double_ring.yaml

# -*- yaml -*-

# BSD 3-Clause License
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# Copyright (c) 2022, Woven Planet. All rights reserved.
# Copyright (c) 2019-2022, Toyota Research Institute. All rights reserved.
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---
# distances are meters; angles are degrees.
maliput_multilane_builder:
  id: "fig8"
  lane_width: 4
  right_shoulder: 2
  left_shoulder: 2
  elevation_bounds: [0, 5]
  scale_length: 1.0
  linear_tolerance: 0.01
  angular_tolerance: 0.5
  computation_policy: prefer-accuracy
  points:
    start:
      xypoint: [0, 0, 45]  # x,y, heading
      zpoint: [0, 0, 0, 0]  # z, z_dot, theta (superelevation), theta_dot
  connections:
    r0:
      lanes: [1, 0, 0]
      start: ["ref", "points.start.forward"]
      arc: [50, -45]
      z_end: ["ref", [0, 0, 0, 0]]
    r1:
      lanes: [1, 0, 0]
      start: ["ref", "connections.r0.end.ref.forward"]
      arc: [50, -135]
      z_end: ["ref", [3, 0, -22.9, 0]]
    r2:
      lanes: [1, 0, 0]
      start: ["ref", "connections.r1.end.ref.forward"]
      arc: [50, -135]
      z_end: ["ref", [0, 0, 0, 0]]
    r3:
      lanes: [1, 0, 0]
      start: ["ref", "connections.r2.end.ref.forward"]
      arc: [50, -45]
      z_end: ["ref", [0, 0, 0, 0]]

    l0:
      lanes: [1, 0, 0]
      start: ["ref", "connections.r3.end.ref.forward"]
      arc: [50, 45]
      z_end: ["ref", [0, 0, 0, 0]]
    l1:
      lanes: [1, 0, 0]
      start: ["ref", "connections.l0.end.ref.forward"]
      arc: [50, 135]
      z_end: ["ref", [0, 0, 22.9, 0]]
    l2:
      lanes: [1, 0, 0]
      start: ["ref", "connections.l1.end.ref.forward"]
      arc: [50, 135]
      z_end: ["ref", [0, 0, 0, 0]]
    l3:
      lanes: [1, 0, 0]
      start: ["ref", "connections.l2.end.ref.forward"]
      arc: [50, 45]
      explicit_end: ["ref", "points.start.forward"]