rtron-model/io.rtron.model.roadspaces.roadspace.road/Road

Road

class Road(val id: RoadspaceIdentifier, val surface: AbstractCurveRelativeSurface3D, val surfaceWithoutTorsion: AbstractCurveRelativeSurface3D, val laneOffset: UnivariateFunction, val laneSections: NonEmptyList<LaneSection>, val linkage: RoadLinkage)

Representation of an actual road (without road objects) containing the surface and information on the lane topology as well as attributes.

Parameters

identifier of this road (each roadspace has exactly one road)

surface

surface geometry of the road with torsion applied

surfaceWithoutTorsion

surface geometry of the road without torsion applied

laneOffset

lateral lane offset to road reference line

laneSections

lane sections of this road

linkage

link information to other roads and junctions

Constructors

Road

constructor(id: RoadspaceIdentifier, surface: AbstractCurveRelativeSurface3D, surfaceWithoutTorsion: AbstractCurveRelativeSurface3D, laneOffset: UnivariateFunction, laneSections: NonEmptyList<LaneSection>, linkage: RoadLinkage)

Properties

val id: RoadspaceIdentifier

laneOffset

val laneOffset: UnivariateFunction

laneSections

val laneSections: NonEmptyList<LaneSection>

linkage

val linkage: RoadLinkage

surface

val surface: AbstractCurveRelativeSurface3D

surfaceWithoutTorsion

val surfaceWithoutTorsion: AbstractCurveRelativeSurface3D

Functions

getAllCenterLaneIdentifier

fun getAllCenterLaneIdentifier(): List<LaneIdentifier>

Returns the identifiers of all center lanes as a list.

getAllCenterLanes

fun getAllCenterLanes(): List<Triple<LaneIdentifier, AbstractCurve3D, AttributeList>>

Returns the center line of the road.

getAllCurvesOnLanes

fun getAllCurvesOnLanes(factor: Double): List<Pair<LaneIdentifier, AbstractCurve3D>>

Returns a lane curve for all lanes contained in this road.

getAllLaneIdentifiers

fun getAllLaneIdentifiers(): List<LaneIdentifier>

Returns the identifiers of all lanes (center, left and right) as a list.

getAllLaneSectionIdentifiers

fun getAllLaneSectionIdentifiers(): List<LaneSectionIdentifier>

Returns the identifiers of all lane sections as a list.

getAllLeftLaneBoundaries

fun getAllLeftLaneBoundaries(): List<Pair<LaneIdentifier, AbstractCurve3D>>

Returns the left boundary of all lanes contained in this road.

getAllLeftRightLaneIdentifiers

fun getAllLeftRightLaneIdentifiers(): List<LaneIdentifier>

Returns the identifiers of all left and right lanes as a flattened list.

getAllLeftRightLanes

fun getAllLeftRightLanes(): List<Lane>

Returns all left and right lanes as a flattened list.

getAllRightLaneBoundaries

fun getAllRightLaneBoundaries(): List<Pair<LaneIdentifier, AbstractCurve3D>>

Returns the right boundary of all lanes contained in this road.

getCurveOfCenterLane

fun getCurveOfCenterLane(laneSectionIdentifier: LaneSectionIdentifier): Either<Exception, AbstractCurve3D>

Returns the curve of the center lane with laneSectionIdentifier.

getCurveOnLane

fun getCurveOnLane(laneIdentifier: LaneIdentifier, factor: Double, addLateralOffset: UnivariateFunction = ConstantFunction.ZERO): Either<Exception, AbstractCurve3D>

Returns a curve that lies on the road surface and is parallel to the lane boundaries

getInnerLaneBoundary

fun getInnerLaneBoundary(laneIdentifier: LaneIdentifier): Either<Exception, AbstractCurve3D>

Returns the inner lane boundary of an individual lane with laneIdentifier.

getLane

fun getLane(laneIdentifier: LaneIdentifier): Either<IllegalArgumentException, Lane>

Returns an individual lane referenced by laneIdentifier; if it does not exist, an Either.Left is returned.

getLaneReferenceLine

fun getLaneReferenceLine(): AbstractCurve3D

Returns the lane reference line which is a laterally translated road reference line.

getLaneSection

fun getLaneSection(curveRelativePoint: CurveRelativeVector1D): Either<IllegalArgumentException, LaneSection>

Returns the lane section of the curveRelativePoint; if it does not exist, an Either.Left is returned.

fun getLaneSection(laneSectionIdentifier: LaneSectionIdentifier): Either<IllegalArgumentException, LaneSection>

Returns the lane section with the laneSectionIdentifier; if it does not exist, an Either.Left is returned.

getLaneSectionIdentifier

fun getLaneSectionIdentifier(roadspaceContactPointIdentifier: RoadspaceContactPointIdentifier): LaneSectionIdentifier

Returns the LaneSectionIdentifier (first or last lane section) of the roadspace which is referenced by the roadspaceContactPointIdentifier.

getLaneSurface

fun getLaneSurface(laneIdentifier: LaneIdentifier, step: Double): Either<Exception, AbstractSurface3D>

Returns the surface of an individual lane with laneIdentifier and a certain discretization step size.

getLateralFillerSurface

fun getLateralFillerSurface(laneIdentifier: LaneIdentifier, step: Double): Either<Exception, Option<LateralFillerSurface>>

Returns the filler surface which closes the gap occurring at the lateral transition of the laneIdentifier to the inner lane toward the road reference line. These lateral transitions might contain vertical holes which are caused by e.g. lane height offsets. If no lateral surface filler is needed due to adjacent lane surfaces, Option is returned.

getLeftLaneBoundary