Builds an api::RoadGeometry and returns a set of LaneSRoute objects that go from the start waypoint to end one. Possible backends are dragway
, multilane
and malidrive
.
- Note
- Allows to load a road geometry from different road geometry implementations. The
maliput_backend
flag will determine the backend to be used.
- "dragway": The following flags are supported to use in order to create dragway road geometry: -num_lanes, -length, -lane_width, -shoulder_width, -maximum_height.
- "multilane": yaml file path must be provided: -yaml_file.
- "malidrive": xodr file path must be provided, tolerance and rule file paths are optional: -xodr_file_path -linear_tolerance -road_rule_book_file -traffic_light_book_file -phase_ring_book_file -intersection_book_file
- Comments about the config_file: i - It should have a valid xodr_file only when malidrive backend is selected. ii - If a xodr_file_path(gflag) is provided then the xodr file path described in the config_file is discarded.
- The level of the logger could be setted by: -log_level.
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| COMMON_PROPERTIES_FLAGS () |
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| MULTILANE_PROPERTIES_FLAGS () |
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| DRAGWAY_PROPERTIES_FLAGS () |
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| MALIDRIVE_PROPERTIES_FLAGS () |
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| MALIPUT_OSM_PROPERTIES_FLAGS () |
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| MALIPUT_APPLICATION_DEFINE_LOG_LEVEL_FLAG () |
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| DEFINE_string (maliput_backend, "malidrive", "Whether to use <dragway>, <multilane> or <malidrive>. Default is malidrive.") |
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| DEFINE_string (config_file, "", "YAML file that defines XODR file path, route max length, and start/end waypoints.") |
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| DEFINE_double (max_length, 1000, "Maximum length of the intermediate lanes between start and end waypoints.[m]") |
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| DEFINE_string (start_waypoint, "", "Start waypoint to calculate the routing from. Expected format: '{x0, y0, z0}' ") |
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| DEFINE_string (end_waypoint, "", "End waypoint to calculate the routing to. Expected format: '{x1, y1, z1}' ") |
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int | main (int argc, char *argv[]) |
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