Drake
drake::maliput::utility Namespace Reference

Classes

struct  ObjFeatures
 Multitude of parameters for generating an OBJ model of a road surface, with sensible defaults. More...
 

Functions

void GenerateObjFile (const api::RoadGeometry *road_geometry, const std::string &dirpath, const std::string &fileroot, const ObjFeatures &features)
 Generates a Wavefront OBJ model of the road surface of an api::RoadGeometry. More...
 
void GenerateUrdfFile (const api::RoadGeometry *road_geometry, const std::string &dirpath, const std::string &fileroot, const ObjFeatures &features)
 Generates a URDF file which models the road surface of an api::RoadGeometry. More...
 
 TEST_F (GenerateObjBasicDutTest, DefaultObjContent)
 
 TEST_F (GenerateObjBasicDutTest, ChangeOrigin)
 
 TEST_F (GenerateObjBasicDutTest, MtlContent)
 
 TEST_F (GenerateObjBasicDutTest, NoBranchPointsObjContent)
 
 TEST_F (GenerateObjBasicDutTest, StackedBranchPointsObjContent)
 
 TEST_F (GenerateObjTest, DontTickleDrawLaneArrowAssert)
 
 TEST_F (GenerateObjBasicDutTest, HighlightedSegments)
 
 TEST_F (GenerateUrdfTest, AtLeastRunIt)
 

Function Documentation

void GenerateObjFile ( const api::RoadGeometry road_geometry,
const std::string &  dirpath,
const std::string &  fileroot,
const ObjFeatures features 
)

Generates a Wavefront OBJ model of the road surface of an api::RoadGeometry.

Parameters
road_geometrythe api::RoadGeometry to model
dirpathdirectory component of the output pathnames
filerootroot of the filename component of the output pathnames
featuresparameters for constructing the mesh

GenerateObjFile actually produces two files: the first, named [dirpath]/[fileroot].obj, is a Wavefront OBJ containing the mesh which models the api::RoadGeometry. The second file is a Wavefront MTL file named [dirpath]/[fileroot].mtl, containing descriptions of materials referenced by the OBJ file.

The produced mesh covers the area within the driveable-bounds of the road surface described by the RoadGeometry.

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void GenerateUrdfFile ( const api::RoadGeometry road_geometry,
const std::string &  dirpath,
const std::string &  fileroot,
const ObjFeatures features 
)

Generates a URDF file which models the road surface of an api::RoadGeometry.

Parameters
road_geometrythe api::RoadGeometry to model
dirpathdirectory component of the output pathnames
filerootroot of the filename component of the output pathnames
featuresparameters for constructing the mesh

GenerateUrdfFile() actually produces three files:

  • [dirpath]/[fileroot].urdf the URDF file, which is little more than a wrapper for an OBJ file;
  • [dirpath]/[fileroot].obj a Wavefront OBJ file containing the visual mesh which models the surface;
  • [dirpath]/[fileroot].mtl a Wavefront MTL file describing the materials referenced by the OBJ file.

The produced mesh covers the area within the lane-bounds of every api::Lane in the RoadGeometry.

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drake::maliput::utility::TEST_F ( GenerateUrdfTest  ,
AtLeastRunIt   
)

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drake::maliput::utility::TEST_F ( GenerateObjBasicDutTest  ,
DefaultObjContent   
)

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drake::maliput::utility::TEST_F ( GenerateObjBasicDutTest  ,
ChangeOrigin   
)

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drake::maliput::utility::TEST_F ( GenerateObjBasicDutTest  ,
MtlContent   
)

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drake::maliput::utility::TEST_F ( GenerateObjBasicDutTest  ,
NoBranchPointsObjContent   
)

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drake::maliput::utility::TEST_F ( GenerateObjBasicDutTest  ,
StackedBranchPointsObjContent   
)

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drake::maliput::utility::TEST_F ( GenerateObjTest  ,
DontTickleDrawLaneArrowAssert   
)

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drake::maliput::utility::TEST_F ( GenerateObjBasicDutTest  ,
HighlightedSegments   
)

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