traffic_simulator::distance Namespace Reference

Functions
auto	lateralDistance (const CanonicalizedLaneletPose &from, const CanonicalizedLaneletPose &to, bool allow_lane_change, const std::shared_ptr< hdmap_utils::HdMapUtils > &hdmap_utils_ptr) -> std::optional< double >
auto	lateralDistance (const CanonicalizedLaneletPose &from, const CanonicalizedLaneletPose &to, double matching_distance, bool allow_lane_change, const std::shared_ptr< hdmap_utils::HdMapUtils > &hdmap_utils_ptr) -> std::optional< double >
auto	countLaneChanges (const CanonicalizedLaneletPose &from, const CanonicalizedLaneletPose &to, bool allow_lane_change, const std::shared_ptr< hdmap_utils::HdMapUtils > &hdmap_utils_ptr) -> std::optional< std::pair< int, int >>
auto	longitudinalDistance (const CanonicalizedLaneletPose &from, const CanonicalizedLaneletPose &to, bool include_adjacent_lanelet, bool include_opposite_direction, bool allow_lane_change, const std::shared_ptr< hdmap_utils::HdMapUtils > &hdmap_utils_ptr) -> std::optional< double >
auto	boundingBoxDistance (const geometry_msgs::msg::Pose &from, const traffic_simulator_msgs::msg::BoundingBox &from_bounding_box, const geometry_msgs::msg::Pose &to, const traffic_simulator_msgs::msg::BoundingBox &to_bounding_box) -> std::optional< double >
auto	boundingBoxLaneLateralDistance (const CanonicalizedLaneletPose &from, const traffic_simulator_msgs::msg::BoundingBox &from_bounding_box, const CanonicalizedLaneletPose &to, const traffic_simulator_msgs::msg::BoundingBox &to_bounding_box, bool allow_lane_change, const std::shared_ptr< hdmap_utils::HdMapUtils > &hdmap_utils_ptr) -> std::optional< double >
auto	boundingBoxLaneLongitudinalDistance (const CanonicalizedLaneletPose &from, const traffic_simulator_msgs::msg::BoundingBox &from_bounding_box, const CanonicalizedLaneletPose &to, const traffic_simulator_msgs::msg::BoundingBox &to_bounding_box, bool include_adjacent_lanelet, bool include_opposite_direction, bool allow_lane_change, const std::shared_ptr< hdmap_utils::HdMapUtils > &hdmap_utils_ptr) -> std::optional< double >
auto	distanceToLaneBound (const geometry_msgs::msg::Pose &map_pose, const traffic_simulator_msgs::msg::BoundingBox &bounding_box, lanelet::Id lanelet_id, const std::shared_ptr< hdmap_utils::HdMapUtils > &hdmap_utils_ptr) -> double
auto	distanceToLaneBound (const geometry_msgs::msg::Pose &map_pose, const traffic_simulator_msgs::msg::BoundingBox &bounding_box, const lanelet::Ids &lanelet_ids, const std::shared_ptr< hdmap_utils::HdMapUtils > &hdmap_utils_ptr) -> double
auto	distanceToLeftLaneBound (const geometry_msgs::msg::Pose &map_pose, const traffic_simulator_msgs::msg::BoundingBox &bounding_box, lanelet::Id lanelet_id, const std::shared_ptr< hdmap_utils::HdMapUtils > &hdmap_utils_ptr) -> double
auto	distanceToLeftLaneBound (const geometry_msgs::msg::Pose &map_pose, const traffic_simulator_msgs::msg::BoundingBox &bounding_box, const lanelet::Ids &lanelet_ids, const std::shared_ptr< hdmap_utils::HdMapUtils > &hdmap_utils_ptr) -> double
auto	distanceToRightLaneBound (const geometry_msgs::msg::Pose &map_pose, const traffic_simulator_msgs::msg::BoundingBox &bounding_box, lanelet::Id lanelet_id, const std::shared_ptr< hdmap_utils::HdMapUtils > &hdmap_utils_ptr) -> double
auto	distanceToRightLaneBound (const geometry_msgs::msg::Pose &map_pose, const traffic_simulator_msgs::msg::BoundingBox &bounding_box, const lanelet::Ids &lanelet_ids, const std::shared_ptr< hdmap_utils::HdMapUtils > &hdmap_utils_ptr) -> double
auto	distanceToCrosswalk (const traffic_simulator_msgs::msg::WaypointsArray &waypoints_array, const lanelet::Id target_crosswalk_id, const std::shared_ptr< hdmap_utils::HdMapUtils > &hdmap_utils_ptr) -> std::optional< double >
auto	distanceToStopLine (const traffic_simulator_msgs::msg::WaypointsArray &waypoints_array, const lanelet::Id target_stop_line_id, const std::shared_ptr< hdmap_utils::HdMapUtils > &hdmap_utils_ptr) -> std::optional< double >

Function Documentation

boundingBoxDistance()

auto traffic_simulator::distance::boundingBoxDistance	(	const geometry_msgs::msg::Pose &	from,
		const traffic_simulator_msgs::msg::BoundingBox &	from_bounding_box,
		const geometry_msgs::msg::Pose &	to,
		const traffic_simulator_msgs::msg::BoundingBox &	to_bounding_box
	)		-> std::optional<double>

boundingBoxLaneLateralDistance()

auto traffic_simulator::distance::boundingBoxLaneLateralDistance	(	const CanonicalizedLaneletPose &	from,
		const traffic_simulator_msgs::msg::BoundingBox &	from_bounding_box,
		const CanonicalizedLaneletPose &	to,
		const traffic_simulator_msgs::msg::BoundingBox &	to_bounding_box,
		bool	allow_lane_change,
		const std::shared_ptr< hdmap_utils::HdMapUtils > &	hdmap_utils_ptr
	)		-> std::optional<double>

boundingBoxLaneLongitudinalDistance()

auto traffic_simulator::distance::boundingBoxLaneLongitudinalDistance	(	const CanonicalizedLaneletPose &	from,
		const traffic_simulator_msgs::msg::BoundingBox &	from_bounding_box,
		const CanonicalizedLaneletPose &	to,
		const traffic_simulator_msgs::msg::BoundingBox &	to_bounding_box,
		bool	include_adjacent_lanelet,
		bool	include_opposite_direction,
		bool	allow_lane_change,
		const std::shared_ptr< hdmap_utils::HdMapUtils > &	hdmap_utils_ptr
	)		-> std::optional<double>

countLaneChanges()

auto traffic_simulator::distance::countLaneChanges	(	const CanonicalizedLaneletPose &	from,
		const CanonicalizedLaneletPose &	to,
		bool	allow_lane_change,
		const std::shared_ptr< hdmap_utils::HdMapUtils > &	hdmap_utils_ptr
	)		-> std::optional<std::pair<int, int>>

distanceToCrosswalk()

auto traffic_simulator::distance::distanceToCrosswalk	(	const traffic_simulator_msgs::msg::WaypointsArray &	waypoints_array,
		const lanelet::Id	target_crosswalk_id,
		const std::shared_ptr< hdmap_utils::HdMapUtils > &	hdmap_utils_ptr
	)		-> std::optional<double>

distanceToLaneBound() [1/2]

auto traffic_simulator::distance::distanceToLaneBound	(	const geometry_msgs::msg::Pose &	map_pose,
		const traffic_simulator_msgs::msg::BoundingBox &	bounding_box,
		const lanelet::Ids &	lanelet_ids,
		const std::shared_ptr< hdmap_utils::HdMapUtils > &	hdmap_utils_ptr
	)		-> double

distanceToLaneBound() [2/2]

auto traffic_simulator::distance::distanceToLaneBound	(	const geometry_msgs::msg::Pose &	map_pose,
		const traffic_simulator_msgs::msg::BoundingBox &	bounding_box,
		lanelet::Id	lanelet_id,
		const std::shared_ptr< hdmap_utils::HdMapUtils > &	hdmap_utils_ptr
	)		-> double

distanceToLeftLaneBound() [1/2]

auto traffic_simulator::distance::distanceToLeftLaneBound	(	const geometry_msgs::msg::Pose &	map_pose,
		const traffic_simulator_msgs::msg::BoundingBox &	bounding_box,
		const lanelet::Ids &	lanelet_ids,
		const std::shared_ptr< hdmap_utils::HdMapUtils > &	hdmap_utils_ptr
	)		-> double

distanceToLeftLaneBound() [2/2]

auto traffic_simulator::distance::distanceToLeftLaneBound	(	const geometry_msgs::msg::Pose &	map_pose,
		const traffic_simulator_msgs::msg::BoundingBox &	bounding_box,
		lanelet::Id	lanelet_id,
		const std::shared_ptr< hdmap_utils::HdMapUtils > &	hdmap_utils_ptr
	)		-> double

distanceToRightLaneBound() [1/2]

auto traffic_simulator::distance::distanceToRightLaneBound	(	const geometry_msgs::msg::Pose &	map_pose,
		const traffic_simulator_msgs::msg::BoundingBox &	bounding_box,
		const lanelet::Ids &	lanelet_ids,
		const std::shared_ptr< hdmap_utils::HdMapUtils > &	hdmap_utils_ptr
	)		-> double

distanceToRightLaneBound() [2/2]

auto traffic_simulator::distance::distanceToRightLaneBound	(	const geometry_msgs::msg::Pose &	map_pose,
		const traffic_simulator_msgs::msg::BoundingBox &	bounding_box,
		lanelet::Id	lanelet_id,
		const std::shared_ptr< hdmap_utils::HdMapUtils > &	hdmap_utils_ptr
	)		-> double

distanceToStopLine()

auto traffic_simulator::distance::distanceToStopLine	(	const traffic_simulator_msgs::msg::WaypointsArray &	waypoints_array,
		const lanelet::Id	target_stop_line_id,
		const std::shared_ptr< hdmap_utils::HdMapUtils > &	hdmap_utils_ptr
	)		-> std::optional<double>

lateralDistance() [1/2]

auto traffic_simulator::distance::lateralDistance	(	const CanonicalizedLaneletPose &	from,
		const CanonicalizedLaneletPose &	to,
		bool	allow_lane_change,
		const std::shared_ptr< hdmap_utils::HdMapUtils > &	hdmap_utils_ptr
	)		-> std::optional<double>

lateralDistance() [2/2]

auto traffic_simulator::distance::lateralDistance	(	const CanonicalizedLaneletPose &	from,
		const CanonicalizedLaneletPose &	to,
		double	matching_distance,
		bool	allow_lane_change,
		const std::shared_ptr< hdmap_utils::HdMapUtils > &	hdmap_utils_ptr
	)		-> std::optional<double>

longitudinalDistance()

auto traffic_simulator::distance::longitudinalDistance	(	const CanonicalizedLaneletPose &	from,
		const CanonicalizedLaneletPose &	to,
		bool	include_adjacent_lanelet,
		bool	include_opposite_direction,
		bool	allow_lane_change,
		const std::shared_ptr< hdmap_utils::HdMapUtils > &	hdmap_utils_ptr
	)		-> std::optional< double >

See also

https://github.com/tier4/scenario_simulator_v2/blob/729e4e6372cdba60e377ae097d032905b80763a9/docs/developer_guide/lane_pose_calculation/GetLongitudinalDistance.md

A matching distance of about 1.5*lane widths is given as the matching distance to match the Entity present on the adjacent Lanelet. The length of the horizontal bar must intersect with the adjacent lanelet, so it is always 10m regardless of the entity type.

A matching distance of about 1.5*lane widths is given as the matching distance to match the Entity present on the adjacent Lanelet. The length of the horizontal bar must intersect with the adjacent lanelet, so it is always 10m regardless of the entity type.