Adds angular_tolerance to the build configurations for malidrive Road…

…Networks in the applications. Signed-off-by: Agustin Alba Chicar <ag.albachicar@gmail.com>
maliput · Apr 16, 2024 · fa5c410 · fa5c410
1 parent 89b5ea6
commit fa5c410
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Showing 9 changed files with 46 additions and 38 deletions.
diff --git a/src/applications/maliput_derive_lane_s_routes.cc b/src/applications/maliput_derive_lane_s_routes.cc
@@ -318,8 +318,8 @@ int main(int argc, char* argv[]) {
  auto rn = LoadRoadNetwork(
  maliput_implementation,
  {FLAGS_num_lanes, FLAGS_length, FLAGS_lane_width, FLAGS_shoulder_width, FLAGS_maximum_height}, {yaml_file},
- {xodr_file, GetLinearToleranceFlag(), GetMaxLinearToleranceFlag(), FLAGS_build_policy, FLAGS_num_threads,
- FLAGS_simplification_policy, FLAGS_standard_strictness_policy, FLAGS_omit_nondrivable_lanes,
+ {xodr_file, GetLinearToleranceFlag(), GetMaxLinearToleranceFlag(), GetAngularToleranceFlag(), FLAGS_build_policy,
+ FLAGS_num_threads, FLAGS_simplification_policy, FLAGS_standard_strictness_policy, FLAGS_omit_nondrivable_lanes,
  FLAGS_rule_registry_file, FLAGS_road_rule_book_file, FLAGS_traffic_light_book_file, FLAGS_phase_ring_book_file,
  FLAGS_intersection_book_file},
  {FLAGS_osm_file, FLAGS_linear_tolerance, FLAGS_angular_tolerance, maliput::math::Vector2::FromStr(FLAGS_origin),

diff --git a/src/applications/maliput_dynamic_environment.cc b/src/applications/maliput_dynamic_environment.cc
@@ -174,13 +174,13 @@ int Main(int argc, char* argv[]) {
  auto rn = LoadRoadNetwork(
  maliput_implementation,
  {FLAGS_num_lanes, FLAGS_length, FLAGS_lane_width, FLAGS_shoulder_width, FLAGS_maximum_height}, {FLAGS_yaml_file},
- {FLAGS_xodr_file_path, GetLinearToleranceFlag(), GetMaxLinearToleranceFlag(), FLAGS_build_policy,
- FLAGS_num_threads, FLAGS_simplification_policy, FLAGS_standard_strictness_policy, FLAGS_omit_nondrivable_lanes,
- FLAGS_rule_registry_file, FLAGS_road_rule_book_file, FLAGS_traffic_light_book_file, FLAGS_phase_ring_book_file,
- FLAGS_intersection_book_file},
- {FLAGS_osm_file, FLAGS_linear_tolerance, FLAGS_angular_tolerance, maliput::math::Vector2::FromStr(FLAGS_origin),
- FLAGS_rule_registry_file, FLAGS_road_rule_book_file, FLAGS_traffic_light_book_file, FLAGS_phase_ring_book_file,
- FLAGS_intersection_book_file});
+ {FLAGS_xodr_file_path, GetLinearToleranceFlag(), GetMaxLinearToleranceFlag(), GetAngularToleranceFlag(),
+ FLAGS_build_policy, FLAGS_num_threads, FLAGS_simplification_policy, FLAGS_standard_strictness_policy,
+ FLAGS_omit_nondrivable_lanes, FLAGS_rule_registry_file, FLAGS_road_rule_book_file, FLAGS_traffic_light_book_file,
+ FLAGS_phase_ring_book_file, FLAGS_intersection_book_file},
+ {FLAGS_osm_file, FLAGS_linear_tolerance, FLAGS_max_linear_tolerance,
+ maliput::math::Vector2::FromStr(FLAGS_origin), FLAGS_rule_registry_file, FLAGS_road_rule_book_file,
+ FLAGS_traffic_light_book_file, FLAGS_phase_ring_book_file, FLAGS_intersection_book_file});
  log()->info("RoadNetwork loaded successfully.");
 
  const std::unique_ptr<const Timer> timer = CreateTimer(TimerType::kChronoTimer);

diff --git a/src/applications/maliput_gflags.h b/src/applications/maliput_gflags.h
@@ -104,6 +104,11 @@
  return gflags::GetCommandLineFlagInfoOrDie("max_linear_tolerance").is_default \
  ? std::nullopt \
  : std::make_optional<double>(FLAGS_max_linear_tolerance); \
+ } \
+ std::optional<double> GetAngularToleranceFlag() { \
+ return gflags::GetCommandLineFlagInfoOrDie("angular_tolerance").is_default \
+ ? std::nullopt \
+ : std::make_optional<double>(FLAGS_angular_tolerance); \
  }
 #endif // MALIDRIVE_PROPERTIES_FLAGS
 

diff --git a/src/applications/maliput_measure_load_time.cc b/src/applications/maliput_measure_load_time.cc
@@ -115,13 +115,13 @@ int Main(int argc, char* argv[]) {
  maliput_implementation,
  {FLAGS_num_lanes, FLAGS_length, FLAGS_lane_width, FLAGS_shoulder_width, FLAGS_maximum_height},
  {FLAGS_yaml_file},
- {FLAGS_xodr_file_path, GetLinearToleranceFlag(), GetMaxLinearToleranceFlag(), FLAGS_build_policy,
- FLAGS_num_threads, FLAGS_simplification_policy, FLAGS_standard_strictness_policy, FLAGS_omit_nondrivable_lanes,
- FLAGS_rule_registry_file, FLAGS_road_rule_book_file, FLAGS_traffic_light_book_file, FLAGS_phase_ring_book_file,
- FLAGS_intersection_book_file},
- {FLAGS_osm_file, FLAGS_linear_tolerance, FLAGS_angular_tolerance, maliput::math::Vector2::FromStr(FLAGS_origin),
- FLAGS_rule_registry_file, FLAGS_road_rule_book_file, FLAGS_traffic_light_book_file, FLAGS_phase_ring_book_file,
- FLAGS_intersection_book_file}));
+ {FLAGS_xodr_file_path, GetLinearToleranceFlag(), GetMaxLinearToleranceFlag(), GetAngularToleranceFlag(),
+ FLAGS_build_policy, FLAGS_num_threads, FLAGS_simplification_policy, FLAGS_standard_strictness_policy,
+ FLAGS_omit_nondrivable_lanes, FLAGS_rule_registry_file, FLAGS_road_rule_book_file,
+ FLAGS_traffic_light_book_file, FLAGS_phase_ring_book_file, FLAGS_intersection_book_file},
+ {FLAGS_osm_file, FLAGS_linear_tolerance, FLAGS_max_linear_tolerance,
+ maliput::math::Vector2::FromStr(FLAGS_origin), FLAGS_rule_registry_file, FLAGS_road_rule_book_file,
+ FLAGS_traffic_light_book_file, FLAGS_phase_ring_book_file, FLAGS_intersection_book_file}));
  }
  const double mean_time = (std::accumulate(times.begin(), times.end(), 0.)) / static_cast<double>(times.size());
  maliput::log()->info("\tMean time was: ", mean_time, "s out of ", FLAGS_iterations, " iterations.\n");

diff --git a/src/applications/maliput_query.cc b/src/applications/maliput_query.cc
@@ -1099,13 +1099,13 @@ int Main(int argc, char* argv[]) {
  auto rn = LoadRoadNetwork(
  maliput_implementation,
  {FLAGS_num_lanes, FLAGS_length, FLAGS_lane_width, FLAGS_shoulder_width, FLAGS_maximum_height}, {FLAGS_yaml_file},
- {FLAGS_xodr_file_path, GetLinearToleranceFlag(), GetMaxLinearToleranceFlag(), FLAGS_build_policy,
- FLAGS_num_threads, FLAGS_simplification_policy, FLAGS_standard_strictness_policy, FLAGS_omit_nondrivable_lanes,
- FLAGS_rule_registry_file, FLAGS_road_rule_book_file, FLAGS_traffic_light_book_file, FLAGS_phase_ring_book_file,
- FLAGS_intersection_book_file},
- {FLAGS_osm_file, FLAGS_linear_tolerance, FLAGS_angular_tolerance, maliput::math::Vector2::FromStr(FLAGS_origin),
- FLAGS_rule_registry_file, FLAGS_road_rule_book_file, FLAGS_traffic_light_book_file, FLAGS_phase_ring_book_file,
- FLAGS_intersection_book_file});
+ {FLAGS_xodr_file_path, GetLinearToleranceFlag(), GetMaxLinearToleranceFlag(), GetAngularToleranceFlag(),
+ FLAGS_build_policy, FLAGS_num_threads, FLAGS_simplification_policy, FLAGS_standard_strictness_policy,
+ FLAGS_omit_nondrivable_lanes, FLAGS_rule_registry_file, FLAGS_road_rule_book_file, FLAGS_traffic_light_book_file,
+ FLAGS_phase_ring_book_file, FLAGS_intersection_book_file},
+ {FLAGS_osm_file, FLAGS_linear_tolerance, FLAGS_max_linear_tolerance,
+ maliput::math::Vector2::FromStr(FLAGS_origin), FLAGS_rule_registry_file, FLAGS_road_rule_book_file,
+ FLAGS_traffic_light_book_file, FLAGS_phase_ring_book_file, FLAGS_intersection_book_file});
  MALIPUT_DEMAND(rn != nullptr);
  log()->info("RoadNetwork loaded successfully.");
 

diff --git a/src/applications/maliput_to_obj.cc b/src/applications/maliput_to_obj.cc
@@ -114,13 +114,13 @@ int Main(int argc, char* argv[]) {
  auto rn = LoadRoadNetwork(
  maliput_implementation,
  {FLAGS_num_lanes, FLAGS_length, FLAGS_lane_width, FLAGS_shoulder_width, FLAGS_maximum_height}, {FLAGS_yaml_file},
- {FLAGS_xodr_file_path, GetLinearToleranceFlag(), GetMaxLinearToleranceFlag(), FLAGS_build_policy,
- FLAGS_num_threads, FLAGS_simplification_policy, FLAGS_standard_strictness_policy, FLAGS_omit_nondrivable_lanes,
- FLAGS_rule_registry_file, FLAGS_road_rule_book_file, FLAGS_traffic_light_book_file, FLAGS_phase_ring_book_file,
- FLAGS_intersection_book_file},
- {FLAGS_osm_file, FLAGS_linear_tolerance, FLAGS_angular_tolerance, maliput::math::Vector2::FromStr(FLAGS_origin),
- FLAGS_rule_registry_file, FLAGS_road_rule_book_file, FLAGS_traffic_light_book_file, FLAGS_phase_ring_book_file,
- FLAGS_intersection_book_file});
+ {FLAGS_xodr_file_path, GetLinearToleranceFlag(), GetMaxLinearToleranceFlag(), GetAngularToleranceFlag(),
+ FLAGS_build_policy, FLAGS_num_threads, FLAGS_simplification_policy, FLAGS_standard_strictness_policy,
+ FLAGS_omit_nondrivable_lanes, FLAGS_rule_registry_file, FLAGS_road_rule_book_file, FLAGS_traffic_light_book_file,
+ FLAGS_phase_ring_book_file, FLAGS_intersection_book_file},
+ {FLAGS_osm_file, FLAGS_linear_tolerance, FLAGS_max_linear_tolerance,
+ maliput::math::Vector2::FromStr(FLAGS_origin), FLAGS_rule_registry_file, FLAGS_road_rule_book_file,
+ FLAGS_traffic_light_book_file, FLAGS_phase_ring_book_file, FLAGS_intersection_book_file});
  log()->info("RoadNetwork loaded successfully.");
 
  // Creates the destination directory if it does not already exist.

diff --git a/src/applications/maliput_to_string.cc b/src/applications/maliput_to_string.cc
@@ -88,13 +88,13 @@ int Main(int argc, char* argv[]) {
  auto rn = LoadRoadNetwork(
  maliput_implementation,
  {FLAGS_num_lanes, FLAGS_length, FLAGS_lane_width, FLAGS_shoulder_width, FLAGS_maximum_height}, {FLAGS_yaml_file},
- {FLAGS_xodr_file_path, GetLinearToleranceFlag(), GetMaxLinearToleranceFlag(), FLAGS_build_policy,
- FLAGS_num_threads, FLAGS_simplification_policy, FLAGS_standard_strictness_policy, FLAGS_omit_nondrivable_lanes,
- FLAGS_rule_registry_file, FLAGS_road_rule_book_file, FLAGS_traffic_light_book_file, FLAGS_phase_ring_book_file,
- FLAGS_intersection_book_file},
- {FLAGS_osm_file, FLAGS_linear_tolerance, FLAGS_angular_tolerance, maliput::math::Vector2::FromStr(FLAGS_origin),
- FLAGS_rule_registry_file, FLAGS_road_rule_book_file, FLAGS_traffic_light_book_file, FLAGS_phase_ring_book_file,
- FLAGS_intersection_book_file});
+ {FLAGS_xodr_file_path, GetLinearToleranceFlag(), GetMaxLinearToleranceFlag(), GetAngularToleranceFlag(),
+ FLAGS_build_policy, FLAGS_num_threads, FLAGS_simplification_policy, FLAGS_standard_strictness_policy,
+ FLAGS_omit_nondrivable_lanes, FLAGS_rule_registry_file, FLAGS_road_rule_book_file, FLAGS_traffic_light_book_file,
+ FLAGS_phase_ring_book_file, FLAGS_intersection_book_file},
+ {FLAGS_osm_file, FLAGS_linear_tolerance, FLAGS_max_linear_tolerance,
+ maliput::math::Vector2::FromStr(FLAGS_origin), FLAGS_rule_registry_file, FLAGS_road_rule_book_file,
+ FLAGS_traffic_light_book_file, FLAGS_phase_ring_book_file, FLAGS_intersection_book_file});
  log()->info("RoadNetwork loaded successfully.");
  if (FLAGS_check_invariants) {
  log()->info("Checking invariants...");

diff --git a/src/integration/tools.cc b/src/integration/tools.cc
@@ -158,7 +158,9 @@ std::unique_ptr<api::RoadNetwork> CreateMalidriveRoadNetwork(const MalidriveBuil
  road_network_configuration.emplace("max_linear_tolerance",
  std::to_string(build_properties.max_linear_tolerance.value()));
  }
- road_network_configuration.emplace("angular_tolerance", std::to_string(malidrive::constants::kAngularTolerance));
+ if (build_properties.angular_tolerance.has_value()) {
+ road_network_configuration.emplace("angular_tolerance", std::to_string(build_properties.angular_tolerance.value()));
+ }
  road_network_configuration.emplace("scale_length", std::to_string(malidrive::constants::kScaleLength));
  road_network_configuration.emplace("inertial_to_backend_frame_translation", "{0., 0., 0.}");
  road_network_configuration.emplace("build_policy", build_properties.build_policy);

diff --git a/src/integration/tools.h b/src/integration/tools.h
@@ -77,6 +77,7 @@ struct MalidriveBuildProperties {
  std::string xodr_file_path{""};
  std::optional<double> linear_tolerance{std::nullopt};
  std::optional<double> max_linear_tolerance{std::nullopt};
+ std::optional<double> angular_tolerance{std::nullopt};
  std::string build_policy{"sequential"};
  int number_of_threads{0};
  std::string simplification_policy{"none"};