traffic_lights.hpp

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// 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_TRAFFIC_LIGHTS_HPP_
#define TRAFFIC_SIMULATOR__LANELET_WRAPPER_TRAFFIC_LIGHTS_HPP_
 
#include <autoware_lanelet2_extension/utility/query.hpp>
#include <traffic_simulator/lanelet_wrapper/lanelet_wrapper.hpp>
 
namespace traffic_simulator
{
namespace lanelet_wrapper
{
namespace traffic_lights
{
auto isTrafficLight(const lanelet::Id lanelet_id) -> bool;
 
auto isTrafficLightRegulatoryElement(const lanelet::Id lanelet_id) -> bool;
 
auto toTrafficLightRegulatoryElement(const lanelet::Id traffic_light_regulatory_element_id)
  -> lanelet::TrafficLight::Ptr;
 
auto toAutowareTrafficLights(const lanelet::Id traffic_light_id)
  -> std::vector<lanelet::AutowareTrafficLightConstPtr>;
 
auto trafficLightIds() -> lanelet::Ids;
 
auto trafficLightBulbPosition(
  const lanelet::Id traffic_light_id, const std::string &, const bool allow_infer_position = false)
  -> std::optional<Point>;
 
auto trafficLightStopLineIds(const lanelet::Id traffic_light_id) -> lanelet::Ids;
 
auto trafficLightStopLinesPoints(const lanelet::Id traffic_light_id)
  -> std::vector<std::vector<Point>>;
 
auto trafficLightRegulatoryElementIDsFromTrafficLight(const lanelet::Id traffic_light_way_id)
  -> lanelet::Ids;
 
// On path
auto autowareTrafficLightsOnPath(const lanelet::Ids & lanelet_ids)
  -> std::vector<lanelet::AutowareTrafficLightConstPtr>;
 
auto trafficLightIdsOnPath(const lanelet::Ids & route_lanelets) -> lanelet::Ids;
}  // namespace traffic_lights
}  // namespace lanelet_wrapper
}  // namespace traffic_simulator
#endif  // TRAFFIC_SIMULATOR__LANELET_WRAPPER_TRAFFIC_LIGHTS_HPP_