lanelet_map.hpp

Go to the documentation of this file.

// Copyright 2015 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_LANELET_MAP_HPP_
#define TRAFFIC_SIMULATOR__LANELET_WRAPPER_LANELET_MAP_HPP_
 
#include <lanelet2_core/geometry/Lanelet.h>
#include <lanelet2_core/primitives/LaneletSequence.h>
 
#include <traffic_simulator/lanelet_wrapper/lanelet_wrapper.hpp>
 
namespace traffic_simulator
{
namespace lanelet_wrapper
{
namespace lanelet_map
{
// Basics
auto isInLanelet(const lanelet::Id lanelet_id, const double lanelet_pose_s) -> bool;
 
auto isInLanelet(const lanelet::Id lanelet_id, const Point point) -> bool;
 
auto laneletLength(const lanelet::Id lanelet_id) -> double;
 
auto laneletAltitude(
  const lanelet::Id & lanelet_id, const geometry_msgs::msg::Pose & pose,
  const double matching_distance) -> std::optional<double>;
 
template <typename Lanelet>
auto laneletIds(const std::vector<Lanelet> & lanelets) -> lanelet::Ids
{
  lanelet::Ids ids;
  std::transform(
    lanelets.begin(), lanelets.end(), std::back_inserter(ids),
    [](const auto & lanelet) { return lanelet.id(); });
  return ids;
}
 
auto laneletIds() -> lanelet::Ids;
 
auto nearbyLaneletIds(
  const Point & point, const double distance_threshold, const bool include_crosswalk,
  const std::size_t search_count) -> lanelet::Ids;
 
// Center points
auto centerPoints(const lanelet::Ids & lanelet_ids) -> std::vector<Point>;
 
auto centerPoints(const lanelet::Id lanelet_id) -> std::vector<Point>;
 
auto centerPointsSpline(const lanelet::Id lanelet_id) -> std::shared_ptr<Spline>;
 
// Next lanelet
auto nextLaneletIds(
  const lanelet::Id lanelet_id,
  const RoutingGraphType type = RoutingConfiguration().routing_graph_type) -> lanelet::Ids;
 
auto nextLaneletIds(
  const lanelet::Ids & lanelet_ids,
  const RoutingGraphType type = RoutingConfiguration().routing_graph_type) -> lanelet::Ids;
 
auto nextLaneletIds(
  const lanelet::Id lanelet_id, std::string_view turn_direction,
  const RoutingGraphType type = RoutingConfiguration().routing_graph_type) -> lanelet::Ids;
 
auto nextLaneletIds(
  const lanelet::Ids & lanelet_ids, std::string_view turn_direction,
  const RoutingGraphType type = RoutingConfiguration().routing_graph_type) -> lanelet::Ids;
 
// Previous lanelet
auto previousLaneletIds(
  const lanelet::Id lanelet_id,
  const RoutingGraphType type = RoutingConfiguration().routing_graph_type) -> lanelet::Ids;
 
auto previousLaneletIds(
  const lanelet::Ids & lanelet_ids,
  const RoutingGraphType type = RoutingConfiguration().routing_graph_type) -> lanelet::Ids;
 
auto previousLaneletIds(
  const lanelet::Id lanelet_id, std::string_view turn_direction,
  const RoutingGraphType type = RoutingConfiguration().routing_graph_type) -> lanelet::Ids;
 
auto previousLaneletIds(
  const lanelet::Ids & lanelet_ids, std::string_view turn_direction,
  const RoutingGraphType type = RoutingConfiguration().routing_graph_type) -> lanelet::Ids;
 
// Bounds
auto leftBound(const lanelet::Id lanelet_id) -> std::vector<Point>;
 
auto rightBound(const lanelet::Id lanelet_id) -> std::vector<Point>;
 
// Polygons
auto laneletPolygon(const lanelet::Id lanelet_id) -> std::vector<Point>;
 
auto stopLinePolygon(const lanelet::Id lanelet_id) -> std::vector<Point>;
 
auto toPolygon(const lanelet::ConstLineString3d & line_string) -> std::vector<Point>;
 
// Relations
auto rightOfWayLaneletIds(const lanelet::Ids & lanelet_ids)
  -> std::unordered_map<lanelet::Id, lanelet::Ids>;
 
auto rightOfWayLaneletIds(const lanelet::Id lanelet_id) -> lanelet::Ids;
 
auto conflictingCrosswalkIds(const lanelet::Ids & lanelet_ids) -> lanelet::Ids;
 
auto conflictingLaneIds(
  const lanelet::Ids & lanelet_ids,
  const RoutingGraphType type = RoutingConfiguration().routing_graph_type) -> lanelet::Ids;
 
// Objects on path
auto trafficSignsOnPath(const lanelet::Ids & lanelet_ids)
  -> std::vector<std::shared_ptr<const lanelet::TrafficSign>>;
 
auto trafficSigns() -> std::vector<std::shared_ptr<const lanelet::TrafficSign>>;
 
auto stopLines() -> lanelet::ConstLineStrings3d;
 
auto stopLinesOnPath(const lanelet::Ids & lanelet_ids) -> lanelet::ConstLineStrings3d;
 
auto stopLineIds() -> lanelet::Ids;
 
auto stopLineIdsOnPath(const lanelet::Ids & lanelet_ids) -> lanelet::Ids;
}  // namespace lanelet_map
}  // namespace lanelet_wrapper
}  // namespace traffic_simulator
#endif  // TRAFFIC_SIMULATOR__LANELET_WRAPPER_LANELET_MAP_HPP_