Namespaces
	params

	rules

Classes
struct	BuildPolicy
	Policy for use of concurrency while building a RoadGeometry. More...

class	DirectionUsageBuilder
	Functor to build a a vector of maliput::api::rules::DirectionUsageRules. More...

class	DiscreteValueRuleStateProviderBuilder
	Functor to build a DiscreteValueRuleStateProvider. More...

class	LaneTravelDirection
	Hold the travel direction of a lane obtained from parsing a userData XML node. More...

struct	MalidriveXodrLaneProperties
	Holds useful XODR Lane properties. More...

class	PhaseProviderBuilder
	Functor to build a ManualPhaseProvider. More...

class	RangeValueRuleStateProviderBuilder
	Functor to build a RangeValueRuleStateProvider. More...

class	RoadCurveFactory
	Concrete RoadCurveFactoryBase implementation. More...

class	RoadCurveFactoryBase
	Interface of a helper class to build road curve related objects by MalidriveRoadGeometryBuilder. More...

class	RoadGeometryBuilder
	Builder class on top of the `xodr::DBManager` which should already have loaded the map. More...

struct	RoadGeometryConfiguration
	RoadGeometry construction parameters. More...

class	RoadNetworkBuilder

struct	RoadNetworkConfiguration
	Structure to hold file paths for multiple RoadNetwork structures. More...

class	RoadRuleBookBuilder
	Functor to build a RoadRulebook. More...

class	RoadRuleBookBuilderOldRules
	Functor to build a RoadRulebook. More...

class	RuleRegistryBuilder
	Functor to build a RuleRegistry. More...

class	SpeedLimitBuilder
	Functor to build a vector of SpeedLimitRules. More...

class	UniqueIntegerProvider
	Class to handle the index arithmetic and get always an increasing integer as ID. More...

Enumerations
enum	XodrConnectionType { kSuccessor = 0, kPredecessor }
	Convenient enumeration to identify which type of connection is needed. More...

Functions
std::vector< maliput::api::LaneEnd >	SolveLaneEndsForConnectingRoad (const maliput::api::RoadGeometry *rg, const MalidriveXodrLaneProperties &xodr_lane_properties, const std::map< xodr::RoadHeader::Id, xodr::RoadHeader > &road_headers, XodrConnectionType connection_type)
	Searches which LaneEnds connect to `xodr_lane_properties.lane` in `connection_type` direction considering the LaneEnd belongs to an external interface with other XODR Roads, not XODR Junctions. More...

std::vector< maliput::api::LaneEnd >	SolveLaneEndsForJunction (const maliput::api::RoadGeometry *rg, const MalidriveXodrLaneProperties &xodr_lane_properties, const std::map< xodr::RoadHeader::Id, xodr::RoadHeader > &road_headers, const std::unordered_map< xodr::Junction::Id, xodr::Junction > &junctions, XodrConnectionType connection_type)
	Searches which LaneEnds connect to `xodr_lane_properties.lane` in `connection_type` direction considering the LaneEnd belongs to an external interface with a XODR Junction but the XODR Road does not live in a XODR Junction. More...

std::vector< maliput::api::LaneEnd >	SolveLaneEndsWithinJunction (const maliput::api::RoadGeometry *rg, const MalidriveXodrLaneProperties &xodr_lane_properties, const std::map< xodr::RoadHeader::Id, xodr::RoadHeader > &road_headers, XodrConnectionType connection_type)
	Searches which LaneEnds connect to `xodr_lane_properties.lane` in `connection_type` direction considering the LaneEnd belongs to an external interface. More...

std::vector< maliput::api::LaneEnd >	SolveLaneEndsForInnerLaneSection (const maliput::api::RoadGeometry *rg, const maliput::api::LaneEnd &lane_end, const MalidriveXodrLaneProperties &xodr_lane_properties)
	Searches which LaneEnds connect to `lane_end` considering it belongs to an inner interface. More...

bool	is_driveable_lane (const xodr::Lane &xodr_lane)
	Determines whether or not an `xodr_lane` is driveable by any vehicle. More...

bool	AreOnlyNonDrivableLanes (const xodr::RoadHeader &xodr_road)
	Determines whether or not an `xodr_road` contains only non-drivable lanes. More...

std::string	VehicleUsageValueForXodrLane (const xodr::Lane &xodr_lane)
	Determines the vehicle usage rule state value for `xodr_lane` based on its XODR Lane type. More...

std::optional< std::string >	VehicleExclusiveValueForXodrLane (const xodr::Lane &xodr_lane)
	Determines the vehicle exclusive rule state value for `xodr_lane` based on its XODR Lane type. More...

std::vector< rules::XodrSpeedProperties >	GetRoadTypeSpeedPropertiesInRange (const xodr::RoadHeader &xodr_road, double s_track_start, double s_track_end)

std::vector< rules::XodrSpeedProperties >	GetLaneSpeedProperties (const xodr::Lane &xodr_lane, double s_track_start, double s_track_end)

const xodr::RoadHeader &	GetXodrRoadFromMalidriveLane (const Lane *lane)

const xodr::Lane &	GetXodrLaneFromMalidriveLane (const Lane *lane)

std::string	GetDirectionUsageRuleStateType (const Lane *lane)

std::vector< rules::XodrSpeedProperties >	GetMaxSpeedLimitFor (const Lane *lane)

std::pair< std::string, std::optional< std::string > >	VehicleUsageAndExclusiveRuleStateValues (const Lane *lane)

std::optional< double >	FindLocalMinFromCubicPol (double a, double b, double c, double d)
	Finds the local minimum of the cubic polynomial. More...

double	DetermineRoadGeometryLinearTolerance (const xodr::DBManager *xodr_manager)
	Determines the runtime tolerance a RoadGeometry should be set from the characteristics in a XODR map. More...

double	DetermineRoadGeometryAngularTolerance (const xodr::DBManager *xodr_manager)
	Determines the runtime angular a RoadGeometry should be set from the characteristics in a XODR map. More...

double	DetermineRoadGeometryScaleLength (const xodr::DBManager *xodr_manager, double linear_tolerance, double angular_tolerance)
	Determines the runtime scale length a RoadGeometry should be set from the characteristics in a XODR map. More...

maliput::api::BranchPointId	GetBranchPointId (int branch_point_index)
	Returns a BranchPointId whose base string is: {`branch_point_index`}. More...

maliput::api::JunctionId	GetJunctionId (int xodr_track_id, int xodr_lane_section_index)
	Returns a JunctionId whose base string is: {`xodr_track_id`_`xodr_lane_section_index`}. More...

maliput::api::JunctionId	GetJunctionId (int xodr_junction_id)
	Returns a JunctionId whose base string is: {`xodr_junction_id`}. More...

maliput::api::LaneId	GetLaneId (int xodr_track_id, int xodr_lane_section_index, int xodr_lane_id)
	Returns a LaneId whose base string is: {`xodr_track_id`_`xodr_lane_section_index`_`xodr_lane_id`}. More...

maliput::api::SegmentId	GetSegmentId (int xodr_track_id, int xodr_lane_section_index)
	Returns a SegmentId whose base string is: {`xodr_track_id`_`xodr_lane_section_index`}. More...

maliput::api::rules::SpeedLimitRule::Id	GetSpeedLimitId (const maliput::api::LaneId &lane_id, int speed_limit_index)
	Returns a SpeedLimitRule::Id whose base string is: {`lane_id`_`speed_limit_index`}. More...

maliput::api::rules::DirectionUsageRule::Id	GetDirectionUsageRuleId (const maliput::api::LaneId &lane_id, int direction_usage_index)
	Returns a DirectionUsageRule::Id whose base string is: {`lane_id`_`direction_usage_index`}. More...

maliput::api::rules::DirectionUsageRule::State::Id	GetDirectionUsageRuleStateId (const maliput::api::rules::DirectionUsageRule::Id &rule_id)
	Returns a DirectionUsageRule::State::Id whose base string is: {`rule_id`}. More...

maliput::api::rules::Rule::Id	GetRuleIdFrom (const maliput::api::rules::Rule::TypeId &rule_type_id, const maliput::api::LaneId &lane_id)
	Returns a Rule::Id whose base string is: {`rule_type_id.string()`'/'`lane_id.string()`}. More...

maliput::api::rules::Rule::Id	GetRuleIdFrom (const maliput::api::rules::Rule::TypeId &rule_type_id, const maliput::api::LaneId &lane_id, int index)
	Returns a Rule::Id whose base string is: {`rule_type_id.string()`'/'`lane_id.string()`'_'`index`}. More...

RoadGeometryConfiguration::StandardStrictnessPolicy	operator\| (const RoadGeometryConfiguration::StandardStrictnessPolicy &first, const RoadGeometryConfiguration::StandardStrictnessPolicy &second)

RoadGeometryConfiguration::StandardStrictnessPolicy	operator& (const RoadGeometryConfiguration::StandardStrictnessPolicy &first, const RoadGeometryConfiguration::StandardStrictnessPolicy &second)

std::vector< xodr::Geometry >	SimplifyGeometries (const std::vector< xodr::Geometry > &geometries, const std::vector< xodr::DBManager::XodrGeometriesToSimplify > &geometries_to_simplify)
	Creates a new vector of xodr::Geometry out of `geometries` by simplifying it following `geometries_to_simplify`'s actions. More...

xodr::ParserConfiguration	XodrParserConfigurationFromRoadGeometryConfiguration (const RoadGeometryConfiguration &rg_config)
	Builds a xodr::ParserConfiguration from a RoadGeometryConfiguration struct. More...

Variables
static constexpr double	kMinLinearTolerance {1e-3}

Enumeration Type Documentation

◆ XodrConnectionType

enum XodrConnectionType

strong

Convenient enumeration to identify which type of connection is needed.

Enumerator
kSuccessor
kPredecessor

Function Documentation

◆ AreOnlyNonDrivableLanes()

bool AreOnlyNonDrivableLanes ( const xodr::RoadHeader & xodr_road )

Determines whether or not an xodr_road contains only non-drivable lanes.

is_driveable_lane method is used to determine the driveability of the lanes in the road.

Parameters

xodr_road An Xodr RoadHeader whose lanes will be evaluated as drivable or non-drivable.

Returns: True when xodr_road only contains non-drivable lanes.

◆ DetermineRoadGeometryAngularTolerance()

double DetermineRoadGeometryAngularTolerance ( const xodr::DBManager * xodr_manager )

Determines the runtime angular a RoadGeometry should be set from the characteristics in a XODR map.

Parameters

xodr_manager A pointer to a xodr::DBManager with a XODR map loaded.

Returns: The proposed angular tolerance.

Exceptions

maliput::common::assertion_error When xodr_manager is nullptr.

◆ DetermineRoadGeometryLinearTolerance()

double DetermineRoadGeometryLinearTolerance ( const xodr::DBManager * xodr_manager )

Determines the runtime tolerance a RoadGeometry should be set from the characteristics in a XODR map.

The selection is based on two constraints:

tolerance must be bigger than the largest gap --> hard constraint
tolerance is desired to be smaller than the smallest geometry piece --> soft constraint.

The hard constraint is required because that would make the builder or the RoadGeometry itself to throw because of not meeting the G1 constraint. The soft constraint is desired when the previous cannot be used. However, because synthesized maps might have relatively small road descriptions which are several order of magnitude less than the road dimension the tolerance is saturated between kMinLinearTolerance and constants::kLinearTolerance.

The tolerance assignment is done as follows:

The maximum between the largest geometry gap and elevation gap is selected and inflated a 50% to avoid any tolerance issue. The value is lower bound saturated with kMinLinearTolerance. If any of the magnitudes is not valid the other is used. When none are used, the soft constraint is used.
The minimum between the geometries and the lane section extension is used. The value is reduced to a half to avoid any numerical discrepancy and saturated between kMinLinearTolerance and constants::kLinearTolerance.

Parameters

xodr_manager A pointer to a xodr::DBManager with a XODR map loaded.

Returns: A proposed linear tolerance.

Exceptions

maliput::common::assertion_error When xodr_manager is nullptr.

◆ DetermineRoadGeometryScaleLength()

double DetermineRoadGeometryScaleLength	(	const xodr::DBManager *	xodr_manager,
		double	linear_tolerance,
		double	angular_tolerance
	)

Determines the runtime scale length a RoadGeometry should be set from the characteristics in a XODR map.

Parameters

xodr_manager	A pointer to a xodr::DBManager with a XODR map loaded.
linear_tolerance	The proposed linear tolerance. It must be positive.
angular_tolerance	The proposed angular tolerance. It must be positive.

Returns: The proposed scale length.

Exceptions

maliput::common::assertion_error When xodr_manager is nullptr.

◆ FindLocalMinFromCubicPol()

std::optional< double > FindLocalMinFromCubicPol	(	double	a,
		double	b,
		double	c,
		double	d
	)

Finds the local minimum of the cubic polynomial.

\( f(p) = a p^3 + b p^2 + c p + d / p,a,b,c ∈ ℝ \).

Note: 1 - Local minimum is only related to cubic polynomial. So when a = 0 and the parabola is ascending (b > 0) it will return the absolute minimum. 2 - There is no need to know d coefficient to get the minimum local, but it is asked just for consistency.

Parameters

a	Cubic coefficient.
b	Quadratic coefficient.
c	Linear coefficient.
d	Constant coefficient.

Returns: The p value that matches a local min in the cubic, if exists.

◆ GetBranchPointId()

maliput::api::BranchPointId GetBranchPointId ( int branch_point_index )

Returns a BranchPointId whose base string is: {branch_point_index}.

◆ GetDirectionUsageRuleId()

maliput::api::rules::DirectionUsageRule::Id GetDirectionUsageRuleId	(	const maliput::api::LaneId &	lane_id,
		int	direction_usage_index
	)

Returns a DirectionUsageRule::Id whose base string is: {lane_id_direction_usage_index}.

◆ GetDirectionUsageRuleStateId()

maliput::api::rules::DirectionUsageRule::State::Id GetDirectionUsageRuleStateId ( const maliput::api::rules::DirectionUsageRule::Id & rule_id )

Returns a DirectionUsageRule::State::Id whose base string is: {rule_id}.

◆ GetDirectionUsageRuleStateType()

std::string GetDirectionUsageRuleStateType ( const Lane * lane )

Returns: The direction usage value of lane. It is one in the string set {"AgainstS", "WithS", "Bidirectional", "Undefined"}.

Parameters

lane	The Lane to retrieve its direction usage. It must not be nullptr.

Exceptions

maliput::common::assertion_error When lane is nullptr.

◆ GetJunctionId() [1/2]

maliput::api::JunctionId GetJunctionId ( int xodr_junction_id )

Returns a JunctionId whose base string is: {xodr_junction_id}.

◆ GetJunctionId() [2/2]

maliput::api::JunctionId GetJunctionId	(	int	xodr_track_id,
		int	xodr_lane_section_index
	)

Returns a JunctionId whose base string is: {xodr_track_id_xodr_lane_section_index}.

◆ GetLaneId()

maliput::api::LaneId GetLaneId	(	int	xodr_track_id,
		int	xodr_lane_section_index,
		int	xodr_lane_id
	)

Returns a LaneId whose base string is: {xodr_track_id_xodr_lane_section_index_xodr_lane_id}.

◆ GetLaneSpeedProperties()

std::vector< rules::XodrSpeedProperties > GetLaneSpeedProperties	(	const xodr::Lane &	xodr_lane,
		double	s_track_start,
		double	s_track_end
	)

Returns: A vector of XodrSpeedProperties which contains the speed limits obtained from the Speed records of xodr_lane.

Parameters

xodr_lane	Is a xodr::Lane.
s_track_start	Track s-coordinate that specifies the start of the lane.
s_track_end	Track s-coordinate that specifies the end of the lane.

Exceptions

maliput::common::assertion_error	When `s_track_start` is greater than `s_track_end`.
maliput::common::assertion_error	When `s_track_start` is negative.

◆ GetMaxSpeedLimitFor()

std::vector< rules::XodrSpeedProperties > GetMaxSpeedLimitFor ( const Lane * lane )

Returns: A vector of XodrSpeedProperties which contains the speed limits information of a lane. This method attempts to obtain the speed records for the entire lane's range. The speed records are obtained according the following priorities. 1 - Speed records from the XODR::Lane. 2 - Speed records from the RoadTypes of the Road. 3 - When no speed limit record is provided in a certain range of the lane, a constants::kDefaultMaxSpeedLimit value is provided to fullfil the gap.

Parameters

lane	A Lane to obtain the maximum speed limit for. It must not be nullptr.

Exceptions

maliput::common::assertion_error When lane is nullptr.

◆ GetRoadTypeSpeedPropertiesInRange()

std::vector< rules::XodrSpeedProperties > GetRoadTypeSpeedPropertiesInRange	(	const xodr::RoadHeader &	xodr_road,
		double	s_track_start,
		double	s_track_end
	)

Returns: A vector of XodrSpeedProperties which contains the speed limits obtained from the RoadTypes of xodr_road for the [s_track_start , s_track_end] range.

Parameters

xodr_road	Is a XODR::RoadHeader.
s_track_start	Track s-coordinate that specifies the start of the range.
s_track_end	Track s-coordinate that specifies the end of the range.

Exceptions

maliput::common::assertion_error	When `s_track_start` is greater than `s_track_end`.
maliput::common::assertion_error	When `s_track_start` is negative.

◆ GetRuleIdFrom() [1/2]

maliput::api::rules::Rule::Id GetRuleIdFrom	(	const maliput::api::rules::Rule::TypeId &	rule_type_id,
		const maliput::api::LaneId &	lane_id
	)

Returns a Rule::Id whose base string is: {rule_type_id.string()'/'lane_id.string()}.

◆ GetRuleIdFrom() [2/2]

maliput::api::rules::Rule::Id GetRuleIdFrom	(	const maliput::api::rules::Rule::TypeId &	rule_type_id,
		const maliput::api::LaneId &	lane_id,
		int	index
	)

Returns a Rule::Id whose base string is: {rule_type_id.string()'/'lane_id.string()'_'index}.

◆ GetSegmentId()

maliput::api::SegmentId GetSegmentId	(	int	xodr_track_id,
		int	xodr_lane_section_index
	)

Returns a SegmentId whose base string is: {xodr_track_id_xodr_lane_section_index}.

◆ GetSpeedLimitId()

maliput::api::rules::SpeedLimitRule::Id GetSpeedLimitId	(	const maliput::api::LaneId &	lane_id,
		int	speed_limit_index
	)

Returns a SpeedLimitRule::Id whose base string is: {lane_id_speed_limit_index}.

◆ GetXodrLaneFromMalidriveLane()

const xodr::Lane & GetXodrLaneFromMalidriveLane ( const Lane * lane )

Returns: The xodr::Lane that matches with lane.

Parameters

lane	The Lane to retrieve its correspondant xodr::Lane. It must not be nullptr.

Exceptions

maliput::common::assertion_error	When lane is nullptr.
maliput::common::assertion_error	When the correspondant xodr::Lane cannot be found.

◆ GetXodrRoadFromMalidriveLane()

const xodr::RoadHeader & GetXodrRoadFromMalidriveLane ( const Lane * lane )

Returns: The xodr::RoadHeader that matches with the Road that contains lane.

Parameters

lane	The Lane to retrieve its correspondant xodr::RoadHeader. It must not be nullptr.

Exceptions

maliput::common::assertion_error	When lane is nullptr.
maliput::common::assertion_error	When the correspondant xodr::RoadHeader cannot be found.

◆ is_driveable_lane()

bool is_driveable_lane ( const xodr::Lane & xodr_lane )

Determines whether or not an xodr_lane is driveable by any vehicle.

This includes lanes that OpenDRIVE's Standard marks as driveable for motorized vehicles when the xml attribute in the node is any of the following xodr::Lane::Type:

kDriving
kMwyEntry
kMwyExit
kEntry
kExit
kOnRamp
kOffRamp
kConnectingRamp
kRoadWorks

Note that xodr::Lane::Type::kBiking and xodr::Lane::Type::kSpecial1 are not included but this function also returns true when xodr_lanes type matches any of them too. xodr::Lane::Type::kBiking is driveable because non motorized vehicles are allowed to drive through. For a full description why xodr::Lane::Type::kSpecial1 is considered, see malidrive#272 and malidrive#273.

This function considers as non-driveable the following list of xodr::Lane::Type:

kNone
kStop
kShoulder
kSidewalk
kBorder
kRestricted
kParking
kSpecial2
kSpecial3
kTram
kRail
kMedian

Returns: True when xodr_lane is not the TRACK-lane and it is drivable.

Parameters

xodr_lane An Xodr Lane that will be evaluated as drivable or non-drivable

Exceptions

maliput::common::assertion_error When xodr_lane's type is not a valid type.

◆ operator&()

RoadGeometryConfiguration::StandardStrictnessPolicy operator&	(	const RoadGeometryConfiguration::StandardStrictnessPolicy &	first,
		const RoadGeometryConfiguration::StandardStrictnessPolicy &	second
	)

◆ operator|()

RoadGeometryConfiguration::StandardStrictnessPolicy operator\|	(	const RoadGeometryConfiguration::StandardStrictnessPolicy &	first,
		const RoadGeometryConfiguration::StandardStrictnessPolicy &	second
	)

◆ SimplifyGeometries()

std::vector< xodr::Geometry > SimplifyGeometries	(	const std::vector< xodr::Geometry > &	geometries,
		const std::vector< xodr::DBManager::XodrGeometriesToSimplify > &	geometries_to_simplify
	)

Creates a new vector of xodr::Geometry out of geometries by simplifying it following geometries_to_simplify's actions.

Parameters

geometries	The vector of xodr::Geometry to simplify of the same RoadHeader::Id.
geometries_to_simplify	Contains disjunct groups of geometry indices with the same xodr::RoadHeader::Id. When it is empty, no action is performed.

Returns: A vector of xodr:Geometry.

◆ SolveLaneEndsForConnectingRoad()

std::vector< maliput::api::LaneEnd > SolveLaneEndsForConnectingRoad	(	const maliput::api::RoadGeometry *	rg,
		const MalidriveXodrLaneProperties &	xodr_lane_properties,
		const std::map< xodr::RoadHeader::Id, xodr::RoadHeader > &	road_headers,
		XodrConnectionType	connection_type
	)

Searches which LaneEnds connect to xodr_lane_properties.lane in connection_type direction considering the LaneEnd belongs to an external interface with other XODR Roads, not XODR Junctions.

Parameters

rg	Is the pointer to the RoadGeometry is being built. It must not be nullptr.
xodr_lane_properties	Contains useful XODR Lane Properties.
road_headers	RoadHeaders of the XODR Map.
connection_type	Is the type (successor or predecessor) of link that is solved.

Exceptions

maliput::common::assertion_error	When `rg` is nullptr.
maliput::common::assertion_error	When there isn't a valid RoadLink.
maliput::common::assertion_error	When there isn't a valid LaneLink.

◆ SolveLaneEndsForInnerLaneSection()

std::vector< maliput::api::LaneEnd > SolveLaneEndsForInnerLaneSection	(	const maliput::api::RoadGeometry *	rg,
		const maliput::api::LaneEnd &	lane_end,
		const MalidriveXodrLaneProperties &	xodr_lane_properties
	)

Searches which LaneEnds connect to lane_end considering it belongs to an inner interface.

Parameters

rg	is the pointer to the RoadGeometry is being built. It must not be nullptr.
lane_end	is the LaneEnd to which this method looks for connections.
xodr_lane_properties	Contains useful XODR Lane Properties.

Exceptions

maliput::common::assertion_error When either rg is nullptr.

◆ SolveLaneEndsForJunction()

std::vector< maliput::api::LaneEnd > SolveLaneEndsForJunction	(	const maliput::api::RoadGeometry *	rg,
		const MalidriveXodrLaneProperties &	xodr_lane_properties,
		const std::map< xodr::RoadHeader::Id, xodr::RoadHeader > &	road_headers,
		const std::unordered_map< xodr::Junction::Id, xodr::Junction > &	junctions,
		XodrConnectionType	connection_type
	)

Searches which LaneEnds connect to xodr_lane_properties.lane in connection_type direction considering the LaneEnd belongs to an external interface with a XODR Junction but the XODR Road does not live in a XODR Junction.

Parameters

rg	Is the pointer to the RoadGeometry is being built. It must not be nullptr.
xodr_lane_properties	Contains useful XODR Lane Properties.
road_headers	RoadHeaders of the XODR Map.
junctions	Junctions of the XODR Map.
connection_type	Is the type (successor or predecessor) of link that is solved.

Exceptions

maliput::common::assertion_error	When either `rg` is nullptr.
maliput::common::assertion_error	When there isn't a valid RoadLink.
maliput::common::assertion_error	When the junction where the road is connected to doesn't exist.

◆ SolveLaneEndsWithinJunction()

std::vector< maliput::api::LaneEnd > SolveLaneEndsWithinJunction	(	const maliput::api::RoadGeometry *	rg,
		const MalidriveXodrLaneProperties &	xodr_lane_properties,
		const std::map< xodr::RoadHeader::Id, xodr::RoadHeader > &	road_headers,
		XodrConnectionType	connection_type
	)

Searches which LaneEnds connect to xodr_lane_properties.lane in connection_type direction considering the LaneEnd belongs to an external interface.

The XODR Road that contains the LaneEnd is assumed to live within an XODR Junction and it could connect to another XODR Road.

Parameters

rg	Is the pointer to the RoadGeometry is being built. It must not be nullptr.
xodr_lane_properties	Contains useful XODR Lane Properties.
road_headers	RoadHeaders of the XODR Map.
connection_type	Is the type (successor or predecessor) of link that is solved.

Exceptions

maliput::common::assertion_error	When either `rg` is nullptr.
maliput::common::assertion_error	When the RoadLink links to a junction.

◆ VehicleExclusiveValueForXodrLane()

std::optional< std::string > VehicleExclusiveValueForXodrLane ( const xodr::Lane & xodr_lane )

Determines the vehicle exclusive rule state value for xodr_lane based on its XODR Lane type.

Parameters

xodr_lane An XODR Lane. It must not be nullptr.

Returns: "NonMotorizedVehicleOnly" when xodr_lane's type is xodr::Lane::Type::kBiking. "MotorizedVehicleOnly" when xodr_lane's type is xodr::Lane::Type::kMwyEntry or xodr::Lane::Type::kMwyExit. Otherwise, it returns nullopt.

Exceptions

maliput::common::assertion_error When xodr_lane's type is not a valid type.

◆ VehicleUsageAndExclusiveRuleStateValues()

std::pair< std::string, std::optional< std::string > > VehicleUsageAndExclusiveRuleStateValues ( const Lane * lane )

Returns: A pair whose first element is vehicle usage rule value and second element is the vehicle exclusive rule value for lane.

Exceptions

maliput::common::assertion_error When lane is nullptr.

◆ VehicleUsageValueForXodrLane()

std::string VehicleUsageValueForXodrLane ( const xodr::Lane & xodr_lane )

Determines the vehicle usage rule state value for xodr_lane based on its XODR Lane type.

Parameters

xodr_lane An XODR Lane. It must not be nullptr.

Returns: "NonPedestrians" when is_driveable_lane(xodr_lane) returns true and XODR Lane type is not xodr::Lane::Type::kParking. "Unrestricted" when XODR Lane type is xodr::Lane::Type::kParking or xodr::Lane::Type::kNone. Otherwise, it returns "NonVehicles".

Exceptions

maliput::common::assertion_error When xodr_lane's type is not a valid type.

◆ XodrParserConfigurationFromRoadGeometryConfiguration()

xodr::ParserConfiguration XodrParserConfigurationFromRoadGeometryConfiguration ( const RoadGeometryConfiguration & rg_config )

Builds a xodr::ParserConfiguration from a RoadGeometryConfiguration struct.

Parameters

rg_config The RoadGeometryConfiguration struct.

Returns: A xodr::ParserConfiguration struct.

Variable Documentation

◆ kMinLinearTolerance

constexpr double kMinLinearTolerance {1e-3}

staticconstexpr

Namespaces

Classes

Enumerations

Functions

Variables

Enumeration Type Documentation

◆ XodrConnectionType

Function Documentation

◆ AreOnlyNonDrivableLanes()

◆ DetermineRoadGeometryAngularTolerance()

◆ DetermineRoadGeometryLinearTolerance()

◆ DetermineRoadGeometryScaleLength()

◆ FindLocalMinFromCubicPol()

◆ GetBranchPointId()

◆ GetDirectionUsageRuleId()

◆ GetDirectionUsageRuleStateId()

◆ GetDirectionUsageRuleStateType()

◆ GetJunctionId() [1/2]

◆ GetJunctionId() [2/2]

◆ GetLaneId()

◆ GetLaneSpeedProperties()

◆ GetMaxSpeedLimitFor()

◆ GetRoadTypeSpeedPropertiesInRange()

◆ GetRuleIdFrom() [1/2]

◆ GetRuleIdFrom() [2/2]

◆ GetSegmentId()

◆ GetSpeedLimitId()

◆ GetXodrLaneFromMalidriveLane()

◆ GetXodrRoadFromMalidriveLane()

◆ is_driveable_lane()

◆ operator&()

◆ operator|()

◆ SimplifyGeometries()

◆ SolveLaneEndsForConnectingRoad()

◆ SolveLaneEndsForInnerLaneSection()

◆ SolveLaneEndsForJunction()

◆ SolveLaneEndsWithinJunction()

◆ VehicleExclusiveValueForXodrLane()

◆ VehicleUsageAndExclusiveRuleStateValues()

◆ VehicleUsageValueForXodrLane()

◆ XodrParserConfigurationFromRoadGeometryConfiguration()

Variable Documentation

◆ kMinLinearTolerance