distance.hpp

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// Copyright 2015 TIER IV, Inc. All rights reserved.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
#ifndef TRAFFIC_SIMULATOR__UTILS__DISTANCE_HPP_
#define TRAFFIC_SIMULATOR__UTILS__DISTANCE_HPP_
 
#include <geometry/spline/catmull_rom_spline_interface.hpp>
#include <traffic_simulator/data_type/lanelet_pose.hpp>
#include <traffic_simulator/lanelet_wrapper/distance.hpp>
#include <traffic_simulator_msgs/msg/waypoints_array.hpp>
 
namespace traffic_simulator
{
inline namespace distance
{
// Lateral
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>;
 
// Lateral (unit: lanes)
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>>;
 
// Longitudinal
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>;
 
// BoundingBox
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 boundingBoxLaneLongitudinalDistance(
  const std::optional<double> & longitudinal_distance,
  const traffic_simulator_msgs::msg::BoundingBox & from_bounding_box,
  const traffic_simulator_msgs::msg::BoundingBox & to_bounding_box) -> std::optional<double>;
 
// Bounds
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;
 
// Other objects
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)
{
  return lanelet_wrapper::distance::distanceToStopLine(std::forward<decltype(xs)>(xs)...);
}
 
// spline
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;
}  // namespace distance
}  // namespace traffic_simulator
#endif  // TRAFFIC_SIMULATOR__UTILS__DISTANCE_HPP_