DBManager Class Reference

Detailed Description

Database Manager in charge of:

• loading the XODR file (XML format).
• parsing the XML nodes into known structures.
• providing XODR data.

The common workflow is to: 1 - Construct a DBManager object using the provided methods. std::unique_ptr<xodr::DBManager> manager = xodr::LoadDataBaseFromFile(<path_to_xodr_file>)

See also

LoadDataBaseFromFile LoadDataBaseFromStr. 2 - Query the data base, e.g.: manager->GetRoadHeaders();

#include <src/maliput_malidrive/xodr/db_manager.h>

Classes
struct	XodrGapBetweenFunctions
	Holds gap between cubic polynomials of a specific feature of the road such as elevation and superelevation. More...
struct	XodrGapBetweenGeometries
	Holds gap between Geometries related information. More...
struct	XodrGeometriesToSimplify
	Defines a structure that informs which actions can be performed to simplify the map geometry description. More...
struct	XodrGeometryLengthData
	Holds Geometry related information: More...
struct	XodrLaneSectionLengthData
	Holds LaneSection related information: More...

Public Member Functions
	MALIDRIVE_NO_COPY_NO_MOVE_NO_ASSIGN (DBManager)
	DBManager (tinyxml2::XMLDocument *xodr_doc, const ParserConfiguration &parser_configuration)
	Creates a database manager from a XMLDocument which contains a XODR description. More...
	DBManager ()=delete
	~DBManager ()
const Header &	GetXodrHeader () const
const std::map< RoadHeader::Id, RoadHeader > &	GetRoadHeaders () const
const std::unordered_map< Junction::Id, Junction > &	GetJunctions () const
const std::vector< XodrGeometriesToSimplify >	GetGeometriesToSimplify (double tolerance) const
	Analyses all the RoadHeaders' geometries looking for pieces that can be unified or merged together into a simpler description. More...
const XodrGeometryLengthData &	GetShortestGeometry () const
	Xodr geometry introspection queries. More...
const XodrGeometryLengthData &	GetLargestGeometry () const
const XodrLaneSectionLengthData &	GetShortestLaneSection () const
const XodrLaneSectionLengthData &	GetLargestLaneSection () const
const XodrGapBetweenGeometries &	GetShortestGap () const
	Get the shortest gap between Geometries. More...
const XodrGapBetweenGeometries &	GetLargestGap () const
	Get the largest gap between Geometries. More...
const XodrGapBetweenFunctions &	GetShortestElevationGap () const
	Get the shortest gap between elevations. More...
const XodrGapBetweenFunctions &	GetLargestElevationGap () const
	Get the largest gap between elevations. More...
const XodrGapBetweenFunctions &	GetShortestSuperelevationGap () const
	Get the shortest gap between superelevations. More...
const XodrGapBetweenFunctions &	GetLargestSuperelevationGap () const
	Get the largest gap between superelevations. More...

Constructor & Destructor Documentation

DBManager() [1/2]

DBManager	(	tinyxml2::XMLDocument *	xodr_doc,
		const ParserConfiguration &	parser_configuration
	)

Creates a database manager from a XMLDocument which contains a XODR description.

Parameters

xodr_doc	Contains the XODR description.
parser_configuration	Holds the configuration for the parser.

Exceptions

maliput::common::assertion_error	When xodr_doc is nullptr.
maliput::common::assertion_error	When parser_configuration.tolerance is negative.

DBManager() [2/2]

DBManager ( )

delete

~DBManager()

~DBManager ( )

default

Member Function Documentation

GetGeometriesToSimplify()

const std::vector< DBManager::XodrGeometriesToSimplify > GetGeometriesToSimplify

(

double

tolerance

)

const

Analyses all the RoadHeaders' geometries looking for pieces that can be unified or merged together into a simpler description.

Candidate geometries to be merged should meet one of the following conditions:

• Two or more consecutive lines that share the same heading and are contiguous.
• Two or more consecutive arcs that share the same curvature and are contiguous.
• Two or more consecutive geometries are shorter than tolerance.

Parameters

tolerance

Threshold that defines when whether two geometries are simplified when their accumulated length is below this value. It must be non negative. When it is zero, two consecutive geometries will not be simplified because of length.

Returns

A dictionary of RoadHeader::Id to a vector of vectors of indices of geometries. Indices that are grouped together are contiguous and given that there might be more than one group per RoadHeader::Id we have a vector of vectors.

Exceptions

maliput::common::assertion::error

When tolerance is negative.

GetJunctions()

const std::unordered_map< Junction::Id, Junction > & GetJunctions

(

)

const

Returns

A xodr::Junction map which contains all the junction information about the XODR description.

GetLargestElevationGap()

const DBManager::XodrGapBetweenFunctions & GetLargestElevationGap

(

)

const

Get the largest gap between elevations.

DBManager extracts this information from the XODR only the first time that either this or GetShortestElevationGap() methods are called. Results are stored to be consulted as many times as needed but without carrying out the analysis more than once in order to avoid performance drop.

Returns

Data from the largest gap between elevations in the entire XODR description. When RoadHeaderId is "none" it means there are no possible gaps to be analyzed: roads only have one or none elevations.

GetLargestGap()

const DBManager::XodrGapBetweenGeometries & GetLargestGap

(

)

const

Get the largest gap between Geometries.

DBManager extracts this information from the XODR only the first time that either this or 'GetShortestGap()' methods are called. Results are stored to be consulted as many times as needed but without carrying out the analysis more than once in order to avoid performance drop.

Returns

Data from the largest gap between Geometries in the entire XODR description. When RoadHeaderId is "none" it means there are no possible gaps to be analyzed: Roads only have one Geometry.

GetLargestGeometry()

const DBManager::XodrGeometryLengthData & GetLargestGeometry

(

)

const

Returns

Data from the largest Geometry in the entire XODR description.

GetLargestLaneSection()

const DBManager::XodrLaneSectionLengthData & GetLargestLaneSection

(

)

const

Returns

Data from the largest LaneSection in the entire XODR description.

GetLargestSuperelevationGap()

const DBManager::XodrGapBetweenFunctions & GetLargestSuperelevationGap

(

)

const

Get the largest gap between superelevations.

DBManager extracts this information from the XODR only the first time that either this or GetShortestSuperelevationGap() methods are called. Results are stored to be consulted as many times as needed but without carrying out the analysis more than once in order to avoid performance drop.

Returns

Data from the largest gap between superelevations in the entire XODR description. When RoadHeaderId is "none" it means there are no possible gaps to be analyzed: roads only have one or none superelevations.

GetRoadHeaders()

const std::map< RoadHeader::Id, RoadHeader > & GetRoadHeaders

(

)

const

Returns

A xodr::RoadHeader map which contains all the road information about the XODR description.

GetShortestElevationGap()

const DBManager::XodrGapBetweenFunctions & GetShortestElevationGap

(

)

const

Get the shortest gap between elevations.

DBManager extracts this information from the XODR only the first time that either this or GetLargestElevationGap() methods are called. Results are stored to be consulted as many times as needed but without carrying out the analysis more than once in order to avoid performance drop.

Returns

Data from the shortest gap between elevations in the entire XODR description. When RoadHeaderId is "none" it means there are no possible gaps to be analyzed: roads only have one or none elevations.

GetShortestGap()

const DBManager::XodrGapBetweenGeometries & GetShortestGap

(

)

const

Get the shortest gap between Geometries.

DBManager extracts this information from the XODR only the first time that either this or GetLargestGap() methods are called. Results are stored to be consulted as many times as needed but without carrying out the analysis more than once in order to avoid performance drop.

Returns

Data from the shortest gap between Geometries in the entire XODR description. When RoadHeaderId is "none" it means there are no possible gaps to be analyzed: Roads only have one Geometry.

GetShortestGeometry()

const DBManager::XodrGeometryLengthData & GetShortestGeometry

(

)

const

Xodr geometry introspection queries.

Returns

Data from the shortest Geometry in the entire XODR description.

GetShortestLaneSection()

const DBManager::XodrLaneSectionLengthData & GetShortestLaneSection

(

)

const

Returns

Data from the shortest LaneSection in the entire XODR description.

GetShortestSuperelevationGap()

const DBManager::XodrGapBetweenFunctions & GetShortestSuperelevationGap

(

)

const

Get the shortest gap between superelevations.

DBManager extracts this information from the XODR only the first time that either this or GetLargestSuperelevationGap() methods are called. Results are stored to be consulted as many times as needed but without carrying out the analysis more than once in order to avoid performance drop.

Returns

Data from the shortest gap between superelevations in the entire XODR description. When RoadHeaderId is "none" it means there are no possible gaps to be analyzed: roads only have one or none superelevations.

GetXodrHeader()

const Header & GetXodrHeader

(

)

const

Returns

A xodr::Header which contains general information about the XODR description.

MALIDRIVE_NO_COPY_NO_MOVE_NO_ASSIGN()

MALIDRIVE_NO_COPY_NO_MOVE_NO_ASSIGN

(

DBManager

)

---

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

• db_manager.h
• db_manager.cc