Detailed Description

Functor to build a RoadRulebook.

The rules API is composed of:

maliput::api::rules::Rules depending on the type of value they hold:
- maliput::api::rules::DiscreteValueRule
- maliput::api::rules::RangeValueRule
maliput::api::rules::RuleRegistry: it is used to register all the rule type that are allowed.

The building procedure is based on top a loader method provided by maliput: RoadRulebook loader with rule registry

The following rules are created and added programatically on top what the RoadRulebook YAML file describes.

Speed limits: maliput::api::rules::RangeValueRule whose type is "Speed-Limit Rule Type" are created.
Direction usage: maliput::api::rules::DiscretValueRule whose type is "Direction-Usage Rule Type" are created.
Vehicle exclusive: maliput::api::rules::DiscretValueRule whose type is "Vehicle-Exclusive Rule Type" are created.
Vehicle usage: maliput::api::rules::DiscretValueRule whose type is "Vehicle-Usage Rule Type" are created.

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

Public Member Functions
	RoadRuleBookBuilder (const maliput::api::RoadGeometry rg, const maliput::api::rules::RuleRegistry rule_registry, const std::optional< std::string > &road_rulebook_file_path)
	Constructs a RoadRuleBook. More...

	RoadRuleBookBuilder ()=delete

std::unique_ptr< const maliput::api::rules::RoadRulebook >	operator() ()
	Builds a ManualRulebook. More...

Static Public Member Functions
static void	AddsXODRBasedRulesToRulebook (const maliput::api::RoadGeometry rg, const maliput::api::rules::RuleRegistry rule_registry, maliput::ManualRulebook *rulebook)
	Populates RoadRulebook using rule types previously defined in the RuleRegistry. More...

Constructor & Destructor Documentation

RoadRuleBookBuilder	(	const maliput::api::RoadGeometry *	rg,
		const maliput::api::rules::RuleRegistry *	rule_registry,
		const std::optional< std::string > &	road_rulebook_file_path
	)

Constructs a RoadRuleBook.

Parameters

rg	is the pointer to the RoadGeometry. It must not be nullptr.
rule_registry	is the pointer to the RuleRegistry. It must not be nullptr.
road_rulebook_file_path	to the yaml file to load the RoadRulebook.

Exceptions

maliput::assertion_error When rg or rule_registry are nullptr.

RoadRuleBookBuilder ( )

delete

void AddsXODRBasedRulesToRulebook	(	const maliput::api::RoadGeometry *	rg,
		const maliput::api::rules::RuleRegistry *	rule_registry,
		maliput::ManualRulebook *	rulebook
	)

static

Populates RoadRulebook using rule types previously defined in the RuleRegistry.

These rules' values are obtained from the XODR file description. They are of type:

std::unique_ptr< const maliput::api::rules::RoadRulebook > operator() ( )

Builds a ManualRulebook.

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