
 Lane (const api::LaneId &id, const api::Segment *segment, const api::RBounds &lane_bounds, const api::RBounds &driveable_bounds, const api::HBounds &elevation_bounds, double p_scale, const CubicPolynomial &elevation, const CubicPolynomial &superelevation) 
 Constructs a Lane. More...


const CubicPolynomial &  elevation () const 

const CubicPolynomial &  superelevation () const 

void  SetStartBp (BranchPoint *bp) 

void  SetEndBp (BranchPoint *bp) 

BranchPoint *  start_bp () 

BranchPoint *  end_bp () 

 ~Lane () override=default 


 Lane (const Lane &)=delete 

Lane &  operator= (const Lane &)=delete 

 Lane (Lane &&)=delete 

Lane &  operator= (Lane &&)=delete 

const LaneId  id () const 
 Returns the persistent identifier. More...


const Segment *  segment () const 
 Returns the Segment to which this Lane belongs. More...


int  index () const 
 Returns the index of this Lane within the Segment which owns it. More...


const Lane *  to_left () const 
 Returns a pointer to the adjacent Lane to the left of this Lane. More...


const Lane *  to_right () const 
 Returns a pointer to the adjacent Lane to the right of this Lane. More...


double  length () const 
 Returns the arclength of the Lane along its reference curve. More...


RBounds  lane_bounds (double s) const 
 Returns the nominal lateral (r) bounds for the lane as a function of s. More...


RBounds  driveable_bounds (double s) const 
 Returns the driveable lateral (r) bounds of the lane as a function of s. More...


HBounds  elevation_bounds (double s, double r) const 
 Returns the elevation (h ) bounds of the lane as a function of (s, r) . More...


GeoPosition  ToGeoPosition (const LanePosition &lane_pos) const 
 Returns the GeoPosition corresponding to the given LanePosition. More...


LanePosition  ToLanePosition (const GeoPosition &geo_position, GeoPosition *nearest_point, double *distance) const 
 Determines the LanePosition corresponding to GeoPosition geo_position . More...


Rotation  GetOrientation (const LanePosition &lane_pos) const 
 Returns the rotation which expresses the orientation of the Lane frame basis at lane_pos with respect to the world frame basis. More...


LanePosition  EvalMotionDerivatives (const LanePosition &position, const IsoLaneVelocity &velocity) const 
 Computes derivatives of LanePosition given a velocity vector velocity . More...


const BranchPoint *  GetBranchPoint (const LaneEnd::Which which_end) const 
 Returns the lane's BranchPoint for the end specified by which_end . More...


const LaneEndSet *  GetConfluentBranches (const LaneEnd::Which which_end) const 
 Returns the set of LaneEnd's which connect with this lane on the same side of the BranchPoint at which_end . More...


const LaneEndSet *  GetOngoingBranches (const LaneEnd::Which which_end) const 
 Returns the set of LaneEnd's which continue onward from this lane at the BranchPoint at which_end . More...


std::unique_ptr< LaneEnd >  GetDefaultBranch (const LaneEnd::Which which_end) const 
 Returns the default ongoing LaneEnd connected at which_end . More...


 Lane (const Lane &)=delete 

Lane &  operator= (const Lane &)=delete 

 Lane (Lane &&)=delete 

Lane &  operator= (Lane &&)=delete 
