hdmap_utils::HdMapUtils Class Reference

#include <hdmap_utils.hpp>

Public Member Functions
	HdMapUtils (const boost::filesystem::path &, const geographic_msgs::msg::GeoPoint &)
auto	canChangeLane (const lanelet::Id from, const lanelet::Id to, const traffic_simulator::RoutingGraphType type=traffic_simulator::RoutingConfiguration().routing_graph_type) const -> bool
auto	clipTrajectoryFromLaneletIds (const lanelet::Id, const double s, const lanelet::Ids &, const double forward_distance=20) const -> std::vector< geometry_msgs::msg::Point >
auto	countLaneChanges (const traffic_simulator_msgs::msg::LaneletPose &from, const traffic_simulator_msgs::msg::LaneletPose &to, const traffic_simulator::RoutingConfiguration &routing_configuration=traffic_simulator::RoutingConfiguration()) const -> std::optional< std::pair< int, int >>
auto	filterLaneletIds (const lanelet::Ids &, const char subtype[]) const -> lanelet::Ids
auto	generateMarker () const -> visualization_msgs::msg::MarkerArray
auto	getCenterPoints (const lanelet::Ids &) const -> std::vector< geometry_msgs::msg::Point >
auto	getCenterPoints (const lanelet::Id) const -> std::vector< geometry_msgs::msg::Point >
auto	getCenterPointsSpline (const lanelet::Id) const -> std::shared_ptr< math::geometry::CatmullRomSpline >
auto	getClosestLaneletId (const geometry_msgs::msg::Pose &, const double distance_thresh=30.0, const bool include_crosswalk=false) const -> std::optional< lanelet::Id >
auto	getCollisionPointInLaneCoordinate (const lanelet::Id lanelet_id, const lanelet::Id crossing_lanelet_id) const -> std::optional< double >
auto	getConflictingCrosswalkIds (const lanelet::Ids &) const -> lanelet::Ids
auto	getConflictingLaneIds (const lanelet::Ids &, const traffic_simulator::RoutingGraphType type=traffic_simulator::RoutingConfiguration().routing_graph_type) const -> lanelet::Ids
auto	getDistanceToStopLine (const lanelet::Ids &route_lanelets, const math::geometry::CatmullRomSplineInterface &spline) const -> std::optional< double >
auto	getDistanceToStopLine (const lanelet::Ids &route_lanelets, const std::vector< geometry_msgs::msg::Point > &waypoints) const -> std::optional< double >
auto	getDistanceToTrafficLightStopLine (const lanelet::Ids &route_lanelets, const math::geometry::CatmullRomSplineInterface &spline) const -> std::optional< double >
auto	getDistanceToTrafficLightStopLine (const lanelet::Ids &route_lanelets, const std::vector< geometry_msgs::msg::Point > &waypoints) const -> std::optional< double >
auto	getDistanceToTrafficLightStopLine (const math::geometry::CatmullRomSplineInterface &spline, const lanelet::Id traffic_light_id) const -> std::optional< double >
auto	getDistanceToTrafficLightStopLine (const std::vector< geometry_msgs::msg::Point > &waypoints, const lanelet::Id traffic_light_id) const -> std::optional< double >
auto	getFollowingLanelets (const lanelet::Id current_lanelet_id, const lanelet::Ids &route, const double horizon=100, const bool include_current_lanelet_id=true, const traffic_simulator::RoutingGraphType type=traffic_simulator::RoutingConfiguration().routing_graph_type) const -> lanelet::Ids
auto	getFollowingLanelets (const lanelet::Id, const double distance=100, const bool include_self=true, const traffic_simulator::RoutingGraphType type=traffic_simulator::RoutingConfiguration().routing_graph_type) const -> lanelet::Ids
auto	getAltitude (const traffic_simulator_msgs::msg::LaneletPose &) const -> double
auto	getLaneChangeTrajectory (const geometry_msgs::msg::Pose &from, const traffic_simulator::lane_change::Parameter &lane_change_parameter, const double maximum_curvature_threshold, const double target_trajectory_length, const double forward_distance_threshold) const -> std::optional< std::pair< math::geometry::HermiteCurve, double >>
auto	getLaneChangeTrajectory (const traffic_simulator_msgs::msg::LaneletPose &from, const traffic_simulator::lane_change::Parameter &lane_change_parameter) const -> std::optional< std::pair< math::geometry::HermiteCurve, double >>
auto	getLaneChangeableLaneletId (const lanelet::Id, const traffic_simulator::lane_change::Direction, const traffic_simulator::RoutingGraphType type=traffic_simulator::RoutingConfiguration().routing_graph_type) const -> std::optional< lanelet::Id >
auto	getLaneChangeableLaneletId (const lanelet::Id, const traffic_simulator::lane_change::Direction, const std::uint8_t shift, const traffic_simulator::RoutingGraphType type=traffic_simulator::RoutingConfiguration().routing_graph_type) const -> std::optional< lanelet::Id >
auto	getLaneletIds () const -> lanelet::Ids
auto	getLaneletPolygon (const lanelet::Id) const -> std::vector< geometry_msgs::msg::Point >
auto	getLanelets (const lanelet::Ids &) const -> lanelet::Lanelets
auto	getLateralDistance (const traffic_simulator_msgs::msg::LaneletPose &from, const traffic_simulator_msgs::msg::LaneletPose &to, const traffic_simulator::RoutingConfiguration &routing_configuration=traffic_simulator::RoutingConfiguration()) const -> std::optional< double >
auto	getLeftBound (const lanelet::Id) const -> std::vector< geometry_msgs::msg::Point >
auto	getLongitudinalDistance (const traffic_simulator_msgs::msg::LaneletPose &from_pose, const traffic_simulator_msgs::msg::LaneletPose &to_pose, const traffic_simulator::RoutingConfiguration &routing_configuration=traffic_simulator::RoutingConfiguration()) const -> std::optional< double >
auto	getNearbyLaneletIds (const geometry_msgs::msg::Point &, const double distance_threshold, const bool include_crosswalk, const std::size_t search_count=5) const -> lanelet::Ids
auto	getNearbyLaneletIds (const geometry_msgs::msg::Point &, const double distance_threshold, const std::size_t search_count=5) const -> lanelet::Ids
auto	getPreviousLanelets (const lanelet::Id, const double backward_horizon=100, const traffic_simulator::RoutingGraphType type=traffic_simulator::RoutingConfiguration().routing_graph_type) const -> lanelet::Ids
auto	getRightBound (const lanelet::Id) const -> std::vector< geometry_msgs::msg::Point >
auto	getRightOfWayLaneletIds (const lanelet::Ids &) const -> std::unordered_map< lanelet::Id, lanelet::Ids >
auto	getRightOfWayLaneletIds (const lanelet::Id) const -> lanelet::Ids
auto	getRoute (const lanelet::Id from, const lanelet::Id to, const traffic_simulator::RoutingConfiguration &routing_configuration=traffic_simulator::RoutingConfiguration()) const -> lanelet::Ids
auto	getSpeedLimit (const lanelet::Ids &, const traffic_simulator::RoutingGraphType type=traffic_simulator::RoutingConfiguration().routing_graph_type) const -> double
auto	getStopLineIds () const -> lanelet::Ids
auto	getStopLineIdsOnPath (const lanelet::Ids &route_lanelets) const -> lanelet::Ids
auto	getStopLinePolygon (const lanelet::Id) const -> std::vector< geometry_msgs::msg::Point >
auto	getTangentVector (const lanelet::Id, const double s) const -> std::optional< geometry_msgs::msg::Vector3 >
auto	getTrafficLightBulbPosition (const lanelet::Id traffic_light_id, const std::string &) const -> std::optional< geometry_msgs::msg::Point >
auto	getTrafficLightIds () const -> lanelet::Ids
auto	getTrafficLightIdsOnPath (const lanelet::Ids &route_lanelets) const -> lanelet::Ids
auto	getTrafficLightRegulatoryElement (const lanelet::Id) const -> lanelet::TrafficLight::Ptr
auto	getTrafficLightRegulatoryElementIDsFromTrafficLight (const lanelet::Id) const -> lanelet::Ids
auto	getTrafficLightStopLineIds (const lanelet::Id traffic_light_id) const -> lanelet::Ids
auto	getTrafficLightStopLinesPoints (const lanelet::Id traffic_light_id) const -> std::vector< std::vector< geometry_msgs::msg::Point >>
auto	insertMarkerArray (visualization_msgs::msg::MarkerArray &, const visualization_msgs::msg::MarkerArray &) const -> void
auto	isInIntersection (const lanelet::Id) const -> bool
auto	isInLanelet (const lanelet::Id, const double s) const -> bool
auto	isInRoute (const lanelet::Id, const lanelet::Ids &route) const -> bool
auto	isTrafficLight (const lanelet::Id) const -> bool
auto	isTrafficLightRegulatoryElement (const lanelet::Id) const -> bool
auto	toMapBin () const -> autoware_map_msgs::msg::LaneletMapBin
auto	toMapPoints (const lanelet::Id, const std::vector< double > &s) const -> std::vector< geometry_msgs::msg::Point >

Constructor & Destructor Documentation

HdMapUtils()

hdmap_utils::HdMapUtils::HdMapUtils ( const boost::filesystem::path &  lanelet2_map_path, const geographic_msgs::msg::GeoPoint &    )

explicit

Member Function Documentation

canChangeLane()

auto hdmap_utils::HdMapUtils::canChangeLane	(	const lanelet::Id	from,
		const lanelet::Id	to,
		const traffic_simulator::RoutingGraphType	type = traffic_simulator::RoutingConfiguration().routing_graph_type
	)		const -> bool

clipTrajectoryFromLaneletIds()

auto hdmap_utils::HdMapUtils::clipTrajectoryFromLaneletIds	(	const lanelet::Id	lanelet_id,
		const double	s,
		const lanelet::Ids &	lanelet_ids,
		const double	forward_distance = 20
	)		const -> std::vector<geometry_msgs::msg::Point>

countLaneChanges()

auto hdmap_utils::HdMapUtils::countLaneChanges	(	const traffic_simulator_msgs::msg::LaneletPose &	from,
		const traffic_simulator_msgs::msg::LaneletPose &	to,
		const traffic_simulator::RoutingConfiguration &	routing_configuration = traffic_simulator::RoutingConfiguration()
	)		const -> std::optional<std::pair<int, int>>

Note

a lane change considers the lanes in the same direction as the original, so ignore the lanes in the opposite direction

filterLaneletIds()

auto hdmap_utils::HdMapUtils::filterLaneletIds	(	const lanelet::Ids &	lanelet_ids,
		const char	subtype[]
	)		const -> lanelet::Ids

generateMarker()

auto hdmap_utils::HdMapUtils::generateMarker

(

)

const -> visualization_msgs::msg::MarkerArray

getAltitude()

auto hdmap_utils::HdMapUtils::getAltitude

(

const traffic_simulator_msgs::msg::LaneletPose &

lanelet_pose

)

const -> double

getCenterPoints() [1/2]

auto hdmap_utils::HdMapUtils::getCenterPoints

(

const lanelet::Id

lanelet_id

)

const -> std::vector<geometry_msgs::msg::Point>

getCenterPoints() [2/2]

auto hdmap_utils::HdMapUtils::getCenterPoints

(

const lanelet::Ids &

lanelet_ids

)

const -> std::vector<geometry_msgs::msg::Point>

getCenterPointsSpline()

auto hdmap_utils::HdMapUtils::getCenterPointsSpline

(

const lanelet::Id

lanelet_id

)

const -> std::shared_ptr<math::geometry::CatmullRomSpline>

getClosestLaneletId()

auto hdmap_utils::HdMapUtils::getClosestLaneletId	(	const geometry_msgs::msg::Pose &	pose,
		const double	distance_thresh = 30.0,
		const bool	include_crosswalk = false
	)		const -> std::optional<lanelet::Id>

getCollisionPointInLaneCoordinate()

auto hdmap_utils::HdMapUtils::getCollisionPointInLaneCoordinate	(	const lanelet::Id	lanelet_id,
		const lanelet::Id	crossing_lanelet_id
	)		const -> std::optional<double>

getConflictingCrosswalkIds()

auto hdmap_utils::HdMapUtils::getConflictingCrosswalkIds

(

const lanelet::Ids &

lanelet_ids

)

const -> lanelet::Ids

getConflictingLaneIds()

auto hdmap_utils::HdMapUtils::getConflictingLaneIds	(	const lanelet::Ids &	lanelet_ids,
		const traffic_simulator::RoutingGraphType	type = traffic_simulator::RoutingConfiguration().routing_graph_type
	)		const -> lanelet::Ids

getDistanceToStopLine() [1/2]

auto hdmap_utils::HdMapUtils::getDistanceToStopLine	(	const lanelet::Ids &	route_lanelets,
		const math::geometry::CatmullRomSplineInterface &	spline
	)		const -> std::optional<double>

getDistanceToStopLine() [2/2]

auto hdmap_utils::HdMapUtils::getDistanceToStopLine	(	const lanelet::Ids &	route_lanelets,
		const std::vector< geometry_msgs::msg::Point > &	waypoints
	)		const -> std::optional<double>

getDistanceToTrafficLightStopLine() [1/4]

auto hdmap_utils::HdMapUtils::getDistanceToTrafficLightStopLine	(	const lanelet::Ids &	route_lanelets,
		const math::geometry::CatmullRomSplineInterface &	spline
	)		const -> std::optional<double>

getDistanceToTrafficLightStopLine() [2/4]

auto hdmap_utils::HdMapUtils::getDistanceToTrafficLightStopLine	(	const lanelet::Ids &	route_lanelets,
		const std::vector< geometry_msgs::msg::Point > &	waypoints
	)		const -> std::optional<double>

getDistanceToTrafficLightStopLine() [3/4]

auto hdmap_utils::HdMapUtils::getDistanceToTrafficLightStopLine	(	const math::geometry::CatmullRomSplineInterface &	spline,
		const lanelet::Id	traffic_light_id
	)		const -> std::optional<double>

getDistanceToTrafficLightStopLine() [4/4]

auto hdmap_utils::HdMapUtils::getDistanceToTrafficLightStopLine	(	const std::vector< geometry_msgs::msg::Point > &	waypoints,
		const lanelet::Id	traffic_light_id
	)		const -> std::optional<double>

getFollowingLanelets() [1/2]

auto hdmap_utils::HdMapUtils::getFollowingLanelets	(	const lanelet::Id	current_lanelet_id,
		const lanelet::Ids &	route,
		const double	horizon = 100,
		const bool	include_current_lanelet_id = true,
		const traffic_simulator::RoutingGraphType	type = traffic_simulator::RoutingConfiguration().routing_graph_type
	)		const -> lanelet::Ids

getFollowingLanelets() [2/2]

auto hdmap_utils::HdMapUtils::getFollowingLanelets	(	const lanelet::Id	lanelet_id,
		const double	distance = 100,
		const bool	include_self = true,
		const traffic_simulator::RoutingGraphType	type = traffic_simulator::RoutingConfiguration().routing_graph_type
	)		const -> lanelet::Ids

getLaneChangeableLaneletId() [1/2]

auto hdmap_utils::HdMapUtils::getLaneChangeableLaneletId	(	const lanelet::Id	lanelet_id,
		const traffic_simulator::lane_change::Direction	direction,
		const std::uint8_t	shift,
		const traffic_simulator::RoutingGraphType	type = traffic_simulator::RoutingConfiguration().routing_graph_type
	)		const -> std::optional<lanelet::Id>

getLaneChangeableLaneletId() [2/2]

auto hdmap_utils::HdMapUtils::getLaneChangeableLaneletId	(	const lanelet::Id	lanelet_id,
		const traffic_simulator::lane_change::Direction	direction,
		const traffic_simulator::RoutingGraphType	type = traffic_simulator::RoutingConfiguration().routing_graph_type
	)		const -> std::optional<lanelet::Id>

getLaneChangeTrajectory() [1/2]

auto hdmap_utils::HdMapUtils::getLaneChangeTrajectory	(	const geometry_msgs::msg::Pose &	from,
		const traffic_simulator::lane_change::Parameter &	lane_change_parameter,
		const double	maximum_curvature_threshold,
		const double	target_trajectory_length,
		const double	forward_distance_threshold
	)		const -> std::optional<std::pair<math::geometry::HermiteCurve, double>>

getLaneChangeTrajectory() [2/2]

auto hdmap_utils::HdMapUtils::getLaneChangeTrajectory	(	const traffic_simulator_msgs::msg::LaneletPose &	from,
		const traffic_simulator::lane_change::Parameter &	lane_change_parameter
	)		const -> std::optional<std::pair<math::geometry::HermiteCurve, double>>

getLaneletIds()

auto hdmap_utils::HdMapUtils::getLaneletIds

(

)

const -> lanelet::Ids

getLaneletPolygon()

auto hdmap_utils::HdMapUtils::getLaneletPolygon

(

const lanelet::Id

lanelet_id

)

const -> std::vector<geometry_msgs::msg::Point>

getLanelets()

auto hdmap_utils::HdMapUtils::getLanelets

(

const lanelet::Ids &

lanelet_ids

)

const -> lanelet::Lanelets

getLateralDistance()

auto hdmap_utils::HdMapUtils::getLateralDistance	(	const traffic_simulator_msgs::msg::LaneletPose &	from,
		const traffic_simulator_msgs::msg::LaneletPose &	to,
		const traffic_simulator::RoutingConfiguration &	routing_configuration = traffic_simulator::RoutingConfiguration()
	)		const -> std::optional<double>

getLeftBound()

auto hdmap_utils::HdMapUtils::getLeftBound

(

const lanelet::Id

lanelet_id

)

const -> std::vector<geometry_msgs::msg::Point>

getLongitudinalDistance()

auto hdmap_utils::HdMapUtils::getLongitudinalDistance	(	const traffic_simulator_msgs::msg::LaneletPose &	from_pose,
		const traffic_simulator_msgs::msg::LaneletPose &	to_pose,
		const traffic_simulator::RoutingConfiguration &	routing_configuration = traffic_simulator::RoutingConfiguration()
	)		const -> std::optional<double>

See also

https://tier4.github.io/scenario_simulator_v2-docs/developer_guide/DistanceCalculation/

Note

horizontal bar must intersect with the lanelet spline, so the distance was set arbitrarily to 10 meters.

getNearbyLaneletIds() [1/2]

auto hdmap_utils::HdMapUtils::getNearbyLaneletIds	(	const geometry_msgs::msg::Point &	point,
		const double	distance_threshold,
		const bool	include_crosswalk,
		const std::size_t	search_count = 5
	)		const -> lanelet::Ids

getNearbyLaneletIds() [2/2]

auto hdmap_utils::HdMapUtils::getNearbyLaneletIds	(	const geometry_msgs::msg::Point &	position,
		const double	distance_threshold,
		const std::size_t	search_count = 5
	)		const -> lanelet::Ids

getPreviousLanelets()

auto hdmap_utils::HdMapUtils::getPreviousLanelets	(	const lanelet::Id	current_lanelet_id,
		const double	backward_horizon = 100,
		const traffic_simulator::RoutingGraphType	type = traffic_simulator::RoutingConfiguration().routing_graph_type
	)		const -> lanelet::Ids

getRightBound()

auto hdmap_utils::HdMapUtils::getRightBound

(

const lanelet::Id

lanelet_id

)

const -> std::vector<geometry_msgs::msg::Point>

getRightOfWayLaneletIds() [1/2]

auto hdmap_utils::HdMapUtils::getRightOfWayLaneletIds

(

const lanelet::Id

lanelet_id

)

const -> lanelet::Ids

getRightOfWayLaneletIds() [2/2]

auto hdmap_utils::HdMapUtils::getRightOfWayLaneletIds

(

const lanelet::Ids &

lanelet_ids

)

const -> std::unordered_map<lanelet::Id, lanelet::Ids>

getRoute()

auto hdmap_utils::HdMapUtils::getRoute	(	const lanelet::Id	from,
		const lanelet::Id	to,
		const traffic_simulator::RoutingConfiguration &	routing_configuration = traffic_simulator::RoutingConfiguration()
	)		const -> lanelet::Ids

getSpeedLimit()

auto hdmap_utils::HdMapUtils::getSpeedLimit	(	const lanelet::Ids &	lanelet_ids,
		const traffic_simulator::RoutingGraphType	type = traffic_simulator::RoutingConfiguration().routing_graph_type
	)		const -> double

getStopLineIds()

auto hdmap_utils::HdMapUtils::getStopLineIds

(

)

const -> lanelet::Ids

getStopLineIdsOnPath()

auto hdmap_utils::HdMapUtils::getStopLineIdsOnPath

(

const lanelet::Ids &

route_lanelets

)

const -> lanelet::Ids

getStopLinePolygon()

auto hdmap_utils::HdMapUtils::getStopLinePolygon

(

const lanelet::Id

lanelet_id

)

const -> std::vector<geometry_msgs::msg::Point>

getTangentVector()

auto hdmap_utils::HdMapUtils::getTangentVector	(	const lanelet::Id	lanelet_id,
		const double	s
	)		const -> std::optional<geometry_msgs::msg::Vector3>

getTrafficLightBulbPosition()

auto hdmap_utils::HdMapUtils::getTrafficLightBulbPosition	(	const lanelet::Id	traffic_light_id,
		const std::string &	color_name
	)		const -> std::optional<geometry_msgs::msg::Point>

getTrafficLightIds()

auto hdmap_utils::HdMapUtils::getTrafficLightIds

(

)

const -> lanelet::Ids

getTrafficLightIdsOnPath()

auto hdmap_utils::HdMapUtils::getTrafficLightIdsOnPath

(

const lanelet::Ids &

route_lanelets

)

const -> lanelet::Ids

getTrafficLightRegulatoryElement()

auto hdmap_utils::HdMapUtils::getTrafficLightRegulatoryElement

(

const lanelet::Id

lanelet_id

)

const -> lanelet::TrafficLight::Ptr

getTrafficLightRegulatoryElementIDsFromTrafficLight()

auto hdmap_utils::HdMapUtils::getTrafficLightRegulatoryElementIDsFromTrafficLight

(

const lanelet::Id

traffic_light_way_id

)

const -> lanelet::Ids

getTrafficLightStopLineIds()

auto hdmap_utils::HdMapUtils::getTrafficLightStopLineIds

(

const lanelet::Id

traffic_light_id

)

const -> lanelet::Ids

getTrafficLightStopLinesPoints()

auto hdmap_utils::HdMapUtils::getTrafficLightStopLinesPoints

(

const lanelet::Id

traffic_light_id

)

const -> std::vector<std::vector<geometry_msgs::msg::Point>>

insertMarkerArray()

auto hdmap_utils::HdMapUtils::insertMarkerArray	(	visualization_msgs::msg::MarkerArray &	a1,
		const visualization_msgs::msg::MarkerArray &	a2
	)		const -> void

isInIntersection()

auto hdmap_utils::HdMapUtils::isInIntersection

(

const lanelet::Id

lanelet_id

)

const -> bool

isInLanelet()

auto hdmap_utils::HdMapUtils::isInLanelet	(	const lanelet::Id	lanelet_id,
		const double	s
	)		const -> bool

isInRoute()

auto hdmap_utils::HdMapUtils::isInRoute	(	const lanelet::Id	lanelet_id,
		const lanelet::Ids &	route
	)		const -> bool

isTrafficLight()

auto hdmap_utils::HdMapUtils::isTrafficLight

(

const lanelet::Id

lanelet_id

)

const -> bool

isTrafficLightRegulatoryElement()

auto hdmap_utils::HdMapUtils::isTrafficLightRegulatoryElement

(

const lanelet::Id

lanelet_id

)

const -> bool

toMapBin()

auto hdmap_utils::HdMapUtils::toMapBin

(

)

const -> autoware_map_msgs::msg::LaneletMapBin

toMapPoints()

auto hdmap_utils::HdMapUtils::toMapPoints	(	const lanelet::Id	lanelet_id,
		const std::vector< double > &	s
	)		const -> std::vector<geometry_msgs::msg::Point>

---

The documentation for this class was generated from the following files:

• simulation/traffic_simulator/include/traffic_simulator/hdmap_utils/hdmap_utils.hpp
• simulation/traffic_simulator/src/hdmap_utils/hdmap_utils.cpp