#include <include/maliput_sparse/geometry/lane_geometry.h>

Public Types
enum	LineStringType { kCenterLine = 0, kLeftBoundary, kRightBoundary }
	Enum for the type of LineString of the Lane. More...

Public Member Functions
	MALIPUT_NO_COPY_NO_MOVE_NO_ASSIGN (LaneGeometry)

	LaneGeometry (const LineString3d &left, const LineString3d &right, double linear_tolerance, double scale_length)
	Constructs a LaneGeometry. More...

	LaneGeometry (const LineString3d &center, const LineString3d &left, const LineString3d &right, double linear_tolerance, double scale_length)
	Constructs a LaneGeometry. More...

	~LaneGeometry ()=default

double	p0 () const

double	p1 () const

const LineString3d &	centerline () const

double	ArcLength () const

double	linear_tolerance () const

double	scale_length () const

maliput::math::Vector3	W (const maliput::math::Vector3 &prh) const
	Evaluates \( W(p, r, h) \). More...

maliput::math::Vector3	WDot (const maliput::math::Vector3 &prh) const
	Evaluates \( W'(p, r, h) \) with respect to \( p \). More...

maliput::math::Vector3	WDot (double p) const
	Evaluates \( W'(p, 0, 0) \) with respect to \( p \). More...

maliput::math::RollPitchYaw	Orientation (const maliput::math::Vector3 &prh) const
	Evaluates the orientation in the INERTIAL Frame of the LaneGeometry at `prh`. More...

maliput::math::RollPitchYaw	Orientation (double p) const
	Evaluates the orientation in the INERTIAL Frame of the RoadCurve at `p`, i.e. More...

maliput::math::Vector3	WInverse (const maliput::math::Vector3 &xyz) const
	Evaluates \( W⁻¹(x, y, z) \). More...

maliput::api::RBounds	RBounds (double p) const
	Obtains the bounds of the lane. More...

double	FromCenterPToLateralP (const LineStringType &line_string_type, double p) const
	Converts from p coordinate in the centerline to an equivalent p coordinate in a boundary. More...

maliput::math::Vector3	ToLateralPos (const LineStringType &line_string_type, double p) const
	Computes the inertial position in a lateral boundary for a given `p` . More...

Member Enumeration Documentation

◆ LineStringType

enum LineStringType

strong

Enum for the type of LineString of the Lane.

Enumerator
kCenterLine
kLeftBoundary
kRightBoundary

Constructor & Destructor Documentation

◆ LaneGeometry() [1/2]

LaneGeometry	(	const LineString3d &	left,
		const LineString3d &	right,
		double	linear_tolerance,
		double	scale_length
	)

Constructs a LaneGeometry.

Parameters

left	Left boundary of the lane.
right	Right boundary of the lane.
linear_tolerance	It is expected to be the same as maliput::api::RoadGeometry::linear_tolerance(). It must be non negative.
scale_length	It is expected to be the same as maliput::api::RoadGeometry::scale_length(). It must be non negative.

Exceptions

maliput::common::assertion_error When linear_tolerance or scale_length are negative.

◆ LaneGeometry() [2/2]

LaneGeometry	(	const LineString3d &	center,
		const LineString3d &	left,
		const LineString3d &	right,
		double	linear_tolerance,
		double	scale_length
	)

Constructs a LaneGeometry.

Parameters

center	Center line of the lane.
left	Left boundary of the lane.
right	Right boundary of the lane.
linear_tolerance	It is expected to be the same as maliput::api::RoadGeometry::linear_tolerance(). It must be non negative.
scale_length	It is expected to be the same as maliput::api::RoadGeometry::scale_length(). It must be non negative.

Exceptions

maliput::common::assertion_error When linear_tolerance or scale_length are negative.

◆ ~LaneGeometry()

~LaneGeometry ( )

default

Member Function Documentation

◆ ArcLength()

double ArcLength ( ) const

Returns: The arc length of the centerline of the lane.

◆ centerline()

const LineString3d& centerline ( ) const

Returns: The centerline of the lane.

◆ FromCenterPToLateralP()

double FromCenterPToLateralP	(	const LineStringType &	line_string_type,
		double	p
	)		const

Converts from p coordinate in the centerline to an equivalent p coordinate in a boundary.

Parameters

line_string_type	The type of LineString to convert p coordinate to.
p	P parameter of the centerline.

Exceptions

maliput::common::assertion_error When line_string_type is LineStringType::kCenterline.

◆ linear_tolerance()

double linear_tolerance ( ) const

Returns: The linear tolerance used to compute all the methods.

See also: maliput::api::RoadGeometry::linear_tolerance().

◆ MALIPUT_NO_COPY_NO_MOVE_NO_ASSIGN()

MALIPUT_NO_COPY_NO_MOVE_NO_ASSIGN ( LaneGeometry )

◆ Orientation() [1/2]

maliput::math::RollPitchYaw Orientation ( const maliput::math::Vector3 & prh ) const

Evaluates the orientation in the INERTIAL Frame of the LaneGeometry at prh.

Parameters

prh	A vector in the LaneGeometry domain.

Returns: The orientation in the INERTIAL Frame of the LaneGeometry at prh.

◆ Orientation() [2/2]

maliput::math::RollPitchYaw Orientation ( double p ) const

Evaluates the orientation in the INERTIAL Frame of the RoadCurve at p, i.e.

at \( (p, 0, 0) \).

Parameters

p	P parameter of the lane.

Returns: The orientation in the INERTIAL Frame of the RoadCurve at p.

◆ p0()

double p0 ( ) const

◆ p1()

double p1 ( ) const

◆ RBounds()

maliput::api::RBounds RBounds ( double p ) const

Obtains the bounds of the lane.

Parameters

p	P parameter of the lane.

Exceptions

maliput::common::assertion_error When is not in the domain of [p0(), p1()].

◆ scale_length()

double scale_length ( ) const

Returns: The scale length of the tolerance used to compute all the methods.

See also: maliput::api::RoadGeometry::scale_length().

◆ ToLateralPos()

maliput::math::Vector3 ToLateralPos	(	const LineStringType &	line_string_type,
		double	p
	)		const

Computes the inertial position in a lateral boundary for a given p .

Parameters

line_string_type	The type of LineString to convert p coordinate to.
p	P parameter of the centerline.

Exceptions

maliput::common::assertion_error When line_string_type is LineStringType::kCenterline.

◆ W()

maliput::math::Vector3 W ( const maliput::math::Vector3 & prh ) const

Evaluates \( W(p, r, h) \).

Parameters

prh	A vector in the LaneGeometry domain.

Returns: A vector in the INERTIAL Frame which is the image of the LaneGeometry.

◆ WDot() [1/2]

maliput::math::Vector3 WDot ( const maliput::math::Vector3 & prh ) const

Evaluates \( W'(p, r, h) \) with respect to \( p \).

Parameters

prh	A vector in the LaneGeometry domain.

Returns: The derivative of \( W \) with respect to \( p \) at prh.

◆ WDot() [2/2]

maliput::math::Vector3 WDot ( double p ) const

Evaluates \( W'(p, 0, 0) \) with respect to \( p \).

Parameters

p	P parameter of the lane.

Returns: The derivative of \( W \) with respect to \( p \) at p.

◆ WInverse()

maliput::math::Vector3 WInverse ( const maliput::math::Vector3 & xyz ) const

Evaluates \( W⁻¹(x, y, z) \).

Parameters

xyz	A point in ℝ³ that would be used to minimize the Euclidean distance the image of \( W \).

Returns: A vector in LaneGeometry's domain whose image through \( W \) would minimize the Euclidean distance to xyz.

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

Public Types

Public Member Functions

Member Enumeration Documentation

◆ LineStringType

Constructor & Destructor Documentation

◆ LaneGeometry() [1/2]

◆ LaneGeometry() [2/2]

◆ ~LaneGeometry()

Member Function Documentation

◆ ArcLength()

◆ centerline()

◆ FromCenterPToLateralP()

◆ linear_tolerance()

◆ MALIPUT_NO_COPY_NO_MOVE_NO_ASSIGN()

◆ Orientation() [1/2]

◆ Orientation() [2/2]

◆ p0()

◆ p1()

◆ RBounds()

◆ scale_length()

◆ ToLateralPos()

◆ W()

◆ WDot() [1/2]

◆ WDot() [2/2]

◆ WInverse()