pose.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__POSE_HPP_
#define TRAFFIC_SIMULATOR__UTILS__POSE_HPP_
 
#include <traffic_simulator/data_type/lanelet_pose.hpp>
#include <traffic_simulator_msgs/msg/bounding_box.hpp>
 
namespace traffic_simulator
{
inline namespace pose
{
auto quietNaNPose() -> geometry_msgs::msg::Pose;
 
auto quietNaNLaneletPose() -> LaneletPose;
 
// Conversions
auto canonicalize(const LaneletPose & lanelet_pose) -> LaneletPose;
 
auto canonicalize(const LaneletPose & lanelet_pose, const lanelet::Ids & route_lanelets)
  -> LaneletPose;
 
auto toMapPose(const CanonicalizedLaneletPose & lanelet_pose) -> geometry_msgs::msg::Pose;
 
auto toMapPose(const LaneletPose & lanelet_pose) -> geometry_msgs::msg::Pose;
 
auto alternativeLaneletPoses(const LaneletPose & lanelet_pose) -> std::vector<LaneletPose>;
 
auto toCanonicalizedLaneletPose(const LaneletPose & lanelet_pose)
  -> std::optional<CanonicalizedLaneletPose>;
 
auto toCanonicalizedLaneletPose(
  const geometry_msgs::msg::Pose & map_pose, const bool include_crosswalk)
  -> std::optional<CanonicalizedLaneletPose>;
 
auto toCanonicalizedLaneletPose(
  const geometry_msgs::msg::Pose & map_pose,
  const traffic_simulator_msgs::msg::BoundingBox & bounding_box, const bool include_crosswalk,
  const double matching_distance) -> std::optional<CanonicalizedLaneletPose>;
 
auto toCanonicalizedLaneletPose(
  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) -> std::optional<CanonicalizedLaneletPose>;
 
auto transformRelativePoseToGlobal(
  const geometry_msgs::msg::Pose & global_pose, const geometry_msgs::msg::Pose & relative_pose)
  -> geometry_msgs::msg::Pose;
 
auto updatePositionForLaneletTransition(
  const CanonicalizedLaneletPose & canonicalized_lanelet_pose, const lanelet::Id next_lanelet_id,
  const geometry_msgs::msg::Vector3 & desired_velocity, const bool desired_velocity_is_global,
  const double step_time) -> std::optional<geometry_msgs::msg::Point>;
 
// Relative msg::Pose
auto relativePose(const geometry_msgs::msg::Pose & from, const geometry_msgs::msg::Pose & to)
  -> std::optional<geometry_msgs::msg::Pose>;
 
auto relativePose(const geometry_msgs::msg::Pose & from, const CanonicalizedLaneletPose & to)
  -> std::optional<geometry_msgs::msg::Pose>;
 
auto relativePose(const CanonicalizedLaneletPose & from, const geometry_msgs::msg::Pose & to)
  -> std::optional<geometry_msgs::msg::Pose>;
 
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>;
 
// Relative LaneletPose
auto isAltitudeMatching(
  const CanonicalizedLaneletPose & lanelet_pose,
  const CanonicalizedLaneletPose & target_lanelet_pose) -> bool;
 
auto relativeLaneletPose(
  const CanonicalizedLaneletPose & from, const CanonicalizedLaneletPose & to,
  const RoutingConfiguration & routing_configuration,
  const std::shared_ptr<hdmap_utils::HdMapUtils> & hdmap_utils_ptr) -> LaneletPose;
 
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 RoutingConfiguration & routing_configuration,
  const std::shared_ptr<hdmap_utils::HdMapUtils> & hdmap_utils_ptr) -> LaneletPose;
 
// Others
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;
 
auto isInLanelet(const geometry_msgs::msg::Point & point, const lanelet::Id lanelet_id) -> bool;
 
auto isAtEndOfLanelets(
  const CanonicalizedLaneletPose & canonicalized_lanelet_pose,
  const std::shared_ptr<hdmap_utils::HdMapUtils> & hdmap_utils_ptr) -> bool;
 
auto findRoutableAlternativeLaneletPoseFrom(
  const lanelet::Id from_lanelet_id, const CanonicalizedLaneletPose & canonicalized_lanelet_pose,
  const traffic_simulator_msgs::msg::BoundingBox & to_bounding_box)
  -> std::optional<traffic_simulator::CanonicalizedLaneletPose>;
 
namespace pedestrian
{
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) -> std::optional<CanonicalizedLaneletPose>;
}  // namespace pedestrian
}  // namespace pose
}  // namespace traffic_simulator
#endif  // TRAFFIC_SIMULATOR__UTILS__POSE_HPP_