Detailed Description

GroundCurve specification for a reference curve that describes a constant curvature arc.

Queries accept p ∈ [p0, p1] with a linear tolerance.

#include <src/maliput_malidrive/road_curve/arc_ground_curve.h>

Inheritance diagram for ArcGroundCurve:

Public Member Functions
	MALIDRIVE_NO_COPY_NO_MOVE_NO_ASSIGN (ArcGroundCurve)

	ArcGroundCurve ()=delete

	ArcGroundCurve (double linear_tolerance, const maliput::math::Vector2 &xy0, double start_heading, double curvature, double arc_length, double p0, double p1)
	Constructs an ArcGroundCurve. More...

Public Member Functions inherited from GroundCurve
	MALIDRIVE_NO_COPY_NO_MOVE_NO_ASSIGN (GroundCurve)

virtual	~GroundCurve ()=default

double	PFromP (double xodr_p) const
	Calculates the \( p \) value that matches with the \( p \) value in the XODR description. More...

maliput::math::Vector2	G (double p) const
	Evaluates \( G(p) \). More...

maliput::math::Vector2	GDot (double p) const
	Evaluates \( G'(p) \). More...

double	Heading (double p) const
	Evaluates \( θ(p) \). More...

double	HeadingDot (double p) const
	Evaluates \( θ'(p) \). More...

double	GInverse (const maliput::math::Vector2 &xy) const
	Evaluates \( G⁻¹(x, y) \). More...

double	ArcLength () const

double	linear_tolerance () const

double	p0 () const

double	p1 () const

bool	IsG1Contiguous () const

Additional Inherited Members
Static Public Attributes inherited from GroundCurve
static constexpr double	kEpsilon = 1e-13
	Implementations may opt to allow a tolerance or be up to `kEpsilon` away from [p0(); p1()]. More...

Protected Member Functions inherited from GroundCurve
	GroundCurve ()=default

Constructor & Destructor Documentation

ArcGroundCurve ( )

delete

Constructs an ArcGroundCurve.

Parameters

linear_tolerance	A non-negative value expected to be the same as maliput::api::RoadGeometry::linear_tolerance().
xy0	A 2D vector that represents the first point of the arc.
start_heading	The orientation of the tangent vector at `xy0`.
curvature	Non-zero quantity which indicates the reciprocal of the turning radius of the arc. A positive `curvature` makes a counterclockwise turn. Its magnitude must be greater than GroundCurve::kEpsilon.
arc_length	The arc's length. It must be greater or equal to GroundCurve::kEpsilon.
p0	The value of the \( p \) parameter at the beginning of the arc, which must be non negative and smaller than `p1` by at least GroundCurve::kEpsilon.
p1	The value of the \( p \) parameter at the end of the arc, which must be greater than `p0` by at least GroundCurve::kEpsilon.

Exceptions

maliput::common::assertion_error	When `linear_tolerance` is non-positive.
maliput::common::assertion_error	When `arc_length` is smaller than GroundCurve::kEpsilon.
maliput::common::assertion_error	When `p0` is negative.
maliput::common::assertion_error	When `p1` is not sufficiently larger than `p0`.

MALIDRIVE_NO_COPY_NO_MOVE_NO_ASSIGN ( ArcGroundCurve )

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