Struct Lane

pub struct Lane<'a> { /* private fields */ }

A maliput::api::Lane Wrapper around C++ implementation maliput::api::Lane.

Implementations

impl<'a> Lane<'a>

pub fn index(&self) -> i32

Returns the index of this Lane within the Segment which owns it.

pub fn to_left(&self) -> Option<Lane<'_>>

Get the left lane of the Lane.

pub fn to_right(&self) -> Option<Lane<'_>>

Get the right lane of the Lane.

pub fn length(&self) -> f64

Get the length of the Lane.

pub fn id(&self) -> String

Get the id of the Lane as a string.

pub fn segment(&self) -> Segment<'a>

Returns the Segment to which this Lane belongs.

pub fn get_orientation(&self, lane_position: &LanePosition) -> Rotation

Get the orientation of the Lane at the given LanePosition.

pub fn to_inertial_position( &self, lane_position: &LanePosition, ) -> InertialPosition

Get the inertial position of the Lane at the given LanePosition.

pub fn to_lane_position( &self, inertial_position: &InertialPosition, ) -> LanePositionResult

Determines the LanePosition corresponding to InertialPosition inertial_position. The LanePosition is expected to be contained within the lane’s boundaries. See Lane::to_segment_position method.

This method guarantees that its result satisfies the condition that to_inertial_position(result.lane_position) is within linear_tolerance() of result.nearest_position.

pub fn to_segment_position( &self, inertial_position: &InertialPosition, ) -> LanePositionResult

Determines the LanePosition corresponding to InertialPosition inertial_position. The LanePosition is expected to be contained within the segment’s boundaries. See Lane::to_lane_position method.

This method guarantees that its result satisfies the condition that to_inertial_position(result.lane_position) is within linear_tolerance() of result.nearest_position.

pub fn lane_bounds(&self, s: f64) -> RBounds

Get the lane bounds of the Lane at the given s.

pub fn segment_bounds(&self, s: f64) -> RBounds

Get the segment bounds of the Lane at the given s.

pub fn elevation_bounds(&self, s: f64, r: f64) -> HBounds

Get the elevation bounds of the Lane at the given s and r.

pub fn eval_motion_derivatives( &self, lane_position: &LanePosition, velocity: &IsoLaneVelocity, ) -> LanePosition

Computes derivatives of LanePosition given a velocity vector velocity. velocity is a isometric velocity vector oriented in the Lane-frame at position.

Returns Lane-frame derivatives packed into a LanePosition struct.

pub fn get_branch_point(&self, end: &LaneEnd<'_>) -> BranchPoint<'_>

Returns the lane’s BranchPoint for the specified end.

pub fn get_confluent_branches(&self, end: &LaneEnd<'_>) -> LaneEndSet<'_>

Returns the set of LaneEnd’s which connect with this lane on the same side of the BranchPoint at end. At a minimum, this set will include this Lane.

pub fn get_ongoing_branches(&self, end: &LaneEnd<'_>) -> LaneEndSet<'_>

Returns the set of LaneEnd’s which continue onward from this lane at the BranchPoint at end.

pub fn get_default_branch(&self, end: &LaneEnd<'_>) -> Option<LaneEnd<'_>>

Returns the default ongoing LaneEnd connected at end, or None if no default branch has been established.

pub fn contains(&self, lane_position: &LanePosition) -> bool

Check if the Lane contains the given LanePosition.

Trait Implementations

impl Clone for Lane<'_>

Copy trait for Lane. A reference to the Lane is copied.

fn clone(&self) -> Self

Returns a copy of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.