15 #ifndef TRAFFIC_SIMULATOR__UTILS__POSE_HPP_
16 #define TRAFFIC_SIMULATOR__UTILS__POSE_HPP_
32 const std::shared_ptr<hdmap_utils::HdMapUtils> & hdmap_utils_ptr)
33 -> std::optional<CanonicalizedLaneletPose>;
39 const std::shared_ptr<hdmap_utils::HdMapUtils> & hdmap_utils_ptr) -> geometry_msgs::msg::Pose;
42 const geometry_msgs::msg::Pose & map_pose,
const bool include_crosswalk,
43 const std::shared_ptr<hdmap_utils::HdMapUtils> & hdmap_utils_ptr)
44 -> std::optional<CanonicalizedLaneletPose>;
47 const geometry_msgs::msg::Pose & map_pose,
48 const traffic_simulator_msgs::msg::BoundingBox & bounding_box,
const bool include_crosswalk,
49 const double matching_distance,
const std::shared_ptr<hdmap_utils::HdMapUtils> & hdmap_utils_ptr)
50 -> std::optional<CanonicalizedLaneletPose>;
53 const geometry_msgs::msg::Pose & map_pose,
54 const traffic_simulator_msgs::msg::BoundingBox & bounding_box,
55 const lanelet::Ids & unique_route_lanelets,
const bool include_crosswalk,
56 const double matching_distance,
const std::shared_ptr<hdmap_utils::HdMapUtils> & hdmap_utils_ptr)
57 -> std::optional<CanonicalizedLaneletPose>;
60 const geometry_msgs::msg::Pose & global_pose,
const geometry_msgs::msg::Pose & relative_pose)
61 -> geometry_msgs::msg::Pose;
64 auto relativePose(
const geometry_msgs::msg::Pose & from,
const geometry_msgs::msg::Pose & to)
65 -> std::optional<geometry_msgs::msg::Pose>;
68 -> std::optional<geometry_msgs::msg::Pose>;
71 -> std::optional<geometry_msgs::msg::Pose>;
74 const geometry_msgs::msg::Pose & from,
75 const traffic_simulator_msgs::msg::BoundingBox & from_bounding_box,
76 const geometry_msgs::msg::Pose & to,
77 const traffic_simulator_msgs::msg::BoundingBox & to_bounding_box)
78 -> std::optional<geometry_msgs::msg::Pose>;
84 const std::shared_ptr<hdmap_utils::HdMapUtils> & hdmap_utils_ptr) ->
LaneletPose;
88 const traffic_simulator_msgs::msg::BoundingBox & from_bounding_box,
90 const traffic_simulator_msgs::msg::BoundingBox & to_bounding_box,
92 const std::shared_ptr<hdmap_utils::HdMapUtils> & hdmap_utils_ptr) ->
LaneletPose;
97 const double tolerance,
const std::shared_ptr<hdmap_utils::HdMapUtils> & hdmap_utils_ptr) -> bool;
101 const std::shared_ptr<hdmap_utils::HdMapUtils> & hdmap_utils_ptr) -> bool;
105 const lanelet::Id lanelet_id,
const std::shared_ptr<hdmap_utils::HdMapUtils> & hdmap_utils_ptr)
111 const geometry_msgs::msg::Pose & map_pose,
112 const traffic_simulator_msgs::msg::BoundingBox & bounding_box,
113 const lanelet::Ids & unique_route_lanelets,
const bool include_crosswalk,
114 const double matching_distance,
const std::shared_ptr<hdmap_utils::HdMapUtils> & hdmap_utils_ptr)
115 -> std::optional<CanonicalizedLaneletPose>;
Definition: lanelet_pose.hpp:27
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 >
Definition: pose.cpp:288
auto laneletLength(const lanelet::Id lanelet_id, const std::shared_ptr< hdmap_utils::HdMapUtils > &hdmap_utils_ptr) -> double
Definition: pose.cpp:274
auto quietNaNPose() -> geometry_msgs::msg::Pose
Definition: pose.cpp:25
auto canonicalize(const LaneletPose &lanelet_pose, const std::shared_ptr< hdmap_utils::HdMapUtils > &hdmap_utils_ptr) -> std::optional< CanonicalizedLaneletPose >
Definition: pose.cpp:47
auto quietNaNLaneletPose() -> LaneletPose
Definition: pose.cpp:35
auto relativeLaneletPose(const CanonicalizedLaneletPose &from, const CanonicalizedLaneletPose &to, const traffic_simulator::RoutingConfiguration &routing_configuration, const std::shared_ptr< hdmap_utils::HdMapUtils > &hdmap_utils_ptr) -> LaneletPose
Definition: pose.cpp:178
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 >
Definition: pose.cpp:158
auto relativePose(const geometry_msgs::msg::Pose &from, const geometry_msgs::msg::Pose &to) -> std::optional< geometry_msgs::msg::Pose >
Definition: pose.cpp:136
auto isAtEndOfLanelets(const CanonicalizedLaneletPose &canonicalized_lanelet_pose, const std::shared_ptr< hdmap_utils::HdMapUtils > &hdmap_utils_ptr) -> bool
Definition: pose.cpp:265
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 traffic_simulator::RoutingConfiguration &routing_configuration, const std::shared_ptr< hdmap_utils::HdMapUtils > &hdmap_utils_ptr) -> LaneletPose
Definition: pose.cpp:203
auto transformRelativePoseToGlobal(const geometry_msgs::msg::Pose &global_pose, const geometry_msgs::msg::Pose &relative_pose) -> geometry_msgs::msg::Pose
Definition: pose.cpp:124
auto toCanonicalizedLaneletPose(const geometry_msgs::msg::Pose &map_pose, const bool include_crosswalk, const std::shared_ptr< hdmap_utils::HdMapUtils > &hdmap_utils_ptr) -> std::optional< CanonicalizedLaneletPose >
Definition: pose.cpp:73
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
Definition: pose.cpp:231
auto toMapPose(const CanonicalizedLaneletPose &lanelet_pose) -> geometry_msgs::msg::Pose
Definition: pose.cpp:59
traffic_simulator_msgs::msg::LaneletPose LaneletPose
Definition: lanelet_pose.hpp:22
Definition: routing_configuration.hpp:24