Struct RoadNetwork 

pub struct RoadNetwork { /* private fields */ }

Represents a complete Maliput road network.

A RoadNetwork is the main entry point for interacting with a road map in Maliput. It serves as a container for all the elements that describe a road network, including its physical layout and the rules of the road.

It provides access to the following key components:

• RoadGeometry: The geometric description of the road surfaces.
• rules::RoadRulebook: The set of traffic rules, like speed limits and right-of-way.
• rules::TrafficLightBook: A catalog of all traffic lights in the network.
• IntersectionBook: A collection of logical intersections and their states. TODO: Complete with other books when available (e.g., `RuleRegistry / PhaseRingBook / etc)

More info can be found at https://maliput.readthedocs.io/en/latest/html/deps/maliput/html/maliput_design.html.

Example

use maliput::api::RoadNetwork;
use std::collections::HashMap;

// Properties to load an OpenDRIVE file using the "maliput_malidrive" backend.
let package_location = std::env::var("CARGO_MANIFEST_DIR").unwrap();
let xodr_path = format!("{}/data/xodr/TShapeRoad.xodr", package_location);
let road_network_properties = HashMap::from([("road_geometry_id", "my_rg_from_rust"), ("opendrive_file", xodr_path.as_str())]);

// Create the RoadNetwork by specifying the loader ID and properties.
let road_network = RoadNetwork::new("maliput_malidrive", &road_network_properties).unwrap();

Implementations

impl RoadNetwork

pub fn new( road_network_loader_id: &str, properties: &HashMap<&str, &str>, ) -> Result<RoadNetwork, MaliputError>

Create a new RoadNetwork with the given road_network_loader_id and properties.

Arguments

• road_network_loader_id - The id of the road network loader. It identifies the backend to be used (e.g., “maliput_malidrive”).
• properties - The properties of the road network.

Details

It relies on maliput_sys::plugin::ffi::CreateRoadNetwork to create a new RoadNetwork.

Returns

A result containing the RoadNetwork or a MaliputError if the creation fails.

pub fn road_geometry(&self) -> RoadGeometry<'_>

Get the RoadGeometry of the RoadNetwork.

pub fn intersection_book(&mut self) -> IntersectionBook<'_>

Get the IntersectionBook of the RoadNetwork.

pub fn traffic_light_book(&self) -> TrafficLightBook<'_>

Get the TrafficLightBook of the RoadNetwork.

pub fn rulebook(&self) -> RoadRulebook<'_>

Get the RoadRulebook of the RoadNetwork.