Bindings for SRange, LaneSRange. (#60)

Signed-off-by: Franco Cipollone <[email protected]>

maliput-sys/src/api/api.h

@@ -39,6 +39,7 @@
 #include <maliput/api/lane_data.h>
 #include <maliput/api/road_network.h>
 #include <maliput/api/road_geometry.h>
+#include <maliput/api/regions.h>
 #include <maliput/api/segment.h>
 
 #include <rust/cxx.h>
@@ -237,5 +238,37 @@ std::unique_ptr<Rotation> Rotation_Reverse(const Rotation& rotation) {
   return std::make_unique<Rotation>(rotation.Reverse());
 }
 
+std::unique_ptr<SRange> SRange_new(rust::f64 start, rust::f64 end) {
+  return std::make_unique<SRange>(start, end);
+}
+
+std::unique_ptr<SRange> SRange_GetIntersection(const SRange& s_range, const SRange& other_s_range, rust::f64 tolerance) {
+  const auto intersection = s_range.GetIntersection(other_s_range, tolerance);
+  if (intersection) {
+    return std::make_unique<SRange>(*intersection);
+  }
+  return nullptr;
+}
+
+std::unique_ptr<LaneSRange> LaneSRange_new(const rust::String& lane_id, const SRange& s_range) {
+  return std::make_unique<LaneSRange>(LaneId{std::string(lane_id)}, s_range);
+}
+
+rust::String LaneSRange_lane_id(const LaneSRange& lane_s_range) {
+  return lane_s_range.lane_id().string();
+}
+
+std::unique_ptr<SRange> LaneSRange_s_range(const LaneSRange& lane_s_range) {
+  return std::make_unique<SRange>(lane_s_range.s_range());
+}
+
+std::unique_ptr<LaneSRange> LaneSRange_GetIntersection(const LaneSRange& lane_s_range, const LaneSRange& other_lane_s_range, rust::f64 tolerance) {
+  const auto intersection = lane_s_range.GetIntersection(other_lane_s_range, tolerance);
+  if (intersection) {
+    return std::make_unique<LaneSRange>(*intersection);
+  }
+  return nullptr;
+}
+
 } // namespace api
 } // namespace maliput

maliput-sys/src/api/mod.rs

@@ -178,6 +178,33 @@ pub mod ffi {
         type HBounds;
         fn min(self: &HBounds) -> f64;
         fn max(self: &HBounds) -> f64;
+
+        // SRange bindings definitions
+        type SRange;
+        fn SRange_new(s0: f64, s1: f64) -> UniquePtr<SRange>;
+        fn s0(self: &SRange) -> f64;
+        fn s1(self: &SRange) -> f64;
+        fn set_s0(self: Pin<&mut SRange>, s0: f64);
+        fn set_s1(self: Pin<&mut SRange>, s1: f64);
+        fn size(self: &SRange) -> f64;
+        fn WithS(self: &SRange) -> bool;
+        fn Intersects(self: &SRange, other: &SRange, tolerance: f64) -> bool;
+        fn Contains(self: &SRange, s_range: &SRange, tolerance: f64) -> bool;
+        fn SRange_GetIntersection(s_range: &SRange, other: &SRange, tolerance: f64) -> UniquePtr<SRange>;
+
+        // LaneSRange bindings definitions
+        type LaneSRange;
+        fn LaneSRange_new(lane_id: &String, s_range: &SRange) -> UniquePtr<LaneSRange>;
+        fn length(self: &LaneSRange) -> f64;
+        fn Intersects(self: &LaneSRange, other: &LaneSRange, tolerance: f64) -> bool;
+        fn Contains(self: &LaneSRange, lane_s_range: &LaneSRange, tolerance: f64) -> bool;
+        fn LaneSRange_lane_id(lane_s_range: &LaneSRange) -> String;
+        fn LaneSRange_s_range(lane_s_range: &LaneSRange) -> UniquePtr<SRange>;
+        fn LaneSRange_GetIntersection(
+            lane_s_range: &LaneSRange,
+            other: &LaneSRange,
+            tolerance: f64,
+        ) -> UniquePtr<LaneSRange>;
     }
     impl UniquePtr<RoadNetwork> {}
     impl UniquePtr<LanePosition> {}

maliput-sys/tests/api_tests.rs

@@ -293,4 +293,64 @@ mod api_test {
             assert!((reversed_rotation.yaw() - PI).abs() < tol);
         }
     }
+
+    mod s_range_test {
+        use maliput_sys::api::ffi::SRange_GetIntersection;
+        use maliput_sys::api::ffi::SRange_new;
+
+        #[test]
+        fn s_range_api() {
+            let mut s_range = SRange_new(1.0, 11.0);
+            assert_eq!(s_range.s0(), 1.0);
+            assert_eq!(s_range.s1(), 11.0);
+            assert_eq!(s_range.size(), 10.0);
+            s_range.as_mut().expect("").set_s0(2.0);
+            s_range.as_mut().expect("").set_s1(12.0);
+            assert_eq!(s_range.s0(), 2.0);
+            assert_eq!(s_range.s1(), 12.0);
+            assert!(s_range.WithS());
+
+            let s_range_2 = SRange_new(5.0, 20.0);
+            assert!(s_range.Intersects(&s_range_2, 1e-3));
+            assert!(!s_range.Contains(&s_range_2, 1e-3));
+
+            let intersection = SRange_GetIntersection(&s_range, &s_range_2, 1e-3);
+            assert!(!intersection.is_null());
+            assert_eq!(intersection.s0(), 5.0);
+            assert_eq!(intersection.s1(), 12.0);
+
+            let non_intersected_s_range = SRange_new(150.0, 200.0);
+            assert!(!s_range.Intersects(&non_intersected_s_range, 1e-3));
+            let intersection = SRange_GetIntersection(&s_range, &non_intersected_s_range, 1e-3);
+            assert!(intersection.is_null());
+        }
+    }
+
+    mod lane_s_range_test {
+        use maliput_sys::api::ffi::LaneSRange_GetIntersection;
+        use maliput_sys::api::ffi::LaneSRange_lane_id;
+        use maliput_sys::api::ffi::LaneSRange_new;
+        use maliput_sys::api::ffi::LaneSRange_s_range;
+        use maliput_sys::api::ffi::SRange_new;
+
+        #[test]
+        fn lane_s_range_api() {
+            let expected_s_range = SRange_new(1.0, 2.0);
+            let expected_lane_id = String::from("0_0_1");
+            let lane_s_range = LaneSRange_new(&expected_lane_id, &expected_s_range);
+            assert_eq!(LaneSRange_lane_id(&lane_s_range), expected_lane_id);
+            assert_eq!(lane_s_range.length(), 1.0);
+            let s_range = LaneSRange_s_range(&lane_s_range);
+            assert_eq!(s_range.s0(), expected_s_range.s0());
+            assert_eq!(s_range.s1(), expected_s_range.s1());
+            let lane_s_range_2 = LaneSRange_new(&expected_lane_id, &SRange_new(1.5, 2.5));
+            assert!(lane_s_range.Intersects(&lane_s_range_2, 1e-3));
+            assert!(!lane_s_range.Contains(&lane_s_range_2, 1e-3));
+            let intersection = LaneSRange_GetIntersection(&lane_s_range, &lane_s_range_2, 1e-3);
+            assert!(!intersection.is_null());
+            let s_range = LaneSRange_s_range(&intersection);
+            assert_eq!(s_range.s0(), 1.5);
+            assert_eq!(s_range.s1(), 2.0);
+        }
+    }
 }

maliput/src/api/mod.rs

@@ -866,6 +866,113 @@ impl Rotation {
     }
 }
 
+/// Directed, inclusive longitudinal (s value) range from s0 to s1.
+/// Wrapper around C++ implementation `maliput::api::SRange`.
+pub struct SRange {
+    s_range: cxx::UniquePtr<maliput_sys::api::ffi::SRange>,
+}
+
+impl SRange {
+    /// Create a new `SRange` with the given `s0` and `s1`.
+    pub fn new(s0: f64, s1: f64) -> SRange {
+        SRange {
+            s_range: maliput_sys::api::ffi::SRange_new(s0, s1),
+        }
+    }
+    /// Get the s0 of the `SRange`.
+    pub fn s0(&self) -> f64 {
+        self.s_range.s0()
+    }
+    /// Get the s1 of the `SRange`.
+    pub fn s1(&self) -> f64 {
+        self.s_range.s1()
+    }
+    /// Set the s0 of the `SRange`.
+    pub fn set_s0(&mut self, s0: f64) {
+        self.s_range.as_mut().expect("Underlying SRange is null").set_s0(s0);
+    }
+    /// Set the s1 of the `SRange`.
+    pub fn set_s1(&mut self, s1: f64) {
+        self.s_range.as_mut().expect("Underlying SRange is null").set_s1(s1);
+    }
+    /// Get the size of the `SRange`.
+    pub fn size(&self) -> f64 {
+        self.s_range.size()
+    }
+    /// Returns true When this SRange is in the direction of +s.
+    pub fn with_s(&self) -> bool {
+        self.s_range.WithS()
+    }
+    /// Determines whether this SRange intersects with `s_range`.
+    pub fn intersects(&self, s_range: &SRange, tolerance: f64) -> bool {
+        self.s_range.Intersects(&s_range.s_range, tolerance)
+    }
+    /// Determines whether this SRange contains `s_range`.
+    pub fn contains(&self, s_range: &SRange, tolerance: f64) -> bool {
+        self.s_range.Contains(&s_range.s_range, tolerance)
+    }
+    /// Get the intersection of this SRange with `s_range`.
+    /// Returns None if the intersection is empty.
+    pub fn get_intersection(&self, s_range: &SRange, tolerance: f64) -> Option<SRange> {
+        let intersection = maliput_sys::api::ffi::SRange_GetIntersection(&self.s_range, &s_range.s_range, tolerance);
+        match intersection.is_null() {
+            true => None,
+            false => Some(SRange { s_range: intersection }),
+        }
+    }
+}
+
+/// Directed longitudinal range of a specific Lane, identified by a LaneId.
+/// Wrapper around C++ implementation `maliput::api::LaneSRange`.
+pub struct LaneSRange {
+    lane_s_range: cxx::UniquePtr<maliput_sys::api::ffi::LaneSRange>,
+}
+
+impl LaneSRange {
+    /// Create a new `LaneSRange` with the given `lane_id` and `s_range`.
+    pub fn new(lane_id: &String, s_range: &SRange) -> LaneSRange {
+        LaneSRange {
+            lane_s_range: maliput_sys::api::ffi::LaneSRange_new(lane_id, &s_range.s_range),
+        }
+    }
+    /// Get the lane id of the `LaneSRange`.
+    pub fn lane_id(&self) -> String {
+        maliput_sys::api::ffi::LaneSRange_lane_id(&self.lane_s_range)
+    }
+    /// Get the s range of the `LaneSRange`.
+    pub fn s_range(&self) -> SRange {
+        SRange {
+            s_range: maliput_sys::api::ffi::LaneSRange_s_range(&self.lane_s_range),
+        }
+    }
+    /// Get the length of the `LaneSRange`.
+    pub fn length(&self) -> f64 {
+        self.lane_s_range.length()
+    }
+    /// Determines whether this LaneSRange intersects with `lane_s_range`.
+    pub fn intersects(&self, lane_s_range: &LaneSRange, tolerance: f64) -> bool {
+        self.lane_s_range.Intersects(&lane_s_range.lane_s_range, tolerance)
+    }
+    /// Determines whether this LaneSRange contains `lane_s_range`.
+    pub fn contains(&self, lane_s_range: &LaneSRange, tolerance: f64) -> bool {
+        self.lane_s_range.Contains(&lane_s_range.lane_s_range, tolerance)
+    }
+    /// Get the intersection of this LaneSRange with `lane_s_range`.
+    pub fn get_intersection(&self, lane_s_range: &LaneSRange, tolerance: f64) -> Option<LaneSRange> {
+        let intersection = maliput_sys::api::ffi::LaneSRange_GetIntersection(
+            &self.lane_s_range,
+            &lane_s_range.lane_s_range,
+            tolerance,
+        );
+        match intersection.is_null() {
+            true => None,
+            false => Some(LaneSRange {
+                lane_s_range: intersection,
+            }),
+        }
+    }
+}
+
 mod tests {
     mod lane_position {
         #[test]
@@ -1069,4 +1176,90 @@ mod tests {
             assert_eq!(matrix.row(2), crate::math::Vector3::new(0.0, 0.0, 1.0));
         }
     }
+
+    mod s_range {
+        #[test]
+        fn s_range_new() {
+            let s_range = crate::api::SRange::new(1.0, 2.0);
+            assert_eq!(s_range.s0(), 1.0);
+            assert_eq!(s_range.s1(), 2.0);
+        }
+        #[test]
+        fn s_range_api() {
+            let s_range_1 = crate::api::SRange::new(1.0, 3.0);
+            let s_range_2 = crate::api::SRange::new(2.0, 4.0);
+            assert_eq!(s_range_1.size(), 2.0);
+            assert!(s_range_1.with_s());
+            assert!(s_range_1.intersects(&s_range_2, 0.0));
+            assert!(!s_range_1.contains(&s_range_2, 0.0));
+        }
+        #[test]
+        fn s_range_setters() {
+            let mut s_range = crate::api::SRange::new(0.0, 4.0);
+            s_range.set_s0(1.0);
+            s_range.set_s1(3.0);
+            assert_eq!(s_range.s0(), 1.0);
+            assert_eq!(s_range.s1(), 3.0);
+        }
+        #[test]
+        fn s_range_get_intersection_with_intersection() {
+            let s_range_1 = crate::api::SRange::new(1.0, 3.0);
+            let s_range_2 = crate::api::SRange::new(2.0, 4.0);
+            let intersection = s_range_1.get_intersection(&s_range_2, 0.0);
+            assert!(intersection.is_some());
+            let intersection = intersection.unwrap();
+            assert_eq!(intersection.s0(), 2.0);
+            assert_eq!(intersection.s1(), 3.0);
+        }
+        #[test]
+        fn s_range_get_intersection_with_no_intersection() {
+            let s_range_1 = crate::api::SRange::new(1.0, 2.0);
+            let s_range_2 = crate::api::SRange::new(3.0, 4.0);
+            let intersection = s_range_1.get_intersection(&s_range_2, 0.0);
+            assert!(intersection.is_none());
+        }
+    }
+
+    mod lane_s_range {
+        #[test]
+        fn lane_s_range_new() {
+            let lane_s_range =
+                crate::api::LaneSRange::new(&String::from("lane_test"), &crate::api::SRange::new(1.0, 2.0));
+            assert_eq!(lane_s_range.lane_id(), "lane_test");
+            assert_eq!(lane_s_range.s_range().s0(), 1.0);
+            assert_eq!(lane_s_range.s_range().s1(), 2.0);
+            assert_eq!(lane_s_range.length(), 1.0);
+        }
+        #[test]
+        fn lane_s_range_api() {
+            let lane_s_range_1 =
+                crate::api::LaneSRange::new(&String::from("lane_test"), &crate::api::SRange::new(1.0, 2.0));
+            let lane_s_range_2 =
+                crate::api::LaneSRange::new(&String::from("lane_test"), &crate::api::SRange::new(2.0, 3.0));
+            assert!(lane_s_range_1.intersects(&lane_s_range_2, 0.0));
+            assert!(!lane_s_range_1.contains(&lane_s_range_2, 0.0));
+        }
+        #[test]
+        fn lane_s_range_get_intersection_with_intersection() {
+            let lane_s_range_1 =
+                crate::api::LaneSRange::new(&String::from("lane_test"), &crate::api::SRange::new(1.0, 3.0));
+            let lane_s_range_2 =
+                crate::api::LaneSRange::new(&String::from("lane_test"), &crate::api::SRange::new(2.0, 4.0));
+            let intersection = lane_s_range_1.get_intersection(&lane_s_range_2, 0.0);
+            assert!(intersection.is_some());
+            let intersection = intersection.unwrap();
+            assert_eq!(intersection.lane_id(), "lane_test");
+            assert_eq!(intersection.s_range().s0(), 2.0);
+            assert_eq!(intersection.s_range().s1(), 3.0);
+        }
+        #[test]
+        fn lane_s_range_get_intersection_with_no_intersection() {
+            let lane_s_range_1 =
+                crate::api::LaneSRange::new(&String::from("lane test_1"), &crate::api::SRange::new(1.0, 3.0));
+            let lane_s_range_2 =
+                crate::api::LaneSRange::new(&String::from("lane_test_2"), &crate::api::SRange::new(2.0, 4.0));
+            let intersection = lane_s_range_1.get_intersection(&lane_s_range_2, 0.0);
+            assert!(intersection.is_none());
+        }
+    }
 }