RoadCurve specification for a reference curve that describes a piece of an arc.
More...
#include <drake/automotive/maliput/multilane/arc_road_curve.h>

 ArcRoadCurve (const Vector2< double > ¢er, double radius, double theta0, double d_theta, const CubicPolynomial &elevation, const CubicPolynomial &superelevation) 
 Constructor. More...


 ~ArcRoadCurve () override=default 

Vector2< double >  xy_of_p (double p) const override 
 Computes the reference curve. More...


Vector2< double >  xy_dot_of_p (double p) const override 
 Computes the first derivative of the reference curve. More...


double  heading_of_p (double p) const override 
 Computes the heading of the reference curve. More...


double  heading_dot_of_p (double p) const override 
 Computes the first derivative heading of the reference curve. More...


double  p_scale () const override 
 Computes the path length integral of the reference curve for the interval [0;1] of p. More...


Vector3< double >  ToCurveFrame (const Vector3< double > &geo_coordinate, const api::RBounds &lateral_bounds, const api::HBounds &height_bounds) const override 
 Converts a geo_coordinate in the world frame to the composed curve frame, i.e., the superposition of the reference curve, elevation and superelevation polynomials. More...


bool  IsValid (const api::RBounds &lateral_bounds, const api::HBounds &height_bounds) const override 
 Evaluates extrema in superelevation polynomial to verify that for the given lateral_bounds the surface do not fold over itself. More...



 ArcRoadCurve (const ArcRoadCurve &)=delete 

ArcRoadCurve &  operator= (const ArcRoadCurve &)=delete 

 ArcRoadCurve (ArcRoadCurve &&)=delete 

ArcRoadCurve &  operator= (ArcRoadCurve &&)=delete 

virtual  ~RoadCurve ()=default 

const CubicPolynomial &  elevation () const 

const CubicPolynomial &  superelevation () const 

double  trajectory_length () const 
 Computes the composed curve path integral in the interval of p = [0; 1]. More...


 RoadCurve (const RoadCurve &)=delete 

RoadCurve &  operator= (const RoadCurve &)=delete 

 RoadCurve (RoadCurve &&)=delete 

RoadCurve &  operator= (RoadCurve &&)=delete 

RoadCurve specification for a reference curve that describes a piece of an arc.
Constructor.
The reference curve is created from the circle center
, the radius
, initial angular position theta0
and the angle span d_theta
. elevation
and superelevation
polynomials will be used to feed RoadGeometry parent class.
 Parameters

center  Center of the reference arc. 
radius  Radius of the reference arc (must be positive). 
theta0  Angle of the start point of the reference arc with respect to center (0 == parallel to xaxis). 
d_theta  Central angle of the arc, i.e., angular displacement from start to end. d_theta > 0 is counterclockwise. 
elevation  CubicPolynomial object that represents the elevation polynomial. See RoadCurve class constructor for more details. 
superelevation  CubicPolynomial object that represents the superelevation polynomial. See RoadCurve class constructor for more details. 
 Exceptions

std::runtime_error  When radius is not positive. 
Computes the first derivative heading of the reference curve.
 Parameters

p  The reference curve parameter. 
 Returns
 The derivative of the heading with respect to p, i.e., d_heading/dp evaluated at
p
.
Implements RoadCurve.
Computes the heading of the reference curve.
 Parameters

p  The reference curve parameter. 
 Returns
 The heading of the curve at
p
, i.e., the angle of the tangent vector (with respect to xaxis) in the increasingp direction.
Implements RoadCurve.
Evaluates extrema in superelevation polynomial to verify that for the given lateral_bounds
the surface do not fold over itself.
 Parameters

lateral_bounds  An api::RBounds object that represents the lateral bounds of the surface mapping. 
height_bounds  An api::HBounds object that represents the elevation bounds of the surface mapping. 
 Returns
 True.
Implements RoadCurve.
Computes the path length integral of the reference curve for the interval [0;1] of p.
 Returns
 The path length integral of the reference curve.
Implements RoadCurve.
Converts a geo_coordinate
in the world frame to the composed curve frame, i.e., the superposition of the reference curve, elevation and superelevation polynomials.
The resulting coordinates are saturated to lateral_bounds
and height_bounds
in the lateral and vertical directions over the composed curve trajectory. The path length coordinate is saturated in the interval [0; trajectory_length()].
 Parameters

geo_coordinate  A 3D vector in the world frame to be converted to the composed curve frame. 
lateral_bounds  An api::RBounds object that represents the lateral bounds of the surface mapping. 
height_bounds  An api::HBounds object that represents the elevation bounds of the surface mapping. 
 Returns
 A 3D vector that represents the coordinates with respect to the composed curve. The first dimension represents the path length coordinate, the second dimension is the lateral deviation from the composed curve and the third one is the vertical deviation from the composed curve too. The frame where this vector is defined is the same as api::LanePosition.
Implements RoadCurve.
Computes the first derivative of the reference curve.
 Parameters

p  The reference curve parameter. 
 Returns
 The derivative of the curve with respect to p, at
p
, i.e., F'(p0) = (dx/dp, dy/dp) at p0.
Implements RoadCurve.
Computes the reference curve.
 Parameters

p  The reference curve parameter. 
 Returns
 The reference curve itself, F(p).
Implements RoadCurve.
The documentation for this class was generated from the following files: