Functions
auto	transformToCanonicalizedLaneletPose (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, const std::shared_ptr< hdmap_utils::HdMapUtils > &hdmap_utils_ptr) -> std::optional< CanonicalizedLaneletPose >

Function Documentation

◆ transformToCanonicalizedLaneletPose()

auto traffic_simulator::pose::pedestrian::transformToCanonicalizedLaneletPose	(	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,
		const std::shared_ptr< hdmap_utils::HdMapUtils > &	hdmap_utils_ptr
	)		-> std::optional<CanonicalizedLaneletPose>

Note: Hard coded parameter. 2.0 is a matching threshold for lanelet. In this branch, the algorithm only consider entity pose.; If canonicalize failed, set end of road lanelet pose.; Hard coded parameter. 2.0 is a matching threshold for lanelet. In this branch, the algorithm only consider entity pose.; If canonicalize failed, set end of road lanelet pose.