traffic_simulator::route Namespace Reference

Typedefs
using	Point = geometry_msgs::msg::Point
using	Curve = math::geometry::HermiteCurve
using	Spline = math::geometry::CatmullRomSpline

Functions
auto	isInRoute (const lanelet::Id lanelet_id, const lanelet::Ids &route) -> bool
template<typename... Ts>
auto	routeFromGraph (Ts &&... xs)
template<typename... Ts>
auto	speedLimit (Ts &&... xs)
auto	isAnyConflictingEntity (const lanelet::Ids &following_lanelets, const std::vector< CanonicalizedLaneletPose > &other_poses) -> bool
auto	isNeedToRightOfWay (const lanelet::Ids &following_lanelets, const std::vector< CanonicalizedLaneletPose > &other_entity_poses) -> bool
template<typename... Ts>
auto	followingLanelets (Ts &&... xs)
auto	moveAlongLaneletPose (const CanonicalizedLaneletPose &canonicalized_lanelet_pose, const lanelet::Ids &route_lanelets, const double distance) -> LaneletPose
template<typename... Ts>
auto	previousLanelets (Ts &&... xs)
auto	moveBackPoints (const CanonicalizedLaneletPose &canonicalized_lanelet_pose) -> std::vector< Point >
template<typename... Ts>
auto	laneChangeableLaneletId (Ts &&... xs)
auto	laneChangeAlongLaneletPose (const CanonicalizedLaneletPose &canonicalized_lanelet_pose, const lane_change::Parameter &parameter) -> LaneletPose
auto	laneChangeTrajectory (const CanonicalizedLaneletPose &canonicalized_lanelet_pose, const lane_change::Parameter &parameter) -> std::optional< std::pair< Curve, double >>
auto	laneChangePoints (const Curve &curve, const double current_s) -> std::vector< Point >
auto	countLaneChanges (const CanonicalizedLaneletPose &from, const CanonicalizedLaneletPose &to, const RoutingConfiguration &routing_configuration) -> std::optional< std::pair< int, int >>

Typedef Documentation

Curve

using traffic_simulator::route::Curve = typedef math::geometry::HermiteCurve

Point

using traffic_simulator::route::Point = typedef geometry_msgs::msg::Point

Spline

using traffic_simulator::route::Spline = typedef math::geometry::CatmullRomSpline

Function Documentation

countLaneChanges()

auto traffic_simulator::route::countLaneChanges	(	const CanonicalizedLaneletPose &	from,
		const CanonicalizedLaneletPose &	to,
		const RoutingConfiguration &	routing_configuration
	)		-> std::optional<std::pair<int, int>>

followingLanelets()

template<typename... Ts>

auto traffic_simulator::route::followingLanelets

(

Ts &&...

xs

)

isAnyConflictingEntity()

auto traffic_simulator::route::isAnyConflictingEntity	(	const lanelet::Ids &	following_lanelets,
		const std::vector< CanonicalizedLaneletPose > &	other_poses
	)		-> bool

isInRoute()

auto traffic_simulator::route::isInRoute	(	const lanelet::Id	lanelet_id,
		const lanelet::Ids &	route
	)		-> bool

isNeedToRightOfWay()

auto traffic_simulator::route::isNeedToRightOfWay	(	const lanelet::Ids &	following_lanelets,
		const std::vector< CanonicalizedLaneletPose > &	other_entity_poses
	)		-> bool

laneChangeableLaneletId()

template<typename... Ts>

auto traffic_simulator::route::laneChangeableLaneletId

(

Ts &&...

xs

)

laneChangeAlongLaneletPose()

auto traffic_simulator::route::laneChangeAlongLaneletPose	(	const CanonicalizedLaneletPose &	canonicalized_lanelet_pose,
		const lane_change::Parameter &	parameter
	)		-> LaneletPose

laneChangePoints()

auto traffic_simulator::route::laneChangePoints	(	const Curve &	curve,
		const double	current_s
	)		-> std::vector<Point>

laneChangeTrajectory()

auto traffic_simulator::route::laneChangeTrajectory	(	const CanonicalizedLaneletPose &	canonicalized_lanelet_pose,
		const lane_change::Parameter &	parameter
	)		-> std::optional<std::pair<Curve, double>>

Note

Hard coded parameter, 10.0 is a maximum_curvature_threshold (If the curvature of the trajectory is over 10.0, the trajectory was not selected.) 20.0 is a target_trajectory_length (The one with the closest length to 20 m is selected from the candidate trajectories.) 1.0 is a forward_distance_threshold (If the goal x position in the cartesian coordinate was under 1.0, the goal was rejected.)

Hard coded parameter, 10.0 is a maximum_curvature_threshold (If the curvature of the trajectory is over 10.0, the trajectory was not selected.) 20.0 is a target_trajectory_length (The one with the closest length to 20 m is selected from the candidate trajectories.) 1.0 is a forward_distance_threshold (If the goal x position in the cartesian coordinate was under 1.0, the goal was rejected.)

moveAlongLaneletPose()

auto traffic_simulator::route::moveAlongLaneletPose	(	const CanonicalizedLaneletPose &	canonicalized_lanelet_pose,
		const lanelet::Ids &	route_lanelets,
		const double	distance
	)		-> LaneletPose

moveBackPoints()

auto traffic_simulator::route::moveBackPoints

(

const CanonicalizedLaneletPose &

canonicalized_lanelet_pose

)

-> std::vector<Point>

previousLanelets()

template<typename... Ts>

auto traffic_simulator::route::previousLanelets

(

Ts &&...

xs

)

routeFromGraph()

template<typename... Ts>

auto traffic_simulator::route::routeFromGraph

(

Ts &&...

xs

)

speedLimit()

template<typename... Ts>

auto traffic_simulator::route::speedLimit

(

Ts &&...

xs

)