scenario_simulator_v2 C++ API
Functions
traffic_simulator::distance Namespace Reference

Functions

auto lateralDistance (const CanonicalizedLaneletPose &from, const CanonicalizedLaneletPose &to, const RoutingConfiguration &routing_configuration) -> std::optional< double >
 
auto lateralDistance (const CanonicalizedLaneletPose &from, const CanonicalizedLaneletPose &to, const double matching_distance, const RoutingConfiguration &routing_configuration) -> std::optional< double >
 
auto countLaneChanges (const CanonicalizedLaneletPose &from, const CanonicalizedLaneletPose &to, const traffic_simulator::RoutingConfiguration &routing_configuration, 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, const traffic_simulator::RoutingConfiguration &routing_configuration, 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, const RoutingConfiguration &routing_configuration) -> 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, const traffic_simulator::RoutingConfiguration &routing_configuration, 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, const lanelet::Id lanelet_id) -> double
 
auto distanceToLaneBound (const geometry_msgs::msg::Pose &map_pose, const traffic_simulator_msgs::msg::BoundingBox &bounding_box, const lanelet::Ids &lanelet_ids) -> double
 
auto distanceToLeftLaneBound (const geometry_msgs::msg::Pose &map_pose, const traffic_simulator_msgs::msg::BoundingBox &bounding_box, const lanelet::Id lanelet_id) -> double
 
auto distanceToLeftLaneBound (const geometry_msgs::msg::Pose &map_pose, const traffic_simulator_msgs::msg::BoundingBox &bounding_box, const lanelet::Ids &lanelet_ids) -> double
 
auto distanceToRightLaneBound (const geometry_msgs::msg::Pose &map_pose, const traffic_simulator_msgs::msg::BoundingBox &bounding_box, const lanelet::Id lanelet_id) -> double
 
auto distanceToRightLaneBound (const geometry_msgs::msg::Pose &map_pose, const traffic_simulator_msgs::msg::BoundingBox &bounding_box, const lanelet::Ids &lanelet_ids) -> 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 >
 
template<typename... Ts>
auto distanceToStopLine (Ts &&... xs)
 
auto distanceToSpline (const geometry_msgs::msg::Pose &map_pose, const traffic_simulator_msgs::msg::BoundingBox &bounding_box, const math::geometry::CatmullRomSplineInterface &spline, const double s_reference) -> 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,
const RoutingConfiguration &  routing_configuration 
) -> 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,
const traffic_simulator::RoutingConfiguration &  routing_configuration,
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,
const traffic_simulator::RoutingConfiguration &  routing_configuration,
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::Id  lanelet_id 
) -> double

◆ distanceToLaneBound() [2/2]

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 
) -> 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::Id  lanelet_id 
) -> double

◆ distanceToLeftLaneBound() [2/2]

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 
) -> 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::Id  lanelet_id 
) -> double

◆ distanceToRightLaneBound() [2/2]

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 
) -> double

◆ distanceToSpline()

auto traffic_simulator::distance::distanceToSpline ( const geometry_msgs::msg::Pose &  map_pose,
const traffic_simulator_msgs::msg::BoundingBox &  bounding_box,
const math::geometry::CatmullRomSplineInterface &  spline,
const double  s_reference 
) -> double
Note
it may be a good idea to develop spline.getSquaredDistanceIn2D(point, s_start, s_end);
it may be a good idea to develop spline.getSquaredDistanceIn2D(point, s_start, s_end);

◆ distanceToStopLine()

template<typename... Ts>
auto traffic_simulator::distance::distanceToStopLine ( Ts &&...  xs)

◆ lateralDistance() [1/2]

auto traffic_simulator::distance::lateralDistance ( const CanonicalizedLaneletPose &  from,
const CanonicalizedLaneletPose &  to,
const double  matching_distance,
const RoutingConfiguration &  routing_configuration 
) -> std::optional<double>

◆ lateralDistance() [2/2]

auto traffic_simulator::distance::lateralDistance ( const CanonicalizedLaneletPose &  from,
const CanonicalizedLaneletPose &  to,
const RoutingConfiguration &  routing_configuration 
) -> std::optional<double>

◆ longitudinalDistance()

auto traffic_simulator::distance::longitudinalDistance ( const CanonicalizedLaneletPose &  from,
const CanonicalizedLaneletPose &  to,
bool  include_adjacent_lanelet,
bool  include_opposite_direction,
const traffic_simulator::RoutingConfiguration &  routing_configuration,
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.

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