autoware::common::had_map_utils Namespace Reference

Typedefs
using	Kernel = CGAL::Exact_predicates_exact_constructions_kernel
using	CGAL_Point = Kernel::Point_2
using	CGAL_Polygon = CGAL::Polygon_2< Kernel >
using	CGAL_Polygon_with_holes = CGAL::Polygon_with_holes_2< Kernel >

Functions
lanelet::Polygon3d HAD_MAP_UTILS_PUBLIC	coalesce_drivable_areas (const autoware_auto_msgs::msg::Route &route, const lanelet::LaneletMapPtr &lanelet_map_ptr)
void HAD_MAP_UTILS_PUBLIC	toBinaryMsg (const std::shared_ptr< lanelet::LaneletMap > &map, autoware_auto_msgs::msg::HADMapBin &msg)
void HAD_MAP_UTILS_PUBLIC	fromBinaryMsg (const autoware_auto_msgs::msg::HADMapBin &msg, std::shared_ptr< lanelet::LaneletMap > &map)
lanelet::Areas HAD_MAP_UTILS_PUBLIC	getAreaLayer (const lanelet::LaneletMapPtr ll_map)
lanelet::Areas HAD_MAP_UTILS_PUBLIC	subtypeAreas (const lanelet::Areas areas, const char subtype[])
lanelet::Polygons3d HAD_MAP_UTILS_PUBLIC	getPolygonLayer (const lanelet::LaneletMapPtr ll_map)
lanelet::Polygons3d HAD_MAP_UTILS_PUBLIC	subtypePolygons (const lanelet::Polygons3d polygons, const char subtype[])
lanelet::LineStrings3d HAD_MAP_UTILS_PUBLIC	getLineStringLayer (const lanelet::LaneletMapPtr ll_map)
lanelet::LineStrings3d HAD_MAP_UTILS_PUBLIC	subtypeLineStrings (const lanelet::LineStrings3d linestrings, const char subtype[])
lanelet::ConstLanelets HAD_MAP_UTILS_PUBLIC	getConstLaneletLayer (const std::shared_ptr< lanelet::LaneletMap > &ll_map)
lanelet::Lanelets HAD_MAP_UTILS_PUBLIC	getLaneletLayer (const std::shared_ptr< lanelet::LaneletMap > &ll_map)
void HAD_MAP_UTILS_PUBLIC	overwriteLaneletsCenterline (lanelet::LaneletMapPtr lanelet_map, const autoware::common::types::bool8_t force_overwrite)
lanelet::LineString3d HAD_MAP_UTILS_PUBLIC	generateFineCenterline (const lanelet::ConstLanelet &lanelet_obj, const float64_t resolution)
void HAD_MAP_UTILS_PUBLIC	setColor (std_msgs::msg::ColorRGBA *cl, const float32_t &r, const float32_t &g, const float32_t &b, const float32_t &a)
	Set set rgba information to a Color Object. More...
void HAD_MAP_UTILS_PUBLIC	setMarkerHeader (visualization_msgs::msg::Marker *m, const int32_t &id, const rclcpp::Time &t, const std::string &frame_id, const std::string &ns, const std_msgs::msg::ColorRGBA &c, const int32_t &action, const int32_t &type, const float32_t &scale)
	Set the header information to a marker object. More...
visualization_msgs::msg::Marker HAD_MAP_UTILS_PUBLIC	lineString2Marker (const rclcpp::Time &t, const lanelet::LineString3d &ls, const std::string &frame_id, const std::string &ns, const std_msgs::msg::ColorRGBA &c, const float32_t &lss)
	creates marker with type LINE_STRIP from a lanelet::LineString3d object More...
visualization_msgs::msg::Marker HAD_MAP_UTILS_PUBLIC	lineString2Marker (const rclcpp::Time &t, const lanelet::ConstLineString3d &ls, const std::string &frame_id, const std::string &ns, const std_msgs::msg::ColorRGBA &c, const float32_t &lss)
	creates marker with type LINE_STRIP from a lanelet::ConstLineString3d object More...
visualization_msgs::msg::MarkerArray HAD_MAP_UTILS_PUBLIC	lineStringsAsMarkerArray (const rclcpp::Time &t, const std::string &ns, const lanelet::LineStrings3d &linestrings, const std_msgs::msg::ColorRGBA &c)
	converts lanelet::LineString into markers with type LINE_STRIP More...
visualization_msgs::msg::MarkerArray HAD_MAP_UTILS_PUBLIC	laneletsBoundaryAsMarkerArray (const rclcpp::Time &t, const lanelet::ConstLanelets &lanelets, const std_msgs::msg::ColorRGBA &c, const bool8_t &viz_centerline)
	converts outer bound of lanelet::Lanelet into markers with type LINE_STRIP More...
visualization_msgs::msg::Marker HAD_MAP_UTILS_PUBLIC	basicPolygon2Marker (const rclcpp::Time &t, const int32_t &line_id, const lanelet::BasicPolygon3d &pg, const std::string &frame_id, const std::string &ns, const std_msgs::msg::ColorRGBA &c, const float32_t &lss)
	creates marker with type LINE_STRIP from a lanelet::BasicPolygon object More...
visualization_msgs::msg::MarkerArray HAD_MAP_UTILS_PUBLIC	areasBoundaryAsMarkerArray (const rclcpp::Time &t, const std::string &ns, const lanelet::Areas &areas, const std_msgs::msg::ColorRGBA &c)
	converts outer bound of lanelet::Area into markers with type LINE_STRIP More...
visualization_msgs::msg::MarkerArray HAD_MAP_UTILS_PUBLIC	polygonsBoundaryAsMarkerArray (const rclcpp::Time &t, const std::string &ns, const lanelet::Polygons3d &polygons, const std_msgs::msg::ColorRGBA &c)
	converts outer bound of lanelet::Polygon into markers with type LINE_STRIP More...
visualization_msgs::msg::Marker HAD_MAP_UTILS_PUBLIC	bbox2Marker (const rclcpp::Time &t, const int32_t &line_id, const float64_t lower[], const float64_t upper[], const std::string &frame_id, const std::string &ns, const std_msgs::msg::ColorRGBA &c, const float32_t &lss)
	creates marker with type LINE_STRIP from a bounding box More...
visualization_msgs::msg::MarkerArray HAD_MAP_UTILS_PUBLIC	boundingBoxAsMarkerArray (const rclcpp::Time &t, const std::string &ns, const float64_t upper[], const float64_t lower[], const std_msgs::msg::ColorRGBA &c)
	creates marker array from bounding box More...
std::vector< geometry_msgs::msg::Polygon > HAD_MAP_UTILS_PUBLIC	lanelet2Triangle (const lanelet::ConstLanelet &ll)
	converts area enclosed by lanelet::Lanelet into list of triangles. More...
std::vector< geometry_msgs::msg::Polygon > HAD_MAP_UTILS_PUBLIC	polygon2Triangle (const geometry_msgs::msg::Polygon &polygon)
	converts area enclosed by geometry_msg::msg::Polygon into list of triangles. More...
geometry_msgs::msg::Polygon HAD_MAP_UTILS_PUBLIC	area2Polygon (const lanelet::ConstArea &area)
	converts lanelet::Area into geometry_msgs::msg::Polygon type More...
geometry_msgs::msg::Polygon HAD_MAP_UTILS_PUBLIC	lanelet2Polygon (const lanelet::ConstLanelet &ll)
	converts lanelet::Lanelet into geometry_msgs::msg::Polygon type More...
visualization_msgs::msg::MarkerArray HAD_MAP_UTILS_PUBLIC	laneletsAsTriangleMarkerArray (const rclcpp::Time &t, const std::string &ns, const lanelet::ConstLanelets &lanelets, const std_msgs::msg::ColorRGBA &c)
	converts bounded area by lanelet::Lanelet into triangle markers More...
visualization_msgs::msg::MarkerArray HAD_MAP_UTILS_PUBLIC	areasAsTriangleMarkerArray (const rclcpp::Time &t, const std::string &ns, const lanelet::Areas &areas, const std_msgs::msg::ColorRGBA &c)
	converts bounded area by lanelet::Area into triangle markers More...
std::vector< float64_t >	calculateSegmentDistances (const lanelet::ConstLineString3d &line_string)
std::vector< float64_t >	calculateAccumulatedLengths (const lanelet::ConstLineString3d &line_string)
std::pair< size_t, size_t >	findNearestIndexPair (const std::vector< float64_t > &accumulated_lengths, const float64_t target_length)
std::vector< lanelet::BasicPoint3d >	resamplePoints (const lanelet::ConstLineString3d &line_string, const int32_t num_segments)
template<typename T >
bool8_t	exists (const std::unordered_set< T > &set, const T &element)
geometry_msgs::msg::Point	toGeomMsgPt (const geometry_msgs::msg::Point32 &src)
geometry_msgs::msg::Point32	toGeomMsgPt32 (const lanelet::BasicPoint3d &src)
void	adjacentPoints (const size_t i, const size_t N, const geometry_msgs::msg::Polygon poly, geometry_msgs::msg::Point32 *p0, geometry_msgs::msg::Point32 *p1, geometry_msgs::msg::Point32 *p2)
std::vector< geometry_msgs::msg::Polygon >	area2Triangle (const lanelet::Area &area)
bool8_t	isAcuteAngle (const geometry_msgs::msg::Point32 &vertex_a, const geometry_msgs::msg::Point32 &vertex_o, const geometry_msgs::msg::Point32 &vertex_b)
bool8_t	isWithinTriangle (const geometry_msgs::msg::Point32 &vertex_a, const geometry_msgs::msg::Point32 &vertex_b, const geometry_msgs::msg::Point32 &vertex_c, const geometry_msgs::msg::Point32 &pt)

Typedef Documentation

CGAL_Point

using autoware::common::had_map_utils::CGAL_Point = typedef Kernel::Point_2

CGAL_Polygon

using autoware::common::had_map_utils::CGAL_Polygon = typedef CGAL::Polygon_2<Kernel>

CGAL_Polygon_with_holes

using autoware::common::had_map_utils::CGAL_Polygon_with_holes = typedef CGAL::Polygon_with_holes_2<Kernel>

Kernel

using autoware::common::had_map_utils::Kernel = typedef CGAL::Exact_predicates_exact_constructions_kernel

Function Documentation

adjacentPoints()

void autoware::common::had_map_utils::adjacentPoints	(	const size_t	i,
		const size_t	N,
		const geometry_msgs::msg::Polygon	poly,
		geometry_msgs::msg::Point32 *	p0,
		geometry_msgs::msg::Point32 *	p1,
		geometry_msgs::msg::Point32 *	p2
	)

area2Polygon()

geometry_msgs::msg::Polygon autoware::common::had_map_utils::area2Polygon

(

const lanelet::ConstArea &

area

)

converts lanelet::Area into geometry_msgs::msg::Polygon type

Parameters

area	input area

Returns

converted geometry_msgs::msg::Polygon

area2Triangle()

std::vector<geometry_msgs::msg::Polygon> autoware::common::had_map_utils::area2Triangle

(

const lanelet::Area &

area

)

areasAsTriangleMarkerArray()

visualization_msgs::msg::MarkerArray autoware::common::had_map_utils::areasAsTriangleMarkerArray	(	const rclcpp::Time &	t,
		const std::string &	ns,
		const lanelet::Areas &	areas,
		const std_msgs::msg::ColorRGBA &	c
	)

converts bounded area by lanelet::Area into triangle markers

Parameters

t	Time set to returned marker message
ns	Namespace set to returned marker message
areas	input lanelet::Area objects
c	Color of the marker array

Returns

Converted triangle markers enclosed by the area

areasBoundaryAsMarkerArray()

visualization_msgs::msg::MarkerArray autoware::common::had_map_utils::areasBoundaryAsMarkerArray	(	const rclcpp::Time &	t,
		const std::string &	ns,
		const lanelet::Areas &	areas,
		const std_msgs::msg::ColorRGBA &	c
	)

converts outer bound of lanelet::Area into markers with type LINE_STRIP

Parameters

t	time set to returned marker message
ns	namespace set to the marker
areas	input area objects
c	color of the marker

Returns

created visualization_msgs::msg::MarkerArray

basicPolygon2Marker()

visualization_msgs::msg::Marker autoware::common::had_map_utils::basicPolygon2Marker	(	const rclcpp::Time &	t,
		const int32_t &	line_id,
		const lanelet::BasicPolygon3d &	pg,
		const std::string &	frame_id,
		const std::string &	ns,
		const std_msgs::msg::ColorRGBA &	c,
		const float32_t &	lss
	)

creates marker with type LINE_STRIP from a lanelet::BasicPolygon object

Parameters

t	timestamp set to the marker
line_id	id set to the marker
pg	input polygon
frame_id	frame id set to the marker
ns	namespace set to the marker
c	color of the marker
lss	linestrip scale (i.e. width)

Returns

created visualization_msgs::msg::Marker

bbox2Marker()

visualization_msgs::msg::Marker autoware::common::had_map_utils::bbox2Marker	(	const rclcpp::Time &	t,
		const int32_t &	line_id,
		const float64_t	lower[],
		const float64_t	upper[],
		const std::string &	frame_id,
		const std::string &	ns,
		const std_msgs::msg::ColorRGBA &	c,
		const float32_t &	lss
	)

creates marker with type LINE_STRIP from a bounding box

Parameters

t	Time set to returned marker message
line_id	id set to marker
lower	lower bound of the bounding box with length 3(x,y,z)
upper	upper bound of the bounding box with length 3(x,y,z)
frame_id	frame id set to the marker
ns	namespace set to the marker
c	color of the marker
lss	linestrip scale (i.e. width)

Returns

created visualization_msgs::msg::Marker

boundingBoxAsMarkerArray()

visualization_msgs::msg::MarkerArray autoware::common::had_map_utils::boundingBoxAsMarkerArray	(	const rclcpp::Time &	t,
		const std::string &	ns,
		const float64_t	upper[],
		const float64_t	lower[],
		const std_msgs::msg::ColorRGBA &	c
	)

creates marker array from bounding box

Parameters

t	Time set to returned marker message
ns	Namespace set to returned marker message
upper	upper bound of the bounding box with length 3(x,y,z)
lower	lower bound of the bounding box with length 3(x,y,z)
c	Color of the marker array

Returns

created visualization_msgs::msg::MarkerArray

calculateAccumulatedLengths()

std::vector<float64_t> autoware::common::had_map_utils::calculateAccumulatedLengths

(

const lanelet::ConstLineString3d &

line_string

)

calculateSegmentDistances()

std::vector<float64_t> autoware::common::had_map_utils::calculateSegmentDistances

(

const lanelet::ConstLineString3d &

line_string

)

coalesce_drivable_areas()

lanelet::Polygon3d autoware::common::had_map_utils::coalesce_drivable_areas	(	const autoware_auto_msgs::msg::Route &	route,
		const lanelet::LaneletMapPtr &	lanelet_map_ptr
	)

exists()

template<typename T >

bool8_t autoware::common::had_map_utils::exists	(	const std::unordered_set< T > &	set,
		const T &	element
	)

findNearestIndexPair()

std::pair<size_t, size_t> autoware::common::had_map_utils::findNearestIndexPair	(	const std::vector< float64_t > &	accumulated_lengths,
		const float64_t	target_length
	)

fromBinaryMsg()

void autoware::common::had_map_utils::fromBinaryMsg	(	const autoware_auto_msgs::msg::HADMapBin &	msg,
		std::shared_ptr< lanelet::LaneletMap > &	map
	)

generateFineCenterline()

lanelet::LineString3d autoware::common::had_map_utils::generateFineCenterline	(	const lanelet::ConstLanelet &	lanelet_obj,
		const float64_t	resolution
	)

getAreaLayer()

lanelet::Areas autoware::common::had_map_utils::getAreaLayer

(

const lanelet::LaneletMapPtr

ll_map

)

getConstLaneletLayer()

lanelet::ConstLanelets autoware::common::had_map_utils::getConstLaneletLayer

(

const std::shared_ptr< lanelet::LaneletMap > &

ll_map

)

getLaneletLayer()

lanelet::Lanelets autoware::common::had_map_utils::getLaneletLayer

(

const std::shared_ptr< lanelet::LaneletMap > &

ll_map

)

getLineStringLayer()

lanelet::LineStrings3d autoware::common::had_map_utils::getLineStringLayer

(

const lanelet::LaneletMapPtr

ll_map

)

getPolygonLayer()

lanelet::Polygons3d autoware::common::had_map_utils::getPolygonLayer

(

const lanelet::LaneletMapPtr

ll_map

)

isAcuteAngle()

bool8_t autoware::common::had_map_utils::isAcuteAngle	(	const geometry_msgs::msg::Point32 &	vertex_a,
		const geometry_msgs::msg::Point32 &	vertex_o,
		const geometry_msgs::msg::Point32 &	vertex_b
	)

isWithinTriangle()

bool8_t autoware::common::had_map_utils::isWithinTriangle	(	const geometry_msgs::msg::Point32 &	vertex_a,
		const geometry_msgs::msg::Point32 &	vertex_b,
		const geometry_msgs::msg::Point32 &	vertex_c,
		const geometry_msgs::msg::Point32 &	pt
	)

lanelet2Polygon()

geometry_msgs::msg::Polygon autoware::common::had_map_utils::lanelet2Polygon

(

const lanelet::ConstLanelet &

ll

)

converts lanelet::Lanelet into geometry_msgs::msg::Polygon type

Parameters

ll	input lanelet

Returns

converted geometry_msgs::msg::Polygon

lanelet2Triangle()

std::vector< geometry_msgs::msg::Polygon > autoware::common::had_map_utils::lanelet2Triangle

(

const lanelet::ConstLanelet &

ll

)

converts area enclosed by lanelet::Lanelet into list of triangles.

Parameters

ll	input lanelet

Returns

result of triangulation

laneletsAsTriangleMarkerArray()

visualization_msgs::msg::MarkerArray autoware::common::had_map_utils::laneletsAsTriangleMarkerArray	(	const rclcpp::Time &	t,
		const std::string &	ns,
		const lanelet::ConstLanelets &	lanelets,
		const std_msgs::msg::ColorRGBA &	c
	)

converts bounded area by lanelet::Lanelet into triangle markers

Parameters

t	Time set to returned marker message
ns	Namespace set to returned marker message
lanelets	input lanelet::Lanelet
c	Color of the marker array

Returns

Converted triangle markers enclosed by the Lanelet

laneletsBoundaryAsMarkerArray()

visualization_msgs::msg::MarkerArray autoware::common::had_map_utils::laneletsBoundaryAsMarkerArray	(	const rclcpp::Time &	t,
		const lanelet::ConstLanelets &	lanelets,
		const std_msgs::msg::ColorRGBA &	c,
		const bool8_t &	viz_centerline
	)

converts outer bound of lanelet::Lanelet into markers with type LINE_STRIP

Parameters

t	time set to returned marker message
lanelets	input lanelet objects
c	color of the marker
viz_centerline	option to add centerline to the marker array

Returns

created visualization_msgs::msg::MarkerArray

lineString2Marker() [1/2]

visualization_msgs::msg::Marker autoware::common::had_map_utils::lineString2Marker	(	const rclcpp::Time &	t,
		const lanelet::LineString3d &	ls,
		const std::string &	frame_id,
		const std::string &	ns,
		const std_msgs::msg::ColorRGBA &	c,
		const float32_t &	lss
	)

creates marker with type LINE_STRIP from a lanelet::LineString3d object

Parameters

t	timestamp set to the marker
ls	input linestring
frame_id	frame id set to the marker
ns	namespace set to the marker
c	color of the marker
lss	linestrip scale (i.e. width)

Returns

created visualization_msgs::msg::Marker

lineString2Marker() [2/2]

visualization_msgs::msg::Marker autoware::common::had_map_utils::lineString2Marker	(	const rclcpp::Time &	t,
		const lanelet::ConstLineString3d &	ls,
		const std::string &	frame_id,
		const std::string &	ns,
		const std_msgs::msg::ColorRGBA &	c,
		const float32_t &	lss
	)

creates marker with type LINE_STRIP from a lanelet::ConstLineString3d object

Parameters

t	timestamp set to the marker
ls	input linestring
frame_id	frame id set to the marker
ns	namespace set to the marker
c	color of the marker
lss	linestrip scale (i.e. width)

Returns

created visualization_msgs::msg::Marker

lineStringsAsMarkerArray()

visualization_msgs::msg::MarkerArray autoware::common::had_map_utils::lineStringsAsMarkerArray	(	const rclcpp::Time &	t,
		const std::string &	ns,
		const lanelet::LineStrings3d &	linestrings,
		const std_msgs::msg::ColorRGBA &	c
	)

converts lanelet::LineString into markers with type LINE_STRIP

Parameters

t	time set to returned marker message
ns	namespace set to the marker
linestrings	input linestring objects
c	color of the marker

Returns

created visualization_msgs::msg::MarkerArray

overwriteLaneletsCenterline()

void autoware::common::had_map_utils::overwriteLaneletsCenterline	(	lanelet::LaneletMapPtr	lanelet_map,
		const autoware::common::types::bool8_t	force_overwrite
	)

polygon2Triangle()

std::vector< geometry_msgs::msg::Polygon > autoware::common::had_map_utils::polygon2Triangle

(

const geometry_msgs::msg::Polygon &

polygon

)

converts area enclosed by geometry_msg::msg::Polygon into list of triangles.

Parameters

polygon

input polygon

Returns

result of triangulation

polygonsBoundaryAsMarkerArray()

visualization_msgs::msg::MarkerArray autoware::common::had_map_utils::polygonsBoundaryAsMarkerArray	(	const rclcpp::Time &	t,
		const std::string &	ns,
		const lanelet::Polygons3d &	polygons,
		const std_msgs::msg::ColorRGBA &	c
	)

converts outer bound of lanelet::Polygon into markers with type LINE_STRIP

Parameters

t	Time set to returned marker message
ns	namespace set to the marker
polygons	input polygons
c	color of the marker

Returns

created visualization_msgs::msg::MarkerArray

resamplePoints()

std::vector<lanelet::BasicPoint3d> autoware::common::had_map_utils::resamplePoints	(	const lanelet::ConstLineString3d &	line_string,
		const int32_t	num_segments
	)

setColor()

void autoware::common::had_map_utils::setColor	(	std_msgs::msg::ColorRGBA *	cl,
		const float32_t &	r,
		const float32_t &	g,
		const float32_t &	b,
		const float32_t &	a
	)

Set set rgba information to a Color Object.

Parameters

[out]	cl	color object to be set
	r	red value
	g	green value
	b	blue value
	a	alpha value

setMarkerHeader()

void autoware::common::had_map_utils::setMarkerHeader	(	visualization_msgs::msg::Marker *	m,
		const int32_t &	id,
		const rclcpp::Time &	t,
		const std::string &	frame_id,
		const std::string &	ns,
		const std_msgs::msg::ColorRGBA &	c,
		const int32_t &	action,
		const int32_t &	type,
		const float32_t &	scale
	)

Set the header information to a marker object.

Parameters

m	input marker
id	id of the marker
t	timestamp of the marker
frame_id	frame of the marker
ns	namespace of the marker
c	color of the marker
action	action used to visualize the marker
type	type of the marker
scale	scale of the marker

Returns

visualization_msgs::msg::Marker

subtypeAreas()

lanelet::Areas autoware::common::had_map_utils::subtypeAreas	(	const lanelet::Areas	areas,
		const char	subtype[]
	)

subtypeLineStrings()

lanelet::LineStrings3d autoware::common::had_map_utils::subtypeLineStrings	(	const lanelet::LineStrings3d	linestrings,
		const char	subtype[]
	)

subtypePolygons()

lanelet::Polygons3d autoware::common::had_map_utils::subtypePolygons	(	const lanelet::Polygons3d	polygons,
		const char	subtype[]
	)

toBinaryMsg()

void autoware::common::had_map_utils::toBinaryMsg	(	const std::shared_ptr< lanelet::LaneletMap > &	map,
		autoware_auto_msgs::msg::HADMapBin &	msg
	)

toGeomMsgPt()

geometry_msgs::msg::Point autoware::common::had_map_utils::toGeomMsgPt

(

const geometry_msgs::msg::Point32 &

src

)

toGeomMsgPt32()

geometry_msgs::msg::Point32 autoware::common::had_map_utils::toGeomMsgPt32

(

const lanelet::BasicPoint3d &

src

)