maliput_malidrive
Variables
RoadGeometry configuration builder keys
RoadNetwork configuration builder keys

Detailed Description

Parameters used during the RoadGeometry building process. See RoadNetwork configuration builder keys for further information.

Variables

static constexpr char const * kRoadGeometryId {"road_geometry_id"}
 A string that works as ID of the RoadGeometry. More...
 
static constexpr char const * kOpendriveFile {"opendrive_file"}
 Path to the XODR file to be loaded. More...
 
static constexpr char const * kLinearTolerance {"linear_tolerance"}
 RoadGeometry's linear tolerance. More...
 
static constexpr char const * kMaxLinearTolerance {"max_linear_tolerance"}
 A maximum allowed linear tolerance. More...
 
static constexpr char const * kAngularTolerance {"angular_tolerance"}
 RoadGeometry's angular tolerance. More...
 
static constexpr char const * kScaleLength {"scale_length"}
 RoadGeometry's scale length. More...
 
static constexpr char const * kInertialToBackendFrameTranslation {"inertial_to_backend_frame_translation"}
 Translation from maliput to malidrive inertial frame. More...
 
static constexpr char const * kBuildPolicy {"build_policy"}
 Determines the use of concurrency when building the RoadGeometry. More...
 
static constexpr char const * kNumThreads {"num_threads"}
 Indicates the number of threads to be used to build the RoadGeometry when build_policy flag is set to parallel. More...
 
static constexpr char const * kSimplificationPolicy {"simplification_policy"}
 Determines geometries simplification for the XODR's roads. More...
 
static constexpr char const * kStandardStrictnessPolicy {"standard_strictness_policy"}
 Indicates how permissive builder should be with the XODR description. More...
 
static constexpr char const * kOmitNonDrivableLanes {"omit_nondrivable_lanes"}
 True for omitting building non-drivable lanes. More...
 

Variable Documentation

◆ kAngularTolerance

constexpr char const* kAngularTolerance {"angular_tolerance"}
staticconstexpr

RoadGeometry's angular tolerance.

◆ kBuildPolicy

constexpr char const* kBuildPolicy {"build_policy"}
staticconstexpr

Determines the use of concurrency when building the RoadGeometry.

  • Options:
    • 1. "sequential"
    • 2. "parallel"
  • Default: "sequential"

◆ kInertialToBackendFrameTranslation

constexpr char const* kInertialToBackendFrameTranslation {"inertial_to_backend_frame_translation"}
staticconstexpr

Translation from maliput to malidrive inertial frame.

The format of the 3-dimensional vector that is expected to be passed should be {X , Y , Z}. Same format as maliput::math::Vector3 is serialized.

  • Default: "{0., 0., 0.}"

◆ kLinearTolerance

constexpr char const* kLinearTolerance {"linear_tolerance"}
staticconstexpr

RoadGeometry's linear tolerance.

◆ kMaxLinearTolerance

constexpr char const* kMaxLinearTolerance {"max_linear_tolerance"}
staticconstexpr

A maximum allowed linear tolerance.

When this parameter is passed, the linear tolerance the builder will use is defined within the range [linear_tolerance, max_linear_tolerance]. The builder is expected to iteratively try higher linear tolerances until it either finds a value that works, or reaches this maximum value, at which point it will abort with a failure. When linear_tolerance isn't set, the minimum value of the range will be defined by malidrive::constants::kBaseLinearTolerance. It is recommended to define the minimum value using the linear_tolerance parameter to hint the builder to a valid range, otherwise this method could demand a considerable extra time while it tries out relatively small linear tolerances.

  • Default: By default it isn't set. The builder will try only linear_tolerance.

◆ kNumThreads

constexpr char const* kNumThreads {"num_threads"}
staticconstexpr

Indicates the number of threads to be used to build the RoadGeometry when build_policy flag is set to parallel.

  • Default: std::thread::hardware_concurrency() minus one (running thread).

◆ kOmitNonDrivableLanes

constexpr char const* kOmitNonDrivableLanes {"omit_nondrivable_lanes"}
staticconstexpr

True for omitting building non-drivable lanes.

False otherwise

  • Options:
    • 1. "true", "True", "TRUE", "on", "On", "ON"
    • 2. "false", "False", "FALSE", "off", "Off", "OFF"
  • Default: "true"

◆ kOpendriveFile

constexpr char const* kOpendriveFile {"opendrive_file"}
staticconstexpr

Path to the XODR file to be loaded.

  • Default: ""

◆ kRoadGeometryId

constexpr char const* kRoadGeometryId {"road_geometry_id"}
staticconstexpr

A string that works as ID of the RoadGeometry.

  • Default: "maliput"

◆ kScaleLength

constexpr char const* kScaleLength {"scale_length"}
staticconstexpr

RoadGeometry's scale length.

◆ kSimplificationPolicy

constexpr char const* kSimplificationPolicy {"simplification_policy"}
staticconstexpr

Determines geometries simplification for the XODR's roads.

  • Options:
    • 1. "none"
    • 2. "simplify"
  • Default: "none"

◆ kStandardStrictnessPolicy

constexpr char const* kStandardStrictnessPolicy {"standard_strictness_policy"}
staticconstexpr

Indicates how permissive builder should be with the XODR description.

  • Options:
    • 1. "strict" : Do not permit any errors.
    • 2. "allow_schema_errors" : Allow schema syntax errors at a XODR level:
      • 1. Allows having two functions starting at same 's' adding up to a picewise-defined polynomial for a given XODR characteristic(laneWidth, laneOffset, etc): First description will be discarded.
      • 2. Allows having functions starting at the end of the road: This function will be discarded as its length is zero.
      • 3. Allows having functions with NaN values. It is only accepted when there is a function that starts at the same 's' so the function with NaN values can be discarded.
      • 4. Allows having junction nodes without any connection.
    • 3. "allow_semantic_errors" : Allow semantic errors.
      • 1. At a XODR level it allows having non reciprocal Road-linkage and Lane-linkage within a Road.
      • 2. Allows having lane width descriptions that are negative in certain range.
      • 3. Disables G1 contiguity checks for non-drivable lanes. (G1 contiguity check on drivable lanes can't be disabled.)
    • 4. "permissive": Allow all previous violations.
  • Default: "permissive"