Drake
Lane Class Reference

Base class for the RNDF implementation of api::Lane. More...

#include <drake/automotive/maliput/rndf/lane.h>

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Public Member Functions

 Lane (const api::LaneId &id, const api::Segment *segment, int index)
 Constructs a Lane. More...
 
void SetStartBp (BranchPoint *bp)
 Sets the pointer of the BranchPoint that contains a api::LaneEnd::Which::kStart value attached to this lane pointer. More...
 
void SetEndBp (BranchPoint *bp)
 Sets the pointer of the BranchPoint that contains a api::LaneEnd::Which::kFinish value attached to this lane pointer. More...
 
BranchPointstart_bp ()
 Getter of the BranchPoint set as starting. More...
 
BranchPointend_bp ()
 Getter of the BranchPoint set as ending. More...
 
 ~Lane () override=default
 
Does not allow copy, move, or assignment
 Lane (const Lane &)=delete
 
Laneoperator= (const Lane &)=delete
 
 Lane (Lane &&)=delete
 
Laneoperator= (Lane &&)=delete
 
- Public Member Functions inherited from Lane
const LaneId id () const
 Returns the persistent identifier. More...
 
const Segmentsegment () 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 Laneto_left () const
 Returns a pointer to the adjacent Lane to the left of this Lane. More...
 
const Laneto_right () const
 Returns a pointer to the adjacent Lane to the right of this Lane. More...
 
double length () const
 Returns the arc-length 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 BranchPointGetBranchPoint (const LaneEnd::Which which_end) const
 Returns the lane's BranchPoint for the end specified by which_end. More...
 
const LaneEndSetGetConfluentBranches (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 LaneEndSetGetOngoingBranches (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< LaneEndGetDefaultBranch (const LaneEnd::Which which_end) const
 Returns the default ongoing LaneEnd connected at which_end. More...
 
 Lane (const Lane &)=delete
 
Laneoperator= (const Lane &)=delete
 
 Lane (Lane &&)=delete
 
Laneoperator= (Lane &&)=delete
 

Additional Inherited Members

- Protected Member Functions inherited from Lane
 Lane ()=default
 

Detailed Description

Base class for the RNDF implementation of api::Lane.

This is the base class for subclasses, each of which describe a primitive reference curve in the xy ground-plane of the world frame. The specific curve is expressed by a subclass's implementations of private virtual functions.

This base implementation will handle all the non-geometric stuff from the lane. All geometric computation will be moved to each sub lane childs. See SplineLane for an example.

Constructor & Destructor Documentation

Lane ( const Lane )
delete
Lane ( Lane &&  )
delete
Lane ( const api::LaneId id,
const api::Segment segment,
int  index 
)
inline

Constructs a Lane.

Parameters
idis the ID of the api::Lane.
segmentis a pointer that refers to its parent, which must remain valid for the lifetime of this class.
indexis the index that can be used to reference this Lane from api::Segment::lane() call.
~Lane ( )
overridevirtualdefault

Reimplemented from Lane.

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Member Function Documentation

BranchPoint* end_bp ( )
inline

Getter of the BranchPoint set as ending.

Returns
The ending BranchPoint pointer.

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Lane& operator= ( Lane &&  )
delete
Lane& operator= ( const Lane )
delete
void SetEndBp ( BranchPoint bp)
inline

Sets the pointer of the BranchPoint that contains a api::LaneEnd::Which::kFinish value attached to this lane pointer.

Parameters
bpshould be a valid BranchPoint pointer.
void SetStartBp ( BranchPoint bp)
inline

Sets the pointer of the BranchPoint that contains a api::LaneEnd::Which::kStart value attached to this lane pointer.

Parameters
bpshould be a valid BranchPoint pointer.
BranchPoint* start_bp ( )
inline

Getter of the BranchPoint set as starting.

Returns
The starting BranchPoint pointer.

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