Commit 01dcc92c authored by Sergi Hernandez's avatar Sergi Hernandez
Browse files

Updated the road node documentation.

parent c34e4a3f
......@@ -31,9 +31,9 @@ The main features of this class are:
* Provides access to all the link connecting the road node with others. These links can be accessed in several ways:
* **by_index**: which is an arbitrary number assigned when the links are created. In this case both links starting and ending at the desired road node can be accessed.
* **by connecting node**: provides access to the link that connects the desired road node with another one. In this case, only links starting at the road node can be accessed.
* **by the closest position**: in this case when the position of interest is known (i.e. the position of the car, an obstacle, etc...), it is possible to get the link which is closest to this position.
* **by the closest pose**: in this case when the position of interest is known (i.e. the position of the car, an obstacle, etc...), it is possible to get the link which is closest to this position. It is possible to get the index of the link of interest or a reference to it.
* It is possible to find the closest position to the road node independently of the road element where it belongs.
* It is possible to get a set of poses that are closer to a given pose than a given distance threshold, independently of the road element where they belongs.
* It is possible to get a set of poses that are closer to a given pose than a given distance threshold, independently of the road element where they belong.
* In case of unexpected errors, this class throws an instance of CException. All other errors are reported to the user.
For further details on the implementation of these features check the doxygen API documentation.
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......@@ -206,10 +206,10 @@ class COpendriveRoadNode
* following the closest link geometry. If the closest link does not exist
* this argument is set to the maximum double value
* (std::numeric_limits<double>::max())
* \only_lanes flag to indicate it the search for the closest link should include
* only the lane links (true) or all of them (false).
* \angle_tol maximum heading difference between the given pose and the closest pose
* on the link geometry to consider each link as a candidate on the search.
* \param only_lanes flag to indicate it the search for the closest link should include
* only the lane links (true) or all of them (false).
* \param angle_tol maximum heading difference between the given pose and the closest pose
* on the link geometry to consider each link as a candidate on the search.
*
* \return the index of the closest link or -1 if there is no link close to the given
* pose.
......@@ -228,10 +228,10 @@ class COpendriveRoadNode
* following the closest link geometry. If the closest link does not exist
* this argument is set to the maximum double value
* (std::numeric_limits<double>::max())
* \only_lanes flag to indicate it the search for the closest link should include
* only the lane links (true) or all of them (false).
* \angle_tol maximum heading difference between the given pose and the closest pose
* on the link geometry to consider any link as a candidate on the search.
* \param only_lanes flag to indicate it the search for the closest link should include
* only the lane links (true) or all of them (false).
* \param angle_tol maximum heading difference between the given pose and the closest pose
* on the link geometry to consider any link as a candidate on the search.
*
* \return a constant reference to the closest link which can not be modified by the
* user.
......@@ -246,14 +246,14 @@ class COpendriveRoadNode
* link geometry. Otherwise, it is considered that the given pose does not coincide
* with the road node links.
*
* \param world given pose to find the closest link.
* \param world given pose to find the closest pose.
* \param closest_pose the closest pose to the closest link geometry if the given pose
* coincides with the link object. Otherwise the data on this
* parameters is not valid.
* \only_lanes flag to indicate it the search for the closest link should include
* only the lane links (true) or all of them (false).
* \angle_tol maximum heading difference between the given pose and the closest pose
* on the link geometry to consider any link as a candidate on the search.
* \param only_lanes flag to indicate it the search for the closest link should include
* only the lane links (true) or all of them (false).
* \param angle_tol maximum heading difference between the given pose and the closest pose
* on the link geometry to consider any link as a candidate on the search.
*
* \return the link distance between the projection of the given pose to the
* closest link geometry, following its geometry. If there is no
......@@ -268,7 +268,7 @@ class COpendriveRoadNode
* pose of any link which is closer to the given pose that a given distance will be
* returned.
*
* \param world given pose to find the closest link.
* \param world given pose to find the closest poses.
* \param closest_poses the closest poses on any link geometry if the given pose
* coincide with the link object. Otherwise an empty vector will
* be returned.
......@@ -276,10 +276,12 @@ class COpendriveRoadNode
* of the closest link geometries, following the corresponding geometry.
* If the given pose does not coincide with any of the links, an empty
* vector will be returned.
* \only_lanes flag to indicate it the search for the closest link should include
* only the lane links (true) or all of them (false).
* \angle_tol maximum heading difference between the given pose and the closest pose
* on the link geometry to consider any link as a candidate on the search.
* \param dist_tol maximum allowed distance from the given position to consider any link
* as a candidate on the search.
* \param only_lanes flag to indicate it the search for the closest link should include
* only the lane links (true) or all of them (false).
* \param angle_tol maximum heading difference between the given pose and the closest pose
* on the link geometry to consider any link as a candidate on the search.
*/
void get_closest_poses(TOpendriveWorldPose &pose,std::vector<TOpendriveWorldPose> &closest_poses,std::vector<double> &distances,double dist_tol,bool only_lanes=false,double angle_tol=0.1) const;
/**
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