Builds up RoadGeometry out of parsed information.

include/maliput_sparse/loader/builder_configuration.h

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+// 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 <map>
+#include <optional>
+#include <string>
+
+#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{};
+  /// Path to the configuration file to load a RuleRegistry
+  std::optional<std::string> rule_registry{std::nullopt};
+  /// Path to the configuration file to load a RoadRulebook
+  std::optional<std::string> road_rule_book{std::nullopt};
+  /// Path to the configuration file to load a TrafficLightBook.
+  std::optional<std::string> traffic_light_book{std::nullopt};
+  /// Path to the configuration file to load a PhaseRingBook.
+  std::optional<std::string> phase_ring_book{std::nullopt};
+  /// Path to the configuration file to load an IntersectionBook.
+  std::optional<std::string> intersection_book{std::nullopt};
+};
+
+}  // namespace loader
+}  // namespace maliput_sparse

include/maliput_sparse/loader/config.h

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+// 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 {
+namespace config {
+
+/// @defgroup builder_configuration_keys RoadNetwork configuration builder keys
+///
+/// Parameters used during the RoadNetwork building process.
+///
+/// When parameters are omitted the default value will be used.
+///
+/// @{
+
+/// A string that works as ID of the RoadGeometry.
+///   - Default: @e "maliput"
+static constexpr char const* kRoadGeometryId{"road_geometry_id"};
+
+/// RoadGeometry's linear tolerance.
+///   - Default: @e "5e-2"
+static constexpr char const* kLinearTolerance{"linear_tolerance"};
+
+/// RoadGeometry's angular tolerance.
+///   - Default: @e "1e-3"
+static constexpr char const* kAngularTolerance{"angular_tolerance"};
+
+/// RoadGeometry's scale length.
+///   - Default: @e "1.0"
+static constexpr char const* kScaleLength{"scale_length"};
+
+/// Translation from maliput to maliput_osm inertial frame.
+/// The format of the 3-dimensional vector that is expected to be passed
+/// should be {X, Y, Z}. Same format as maliput::math::Vector3 is
+/// serialized.
+///   - Default: @e "{0., 0., 0.}"
+static constexpr char const* kInertialToBackendFrameTranslation{"inertial_to_backend_frame_translation"};
+
+/// Path to the configuration file to load a RoadRulebook
+///   - Default: ""
+static constexpr char const* kRoadRuleBook{"road_rule_book"};
+
+/// Path to the configuration file to load a RoadRulebook
+///   - Default: ""
+static constexpr char const* kRuleRegistry{"rule_registry"};
+
+/// Path to the configuration file to load a TrafficLightBook
+///   - Default: ""
+static constexpr char const* kTrafficLightBook{"traffic_light_book"};
+
+/// Path to the configuration file to load a PhaseRingBook
+///   - Default: ""
+static constexpr char const* kPhaseRingBook{"phase_ring_book"};
+
+/// Path to the configuration file to load a IntersectionBook
+///   - Default: ""
+static constexpr char const* kIntersectionBook{"intersection_book"};
+
+/// @}
+
+}  // namespace config
+}  // namespace loader
+}  // namespace maliput_sparse

include/maliput_sparse/loader/road_geometry_loader.h

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+// 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/loader/builder_configuration.h"
+#include "maliput_sparse/parser/parser.h"
+
+namespace maliput_sparse {
+namespace loader {
+
+/// Loads a RoadGeometry based on a maliput_sparse::parser::Parser implementation.
+/// This functor is expected to be used by the maliput backends that rely on
+/// maliput_sparse to load the RoadGeometry.
+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/loader/road_network_loader.h

@@ -0,0 +1,62 @@
+// 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_network.h>
+
+#include "maliput_sparse/loader/builder_configuration.h"
+#include "maliput_sparse/loader/road_geometry_loader.h"
+#include "maliput_sparse/parser/parser.h"
+
+namespace maliput_sparse {
+namespace loader {
+
+/// Loads a RoadNetwork based on a maliput_sparse::parser::Parser implementation.
+/// This functor is expected to be used by the maliput backends that rely on
+/// maliput_sparse to load the RoadNetwork.
+class RoadNetworkLoader {
+ public:
+  /// Constructs a RoadNetworkLoader.
+  /// @param parser The parser to use for building the RoadNetworkLoader.
+  /// @param builder_configuration The configuration of the builder.
+  RoadNetworkLoader(std::unique_ptr<parser::Parser> parser, const BuilderConfiguration& builder_configuration);
+
+  /// Builds a RoadNetworkLoader.
+  std::unique_ptr<maliput::api::RoadNetwork> operator()();
+
+ private:
+  const std::unique_ptr<RoadGeometryLoader> road_geometry_loader_;
+  const BuilderConfiguration builder_configuration_;
+};
+
+}  // namespace loader
+}  // namespace maliput_sparse

include/maliput_sparse/parser/connection.h

@@ -0,0 +1,51 @@
+// 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_sparse/parser/lane.h"
+
+namespace maliput_sparse {
+namespace parser {
+
+/// Defines a connection between two lanes.
+/// The lanes can be connected from either end.
+/// Two connections are considered equal if they connect the same lanes using same ends without regard to the order.
+struct Connection {
+  /// The LaneEnd that is connected from.
+  LaneEnd from;
+  /// The LaneEnd that is connected to.
+  LaneEnd to;
+
+  /// Equality operator.
+  bool operator==(const Connection& other) const;
+};
+
+}  // namespace parser
+}  // namespace maliput_sparse