RoadGeometry Class Reference

Detailed Description

Maliput implementation of the malidrive backend.

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

Inheritance diagram for RoadGeometry:

Public Member Functions
	MALIDRIVE_NO_COPY_NO_MOVE_NO_ASSIGN (RoadGeometry)
	RoadGeometry (const maliput::api::RoadGeometryId &id, std::unique_ptr< xodr::DBManager > manager, double linear_tolerance, double angular_tolerance, double scale_length, const maliput::math::Vector3 &inertial_to_backend_frame_translation)
	Constructs a RoadGeometry. More...
xodr::DBManager *	get_manager () const
	Returns a xodr::DBManager. More...
void	AddRoadCharacteristics (const xodr::RoadHeader::Id &road_id, std::unique_ptr< road_curve::RoadCurve > road_curve, std::unique_ptr< road_curve::Function > reference_line_offset)
	Adds the description of a Road. More...
const road_curve::RoadCurve *	GetRoadCurve (const xodr::RoadHeader::Id &road_id) const
	Gets the RoadCurve of road_id. More...
const road_curve::Function *	GetReferenceLineOffset (const xodr::RoadHeader::Id &road_id) const
	Gets the reference line offset function of road_id. More...
Public Member Functions inherited from RoadGeometry
	MALIPUT_NO_COPY_NO_MOVE_NO_ASSIGN (RoadGeometry)
	RoadGeometry (const api::RoadGeometryId &id, double linear_tolerance, double angular_tolerance, double scale_length, const math::Vector3 &inertial_to_backend_frame_translation)
T *	AddJunction (std::unique_ptr< T > junction)
T *	AddBranchPoint (std::unique_ptr< T > branch_point)
void	InitializeStrategy (Args &&... args)
	~RoadGeometry () override=default
Public Member Functions inherited from RoadGeometry
RoadGeometryId	id () const
int	num_junctions () const
const Junction *	junction (int index) const
int	num_branch_points () const
const BranchPoint *	branch_point (int index) const
const IdIndex &	ById () const
RoadPositionResult	ToRoadPosition (const InertialPosition &inertial_position, const std::optional< RoadPosition > &hint=std::nullopt) const
std::vector< RoadPositionResult >	FindRoadPositions (const InertialPosition &inertial_position, double radius) const
double	linear_tolerance () const
double	angular_tolerance () const
double	scale_length () const
std::vector< std::string >	CheckInvariants () const
std::vector< InertialPosition >	SampleAheadWaypoints (const LaneSRoute &lane_s_route, double path_length_sampling_rate) const
math::Vector3	inertial_to_backend_frame_translation () const

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

Constructor & Destructor Documentation

RoadGeometry()

RoadGeometry	(	const maliput::api::RoadGeometryId &	id,
		std::unique_ptr< xodr::DBManager >	manager,
		double	linear_tolerance,
		double	angular_tolerance,
		double	scale_length,
		const maliput::math::Vector3 &	inertial_to_backend_frame_translation
	)

Constructs a RoadGeometry.

Parameters

id	see maliput::api::RoadGeometry::id() for reference.
manager	An xodr::DBManager that contains a parsed XODR description. It must not be nullptr.
linear_tolerance	see maliput::api::RoadGeometry::linear_tolerance() for reference.
angular_tolerance	see maliput::api::RoadGeometry::angular_tolerance() for reference.
scale_length	see maliput::api::RoadGeometry::scale_length() for reference.
inertial_to_backend_frame_translation	maliput's Inertial Frame to Backend Frame translation vector.

Exceptions

maliput::common::assertion_error

When manager_ is nullptr.

Member Function Documentation

AddRoadCharacteristics()

void AddRoadCharacteristics	(	const xodr::RoadHeader::Id &	road_id,
		std::unique_ptr< road_curve::RoadCurve >	road_curve,
		std::unique_ptr< road_curve::Function >	reference_line_offset
	)

Adds the description of a Road.

Parameters

road_id	Is the xodr id of the road that road_curve belongs to.
road_curve	Is the RoadCurve to be added.
reference_line_offset	Is a Function that describes the lateral shift of the road reference line.

Exceptions

maliput::common::assertion_error	When road_curve is nullptr.
maliput::common::assertion_error	When reference_line_offset is nullptr.
maliput::common::assertion_error	When road_id is duplicated.

get_manager()

xodr::DBManager* get_manager

(

)

const

Returns a xodr::DBManager.

GetReferenceLineOffset()

const road_curve::Function * GetReferenceLineOffset

(

const xodr::RoadHeader::Id &

road_id

)

const

Gets the reference line offset function of road_id.

Parameters

road_id

Is the xodr id of the road that road_curve belongs to.

Returns

A Function pointer to the road reference line offset function.

Exceptions

maliput::common::assertion_error

When there is no a function described for road_id.

GetRoadCurve()

const road_curve::RoadCurve * GetRoadCurve

(

const xodr::RoadHeader::Id &

road_id

)

const

Gets the RoadCurve of road_id.

Parameters

road_id

Is the xodr id of the road that road_curve belongs to.

Returns

A RoadCurve pointer.

Exceptions

maliput::common::assertion_error

When there is no RoadCurve for road_id.

MALIDRIVE_NO_COPY_NO_MOVE_NO_ASSIGN()

MALIDRIVE_NO_COPY_NO_MOVE_NO_ASSIGN

(

RoadGeometry

)

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

• road_geometry.h
• road_geometry.cc