Perform queries to a XODR file

xodr_query application can be used to perform different kind of queries to a particular XODR description.

xodr_query <xodr_file> <query>

For example, let's use GetGeometries query.

xodr_query <xodr_file> GetGeometries <road_id>

$ xodr_query highway.xodr GetGeometries 101
 
[INFO] Parser: Allow schema errors: disabled
[INFO] Parser: Allow semantic errors: disabled
planView description for RoadId 101:
  1 - Geometry type: line | s: 0 | {x, y} : {2.67623487219478, -89.6625048603155} | hdg: 2.51459637064416
  2 - Geometry type: arc - curvature: 0.0394931278551992 | s: 2.05 | {x, y} : {1.01603038272228, -88.4596464468541} | hdg: 2.51460260559547
  3 - Geometry type: line | s: 13.9030097082693 | {x, y} : {-9.8339561755489, -83.9624505062969} | hdg: 2.98271503347307

Commands

Supported commands:

xodr_query <xodr_file> FindJunction <junction_id> : Obtains the XODR Junction hose ID is junction_id.

xodr_query <xodr_file> FindLargestElevationGap : Obtains the largest gap in elevation functions of the XODR.

xodr_query <xodr_file> FindLargestGap : Obtains the largest gap of the XODR.

xodr_query <xodr_file> FindLargestGeometry : Obtains the largest geometry of the XODR.

xodr_query <xodr_file> FindLargestLaneSection : Obtains the largest laneSection of the XODR.

xodr_query <xodr_file> FindLargestSuperelevationGap : Obtains the largest superelevation gap of the XODR.

xodr_query <xodr_file> FindRoad RoadId : Obtains the XODR Road whose ID is RoadId.

xodr_query <xodr_file> FindShortestElevationGap : Obtains the shortest gap in elevation functions of the XODR.

xodr_query <xodr_file> FindShortestGap : Obtains the shortest gap of the XODR.

xodr_query <xodr_file> FindShortestGeometry : Obtains the shortest geometry of the XODR.

xodr_query <xodr_file> FindShortestLaneSection : Obtains the shortest laneSection of the XODR.

xodr_query <xodr_file> FindShortestSuperelevationGap : Obtains the shortest superelevation gap of the XODR.

xodr_query <xodr_file> GetGeometries <road_id> : Retrieves a list of the geometries of the correspondent road.

xodr_query <xodr_file> GetGeometriesToSimplify <tolerance> : Retrieves a list of geometries that can be simplified into simpler geometry descriptions and the type of geometry that would do it.

xodr_query <xodr_file> GetHeader : Prints the XODR Header.

More available options

xodr_query application has some arguments that can be used when performing queries. All of them can be accessed by doing --help

--allow_schema_errors: If true, the XODR parser will attempt to work around XODR schema violations. By default set to false.

--allow_semantic_errors: If true, the XODR parser will attempt to work around XODR semantic violations. By default set to false.

--log_level: Sets the log output threshold; possible values: maliput::common::logger::level. By default set to unchanged.

--tolerance: Tolerance used to validate continuity in piecewise defined geometries. By default set to 0.001.