RoadCurve specification for a reference curve that describes a line.
More...
#include <drake/automotive/maliput/multilane/line_road_curve.h>

 LineRoadCurve (const Vector2< double > &xy0, const Vector2< double > &dxy, const CubicPolynomial &elevation, const CubicPolynomial &superelevation) 
 Constructor. More...


 ~LineRoadCurve () 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 
 As the reference curve is a line, the curvature radius is infinity at any point in the range of p = [0;1] so no value of elevation or superelevation may result in a geometry that intersects with itself. More...



 LineRoadCurve (const LineRoadCurve &)=delete 

LineRoadCurve &  operator= (const LineRoadCurve &)=delete 

 LineRoadCurve (LineRoadCurve &&)=delete 

LineRoadCurve &  operator= (LineRoadCurve &&)=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 line.
Constructor.
Computes a line from xy0
as the initial point of the line and dxy
as the difference vector that connects the xy0
with the end point of the reference curve.
 Parameters

xy0  A 2D vector that represents the first point of the lane. 
dxy  A 2D difference vector between the last point and xy0 . 
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. 
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.
As the reference curve is a line, the curvature radius is infinity at any point in the range of p = [0;1] so no value of elevation or superelevation may result in a geometry that intersects with 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: