maliput_dynamic_environment.cc File Reference

Detailed Description

Builds an api::RoadNetwork and lists the rules which states change on a time basis. Possible backends are dragway, multilane and malidrive.

Note

1. 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 and the tolerance is optional: -xodr_file_path -linear_tolerance.
2. The application allows to select: -phase_duration: the duration of each phase. -timeout: the duration of the simulation.
3. The level of the logger is selected with -log_level.

#include <map>
#include <memory>
#include <string>
#include <thread>
#include <gflags/gflags.h>
#include <maliput/base/rule_filter.h>
#include <maliput/base/rule_registry.h>
#include <maliput/common/logger.h>
#include <maliput/common/maliput_abort.h>
#include "integration/create_dynamic_environment_handler.h"
#include "integration/create_timer.h"
#include "integration/dynamic_environment_handler.h"
#include "integration/timer.h"
#include "integration/tools.h"
#include "maliput_gflags.h"

Include dependency graph for maliput_dynamic_environment.cc:

Namespaces
	maliput
	maliput::integration

Functions
	COMMON_PROPERTIES_FLAGS ()
	MULTILANE_PROPERTIES_FLAGS ()
	DRAGWAY_PROPERTIES_FLAGS ()
	MALIDRIVE_PROPERTIES_FLAGS ()
	MALIPUT_OSM_PROPERTIES_FLAGS ()
	MALIPUT_APPLICATION_DEFINE_LOG_LEVEL_FLAG ()
	DEFINE_string (maliput_backend, "malidrive", "Whether to use <dragway>, <multilane> or <malidrive>. Default is dragway.")
	DEFINE_double (phase_duration, 2, "Duration of the phase in seconds.")
	DEFINE_double (timeout, 20., "Timeout for calling off the simulation in seconds.")
int	main (int argc, char *argv[])

Function Documentation

COMMON_PROPERTIES_FLAGS()

COMMON_PROPERTIES_FLAGS

(

)

DEFINE_double() [1/2]

DEFINE_double	(	phase_duration	,
		2	,
		"Duration of the phase in seconds."
	)

DEFINE_double() [2/2]

DEFINE_double	(	timeout	,
		20.	,
		"Timeout for calling off the simulation in seconds."
	)

DEFINE_string()

DEFINE_string	(	maliput_backend	,
		"malidrive"	,
		"Whether to use <dragway>	,
		< multilane > or< malidrive >. Default is dragway."
	)

DRAGWAY_PROPERTIES_FLAGS()

DRAGWAY_PROPERTIES_FLAGS

(

)

main()

int main	(	int	argc,
		char *	argv[]
	)

MALIDRIVE_PROPERTIES_FLAGS()

MALIDRIVE_PROPERTIES_FLAGS

(

)

MALIPUT_APPLICATION_DEFINE_LOG_LEVEL_FLAG()

MALIPUT_APPLICATION_DEFINE_LOG_LEVEL_FLAG

(

)

MALIPUT_OSM_PROPERTIES_FLAGS()

MALIPUT_OSM_PROPERTIES_FLAGS

(

)

MULTILANE_PROPERTIES_FLAGS()

MULTILANE_PROPERTIES_FLAGS

(

)