Builds up RoadGeometry out of parsed information.

include/maliput_sparse/loader/builder_configuration.h

@@ -0,0 +1,60 @@
+// BSD 3-Clause License
+//
+// Copyright (c) 2022, Woven Planet.
+// 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.
+#pragma once
+
+#include <maliput/api/road_geometry.h>
+#include <maliput/math/vector.h>
+
+namespace maliput_sparse {
+namespace loader {
+
+/// Holds the configuration parameters for the builder.
+struct BuilderConfiguration {
+  /// Create a BuilderConfiguration from a string dictionary.
+  static BuilderConfiguration FromMap(const std::map<std::string, std::string>& config);
+
+  /// @details The keys of the map are listed at @ref builder_configuration_keys.
+  /// @returns A string-string map containing the builder configuration.
+  std::map<std::string, std::string> ToStringMap() const;
+
+  /// Id of the road geometry.
+  maliput::api::RoadGeometryId road_geometry_id{"maliput_sparse"};
+  /// Linear resolution of the road geometry.
+  double linear_tolerance{1.e-3};
+  /// Angular resolution of the road geometry.
+  double angular_tolerance{1.e-3};
+  /// Scale factor for road geometry.
+  double scale_length{1.};
+  /// Translation from maliput to maliput_sparse inertial frame.
+  maliput::math::Vector3 inertial_to_backend_frame_translation{};
+};
+
+}  // namespace loader
+}  // namespace maliput_sparse

include/maliput_sparse/loader/road_geometry_loader.h

@@ -0,0 +1,58 @@
+// BSD 3-Clause License
+//
+// Copyright (c) 2022, Woven Planet.
+// 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.
+#pragma once
+
+#include <memory>
+
+#include <maliput/api/road_geometry.h>
+
+#include "maliput_sparse/parser/parser.h"
+#include "maliput_sparse/loader/builder_configuration.h"
+
+namespace maliput_sparse {
+namespace loader {
+
+class RoadGeometryLoader {
+ public:
+  /// Constructs a RoadGeometryLoader.
+  /// @param parser The parser to use for building the RoadGeometry.
+  /// @param builder_configuration The configuration of the builder.
+  RoadGeometryLoader(std::unique_ptr<parser::Parser> parser, const BuilderConfiguration& builder_configuration);
+
+  /// Builds a RoadGeometry.
+  std::unique_ptr<const maliput::api::RoadGeometry> operator()();
+
+ private:
+  const std::unique_ptr<parser::Parser> parser_;
+  const BuilderConfiguration builder_configuration_;
+};
+
+}  // namespace loader
+}  // namespace maliput_sparse

include/maliput_sparse/parser/lane.h

@@ -0,0 +1,69 @@
+// BSD 3-Clause License
+//
+// Copyright (c) 2022, Woven Planet.
+// 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.
+#pragma once
+
+#include <optional>
+#include <string>
+#include <unordered_set>
+
+#include "maliput_sparse/geometry/line_string.h"
+
+namespace maliput_sparse {
+namespace parser {
+
+/// Contains the characteristics of a lane.
+struct Lane {
+  using Id = std::string;
+
+  /// Equality operator.
+  /// @param other The other object to compare against.
+  bool operator==(const Lane& other) const {
+    return id == other.id && left == other.left && right == other.right && left_lane_id == other.left_lane_id &&
+           right_lane_id == other.right_lane_id && successors == other.successors && predecessors == other.predecessors;
+  }
+
+  /// Id of the lane.
+  Id id{};
+  /// The lane's left boundary.
+  geometry::LineString3d left;
+  /// The lane's right boundary.
+  geometry::LineString3d right;
+  /// The id of the lane to the left of this lane.
+  std::optional<Id> left_lane_id;
+  /// The id of the lane to the right of this lane.
+  std::optional<Id> right_lane_id;
+  /// The ids of the lanes that follow this lane.
+  std::unordered_set<Id> successors;
+  /// The ids of the lanes that precede this lane.
+  std::unordered_set<Id> predecessors;
+};
+
+}  // namespace parser
+}  // namespace maliput_sparse

include/maliput_sparse/parser/parser.h

@@ -0,0 +1,63 @@
+// BSD 3-Clause License
+//
+// Copyright (c) 2022, Woven Planet.
+// 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.
+#pragma once
+
+#include <unordered_map>
+
+#include <maliput/common/maliput_copyable.h>
+
+#include "maliput_sparse/parser/segment.h"
+
+namespace maliput_sparse {
+namespace parser {
+
+/// Pure virtual parser API class to be inherited by a specific parser class.
+/// @code {.cpp}
+/// class MyParser : public Parser {
+///  public:
+///   MyParser(const std::string& my_file) : Parser() { // Parse underlying file and fill up segments.}
+///   const std::unordered_map<Segment::Id, Segment>& DoGetSegments() const override {
+///     return segments_;
+///   }
+/// @endcode
+class Parser {
+ public:
+  MALIPUT_NO_COPY_NO_MOVE_NO_ASSIGN(Parser)
+  Parser() = default;
+  virtual ~Parser() = default;
+
+  /// Gets the segments parsed from the input description.
+  const std::unordered_map<Segment::Id, Segment>& GetSegments() const {return DoGetSegments();}
+ private:
+  virtual const std::unordered_map<Segment::Id, Segment>& DoGetSegments() const = 0;
+};
+
+}  // namespace parser
+}  // namespace maliput_sparse

include/maliput_sparse/parser/segment.h

@@ -0,0 +1,57 @@
+// BSD 3-Clause License
+//
+// Copyright (c) 2022, Woven Planet.
+// 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.
+#pragma once
+
+#include <string>
+#include <vector>
+
+#include "maliput_sparse/geometry/line_string.h"
+#include "maliput_sparse/parser/lane.h"
+
+namespace maliput_sparse {
+namespace parser {
+
+/// A segment is a collection of lanes added with a strict order, from right to left,
+/// similarly to maliput::api::Segment abstraction.
+struct Segment {
+  using Id = std::string;
+
+  /// Equality operator.
+  /// @param other The other object to compare against.
+  bool operator==(const Segment& other) const { return id == other.id && lanes == other.lanes; }
+
+  /// Id of the segment.
+  Id id;
+  /// Collection of lanes that compose the segment.
+  std::vector<Lane> lanes;
+};
+
+}  // namespace parser
+}  // namespace maliput_sparse

src/CMakeLists.txt

@@ -1,4 +1,5 @@
 add_subdirectory(base)
 add_subdirectory(builder)
 add_subdirectory(geometry)
+add_subdirectory(loader)
 add_subdirectory(test_utilities)

src/loader/CMakeLists.txt

@@ -0,0 +1,41 @@
+##############################################################################
+# Sources
+##############################################################################
+
+set(LOADER_SOURCES
+  builder_configuration.cc
+  road_geometry_loader.cc
+)
+
+add_library(loader ${LOADER_SOURCES})
+
+add_library(maliput_sparse::loader ALIAS loader)
+
+set_target_properties(loader
+  PROPERTIES
+    OUTPUT_NAME maliput_sparse_loader
+)
+
+target_include_directories(loader
+  PUBLIC
+    $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
+    $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/src>
+    $<INSTALL_INTERFACE:include>)
+
+target_link_libraries(loader
+  PUBLIC
+  maliput::api
+  maliput::common
+  maliput_sparse::builder
+)
+
+##############################################################################
+# Export
+##############################################################################
+
+install(TARGETS loader
+  EXPORT ${PROJECT_NAME}-targets
+  RUNTIME DESTINATION bin
+  LIBRARY DESTINATION lib
+  ARCHIVE DESTINATION lib
+)