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<double>& 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<double>& 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: