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Fixes bug at ToRoadPosition query. #174

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merged 4 commits into from
Sep 14, 2021
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Fixes bug at ToRoadPosition query. #174

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6df03e4
Fixes bug at ToLanePosition query.
francocipollone Sep 14, 2021
9a26d51
Revert "Fixes bug at ToLanePosition query."
francocipollone Sep 14, 2021
26f8b7c
Fixes ToRoadPosition query.
francocipollone Sep 14, 2021
c26fbf5
nit
francocipollone Sep 14, 2021
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4 changes: 2 additions & 2 deletions maliput_malidrive/src/maliput_malidrive/base/lane.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -164,8 +164,8 @@ void Lane::DoToLanePositionBackend(const maliput::math::Vector3& backend_pos, ma
const maliput::math::Vector3 unconstrained_prh{BackendFrameToLaneFrame(backend_pos)};
MALIDRIVE_IS_IN_RANGE(unconstrained_prh[0], p0_, p1_);
const double s = s_from_p_(unconstrained_prh[0]);
const maliput::api::RBounds segment_boundaries = segment_bounds(s);
const double r = maliput::math::saturate(unconstrained_prh[1], segment_boundaries.min(), segment_boundaries.max());
const maliput::api::RBounds lane_boundaries = lane_bounds(s);
const double r = maliput::math::saturate(unconstrained_prh[1], lane_boundaries.min(), lane_boundaries.max());
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Please, look at the following https://github.com/ToyotaResearchInstitute/maliput/blob/main/maliput/include/maliput/api/road_geometry.h#L85-L93

Quoted here:

  /// The map from RoadGeometry to the `Inertial`-frame is not onto (as a bounded
  /// RoadGeometry cannot completely cover the unbounded Cartesian universe).
  /// If @p inertial_position does represent a point contained within the volume
  /// of the RoadGeometry, then result distance is guaranteed to be less
  /// than or equal to `linear_tolerance()`.
  ///
  /// The map from RoadGeometry to `Inertial`-frame is not necessarily one-to-one.
  /// Different `(s,r,h)` coordinates from different Lanes, potentially from
  /// different Segments, may map to the same `(x,y,z)` `Inertial`-frame location.

I think using segment_bounds() is correct because when doing ToLanePosition() you can map the entire Segment volume.

If an INERTIAL Frame point falls within the Segment volume it is expected that all RoadPositions (one per RoadPositions in the Segment) have distance close to zero. RoadGeometry::ToRoadGeometry should return the one that minimizes (closer to zero) the r-coordinate.

By looking at #173 , the mapping to lane 1_0_1 yields r = -1.97309e-10 and that's the minimum. The algorithm should return that instead of any other lane in the Segment.

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@francocipollone francocipollone Sep 14, 2021 •
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Let me know what you think about 26f8b7c.

It matches API definition and complies with both issues:

( I had missed pressing the "comment" button)

const maliput::api::HBounds elevation_boundaries = elevation_bounds(s, r);
const double h =
maliput::math::saturate(unconstrained_prh[2], elevation_boundaries.min(), elevation_boundaries.max());
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