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Adds a adjacency checker for the builder. #45

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merged 5 commits into from Dec 23, 2022
Merged

Adds a adjacency checker for the builder. #45

merged 5 commits into from Dec 23, 2022

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francocipollone
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🎉 New feature

Related to #30

Summary

  • Creates a parser::Validator for verifying the parsed information before calling the builder.
  • Adds a validation for the adjacency of the lanes in a segment.
  • Adds a method for analyzing the distance between LineStrings3d.

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
Adds a adjacency checker for the builder.
791e285 
Signed-off-by: Franco Cipollone <franco.c@ekumenlabs.com>
@francocipollone
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Hey @agalbachicar I know it is a large PR 🦖 . :there are several things to pay attention:

  • Validator class: I tried to make it scalable instead of just focusing on the adjacency checker. Erros are registered and then the user can decide what to do with those errors.
  • Adjacency checker: The many cases are being tested in the test files. It isn't just the geometry what matters but also how the lanes are ordered and the semantic information they provide for later on creating the graph.
  • Distance between linestrings: Used a simple heuristic to define that, I left a comment for using a better algorithm, ptal.

agalbachicar
agalbachicar requested changes Dec 13, 2022
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I left some comments. The checks seem reasonable to me.

include/maliput_sparse/parser/validator.h Outdated Show resolved Hide resolved
include/maliput_sparse/parser/validator.h Outdated Show resolved Hide resolved
include/maliput_sparse/parser/validator.h Show resolved Hide resolved
include/maliput_sparse/parser/validator.h Outdated Show resolved Hide resolved
src/parser/validator.cc Outdated Show resolved Hide resolved
src/parser/validator.cc Outdated Show resolved Hide resolved
src/geometry/utility/geometry.cc Outdated Show resolved Hide resolved
src/geometry/utility/geometry.cc Outdated Show resolved Hide resolved
src/loader/road_geometry_loader.cc Outdated Show resolved Hide resolved
include/maliput_sparse/parser/validator.h Outdated Show resolved Hide resolved
@francocipollone
Addresses comments.
ad67ef8 
Signed-off-by: Franco Cipollone <franco.c@ekumenlabs.com>
agalbachicar
agalbachicar previously approved these changes Dec 20, 2022
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It's looking better! PTAL to my final comments.

include/maliput_sparse/parser/validator.h Outdated Show resolved Hide resolved
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@francocipollone
Addresses comments
68c48cf 
Signed-off-by: Franco Cipollone <franco.c@ekumenlabs.com>
@francocipollone
Addresses comments.
be8e284 
Signed-off-by: Franco Cipollone <franco.c@ekumenlabs.com>
agalbachicar
agalbachicar previously approved these changes Dec 23, 2022
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LGTM

src/parser/validation_methods.h Outdated
/// @param validate_geometric_adjacency Whether to validate geometric adjacency.
/// @param config The maliput_sparse::parser::ValidatorConfig to use.
/// @returns A vector of maliput_sparse::parser::Validator::Error.
std::vector<Validator::Error> ValidateLaneAdjacency(const Parser* parser, const bool& validate_geometric_adjacency,
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Nit: const bool& -> bool

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Done.

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@francocipollone
Addresses final comments.
eeb7c16 
Signed-off-by: Franco Cipollone <franco.c@ekumenlabs.com>
agalbachicar
agalbachicar approved these changes Dec 23, 2022
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LGTM

@francocipollone francocipollone merged commit e43343b into main Dec 23, 2022
@francocipollone francocipollone deleted the francocipollone/adjacency_checker branch December 23, 2022 15:55
@francocipollone francocipollone mentioned this pull request Jan 3, 2023
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@agalbachicar agalbachicar agalbachicar approved these changes

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