Drake
road_odometry.h
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1 #pragma once
2 
6 
7 namespace drake {
8 namespace automotive {
9 
10 /// RoadOdometry contains the position of the vehicle with respect to a lane in
11 /// a road, along with its velocity vector in the world frame.
12 template <typename T>
13 struct RoadOdometry {
14  /// Default constructor.
15  RoadOdometry() = default;
16  /// Fully-parameterized constructor.
18  const systems::rendering::FrameVelocity<double>& frame_velocity)
19  : lane(road_position.lane), pos(road_position.pos), vel(frame_velocity) {}
20  /// Fully-parameterized constructor that is T-supported.
22  const maliput::api::LanePositionT<T>& lane_position,
23  const systems::rendering::FrameVelocity<T>& frame_velocity)
24  : lane(lane_in), pos(lane_position), vel(frame_velocity) {}
25 
29 };
30 
31 } // namespace automotive
32 } // namespace drake
RoadOdometry(const maliput::api::RoadPosition &road_position, const systems::rendering::FrameVelocity< double > &frame_velocity)
Fully-parameterized constructor.
Definition: road_odometry.h:17
Definition: automotive_demo.cc:88
RoadOdometry contains the position of the vehicle with respect to a lane in a road, along with its velocity vector in the world frame.
Definition: road_odometry.h:13
A Lane represents a lane of travel in a road network.
Definition: lane.h:34
maliput::api::LanePositionT< T > pos
Definition: road_odometry.h:27
const maliput::api::Lane * lane
Definition: road_odometry.h:26
RoadOdometry()=default
Default constructor.
systems::rendering::FrameVelocity< T > vel
Definition: road_odometry.h:28
A 3-dimensional position in a Lane-frame, consisting of three components:
Definition: lane_data.h:208
A 6-vector representing the derivatives of the position transform of frame A in the world frame...
Definition: frame_velocity.h:22
RoadOdometry(const maliput::api::Lane *lane_in, const maliput::api::LanePositionT< T > &lane_position, const systems::rendering::FrameVelocity< T > &frame_velocity)
Fully-parameterized constructor that is T-supported.
Definition: road_odometry.h:21
A position in the road network, consisting of a pointer to a specific Lane and a Lane-frame position ...
Definition: lane_data.h:282