Maliput Python Interface

Table of Contents

• Maliput Python Interface
  • Overview
  • Maliput api
  • Maliput math
  • Maliput plugin

Date

October 21, 2021

Maliput Python Interface

Overview

The maliput_py package provides a maliput python interface covering:

• maliput::api
• maliput::math
• maliput::plugin

Python bindings are created using pybind11 library.

Maliput api

maliput.api submodule provides bindings to maliput::api entities such as:

• maliput::api::InertialPosition
• maliput::api::Junction
• maliput::api::Lane
• maliput::api::LaneId
• maliput::api::LanePosition
• maliput::api::LanePositionResult
• maliput::api::RoadGeometry
• maliput::api::RoadGeometry::IdIndex
• maliput::api::RoadGeometryId
• maliput::api::RoadNetwork
• maliput::api::RoadPosition
• maliput::api::Rotation
• maliput::api::Segment

Code example:

import maliput.api
 
inertial_position = maliput.api.InertialPosition(x=1., y=2., z=3.)

Maliput math

maliput.math submodule provides bindings to maliput::math entities such as:

• maliput::math::Vector3
• maliput::math::Vector4
• maliput::math::RollPitchYaw
• maliput::math::Quaternion

Code example:

import maliput.math
rpy = maliput.math.RollPitchYaw(1.0, 2.0, 3.0)
quaternion = rpy.ToQuaternion()

Maliput plugin

maliput.plugin submodule provides bindings for the Maliput Plugin Architecture.

Code example:

import maliput.plugin
 
manager = maliput.plugin.MaliputPluginManager()
# Plugins` id can be listed by doing:
plugin_ids = maliput.plugin.MaliputPluginManager().ListPlugins()
# A loaded plugin can be obtained by doing:
my_plugin = maliput.plugin.MaliputPluginManager().GetPlugin("foo_plugin")

There is also provided a method to easily get a maliput::api::RoadNetwork from a maliput::plugin::RoadNetworkLoader implementation.

Code example:

import maliput.api
import maliput.plugin
 
road_network = maliput.plugin.create_road_network("my_road_network_loader_plugin", dict())
num_junctions = road_network.road_geometry().num_junctions()