Removes monolane dependency from road_path_test and `idm_controller…

…_test` (RobotLocomotion#9410)
Tomato1107 · Sep 14, 2018 · 86cb328 · 86cb328
1 parent 9201bb6
commit 86cb328
Show file tree

Hide file tree

Showing 3 changed files with 41 additions and 29 deletions.
diff --git a/automotive/BUILD.bazel b/automotive/BUILD.bazel
@@ -372,7 +372,6 @@ drake_cc_library(
     hdrs = ["road_path.h"],
     deps = [
         ":lane_direction",
-        ":monolane_onramp_merge",
         "//automotive/maliput/api",
         "//common:essential",
         "//common:unused",
@@ -717,7 +716,6 @@ drake_cc_googletest(
     name = "idm_controller_test",
     deps = [
         "//automotive:idm_controller",
-        "//automotive:monolane_onramp_merge",
         "//automotive/maliput/dragway",
         "//common/test_utilities:eigen_matrix_compare",
         "//systems/framework/test_utilities:scalar_conversion",
@@ -768,7 +766,7 @@ drake_cc_googletest(
     deps = [
         ":road_path",
         "//automotive/maliput/dragway",
-        "//automotive/maliput/monolane",
+        "//automotive/maliput/multilane",
         "//common/test_utilities:eigen_matrix_compare",
     ],
 )

diff --git a/automotive/test/idm_controller_test.cc b/automotive/test/idm_controller_test.cc
@@ -3,7 +3,6 @@
 #include <gtest/gtest.h>
 
 #include "drake/automotive/maliput/dragway/road_geometry.h"
-#include "drake/automotive/monolane_onramp_merge.h"
 #include "drake/common/eigen_types.h"
 #include "drake/common/test_utilities/eigen_matrix_compare.h"
 #include "drake/multibody/multibody_tree/math/spatial_velocity.h"

diff --git a/automotive/test/road_path_test.cc b/automotive/test/road_path_test.cc
@@ -9,24 +9,31 @@
 #include "drake/automotive/maliput/api/lane_data.h"
 #include "drake/automotive/maliput/api/road_geometry.h"
 #include "drake/automotive/maliput/dragway/road_geometry.h"
-#include "drake/automotive/maliput/monolane/builder.h"
-#include "drake/automotive/monolane_onramp_merge.h"
+#include "drake/automotive/maliput/multilane/builder.h"
 #include "drake/common/test_utilities/eigen_matrix_compare.h"
 
 namespace drake {
 namespace automotive {
 namespace {
 
 using maliput::api::GeoPosition;
+using maliput::api::HBounds;
 using maliput::api::JunctionId;
 using maliput::api::Lane;
 using maliput::api::LaneEnd;
 using maliput::api::LanePosition;
 using maliput::api::RoadGeometry;
-using maliput::monolane::Builder;
-using maliput::monolane::Connection;
-using maliput::monolane::Endpoint;
-using maliput::monolane::EndpointZ;
+
+using maliput::multilane::ArcOffset;
+using maliput::multilane::Builder;
+using maliput::multilane::ComputationPolicy;
+using maliput::multilane::Direction;
+using maliput::multilane::Endpoint;
+using maliput::multilane::EndpointZ;
+using maliput::multilane::LaneLayout;
+using maliput::multilane::LineOffset;
+using maliput::multilane::EndReference;
+using maliput::multilane::StartReference;
 
 // The length of the straight lane segment.
 const double kStraightRoadLength{10};
@@ -41,32 +48,40 @@ const EndpointZ kEndZ{0, 0, 0, 0};  // Specifies zero elevation/super-elevation.
 
 // Build a road with two lanes in series.
 std::unique_ptr<const RoadGeometry> MakeTwoLaneRoad(bool is_opposing) {
-  Builder builder(maliput::api::RBounds(-2, 2), /* lane_bounds */
-                  maliput::api::RBounds(-4, 4), /* driveable_bounds */
-                  maliput::api::HBounds(0, 5),  /* elevation bounds */
-                  0.01,                         /* linear tolerance */
-                  M_PI_2 / 180.0);              /* angular_tolerance */
-  builder.Connect("0_fwd",                      /* id */
-                  Endpoint({0, 0, 0}, kEndZ),   /* start */
-                  kStraightRoadLength,          /* length */
-                  kEndZ);                       /* z_end */
+  Builder builder(
+      4. /* lane width */, HBounds(0., 5.), 0.01 /* linear tolerance */,
+      M_PI_2 / 180.0 /* angular tolerance */, 1. /* scale length*/,
+      ComputationPolicy::kPreferAccuracy /* accuracy */);
+  const LaneLayout lane_layout(
+      2. /* left shoulder */, 2. /* right shoulder */, 1 /* number of lanes */,
+      0 /* reference lane*/, 0. /* reference r0 */);
+
+  builder.Connect(
+      "0_fwd", lane_layout,
+      StartReference().at(Endpoint({0, 0, 0}, kEndZ), Direction::kForward),
+      LineOffset(kStraightRoadLength),
+      EndReference().z_at(kEndZ, Direction::kForward));
 
   if (is_opposing) {
     // Construct a curved segment that is directionally opposite the straight
     // lane.
-    builder.Connect("1_rev", /* id */
-                    Endpoint({kStraightRoadLength + kCurvedRoadRadius,
-                              kCurvedRoadRadius, 1.5 * M_PI},
-                             kEndZ),                        /* start */
-                    {kCurvedRoadRadius, -kCurvedRoadTheta}, /* arc */
-                    kEndZ);                                 /* z_end */
+    builder.Connect(
+        "1_rev", lane_layout,
+        StartReference().at(Endpoint({kStraightRoadLength + kCurvedRoadRadius,
+                                      kCurvedRoadRadius, 1.5 * M_PI},
+                                     kEndZ),
+                            Direction::kForward),
+        ArcOffset(kCurvedRoadRadius, -kCurvedRoadTheta),
+        EndReference().z_at(kEndZ, Direction::kForward));
   } else {
     // Construct a curved segment that is directionally confluent with the
     // straight lane.
-    builder.Connect("1_fwd",                                      /* id */
-                    Endpoint({kStraightRoadLength, 0, 0}, kEndZ), /* start */
-                    {kCurvedRoadRadius, kCurvedRoadTheta},        /* arc */
-                    kEndZ);                                       /* z_end */
+    builder.Connect(
+        "1_fwd", lane_layout,
+        StartReference().at(Endpoint({kStraightRoadLength, 0, 0}, kEndZ),
+                            Direction::kForward),
+        ArcOffset(kCurvedRoadRadius, kCurvedRoadTheta),
+        EndReference().z_at(kEndZ, Direction::kForward));
   }
 
   return builder.Build(maliput::api::RoadGeometryId("TwoLaneStretchOfRoad"));