traffic_simulator::pose Namespace Reference

Namespaces
	pedestrian

Functions
auto	quietNaNPose () -> geometry_msgs::msg::Pose
auto	quietNaNLaneletPose () -> LaneletPose
auto	canonicalize (const LaneletPose &lanelet_pose) -> LaneletPose
auto	canonicalize (const LaneletPose &lanelet_pose, const lanelet::Ids &route_lanelets) -> LaneletPose
auto	toMapPose (const CanonicalizedLaneletPose &lanelet_pose) -> geometry_msgs::msg::Pose
auto	toMapPose (const LaneletPose &lanelet_pose) -> geometry_msgs::msg::Pose
auto	alternativeLaneletPoses (const LaneletPose &lanelet_pose) -> std::vector< LaneletPose >
auto	toCanonicalizedLaneletPose (const LaneletPose &lanelet_pose) -> std::optional< CanonicalizedLaneletPose >
auto	toCanonicalizedLaneletPose (const geometry_msgs::msg::Pose &map_pose, const bool include_crosswalk) -> std::optional< CanonicalizedLaneletPose >
auto	toCanonicalizedLaneletPose (const geometry_msgs::msg::Pose &map_pose, const traffic_simulator_msgs::msg::BoundingBox &bounding_box, const bool include_crosswalk, const double matching_distance) -> std::optional< CanonicalizedLaneletPose >
auto	toCanonicalizedLaneletPose (const geometry_msgs::msg::Pose &map_pose, const traffic_simulator_msgs::msg::BoundingBox &bounding_box, const lanelet::Ids &unique_route_lanelets, const bool include_crosswalk, const double matching_distance) -> std::optional< CanonicalizedLaneletPose >
auto	transformRelativePoseToGlobal (const geometry_msgs::msg::Pose &global_pose, const geometry_msgs::msg::Pose &relative_pose) -> geometry_msgs::msg::Pose
auto	updatePositionForLaneletTransition (const CanonicalizedLaneletPose &canonicalized_lanelet_pose, const lanelet::Id next_lanelet_id, const geometry_msgs::msg::Vector3 &desired_velocity, const bool desired_velocity_is_global, const double step_time) -> std::optional< geometry_msgs::msg::Point >
auto	relativePose (const geometry_msgs::msg::Pose &from, const geometry_msgs::msg::Pose &to) -> std::optional< geometry_msgs::msg::Pose >
auto	relativePose (const geometry_msgs::msg::Pose &from, const CanonicalizedLaneletPose &to) -> std::optional< geometry_msgs::msg::Pose >
auto	relativePose (const CanonicalizedLaneletPose &from, const geometry_msgs::msg::Pose &to) -> std::optional< geometry_msgs::msg::Pose >
auto	boundingBoxRelativePose (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< geometry_msgs::msg::Pose >
auto	isAltitudeMatching (const CanonicalizedLaneletPose &lanelet_pose, const CanonicalizedLaneletPose &target_lanelet_pose) -> bool
auto	relativeLaneletPose (const CanonicalizedLaneletPose &from, const CanonicalizedLaneletPose &to, const RoutingConfiguration &routing_configuration, const std::shared_ptr< hdmap_utils::HdMapUtils > &hdmap_utils_ptr) -> LaneletPose
auto	boundingBoxRelativeLaneletPose (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, const std::shared_ptr< hdmap_utils::HdMapUtils > &hdmap_utils_ptr) -> LaneletPose
auto	isInLanelet (const CanonicalizedLaneletPose &canonicalized_lanelet_pose, const lanelet::Id lanelet_id, const double tolerance, const std::shared_ptr< hdmap_utils::HdMapUtils > &hdmap_utils_ptr) -> bool
auto	isInLanelet (const geometry_msgs::msg::Point &point, const lanelet::Id lanelet_id) -> bool
auto	isAtEndOfLanelets (const CanonicalizedLaneletPose &canonicalized_lanelet_pose, const std::shared_ptr< hdmap_utils::HdMapUtils > &hdmap_utils_ptr) -> bool
auto	findRoutableAlternativeLaneletPoseFrom (const lanelet::Id from_lanelet_id, const CanonicalizedLaneletPose &canonicalized_lanelet_pose, const traffic_simulator_msgs::msg::BoundingBox &to_bounding_box) -> std::optional< traffic_simulator::CanonicalizedLaneletPose >

Function Documentation

alternativeLaneletPoses()

auto traffic_simulator::pose::alternativeLaneletPoses

(

const LaneletPose &

lanelet_pose

)

-> std::vector<LaneletPose>

boundingBoxRelativeLaneletPose()

auto traffic_simulator::pose::boundingBoxRelativeLaneletPose	(	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,
		const std::shared_ptr< hdmap_utils::HdMapUtils > &	hdmap_utils_ptr
	)		-> LaneletPose

Todo:

HdMapUtils will be removed when lanelet_wrapper::distance is added

Note

here the s and offset are intentionally assigned independently, even if it is not possible to calculate one of them - it happens that one is sufficient

here the s and offset are intentionally assigned independently, even if it is not possible to calculate one of them - it happens that one is sufficient

boundingBoxRelativePose()

auto traffic_simulator::pose::boundingBoxRelativePose	(	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<geometry_msgs::msg::Pose>

canonicalize() [1/2]

auto traffic_simulator::pose::canonicalize

(

const LaneletPose &

lanelet_pose

)

-> LaneletPose

Note

Conversions

canonicalize() [2/2]

auto traffic_simulator::pose::canonicalize	(	const LaneletPose &	lanelet_pose,
		const lanelet::Ids &	route_lanelets
	)		-> LaneletPose

findRoutableAlternativeLaneletPoseFrom()

auto traffic_simulator::pose::findRoutableAlternativeLaneletPoseFrom	(	const lanelet::Id	from_lanelet_id,
		const CanonicalizedLaneletPose &	canonicalized_lanelet_pose,
		const traffic_simulator_msgs::msg::BoundingBox &	to_bounding_box
	)		-> std::optional<traffic_simulator::CanonicalizedLaneletPose>

Note

search_distance should be minimal, just to check nearest neighbour lanelets

default_match_to_lane_reduction_ratio is constant described in hdmap_utils.hpp

route::route requires routing_configuration, 'allow_lane_change = true' is needed to check distances to entities on neighbour lanelets

if there is already a route from_lanelet_id->to_lanelet_id, return it if not, transform the 'to_lanelet_id' position into the nearby lanelets and search for a route in relation to them

we want to have alternative lanelet pose with shortest route so we search for minimum

search_distance should be minimal, just to check nearest neighbour lanelets

default_match_to_lane_reduction_ratio is constant described in hdmap_utils.hpp

route::route requires routing_configuration, 'allow_lane_change = true' is needed to check distances to entities on neighbour lanelets

if there is already a route from_lanelet_id->to_lanelet_id, return it if not, transform the 'to_lanelet_id' position into the nearby lanelets and search for a route in relation to them

we want to have alternative lanelet pose with shortest route so we search for minimum

isAltitudeMatching()

auto traffic_simulator::pose::isAltitudeMatching	(	const CanonicalizedLaneletPose &	lanelet_pose,
		const CanonicalizedLaneletPose &	target_lanelet_pose
	)		-> bool

Note

Relative msg::Pose

isAtEndOfLanelets()

auto traffic_simulator::pose::isAtEndOfLanelets	(	const CanonicalizedLaneletPose &	canonicalized_lanelet_pose,
		const std::shared_ptr< hdmap_utils::HdMapUtils > &	hdmap_utils_ptr
	)		-> bool

Todo:

HdMapUtils will be removed when lanelet_wrapper::distance is added

isInLanelet() [1/2]

auto traffic_simulator::pose::isInLanelet	(	const CanonicalizedLaneletPose &	canonicalized_lanelet_pose,
		const lanelet::Id	lanelet_id,
		const double	tolerance,
		const std::shared_ptr< hdmap_utils::HdMapUtils > &	hdmap_utils_ptr
	)		-> bool

Todo:

HdMapUtils will be removed when lanelet_wrapper::distance is added

isInLanelet() [2/2]

auto traffic_simulator::pose::isInLanelet	(	const geometry_msgs::msg::Point &	point,
		const lanelet::Id	lanelet_id
	)		-> bool

quietNaNLaneletPose()

auto traffic_simulator::pose::quietNaNLaneletPose

(

)

-> LaneletPose

quietNaNPose()

auto traffic_simulator::pose::quietNaNPose

(

)

-> geometry_msgs::msg::Pose

relativeLaneletPose()

auto traffic_simulator::pose::relativeLaneletPose	(	const CanonicalizedLaneletPose &	from,
		const CanonicalizedLaneletPose &	to,
		const RoutingConfiguration &	routing_configuration,
		const std::shared_ptr< hdmap_utils::HdMapUtils > &	hdmap_utils_ptr
	)		-> LaneletPose

Note

Relative LaneletPose

Todo:

HdMapUtils will be removed when lanelet_wrapper::distance is added

Note

here the s and offset are intentionally assigned independently, even if it is not possible to calculate one of them - it happens that one is sufficient

here the s and offset are intentionally assigned independently, even if it is not possible to calculate one of them - it happens that one is sufficient

relativePose() [1/3]

auto traffic_simulator::pose::relativePose	(	const CanonicalizedLaneletPose &	from,
		const geometry_msgs::msg::Pose &	to
	)		-> std::optional<geometry_msgs::msg::Pose>

relativePose() [2/3]

auto traffic_simulator::pose::relativePose	(	const geometry_msgs::msg::Pose &	from,
		const CanonicalizedLaneletPose &	to
	)		-> std::optional<geometry_msgs::msg::Pose>

relativePose() [3/3]

auto traffic_simulator::pose::relativePose	(	const geometry_msgs::msg::Pose &	from,
		const geometry_msgs::msg::Pose &	to
	)		-> std::optional<geometry_msgs::msg::Pose>

toCanonicalizedLaneletPose() [1/4]

auto traffic_simulator::pose::toCanonicalizedLaneletPose	(	const geometry_msgs::msg::Pose &	map_pose,
		const bool	include_crosswalk
	)		-> std::optional<CanonicalizedLaneletPose>

Todo:

here matching_distance should be passed

Todo:

here matching_distance should be passed

toCanonicalizedLaneletPose() [2/4]

auto traffic_simulator::pose::toCanonicalizedLaneletPose	(	const geometry_msgs::msg::Pose &	map_pose,
		const traffic_simulator_msgs::msg::BoundingBox &	bounding_box,
		const bool	include_crosswalk,
		const double	matching_distance
	)		-> std::optional<CanonicalizedLaneletPose>

toCanonicalizedLaneletPose() [3/4]

auto traffic_simulator::pose::toCanonicalizedLaneletPose	(	const geometry_msgs::msg::Pose &	map_pose,
		const traffic_simulator_msgs::msg::BoundingBox &	bounding_box,
		const lanelet::Ids &	unique_route_lanelets,
		const bool	include_crosswalk,
		const double	matching_distance
	)		-> std::optional<CanonicalizedLaneletPose>

toCanonicalizedLaneletPose() [4/4]

auto traffic_simulator::pose::toCanonicalizedLaneletPose

(

const LaneletPose &

lanelet_pose

)

-> std::optional<CanonicalizedLaneletPose>

toMapPose() [1/2]

auto traffic_simulator::pose::toMapPose

(

const CanonicalizedLaneletPose &

lanelet_pose

)

-> geometry_msgs::msg::Pose

toMapPose() [2/2]

auto traffic_simulator::pose::toMapPose

(

const LaneletPose &

lanelet_pose

)

-> geometry_msgs::msg::Pose

transformRelativePoseToGlobal()

auto traffic_simulator::pose::transformRelativePoseToGlobal	(	const geometry_msgs::msg::Pose &	global_pose,
		const geometry_msgs::msg::Pose &	relative_pose
	)		-> geometry_msgs::msg::Pose

updatePositionForLaneletTransition()

auto traffic_simulator::pose::updatePositionForLaneletTransition	(	const CanonicalizedLaneletPose &	canonicalized_lanelet_pose,
		const lanelet::Id	next_lanelet_id,
		const geometry_msgs::msg::Vector3 &	desired_velocity,
		const bool	desired_velocity_is_global,
		const double	step_time
	)		-> std::optional< geometry_msgs::msg::Point >

Note

This function does not modify the orientation of entity.

Note

Determine the displacement in the 2D lanelet coordinate system

Transform desired (global) velocity to local velocity

if longitudinal displacement exceeds the current lanelet length, use next lanelet if possible

Determine the displacement in the 2D lanelet coordinate system

Transform desired (global) velocity to local velocity

if longitudinal displacement exceeds the current lanelet length, use next lanelet if possible