Drake
create_trajectory_params.h
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1 #pragma once
2 
3 // TODO(jwnimmer-tri) This file provides trajectories in support of demos.
4 // This data should come from files loaded at runtime, instead.
5 
6 #include <memory>
7 #include <tuple>
8 
13 
14 namespace drake {
15 namespace automotive {
16 
17 /**
18  * Creates TrajectoryCar constructor demo arguments. The details of the
19  * trajectory are not documented / promised by this API.
20  *
21  * @param index Selects which pre-programmed trajectory to use.
22  *
23  * @return tuple of curve, speed, start_time
24  */
25 std::tuple<Curve2<double>, double, double> CreateTrajectoryParams(int index);
26 
27 /**
28  * Creates TrajectoryCar constructor demo arguments for a vehicle on a dragway.
29  * The details of the trajectory are not documented / promised by this API.
30  *
31  * @param road_geometry The dragway upon which the TrajectoryCar will travel.
32  *
33  * @param index The lane index within the provided `road_geometry`.
34  *
35  * @param speed The speed of the vehicle.
36  *
37  * @param start_time The time when the vehicle should start driving.
38  *
39  * @return tuple of curve, speed, start_time
40  */
41 std::tuple<Curve2<double>, double, double> CreateTrajectoryParamsForDragway(
42  const maliput::dragway::RoadGeometry& road_geometry, int index,
43  double speed, double start_time);
44 
45 } // namespace automotive
46 } // namespace drake
std::tuple< Curve2< double >, double, double > CreateTrajectoryParamsForDragway(const maliput::dragway::RoadGeometry &road_geometry, int index, double speed, double start_time)
Creates TrajectoryCar constructor demo arguments for a vehicle on a dragway.
Definition: create_trajectory_params.cc:77
Definition: automotive_demo.cc:88
std::tuple< Curve2< double >, double, double > CreateTrajectoryParams(int index)
Creates TrajectoryCar constructor demo arguments.
Definition: create_trajectory_params.cc:62