Detailed Description

Describes a LaneOffset function behind Function interface.

It is built from the previous laneOffset and laneWidth and the current laneWidth, according with:

\( LaneOffset_{i}(p) = LaneOffset_{i-1}(p) + LaneWidth_{i-1}(p) / 2 + LaneWidth_{i}(p) / 2 \) And \( p ∈ [p0; p1] \)

The sign of \( LaneWidth_{i-1} and LaneWidth_{i }\) depend on whether the Lane is at right(-) or left(+) of the center lane.

The innest LaneOffset (immediate to the center lane) uses the information of the ReferenceLineOffset function.

TODO(#594): Generalize idea of composing cubic polynomials.

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

Inheritance diagram for LaneOffset:

Classes
struct	AdjacentLaneFunctions
	Holds lane offset and width of the immediate previous lane. More...

Public Member Functions
	MALIDRIVE_NO_COPY_NO_MOVE_NO_ASSIGN (LaneOffset)

	LaneOffset (const std::optional< AdjacentLaneFunctions > &adjacent_lane_functions, const Function lane_width, const Function reference_line_offset, bool at_right, double p0, double p1, double linear_tolerance)
	Constructs a LaneOffset. More...

Public Member Functions inherited from Function
	MALIDRIVE_NO_COPY_NO_MOVE_NO_ASSIGN (Function)

virtual	~Function ()=default

double	f (double p) const
	Evaluates \( F(p) \). More...

double	f_dot (double p) const
	Evaluates \( F'(p) \). More...

double	f_dot_dot (double p) const
	Evaluates \( F''(p) \). More...

double	p0 () const

double	p1 () const

bool	IsG1Contiguous () const

Static Public Attributes
static constexpr const bool	kAtRightFromCenterLane {true}

static constexpr const bool	kAtLeftFromCenterLane {false}

Static Public Attributes inherited from Function
static constexpr double	kEpsilon = 0.
	Implementations may opt to allow a tolerance or be up to `kEpsilon` away from [p0(); p1()]. More...

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

Constructor & Destructor Documentation

LaneOffset	(	const std::optional< AdjacentLaneFunctions > &	adjacent_lane_functions,
		const Function *	lane_width,
		const Function *	reference_line_offset,
		bool	at_right,
		double	p0,
		double	p1,
		double	linear_tolerance
	)

Constructs a LaneOffset.

Parameters

adjacent_lane_functions	Holds LaneOffset's function and LaneWidth's function of the immediate previous lane. It is nullopt if the lane is the centerlane.
lane_width	LaneWidth's function of the current lane.
reference_line_offset	Functions that describes the lateral shift of the road reference line.
at_right	True if the lane is at the right of the center 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`.
linear_tolerance	Tolerance of the range [ `p0`; `p1`] that will be used to evaluate the parameter.

Exceptions

maliput::common::assertion_error	When `linear_tolerance` is not positive.
maliput::common::assertion_error	When `lane_width` is nullptr.
maliput::common::assertion_error	When `reference_line_offset` is nullptr.
maliput::common::assertion_error	When `adjacent_lane_functions` 's offset value is nullptr.
maliput::common::assertion_error	When `adjacent_lane_functions` 's width value is nullptr.

MALIDRIVE_NO_COPY_NO_MOVE_NO_ASSIGN ( LaneOffset )

constexpr const bool kAtLeftFromCenterLane {false}

staticconstexpr

constexpr const bool kAtRightFromCenterLane {true}

staticconstexpr

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