helper_functions.hpp File Reference

#include <ament_index_cpp/get_package_share_directory.hpp>
#include <geometry/quaternion/euler_to_quaternion.hpp>
#include <scenario_simulator_exception/exception.hpp>
#include <traffic_simulator/entity/entity_base.hpp>
#include <traffic_simulator/helper/helper.hpp>
#include <traffic_simulator_msgs/msg/entity_subtype.hpp>
#include <traffic_simulator_msgs/msg/entity_type.hpp>
#include "catalogs.hpp"
#include "expect_eq_macros.hpp"

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Functions
constexpr auto	convertDegToRad (const double deg) -> double
constexpr auto	convertRadToDeg (const double rad) -> double
auto	makePoint (const double x, const double y, const double z=0.0) -> geometry_msgs::msg::Point
auto	makeBoundingBox (const double center_y=0.0) -> traffic_simulator_msgs::msg::BoundingBox
auto	makeCustom2DBoundingBox (const double x, const double y, const double x_offset=0.0, const double y_offset=0.0) -> traffic_simulator_msgs::msg::BoundingBox
auto	makeSmallBoundingBox (const double center_y=0.0) -> traffic_simulator_msgs::msg::BoundingBox
auto	makeQuaternionFromYaw (const double yaw) -> geometry_msgs::msg::Quaternion
auto	makePose (const double x, const double y, const double yaw_deg) -> geometry_msgs::msg::Pose
auto	makePose (geometry_msgs::msg::Point position, geometry_msgs::msg::Quaternion orientation=geometry_msgs::msg::Quaternion()) -> geometry_msgs::msg::Pose
auto	makeHdMapUtilsSharedPointer () -> std::shared_ptr< hdmap_utils::HdMapUtils >
auto	makeCanonicalizedLaneletPose (std::shared_ptr< hdmap_utils::HdMapUtils > hdmap_utils, const lanelet::Id id=120659, const double s=0.0, const double offset=0.0) -> traffic_simulator::lanelet_pose::CanonicalizedLaneletPose
auto	makeEntityStatus (std::shared_ptr< hdmap_utils::HdMapUtils > hdmap_utils, traffic_simulator::lanelet_pose::CanonicalizedLaneletPose pose, traffic_simulator_msgs::msg::BoundingBox bbox, const double speed=0.0, const std::string name="default_entity_name", const uint8_t type=traffic_simulator_msgs::msg::EntityType::VEHICLE) -> traffic_simulator::EntityStatus
auto	makeEntityStatus (std::shared_ptr< hdmap_utils::HdMapUtils >, geometry_msgs::msg::Pose pose, traffic_simulator_msgs::msg::BoundingBox bbox, const double speed=0.0, const std::string name="default_entity_name", const uint8_t type=traffic_simulator_msgs::msg::EntityType::VEHICLE) -> traffic_simulator::EntityStatus
auto	makeCanonicalizedEntityStatus (std::shared_ptr< hdmap_utils::HdMapUtils > hdmap_utils, traffic_simulator::lanelet_pose::CanonicalizedLaneletPose canonicalized_lanelet_pose, traffic_simulator_msgs::msg::BoundingBox bbox, const double speed=0.0, const std::string name="default_entity_name", const uint8_t type=traffic_simulator_msgs::msg::EntityType::VEHICLE) -> traffic_simulator::entity_status::CanonicalizedEntityStatus
auto	makeCanonicalizedEntityStatus (std::shared_ptr< hdmap_utils::HdMapUtils > hdmap_utils, geometry_msgs::msg::Pose pose, traffic_simulator_msgs::msg::BoundingBox bbox, const double matching_distance=1.0, const double speed=0.0, const std::string name="default_entity_name", const uint8_t type=traffic_simulator_msgs::msg::EntityType::VEHICLE) -> traffic_simulator::entity_status::CanonicalizedEntityStatus

Function Documentation

convertDegToRad()

constexpr auto convertDegToRad ( const double  deg ) -> double

constexpr

convertRadToDeg()

constexpr auto convertRadToDeg ( const double  rad ) -> double

constexpr

makeBoundingBox()

auto makeBoundingBox

(

const double

center_y = 0.0

)

-> traffic_simulator_msgs::msg::BoundingBox

makeCanonicalizedEntityStatus() [1/2]

auto makeCanonicalizedEntityStatus	(	std::shared_ptr< hdmap_utils::HdMapUtils >	hdmap_utils,
		geometry_msgs::msg::Pose	pose,
		traffic_simulator_msgs::msg::BoundingBox	bbox,
		const double	matching_distance = 1.0,
		const double	speed = 0.0,
		const std::string	name = "default_entity_name",
		const uint8_t	type = traffic_simulator_msgs::msg::EntityType::VEHICLE
	)		-> traffic_simulator::entity_status::CanonicalizedEntityStatus

makeCanonicalizedEntityStatus() [2/2]

auto makeCanonicalizedEntityStatus	(	std::shared_ptr< hdmap_utils::HdMapUtils >	hdmap_utils,
		traffic_simulator::lanelet_pose::CanonicalizedLaneletPose	canonicalized_lanelet_pose,
		traffic_simulator_msgs::msg::BoundingBox	bbox,
		const double	speed = 0.0,
		const std::string	name = "default_entity_name",
		const uint8_t	type = traffic_simulator_msgs::msg::EntityType::VEHICLE
	)		-> traffic_simulator::entity_status::CanonicalizedEntityStatus

makeCanonicalizedLaneletPose()

auto makeCanonicalizedLaneletPose	(	std::shared_ptr< hdmap_utils::HdMapUtils >	hdmap_utils,
		const lanelet::Id	id = 120659,
		const double	s = 0.0,
		const double	offset = 0.0
	)		-> traffic_simulator::lanelet_pose::CanonicalizedLaneletPose

makeCustom2DBoundingBox()

auto makeCustom2DBoundingBox	(	const double	x,
		const double	y,
		const double	x_offset = 0.0,
		const double	y_offset = 0.0
	)		-> traffic_simulator_msgs::msg::BoundingBox

makeEntityStatus() [1/2]

auto makeEntityStatus	(	std::shared_ptr< hdmap_utils::HdMapUtils >	hdmap_utils,
		traffic_simulator::lanelet_pose::CanonicalizedLaneletPose	pose,
		traffic_simulator_msgs::msg::BoundingBox	bbox,
		const double	speed = 0.0,
		const std::string	name = "default_entity_name",
		const uint8_t	type = traffic_simulator_msgs::msg::EntityType::VEHICLE
	)		-> traffic_simulator::EntityStatus

makeEntityStatus() [2/2]

auto makeEntityStatus	(	std::shared_ptr< hdmap_utils::HdMapUtils >	,
		geometry_msgs::msg::Pose	pose,
		traffic_simulator_msgs::msg::BoundingBox	bbox,
		const double	speed = 0.0,
		const std::string	name = "default_entity_name",
		const uint8_t	type = traffic_simulator_msgs::msg::EntityType::VEHICLE
	)		-> traffic_simulator::EntityStatus

makeHdMapUtilsSharedPointer()

auto makeHdMapUtilsSharedPointer

(

)

-> std::shared_ptr<hdmap_utils::HdMapUtils>

makePoint()

auto makePoint	(	const double	x,
		const double	y,
		const double	z = 0.0
	)		-> geometry_msgs::msg::Point

makePose() [1/2]

auto makePose	(	const double	x,
		const double	y,
		const double	yaw_deg
	)		-> geometry_msgs::msg::Pose

Note

+x axis is 0 degrees; +y axis is 90 degrees

makePose() [2/2]

auto makePose	(	geometry_msgs::msg::Point	position,
		geometry_msgs::msg::Quaternion	orientation = geometry_msgs::msg::Quaternion()
	)		-> geometry_msgs::msg::Pose

makeQuaternionFromYaw()

auto makeQuaternionFromYaw

(

const double

yaw

)

-> geometry_msgs::msg::Quaternion

makeSmallBoundingBox()

auto makeSmallBoundingBox

(

const double

center_y = 0.0

)

-> traffic_simulator_msgs::msg::BoundingBox