- Generated by
|
maliput_multilane
|
Representation of a reference path connecting two endpoints.
Upon building the RoadGeometry, a Connection yields a Segment bearing multiple Lanes with offsets from the reference path. The Segment will belong to its own Junction, unless the Connection was grouped with other Connections into a Group.
Two connection geometries are supported: line and arc. These primitives determine the projection of the reference path onto the (locally-flat) plane of the earth. The out-of-plane shape of the path will be determined by the EndpointZ (elevation) parameters of the endpoints.
#include <include/maliput_multilane/connection.h>
Public Types | |
| enum | Type { kLine, kArc } |
| Possible connection geometries: line- or arc-segment. More... | |
Public Member Functions | |
| ~Connection () | |
| Connection (const std::string &id, const Endpoint &start, const EndpointZ &end_z, int num_lanes, double r0, double lane_width, double left_shoulder, double right_shoulder, const LineOffset &line_offset, double linear_tolerance, double scale_length, ComputationPolicy computation_policy) | |
| Constructs a line-segment connection. More... | |
| Connection (const std::string &id, const Endpoint &start, const EndpointZ &end_z, int num_lanes, double r0, double lane_width, double left_shoulder, double right_shoulder, const ArcOffset &arc_offset, double linear_tolerance, double scale_length, ComputationPolicy computation_policy) | |
| Constructs an arc-segment connection. More... | |
| Type | type () const |
| Returns the geometric type of the path. More... | |
| const std::string & | id () const |
| Returns the ID string. More... | |
| const Endpoint & | start () const |
| Returns the parameters of the start point. More... | |
| const Endpoint & | end () const |
| Returns the parameters of the endpoint. More... | |
| double | line_length () const |
| Returns the length of the line (for line connections only). More... | |
| double | radius () const |
| Returns the radius of the arc (for arc connections only). More... | |
| double | d_theta () const |
| Returns the angle of the arc (for arc connections only). More... | |
| int | num_lanes () const |
| Returns the number of lanes the Segment will contain. More... | |
| double | r0 () const |
| Returns the lateral offset from the reference curve to the first Lane centerline. More... | |
| double | lane_width () const |
| Returns lanes' width. More... | |
| double | left_shoulder () const |
| Returns the left shoulder distance of the segment. More... | |
| double | right_shoulder () const |
| Returns the right shoulder distance of the segment. More... | |
| double | lane_offset (int lane_index) const |
Returns lane_index lane lateral distance to the reference curve. More... | |
| double | r_min () const |
| Returns the distance from the reference curve to the right extent of the Segment. More... | |
| double | r_max () const |
| Returns the distance from the reference curve to the left extent of the Segment. More... | |
| double | linear_tolerance () const |
| Returns the linear tolerance, in meters, that applies to RoadCurve instances as constructed by this Connection. More... | |
| double | scale_length () const |
| Returns the scale length, in meters, that applies to RoadCurve instances as constructed by this Connection. More... | |
| ComputationPolicy | computation_policy () const |
| Returns the computation policy that applies to RoadCurve instances as constructed by this Connection. More... | |
| Endpoint | LaneStart (int lane_index) const |
Returns an Endpoint describing the start of the lane_index lane. More... | |
| Endpoint | LaneEnd (int lane_index) const |
Returns an Endpoint describing the end of the lane_index lane. More... | |
| enum Type |
| ~Connection | ( | ) |
| Connection | ( | const std::string & | id, |
| const Endpoint & | start, | ||
| const EndpointZ & | end_z, | ||
| int | num_lanes, | ||
| double | r0, | ||
| double | lane_width, | ||
| double | left_shoulder, | ||
| double | right_shoulder, | ||
| const LineOffset & | line_offset, | ||
| double | linear_tolerance, | ||
| double | scale_length, | ||
| ComputationPolicy | computation_policy | ||
| ) |
Constructs a line-segment connection.
Segment's reference curve begins at start and extends on the plane z=0 line_offset.length() distance with start.xy().heading() heading angle. end_z will be used to build elevation and superelevation information of the road.
line_offset holds the length of the line.
Segments will contain num_lanes lanes, which must be greater than zero. First Lane centerline will be placed at r0 distance from the reference curve. Each lane's width will be lane_width, which should be greater or equal to zero.
left_shoulder and right_shoulder are extra spaces added to the right and left side of the first and last lanes of the Segment. They will be added to Segment's bounds and must be greater or equal to zero.
scale_length constrains the maximum level of detail captured by the underlying RoadCurve.
linear_tolerance and computation_policy set the efficiency vs. speed balance for computations in the underlying RoadCurve.
| Connection | ( | const std::string & | id, |
| const Endpoint & | start, | ||
| const EndpointZ & | end_z, | ||
| int | num_lanes, | ||
| double | r0, | ||
| double | lane_width, | ||
| double | left_shoulder, | ||
| double | right_shoulder, | ||
| const ArcOffset & | arc_offset, | ||
| double | linear_tolerance, | ||
| double | scale_length, | ||
| ComputationPolicy | computation_policy | ||
| ) |
Constructs an arc-segment connection.
Segment's reference curve begins at start and extends on the plane z=0 with arc_offset.radius() and angle span of arc_offset.d_theta(). end_z will be used to build elevation and superelevation information of the road.
arc_offset.radius() must be positive. arc_offset.d_theta() > 0 indicates a counterclockwise arc from start with initial heading angle start.heading().
Segments will contain num_lanes lanes, which must be greater than zero. First Lane centerline will be placed at r0 distance from the reference curve. Each lane's width will be lane_width, which should be greater or equal to zero.
left_shoulder and right_shoulder are extra spaces added to the right and left side of the first and last lanes of the Segment. They will be added to Segment's bounds and must be greater or equal to zero.
linear_tolerance applies to all RoadCurve-level computations. It must be positive.
scale_length constrains the maximum level of detail captured by the underlying RoadCurve. It must be positive.
computation_policy sets the speed vs. accuracy for computations in the underlying RoadCurve.
| ComputationPolicy computation_policy | ( | ) | const |
Returns the computation policy that applies to RoadCurve instances as constructed by this Connection.
Refer to RoadCurve class documentation for further details.
| double d_theta | ( | ) | const |
Returns the angle of the arc (for arc connections only).
| const Endpoint & end | ( | ) | const |
Returns the parameters of the endpoint.
| const std::string & id | ( | ) | const |
Returns the ID string.
| double lane_offset | ( | int | lane_index | ) | const |
Returns lane_index lane lateral distance to the reference curve.
lane_index must be non-negative and smaller than the number of lanes of this connection.
| double lane_width | ( | ) | const |
Returns lanes' width.
| Endpoint LaneEnd | ( | int | lane_index | ) | const |
Returns an Endpoint describing the end of the lane_index lane.
| Endpoint LaneStart | ( | int | lane_index | ) | const |
Returns an Endpoint describing the start of the lane_index lane.
| double left_shoulder | ( | ) | const |
Returns the left shoulder distance of the segment.
| double line_length | ( | ) | const |
Returns the length of the line (for line connections only).
| double linear_tolerance | ( | ) | const |
Returns the linear tolerance, in meters, that applies to RoadCurve instances as constructed by this Connection.
Refer to RoadCurve class documentation for further details.
| int num_lanes | ( | ) | const |
Returns the number of lanes the Segment will contain.
| double r0 | ( | ) | const |
Returns the lateral offset from the reference curve to the first Lane centerline.
| double r_max | ( | ) | const |
Returns the distance from the reference curve to the left extent of the Segment.
| double r_min | ( | ) | const |
Returns the distance from the reference curve to the right extent of the Segment.
| double radius | ( | ) | const |
Returns the radius of the arc (for arc connections only).
| double right_shoulder | ( | ) | const |
Returns the right shoulder distance of the segment.
| double scale_length | ( | ) | const |
Returns the scale length, in meters, that applies to RoadCurve instances as constructed by this Connection.
Refer to RoadCurve class documentation for further details.
| const Endpoint & start | ( | ) | const |
Returns the parameters of the start point.
| Connection::Type type | ( | ) | const |
Returns the geometric type of the path.