Detailed Description

Out-of-plane parameters for an endpoint of a connection, specified in the world frame.

The four components are:

z: elevation
z_dot: grade (rate of change of elevation with respect to arc length of the reference path)
theta: superelevation (rotation of road surface around r = 0 centerline; when theta > 0, elevation at r > 0 is above elevation at r < 0)
theta_dot: rate of change of superelevation with respect to arc length of the reference path. It is optional because it may be unknown when building a RoadGeometry and the Builder may need to adjust it to force the same orientation for all r at a certain s coordinate of the Segment surface.

#include <include/maliput_multilane/connection.h>

Public Member Functions
	EndpointZ ()=default

	EndpointZ (double z, double z_dot, double theta, std::optional< double > theta_dot)

EndpointZ	reverse () const
	Returns an EndpointZ with reversed direction. More...

double	z () const

double	z_dot () const

double	theta () const

const std::optional< double > &	theta_dot () const

std::optional< double > &	get_mutable_theta_dot ()

Constructor & Destructor Documentation

◆ EndpointZ() [1/2]

EndpointZ ( )

default

◆ EndpointZ() [2/2]

EndpointZ	(	double	z,
		double	z_dot,
		double	theta,
		std::optional< double >	theta_dot
	)

Member Function Documentation

◆ get_mutable_theta_dot()

std::optional<double>& get_mutable_theta_dot ( )

◆ reverse()

EndpointZ reverse ( ) const

Returns an EndpointZ with reversed direction.

Reversing direction is equivalent to rotating s (and along with it, r) around the h-axis by 180 degrees, thus flipping the signs of z_dot and theta. theta_dot will remain the same.

◆ theta()

double theta ( ) const

◆ theta_dot()

const std::optional<double>& theta_dot ( ) const

◆ z()

double z ( ) const

◆ z_dot()

double z_dot ( ) const

The documentation for this class was generated from the following file:

connection.h