lanelet2_map_provider.hpp

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// Copyright 2020 The Autoware Foundation
//
// 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 LANELET2_MAP_PROVIDER__LANELET2_MAP_PROVIDER_HPP_
#define LANELET2_MAP_PROVIDER__LANELET2_MAP_PROVIDER_HPP_

#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
#include <common/types.hpp>
#include <lanelet2_core/LaneletMap.h>
#include <lanelet2_map_provider/visibility_control.hpp>

#include <string>
#include <memory>

#include "autoware_auto_msgs/msg/had_map_bin.hpp"

using autoware::common::types::float64_t;

namespace autoware
{
namespace lanelet2_map_provider
{

struct LatLonAlt
{
  float64_t lat;  
  float64_t lon;  
  float64_t alt;  
};

class LANELET2_MAP_PROVIDER_PUBLIC Lanelet2MapProvider
{
public:
  // TODO(nikolai.morin): Remove offsets as part of #849
  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);
  // TODO(nikolai.morin): Remove offsets as part of #849
  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);
  std::shared_ptr<lanelet::LaneletMap> m_map;

private:
  void load_map(
    const std::string & map_filename, const LatLonAlt map_frame_origin);
};

}  // namespace lanelet2_map_provider

}  // namespace autoware

#endif  // LANELET2_MAP_PROVIDER__LANELET2_MAP_PROVIDER_HPP_