maliput_dragway
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Dragway's implementation of api::Segment.
It contains multiple straight lanes. For the lane semantics, see the class descriptions of Lane.
The following ASCII art shows how N lanes are arranged in a segment.
lane_bounds --- X -------- lane index 1 | ^ | lane index n --- | | | --- lane index 0 | | | | | V |<->| | V V ------------------------------------- | | : | : | : | : | : | : | : | : | | | | : | : | : | : | : | : | : | : | | | | : | : | : | : | : | : | : | : | | | | : | : | : | : | : | : | : | : | | | | : | : | : | : | : | : | : | : | | | | : | : | : | : | : | : | : | : | | Y <-----------------------------o-----------------------------> ^ | ^ ^ | | | | y_max | | y_min | | V --- y offset of lane 0
|<--------------------------------->| road_width
Note that lane indices increase to the left, which matches the fact that within a Lane, r
increases to the left.
#include <include/maliput_dragway/segment.h>
Public Member Functions | |
Segment (Junction *junction, int num_lanes, double length, double lane_width, double shoulder_width, double maximum_height) | |
Constructs a new dragway Segment. More... | |
~Segment () final=default | |
Public Member Functions inherited from Segment | |
SegmentId | id () const |
const Junction * | junction () const |
int | num_lanes () const |
const Lane * | lane (int index) const |
Additional Inherited Members | |
Protected Member Functions inherited from Segment | |
Segment ()=default | |
Segment | ( | Junction * | junction, |
int | num_lanes, | ||
double | length, | ||
double | lane_width, | ||
double | shoulder_width, | ||
double | maximum_height | ||
) |
Constructs a new dragway Segment.
[in] | junction | The junction to which this Segment belongs. |
[in] | num_lanes | The number of lanes in the segment. |
[in] | length | The length of the dragway. |
[in] | lane_width | The width of each lane. |
[in] | shoulder_width | The width of the shoulders on each side of the road. |
[in] | maximum_height | The maximum height above the road surface. modelled by the RoadGeometry. |