Drake
EndpointZ Class Reference

Out-of-plane parameters for an endpoint of a connection, specified in the world frame. More...

#include <drake/automotive/maliput/multilane/connection.h>

## Public Member Functions

EndpointZ ()=default

EndpointZ (double z, double z_dot, double theta, optional< double > theta_dot)

EndpointZ reverse () const
Returns an EndpointZ with reversed direction. More...

double z () const

double z_dot () const

double theta () const

const optional< double > & theta_dot () const

optional< double > & get_mutable_theta_dot ()

Implements CopyConstructible, CopyAssignable, MoveConstructible, MoveAssignable
EndpointZ (const EndpointZ &)=default

EndpointZoperator= (const EndpointZ &)=default

EndpointZ (EndpointZ &&)=default

EndpointZoperator= (EndpointZ &&)=default

## Detailed Description

Out-of-plane parameters for an endpoint of a connection, specified in the world frame.

The four components are:

• z: elevation
• z_dot: grade (rate of change of elevation with respect to arc length of the reference path)
• theta: superelevation (rotation of road surface around r = 0 centerline; when theta > 0, elevation at r > 0 is above elevation at r < 0)
• theta_dot: rate of change of superelevation with respect to arc length of the reference path. It is optional because it may be unknown when building a RoadGeometry and the Builder may need to adjust it to force the same orientation for all r at a certain s coordinate of the Segment surface.

## Constructor & Destructor Documentation

 EndpointZ ( const EndpointZ & )
default
 EndpointZ ( EndpointZ && )
default
 EndpointZ ( )
default
 EndpointZ ( double z, double z_dot, double theta, optional< double > theta_dot )
inline

## Member Function Documentation

 optional& get_mutable_theta_dot ( )
inline

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 EndpointZ& operator= ( const EndpointZ & )
default
 EndpointZ& operator= ( EndpointZ && )
default
 EndpointZ reverse ( ) const
inline

Returns an EndpointZ with reversed direction.

Reversing direction is equivalent to rotating s (and along with it, r) around the h-axis by 180 degrees, thus flipping the signs of z_dot and theta. theta_dot will remain the same.

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 double theta ( ) const
inline

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 const optional& theta_dot ( ) const
inline

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 double z ( ) const
inline

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 double z_dot ( ) const
inline

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