Namespaces
	graph

Classes
class	Phase
	Manages a phase in a Route, towards its end. More...

struct	PhasePositionResult
	The result of a position query on a Phase. More...

class	Route
	Describes the sequence of paths that go from one api::RoadPosition to another. More...

struct	RoutePositionResult
	The result of a position query on a Route. More...

class	Router
	Computes Routes within an api::RoadNetwork. More...

struct	RoutingConstraints
	Holds the constraints that can be applied to the Router when computing a Route. More...

Enumerations
enum	LaneSRangeRelation { kAdjacentLeft, kAdjacentRight, kLeft, kRight, kSucceedingStraight, kSucceedingLeft, kSucceedingRight, kPrecedingStraight, kPrecedingLeft, kPrecedingRight, kCoincident, kUnrelated, kUnknown }
	Defines the possible relationships the routing API can interpret between two api::LaneSRanges within a Route. More...

Functions
common::ComparisonResult< PhasePositionResult >	IsPhasePositionResultClose (const PhasePositionResult &ppr_a, const PhasePositionResult &ppr_b, double tolerance)
	Compares equality within `tolerance` deviation of the PhasePositionResult `ppr_a` and `ppr_b`. More...

common::ComparisonResult< RoutePositionResult >	IsRoutePositionResultClose (const RoutePositionResult &rpr_a, const RoutePositionResult &rpr_b, double tolerance)
	Compares equality within `tolerance` deviation of the RoutePositionResult `rpr_a` and `rpr_b`. More...

std::optional< double >	DetermineEdgeS (const api::Lane &lane, const api::Lane &next_lane)
	Returns the S coordinate in `lane` that is on the border with `next_lane`. More...

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...

std::vector< std::vector< const maliput::api::Lane * > >	FindLaneSequences (const maliput::api::Lane start, const maliput::api::Lane end, double max_length_m, bool no_u_turns)
	Overload to FindLaneSequences() that removes from the result those sequences presenting U-turns when `no_u_turns` is true. More...

std::map< LaneSRangeRelation, const char * >	LaneSRangeRelationMapper ()

std::ostream &	operator<< (std::ostream &os, const LaneSRangeRelation &relation)
	Convenient overload to serialize as string a LaneSRangeRelation. More...

bool	ValidatePositionIsInLaneSRanges (const maliput::api::RoadPosition &position, const std::vector< api::LaneSRange > &lane_s_ranges, double tolerance)
	Determines whether the `position` resides in any of `lane_s_ranges`. More...

void	ValidateRoutingConstraints (const RoutingConstraints &routing_constraints)
	Validates the constraints of each parameter of `routing_constraints`. More...

Enumeration Type Documentation

◆ LaneSRangeRelation

enum LaneSRangeRelation

strong

Defines the possible relationships the routing API can interpret between two api::LaneSRanges within a Route.

Relations described in this enum must be mutually exclusive and comprehensive, i.e., exactly one relation will apply for any given pair of LaneSRange objects.

The following ASCII art helps to understand the relative relations described below.

 x------A>-------x
 x------B>-------x------E>-------x------H>-------x
 x------C>-------x------F>-------x------I>-------x
 x------D>-------x------G>-------x

In the diagram above:

x indicates the beginning or the end of a api::LaneSRange.
> indicates the direction of travel of the route.
The letters name the api::LaneSRanges in the Route.

Thus,

A is LaneSRangeRelation::kCoincident with A.
A is LaneSRangeRelation::kAdjacentLeft of B.
B is LaneSRangeRelation::kAdjacentRight of A.
A is LaneSRangeRelation::kLeft of D.
D is LaneSRangeRelation::kRight of A.
F is LaneSRangeRelation::kSucceedingStraight of C.
E and F are LaneSRangeRelation::kSucceedingLeft of D.
F and G are LaneSRangeRelation::kSucceedingRight of B.
E is LaneSRangeRelation::kPrecedingStraight of H.
E is LaneSRangeRelation::kPrecedingLeft of I.
F and G are LaneSRangeRelation::kPrecedingRight of H.
A is LaneSRangeRelation::kUnrelated to H.

LaneSRangeRelation::kUnknown represents the case when any of the api::LaneSRanges is not found in the Route.

Enumerator
kAdjacentLeft
kAdjacentRight
kLeft
kRight
kSucceedingStraight
kSucceedingLeft
kSucceedingRight
kPrecedingStraight
kPrecedingLeft
kPrecedingRight
kCoincident
kUnrelated
kUnknown

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.

◆ DetermineEdgeS()

std::optional< double > DetermineEdgeS	(	const api::Lane &	lane,
		const api::Lane &	next_lane
	)

Returns the S coordinate in lane that is on the border with next_lane.

When lane is not connected to next_lane , std::nullopt is returned.

◆ FindLaneSequences() [1/2]

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.

◆ FindLaneSequences() [2/2]

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

Overload to FindLaneSequences() that removes from the result those sequences presenting U-turns when no_u_turns is true.

Otherwise, the function behaves exactly the same. In this context, a U-turn is when the route backtracks against itself within the same lane.

◆ IsPhasePositionResultClose()

common::ComparisonResult< PhasePositionResult > IsPhasePositionResultClose	(	const PhasePositionResult &	ppr_a,
		const PhasePositionResult &	ppr_b,
		double	tolerance
	)

Compares equality within tolerance deviation of the PhasePositionResult ppr_a and ppr_b.

Parameters

ppr_a	The first PhasePositionResult to compare.
ppr_b	The second PhasePositionResult to compare.
tolerance	The tolerance to use for the comparison.

Returns: A ComparisonResult indicating whether the two PhasePositionResults are the equivalent within the tolerance.

◆ IsRoutePositionResultClose()

common::ComparisonResult< RoutePositionResult > IsRoutePositionResultClose	(	const RoutePositionResult &	rpr_a,
		const RoutePositionResult &	rpr_b,
		double	tolerance
	)

Compares equality within tolerance deviation of the RoutePositionResult rpr_a and rpr_b.

Parameters

rpr_a	The first RoutePositionResult to compare.
rpr_b	The second RoutePositionResult to compare.
tolerance	The tolerance to use for the comparison.

Returns: A ComparisonResult indicating whether the two RoutePositionResults are the equivalent within the tolerance.

◆ LaneSRangeRelationMapper()

std::map<LaneSRangeRelation, const char*> maliput::routing::LaneSRangeRelationMapper ( )

Returns: A convenient dictionary that maps LaneSRangeRelation to a const char *.

◆ operator<<()

std::ostream& maliput::routing::operator<<	(	std::ostream &	os,
		const LaneSRangeRelation &	relation
	)

Convenient overload to serialize as string a LaneSRangeRelation.

Parameters

os	A mutable reference to a std::ostream.
relation	The LaneSRangeRelation to serialize.

Returns: os with relation serialized.

◆ ValidatePositionIsInLaneSRanges()

bool ValidatePositionIsInLaneSRanges	(	const maliput::api::RoadPosition &	position,
		const std::vector< api::LaneSRange > &	lane_s_ranges,
		double	tolerance
	)

Determines whether the position resides in any of lane_s_ranges.

tolerance is used to expand the range of lane_s_ranges when evaluating position.

Parameters

position	The api::RoadPosition to evaluate. It must be valid.
lane_s_ranges	The api::LaneSRanges. It must not be empty.
tolerance	Tolerance to compare api::LaneSRanges' ranges with `position`. It must be non-negative.

Returns: true When position is in any of lane_s_ranges with tolerance in the LANE-Frame s coordinate.

Exceptions

common::assertion_error	When `position` is not valid.
common::assertion_error	When `lane_s_ranges` is empty.
common::assertion_error	When `tolerance` is negative.

◆ ValidateRoutingConstraints()

void ValidateRoutingConstraints ( const RoutingConstraints & routing_constraints )

Validates the constraints of each parameter of routing_constraints.

Parameters

routing_constraints A RoutingConstraints to validate.

Exceptions

common::assertion_error When one of the preconditions of routing_constraints are violated.

Namespaces

Classes

Enumerations

Functions

Enumeration Type Documentation

◆ LaneSRangeRelation

Function Documentation

◆ DeriveLaneSRoutes()

◆ DetermineEdgeS()

◆ FindLaneSequences() [1/2]

◆ FindLaneSequences() [2/2]

◆ IsPhasePositionResultClose()

◆ IsRoutePositionResultClose()

◆ LaneSRangeRelationMapper()

◆ operator<<()

◆ ValidatePositionIsInLaneSRanges()

◆ ValidateRoutingConstraints()