Drake
Connection Class Reference

Representation of a reference path connecting two endpoints. More...

#include <drake/automotive/maliput/monolane/builder.h>

Public Types

enum  Type { kLine, kArc }
 Possible connection geometries: line- or arc-segment. More...
 

Public Member Functions

 Connection (const std::string &id, const Endpoint &start, const Endpoint &end)
 Constructs a line-segment connection joining start to end. More...
 
 Connection (const std::string &id, const Endpoint &start, const Endpoint &end, double cx, double cy, double radius, double d_theta)
 Constructs an arc-segment connection joining start to end. More...
 
Type type () const
 Returns the geometric type of the path. More...
 
const std::string & id () const
 Returns the ID string. More...
 
const Endpointstart () const
 Returns the parameters of the start point. More...
 
const Endpointend () const
 Returns the parameters of the endpoint. More...
 
double cx () const
 Returns the x-component of the arc center (for arc connections only). More...
 
double cy () const
 Returns the y-component of the arc center (for arc connections only). More...
 
double radius () const
 Returns the radius of the arc (for arc connections only). More...
 
double d_theta () const
 Returns the angle of the arc (for arc connections only). More...
 
Does not allow copy, move, or assignment
 Connection (const Connection &)=delete
 
Connectionoperator= (const Connection &)=delete
 
 Connection (Connection &&)=delete
 
Connectionoperator= (Connection &&)=delete
 

Detailed Description

Representation of a reference path connecting two endpoints.

Upon building the RoadGeometry, a Connection yields a Segment bearing a single Lane with the specified reference path. The Segment will belong to its own Junction, unless the Connection was grouped with other Connections into a Group.

Two connection geometries are supported: line and arc. These primitives determine the projection of the reference path onto the (locally-flat) plane of the earth. The out-of-plane shape of the path will be determined by the EndpointZ (elevation) parameters of the endpoints.

Member Enumeration Documentation

enum Type

Possible connection geometries: line- or arc-segment.

Enumerator
kLine 
kArc 

Constructor & Destructor Documentation

Connection ( const Connection )
delete
Connection ( Connection &&  )
delete
Connection ( const std::string &  id,
const Endpoint start,
const Endpoint end 
)
inline

Constructs a line-segment connection joining start to end.

Connection ( const std::string &  id,
const Endpoint start,
const Endpoint end,
double  cx,
double  cy,
double  radius,
double  d_theta 
)
inline

Constructs an arc-segment connection joining start to end.

cx, cy specify the center of the arc. radius is the radius, and d_theta is the angle of arc.

radius must be non-negative. d_theta > 0 indicates a counterclockwise arc from start to end.

Member Function Documentation

double cx ( ) const
inline

Returns the x-component of the arc center (for arc connections only).

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double cy ( ) const
inline

Returns the y-component of the arc center (for arc connections only).

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double d_theta ( ) const
inline

Returns the angle of the arc (for arc connections only).

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const Endpoint& end ( ) const
inline

Returns the parameters of the endpoint.

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const std::string& id ( ) const
inline

Returns the ID string.

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Connection& operator= ( const Connection )
delete
Connection& operator= ( Connection &&  )
delete
double radius ( ) const
inline

Returns the radius of the arc (for arc connections only).

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const Endpoint& start ( ) const
inline

Returns the parameters of the start point.

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Type type ( ) const
inline

Returns the geometric type of the path.

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