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 <drake/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...
 
 ~RoadPath ()
 
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. More...
 
Implements CopyConstructible, CopyAssignable, MoveConstructible, MoveAssignable
 RoadPath (const RoadPath &)=default
 
RoadPathoperator= (const RoadPath &)=default
 
 RoadPath (RoadPath &&)=default
 
RoadPathoperator= (RoadPath &&)=default
 

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
TThe vector element type, which must be a valid Eigen scalar. Only double is supported.

Constructor & Destructor Documentation

RoadPath ( const RoadPath< T > &  )
default
RoadPath ( RoadPath< T > &&  )
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_directioncontains the initial LaneDirection. This must be a valid road Lane.
step_sizeis the size of each step (in the s-direction) between knot points.
num_breaksare the number of breaks at which the knot points will be evaluated.
~RoadPath ( )

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)

Here is the call graph for this function:

RoadPath& operator= ( const RoadPath< T > &  )
default
RoadPath& operator= ( RoadPath< T > &&  )
default

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