High-precision map loader implement. More...

#include <hdmap_impl.h>

Collaboration diagram for apollo::hdmap::HDMapImpl:

Public Types
using	LaneTable = std::unordered_map< std::string, std::shared_ptr< LaneInfo > >

using	JunctionTable = std::unordered_map< std::string, std::shared_ptr< JunctionInfo > >

using	SignalTable = std::unordered_map< std::string, std::shared_ptr< SignalInfo > >

using	CrosswalkTable = std::unordered_map< std::string, std::shared_ptr< CrosswalkInfo > >

using	StopSignTable = std::unordered_map< std::string, std::shared_ptr< StopSignInfo > >

using	YieldSignTable = std::unordered_map< std::string, std::shared_ptr< YieldSignInfo > >

using	ClearAreaTable = std::unordered_map< std::string, std::shared_ptr< ClearAreaInfo > >

using	SpeedBumpTable = std::unordered_map< std::string, std::shared_ptr< SpeedBumpInfo > >

using	OverlapTable = std::unordered_map< std::string, std::shared_ptr< OverlapInfo > >

using	RoadTable = std::unordered_map< std::string, std::shared_ptr< RoadInfo > >

using	ParkingSpaceTable = std::unordered_map< std::string, std::shared_ptr< ParkingSpaceInfo > >

using	PNCJunctionTable = std::unordered_map< std::string, std::shared_ptr< PNCJunctionInfo > >

using	RSUTable = std::unordered_map< std::string, std::shared_ptr< RSUInfo > >

Public Member Functions
int	LoadMapFromFile (const std::string &map_filename)
	load map from local file More...

int	LoadMapFromProto (const Map &map_proto)
	load map from a protobuf message More...

LaneInfoConstPtr	GetLaneById (const Id &id) const

JunctionInfoConstPtr	GetJunctionById (const Id &id) const

SignalInfoConstPtr	GetSignalById (const Id &id) const

CrosswalkInfoConstPtr	GetCrosswalkById (const Id &id) const

StopSignInfoConstPtr	GetStopSignById (const Id &id) const

YieldSignInfoConstPtr	GetYieldSignById (const Id &id) const

ClearAreaInfoConstPtr	GetClearAreaById (const Id &id) const

SpeedBumpInfoConstPtr	GetSpeedBumpById (const Id &id) const

OverlapInfoConstPtr	GetOverlapById (const Id &id) const

RoadInfoConstPtr	GetRoadById (const Id &id) const

ParkingSpaceInfoConstPtr	GetParkingSpaceById (const Id &id) const

PNCJunctionInfoConstPtr	GetPNCJunctionById (const Id &id) const

RSUInfoConstPtr	GetRSUById (const Id &id) const

int	GetLanes (const apollo::common::PointENU &point, double distance, std::vector< LaneInfoConstPtr > *lanes) const
	get all lanes in certain range More...

int	GetJunctions (const apollo::common::PointENU &point, double distance, std::vector< JunctionInfoConstPtr > *junctions) const
	get all junctions in certain range More...

int	GetCrosswalks (const apollo::common::PointENU &point, double distance, std::vector< CrosswalkInfoConstPtr > *crosswalks) const
	get all crosswalks in certain range More...

int	GetSignals (const apollo::common::PointENU &point, double distance, std::vector< SignalInfoConstPtr > *signals) const
	get all signals in certain range More...

int	GetStopSigns (const apollo::common::PointENU &point, double distance, std::vector< StopSignInfoConstPtr > *stop_signs) const
	get all stop signs in certain range More...

int	GetYieldSigns (const apollo::common::PointENU &point, double distance, std::vector< YieldSignInfoConstPtr > *yield_signs) const
	get all yield signs in certain range More...

int	GetClearAreas (const apollo::common::PointENU &point, double distance, std::vector< ClearAreaInfoConstPtr > *clear_areas) const
	get all clear areas in certain range More...

int	GetSpeedBumps (const apollo::common::PointENU &point, double distance, std::vector< SpeedBumpInfoConstPtr > *speed_bumps) const
	get all speed bumps in certain range More...

int	GetRoads (const apollo::common::PointENU &point, double distance, std::vector< RoadInfoConstPtr > *roads) const
	get all roads in certain range More...

int	GetParkingSpaces (const apollo::common::PointENU &point, double distance, std::vector< ParkingSpaceInfoConstPtr > *parking_spaces) const
	get all parking space in certain range More...

int	GetPNCJunctions (const apollo::common::PointENU &point, double distance, std::vector< PNCJunctionInfoConstPtr > *pnc_junctions) const
	get all pnc junctions in certain range More...

int	GetNearestLane (const apollo::common::PointENU &point, LaneInfoConstPtr nearest_lane, double nearest_s, double *nearest_l) const
	get nearest lane from target point, More...

int	GetNearestLaneWithHeading (const apollo::common::PointENU &point, const double distance, const double central_heading, const double max_heading_difference, LaneInfoConstPtr nearest_lane, double nearest_s, double *nearest_l) const
	get the nearest lane within a certain range by pose More...

int	GetLanesWithHeading (const apollo::common::PointENU &point, const double distance, const double central_heading, const double max_heading_difference, std::vector< LaneInfoConstPtr > *lanes) const
	get all lanes within a certain range by pose More...

int	GetRoadBoundaries (const apollo::common::PointENU &point, double radius, std::vector< RoadROIBoundaryPtr > road_boundaries, std::vector< JunctionBoundaryPtr > junctions) const
	get all road and junctions boundaries within certain range More...

int	GetRoadBoundaries (const apollo::common::PointENU &point, double radius, std::vector< RoadRoiPtr > road_boundaries, std::vector< JunctionInfoConstPtr > junctions) const
	get all road boundaries and junctions within certain range More...

int	GetRoi (const apollo::common::PointENU &point, double radius, std::vector< RoadRoiPtr > roads_roi, std::vector< PolygonRoiPtr > polygons_roi)
	get ROI within certain range More...

int	GetForwardNearestSignalsOnLane (const apollo::common::PointENU &point, const double distance, std::vector< SignalInfoConstPtr > *signals) const
	get forward nearest signals within certain range on the lane if there are two signals related to one stop line, return both signals. More...

int	GetStopSignAssociatedStopSigns (const Id &id, std::vector< StopSignInfoConstPtr > *stop_signs) const
	get all other stop signs associated with a stop sign in the same junction More...

int	GetStopSignAssociatedLanes (const Id &id, std::vector< LaneInfoConstPtr > *lanes) const
	get all lanes associated with a stop sign in the same junction More...

int	GetLocalMap (const apollo::common::PointENU &point, const std::pair< double, double > &range, Map *local_map) const
	get a local map which is identical to the origin map except that all map elements without overlap with the given region are deleted. More...

int	GetForwardNearestRSUs (const apollo::common::PointENU &point, double distance, double central_heading, double max_heading_difference, std::vector< RSUInfoConstPtr > *rsus) const
	get forward nearest rsus within certain range More...

Detailed Description

High-precision map loader implement.

Member Typedef Documentation

◆ ClearAreaTable

using apollo::hdmap::HDMapImpl::ClearAreaTable = std::unordered_map<std::string, std::shared_ptr<ClearAreaInfo> >

◆ CrosswalkTable

using apollo::hdmap::HDMapImpl::CrosswalkTable = std::unordered_map<std::string, std::shared_ptr<CrosswalkInfo> >

◆ JunctionTable

using apollo::hdmap::HDMapImpl::JunctionTable = std::unordered_map<std::string, std::shared_ptr<JunctionInfo> >

◆ LaneTable

using apollo::hdmap::HDMapImpl::LaneTable = std::unordered_map<std::string, std::shared_ptr<LaneInfo> >

◆ OverlapTable

using apollo::hdmap::HDMapImpl::OverlapTable = std::unordered_map<std::string, std::shared_ptr<OverlapInfo> >

◆ ParkingSpaceTable

using apollo::hdmap::HDMapImpl::ParkingSpaceTable = std::unordered_map<std::string, std::shared_ptr<ParkingSpaceInfo> >

◆ PNCJunctionTable

using apollo::hdmap::HDMapImpl::PNCJunctionTable = std::unordered_map<std::string, std::shared_ptr<PNCJunctionInfo> >

◆ RoadTable

using apollo::hdmap::HDMapImpl::RoadTable = std::unordered_map<std::string, std::shared_ptr<RoadInfo> >

◆ RSUTable

using apollo::hdmap::HDMapImpl::RSUTable = std::unordered_map<std::string, std::shared_ptr<RSUInfo> >

◆ SignalTable

using apollo::hdmap::HDMapImpl::SignalTable = std::unordered_map<std::string, std::shared_ptr<SignalInfo> >

◆ SpeedBumpTable

using apollo::hdmap::HDMapImpl::SpeedBumpTable = std::unordered_map<std::string, std::shared_ptr<SpeedBumpInfo> >

◆ StopSignTable

using apollo::hdmap::HDMapImpl::StopSignTable = std::unordered_map<std::string, std::shared_ptr<StopSignInfo> >

◆ YieldSignTable

using apollo::hdmap::HDMapImpl::YieldSignTable = std::unordered_map<std::string, std::shared_ptr<YieldSignInfo> >

Member Function Documentation

◆ GetClearAreaById()

ClearAreaInfoConstPtr apollo::hdmap::HDMapImpl::GetClearAreaById ( const Id & id ) const

◆ GetClearAreas()

int apollo::hdmap::HDMapImpl::GetClearAreas	(	const apollo::common::PointENU &	point,
		double	distance,
		std::vector< ClearAreaInfoConstPtr > *	clear_areas
	)		const

get all clear areas in certain range

Parameters

point	the central point of the range
distance	the search radius
clear_areas	store all clear areas in target range

Returns: 0:success, otherwise failed

◆ GetCrosswalkById()

CrosswalkInfoConstPtr apollo::hdmap::HDMapImpl::GetCrosswalkById ( const Id & id ) const

◆ GetCrosswalks()

int apollo::hdmap::HDMapImpl::GetCrosswalks	(	const apollo::common::PointENU &	point,
		double	distance,
		std::vector< CrosswalkInfoConstPtr > *	crosswalks
	)		const

get all crosswalks in certain range

Parameters

point	the central point of the range
distance	the search radius
crosswalks	store all crosswalks in target range

Returns: 0:success, otherwise failed

◆ GetForwardNearestRSUs()

int apollo::hdmap::HDMapImpl::GetForwardNearestRSUs	(	const apollo::common::PointENU &	point,
		double	distance,
		double	central_heading,
		double	max_heading_difference,
		std::vector< RSUInfoConstPtr > *	rsus
	)		const

get forward nearest rsus within certain range

Parameters

point	the target position
distance	the forward search distance
central_heading	the base heading
max_heading_difference	the heading range
rsus	all rsus that match search conditions

Returns: 0:success, otherwise failed

◆ GetForwardNearestSignalsOnLane()

int apollo::hdmap::HDMapImpl::GetForwardNearestSignalsOnLane	(	const apollo::common::PointENU &	point,
		const double	distance,
		std::vector< SignalInfoConstPtr > *	signals
	)		const

get forward nearest signals within certain range on the lane if there are two signals related to one stop line, return both signals.

Parameters

point	the target position
distance	the forward search distance
signals	all signals match conditions

Returns: 0:success, otherwise failed

◆ GetJunctionById()

JunctionInfoConstPtr apollo::hdmap::HDMapImpl::GetJunctionById ( const Id & id ) const

◆ GetJunctions()

int apollo::hdmap::HDMapImpl::GetJunctions	(	const apollo::common::PointENU &	point,
		double	distance,
		std::vector< JunctionInfoConstPtr > *	junctions
	)		const

get all junctions in certain range

Parameters

point	the central point of the range
distance	the search radius
junctions	store all junctions in target range

Returns: 0:success, otherwise failed

◆ GetLaneById()

LaneInfoConstPtr apollo::hdmap::HDMapImpl::GetLaneById ( const Id & id ) const

◆ GetLanes()

int apollo::hdmap::HDMapImpl::GetLanes	(	const apollo::common::PointENU &	point,
		double	distance,
		std::vector< LaneInfoConstPtr > *	lanes
	)		const

get all lanes in certain range

Parameters

point	the central point of the range
distance	the search radius
lanes	store all lanes in target range

Returns: 0:success, otherwise failed

◆ GetLanesWithHeading()

int apollo::hdmap::HDMapImpl::GetLanesWithHeading	(	const apollo::common::PointENU &	point,
		const double	distance,
		const double	central_heading,
		const double	max_heading_difference,
		std::vector< LaneInfoConstPtr > *	lanes
	)		const

get all lanes within a certain range by pose

Parameters

point	the target position
distance	the search radius
central_heading	the base heading
max_heading_difference	the heading range
nearest_lane	all lanes that match search conditions

Returns: 0:success, otherwise, failed.

◆ GetLocalMap()

int apollo::hdmap::HDMapImpl::GetLocalMap	(	const apollo::common::PointENU &	point,
		const std::pair< double, double > &	range,
		Map *	local_map
	)		const

get a local map which is identical to the origin map except that all map elements without overlap with the given region are deleted.

Parameters

point	the target position
range	the size of local map region, [width, height]
local_map	local map in proto format

Returns: 0:success, otherwise failed

◆ GetNearestLane()

int apollo::hdmap::HDMapImpl::GetNearestLane	(	const apollo::common::PointENU &	point,
		LaneInfoConstPtr *	nearest_lane,
		double *	nearest_s,
		double *	nearest_l
	)		const

get nearest lane from target point,

Parameters

point	the target point
nearest_lane	the nearest lane that match search conditions
nearest_s	the offset from lane start point along lane center line
nearest_l	the lateral offset from lane center line

Returns: 0:success, otherwise, failed.

◆ GetNearestLaneWithHeading()

int apollo::hdmap::HDMapImpl::GetNearestLaneWithHeading	(	const apollo::common::PointENU &	point,
		const double	distance,
		const double	central_heading,
		const double	max_heading_difference,
		LaneInfoConstPtr *	nearest_lane,
		double *	nearest_s,
		double *	nearest_l
	)		const

get the nearest lane within a certain range by pose

Parameters

point	the target position
distance	the search radius
central_heading	the base heading
max_heading_difference	the heading range
nearest_lane	the nearest lane that match search conditions
nearest_s	the offset from lane start point along lane center line
nearest_l	the lateral offset from lane center line

Returns: 0:success, otherwise, failed.

◆ GetOverlapById()

OverlapInfoConstPtr apollo::hdmap::HDMapImpl::GetOverlapById ( const Id & id ) const

◆ GetParkingSpaceById()

ParkingSpaceInfoConstPtr apollo::hdmap::HDMapImpl::GetParkingSpaceById ( const Id & id ) const

◆ GetParkingSpaces()

int apollo::hdmap::HDMapImpl::GetParkingSpaces	(	const apollo::common::PointENU &	point,
		double	distance,
		std::vector< ParkingSpaceInfoConstPtr > *	parking_spaces
	)		const

get all parking space in certain range

Parameters

point	the central point of the range
distance	the search radius
parking_spaces	store all parking spaces in target range

Returns: 0:success, otherwise failed

◆ GetPNCJunctionById()

PNCJunctionInfoConstPtr apollo::hdmap::HDMapImpl::GetPNCJunctionById ( const Id & id ) const

◆ GetPNCJunctions()

int apollo::hdmap::HDMapImpl::GetPNCJunctions	(	const apollo::common::PointENU &	point,
		double	distance,
		std::vector< PNCJunctionInfoConstPtr > *	pnc_junctions
	)		const

get all pnc junctions in certain range

Parameters

point	the central point of the range
distance	the search radius
junctions	store all junctions in target range

Returns: 0:success, otherwise failed

◆ GetRoadBoundaries() [1/2]

int apollo::hdmap::HDMapImpl::GetRoadBoundaries	(	const apollo::common::PointENU &	point,
		double	radius,
		std::vector< RoadROIBoundaryPtr > *	road_boundaries,
		std::vector< JunctionBoundaryPtr > *	junctions
	)		const

get all road and junctions boundaries within certain range

Parameters

point	the target position
radius	the search radius
road_boundaries	the roads' boundaries
junctions	the junctions' boundaries

Returns: 0:success, otherwise failed

◆ GetRoadBoundaries() [2/2]

int apollo::hdmap::HDMapImpl::GetRoadBoundaries	(	const apollo::common::PointENU &	point,
		double	radius,
		std::vector< RoadRoiPtr > *	road_boundaries,
		std::vector< JunctionInfoConstPtr > *	junctions
	)		const

get all road boundaries and junctions within certain range

Parameters

point	the target position
radius	the search radius
road_boundaries	the roads' boundaries
junctions	the junctions

Returns: 0:success, otherwise failed

◆ GetRoadById()

RoadInfoConstPtr apollo::hdmap::HDMapImpl::GetRoadById ( const Id & id ) const

◆ GetRoads()

int apollo::hdmap::HDMapImpl::GetRoads	(	const apollo::common::PointENU &	point,
		double	distance,
		std::vector< RoadInfoConstPtr > *	roads
	)		const

get all roads in certain range

Parameters

point	the central point of the range
distance	the search radius
roads	store all roads in target range

Returns: 0:success, otherwise failed

◆ GetRoi()

int apollo::hdmap::HDMapImpl::GetRoi	(	const apollo::common::PointENU &	point,
		double	radius,
		std::vector< RoadRoiPtr > *	roads_roi,
		std::vector< PolygonRoiPtr > *	polygons_roi
	)

get ROI within certain range

Parameters

point	the target position
radius	the search radius
roads_roi	the roads' boundaries
polygons_roi	the junctions' boundaries

Returns: 0:success, otherwise failed

◆ GetRSUById()

RSUInfoConstPtr apollo::hdmap::HDMapImpl::GetRSUById ( const Id & id ) const

◆ GetSignalById()

SignalInfoConstPtr apollo::hdmap::HDMapImpl::GetSignalById ( const Id & id ) const

◆ GetSignals()

int apollo::hdmap::HDMapImpl::GetSignals	(	const apollo::common::PointENU &	point,
		double	distance,
		std::vector< SignalInfoConstPtr > *	signals
	)		const

get all signals in certain range

Parameters

point	the central point of the range
distance	the search radius
signals	store all signals in target range

Returns: 0:success, otherwise failed

◆ GetSpeedBumpById()

SpeedBumpInfoConstPtr apollo::hdmap::HDMapImpl::GetSpeedBumpById ( const Id & id ) const

◆ GetSpeedBumps()

int apollo::hdmap::HDMapImpl::GetSpeedBumps	(	const apollo::common::PointENU &	point,
		double	distance,
		std::vector< SpeedBumpInfoConstPtr > *	speed_bumps
	)		const

get all speed bumps in certain range

Parameters

point	the central point of the range
distance	the search radius
speed_bumps	store all speed bumps in target range

Returns: 0:success, otherwise failed

◆ GetStopSignAssociatedLanes()

int apollo::hdmap::HDMapImpl::GetStopSignAssociatedLanes	(	const Id &	id,
		std::vector< LaneInfoConstPtr > *	lanes
	)		const

get all lanes associated with a stop sign in the same junction

Parameters

id	id of stop sign
lanes	all lanes match conditions

Returns: 0:success, otherwise failed

◆ GetStopSignAssociatedStopSigns()

int apollo::hdmap::HDMapImpl::GetStopSignAssociatedStopSigns	(	const Id &	id,
		std::vector< StopSignInfoConstPtr > *	stop_signs
	)		const

get all other stop signs associated with a stop sign in the same junction

Parameters

id	id of stop sign
stop_signs	stop signs associated

Returns: 0:success, otherwise failed

◆ GetStopSignById()

StopSignInfoConstPtr apollo::hdmap::HDMapImpl::GetStopSignById ( const Id & id ) const

◆ GetStopSigns()

int apollo::hdmap::HDMapImpl::GetStopSigns	(	const apollo::common::PointENU &	point,
		double	distance,
		std::vector< StopSignInfoConstPtr > *	stop_signs
	)		const

get all stop signs in certain range

Parameters

point	the central point of the range
distance	the search radius
stop	signs store all stop signs in target range

Returns: 0:success, otherwise failed

◆ GetYieldSignById()

YieldSignInfoConstPtr apollo::hdmap::HDMapImpl::GetYieldSignById ( const Id & id ) const

◆ GetYieldSigns()

int apollo::hdmap::HDMapImpl::GetYieldSigns	(	const apollo::common::PointENU &	point,
		double	distance,
		std::vector< YieldSignInfoConstPtr > *	yield_signs
	)		const

get all yield signs in certain range

Parameters

point	the central point of the range
distance	the search radius
yield	signs store all yield signs in target range

Returns: 0:success, otherwise failed

◆ LoadMapFromFile()

int apollo::hdmap::HDMapImpl::LoadMapFromFile ( const std::string & map_filename )

load map from local file

Parameters

map_filename path of map data file

Returns: 0:success, otherwise failed

◆ LoadMapFromProto()

int apollo::hdmap::HDMapImpl::LoadMapFromProto ( const Map & map_proto )

load map from a protobuf message

Parameters

map_proto map data in protobuf format

Returns: 0:success, otherwise failed

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

modules/map/hdmap/hdmap_impl.h

Public Types

Public Member Functions

Detailed Description

Member Typedef Documentation

◆ ClearAreaTable

◆ CrosswalkTable

◆ JunctionTable

◆ LaneTable

◆ OverlapTable

◆ ParkingSpaceTable

◆ PNCJunctionTable

◆ RoadTable

◆ RSUTable

◆ SignalTable

◆ SpeedBumpTable

◆ StopSignTable

◆ YieldSignTable

Member Function Documentation

◆ GetClearAreaById()

◆ GetClearAreas()

◆ GetCrosswalkById()

◆ GetCrosswalks()

◆ GetForwardNearestRSUs()

◆ GetForwardNearestSignalsOnLane()

◆ GetJunctionById()

◆ GetJunctions()

◆ GetLaneById()

◆ GetLanes()

◆ GetLanesWithHeading()

◆ GetLocalMap()

◆ GetNearestLane()

◆ GetNearestLaneWithHeading()

◆ GetOverlapById()

◆ GetParkingSpaceById()

◆ GetParkingSpaces()

◆ GetPNCJunctionById()

◆ GetPNCJunctions()

◆ GetRoadBoundaries() [1/2]

◆ GetRoadBoundaries() [2/2]

◆ GetRoadById()

◆ GetRoads()

◆ GetRoi()

◆ GetRSUById()

◆ GetSignalById()

◆ GetSignals()

◆ GetSpeedBumpById()

◆ GetSpeedBumps()

◆ GetStopSignAssociatedLanes()

◆ GetStopSignAssociatedStopSigns()

◆ GetStopSignById()

◆ GetStopSigns()

◆ GetYieldSignById()

◆ GetYieldSigns()

◆ LoadMapFromFile()

◆ LoadMapFromProto()