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road_geometry_configuration_for_xodrs.cc
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road_geometry_configuration_for_xodrs.cc
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// BSD 3-Clause License
//
// Copyright (c) 2022, Woven Planet. All rights reserved.
// Copyright (c) 2021-2022, Toyota Research Institute. All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// * Redistributions of source code must retain the above copyright notice, this
// list of conditions and the following disclaimer.
//
// * Redistributions in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * Neither the name of the copyright holder nor the names of its
// contributors may be used to endorse or promote products derived from
// this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
// FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
// DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
// SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
// CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
// OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "maliput_malidrive/test_utilities/road_geometry_configuration_for_xodrs.h"
#include <unordered_map>
#include <maliput/api/road_geometry.h>
#include <maliput/math/vector.h>
#include "maliput_malidrive/constants.h"
namespace malidrive {
namespace test {
std::optional<builder::RoadGeometryConfiguration> GetRoadGeometryConfigurationFor(const std::string& xodr_file_name) {
const static maliput::math::Vector3 kZeroVector{0., 0., 0.};
const builder::BuildPolicy kBuildPolicy{builder::BuildPolicy::Type::kSequential};
const builder::RoadGeometryConfiguration::SimplificationPolicy kSimplificationPolicy{
builder::RoadGeometryConfiguration::SimplificationPolicy::kNone};
const builder::RoadGeometryConfiguration::StandardStrictnessPolicy kStandardStrictnessPolicy{
builder::RoadGeometryConfiguration::StandardStrictnessPolicy::kPermissive};
const bool kOmitNondrivableLanes{false};
const static std::unordered_map<std::string, builder::RoadGeometryConfiguration> kXodrConfigurations{
{"SingleLane.xodr",
builder::RoadGeometryConfiguration{
maliput::api::RoadGeometryId{"LineSingleLane"},
{"SingleLane.xodr"},
builder::RoadGeometryConfiguration::BuildTolerance{
5e-2 /* linear_tolerance */, 5e-1 /*max_linear_tolerance*/, 1e-3 /* angular_tolerance */},
constants::kScaleLength,
kZeroVector,
kBuildPolicy,
kSimplificationPolicy,
kStandardStrictnessPolicy,
kOmitNondrivableLanes}},
{"ArcLane.xodr",
builder::RoadGeometryConfiguration{
maliput::api::RoadGeometryId{"ArcSingleLane"},
{"ArcLane.xodr"},
builder::RoadGeometryConfiguration::BuildTolerance{
5e-2 /* linear_tolerance */, 5e-1 /*max_linear_tolerance*/, 1e-3 /* angular_tolerance */},
constants::kScaleLength,
kZeroVector,
kBuildPolicy,
kSimplificationPolicy,
kStandardStrictnessPolicy,
kOmitNondrivableLanes}},
{"BikingLineLane.xodr",
builder::RoadGeometryConfiguration{
maliput::api::RoadGeometryId{"BikingLineLane"},
{"BikingLineLane.xodr"},
builder::RoadGeometryConfiguration::BuildTolerance{
5e-2 /* linear_tolerance */, 5e-1 /*max_linear_tolerance*/, 1e-3 /* angular_tolerance */},
constants::kScaleLength,
kZeroVector,
kBuildPolicy,
kSimplificationPolicy,
kStandardStrictnessPolicy,
kOmitNondrivableLanes}},
{"DisconnectedRoadInJunction.xodr",
builder::RoadGeometryConfiguration{
maliput::api::RoadGeometryId{"DisconnectedRoadInJunction"},
{"DisconnectedRoadInJunction.xodr"},
builder::RoadGeometryConfiguration::BuildTolerance{
5e-2 /* linear_tolerance */, 5e-1 /*max_linear_tolerance*/, 1e-3 /* angular_tolerance */},
constants::kScaleLength,
kZeroVector,
kBuildPolicy,
kSimplificationPolicy,
kStandardStrictnessPolicy,
kOmitNondrivableLanes}},
{"SShapeRoad.xodr",
builder::RoadGeometryConfiguration{
maliput::api::RoadGeometryId{"SShapeRoad"},
{"SShapeRoad.xodr"},
builder::RoadGeometryConfiguration::BuildTolerance{
5e-2 /* linear_tolerance */, 5e-1 /*max_linear_tolerance*/, 1e-3 /* angular_tolerance */},
constants::kScaleLength,
kZeroVector,
kBuildPolicy,
kSimplificationPolicy,
kStandardStrictnessPolicy,
kOmitNondrivableLanes}},
{"LShapeRoad.xodr",
builder::RoadGeometryConfiguration{
maliput::api::RoadGeometryId{"LShapeRoad"},
{"LShapeRoad.xodr"},
builder::RoadGeometryConfiguration::BuildTolerance{
5e-2 /* linear_tolerance */, 5e-1 /*max_linear_tolerance*/, 1e-3 /* angular_tolerance */},
constants::kScaleLength,
kZeroVector,
kBuildPolicy,
kSimplificationPolicy,
kStandardStrictnessPolicy,
kOmitNondrivableLanes}},
{"LShapeRoadVariableLanes.xodr",
builder::RoadGeometryConfiguration{
maliput::api::RoadGeometryId{"LShapeRoadVariableLanes"},
{"LShapeRoadVariableLanes.xodr"},
builder::RoadGeometryConfiguration::BuildTolerance{
5e-2 /* linear_tolerance */, 5e-1 /*max_linear_tolerance*/, 1e-3 /* angular_tolerance */},
constants::kScaleLength,
kZeroVector,
kBuildPolicy,
kSimplificationPolicy,
kStandardStrictnessPolicy,
kOmitNondrivableLanes}},
{"LineMultipleSections.xodr",
builder::RoadGeometryConfiguration{
maliput::api::RoadGeometryId{"LineMultipleSections"},
{"LineMultipleSections.xodr"},
builder::RoadGeometryConfiguration::BuildTolerance{
5e-2 /* linear_tolerance */, 5e-1 /*max_linear_tolerance*/, 1e-3 /* angular_tolerance */},
constants::kScaleLength,
kZeroVector,
kBuildPolicy,
kSimplificationPolicy,
kStandardStrictnessPolicy,
kOmitNondrivableLanes}},
{"LineMultipleSectionsMoreCases.xodr",
builder::RoadGeometryConfiguration{
maliput::api::RoadGeometryId{"LineMultipleSectionsMoreCases"},
{"LineMultipleSectionsMoreCases.xodr"},
builder::RoadGeometryConfiguration::BuildTolerance{
5e-2 /* linear_tolerance */, 5e-1 /*max_linear_tolerance*/, 1e-3 /* angular_tolerance */},
constants::kScaleLength,
kZeroVector,
kBuildPolicy,
kSimplificationPolicy,
kStandardStrictnessPolicy,
kOmitNondrivableLanes}},
{"LineMultipleSpeeds.xodr",
builder::RoadGeometryConfiguration{
maliput::api::RoadGeometryId{"LineMultipleSpeeds"},
{"LineMultipleSpeeds.xodr"},
builder::RoadGeometryConfiguration::BuildTolerance{
5e-2 /* linear_tolerance */, 5e-1 /*max_linear_tolerance*/, 1e-3 /* angular_tolerance */},
constants::kScaleLength,
kZeroVector,
kBuildPolicy,
kSimplificationPolicy,
kStandardStrictnessPolicy,
kOmitNondrivableLanes}},
{"LineVariableOffset.xodr",
builder::RoadGeometryConfiguration{
maliput::api::RoadGeometryId{"LineVariableOffset"},
{"LineVariableOffset.xodr"},
builder::RoadGeometryConfiguration::BuildTolerance{
5e-2 /* linear_tolerance */, 5e-1 /*max_linear_tolerance*/, 1e-3 /* angular_tolerance */},
constants::kScaleLength,
kZeroVector,
kBuildPolicy,
kSimplificationPolicy,
kStandardStrictnessPolicy,
kOmitNondrivableLanes}},
{"LineVariableWidth.xodr",
builder::RoadGeometryConfiguration{
maliput::api::RoadGeometryId{"LineVariableWidth"},
{"LineVariableWidth.xodr"},
builder::RoadGeometryConfiguration::BuildTolerance{
5e-2 /* linear_tolerance */, 5e-1 /*max_linear_tolerance*/, 1e-3 /* angular_tolerance */},
constants::kScaleLength,
kZeroVector,
kBuildPolicy,
kSimplificationPolicy,
kStandardStrictnessPolicy,
kOmitNondrivableLanes}},
{"ParkingGarageRamp.xodr",
builder::RoadGeometryConfiguration{
maliput::api::RoadGeometryId{"ParkingGarageRamp"},
{"ParkingGarageRamp.xodr"},
builder::RoadGeometryConfiguration::BuildTolerance{
5e-2 /* linear_tolerance */, 5e-1 /*max_linear_tolerance*/, 1e-3 /* angular_tolerance */},
constants::kScaleLength,
kZeroVector,
kBuildPolicy,
kSimplificationPolicy,
kStandardStrictnessPolicy,
kOmitNondrivableLanes}},
{"RRLongRoad.xodr",
builder::RoadGeometryConfiguration{
maliput::api::RoadGeometryId{"RRLongRoad"},
{"RRLongRoad.xodr"},
builder::RoadGeometryConfiguration::BuildTolerance{
5e-2 /* linear_tolerance */, 5e-1 /*max_linear_tolerance*/, 1e-3 /* angular_tolerance */},
constants::kScaleLength,
kZeroVector,
kBuildPolicy,
kSimplificationPolicy,
kStandardStrictnessPolicy,
kOmitNondrivableLanes}},
{"SShapeSuperelevatedRoad.xodr",
builder::RoadGeometryConfiguration{
maliput::api::RoadGeometryId{"SShapeSuperelevatedRoad"},
{"SShapeSuperelevatedRoad.xodr"},
builder::RoadGeometryConfiguration::BuildTolerance{
5e-2 /* linear_tolerance */, 5e-1 /*max_linear_tolerance*/, 1e-3 /* angular_tolerance */},
constants::kScaleLength,
kZeroVector,
kBuildPolicy,
kSimplificationPolicy,
kStandardStrictnessPolicy,
kOmitNondrivableLanes}},
{"TShapeRoad.xodr",
builder::RoadGeometryConfiguration{
maliput::api::RoadGeometryId{"TShapeRoad"},
{"TShapeRoad.xodr"},
builder::RoadGeometryConfiguration::BuildTolerance{
5e-2 /* linear_tolerance */, 5e-1 /*max_linear_tolerance*/, 1e-3 /* angular_tolerance */},
constants::kScaleLength,
kZeroVector,
kBuildPolicy,
kSimplificationPolicy,
kStandardStrictnessPolicy,
kOmitNondrivableLanes}},
{"Highway.xodr",
builder::RoadGeometryConfiguration{
maliput::api::RoadGeometryId{"Highway"},
{"Highway.xodr"},
builder::RoadGeometryConfiguration::BuildTolerance{
5e-2 /* linear_tolerance */, 5e-1 /*max_linear_tolerance*/, 1e-3 /* angular_tolerance */},
constants::kScaleLength,
kZeroVector,
kBuildPolicy,
kSimplificationPolicy,
kStandardStrictnessPolicy,
kOmitNondrivableLanes}},
{"Figure8.xodr",
builder::RoadGeometryConfiguration{
maliput::api::RoadGeometryId{"Figure8"},
{"Figure8.xodr"},
builder::RoadGeometryConfiguration::BuildTolerance{
1e-3 /* linear_tolerance */, 1e-2 /*max_linear_tolerance*/, 1e-3 /* angular_tolerance */},
constants::kScaleLength,
kZeroVector,
kBuildPolicy,
kSimplificationPolicy,
kStandardStrictnessPolicy,
kOmitNondrivableLanes}},
{"RRFigure8.xodr",
builder::RoadGeometryConfiguration{maliput::api::RoadGeometryId{"RRFigure8"},
{"RRFigure8.xodr"},
builder::RoadGeometryConfiguration::BuildTolerance{
5e-1 /* linear_tolerance */, 1e-3 /* angular_tolerance */},
constants::kScaleLength,
kZeroVector,
kBuildPolicy,
kSimplificationPolicy,
kStandardStrictnessPolicy,
kOmitNondrivableLanes}},
{"StraightForward.xodr",
builder::RoadGeometryConfiguration{
maliput::api::RoadGeometryId{"StraightForward"},
{"StraightForward.xodr"},
builder::RoadGeometryConfiguration::BuildTolerance{
1e-3 /* linear_tolerance */, 1e-2 /*max_linear_tolerance*/, 1e-3 /* angular_tolerance */},
constants::kScaleLength,
kZeroVector,
kBuildPolicy,
kSimplificationPolicy,
kStandardStrictnessPolicy,
kOmitNondrivableLanes}},
{"SingleRoadComplexDescription.xodr",
builder::RoadGeometryConfiguration{
maliput::api::RoadGeometryId{"SingleRoadComplexDescription"},
{"SingleRoadComplexDescription.xodr"},
builder::RoadGeometryConfiguration::BuildTolerance{
5e-2 /* linear_tolerance */, 5e-1 /*max_linear_tolerance*/, 1e-3 /* angular_tolerance */},
constants::kScaleLength,
kZeroVector,
kBuildPolicy,
kSimplificationPolicy,
kStandardStrictnessPolicy,
kOmitNondrivableLanes}},
{"SingleRoadComplexDescription2.xodr",
builder::RoadGeometryConfiguration{
maliput::api::RoadGeometryId{"SingleRoadComplexDescription2"},
{"SingleRoadComplexDescription2.xodr"},
builder::RoadGeometryConfiguration::BuildTolerance{
5e-2 /* linear_tolerance */, 5e-1 /*max_linear_tolerance*/, 1e-3 /* angular_tolerance */},
constants::kScaleLength,
kZeroVector,
kBuildPolicy,
kSimplificationPolicy,
kStandardStrictnessPolicy,
kOmitNondrivableLanes}},
{"SingleRoadNanValues.xodr",
builder::RoadGeometryConfiguration{
maliput::api::RoadGeometryId{"SingleRoadNanValues"},
{"SingleRoadNanValues.xodr"},
builder::RoadGeometryConfiguration::BuildTolerance{
5e-2 /* linear_tolerance */, 5e-1 /*max_linear_tolerance*/, 1e-3 /* angular_tolerance */},
constants::kScaleLength,
kZeroVector,
kBuildPolicy,
kSimplificationPolicy,
kStandardStrictnessPolicy,
kOmitNondrivableLanes}},
{"SingleRoadNegativeWidth.xodr",
builder::RoadGeometryConfiguration{
maliput::api::RoadGeometryId{"SingleRoadNegativeWidth"},
{"SingleRoadNegativeWidth.xodr"},
builder::RoadGeometryConfiguration::BuildTolerance{
5e-2 /* linear_tolerance */, 5e-1 /*max_linear_tolerance*/, 1e-3 /* angular_tolerance */},
constants::kScaleLength,
kZeroVector,
kBuildPolicy,
kSimplificationPolicy,
kStandardStrictnessPolicy,
kOmitNondrivableLanes}},
{"SingleRoadHighCoefficients.xodr",
builder::RoadGeometryConfiguration{
maliput::api::RoadGeometryId{"SingleRoadHighCoefficients"},
{"SingleRoadHighCoefficients.xodr"},
builder::RoadGeometryConfiguration::BuildTolerance{
5e-2 /* linear_tolerance */, 5e-1 /*max_linear_tolerance*/, 1e-3 /* angular_tolerance */},
constants::kScaleLength,
kZeroVector,
kBuildPolicy,
kSimplificationPolicy,
kStandardStrictnessPolicy,
kOmitNondrivableLanes}},
{"SingleRoadTinyGeometry.xodr",
builder::RoadGeometryConfiguration{
maliput::api::RoadGeometryId{"SingleRoadTinyGeometry"},
{"SingleRoadTinyGeometry.xodr"},
builder::RoadGeometryConfiguration::BuildTolerance{
5e-2 /* linear_tolerance */, 5e-1 /*max_linear_tolerance*/, 1e-3 /* angular_tolerance */},
constants::kScaleLength,
kZeroVector,
kBuildPolicy,
kSimplificationPolicy,
kStandardStrictnessPolicy,
kOmitNondrivableLanes}},
{"SingleRoadTwoGeometries.xodr",
builder::RoadGeometryConfiguration{
maliput::api::RoadGeometryId{"SingleRoadTwoGeometries"},
{"SingleRoadTwoGeometries.xodr"},
builder::RoadGeometryConfiguration::BuildTolerance{
5e-2 /* linear_tolerance */, 5e-1 /*max_linear_tolerance*/, 1e-3 /* angular_tolerance */},
constants::kScaleLength,
kZeroVector,
kBuildPolicy,
kSimplificationPolicy,
kStandardStrictnessPolicy,
kOmitNondrivableLanes}},
{"FlatTown01.xodr",
builder::RoadGeometryConfiguration{
maliput::api::RoadGeometryId{"FlatTown01"},
{"FlatTown01.xodr"},
builder::RoadGeometryConfiguration::BuildTolerance{
5e-2 /* linear_tolerance */, 5e-1 /*max_linear_tolerance*/, 1e-3 /* angular_tolerance */},
constants::kScaleLength,
kZeroVector,
kBuildPolicy,
kSimplificationPolicy,
kStandardStrictnessPolicy,
kOmitNondrivableLanes}},
{"Town01.xodr", builder::RoadGeometryConfiguration{maliput::api::RoadGeometryId{"Town01"},
{"Town01.xodr"},
builder::RoadGeometryConfiguration::BuildTolerance{
5e-2 /* linear_tolerance */, 5e-1 /*max_linear_tolerance*/,
1e-3 /* angular_tolerance */},
constants::kScaleLength,
kZeroVector,
kBuildPolicy,
kSimplificationPolicy,
kStandardStrictnessPolicy,
kOmitNondrivableLanes}},
{"Town02.xodr", builder::RoadGeometryConfiguration{maliput::api::RoadGeometryId{"Town02"},
{"Town02.xodr"},
builder::RoadGeometryConfiguration::BuildTolerance{
5e-2 /* linear_tolerance */, 5e-1 /*max_linear_tolerance*/,
1e-3 /* angular_tolerance */},
constants::kScaleLength,
kZeroVector,
kBuildPolicy,
kSimplificationPolicy,
kStandardStrictnessPolicy,
kOmitNondrivableLanes}},
{"Town03.xodr", builder::RoadGeometryConfiguration{maliput::api::RoadGeometryId{"Town03"},
{"Town03.xodr"},
builder::RoadGeometryConfiguration::BuildTolerance{
5e-2 /* linear_tolerance */, 5e-1 /*max_linear_tolerance*/,
1e-3 /* angular_tolerance */},
constants::kScaleLength,
kZeroVector,
kBuildPolicy,
kSimplificationPolicy,
kStandardStrictnessPolicy,
kOmitNondrivableLanes}},
{"Town04.xodr",
/* linear tolerance restricted by 0.052m elevation gap in Road 735 */
builder::RoadGeometryConfiguration{
maliput::api::RoadGeometryId{"Town04"},
{"Town04.xodr"},
builder::RoadGeometryConfiguration::BuildTolerance{
6e-2 /* linear_tolerance */, 5e-1 /*max_linear_tolerance*/, 1e-3 /* angular_tolerance */},
constants::kScaleLength,
kZeroVector,
kBuildPolicy,
kSimplificationPolicy,
kStandardStrictnessPolicy,
kOmitNondrivableLanes}},
{"Town05.xodr", builder::RoadGeometryConfiguration{maliput::api::RoadGeometryId{"Town05"},
{"Town05.xodr"},
builder::RoadGeometryConfiguration::BuildTolerance{
5e-2 /* linear_tolerance */, 5e-1 /*max_linear_tolerance*/,
1e-3 /* angular_tolerance */},
constants::kScaleLength,
kZeroVector,
kBuildPolicy,
kSimplificationPolicy,
kStandardStrictnessPolicy,
kOmitNondrivableLanes}},
{"Town06.xodr", builder::RoadGeometryConfiguration{maliput::api::RoadGeometryId{"Town06"},
{"Town06.xodr"},
builder::RoadGeometryConfiguration::BuildTolerance{
5e-2 /* linear_tolerance */, 5e-1 /*max_linear_tolerance*/,
1e-3 /* angular_tolerance */},
constants::kScaleLength,
kZeroVector,
kBuildPolicy,
kSimplificationPolicy,
kStandardStrictnessPolicy,
kOmitNondrivableLanes}},
{"Town07.xodr", builder::RoadGeometryConfiguration{maliput::api::RoadGeometryId{"Town07"},
{"Town07.xodr"},
builder::RoadGeometryConfiguration::BuildTolerance{
5e-2 /* linear_tolerance */, 5e-1 /*max_linear_tolerance*/,
1e-3 /* angular_tolerance */},
constants::kScaleLength,
kZeroVector,
kBuildPolicy,
kSimplificationPolicy,
kStandardStrictnessPolicy,
kOmitNondrivableLanes}},
{"GapInElevationNonDrivableRoad.xodr",
builder::RoadGeometryConfiguration{maliput::api::RoadGeometryId{"GapInElevationNonDrivableRoad"},
{"GapInElevationNonDrivableRoad.xodr"},
builder::RoadGeometryConfiguration::BuildTolerance{
5e-2 /* linear_tolerance */, 1e-3 /* angular_tolerance */},
constants::kScaleLength,
kZeroVector,
kBuildPolicy,
kSimplificationPolicy,
kStandardStrictnessPolicy,
kOmitNondrivableLanes}},
{"GapInSuperelevationNonDrivableRoad.xodr",
builder::RoadGeometryConfiguration{maliput::api::RoadGeometryId{"GapInSuperelevationNonDrivableRoad"},
{"GapInSuperelevationNonDrivableRoad.xodr"},
builder::RoadGeometryConfiguration::BuildTolerance{
5e-2 /* linear_tolerance */, 1e-3 /* angular_tolerance */},
constants::kScaleLength,
kZeroVector,
kBuildPolicy,
kSimplificationPolicy,
kStandardStrictnessPolicy,
kOmitNondrivableLanes}},
{"GapInLaneWidthNonDrivableLane.xodr",
builder::RoadGeometryConfiguration{maliput::api::RoadGeometryId{"GapInLaneWidthNonDrivableLane"},
{"GapInLaneWidthNonDrivableLane.xodr"},
builder::RoadGeometryConfiguration::BuildTolerance{
5e-2 /* linear_tolerance */, 1e-3 /* angular_tolerance */},
constants::kScaleLength,
kZeroVector,
kBuildPolicy,
kSimplificationPolicy,
kStandardStrictnessPolicy,
kOmitNondrivableLanes}},
};
return kXodrConfigurations.find(xodr_file_name) != kXodrConfigurations.end()
? std::make_optional<builder::RoadGeometryConfiguration>(kXodrConfigurations.at(xodr_file_name))
: std::nullopt;
}
} // namespace test
} // namespace malidrive