known, then RightOfWayResult::next.duration_until will be populated with that duration.

Returns std::nullopt if id is unrecognized, which would be the case if no such rule exists or if the rule has only static semantics.

Namespaces

Classes

Typedefs

Enumerations

Functions

Typedef Documentation

◆ BulbStates

◆ deprecated

◆ DiscreteValueRuleStates

◆ DiscreteValueRuleTypeAndValues

◆ RangeValueRuleTypeAndValues

Enumeration Type Documentation

◆ BulbColor

◆ BulbState

◆ BulbType

Function Documentation

◆ BulbColorMapper()

◆ BulbStateMapper()

◆ BulbTypeMapper()

◆ MALIPUT_DEPRECATED() [1/4]

◆ MALIPUT_DEPRECATED() [2/4]

◆ MALIPUT_DEPRECATED() [3/4]

◆ MALIPUT_DEPRECATED() [4/4]