Drake

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...  
~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  
RoadPath &  operator= (const RoadPath &)=default 
RoadPath (RoadPath &&)=default  
RoadPath &  operator= (RoadPath &&)=default 
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 userspecified 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 C2continuous 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.
T  The vector element type, which must be a valid Eigen scalar. Only double is supported. 
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:
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. 
~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.
(Not yet implemented)