Detailed Description

MultilaneOnrampMerge contains an example lane-merge scenario expressed as a maliput mulitilane road geometry.

The intent of this class is to enable easy creation and modification of road geometries for simulating/analyzing such scenarios.

Implements the following onramp example, where each road section is composed of sequences of linear and arc primitives:

          pre-merge           post-merge
            road                 road
       |------>------------+------>-------|
       |------>------------+------>-------|
                          /+------>-------|
                         //
                        //
                       //   onramp
                      ^^
                      ||
                      ||
                      __

The number of lanes of each road depends on the properties the MultilaneRoadCharacteristics. post roads will have the full number of lanes. pre and onramp roads will have half plus one lanes (note the integer division) and will be placed to the left and right sides of post road respectively. When the full lane number is even, two lanes from pre and onramp will overlap. Otherwise, only one lane will overlap.

Note that this factory sets some constants to the multilane::Builder when creating the RoadGeometry. Linear and angular tolerances, the scale length and the ComputationPolicy are set to appropriate values to build this RoadGeometry.

#include <include/maliput_multilane/multilane_onramp_merge.h>

Public Member Functions
	MultilaneOnrampMerge (const MultilaneRoadCharacteristics &rc)
	Constructor for the factory. More...

	MultilaneOnrampMerge ()
	Constructor for the example, using default MultilaneRoadCharacteristics settings. More...

std::unique_ptr< const maliput::api::RoadGeometry >	BuildOnramp () const

Constructor & Destructor Documentation

◆ MultilaneOnrampMerge() [1/2]

MultilaneOnrampMerge ( const MultilaneRoadCharacteristics & rc )

explicit

Constructor for the factory.

Parameters

rc	A structure that aggregates the road boundary data.

◆ MultilaneOnrampMerge() [2/2]

MultilaneOnrampMerge ( )

Constructor for the example, using default MultilaneRoadCharacteristics settings.

Member Function Documentation

◆ BuildOnramp()

std::unique_ptr< const maliput::api::RoadGeometry > BuildOnramp ( ) const

Returns: A std::unique_ptr<const maliput::api::RoadGeometry> with the onramp example.