Detailed Description

GroundCurve specification for a reference curve that describes a line.

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

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

Inheritance diagram for LineGroundCurve:

Public Member Functions
	MALIDRIVE_NO_COPY_NO_MOVE_NO_ASSIGN (LineGroundCurve)

	LineGroundCurve ()=delete

	LineGroundCurve (const double linear_tolerance, const maliput::math::Vector2 &xy0, const maliput::math::Vector2 &dxy, double p0, double p1)
	Constructor. 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

◆ LineGroundCurve() [1/2]

LineGroundCurve ( )

delete

◆ LineGroundCurve() [2/2]

LineGroundCurve	(	const double	linear_tolerance,
		const maliput::math::Vector2 &	xy0,
		const maliput::math::Vector2 &	dxy,
		double	p0,
		double	p1
	)

Constructor.

Computes a line from xy0 as the initial point of the line and dxy as the difference vector that connects the xy0 with the end point of the reference curve.

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 line.
dxy	A 2D difference vector between the last point and `xy0`. The norm of this vector must be larger than GroundCurve::kEpsilon to avoid having issues when computing the heading.
p0	The value of the \( p \) paramater at the start of the line, which must be non-negative.
p1	The value of the \( p \) paramater at the end of the line, which must be greater than the value of `p0_` by at least GroundCurve::kEpsilon.

Exceptions

maliput::common::assertion_error	When `linear_tolerance` is non-positive.
maliput::common::assertion_error	When the norm of `dxy` is too small.
maliput::common::assertion_error	When `p0` is negative.
maliput::common::assertion_error	When `p1` is not sufficiently larger than `p0`.

Member Function Documentation

◆ MALIDRIVE_NO_COPY_NO_MOVE_NO_ASSIGN()

MALIDRIVE_NO_COPY_NO_MOVE_NO_ASSIGN ( LineGroundCurve )

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