15 #ifndef TRAFFIC_SIMULATOR__UTILS__DISTANCE_HPP_
16 #define TRAFFIC_SIMULATOR__UTILS__DISTANCE_HPP_
19 #include <traffic_simulator_msgs/msg/waypoints_array.hpp>
28 bool allow_lane_change,
const std::shared_ptr<hdmap_utils::HdMapUtils> & hdmap_utils_ptr)
29 -> std::optional<double>;
33 double matching_distance,
bool allow_lane_change,
34 const std::shared_ptr<hdmap_utils::HdMapUtils> & hdmap_utils_ptr) -> std::optional<double>;
39 bool include_adjacent_lanelet,
bool include_opposite_direction,
bool allow_lane_change,
40 const std::shared_ptr<hdmap_utils::HdMapUtils> & hdmap_utils_ptr) -> std::optional<double>;
44 const geometry_msgs::msg::Pose & from,
45 const traffic_simulator_msgs::msg::BoundingBox & from_bounding_box,
46 const geometry_msgs::msg::Pose & to,
47 const traffic_simulator_msgs::msg::BoundingBox & to_bounding_box) -> std::optional<double>;
51 const traffic_simulator_msgs::msg::BoundingBox & from_bounding_box,
53 const traffic_simulator_msgs::msg::BoundingBox & to_bounding_box,
bool allow_lane_change,
54 const std::shared_ptr<hdmap_utils::HdMapUtils> & hdmap_utils_ptr) -> std::optional<double>;
58 const traffic_simulator_msgs::msg::BoundingBox & from_bounding_box,
60 const traffic_simulator_msgs::msg::BoundingBox & to_bounding_box,
bool include_adjacent_lanelet,
61 bool include_opposite_direction,
bool allow_lane_change,
62 const std::shared_ptr<hdmap_utils::HdMapUtils> & hdmap_utils_ptr) -> std::optional<double>;
66 const geometry_msgs::msg::Pose & map_pose,
67 const traffic_simulator_msgs::msg::BoundingBox & bounding_box, lanelet::Id lanelet_id,
68 const std::shared_ptr<hdmap_utils::HdMapUtils> & hdmap_utils_ptr) -> double;
71 const geometry_msgs::msg::Pose & map_pose,
72 const traffic_simulator_msgs::msg::BoundingBox & bounding_box,
const lanelet::Ids & lanelet_ids,
73 const std::shared_ptr<hdmap_utils::HdMapUtils> & hdmap_utils_ptr) -> double;
76 const geometry_msgs::msg::Pose & map_pose,
77 const traffic_simulator_msgs::msg::BoundingBox & bounding_box, lanelet::Id lanelet_id,
78 const std::shared_ptr<hdmap_utils::HdMapUtils> & hdmap_utils_ptr) -> double;
81 const geometry_msgs::msg::Pose & map_pose,
82 const traffic_simulator_msgs::msg::BoundingBox & bounding_box,
const lanelet::Ids & lanelet_ids,
83 const std::shared_ptr<hdmap_utils::HdMapUtils> & hdmap_utils_ptr) -> double;
86 const geometry_msgs::msg::Pose & map_pose,
87 const traffic_simulator_msgs::msg::BoundingBox & bounding_box, lanelet::Id lanelet_id,
88 const std::shared_ptr<hdmap_utils::HdMapUtils> & hdmap_utils_ptr) -> double;
91 const geometry_msgs::msg::Pose & map_pose,
92 const traffic_simulator_msgs::msg::BoundingBox & bounding_box,
const lanelet::Ids & lanelet_ids,
93 const std::shared_ptr<hdmap_utils::HdMapUtils> & hdmap_utils_ptr) -> double;
97 const traffic_simulator_msgs::msg::WaypointsArray & waypoints_array,
98 const lanelet::Id target_crosswalk_id,
99 const std::shared_ptr<hdmap_utils::HdMapUtils> & hdmap_utils_ptr) -> std::optional<double>;
102 const traffic_simulator_msgs::msg::WaypointsArray & waypoints_array,
103 const lanelet::Id target_stop_line_id,
104 const std::shared_ptr<hdmap_utils::HdMapUtils> & hdmap_utils_ptr) -> std::optional<double>;
Definition: lanelet_pose.hpp:27
auto distance(const geometry_msgs::Pose &pose1, const geometry_msgs::Pose &pose2)
Definition: detection_sensor.cpp:34
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 >
Definition: distance.cpp:269
auto distanceToStopLine(const traffic_simulator_msgs::msg::WaypointsArray &waypoints_array, const lanelet::Id target_stop_line_id, const std::shared_ptr< hdmap_utils::HdMapUtils > &hdmap_utils_ptr) -> std::optional< double >
Definition: distance.cpp:283
auto longitudinalDistance(const CanonicalizedLaneletPose &from, const CanonicalizedLaneletPose &to, bool include_adjacent_lanelet, bool include_opposite_direction, bool allow_lane_change, const std::shared_ptr< hdmap_utils::HdMapUtils > &hdmap_utils_ptr) -> std::optional< double >
Definition: distance.cpp:48
auto distanceToLaneBound(const geometry_msgs::msg::Pose &map_pose, const traffic_simulator_msgs::msg::BoundingBox &bounding_box, lanelet::Id lanelet_id, const std::shared_ptr< hdmap_utils::HdMapUtils > &hdmap_utils_ptr) -> double
Definition: distance.cpp:249
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, bool allow_lane_change, const std::shared_ptr< hdmap_utils::HdMapUtils > &hdmap_utils_ptr) -> std::optional< double >
Definition: distance.cpp:159
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, bool allow_lane_change, const std::shared_ptr< hdmap_utils::HdMapUtils > &hdmap_utils_ptr) -> std::optional< double >
Definition: distance.cpp:133
auto distanceToLeftLaneBound(const geometry_msgs::msg::Pose &map_pose, const traffic_simulator_msgs::msg::BoundingBox &bounding_box, lanelet::Id lanelet_id, const std::shared_ptr< hdmap_utils::HdMapUtils > &hdmap_utils_ptr) -> double
Definition: distance.cpp:188
auto distanceToRightLaneBound(const geometry_msgs::msg::Pose &map_pose, const traffic_simulator_msgs::msg::BoundingBox &bounding_box, lanelet::Id lanelet_id, const std::shared_ptr< hdmap_utils::HdMapUtils > &hdmap_utils_ptr) -> double
Definition: distance.cpp:218
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 >
Definition: distance.cpp:124
auto lateralDistance(const CanonicalizedLaneletPose &from, const CanonicalizedLaneletPose &to, bool allow_lane_change, const std::shared_ptr< hdmap_utils::HdMapUtils > &hdmap_utils_ptr) -> std::optional< double >
Definition: distance.cpp:25