lane_change.hpp

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// Copyright 2024 TIER IV, Inc. All rights reserved.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
#ifndef TRAFFIC_SIMULATOR__LANELET_WRAPPER_LANE_CHANGE_HPP_
#define TRAFFIC_SIMULATOR__LANELET_WRAPPER_LANE_CHANGE_HPP_
 
#include <traffic_simulator/data_type/lane_change.hpp>
#include <traffic_simulator/lanelet_wrapper/lanelet_wrapper.hpp>
 
namespace traffic_simulator
{
namespace lanelet_wrapper
{
namespace lane_change
{
using Parameter = traffic_simulator::lane_change::Parameter;
using Direction = traffic_simulator::lane_change::Direction;
using Constraint = traffic_simulator::lane_change::Constraint;
using TrajectoryShape = traffic_simulator::lane_change::TrajectoryShape;
 
auto canChangeLane(
  const lanelet::Id from_lanelet_id, const lanelet::Id to_lanelet_id,
  const RoutingGraphType type = RoutingConfiguration().routing_graph_type) -> bool;
 
auto laneChangeableLaneletId(
  const lanelet::Id lanelet_id, const Direction & direction,
  const RoutingGraphType type = RoutingConfiguration().routing_graph_type)
  -> std::optional<lanelet::Id>;
 
auto laneChangeableLaneletId(
  const lanelet::Id lanelet_id, const Direction & direction, const std::uint8_t shift,
  const RoutingGraphType type = RoutingConfiguration().routing_graph_type)
  -> std::optional<lanelet::Id>;
 
auto countLaneChanges(
  const lanelet::Id & from_lanelet_id, const lanelet::Id & to_lanelet_id,
  const RoutingConfiguration & routing_configuration = RoutingConfiguration())
  -> std::optional<std::pair<int, int>>;
 
// Trajectory
auto laneChangeTrajectory(
  const Pose & from_pose, const LaneletPose & to_lanelet_pose,
  const TrajectoryShape & trajectory_shape, const double tangent_vector_size) -> Curve;
 
auto laneChangeTrajectory(
  const LaneletPose & from_lanelet_pose, const Parameter & lane_change_parameter)
  -> std::optional<std::pair<Curve, double>>;
 
auto laneChangeTrajectory(
  const Pose & from_pose, const Parameter & lane_change_parameter,
  const double maximum_curvature_threshold, const double target_trajectory_length,
  const double forward_distance_threshold) -> std::optional<std::pair<Curve, double>>;
}  // namespace lane_change
}  // namespace lanelet_wrapper
}  // namespace traffic_simulator
#endif  // TRAFFIC_SIMULATOR__LANELET_WRAPPER_LANE_CHANGE_HPP_