builder.h File Reference

Detailed Description

Builder API to construct a maliput::api::RoadGeometry.

It allows simple construction of nested nodes in the maliput::api::RoadGeometry graph. The geometry details are expected to be computed / loaded outside this method to allow parallelization of that process. The graph construction is a synchronous operation though and requires that the geometry information is available when building maliput::api::Lanes.

A super simple 2-lane dragway could be constructed as follows:

const maliput::math:Vector3 start_left_lane_1{0., 0., 0.};
const maliput::math:Vector3 end_left_lane_1{100., 0., 0.};
const maliput::math:Vector3 start_right_lane_1{0., 5., 0.};
const maliput::math:Vector3 end_right_lane_1{100., 5., 0.};
const maliput::math:Vector3 start_left_lane_2 = start_right_lane_1;
const maliput::math:Vector3 end_left_lane_2 = end_right_lane_1;
const maliput::math:Vector3 start_right_lane_2{0., 10., 0.};
const maliput::math:Vector3 end_right_lane_2{100., 10., 0.};
const maliput::api::HBounds hbounds_l1{0., 5.};
const maliput::api::HBounds hbounds_l2{0., 10.};
 
LineString3d left_line_string_1{start_left_lane_1, end_left_lane_1};
LineString3d right_line_string_1{start_right_lane_1, end_right_lane_1};
LineString3d left_line_string_2{start_left_lane_2, end_left_lane_2};
LineString3d right_line_string_2{start_right_lane_2, end_right_lane_2};
 
RoadGeometryBuilder rg_builder;
std::unique_ptr<RoadGeometry> road_geometry = RoadGeometryBuilder()
  .Id("two_lane_dragway")
  .StartJunction()
    .Id("j0")
    .StartSegment()
      .Id("j0_s0")
      .StartLane()
        .Id("j0_s0_l1")
        .HeightBounds(hbounds_l1)
        .StartLaneGeometry()
          .LeftLineString(left_line_string_1)
          .RightLineString(right_line_string_1)
        .EndLaneGeometry()
      .EndLane()
      .StartLane()
        .Id("j0_s0_l2")
        .HeightBounds(hbounds_l2)
        .StartLaneGeometry()
          .LeftLineString(left_line_string_2)
          .RightLineString(right_line_string_2)
        .EndLaneGeometry()
      .EndLane()
    .EndSegment()
  .EndJunction()
  .StartBranchPoints()
  .EndBranchPoints()
  .Build();

{cpp}

#include <cstddef>
#include <functional>
#include <map>
#include <memory>
#include <optional>
#include <string>
#include <utility>
#include <vector>
#include <maliput/api/branch_point.h>
#include <maliput/api/junction.h>
#include <maliput/api/lane.h>
#include <maliput/api/lane_data.h>
#include <maliput/api/road_geometry.h>
#include <maliput/api/segment.h>
#include <maliput/common/passkey.h>
#include <maliput/geometry_base/branch_point.h>
#include <maliput/geometry_base/junction.h>
#include <maliput/geometry_base/lane.h>
#include <maliput/geometry_base/road_geometry.h>
#include <maliput/geometry_base/segment.h>
#include "maliput_sparse/geometry/lane_geometry.h"
#include "maliput_sparse/geometry/line_string.h"

Include dependency graph for builder.h:

This graph shows which files directly or indirectly include this file:

Classes
class	NestedBuilder< ParentT >
	Holds the parent Builder class and offers a small set of convenient methods to manage the Builder lifecycle. More...
class	LaneGeometryBuilder
	Builder class for maliput_sparse::geometry::LaneGeometry. More...
class	LaneBuilder
	Builder class for maliput::api::Lanes. More...
class	SegmentBuilder
	Builder class for maliput::api::Segments. More...
class	JunctionBuilder
	Builder class for maliput::api::Junctions. More...
struct	LaneEnd
	maliput::api::LaneEnd is not convenient in the building stage because there is no valid Lane pointer yet. More...
class	BranchPointBuilder
class	RoadGeometryBuilder
	Builder class for maliput::api::RoadGeometry. More...

Namespaces
	maliput_sparse
	maliput_sparse::builder
	maliput_sparse::builder::details