Detailed Description

Interface of a helper class to build road curve related objects by MalidriveRoadGeometryBuilder.

This class is provided as an interface to facilitate testing of MalidriveRoadGeometry via dependency injection.

#include <src/maliput_malidrive/builder/road_curve_factory.h>

Inheritance diagram for RoadCurveFactoryBase:

Public Member Functions
	RoadCurveFactoryBase ()=delete

	RoadCurveFactoryBase (double linear_tolerance, double scale_length, double angular_tolerance)
	Constructs RoadCurveFactoryBase. More...

virtual	~RoadCurveFactoryBase ()=default

virtual std::unique_ptr< road_curve::Function >	MakeCubicPolynomial (double a, double b, double c, double d, double p0, double p1) const =0

virtual std::unique_ptr< road_curve::Function >	MakeCubicPolynomial (double p0, double p1, double y, double dy) const =0
	Creates a cubic polynomial: More...

virtual std::unique_ptr< road_curve::GroundCurve >	MakeArcGroundCurve (const xodr::Geometry &arc_geometry) const =0
	Makes a road_curve::ArcGroundCurve. More...

virtual std::unique_ptr< road_curve::GroundCurve >	MakeLineGroundCurve (const xodr::Geometry &line_geometry) const =0
	Makes a road_curve::LineGroundCurve. More...

virtual std::unique_ptr< road_curve::GroundCurve >	MakeSpiralGroundCurve (const xodr::Geometry &spiral_geometry) const =0
	Makes a road_curve::SpiralGroundCurve. More...

virtual std::unique_ptr< road_curve::GroundCurve >	MakePiecewiseGroundCurve (const std::vector< xodr::Geometry > &geometries) const =0
	Makes a road_curve::PiecewiseGroundCurve. More...

virtual std::unique_ptr< malidrive::road_curve::Function >	MakeElevation (const xodr::ElevationProfile &elevation_profile, double p0, double p1, bool assert_continuity) const =0
	Makes a cubic polynomial that describes the elevation of a Road. More...

virtual std::unique_ptr< malidrive::road_curve::Function >	MakeSuperelevation (const xodr::LateralProfile &lateral_profile, double p0, double p1, bool assert_continuity) const =0
	Makes a cubic polynomial that describes the superelevation of a Road. More...

virtual std::unique_ptr< malidrive::road_curve::Function >	MakeLaneWidth (const std::vector< xodr::LaneWidth > &lane_widths, double p0, double p1, bool assert_continuity) const =0
	Makes a cubic polynomial that describes the width of a Lane. More...

virtual std::unique_ptr< malidrive::road_curve::Function >	MakeReferenceLineOffset (const std::vector< xodr::LaneOffset > &reference_offsets, double p0, double p1) const =0
	Makes a cubic polynomial that describes the lateral shift of the road reference line. More...

virtual std::unique_ptr< road_curve::RoadCurve >	MakeMalidriveRoadCurve (std::unique_ptr< road_curve::GroundCurve > ground_curve, std::unique_ptr< road_curve::Function > elevation, std::unique_ptr< road_curve::Function > superelevation, bool assert_contiguity) const =0
	Makes a road_curve::MalidriveGroundCurve. More...


virtual double	linear_tolerance () const
	Tolerance accessors. More...

virtual double	scale_length () const

virtual double	angular_tolerance () const

Constructor & Destructor Documentation

◆ RoadCurveFactoryBase() [1/2]

RoadCurveFactoryBase ( )

delete

◆ RoadCurveFactoryBase() [2/2]

RoadCurveFactoryBase	(	double	linear_tolerance,
		double	scale_length,
		double	angular_tolerance
	)

Constructs RoadCurveFactoryBase.

Parameters

linear_tolerance	RoadGeometry's linear tolerance. It will be used to build geometry objects. It must be non negative.
scale_length	RoadGeometry's scale length. It will be used to build geometry objects. It must be positive.
angular_tolerance	RoadGeometry's angular tolerance. It will be used to build geometry objects. It must be positive.

Exceptions

maliput::common::assertion_error	When `linear_tolerance` is not positive.
maliput::common::assertion_error	When `scale_length` is not positive.
maliput::common::assertion_error	When `angular_tolerance` is not positive.

◆ ~RoadCurveFactoryBase()

virtual ~RoadCurveFactoryBase ( )

virtualdefault

Member Function Documentation

◆ angular_tolerance()

virtual double angular_tolerance ( ) const

virtual

◆ linear_tolerance()

virtual double linear_tolerance ( ) const

virtual

Tolerance accessors.

◆ MakeArcGroundCurve()

virtual std::unique_ptr<road_curve::GroundCurve> MakeArcGroundCurve ( const xodr::Geometry & arc_geometry ) const

pure virtual

Makes a road_curve::ArcGroundCurve.

Its linear tolerance will be the constructor argument.

Parameters

arc_geometry xodr::Geometry definition to construct a road_curve::ArcGroundCurve. Its type must be xodr::Geometry::Type::kArc.

Returns: A road_curve::ArcGroundCurve.

Exceptions

maliput::common::assertion_error When arc_geometry.type is not xodr::Geometry::Type::kArc.

Implemented in RoadCurveFactory.

◆ MakeCubicPolynomial() [1/2]

virtual std::unique_ptr<road_curve::Function> MakeCubicPolynomial	(	double	a,
		double	b,
		double	c,
		double	d,
		double	p0,
		double	p1
	)		const

pure virtual

See also: road_curve::CubicPolynomial::CubicPolynomial() for argument details.

Returns: A road_curve::CubicPolynomial.

Implemented in RoadCurveFactory.

◆ MakeCubicPolynomial() [2/2]

virtual std::unique_ptr<road_curve::Function> MakeCubicPolynomial	(	double	p0,
		double	p1,
		double	y,
		double	dy
	)		const

pure virtual

Creates a cubic polynomial:

\( f(p) = a p^3 + b p^2 + c p + d / p ∈ [`p0`; `p1`] \).

Meeting the following considerations: f(p0) = 0 f'(p0) = 0 f(p1) = y f'(p1) = dy

Parameters

p0	Lower bound extreme of the parameter range. It must not be negative and must be less than `p1`.
p1	Upper bound extreme of the parameter range. It must be greater than `p0`.
y	Polynomial evaluated at \( p = `p1` \).
dy	Derived polynomial evaluated at \( p = `p1` \).

Returns: A road_curve::CubicPolynomial.

Exceptions

maliput::common::assertion_error	When `p0` is negative.
maliput::common::assertion_error	When `p1` is not greater than `p0`.

Implemented in RoadCurveFactory.

◆ MakeElevation()

virtual std::unique_ptr<malidrive::road_curve::Function> MakeElevation	(	const xodr::ElevationProfile &	elevation_profile,
		double	p0,
		double	p1,
		bool	assert_continuity
	)		const

pure virtual

Makes a cubic polynomial that describes the elevation of a Road.

Constructs a road::curve::Function out of elevation_profile. There could be two scenarios that depends on elevation_profile:

If it is empty then a zero cubic polynomial is created in the range [p0, p1]
If it contains one or more elevations then a piecewised function is created in the range [p0, p1]

Note: Handling tolerance: If there is a gap between p0 and the S0 value of the first elevation then a cubic polynomial is created to fullfill that gap.

See also: MakeCubicPolynomial To know characteristics of the cubic polynomial that is created.

Parameters

elevation_profile	Contains the elevation described in the XODR for the Road.
p0	Lower bound extreme of the parameter range. It must not be negative and must be less than `p1`.
p1	Upper bound extreme of the parameter range. It must be greater than `p0`.
assert_continuity	If true, C1 continuity is assert when function describing the elevation is built. Otherwise only warning messages are printed.

Returns: A function that describes the elevation of the Road.

Exceptions

maliput::common::assertion_error	When `p0` is negative.
maliput::common::assertion_error	When `p1` is not greater enough than `p0`.

Implemented in RoadCurveFactory.

◆ MakeLaneWidth()

virtual std::unique_ptr<malidrive::road_curve::Function> MakeLaneWidth	(	const std::vector< xodr::LaneWidth > &	lane_widths,
		double	p0,
		double	p1,
		bool	assert_continuity
	)		const

pure virtual

Makes a cubic polynomial that describes the width of a Lane.

Constructs a road::curve::Function out of lane_widths.

Parameters

lane_widths	Contains the width described in the XODR for the Lane.
p0	Lower bound extreme of the parameter range. It must not be negative and must be less than `p1`.
p1	Upper bound extreme of the parameter range. It must be greater than `p0`.
assert_continuity	If true, C1 continuity is assert when function describing the lane width is built. Otherwise only warning messages are printed.

Returns: A function that describes the width of the Lane.

Exceptions

maliput::common::assertion_error	When `p0` is negative.
maliput::common::assertion_error	When `p1` is not greater enough than `p0`.
maliput::common::assertion_error	When `lane_widths` 's size is zero.
maliput::common::assertion_error	When the first offset value of `lane_widths` is different than zero.
maliput::common::assertion_error	When `lane_widths` 's start points are distanced less than linear tolerance.
maliput::common::assertion_error	When `lane_widths` 's functions aren't at least as long as road::curve::GroundCurve::kEpsilon.

Implemented in RoadCurveFactory.

◆ MakeLineGroundCurve()

virtual std::unique_ptr<road_curve::GroundCurve> MakeLineGroundCurve ( const xodr::Geometry & line_geometry ) const

pure virtual

Makes a road_curve::LineGroundCurve.

Its linear tolerance will be the constructor argument.

Parameters

line_geometry xodr::Geometry definition to construct a road_curve::LineGroundCurve. Its type must be xodr::Geometry::Type::kLine.

Returns: A road_curve::LineGroundCurve.

Exceptions

maliput::common::assertion_error When line_geometry.type is not xodr::Geometry::Type::kLine.

Implemented in RoadCurveFactory.

◆ MakeMalidriveRoadCurve()

virtual std::unique_ptr<road_curve::RoadCurve> MakeMalidriveRoadCurve	(	std::unique_ptr< road_curve::GroundCurve >	ground_curve,
		std::unique_ptr< road_curve::Function >	elevation,
		std::unique_ptr< road_curve::Function >	superelevation,
		bool	assert_contiguity
	)		const

pure virtual

Makes a road_curve::MalidriveGroundCurve.

Its linear tolerance and scale length will be the constructor arguments.

See also: road_curve::RoadCurve::RoadCurve() for argument details.

Returns: A road_curve::MalidriveGroundCurve.

Implemented in RoadCurveFactory.

◆ MakePiecewiseGroundCurve()

virtual std::unique_ptr<road_curve::GroundCurve> MakePiecewiseGroundCurve ( const std::vector< xodr::Geometry > & geometries ) const

pure virtual

Makes a road_curve::PiecewiseGroundCurve.

Its linear tolerance will be the constructor argument.

Parameters

geometries A vector of xodr::Geometry definitions to construct a road_curve::PiecewiseGroundCurve. Item's type must be one of {xodr::Geometry::Type::kArc, xodr::Geometry::Type::kLine, xodr::Geometry::Type::kSpiral}. It must not be empty. Geometries whose length is less than GroundCurve::kEpsilon are discarded.

Returns: A road_curve::PiecewiseGroundCurve.

Exceptions

maliput::common::assertion_error	When any item of `geometries` has other type than {xodr::Geometry::Type::kArc, xodr::Geometry::Type::kLine, xodr::Geometry::Type::kSpiral}.
maliput::common::assertion_error	When `geometries` is empty.

Implemented in RoadCurveFactory.

◆ MakeReferenceLineOffset()

virtual std::unique_ptr<malidrive::road_curve::Function> MakeReferenceLineOffset	(	const std::vector< xodr::LaneOffset > &	reference_offsets,
		double	p0,
		double	p1
	)		const

pure virtual

Makes a cubic polynomial that describes the lateral shift of the road reference line.

When reference_offsets is empty, a zero cubic polynomial is created in the range [p0, p1]. Otherwise, a PiecewiseFunction is created in the range [p0, p1].

Note: Handling tolerance: If there is a gap between p0 and the S0 value of the first offset function then a zero cubic polynomial is created to fullfill that gap.

Parameters

reference_offsets	Contains the offset described in the XODR's `laneOffset` record for the road reference line.
p0	Lower bound extreme of the parameter range. It must not be negative and must be less than `p1`.
p1	Upper bound extreme of the parameter range. It must be greater than `p0`.

Returns: A function that describes the lateral shift of the road reference line.

Exceptions

maliput::common::assertion_error	When `p0` is negative.
maliput::common::assertion_error	When `p1` is not greater enough than `p0`.

Implemented in RoadCurveFactory.

◆ MakeSpiralGroundCurve()

virtual std::unique_ptr<road_curve::GroundCurve> MakeSpiralGroundCurve ( const xodr::Geometry & spiral_geometry ) const

pure virtual

Makes a road_curve::SpiralGroundCurve.

Its linear tolerance will be the constructor argument.

Parameters

spiral_geometry xodr::Geometry definition to construct a road_curve::SpiralGroundCurve. Its type must be xodr::Geometry::Type::kSpiral.

Returns: A road_curve::SpiralGroundCurve.

Exceptions

maliput::common::assertion_error When spiral_geometry.type is not xodr::Geometry::Type::kSpiral.

Implemented in RoadCurveFactory.

◆ MakeSuperelevation()

virtual std::unique_ptr<malidrive::road_curve::Function> MakeSuperelevation	(	const xodr::LateralProfile &	lateral_profile,
		double	p0,
		double	p1,
		bool	assert_continuity
	)		const

pure virtual

Makes a cubic polynomial that describes the superelevation of a Road.

Constructs a road::curve::Function out of lateral_profile. There could be two scenarios that depends on lateral_profile:

If it is empty then a zero cubic polynomial is created in the range [p0, p1]
If it contains one or more superelevations then a piecewised function is created in the range [p0, p1]

Note: Handling tolerance: If there is a gap between p0 and the S0 value of the first superelevation then a cubic polynomial is created to fullfill that gap.

See also: MakeCubicPolynomial To know characteristics of the cubic polynomial that is created.

Parameters

lateral_profile	Contains the superelevation described in the XODR for the Road.
p0	Lower bound extreme of the parameter range. It must not be negative and must be less than `p1`.
p1	Upper bound extreme of the parameter range. It must be greater than `p0`.
assert_continuity	If true, C1 continuity is assert when function describing the superelevation is built. Otherwise only warning messages are printed.

Returns: A function that describes the superelevation of the Road.

Exceptions

maliput::common::assertion_error	When `p0` is negative.
maliput::common::assertion_error	When `p1` is not greater enough than `p0`.

Implemented in RoadCurveFactory.

◆ scale_length()

virtual double scale_length ( ) const

virtual

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

road_curve_factory.h

Detailed Description

Public Member Functions

Constructor & Destructor Documentation

◆ RoadCurveFactoryBase() [1/2]

◆ RoadCurveFactoryBase() [2/2]

◆ ~RoadCurveFactoryBase()

Member Function Documentation

◆ angular_tolerance()

◆ linear_tolerance()

◆ MakeArcGroundCurve()

◆ MakeCubicPolynomial() [1/2]

◆ MakeCubicPolynomial() [2/2]

◆ MakeElevation()

◆ MakeLaneWidth()

◆ MakeLineGroundCurve()

◆ MakeMalidriveRoadCurve()

◆ MakePiecewiseGroundCurve()

◆ MakeReferenceLineOffset()

◆ MakeSpiralGroundCurve()

◆ MakeSuperelevation()

◆ scale_length()