#include <route_segments.h>

Inheritance diagram for apollo::hdmap::RouteSegments:

Collaboration diagram for apollo::hdmap::RouteSegments:

Public Member Functions
	RouteSegments ()=default

routing::ChangeLaneType	NextAction () const

void	SetNextAction (routing::ChangeLaneType action)

routing::ChangeLaneType	PreviousAction () const

void	SetPreviousAction (routing::ChangeLaneType action)

bool	CanExit () const

void	SetCanExit (bool can_exit)

bool	GetProjection (const common::PointENU &point_enu, common::SLPoint sl_point, LaneWaypoint waypoint) const

bool	GetProjection (const common::math::Vec2d &point, common::SLPoint sl_point, LaneWaypoint waypoint) const

bool	GetWaypoint (const double s, LaneWaypoint *waypoint) const

bool	CanDriveFrom (const LaneWaypoint &waypoint) const
	Check whether the map allows a vehicle can reach current RouteSegment from a point on a lane (LaneWaypoint). More...

const LaneWaypoint &	RouteEndWaypoint () const

void	SetRouteEndWaypoint (const LaneWaypoint &waypoint)

bool	Stitch (const RouteSegments &other)

bool	Shrink (const common::math::Vec2d &point, const double look_backward, const double look_forward)

bool	Shrink (const double s, const double look_backward, const double look_forward)

bool	Shrink (const double s, const LaneWaypoint &waypoint, const double look_backward, const double look_forward)

bool	IsOnSegment () const

void	SetIsOnSegment (bool on_segment)

bool	IsNeighborSegment () const

void	SetIsNeighborSegment (bool is_neighbor)

void	SetId (const std::string &id)

const std::string &	Id () const

LaneWaypoint	FirstWaypoint () const

LaneWaypoint	LastWaypoint () const

bool	IsWaypointOnSegment (const LaneWaypoint &waypoint) const
	Check if a waypoint is on segment. More...

bool	IsConnectedSegment (const RouteSegments &other) const
	Check if we can reach the other segment from current segment just by following lane. More...

bool	StopForDestination () const

void	SetStopForDestination (bool stop_for_destination)

void	SetProperties (const RouteSegments &other)
	Copy the properties of other segments to current one. More...

Static Public Member Functions
static bool	WithinLaneSegment (const LaneSegment &lane_segment, const LaneWaypoint &waypoint)

static bool	WithinLaneSegment (const LaneSegment &lane_segment, const routing::LaneWaypoint &waypoint)

static bool	WithinLaneSegment (const routing::LaneSegment &lane_segment, const LaneWaypoint &waypoint)

static bool	WithinLaneSegment (const routing::LaneSegment &lane_segment, const routing::LaneWaypoint &waypoint)

static double	Length (const RouteSegments &segments)

Detailed Description

class RouteSegments

This class is a representation of the Passage type in routing.proto. It is extended from a passage region, but keeps some properties of the passage, such as the last end LaneWaypoint of the original passage region (route_end_waypoint), whether the passage can lead to another passage in routing (can_exit_). This class contains the original data that can be used to generate hdmap::Path.

Constructor & Destructor Documentation

◆ RouteSegments()

apollo::hdmap::RouteSegments::RouteSegments ( )

default

The default constructor.

Member Function Documentation

◆ CanDriveFrom()

bool apollo::hdmap::RouteSegments::CanDriveFrom ( const LaneWaypoint & waypoint ) const

Check whether the map allows a vehicle can reach current RouteSegment from a point on a lane (LaneWaypoint).

Parameters

waypoint the start waypoint

Returns: true if the map allows a vehicle to drive from waypoint to current RouteSegment. Otherwise false.

◆ CanExit()

bool apollo::hdmap::RouteSegments::CanExit ( ) const

Whether the passage region that generate this route segment can lead to another passage region in route.

◆ FirstWaypoint()

LaneWaypoint apollo::hdmap::RouteSegments::FirstWaypoint ( ) const

Get the first waypoint from the lane segments.

◆ GetProjection() [1/2]

bool apollo::hdmap::RouteSegments::GetProjection	(	const common::PointENU &	point_enu,
		common::SLPoint *	sl_point,
		LaneWaypoint *	waypoint
	)		const

Project a point to this route segment.

Parameters

point_enu	a map point, or point, which is a Vec2d point
s	return the longitudinal s relative to the route segment.
l	return the lateral distance relative to the route segment.
waypoint	return the LaneWaypoint, which has lane and lane_s on the route segment.

Returns: false if error happened or projected outside of the lane segments.

◆ GetProjection() [2/2]

bool apollo::hdmap::RouteSegments::GetProjection	(	const common::math::Vec2d &	point,
		common::SLPoint *	sl_point,
		LaneWaypoint *	waypoint
	)		const

◆ GetWaypoint()

bool apollo::hdmap::RouteSegments::GetWaypoint	(	const double	s,
		LaneWaypoint *	waypoint
	)		const

◆ Id()

const std::string& apollo::hdmap::RouteSegments::Id ( ) const

◆ IsConnectedSegment()

bool apollo::hdmap::RouteSegments::IsConnectedSegment ( const RouteSegments & other ) const

Check if we can reach the other segment from current segment just by following lane.

Parameters

other Another route segment

◆ IsNeighborSegment()

bool apollo::hdmap::RouteSegments::IsNeighborSegment ( ) const

◆ IsOnSegment()

bool apollo::hdmap::RouteSegments::IsOnSegment ( ) const

◆ IsWaypointOnSegment()

bool apollo::hdmap::RouteSegments::IsWaypointOnSegment ( const LaneWaypoint & waypoint ) const

Check if a waypoint is on segment.

◆ LastWaypoint()

LaneWaypoint apollo::hdmap::RouteSegments::LastWaypoint ( ) const

Get the last waypoint from the lane segments.

◆ Length()

static double apollo::hdmap::RouteSegments::Length ( const RouteSegments & segments )

static

◆ NextAction()

routing::ChangeLaneType apollo::hdmap::RouteSegments::NextAction ( ) const

Get the next change lane action need to take by the vehicle, if the vehicle is on this RouteSegments. — If the vehicle does not need to change lane, then change_lane_type == routing::FORWARD; — If the vehicle need to change to left lane according to routing, then change_lane_type_ == routing::LEFT; — If the vehicle need to change to right lane according to routing, then change_lane_type_ == routing::RIGHT;

◆ PreviousAction()

routing::ChangeLaneType apollo::hdmap::RouteSegments::PreviousAction ( ) const

Get the previous change lane action need to take by the vehicle to reach current segment, if the vehicle is not on this RouteSegments. If the vehicle is already on this segment, or does not need to change lane to reach this segment, then change_lane_type = routing::FORWARD; If the vehicle need to change to left to reach this segment, then change_lane_type_ = routing::LEFT; If the vehicle need to change to right to reach this segment, then change_lane_type_ = routing::RIGHT;

◆ RouteEndWaypoint()

const LaneWaypoint& apollo::hdmap::RouteSegments::RouteEndWaypoint ( ) const

◆ SetCanExit()

void apollo::hdmap::RouteSegments::SetCanExit ( bool can_exit )

◆ SetId()

void apollo::hdmap::RouteSegments::SetId ( const std::string & id )

◆ SetIsNeighborSegment()

void apollo::hdmap::RouteSegments::SetIsNeighborSegment ( bool is_neighbor )

◆ SetIsOnSegment()

void apollo::hdmap::RouteSegments::SetIsOnSegment ( bool on_segment )

◆ SetNextAction()

void apollo::hdmap::RouteSegments::SetNextAction ( routing::ChangeLaneType action )

◆ SetPreviousAction()

void apollo::hdmap::RouteSegments::SetPreviousAction ( routing::ChangeLaneType action )

◆ SetProperties()

void apollo::hdmap::RouteSegments::SetProperties ( const RouteSegments & other )

Copy the properties of other segments to current one.

◆ SetRouteEndWaypoint()

void apollo::hdmap::RouteSegments::SetRouteEndWaypoint ( const LaneWaypoint & waypoint )

◆ SetStopForDestination()

void apollo::hdmap::RouteSegments::SetStopForDestination ( bool stop_for_destination )

◆ Shrink() [1/3]

bool apollo::hdmap::RouteSegments::Shrink	(	const common::math::Vec2d &	point,
		const double	look_backward,
		const double	look_forward
	)

◆ Shrink() [2/3]

bool apollo::hdmap::RouteSegments::Shrink	(	const double	s,
		const double	look_backward,
		const double	look_forward
	)

◆ Shrink() [3/3]

bool apollo::hdmap::RouteSegments::Shrink	(	const double	s,
		const LaneWaypoint &	waypoint,
		const double	look_backward,
		const double	look_forward
	)

◆ Stitch()

bool apollo::hdmap::RouteSegments::Stitch ( const RouteSegments & other )

Stitch current route segments with the other route segment. Example 1 this: |-----—A--—x--—B---—| other: |--—B---—x-----—C----—| Result: |-----—A--—x--—B---—x-----—C----—| In the above example, A-B is current route segments, and B-C is the other route segments. We update current route segments to A-B-C.

Returns: false if these two reference line cannot be stitched

◆ StopForDestination()

bool apollo::hdmap::RouteSegments::StopForDestination ( ) const

◆ WithinLaneSegment() [1/4]

static bool apollo::hdmap::RouteSegments::WithinLaneSegment	(	const LaneSegment &	lane_segment,
		const LaneWaypoint &	waypoint
	)

static

◆ WithinLaneSegment() [2/4]

static bool apollo::hdmap::RouteSegments::WithinLaneSegment	(	const LaneSegment &	lane_segment,
		const routing::LaneWaypoint &	waypoint
	)

static

◆ WithinLaneSegment() [3/4]

static bool apollo::hdmap::RouteSegments::WithinLaneSegment	(	const routing::LaneSegment &	lane_segment,
		const LaneWaypoint &	waypoint
	)

static

◆ WithinLaneSegment() [4/4]

static bool apollo::hdmap::RouteSegments::WithinLaneSegment	(	const routing::LaneSegment &	lane_segment,
		const routing::LaneWaypoint &	waypoint
	)

static

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

modules/map/pnc_map/route_segments.h

Public Member Functions

Static Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ RouteSegments()

Member Function Documentation

◆ CanDriveFrom()

◆ CanExit()

◆ FirstWaypoint()

◆ GetProjection() [1/2]

◆ GetProjection() [2/2]

◆ GetWaypoint()

◆ Id()

◆ IsConnectedSegment()

◆ IsNeighborSegment()

◆ IsOnSegment()

◆ IsWaypointOnSegment()

◆ LastWaypoint()

◆ Length()

◆ NextAction()

◆ PreviousAction()

◆ RouteEndWaypoint()

◆ SetCanExit()

◆ SetId()

◆ SetIsNeighborSegment()

◆ SetIsOnSegment()

◆ SetNextAction()

◆ SetPreviousAction()

◆ SetProperties()

◆ SetRouteEndWaypoint()

◆ SetStopForDestination()

◆ Shrink() [1/3]

◆ Shrink() [2/3]

◆ Shrink() [3/3]

◆ Stitch()

◆ StopForDestination()

◆ WithinLaneSegment() [1/4]

◆ WithinLaneSegment() [2/4]

◆ WithinLaneSegment() [3/4]

◆ WithinLaneSegment() [4/4]