maliput_sys/api/
mod.rs

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30
31pub mod objects;
32pub mod rules;
33
34#[cxx::bridge(namespace = "maliput::api")]
35#[allow(clippy::missing_safety_doc)]
36pub mod ffi {
37    /// Shared struct for `Lane` pointers.
38    /// This is needed because `*const Lane` can't be used directly in the CxxVector collection.
39    struct ConstLanePtr {
40        pub lane: *const Lane,
41    }
42    /// Shared struct for `Intersection` pointers.
43    /// This is needed because `*mut Intersection` can't be used directly in the CxxVector collection.
44    struct MutIntersectionPtr {
45        pub intersection: *mut Intersection,
46    }
47    /// Shared struct for `LaneSRange` references.
48    /// This is needed because `&f` can't be used directly in the CxxVector collection.
49    struct ConstLaneSRangeRef<'a> {
50        pub lane_s_range: &'a LaneSRange,
51    }
52
53    /// Shared enum representing different types of lanes.
54    /// This is needed to access the enum variant from Rust API since the C++ enum has an opaque implementation.
55    /// The order of these variants must match with the order of the enum class defined in maliput C++ API.
56    #[repr(u32)]
57    pub enum LaneType {
58        kUnknown,
59        kDriving,
60        kTurn,
61        kHov,
62        kBus,
63        kTaxi,
64        kEmergency,
65        kShoulder,
66        kBiking,
67        kWalking,
68        kParking,
69        kStop,
70        kBorder,
71        kCurb,
72        kMedian,
73        kRestricted,
74        kConstruction,
75        kRail,
76        kEntry,
77        kExit,
78        kOnRamp,
79        kOffRamp,
80        kConnectingRamp,
81        kSlipLane,
82        kVirtual,
83    }
84
85    /// Shared enum representing different types of lane markings.
86    /// This is needed to access the enum variant from Rust API since the C++ enum has an opaque implementation.
87    /// The order of these variants must match with the order of the enum class defined in maliput C++ API.
88    #[repr(u32)]
89    pub enum LaneMarkingType {
90        kUnknown,
91        kNone,
92        kSolid,
93        kBroken,
94        kSolidSolid,
95        kSolidBroken,
96        kBrokenSolid,
97        kBrokenBroken,
98        kBottsDots,
99        kGrass,
100        kCurb,
101        kEdge,
102    }
103
104    /// Shared enum representing different weights of lane markings.
105    /// This is needed to access the enum variant from Rust API since the C++ enum has an opaque implementation.
106    /// The order of these variants must match with the order of the enum class defined in maliput C++ API.
107    #[repr(u32)]
108    pub enum LaneMarkingWeight {
109        kUnknown,
110        kStandard,
111        kBold,
112    }
113
114    /// Shared enum representing different colors of lane markings.
115    /// This is needed to access the enum variant from Rust API since the C++ enum has an opaque implementation.
116    /// The order of these variants must match with the order of the enum class defined in maliput C++ API.
117    #[repr(u32)]
118    pub enum LaneMarkingColor {
119        kUnknown,
120        kWhite,
121        kYellow,
122        kOrange,
123        kRed,
124        kBlue,
125        kGreen,
126        kViolet,
127    }
128
129    /// Shared enum representing different weights of lane markings.
130    /// This is needed to access the enum variant from Rust API since the C++ enum has an opaque implementation.
131    /// The order of these variants must match with the order of the enum class defined in maliput C++ API.
132    #[repr(u32)]
133    pub enum LaneChangePermission {
134        kUnknown,
135        kAllowed,
136        kToLeft,
137        kToRight,
138        kProhibited,
139    }
140
141    unsafe extern "C++" {
142        include!("api/api.h");
143        include!("cxx_utils/error_handling.h");
144
145        #[namespace = "maliput::math"]
146        type Vector3 = crate::math::ffi::Vector3;
147        #[namespace = "maliput::math"]
148        type Quaternion = crate::math::ffi::Quaternion;
149        #[namespace = "maliput::math"]
150        type Matrix3 = crate::math::ffi::Matrix3;
151        #[namespace = "maliput::math"]
152        type RollPitchYaw = crate::math::ffi::RollPitchYaw;
153        #[namespace = "maliput::api::rules"]
154        type RoadRulebook = crate::api::rules::ffi::RoadRulebook;
155        #[namespace = "maliput::api::rules"]
156        type TrafficLightBook = crate::api::rules::ffi::TrafficLightBook;
157        #[namespace = "maliput::api::rules"]
158        type TrafficSignBook = crate::api::rules::ffi::TrafficSignBook;
159        #[namespace = "maliput::api::objects"]
160        type RoadObjectBook = crate::api::objects::ffi::RoadObjectBook;
161        #[namespace = "maliput::api::rules"]
162        type PhaseRingBook = crate::api::rules::ffi::PhaseRingBook;
163        #[namespace = "maliput::api::rules"]
164        type RuleRegistry = crate::api::rules::ffi::RuleRegistry;
165        #[namespace = "maliput::api::rules"]
166        type PhaseProvider = crate::api::rules::ffi::PhaseProvider;
167        #[namespace = "maliput::api::rules"]
168        type DiscreteValueRuleStateProvider = crate::api::rules::ffi::DiscreteValueRuleStateProvider;
169        #[namespace = "maliput::api::rules"]
170        type RangeValueRuleStateProvider = crate::api::rules::ffi::RangeValueRuleStateProvider;
171        #[namespace = "maliput::api::rules"]
172        type PhaseStateProviderQuery = crate::api::rules::ffi::PhaseStateProviderQuery;
173        #[namespace = "maliput::api::rules"]
174        type DiscreteValueRuleDiscreteValue = crate::api::rules::ffi::DiscreteValueRuleDiscreteValue;
175        #[namespace = "maliput::api::rules"]
176        type DiscreteValueRuleState = crate::api::rules::ffi::DiscreteValueRuleState;
177        #[namespace = "maliput::api::rules"]
178        type Phase = crate::api::rules::ffi::Phase;
179        #[namespace = "maliput::api::rules"]
180        type NextPhase = crate::api::rules::ffi::NextPhase;
181        #[namespace = "maliput::api::rules"]
182        type BulbState = crate::api::rules::ffi::BulbState;
183        #[namespace = "maliput::api::rules"]
184        type UniqueBulbId = crate::api::rules::ffi::UniqueBulbId;
185
186        #[namespace = "maliput::api"]
187        // RoadNetwork bindings definitions.
188        type RoadNetwork;
189        fn road_geometry(self: &RoadNetwork) -> *const RoadGeometry;
190        fn RoadNetwork_intersection_book(road_network: &RoadNetwork) -> *const IntersectionBook;
191        fn traffic_light_book(self: &RoadNetwork) -> *const TrafficLightBook;
192        fn traffic_sign_book(self: &RoadNetwork) -> *const TrafficSignBook;
193        fn road_object_book(self: &RoadNetwork) -> *const RoadObjectBook;
194        fn rulebook(self: &RoadNetwork) -> *const RoadRulebook;
195        fn phase_ring_book(self: &RoadNetwork) -> *const PhaseRingBook;
196        fn rule_registry(self: &RoadNetwork) -> *const RuleRegistry;
197        fn RoadNetwork_phase_provider(road_network: &RoadNetwork) -> *const PhaseProvider;
198        fn RoadNetwork_discrete_value_rule_state_provider(
199            road_network: &RoadNetwork,
200        ) -> *const DiscreteValueRuleStateProvider;
201        fn RoadNetwork_range_value_rule_state_provider(
202            road_network: &RoadNetwork,
203        ) -> *const RangeValueRuleStateProvider;
204
205        // RoadGeometry bindings definitions.
206        type RoadGeometry;
207        fn RoadGeometry_id(road_geometry: &RoadGeometry) -> String;
208        fn num_junctions(self: &RoadGeometry) -> i32;
209        fn linear_tolerance(self: &RoadGeometry) -> f64;
210        fn angular_tolerance(self: &RoadGeometry) -> f64;
211        fn num_branch_points(self: &RoadGeometry) -> i32;
212        fn junction(self: &RoadGeometry, index: i32) -> Result<*const Junction>;
213        fn RoadGeometry_ToRoadPosition(
214            rg: &RoadGeometry,
215            inertial_position: &InertialPosition,
216        ) -> Result<UniquePtr<RoadPositionResult>>;
217        fn RoadGeometry_FindRoadPositions(
218            rg: &RoadGeometry,
219            inertial_position: &InertialPosition,
220            radius: f64,
221        ) -> Result<UniquePtr<CxxVector<RoadPositionResult>>>;
222        fn RoadGeometry_FindSurfaceRoadPositionsAtXY(
223            rg: &RoadGeometry,
224            x: f64,
225            y: f64,
226            radius: f64,
227        ) -> Result<UniquePtr<CxxVector<RoadPositionResult>>>;
228        fn RoadGeometry_GetLane(rg: &RoadGeometry, lane_id: &String) -> ConstLanePtr;
229        fn RoadGeometry_GetLanes(rg: &RoadGeometry) -> UniquePtr<CxxVector<ConstLanePtr>>;
230        fn RoadGeometry_GetSegment(rg: &RoadGeometry, segment_id: &String) -> *const Segment;
231        fn RoadGeometry_GetJunction(rg: &RoadGeometry, junction_id: &String) -> *const Junction;
232        fn RoadGeometry_GetBranchPoint(rg: &RoadGeometry, branch_point_id: &String) -> *const BranchPoint;
233        fn RoadGeometry_BackendCustomCommand(rg: &RoadGeometry, command: &String) -> Result<String>;
234        fn RoadGeometry_GeoReferenceInfo(rg: &RoadGeometry) -> String;
235        fn RoadGeometry_GetLaneBoundary(rg: &RoadGeometry, lane_boundary_id: &String) -> *const LaneBoundary;
236        // LanePosition bindings definitions.
237        type LanePosition;
238        fn LanePosition_new(s: f64, r: f64, h: f64) -> UniquePtr<LanePosition>;
239        fn s(self: &LanePosition) -> f64;
240        fn r(self: &LanePosition) -> f64;
241        fn h(self: &LanePosition) -> f64;
242        fn set_s(self: Pin<&mut LanePosition>, s: f64);
243        fn set_r(self: Pin<&mut LanePosition>, r: f64);
244        fn set_h(self: Pin<&mut LanePosition>, h: f64);
245        fn srh(self: &LanePosition) -> &Vector3;
246        fn set_srh(self: Pin<&mut LanePosition>, srh: &Vector3);
247        fn LanePosition_to_str(lane_pos: &LanePosition) -> String;
248
249        // InertialPosition bindings definitions
250        type InertialPosition;
251        fn InertialPosition_new(x: f64, y: f64, z: f64) -> UniquePtr<InertialPosition>;
252        fn x(self: &InertialPosition) -> f64;
253        fn y(self: &InertialPosition) -> f64;
254        fn z(self: &InertialPosition) -> f64;
255        fn set_x(self: Pin<&mut InertialPosition>, x: f64);
256        fn set_y(self: Pin<&mut InertialPosition>, y: f64);
257        fn set_z(self: Pin<&mut InertialPosition>, z: f64);
258        fn xyz(self: &InertialPosition) -> &Vector3;
259        fn set_xyz(self: Pin<&mut InertialPosition>, xyz: &Vector3);
260        fn length(self: &InertialPosition) -> f64;
261        fn Distance(self: &InertialPosition, other: &InertialPosition) -> f64;
262        fn InertialPosition_to_str(inertial_pos: &InertialPosition) -> String;
263        fn InertialPosition_operator_eq(lhs: &InertialPosition, rhs: &InertialPosition) -> bool;
264        fn InertialPosition_operator_sum(lhs: &InertialPosition, rhs: &InertialPosition)
265            -> UniquePtr<InertialPosition>;
266        fn InertialPosition_operator_sub(lhs: &InertialPosition, rhs: &InertialPosition)
267            -> UniquePtr<InertialPosition>;
268        fn InertialPosition_operator_mul_scalar(lhs: &InertialPosition, scalar: f64) -> UniquePtr<InertialPosition>;
269
270        // Lane bindings definitions
271        type Lane;
272        fn to_left(self: &Lane) -> *const Lane;
273        fn to_right(self: &Lane) -> *const Lane;
274        fn index(self: &Lane) -> i32;
275        fn length(self: &Lane) -> f64;
276        fn Contains(self: &Lane, lane_position: &LanePosition) -> bool;
277        fn segment(self: &Lane) -> *const Segment;
278        fn GetCurvature(self: &Lane, lane_position: &LanePosition) -> Result<f64>;
279        fn Lane_id(lane: &Lane) -> String;
280        fn Lane_lane_bounds(lane: &Lane, s: f64) -> Result<UniquePtr<RBounds>>;
281        fn Lane_segment_bounds(lane: &Lane, s: f64) -> Result<UniquePtr<RBounds>>;
282        fn Lane_elevation_bounds(lane: &Lane, s: f64, r: f64) -> Result<UniquePtr<HBounds>>;
283        fn Lane_GetOrientation(lane: &Lane, lane_position: &LanePosition) -> Result<UniquePtr<Rotation>>;
284        fn Lane_ToInertialPosition(lane: &Lane, lane_position: &LanePosition) -> Result<UniquePtr<InertialPosition>>;
285        fn Lane_ToLanePosition(
286            lane: &Lane,
287            inertial_position: &InertialPosition,
288        ) -> Result<UniquePtr<LanePositionResult>>;
289        fn Lane_ToSegmentPosition(
290            lane: &Lane,
291            inertial_position: &InertialPosition,
292        ) -> Result<UniquePtr<LanePositionResult>>;
293        fn Lane_GetBranchPoint(lane: &Lane, start: bool) -> *const BranchPoint;
294        fn Lane_GetConfluentBranches(lane: &Lane, start: bool) -> Result<*const LaneEndSet>;
295        fn Lane_GetOngoingBranches(lane: &Lane, start: bool) -> Result<*const LaneEndSet>;
296        fn Lane_GetDefaultBranch(lane: &Lane, start: bool) -> UniquePtr<LaneEnd>;
297        fn Lane_EvalMotionDerivatives(
298            lane: &Lane,
299            lane_position: &LanePosition,
300            sigma_v: f64,
301            rho_v: f64,
302            eta_v: f64,
303        ) -> UniquePtr<LanePosition>;
304        type LaneType;
305        fn Lane_type(lane: &Lane) -> LaneType;
306        fn left_boundary(self: &Lane) -> Result<*const LaneBoundary>;
307        fn right_boundary(self: &Lane) -> Result<*const LaneBoundary>;
308
309        // Segment bindings definitions
310        type Segment;
311        fn num_lanes(self: &Segment) -> i32;
312        fn junction(self: &Segment) -> Result<*const Junction>;
313        fn lane(self: &Segment, index: i32) -> Result<*const Lane>;
314        fn Segment_id(segment: &Segment) -> String;
315        fn num_boundaries(self: &Segment) -> i32;
316        fn boundary(self: &Segment, index: i32) -> Result<*const LaneBoundary>;
317
318        // Junction bindings definitions
319        type Junction;
320        fn road_geometry(self: &Junction) -> *const RoadGeometry;
321        fn num_segments(self: &Junction) -> i32;
322        fn segment(self: &Junction, index: i32) -> Result<*const Segment>;
323        fn Junction_id(junction: &Junction) -> String;
324
325        // RoadPosition bindings definitions
326        type RoadPosition;
327        /// # Safety
328        ///
329        /// This function is unsafe because it dereferences `lane` pointers.
330        unsafe fn RoadPosition_new(lane: *const Lane, lane_pos: &LanePosition) -> UniquePtr<RoadPosition>;
331        fn RoadPosition_ToInertialPosition(road_position: &RoadPosition) -> Result<UniquePtr<InertialPosition>>;
332        fn RoadPosition_lane(road_position: &RoadPosition) -> *const Lane;
333        fn RoadPosition_pos(road_position: &RoadPosition) -> UniquePtr<LanePosition>;
334
335        // RoadPositionResult bindings definitions
336        type RoadPositionResult;
337        fn RoadPositionResult_road_position(result: &RoadPositionResult) -> UniquePtr<RoadPosition>;
338        fn RoadPositionResult_nearest_position(result: &RoadPositionResult) -> UniquePtr<InertialPosition>;
339        fn RoadPositionResult_distance(result: &RoadPositionResult) -> f64;
340
341        // LanePositionResult bindings definitions
342        type LanePositionResult;
343        fn LanePositionResult_road_position(result: &LanePositionResult) -> UniquePtr<LanePosition>;
344        fn LanePositionResult_nearest_position(result: &LanePositionResult) -> UniquePtr<InertialPosition>;
345        fn LanePositionResult_distance(result: &LanePositionResult) -> f64;
346
347        // Rotation bindings definitions
348        type Rotation;
349        fn Rotation_new() -> UniquePtr<Rotation>;
350        fn Rotation_from_quat(q: &Quaternion) -> UniquePtr<Rotation>;
351        fn Rotation_from_rpy(rpy: &RollPitchYaw) -> UniquePtr<Rotation>;
352        fn roll(self: &Rotation) -> f64;
353        fn pitch(self: &Rotation) -> f64;
354        fn yaw(self: &Rotation) -> f64;
355        fn quat(self: &Rotation) -> &Quaternion;
356        fn Distance(self: &Rotation, other: &Rotation) -> f64;
357        fn Rotation_set_quat(r: Pin<&mut Rotation>, q: &Quaternion);
358        fn Rotation_rpy(r: &Rotation) -> UniquePtr<RollPitchYaw>;
359        fn Rotation_matrix(r: &Rotation) -> UniquePtr<Matrix3>;
360        fn Rotation_Apply(r: &Rotation, ip: &InertialPosition) -> UniquePtr<InertialPosition>;
361        fn Rotation_Reverse(r: &Rotation) -> UniquePtr<Rotation>;
362
363        // RBounds bindings definitions
364        type RBounds;
365        fn min(self: &RBounds) -> f64;
366        fn max(self: &RBounds) -> f64;
367
368        // HBounds bindings definitions
369        type HBounds;
370        fn min(self: &HBounds) -> f64;
371        fn max(self: &HBounds) -> f64;
372
373        // SRange bindings definitions
374        type SRange;
375        fn SRange_new(s0: f64, s1: f64) -> UniquePtr<SRange>;
376        fn s0(self: &SRange) -> f64;
377        fn s1(self: &SRange) -> f64;
378        fn set_s0(self: Pin<&mut SRange>, s0: f64);
379        fn set_s1(self: Pin<&mut SRange>, s1: f64);
380        fn size(self: &SRange) -> f64;
381        fn WithS(self: &SRange) -> bool;
382        fn Intersects(self: &SRange, other: &SRange, tolerance: f64) -> bool;
383        fn Contains(self: &SRange, s_range: &SRange, tolerance: f64) -> bool;
384        fn SRange_GetIntersection(s_range: &SRange, other: &SRange, tolerance: f64) -> UniquePtr<SRange>;
385
386        // LaneSRange bindings definitions
387        type LaneSRange;
388        fn LaneSRange_new(lane_id: &String, s_range: &SRange) -> UniquePtr<LaneSRange>;
389        fn length(self: &LaneSRange) -> f64;
390        fn Intersects(self: &LaneSRange, other: &LaneSRange, tolerance: f64) -> bool;
391        fn Contains(self: &LaneSRange, lane_s_range: &LaneSRange, tolerance: f64) -> bool;
392        fn LaneSRange_lane_id(lane_s_range: &LaneSRange) -> String;
393        fn LaneSRange_s_range(lane_s_range: &LaneSRange) -> UniquePtr<SRange>;
394        fn LaneSRange_GetIntersection(
395            lane_s_range: &LaneSRange,
396            other: &LaneSRange,
397            tolerance: f64,
398        ) -> UniquePtr<LaneSRange>;
399
400        // LaneSRoute bindings definitions
401        type LaneSRoute;
402        fn LaneSRoute_new(ranges: &CxxVector<ConstLaneSRangeRef>) -> UniquePtr<LaneSRoute>;
403        fn length(self: &LaneSRoute) -> f64;
404        fn Intersects(self: &LaneSRoute, other: &LaneSRoute, tolerance: f64) -> bool;
405        fn ranges(self: &LaneSRoute) -> &CxxVector<LaneSRange>;
406
407        // LaneEnd bindings definitions
408        type LaneEnd;
409        // maliput::api Rust will have its own LaneEnd enum.
410        // However, this LaneEnd_new is expected to be used on methods that return a Cpp LaneEnd
411        // and a conversion to Rust LaneEnd is needed.
412        /// # Safety
413        /// This function is unsafe because it dereferences `lane` pointer.
414        unsafe fn LaneEnd_new(lane: *const Lane, start: bool) -> UniquePtr<LaneEnd>;
415        fn LaneEnd_lane(lane_end: &LaneEnd) -> *const Lane;
416        fn LaneEnd_is_start(lane_end: &LaneEnd) -> bool;
417
418        // LaneEndSet bindings definitions
419        type LaneEndSet;
420        fn size(self: &LaneEndSet) -> i32;
421        fn get(self: &LaneEndSet, index: i32) -> Result<&LaneEnd>;
422
423        // BranchPoint bindings definitions
424        type BranchPoint;
425        fn BranchPoint_id(branch_point: &BranchPoint) -> String;
426        fn road_geometry(self: &BranchPoint) -> *const RoadGeometry;
427        fn GetConfluentBranches(self: &BranchPoint, end: &LaneEnd) -> Result<*const LaneEndSet>;
428        fn GetOngoingBranches(self: &BranchPoint, end: &LaneEnd) -> Result<*const LaneEndSet>;
429        fn GetASide(self: &BranchPoint) -> *const LaneEndSet;
430        fn GetBSide(self: &BranchPoint) -> *const LaneEndSet;
431        fn BranchPoint_GetDefaultBranch(branch_point: &BranchPoint, end: &LaneEnd) -> UniquePtr<LaneEnd>;
432
433        // Intersection bindings definitions
434        type Intersection;
435        fn Intersection_id(intersection: &Intersection) -> String;
436        fn Intersection_Phase(intersection: &Intersection) -> UniquePtr<PhaseStateProviderQuery>;
437        fn region(self: &Intersection) -> &CxxVector<LaneSRange>;
438        fn Intersection_ring_id(intersection: &Intersection) -> String;
439        fn Intersection_unique_bulb_ids(intersection: &Intersection) -> UniquePtr<CxxVector<UniqueBulbId>>;
440        fn Intersection_bulb_state(intersection: &Intersection, bulb_id: &UniqueBulbId) -> UniquePtr<BulbState>;
441        fn Intersection_DiscreteValueRuleStates(
442            intersection: &Intersection,
443        ) -> UniquePtr<CxxVector<DiscreteValueRuleState>>;
444        fn Intersection_IncludesTrafficLight(intersection: &Intersection, traffic_light_id: &String) -> bool;
445        fn Intersection_IncludesDiscreteValueRule(intersection: &Intersection, rule_id: &String) -> bool;
446        fn Intersection_IncludesInertialPosition(
447            intersection: &Intersection,
448            inertial_position: &InertialPosition,
449            road_geometry: &RoadGeometry,
450        ) -> bool;
451
452        // IntersectionBook bindings definitions
453        type IntersectionBook;
454        fn IntersectionBook_GetIntersection(book: &IntersectionBook, id: &String) -> MutIntersectionPtr;
455        fn IntersectionBook_GetIntersections(book: &IntersectionBook) -> UniquePtr<CxxVector<MutIntersectionPtr>>;
456        fn IntersectionBook_FindIntersectionTrafficLight(
457            book: &IntersectionBook,
458            traffic_light_id: &String,
459        ) -> MutIntersectionPtr;
460        fn IntersectionBook_FindIntersectionDiscreteValueRule(
461            book: &IntersectionBook,
462            rule_id: &String,
463        ) -> MutIntersectionPtr;
464        fn IntersectionBook_FindIntersectionInertialPosition(
465            book: &IntersectionBook,
466            inertial_position: &InertialPosition,
467        ) -> MutIntersectionPtr;
468
469        // LaneMarkingLine bindings definitions
470        type LaneMarkingLine;
471        fn LaneMarkingLine_length(lane_marking_line: &LaneMarkingLine) -> f64;
472        fn LaneMarkingLine_space(lane_marking_line: &LaneMarkingLine) -> f64;
473        fn LaneMarkingLine_width(lane_marking_line: &LaneMarkingLine) -> f64;
474        fn LaneMarkingLine_r_offset(lane_marking_line: &LaneMarkingLine) -> f64;
475        type LaneMarkingColor;
476        fn LaneMarkingLine_color(lane_marking_line: &LaneMarkingLine) -> LaneMarkingColor;
477
478        // LaneMarking bindings definitions
479        type LaneMarking;
480        fn LaneMarking_width(lane_marking: &LaneMarking) -> f64;
481        fn LaneMarking_height(lane_marking: &LaneMarking) -> f64;
482        fn LaneMarking_material(lane_marking: &LaneMarking) -> String;
483        type LaneMarkingType;
484        fn LaneMarking_type(lane_marking: &LaneMarking) -> LaneMarkingType;
485        type LaneMarkingWeight;
486        fn LaneMarking_weight(lane_marking: &LaneMarking) -> LaneMarkingWeight;
487        fn LaneMarking_color(lane_marking: &LaneMarking) -> LaneMarkingColor;
488        type LaneChangePermission;
489        fn LaneMarking_lane_change(lane_marking: &LaneMarking) -> LaneChangePermission;
490        fn LaneMarking_lines(lane_marking: &LaneMarking) -> UniquePtr<CxxVector<LaneMarkingLine>>;
491
492        // LaneMarkingResult bindings definitions
493        type LaneMarkingResult;
494        fn LaneMarkingResult_marking(lane_marking_result: &LaneMarkingResult) -> UniquePtr<LaneMarking>;
495        fn LaneMarkingResult_s_start(lane_marking_result: &LaneMarkingResult) -> f64;
496        fn LaneMarkingResult_s_end(lane_marking_result: &LaneMarkingResult) -> f64;
497
498        // LaneBoundary bindings definitions
499        type LaneBoundary;
500        fn index(self: &LaneBoundary) -> i32;
501        fn lane_to_left(self: &LaneBoundary) -> *const Lane;
502        fn lane_to_right(self: &LaneBoundary) -> *const Lane;
503        fn segment(self: &LaneBoundary) -> *const Segment;
504        fn LaneBoundary_id(lane_boundary: &LaneBoundary) -> String;
505        fn LaneBoundary_GetMarking(lane_boundary: &LaneBoundary, s: f64) -> UniquePtr<LaneMarkingResult>;
506        fn LaneBoundary_GetMarkings(lane_boundary: &LaneBoundary) -> UniquePtr<CxxVector<LaneMarkingResult>>;
507        fn LaneBoundary_GetMarkingsByRange(
508            lane_boundary: &LaneBoundary,
509            s_start: f64,
510            s_end: f64,
511        ) -> UniquePtr<CxxVector<LaneMarkingResult>>;
512    }
513    impl UniquePtr<RoadNetwork> {}
514    impl UniquePtr<LanePosition> {}
515}
maliput_sys/api/mod.rs

maliput_sys/api/
mod.rs
