maliput 0.26.0

Rust API for maliput
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// BSD 3-Clause License
//
// Copyright (c) 2024, Woven by Toyota.
// 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.
mod common;

#[test]
fn lane_api() {
    let tolerance = 1e-10;
    let inertial_pos = maliput::api::InertialPosition::new(5.0, 1.75, 0.0);
    let expected_lane_id = String::from("0_0_1");
    let road_network = common::create_t_shape_road_network(true);
    let road_geometry = road_network.road_geometry();

    let road_position_result = road_geometry.to_road_position(&inertial_pos).unwrap();
    assert_eq!(road_position_result.road_position.lane().id(), expected_lane_id);
    let lane = road_position_result.road_position.lane();
    let index = lane.index();
    assert_eq!(index, 1);
    let contains = lane.contains(&road_position_result.road_position.pos());
    assert!(contains);
    let lane_bounds = lane.lane_bounds(0.0).unwrap();
    assert_eq!(lane_bounds.min(), -1.75);
    assert_eq!(lane_bounds.max(), 1.75);
    let invalid_lane_bounds = lane.lane_bounds(1e10);
    assert!(invalid_lane_bounds.is_err());
    let segment_bounds = lane.segment_bounds(0.0).unwrap();
    assert_eq!(segment_bounds.min(), -5.25);
    assert_eq!(segment_bounds.max(), 1.75);
    let invalid_segment_bounds = lane.segment_bounds(1e10);
    assert!(invalid_segment_bounds.is_err());
    let elevation_bounds = lane.elevation_bounds(0.0, 0.0).unwrap();
    assert_eq!(elevation_bounds.min(), 0.0);
    assert_eq!(elevation_bounds.max(), 5.0);
    let orientation = lane.get_orientation(&road_position_result.road_position.pos()).unwrap();
    assert_eq!(orientation.roll(), 0.0);
    assert_eq!(orientation.pitch(), 0.0);
    assert_eq!(orientation.yaw(), 0.0);
    let ret_inertial_position = lane
        .to_inertial_position(&road_position_result.road_position.pos())
        .unwrap();
    assert!((ret_inertial_position.x() - inertial_pos.x()).abs() < tolerance);
    assert!((ret_inertial_position.y() - inertial_pos.y()).abs() < tolerance);
    assert!((ret_inertial_position.z() - inertial_pos.z()).abs() < tolerance);
    let ret_lane_position = lane.to_lane_position(&ret_inertial_position).unwrap();
    assert_eq!(ret_lane_position.distance, road_position_result.distance);
    let ret_segment_position = lane.to_segment_position(&inertial_pos).unwrap();
    assert_eq!(ret_segment_position.distance, road_position_result.distance);
    let left_lane = lane.to_left();
    let right_lane = lane.to_right();
    // In TShapeRoad map there is no left lane from current lane.
    assert!(left_lane.is_none());
    // In TShapeRoad map there is a right lane from current lane.
    assert!(right_lane.is_some());
    assert_eq!(right_lane.unwrap().id(), "0_0_-1");
    let segment = lane.segment();
    let expected_segment_id = String::from("0_0");
    assert_eq!(segment.id(), expected_segment_id);
    let cloned_lane = lane.clone();
    assert_eq!(lane.id(), cloned_lane.id());

    let lane_end = maliput::api::LaneEnd::Start(lane.clone());
    let branch_point = lane.get_branch_point(&lane_end).unwrap();
    assert_eq!(branch_point.id(), "3");
    let confluent_branches = lane.get_confluent_branches(&lane_end).unwrap();
    assert_eq!(confluent_branches.size(), 1);
    let ongoing_branches = lane.get_ongoing_branches(&lane_end).unwrap();
    assert_eq!(ongoing_branches.size(), 0);
    let default_branch = lane.get_default_branch(&lane_end);
    assert_eq!(
        default_branch.is_none(),
        branch_point.get_default_branch(&lane_end).is_none()
    );

    let velocity = maliput::api::IsoLaneVelocity::new(1., 0., 0.);
    let expected_derivatives = maliput::api::LanePosition::new(1., 0., 0.);
    let lane_frame_derivatives = lane.eval_motion_derivatives(&maliput::api::LanePosition::new(0., 0., 0.), &velocity);
    assert_eq!(expected_derivatives, lane_frame_derivatives);

    let lane = road_geometry.get_lane(&"0_0_0".to_string());
    assert!(lane.is_none());

    // Lane Type
    let road_network = common::create_t_shape_road_network(false);
    let road_geometry = road_network.road_geometry();
    let lane = road_geometry.get_lane(&"0_0_4".to_string());
    let lane_type = lane.unwrap().lane_type();
    assert_eq!(lane_type, maliput::api::LaneType::Walking);
    let lane = road_geometry.get_lane(&"0_0_2".to_string());
    let lane_type = lane.unwrap().lane_type();
    assert_eq!(lane_type, maliput::api::LaneType::Shoulder);
    let lane = road_geometry.get_lane(&"0_0_1".to_string());
    let lane_type = lane.unwrap().lane_type();
    assert_eq!(lane_type, maliput::api::LaneType::Driving);
}

#[test]
fn lane_end_api_test() {
    let road_network = common::create_t_shape_road_network(true);
    let road_geometry = road_network.road_geometry();

    let lane_id = String::from("0_0_1");
    let lane_end_start = maliput::api::LaneEnd::Start(road_geometry.get_lane(&lane_id).unwrap());
    let lane_end_end = maliput::api::LaneEnd::Finish(road_geometry.get_lane(&lane_id).unwrap());
    assert_eq!(&lane_end_start, &lane_end_start);
    assert_ne!(&lane_end_start, &lane_end_end);
    match lane_end_start {
        maliput::api::LaneEnd::Start(lane) => assert_eq!(lane.id(), lane_id),
        maliput::api::LaneEnd::Finish(_) => panic!("Expected Start, got Finish"),
    }
    match lane_end_end {
        maliput::api::LaneEnd::Start(_) => panic!("Expected Finish, got Start"),
        maliput::api::LaneEnd::Finish(lane) => assert_eq!(lane.id(), lane_id),
    }
}

#[test]
fn lane_curvature_test() {
    let tolerance = 1e-6;
    let road_network = common::create_t_shape_road_network(true);
    let road_geometry = road_network.road_geometry();
    // Straight lane segment
    let lane = road_geometry.get_lane(&"0_0_1".to_string()).unwrap();
    let lane_position = maliput::api::LanePosition::new(5.0, 0.0, 0.0);
    let expected_curvature = 0.0; // Curvature for straight lane is 0.0
    let curvature_result = lane.get_curvature(&lane_position).unwrap();
    assert!((curvature_result - expected_curvature).abs() < tolerance);

    // Curved lane segment to the right
    let lane = road_geometry.get_lane(&"9_0_-1".to_string()).unwrap();
    let expected_curvature_at_left_border = -2.5436419971059765e-1; // Obtained from OpenDRIVE reference values.
    let s_position = lane.length() / 2.0;
    // Calculate curvature at left border
    let lane_position_at_left_border =
        maliput::api::LanePosition::new(s_position, lane.lane_bounds(s_position).unwrap().max(), 0.0);
    let curvature_at_left_border = lane.get_curvature(&lane_position_at_left_border).unwrap();
    assert!((curvature_at_left_border - expected_curvature_at_left_border).abs() < tolerance);
    // Calculate curvature at center using left border curvature and lane width.
    let lane_width = lane.lane_bounds(s_position).unwrap().max() - lane.lane_bounds(s_position).unwrap().min(); // Calculate lane width. Should match 3.5 from OpenDRIVE file.
    let lane_position_at_center = maliput::api::LanePosition::new(s_position, 0.0, 0.0);
    let curvature_at_center = lane.get_curvature(&lane_position_at_center).unwrap();
    // Verify center curvature can derive left border curvature using the offset formula.
    // The formula κ(r + Δr) = κ(r) / (1 + κ(r) * Δr) uses an inverted sign convention
    // where negative Δr means moving to the left (+r direction in lane frame).
    // From center (r=0) to left border (r=+1.75): use Δr = -lane_width/2
    let calculated_left_border_curvature = curvature_at_center / (1.0 + curvature_at_center * (-lane_width / 2.0));
    assert!((curvature_at_left_border - calculated_left_border_curvature).abs() < tolerance);
    // Calculate curvature at right border using center curvature.
    // From center (r=0) to right border (r=-1.75): use Δr = +lane_width/2 (inverted sign convention)
    let expected_curvature_at_right_border = curvature_at_center / (1.0 + curvature_at_center * (lane_width / 2.0));
    let lane_position_at_right_border =
        maliput::api::LanePosition::new(s_position, lane.lane_bounds(s_position).unwrap().min(), 0.0);
    let curvature_at_right_border = lane.get_curvature(&lane_position_at_right_border).unwrap();
    assert!((curvature_at_right_border - expected_curvature_at_right_border).abs() < tolerance);

    // Curved lane segment to the left
    let lane = road_geometry.get_lane(&"8_0_-1".to_string()).unwrap();
    let expected_curvature_at_left_border = 2.5436419971059815e-1; // Obtained from OpenDRIVE reference values.
    let s_position = lane.length() / 2.0;
    // Calculate curvature at left border
    let lane_position_at_left_border =
        maliput::api::LanePosition::new(s_position, lane.lane_bounds(s_position).unwrap().max(), 0.0);
    let curvature_at_left_border = lane.get_curvature(&lane_position_at_left_border).unwrap();
    assert!((curvature_at_left_border - expected_curvature_at_left_border).abs() < tolerance);
    // Calculate curvature at center using left border curvature and lane width.
    let lane_width = lane.lane_bounds(s_position).unwrap().max() - lane.lane_bounds(s_position).unwrap().min();
    let lane_position_at_center = maliput::api::LanePosition::new(s_position, 0.0, 0.0);
    let curvature_at_center = lane.get_curvature(&lane_position_at_center).unwrap();
    // Verify center curvature can derive left border curvature using the offset formula.
    // The formula κ(r + Δr) = κ(r) / (1 + κ(r) * Δr) uses an inverted sign convention
    // where negative Δr means moving to the left (+r direction in lane frame).
    // From center (r=0) to left border (r=+1.75): use Δr = -lane_width/2
    let calculated_left_border_curvature = curvature_at_center / (1.0 + curvature_at_center * (-lane_width / 2.0));
    assert!((curvature_at_left_border - calculated_left_border_curvature).abs() < tolerance);
    // Calculate curvature at right border using center curvature.
    // From center (r=0) to right border (r=-1.75): use Δr = +lane_width/2 (inverted sign convention)
    let expected_curvature_at_right_border = curvature_at_center / (1.0 + curvature_at_center * (lane_width / 2.0));
    let lane_position_at_right_border =
        maliput::api::LanePosition::new(s_position, lane.lane_bounds(s_position).unwrap().min(), 0.0);
    let curvature_at_right_border = lane.get_curvature(&lane_position_at_right_border).unwrap();
    assert!((curvature_at_right_border - expected_curvature_at_right_border).abs() < tolerance);
}