Classes
struct	BoundPointsResult
	Holds the result of GetBoundPointsAtP method. More...

struct	ClosestPointResult
	Holds the result of GetClosestPoint method. More...

struct	ClosestPointToSegmentResult
	Holds the result of GetClosestPointToSegment method. More...

Typedefs
using	ClosestPointResult3d = ClosestPointResult< maliput::math::Vector3 >

using	ClosestPointResult2d = ClosestPointResult< maliput::math::Vector2 >

using	ClosestPointToSegmentResult3d = ClosestPointToSegmentResult< maliput::math::Vector3 >

using	ClosestPointToSegmentResult2d = ClosestPointToSegmentResult< maliput::math::Vector2 >

using	OptDistance = std::optional< double >

using	Segment3d = std::pair< Vector3, Vector3 >

using	Segment2d = std::pair< Vector2, Vector2 >

Functions
LineString3d	ComputeCenterline3d (const LineString3d &left, const LineString3d &right)
	Computes a 3-dimensional centerline out of the `left` and `right` line string. More...

template<typename CoordinateT = maliput::math::Vector3>
CoordinateT	InterpolatedPointAtP (const LineString< CoordinateT > &line_string, double p, double tolerance)
	Returns the piecewise linearly interpolated point at the given distance and the distance from the beginning to the first point. More...

double	GetSlopeAtP (const LineString3d &line_string, double p, double tolerance)
	Returns the slope of a `line_string` for a given `p` . More...

template<typename CoordinateT = maliput::math::Vector3>
BoundPointsResult	GetBoundPointsAtP (const LineString< CoordinateT > &line_string, double p, double tolerance)
	Obtains the points that confines `p` in the `line_string` . More...

double	Get2DHeadingAtP (const LineString3d &line_string, double p, double tolerance)
	Returns the heading of a `line_string` for a given `p` . More...

maliput::math::Vector2	Get2DTangentAtP (const LineString3d &line_string, double p, double tolerance)
	Returns the 2d-tangent of a `line_string` for a given `p` . More...

maliput::math::Vector3	GetTangentAtP (const LineString3d &line_string, double p, double tolerance)
	Returns the 3d-tangent of a `line_string` for a given `p` . More...

template<typename CoordinateT = maliput::math::Vector3>
ClosestPointToSegmentResult< CoordinateT >	GetClosestPointToSegment (const CoordinateT &start_segment_point, const CoordinateT &end_segment_point, const CoordinateT &coordinate, double tolerance)
	Gets the closest point in the `segment` to the given `xyz` point. More...

ClosestPointResult3d	GetClosestPoint (const LineString3d &line_string, const maliput::math::Vector3 &xyz, double tolerance)
	Gets the closest point in the `line_string` to the given `xyz` point. More...

ClosestPointResult3d	GetClosestPointUsing2dProjection (const LineString3d &line_string, const maliput::math::Vector3 &xyz, double tolerance)
	Gets the closest point in the `line_string` to the given `xyz` point. More...

double	ComputeDistance (const LineString3d &lhs, const LineString3d &rhs, double tolerance)
	Computes the distance between two LineString3d. More...

template maliput::math::Vector3	InterpolatedPointAtP (const LineString3d &, double, double)

template ClosestPointToSegmentResult3d	GetClosestPointToSegment (const maliput::math::Vector3 &, const maliput::math::Vector3 &, const maliput::math::Vector3 &, double)

template ClosestPointToSegmentResult2d	GetClosestPointToSegment (const maliput::math::Vector2 &, const maliput::math::Vector2 &, const maliput::math::Vector2 &, double)

template BoundPointsResult	GetBoundPointsAtP< maliput::math::Vector3 > (const LineString3d &, double, double)

Variables
static constexpr bool	kLeft {true}

static constexpr bool	kRight {false}

static constexpr double	kEpsilon {1e-12}

Typedef Documentation

◆ ClosestPointResult2d

using ClosestPointResult2d = ClosestPointResult<maliput::math::Vector2>

◆ ClosestPointResult3d

using ClosestPointResult3d = ClosestPointResult<maliput::math::Vector3>

◆ ClosestPointToSegmentResult2d

using ClosestPointToSegmentResult2d = ClosestPointToSegmentResult<maliput::math::Vector2>

◆ ClosestPointToSegmentResult3d

using ClosestPointToSegmentResult3d = ClosestPointToSegmentResult<maliput::math::Vector3>

◆ OptDistance

using OptDistance = std::optional<double>

◆ Segment2d

using Segment2d = std::pair<Vector2, Vector2>

◆ Segment3d

using Segment3d = std::pair<Vector3, Vector3>

Function Documentation

◆ ComputeCenterline3d()

LineString3d ComputeCenterline3d	(	const LineString3d &	left,
		const LineString3d &	right
	)

Computes a 3-dimensional centerline out of the left and right line string.

Inspired on https://github.com/fzi-forschungszentrum-informatik/Lanelet2/blob/master/lanelet2_core/src/Lanelet.cpp

Parameters

left	Left line string.
right	Right line string.

Returns: The centerline.

◆ ComputeDistance()

double ComputeDistance	(	const LineString3d &	lhs,
		const LineString3d &	rhs,
		double	tolerance
	)

Computes the distance between two LineString3d.

The distance is calculated as the sum of distances between corresponding points between both line strings divided by the number of points. Some notes: 1 - The evaluation points to be used are the ones from the line string with more points. 2 - If the line strings have the same number of points, the evaluation points are the ones from the first line string. 3 - The closest point is calculated for each point in the line string with less points using #ref GetClosestPoint method.

This algorithm is not the most precise one, but it is the most intuitive one and for the expected use cases it is good enough.

TODO(#CreateIssue): Use Frechet distance algorithm instead.

Parameters

lhs	A LineString3d.
rhs	A LineString3d.
tolerance	tolerance.

Returns: The distance between the two line strings defined as above.

◆ Get2DHeadingAtP()

double Get2DHeadingAtP	(	const LineString3d &	line_string,
		double	p,
		double	tolerance
	)

Returns the heading of a line_string for a given p .

Parameters

line_string	LineString to be computed the heading from.
p	P parameter at which compute the heading.
tolerance	tolerance.

Exceptions

maliput::common::assertion_error When p ∉ [0., line_string.length()].

◆ Get2DTangentAtP()

Vector2 Get2DTangentAtP	(	const LineString3d &	line_string,
		double	p,
		double	tolerance
	)

Returns the 2d-tangent of a line_string for a given p .

The tangent is calculated from the line_string projected on the xy plane.

Parameters

line_string	LineString to be computed the 2d-tangent from.
p	P parameter at which compute the 2d-tangent.
tolerance	tolerance.

Exceptions

maliput::common::assertion_error When p ∉ [0., line_string.length()].

◆ GetBoundPointsAtP()

BoundPointsResult GetBoundPointsAtP	(	const LineString< CoordinateT > &	line_string,
		double	p,
		double	tolerance
	)

Obtains the points that confines p in the line_string .

Template Parameters

CoordinateT The coordinate type of the line_string .

Parameters

line_string	LineString.
p	P parameter.
tolerance	tolerance.

Exceptions

maliput::common::assertion_error When p ∉ [0., line_string.length()].

◆ GetBoundPointsAtP< maliput::math::Vector3 >()

template BoundPointsResult maliput_sparse::geometry::utility::GetBoundPointsAtP< maliput::math::Vector3 >	(	const LineString3d &	,
		double	,
		double
	)

◆ GetClosestPoint()

ClosestPointResult3d GetClosestPoint	(	const LineString3d &	line_string,
		const maliput::math::Vector3 &	xyz,
		double	tolerance
	)

Gets the closest point in the line_string to the given xyz point.

Parameters

line_string	LineString3d to be computed the closest point from.
xyz	Point to be computed the closest point to.
tolerance	tolerance.

Returns: A ClosestPointResult struct containing the closest point, the distance between the closest point and xyz and the p coordinate in the LineString3d matching the closest point.

◆ GetClosestPointToSegment() [1/3]

ClosestPointToSegmentResult< CoordinateT > GetClosestPointToSegment	(	const CoordinateT &	start_segment_point,
		const CoordinateT &	end_segment_point,
		const CoordinateT &	coordinate,
		double	tolerance
	)

Gets the closest point in the segment to the given xyz point.

Template Parameters

CoordinateT The coordinate type of the segment .

Parameters

start_segment_point	Start point of the segment.
end_segment_point	End point of the segment.
coordinate	Point to be computed the closest point to.
tolerance	tolerance.

Returns: A ClosestPointResult struct containing the closest point, the distance between the closest point and xyz and the p coordinate in the segment matching the closest point.

◆ GetClosestPointToSegment() [2/3]

template ClosestPointToSegmentResult2d maliput_sparse::geometry::utility::GetClosestPointToSegment	(	const maliput::math::Vector2 &	,
		const maliput::math::Vector2 &	,
		const maliput::math::Vector2 &	,
		double
	)

◆ GetClosestPointToSegment() [3/3]

template ClosestPointToSegmentResult3d maliput_sparse::geometry::utility::GetClosestPointToSegment	(	const maliput::math::Vector3 &	,
		const maliput::math::Vector3 &	,
		const maliput::math::Vector3 &	,
		double
	)

◆ GetClosestPointUsing2dProjection()

ClosestPointResult3d GetClosestPointUsing2dProjection	(	const LineString3d &	line_string,
		const maliput::math::Vector3 &	xyz,
		double	tolerance
	)

Gets the closest point in the line_string to the given xyz point.

This method is similar to #ref GetClosestPoint, but it first projects the line_string and the xyz on the xy plane for finding the closest point. Once the closest point in the plane is found, the z coordinate is recovered from the line_string and the rest of the ClosestPointResult3d struct is filled.

Parameters

line_string	LineString3d to be computed the closest point from.
xyz	Point to be computed the closest point to.
tolerance	Tolerance.

Returns: A ClosestPointResult struct containing the closest point, the distance between the closest point and xyz

◆ GetSlopeAtP()

double GetSlopeAtP	(	const LineString3d &	line_string,
		double	p,
		double	tolerance
	)

Returns the slope of a line_string for a given p .

The slope is calculated as the variation in z divided by the variation in the xy plane. The result is expected to be contained within (-inf., inf.).

Parameters

line_string	LineString to be computed the slope from.
p	P parameter at which compute the slope.
tolerance	tolerance.

Exceptions

maliput::common::assertion_error	When `p ∉ [0., line_string.length()]`.
maliput::common::assertion_error	When the points that confine `p` are equal.

◆ GetTangentAtP()

Vector3 GetTangentAtP	(	const LineString3d &	line_string,
		double	p,
		double	tolerance
	)

Returns the 3d-tangent of a line_string for a given p .

Parameters

line_string	LineString to be computed the 3d-tangent from.
p	P parameter at which compute the 3d-tangent.
tolerance	tolerance.

Exceptions

maliput::common::assertion_error When p ∉ [0., line_string.length()].

◆ InterpolatedPointAtP() [1/2]

template maliput::math::Vector2 InterpolatedPointAtP	(	const LineString3d &	,
		double	,
		double
	)

◆ InterpolatedPointAtP() [2/2]

CoordinateT InterpolatedPointAtP	(	const LineString< CoordinateT > &	line_string,
		double	p,
		double	tolerance
	)

Returns the piecewise linearly interpolated point at the given distance and the distance from the beginning to the first point.

Template Parameters

CoordinateT The coordinate type of the line_string .

Parameters

line_string	the line_string to iterate.
p	distance along line_string.
tolerance	tolerance.

Returns: The interpolated point (a new point if not perfectly matching).

Variable Documentation

◆ kEpsilon

constexpr double kEpsilon {1e-12}

staticconstexpr

◆ kLeft

constexpr bool kLeft {true}

staticconstexpr

◆ kRight

constexpr bool kRight {false}

staticconstexpr

Classes

Typedefs

Functions

Variables

Typedef Documentation

◆ ClosestPointResult2d

◆ ClosestPointResult3d

◆ ClosestPointToSegmentResult2d

◆ ClosestPointToSegmentResult3d

◆ OptDistance

◆ Segment2d

◆ Segment3d

Function Documentation

◆ ComputeCenterline3d()

◆ ComputeDistance()

◆ Get2DHeadingAtP()

◆ Get2DTangentAtP()

◆ GetBoundPointsAtP()

◆ GetBoundPointsAtP< maliput::math::Vector3 >()

◆ GetClosestPoint()

◆ GetClosestPointToSegment() [1/3]

◆ GetClosestPointToSegment() [2/3]

◆ GetClosestPointToSegment() [3/3]

◆ GetClosestPointUsing2dProjection()

◆ GetSlopeAtP()

◆ GetTangentAtP()

◆ InterpolatedPointAtP() [1/2]

◆ InterpolatedPointAtP() [2/2]

Variable Documentation

◆ kEpsilon

◆ kLeft

◆ kRight