Detailed Description

Describes a Lane whose centerline is a offset of a road_curve::RoadCurve at a certain lane offset which is a road_curve::Function.

Lane's width varies with s.

In maps an XODR Lane within a certain XODR LaneSection.

#include <src/maliput_malidrive/base/lane.h>

Inheritance diagram for Lane:

[legend]

Public Member Functions
	MALIDRIVE_NO_COPY_NO_MOVE_NO_ASSIGN (Lane)

	Lane (const maliput::api::LaneId &id, int xodr_track, int xodr_lane_id, const maliput::api::HBounds &elevation_bounds, const road_curve::RoadCurve *road_curve, std::unique_ptr< road_curve::Function > lane_width, std::unique_ptr< road_curve::Function > lane_offset, double p0, double p1)
	Constructs a Lane. More...

int	get_track () const

int	get_lane_id () const

double	get_track_s_start () const

double	get_track_s_end () const

double	TrackSFromLaneS (double lane_s) const
	Converts `lane_s` coordinate in the LANE Frame to the TRACK Frame `s` coordinate the ODRM uses. More...

double	LaneSFromTrackS (double track_s) const
	Converts `track_s` coordinate in the TRACK Frame `s` coordinate the ODRM uses to the `s` coordinate in the LANE frame. More...

Public Member Functions inherited from Lane
	MALIPUT_NO_COPY_NO_MOVE_NO_ASSIGN (Lane)

	Lane (const api::LaneId &id)

BranchPoint *	mutable_start_branch_point ()

BranchPoint *	mutable_finish_branch_point ()

void	AttachToSegment (common::Passkey< Segment >, const api::Segment *segment, int index)

void	SetStartBranchPoint (common::Passkey< BranchPoint >, BranchPoint *branch_point)

void	SetFinishBranchPoint (common::Passkey< BranchPoint >, BranchPoint *branch_point)

	~Lane () override=default

Public Member Functions inherited from Lane
LaneId	id () const

const Segment *	segment () const

int	index () const

const Lane *	to_left () const

const Lane *	to_right () const

double	length () const

RBounds	lane_bounds (double s) const

RBounds	segment_bounds (double s) const

HBounds	elevation_bounds (double s, double r) const

InertialPosition	ToInertialPosition (const LanePosition &lane_pos) const

LanePositionResult	ToLanePosition (const InertialPosition &inertial_pos) const

LanePositionResult	ToSegmentPosition (const InertialPosition &inertial_pos) const

Rotation	GetOrientation (const LanePosition &lane_pos) const

LanePosition	EvalMotionDerivatives (const LanePosition &position, const IsoLaneVelocity &velocity) const

const BranchPoint *	GetBranchPoint (const LaneEnd::Which which_end) const

const LaneEndSet *	GetConfluentBranches (const LaneEnd::Which which_end) const

const LaneEndSet *	GetOngoingBranches (const LaneEnd::Which which_end) const

std::optional< LaneEnd >	GetDefaultBranch (const LaneEnd::Which which_end) const

bool	Contains (const LanePosition &lane_position) const

Additional Inherited Members
Protected Member Functions inherited from Lane
	Lane ()=default

Constructor & Destructor Documentation

◆ Lane()

Lane	(	const maliput::api::LaneId &	id,
		int	xodr_track,
		int	xodr_lane_id,
		const maliput::api::HBounds &	elevation_bounds,
		const road_curve::RoadCurve *	road_curve,
		std::unique_ptr< road_curve::Function >	lane_width,
		std::unique_ptr< road_curve::Function >	lane_offset,
		double	p0,
		double	p1
	)

Constructs a Lane.

Parameters

id	Lane's ID.
xodr_track	The XODR Road ID. It must be non negative.
xodr_lane_id	The XODR Lane ID within a XODR LaneSection.
elevation_bounds	Lane's elevation boundaries. They are constant for the entire volume.
road_curve	A pointer to a road_curve::RoadCurve. It must not be nullptr. Ownership of this object is not managed by this class.
lane_width	A road_curve::Function describing the width of the lane, i.e. its lane bounds. It must not be nullptr. Its range must be within `road_curve->linear_tolerance()` distance of `road_curve's`.
lane_offset	A road_curve::Function describing the offset of this Lane's centerline. It must not be nullptr. Its range must be within `road_curve->linear_tolerance()` distance of `road_curve's`.
p0	The value of the \( p \) parameter of `road_curve` that matches the start of the Lane.
p1	The value of the \( p \) parameter of `road_curve` that matches the finish of the Lane.

Note: When the ground curve's arc length in range p1 - p0 is less than road_curve->linear_tolerance(), an instance will not host a RoadCurveOffset to populate p_from_s_ and s_from_p_. Instead, it will create linear functions to convert back and forth s and p parameters.

Exceptions

maliput::common::assertion_error	When `xodr_track` is negative.
maliput::common::assertion_error	When `lane_width`, `lane_offset` or `road_curve` are nullptr.
maliput::common::assertion_error	When `lane_width's` or `lane_offset's` range are not within `road_curve->linear_tolerance()` of [ `p0`, `p1` ] range.

Member Function Documentation

◆ get_lane_id()

int get_lane_id ( ) const

Returns: The OpenDRIVE Lane Id Road Id.

◆ get_track()

int get_track ( ) const

Returns: The OpenDRIVE Road Id, which is also referred to as Track Id. It is a non-negative number.

◆ get_track_s_end()

double get_track_s_end ( ) const

Returns: The TRACK Frame end s coordinate of the XODR LaneSection this lane is part of.

◆ get_track_s_start()

double get_track_s_start ( ) const

Returns: The TRACK Frame start s coordinate of the XODR LaneSection this lane is part of. It is a non-negative quantity.

◆ LaneSFromTrackS()

double LaneSFromTrackS ( double track_s ) const

Converts track_s coordinate in the TRACK Frame s coordinate the ODRM uses to the s coordinate in the LANE frame.

Parameters

track_s The TRACK Frame s coordinate to convert. It must be in [0; get_track_s_end() - get_track_s_start()].

Returns: The LANE Frame s coordinate which matches track_s.

Exceptions

maliput::common::assertion_error When track_s is not in range.

◆ MALIDRIVE_NO_COPY_NO_MOVE_NO_ASSIGN()

MALIDRIVE_NO_COPY_NO_MOVE_NO_ASSIGN ( Lane )

◆ TrackSFromLaneS()

double TrackSFromLaneS ( double lane_s ) const

Converts lane_s coordinate in the LANE Frame to the TRACK Frame s coordinate the ODRM uses.

Parameters

lane_s The LANE Frame s coordinate to convert. It must be in [0; maliput::api::Lane::length()].

Returns: The TRACK Frame s coordinate which matches lane_s.

Exceptions

maliput::common::assertion_error When lane_s is not in range.

The documentation for this class was generated from the following files:

Detailed Description

Public Member Functions

Additional Inherited Members

Constructor & Destructor Documentation

◆ Lane()

Member Function Documentation

◆ get_lane_id()

◆ get_track()

◆ get_track_s_end()

◆ get_track_s_start()

◆ LaneSFromTrackS()

◆ MALIDRIVE_NO_COPY_NO_MOVE_NO_ASSIGN()

◆ TrackSFromLaneS()