lanelet_map.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__LANELET_MAP_HPP_
#define TRAFFIC_SIMULATOR__UTILS__LANELET_MAP_HPP_
 
#include <autoware_lanelet2_extension/visualization/visualization.hpp>
#include <geometry_msgs/msg/point.hpp>
#include <traffic_simulator/color_utils/color_utils.hpp>
#include <traffic_simulator/lanelet_wrapper/lanelet_map.hpp>
#include <traffic_simulator/lanelet_wrapper/lanelet_wrapper.hpp>
#include <traffic_simulator/utils/pose.hpp>
 
namespace traffic_simulator
{
inline namespace lanelet_map
{
using Point = geometry_msgs::msg::Point;
using Pose = geometry_msgs::msg::Pose;
 
template <typename... Ts>
inline auto activate(Ts &&... xs)
{
  return lanelet_wrapper::LaneletWrapper::activate(std::forward<decltype(xs)>(xs)...);
}
 
auto laneletLength(const lanelet::Id lanelet_id) -> double;
 
auto laneletYaw(const Point & point, const lanelet::Id lanelet_id)
  -> std::tuple<double, Point, Point>;
 
auto laneletAltitude(
  const lanelet::Id & lanelet_id, const geometry_msgs::msg::Pose & pose,
  const double matching_distance) -> std::optional<double>;
 
auto nearbyLaneletIds(
  const Pose & pose, const double distance_threshold, const bool include_crosswalk,
  const std::size_t search_count = 5) -> lanelet::Ids;
 
auto noNextLaneletPoses() -> std::vector<std::pair<lanelet::Id, Pose>>;
 
auto visualizationMarker() -> visualization_msgs::msg::MarkerArray;
}  // namespace lanelet_map
}  // namespace traffic_simulator
#endif  // TRAFFIC_SIMULATOR__UTILS__LANELET_MAP_HPP_