autoware::lanelet2_map_provider::Lanelet2MapProvider Class Reference

Provides functoins to load and access a lanelet2 OSM map. More...

#include <lanelet2_map_provider.hpp>

Public Member Functions
	Lanelet2MapProvider (const std::string &map_filename, const geometry_msgs::msg::TransformStamped &stf, const float64_t offset_lat=0.0, const float64_t offset_lon=0.0)
	Constructor from a transform between earth and map frames. More...
	Lanelet2MapProvider (const std::string &map_filename, const LatLonAlt map_frame_origin, const float64_t offset_lat=0.0, const float64_t offset_lon=0.0)
	Constructor from latitude, longitude, altitude. More...

Public Attributes
std::shared_ptr< lanelet::LaneletMap >	m_map

Detailed Description

Provides functoins to load and access a lanelet2 OSM map.

Constructor & Destructor Documentation

Lanelet2MapProvider() [1/2]

autoware::lanelet2_map_provider::Lanelet2MapProvider::Lanelet2MapProvider	(	const std::string &	map_filename,
		const geometry_msgs::msg::TransformStamped &	stf,
		const float64_t	offset_lat = 0.0,
		const float64_t	offset_lon = 0.0
	)

Constructor from a transform between earth and map frames.

Parameters

map_filename	The lanelet map filename
stf	The earth to map transform for projection of map data
offset_lat	Latitude offset in degrees to be added to the map frame origin
offset_lon	Longitude offset in degrees to be added to the map origin

Lanelet2MapProvider() [2/2]

autoware::lanelet2_map_provider::Lanelet2MapProvider::Lanelet2MapProvider	(	const std::string &	map_filename,
		const LatLonAlt	map_frame_origin,
		const float64_t	offset_lat = 0.0,
		const float64_t	offset_lon = 0.0
	)

Constructor from latitude, longitude, altitude.

Parameters

map_filename	The lanelet map filename
map_frame_origin	The map frame origin
offset_lat	Latitude offset in degrees to be added to the map frame origin
offset_lon	Longitude offset in degrees to be added to the map frame origin

Member Data Documentation

m_map

std::shared_ptr<lanelet::LaneletMap> autoware::lanelet2_map_provider::Lanelet2MapProvider::m_map

The map itself. After the constructor logic has been done, this is guaranteed to be initialized.

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The documentation for this class was generated from the following files:

• lanelet2_map_provider.hpp
• lanelet2_map_provider.cpp