Classes
class	AttributeParser
	Parses XML node's attributes descriptions. More...

struct	Connection
	Holds a Connection description of a XODR junction. More...

class	DBManager
	Database Manager in charge of: More...

struct	ElevationProfile
	Contains a series of elevation records which define the characteristics of the road's elevation along the reference line. More...

struct	Geometry
	Holds the values of a XODR description's geometry header. More...

struct	Header
	Holds the values of a XODR description's header. More...

struct	Junction
	Holds a junction description of a XODR road. More...

struct	Lane
	Holds the values of a XODR Lane. More...

struct	LaneLink
	Holds the lane link description in a XODR. More...

struct	LaneOffset
	Holds the values of a XODR Lane Offset. More...

struct	Lanes
	Holds the values of a XODR Lanes node. More...

struct	LaneSection
	Holds the values of a XODR LaneSection. More...

struct	LaneWidth
	Holds the values of a XODR Lane Width. More...

struct	LateralProfile
	Contains a series of superelevation records which define the characteristics of the road's lateral profile along the reference line. More...

class	NodeParser
	Parses XML nodes. More...

class	ParserBase
	Base class for parsing a tinyxml2::XMLElement node. More...

struct	ParserConfiguration
	Holds the configuration for the parser. More...

struct	PlanView
	Holds the plan view geometry description of a XODR road. More...

struct	ReferenceGeometry
	Holds the geometry description of a XODR road. More...

struct	RoadHeader
	Holds the values of a XODR description's Road header. More...

struct	RoadLink
	Holds the road link description of a XODR road. More...

struct	RoadType
	Holds the values of a XODR description of a type header. More...

Enumerations
enum	Unit { kMs = 0, kMph, kKph }
	Enumerates the units allowed in the XODR description. More...

Functions
std::unique_ptr< DBManager >	LoadDataBaseFromFile (const std::string &filepath, const ParserConfiguration &parser_configuration)
	Loads a XODR description from a file. More...

std::unique_ptr< DBManager >	LoadDataBaseFromStr (const std::string &xodr_str, const ParserConfiguration &parser_configuration)
	Loads a XODR description from a string. More...

std::ostream &	operator<< (std::ostream &os, const Geometry &geometry)

std::ostream &	operator<< (std::ostream &out, const Header &header)
	Streams a string representation of `header` into `out`. More...

std::ostream &	operator<< (std::ostream &out, const Junction &junction)
	Streams a string representation of `junction` into `out`. More...

std::string	ConvertXMLNodeToText (tinyxml2::XMLElement *element)
	Convert all the content of the XML node into text. More...

std::ostream &	operator<< (std::ostream &out, const RoadHeader &road_header)
	Streams a string representation of `road_header` into `out`. More...

double	GetDistanceBetweenGeometries (const Geometry &lhs, const Geometry &rhs)
	Calculates the Euclidean distance between the endpoint of `lhs` and the startpoint of `rhs`. More...

template<class XodrFunction >
double	GetDistanceBetweenFunctions (const XodrFunction &lhs, const XodrFunction &rhs)
	Computes the distance between the images of `lhs` and `rhs` polynomials. More...

Vector2	ComputeEndpointWithNewLength (const Geometry &geometry, double length)
	Calculates the position of the geometry that starts in `geometry.start_point` and extends `length` distance. More...

template double	GetDistanceBetweenFunctions< ElevationProfile::Elevation > (const ElevationProfile::Elevation &lhs, const ElevationProfile::Elevation &rhs)

template double	GetDistanceBetweenFunctions< LateralProfile::Superelevation > (const LateralProfile::Superelevation &lhs, const LateralProfile::Superelevation &rhs)

std::string	unit_to_str (Unit unit)
	Matches string with a Unit. More...

Unit	str_to_unit (const std::string &unit)
	Matches Unit with a string. More...

double	ConvertToMs (double value, Unit unit)
	Convert to meters per second. More...

std::string	XodrExtract (tinyxml2::XMLDocument *xodr_doc, const std::vector< std::string > &road_ids, bool update_linkage)
	Extracts Roads out of a XODR file and creates a new XODR description. More...

Enumeration Type Documentation

◆ Unit

enum Unit

strong

Enumerates the units allowed in the XODR description.

Enumerator
kMs
kMph
kKph

Function Documentation

◆ ComputeEndpointWithNewLength()

maliput::math::Vector2 ComputeEndpointWithNewLength	(	const Geometry &	geometry,
		double	length
	)

Calculates the position of the geometry that starts in geometry.start_point and extends length distance.

Parameters

geometry	A Geometry to evaluate its endpoint. Its type must be a valid Geometry::Type.
length	A positive distance to evaluate `geometry`'s endpoint.

Returns: The position of the endpoint.

Exceptions

maliput::common::assertion_error	When `tolerance` is not positive.
maliput::common::assertion_error	When `geometry.type` is neither Geometry::Type::kLine nor Geometry::Type::kArc.

◆ ConvertToMs()

double ConvertToMs	(	double	value,
		Unit	unit
	)

Convert to meters per second.

Parameters

value	Is the number to be converted.
unit	Is the unit of `value`.

Returns: The equivalent in meters per second.

Exceptions

maliput::common::assertion_error When unit isn't Unit::kMs, Unit::kMph or Unit::kph.

◆ ConvertXMLNodeToText()

std::string ConvertXMLNodeToText ( tinyxml2::XMLElement * element )

Convert all the content of the XML node into text.

Parameters

element Is the XML Node.

Returns: A string with the XML description.

Exceptions

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

◆ GetDistanceBetweenFunctions()

double GetDistanceBetweenFunctions	(	const XodrFunction &	lhs,
		const XodrFunction &	rhs
	)

Computes the distance between the images of lhs and rhs polynomials.

Parameters

lhs	Left hand polynomial to evaluate on `rhs.s_0`.
rhs	Right hand polynomial to evaluate on `rhs.s_0`.

Returns: The absolute difference between the two polynomial images.

Template Parameters

XodrFunction

One of the Xodr cubic polynomial images:

ElevationProfile::Elevation

◆ GetDistanceBetweenFunctions< ElevationProfile::Elevation >()

template double malidrive::xodr::GetDistanceBetweenFunctions< ElevationProfile::Elevation >	(	const ElevationProfile::Elevation &	lhs,
		const ElevationProfile::Elevation &	rhs
	)

◆ GetDistanceBetweenFunctions< LateralProfile::Superelevation >()

template double malidrive::xodr::GetDistanceBetweenFunctions< LateralProfile::Superelevation >	(	const LateralProfile::Superelevation &	lhs,
		const LateralProfile::Superelevation &	rhs
	)

◆ GetDistanceBetweenGeometries()

double GetDistanceBetweenGeometries	(	const Geometry &	lhs,
		const Geometry &	rhs
	)

Calculates the Euclidean distance between the endpoint of lhs and the startpoint of rhs.

Parameters

lhs	Geometry that connects with its endpoint to next Geometry.
rhs	Geometry that connects with its startpoint to previous Geometry.

Returns: The Euclidean distance.

Exceptions

maliput::common::assertion_error When lhs.type is neither Geometry::Type::kLine nor Geometry::Type::kArc.

◆ LoadDataBaseFromFile()

std::unique_ptr< DBManager > LoadDataBaseFromFile	(	const std::string &	filepath,
		const ParserConfiguration &	parser_configuration
	)

Loads a XODR description from a file.

Parameters

filepath	Filepath to the XODR file.
parser_configuration	Holds the configuration for the parser.

Returns: A DBManager.

Exceptions

maliput::common::assertion_error When XODR description couldn't be correctly loaded.

◆ LoadDataBaseFromStr()

std::unique_ptr< DBManager > LoadDataBaseFromStr	(	const std::string &	xodr_str,
		const ParserConfiguration &	parser_configuration
	)

Loads a XODR description from a string.

Parameters

xodr_str	String containing the XODR description.
parser_configuration	Holds the configuration for the parser.

Returns: A DBManager.

Exceptions

maliput::common::assertion_error When XODR description couldn't be correctly loaded.

◆ operator<<() [1/4]

std::ostream& malidrive::xodr::operator<<	(	std::ostream &	os,
		const Geometry &	geometry
	)

std::ostream & operator<<	(	std::ostream &	out,
		const Header &	header
	)

Streams a string representation of header into out.

Returns out. This method is provided for the purposes of debugging or text-logging. It is not intended for serialization.

◆ operator<<() [3/4]

std::ostream & operator<<	(	std::ostream &	out,
		const Junction &	junction
	)

Streams a string representation of junction into out.

Returns out. This method is provided for the purposes of debugging or text-logging. It is not intended for serialization.

◆ operator<<() [4/4]

std::ostream & operator<<	(	std::ostream &	out,
		const RoadHeader &	road_header
	)

Streams a string representation of road_header into out.

Returns out. This method is provided for the purposes of debugging or text-logging. It is not intended for serialization.

◆ str_to_unit()

Unit str_to_unit ( const std::string & unit )

Matches Unit with a string.

Parameters

unit	Is a string.

Returns: A Unit that matches with unit.

Exceptions

maliput::common::assertion_error When unit doesn't match with a Unit.

◆ unit_to_str()

std::string unit_to_str ( Unit unit )

Matches string with a Unit.

Parameters

unit	Is a Unit.

Returns: A string that matches with unit.

◆ XodrExtract()

std::string XodrExtract	(	tinyxml2::XMLDocument *	xodr_doc,
		const std::vector< std::string > &	road_ids,
		bool	update_linkage
	)

Extracts Roads out of a XODR file and creates a new XODR description.

Default header file with minimum information will be used.
Roads that aren't found will be skipped with the correspondant logging message.

Road linkage and junction value information can be updated depending on update_linkage argument.

Parameters

xodr_doc	XMLDocument pointer with a parsed XODR file.
road_ids	Collection of road ids that are wanted to be extracted.
update_linkage	True if predecessor,successor nodes and the junction id of the of the Roads should be updated by removing them. Otherwise those nodes won't be modified.

Returns: A XODR description with the selected Road ids.

Exceptions

maliput::common::assertion_error	When the XML file contained in `xodr_doc` isn't a XODR file.
maliput::common::assertion_error	When XODR file's roads doesn't have 'id' attributes.
maliput::common::assertion_error	When road_ids is empty.

Classes

Enumerations

Functions

Enumeration Type Documentation

◆ Unit

Function Documentation

◆ ComputeEndpointWithNewLength()

◆ ConvertToMs()

◆ ConvertXMLNodeToText()

◆ GetDistanceBetweenFunctions()

◆ GetDistanceBetweenFunctions< ElevationProfile::Elevation >()

◆ GetDistanceBetweenFunctions< LateralProfile::Superelevation >()

◆ GetDistanceBetweenGeometries()

◆ LoadDataBaseFromFile()

◆ LoadDataBaseFromStr()

◆ operator<<() [1/4]

◆ operator<<() [2/4]

◆ operator<<() [3/4]

◆ operator<<() [4/4]

◆ str_to_unit()

◆ unit_to_str()

◆ XodrExtract()