Drake
RoadPath< T > Class Template Reference

RoadPath converts a sequence of Maliput Lanes into a PiecewisePolynomial for the purpose of generating a path for a car to follow. More...

#include <automotive/road_path.h>

## Public Member Functions

RoadPath (const LaneDirection &initial_lane_direction, const T &step_size, int num_breaks)
Constructs a single RoadPath from a sequence of Maliput lanes based on the following parameters: More...

const trajectories::PiecewisePolynomial< T > & get_path () const

const T GetClosestPathPosition (const Vector3< T > &geo_position, const T &s_guess) const
Computes the closest s-position on the path to an arbitrary point in the world frame of the provided Maliput Lanes. More...

Implements CopyConstructible, CopyAssignable, MoveConstructible, MoveAssignable

## Detailed Description

### template<typename T> class drake::automotive::RoadPath< T >

RoadPath converts a sequence of Maliput Lanes into a PiecewisePolynomial for the purpose of generating a path for a car to follow.

The path is created from the start of a user-specified initial lane and direction of travel, and proceeds in that direction until either the end of the road is reached (there exist no ongoing lanes), or the given number of specified breaks have been traversed. The resulting path is a cubic spline that matches the r = 0 coordinate of the lanes at each specified break point. The resulting piecewise curve is C2-continuous throughout with zero first and second derivatives at the start and end of the path.

This class is explicitly instantiated for the following scalar types. No other scalar types are supported.

• double
Template Parameters
 T The vector element type, which must be a valid Eigen scalar. Only double is supported.

## Constructor & Destructor Documentation

default
default
 RoadPath ( const LaneDirection & initial_lane_direction, const T & step_size, int num_breaks )

Constructs a single RoadPath from a sequence of Maliput lanes based on the following parameters:

Parameters
 initial_lane_direction contains the initial LaneDirection. This must be a valid road Lane. step_size is the size of each step (in the s-direction) between knot points. num_breaks are the number of breaks at which the knot points will be evaluated.

## Member Function Documentation

 const PiecewisePolynomial< T > & get_path ( ) const
 const T GetClosestPathPosition ( const Vector3< T > & geo_position, const T & s_guess ) const

Computes the closest s-position on the path to an arbitrary point in the world frame of the provided Maliput Lanes.

(Not yet implemented)

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