Detailed Description

Creates functors to compute numerical arc length integral of an offset of a RoadCurve and its inverse function.

This class implements piecewise cubic polynomial integration via samples of a RoadCurve::WDot() at different \( (p, r, h=0) \) points generating functors that wrap the results of those integrals and allow interpolation for faster computation.

Implementation of this class controls the tolerance via a heuristic. It uses a relative tolerance based on the GroundCurve's arc length and the linear tolerance. Careful revision of complex compound MalidriveRoadCurves must be done to assure RoadGeometry's linear tolerance.

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

Public Member Functions
	MALIDRIVE_NO_COPY_NO_MOVE_NO_ASSIGN (RoadCurveOffset)

	RoadCurveOffset (const RoadCurve road_curve, const Function lane_offset, double p0, double p1)
	Constructs a RoadCurveOffset. More...

const RoadCurve *	road_curve () const
	Returns the constructor RoadCurve argument. More...

double	relative_tolerance () const
	The relative tolerance is computed as the proportion of the `road_curve`'s linear tolerance with respect to its GroundCurve arc length. More...

double	CalcSFromP (double p) const
	Computes the arc length of a constant `r` lateral offset at `p`. More...

std::function< double(double)>	PFromS () const
	Builds a functor that represents the relation \( P(s, r) -> p \) which is a function that maps the arc length \( s \) of an offset road curve. More...

std::function< double(double)>	SFromP () const
	Builds a functor that represents the relation \( S(p, r) -> s \) which is a function that maps the parameter \( p \) of the reference road curve and a lateral offset with the arc length of that offset road curve. More...

double	p0 () const

double	p1 () const

Constructor & Destructor Documentation

◆ RoadCurveOffset()

RoadCurveOffset	(	const RoadCurve *	road_curve,
		const Function *	lane_offset,
		double	p0,
		double	p1
	)

Constructs a RoadCurveOffset.

Parameters

road_curve	The RoadCurve to compute offsets. It must not be nullptr.
lane_offset	Needed to calculate the derivative of the lateral component. It must not be nullptr.
p0	Initial \( p \) parameter value of the curve.
p1	Final \( p \) parameter value of the curve.

Exceptions

maliput::common::assertion_error	When `road_curve` is nullptr.
maliput::common::assertion_error	When `lane_offset` is nullptr.
maliput::common::assertion_error	When `p0` is negative.
maliput::common::assertion_error	When `p0` is greater than `p1`.

Member Function Documentation

◆ CalcSFromP()

double CalcSFromP ( double p ) const

Computes the arc length of a constant r lateral offset at p.

Parameters

p	The parameter of `road_curve`.

Returns: The arc length of the offset road_curve at p.

◆ MALIDRIVE_NO_COPY_NO_MOVE_NO_ASSIGN()

MALIDRIVE_NO_COPY_NO_MOVE_NO_ASSIGN ( RoadCurveOffset )

◆ p0()

double p0 ( ) const

Returns: The lower bound range of \( p \).

◆ p1()

double p1 ( ) const

Returns: The upper bound range of \( p \).

◆ PFromS()

std::function< double(double)> PFromS ( ) const

Builds a functor that represents the relation \( P(s, r) -> p \) which is a function that maps the arc length \( s \) of an offset road curve.

Returns: A functor that returns \( p \) given \( s \).

◆ relative_tolerance()

double relative_tolerance ( ) const

The relative tolerance is computed as the proportion of the road_curve's linear tolerance with respect to its GroundCurve arc length.

Returns: The relative tolerance.

◆ road_curve()

const RoadCurve* road_curve ( ) const

Returns the constructor RoadCurve argument.

◆ SFromP()

std::function< double(double)> SFromP ( ) const

Builds a functor that represents the relation \( S(p, r) -> s \) which is a function that maps the parameter \( p \) of the reference road curve and a lateral offset with the arc length of that offset road curve.

Returns: A functor that returns \( s \) given \( p \).

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