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Adds spiral geometry parsing capabilities #261

Merged
merged 3 commits into from Jan 4, 2024
Merged

Adds spiral geometry parsing capabilities #261

merged 3 commits into from Jan 4, 2024

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francocipollone
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@francocipollone francocipollone commented Jan 2, 2024 •
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🎉 New feature

Related to #260

Summary

From OpenDRIVE Format Specification 1.5:

This record describes a spiral as part of the road’s reference line. For this type of spiral, the curvature
change between start and end of the element is linear.

In order to provide consistency between spiral evaluations of various implementations, users are
highly recommended to use identical algorithms, or, at least, algorithms with reasonable accuracy
within the applicable range (i.e. curvature, length of spiral etc.).

The theory of clothoids is described (for example) at
http://en.wikipedia.org/wiki/Euler_spiral
A library for computing clothoids can be downloaded at
http://www.opendrive.org/downloads/spiral.zip

image

Test it!

After building and sourcing.

xodr_query src/maliput_malidrive/resources/SpiralRoad.xodr GetGeometries 1

Checklist

  • Signed all commits for DCO
  • Added tests
  • Added example and/or tutorial
  • Updated documentation (as needed)
  • Updated migration guide (as needed)
  • Consider updating Python bindings (if it affects the public API)

@francocipollone
Parses spiral geometries.
7e8716b 
Signed-off-by: Franco Cipollone <franco.c@ekumenlabs.com>
@francocipollone francocipollone mentioned this pull request Jan 2, 2024
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@francocipollone
Enables spiral geometries parsing. (#262)
531f764 
Signed-off-by: Franco Cipollone <franco.c@ekumenlabs.com>
@francocipollone francocipollone force-pushed the francocipollone/parse_spiral_geometries branch from c72050e to 531f764 Compare January 2, 2024 18:39
@francocipollone francocipollone changed the title Adds Spiral geometry type to XODR Geometry Adds spiral geometry parsing capabilities Jan 2, 2024
@francocipollone francocipollone mentioned this pull request Jan 2, 2024
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agalbachicar
agalbachicar requested changes Jan 2, 2024
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LGTM modulo the required test coverage.

test/regression/xodr/geometry_test.cc Show resolved Hide resolved
test/regression/xodr/parser_test.cc Show resolved Hide resolved
@francocipollone
Modifies test to allow negative values.
696ee73 
Signed-off-by: Franco Cipollone <franco.c@ekumenlabs.com>
agalbachicar
agalbachicar approved these changes Jan 4, 2024
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LGTM

@agalbachicar agalbachicar merged commit a46cc2f into main Jan 4, 2024
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@agalbachicar agalbachicar deleted the francocipollone/parse_spiral_geometries branch January 4, 2024 10:02
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