Detailed Description

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

For example, a XODR description with a Road header:

<OpenDRIVE>
    <road name="Road 0" length="1.4005927435591335e+2" id="0" junction="-1" rule="RHT">
        <link>
            <predecessor elementType="road" elementId="80" contactPoint="end"/>
            <successor elementType="road" elementId="10" contactPoint="start"/>
        </link>
        <type s="0.0000000000000000e+0" type="town">
            <speed max="40" unit="mph"/>
        </type>
        <planView>
            <geometry s="0.0000000000000000e+0" x="0.0000000000000000e+0" y="0.0000000000000000e+0"
            hdg="1.3734007669450161e+0" length="1.4005927435591335e+2">
                <line/>
            </geometry>
        </planView>
        <lanes>
            <laneOffset s='0.' a='2.2' b='3.3' c='4.4' d='5.5'/>
            <laneSection s='0.'>
                <left>
                    <lane id='1' type='driving' level= '0'>
                        <width sOffset='0.' a='1.' b='2.' c='3.' d='4.'/>
                    </lane>
                </left>
                <center>
                    <lane id='0' type='driving' level= '0'>
                    </lane>
                </center>
                <right>
                    <lane id='-1' type='driving' level= '0'>
                        <width sOffset='5.' a='6.' b='7.' c='8.' d='9.'/>
                    </lane>
                </right>
            </laneSection>
        </lanes>
    </road>
</OpenDRIVE>

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

Public Types
enum	HandTrafficRule { kRHT = 0, kLHT }
	Holds the hand traffic rules. More...

using	Id = maliput::api::TypeSpecificIdentifier< struct RoadHeader >
	Id alias. More...

Public Member Functions
double	GetLaneSectionLength (int index) const
	Get length of a lane section. More...

int	GetLaneSectionIndex (double s) const
	Get the lane section index for a particular s-cooridnate. More...

double	GetRoadTypeLength (int index) const
	Get length of a RoadType. More...

const RoadType *	GetRoadType (double s) const
	Get the RoadType for a particular s-cooridnate. More...

std::vector< const RoadType * >	GetRoadTypesInRange (double s_start, double s_end) const
	Get the RoadTypes that are present within the range: [`s_start`, `s_end`]. More...

double	s0 () const
	Get start s value of the Road. More...

double	s1 () const
	Get start s value of the Road. More...

bool	operator== (const RoadHeader &other) const
	Equality operator. More...

bool	operator!= (const RoadHeader &other) const
	Inequality operator. More...

Static Public Member Functions
static std::string	hand_traffic_rule_to_str (HandTrafficRule rule)
	Matches string with a HandTrafficRule. More...

static HandTrafficRule	str_to_hand_traffic_rule (const std::string &rule)
	Matches HandTrafficRule with a string. More...

Public Attributes
std::optional< std::string >	name {std::nullopt}
	Name of the road. More...

double	length {}
	Total length of the reference line in the xy-plane. More...

Id	id {"none"}
	Unique ID within database. More...

std::string	junction {}
	ID of the junction to which the road belongs as a connecting road.(-1 for none.) More...

std::optional< HandTrafficRule >	rule {std::nullopt}
	Hand traffic rule of the road. More...

RoadLink	road_link {std::nullopt, std::nullopt}
	Contains the road link. More...

std::vector< RoadType >	road_types {}
	Contains the road types of the road. More...

ReferenceGeometry	reference_geometry {}
	Contains the geometry description of the road. More...

Lanes	lanes {}
	Holds the road's lanes. More...

Static Public Attributes
static constexpr const char *	kRoadHeaderTag = "road"
	Convenient constants that hold the tag names in the XODR road header description. More...

static constexpr const char *	kName = "name"

static constexpr const char *	kLength = "length"

static constexpr const char *	kId = "id"

static constexpr const char *	kJunction = "junction"

static constexpr const char *	kRule = "rule"

Member Typedef Documentation

◆ Id

using Id = maliput::api::TypeSpecificIdentifier<struct RoadHeader>

Id alias.

Member Enumeration Documentation

◆ HandTrafficRule

enum HandTrafficRule

strong

Holds the hand traffic rules.

Enumerator
kRHT	Right handed traffic.
kLHT	Left handed traffic.

Member Function Documentation

◆ GetLaneSectionIndex()

int GetLaneSectionIndex ( double s ) const

Get the lane section index for a particular s-cooridnate.

Parameters

s	A s-coordinate of the Road.

Returns: The index of the lane section.

Exceptions

maliput::common::assertion_error When neither LaneSection's range contain the s coordinate.

◆ GetLaneSectionLength()

double GetLaneSectionLength ( int index ) const

Get length of a lane section.

Parameters

index The index-th LaneSection to retrieve its length.

Returns: The length of the index-th LaneSection.

Exceptions

maliput::common::assertion_error	When `index` is negative.
maliput::common::assertion_error	When `index` is greater than the numbers of LaneSections in the road.

◆ GetRoadType()

const RoadType * GetRoadType ( double s ) const

Get the RoadType for a particular s-cooridnate.

Parameters

s	A s-coordinate of the Road.

Returns: A pointer to the correspondant RoadType. Nullptr if there is no RoadTypes described.

Exceptions

maliput::common::assertion_error When neither RoadType's range contain the s coordinate.

◆ GetRoadTypeLength()

double GetRoadTypeLength ( int index ) const

Get length of a RoadType.

Parameters

index The index-th RoadType to retrieve its length.

Returns: The length of the index-th RoadType.

Exceptions

maliput::common::assertion_error	When `index` is negative.
maliput::common::assertion_error	When `index` is greater than the numbers of RoadTypes in the road.

◆ GetRoadTypesInRange()

std::vector< const RoadType * > GetRoadTypesInRange	(	double	s_start,
		double	s_end
	)		const

Get the RoadTypes that are present within the range: [s_start, s_end].

Parameters

s_start	Track s-coordinate that specifies the start of the range.
s_end	Track s-coordinate that specifies the end of the range.

Returns: A vector of RoadTypes.

Exceptions

maliput::common::assertion_error	When `s_start` is greater than `s_end`.
maliput::common::assertion_error	When `s_start` is negative.

◆ hand_traffic_rule_to_str()

std::string hand_traffic_rule_to_str ( RoadHeader::HandTrafficRule rule )

static

Matches string with a HandTrafficRule.

Parameters

rule	Is a HandTrafficRule.

Returns: A string that matches with rule.

◆ operator!=()

bool operator!= ( const RoadHeader & other ) const

Inequality operator.

◆ operator==()

bool operator== ( const RoadHeader & other ) const

Equality operator.

◆ s0()

double s0 ( ) const

Get start s value of the Road.

It is delimited by the start point of the first geometry in the planView.

◆ s1()

double s1 ( ) const

Get start s value of the Road.

It is computed as the sum of the last geometry's start point and its length.

◆ str_to_hand_traffic_rule()

RoadHeader::HandTrafficRule str_to_hand_traffic_rule ( const std::string & rule )

static

Matches HandTrafficRule with a string.

Parameters

rule	Is a string.

Returns: A HandtrafficRule that matches with rule.

Exceptions

maliput::common::assertion_error When rule doesn't match with a HandTrafficRule.

Member Data Documentation

◆ id

Id id {"none"}

Unique ID within database.

◆ junction

std::string junction {}

ID of the junction to which the road belongs as a connecting road.(-1 for none.)

◆ kId

constexpr const char* kId = "id"

staticconstexpr

◆ kJunction

constexpr const char* kJunction = "junction"

staticconstexpr

◆ kLength

constexpr const char* kLength = "length"

staticconstexpr

◆ kName

constexpr const char* kName = "name"

staticconstexpr

◆ kRoadHeaderTag

constexpr const char* kRoadHeaderTag = "road"

staticconstexpr

Convenient constants that hold the tag names in the XODR road header description.

◆ kRule

constexpr const char* kRule = "rule"

staticconstexpr

◆ lanes

Lanes lanes {}

Holds the road's lanes.

◆ length

double length {}

Total length of the reference line in the xy-plane.

◆ name

std::optional<std::string> name {std::nullopt}

Name of the road.

◆ reference_geometry

ReferenceGeometry reference_geometry {}

Contains the geometry description of the road.

◆ road_link

RoadLink road_link {std::nullopt, std::nullopt}

Contains the road link.

◆ road_types

std::vector<RoadType> road_types {}

Contains the road types of the road.

◆ rule

std::optional<HandTrafficRule> rule {std::nullopt}

Hand traffic rule of the road.

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

Detailed Description

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Member Typedef Documentation

◆ Id

Member Enumeration Documentation

◆ HandTrafficRule

Member Function Documentation

◆ GetLaneSectionIndex()

◆ GetLaneSectionLength()

◆ GetRoadType()

◆ GetRoadTypeLength()

◆ GetRoadTypesInRange()

◆ hand_traffic_rule_to_str()

◆ operator!=()

◆ operator==()

◆ s0()

◆ s1()

◆ str_to_hand_traffic_rule()

Member Data Documentation

◆ id

◆ junction

◆ kId

◆ kJunction

◆ kLength

◆ kName

◆ kRoadHeaderTag

◆ kRule

◆ lanes

◆ length

◆ name

◆ reference_geometry

◆ road_link

◆ road_types

◆ rule