maliput::routing Namespace Reference

Functions
std::vector< api::LaneSRoute >	DeriveLaneSRoutes (const api::RoadPosition &start, const api::RoadPosition &end, double max_length_m)
	Derives and returns a set of LaneSRoute objects that go from start to end. More...
std::vector< std::vector< const maliput::api::Lane * > >	FindLaneSequences (const maliput::api::Lane *start, const maliput::api::Lane *end, double max_length_m)
	Finds and returns sequences of lanes that go from a specified start lane to a specified end lane. More...

Function Documentation

DeriveLaneSRoutes()

std::vector< api::LaneSRoute > DeriveLaneSRoutes	(	const api::RoadPosition &	start,
		const api::RoadPosition &	end,
		double	max_length_m
	)

Derives and returns a set of LaneSRoute objects that go from start to end.

If no routes are found, a vector of length zero is returned. Parameter max_length_m is the maximum length of the intermediate lanes between start and end. See the description of FindLaneSequences() for more details. If start and end are the same lane, a route consisting of one lane is returned regardless of max_length_m.

FindLaneSequences()

std::vector< std::vector< const Lane * > > FindLaneSequences	(	const maliput::api::Lane *	start,
		const maliput::api::Lane *	end,
		double	max_length_m
	)

Finds and returns sequences of lanes that go from a specified start lane to a specified end lane.

Only ongoing lanes are searched (adjacent lanes are not). If start and end are the same lane, a sequence of one lane is returned regardless of max_length_m.

Parameters

start	The lane at the start of the sequence.
end	The lane at the end of the sequence.
max_length_m	The maximum length of a sequence in meters, not including start and end. The lengths of start and end are not included because a vehicle may not fully traverse them. Getting from start to end, however, requires a vehicle to fully traverse all intermediate lanes in the sequence, which is why only the sum of their lengths are included in the comparison with this upper bound.

Returns

A vector of lane sequences in which the first lane is start and the last lane is end. An empty vector is returned if no sequences are found.