.. _pilot.RoadSegment:

pilot.RoadSegment
=================

.. cpp:namespace:: pilot::RoadSegment

Class
-----

`RoadSegment` represents a connection in the :ref:`RoadMap` from one :ref:`pilot.MapNode` to another.

Inherits from :ref:`pilot.MapElement`.


Fields
------

.. cpp:member:: int from_node
	
	:ref:`pilot.MapNode` ``id`` from where the segment begins.
	
.. cpp:member:: int to_node
	
	:ref:`pilot.MapNode` ``id`` to where the segment goes.
	
.. cpp:member:: char direction = 0
	
	-1 = one way backwards, 0 = two way, 1 = one way forwards
	
.. cpp:member:: drive_mode_e drive_mode = RELAXED_PATH_FOLLOW
	
	Drive mode to be used on this segment, see :ref:`pilot.drive_mode_e`.
	
.. cpp:member:: orientation_mode_e orientation_mode = RELATIVE_ROAD
	
	Orientation mode to be used on this segment, see :ref:`pilot.orientation_mode_e`.
	
.. cpp:member:: float_param_t tolerance
	
	Lateral tolerance in [meters], how much the path can be modified while driving (to avoid obstacles, etc).
	See :ref:`pilot.float_param_t`.
	
.. cpp:member:: float_param_t orientation
	
	Orientation to drive at on this segment in [radians]. Actual orientation depends on `orientation_mode`.
	See :ref:`pilot.float_param_t`.
	
.. cpp:member:: float_param_t orientation_tolerance
	
	Maximum deviation allowed from the target orientation on this segment in [radians].
	See :ref:`pilot.float_param_t`.
	
.. cpp:member:: float_param_t max_velocity
	
	Maximum velocity allowed on this segment in [m/s].
	See :ref:`pilot.float_param_t`.
	
.. cpp:member:: float_param_t max_yawrate
	
	Maximum yawrate allowed on this segment in [rad/s].
	See :ref:`pilot.float_param_t`.
	
.. cpp:member:: set<drive_flags_e> drive_flags
	
	A set of drive flags for this segment, see :ref:`pilot.drive_flags_e`.