Detailed Description

GroundCurve specification for a reference curve that is described as a piecewise ground curve.

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

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

Inheritance diagram for PiecewiseGroundCurve:

Public Member Functions
	MALIDRIVE_NO_COPY_NO_MOVE_NO_ASSIGN (PiecewiseGroundCurve)

	PiecewiseGroundCurve ()=delete

	PiecewiseGroundCurve (std::vector< std::unique_ptr< GroundCurve >> &&ground_curves, double linear_tolerance, double angular_tolerance)
	Constructs a PiecewiseGroundCurve. 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

PiecewiseGroundCurve ( )

delete

PiecewiseGroundCurve	(	std::vector< std::unique_ptr< GroundCurve >> &&	ground_curves,
		double	linear_tolerance,
		double	angular_tolerance
	)

Parameters

ground_curves	Contains the ground curves to combine.
linear_tolerance	A non-negative value expected to be the same as maliput::api::RoadGeometry::linear_tolerance().
angular_tolerance	A non-negative value expected to be the same as maliput::api::RoadGeometry::angular_tolerance().

Exceptions

maliput::common::assertion_error	When `ground_curves` ' size is zero.
maliput::common::assertion_error	When `ground_curves` contains a nullptr.
maliput::common::assertion_error	When `ground_curves` ' curves are not G1 contiguous.
maliput::common::assertion_error	When `linear_tolerance` is non-positive.
maliput::common::assertion_error	When `angular_tolerance` is non-positive.
maliput::common::assertion_error	When the resultant p1 is not sufficiently larger than the resultant p0.

MALIDRIVE_NO_COPY_NO_MOVE_NO_ASSIGN ( PiecewiseGroundCurve )

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