apollo::prediction::PredictionMap Class Reference

#include <prediction_map.h>

Collaboration diagram for apollo::prediction::PredictionMap:

Static Public Member Functions
static bool	Ready ()
	Check if map is ready. More...
static Eigen::Vector2d	PositionOnLane (const std::shared_ptr< const hdmap::LaneInfo > lane_info, const double s)
	Get the position of a point on a specific distance along a lane. More...
static double	HeadingOnLane (const std::shared_ptr< const hdmap::LaneInfo > lane_info, const double s)
	Get the heading of a point on a specific distance along a lane. More...
static double	CurvatureOnLane (const std::string &lane_id, const double s)
	Get the curvature of a point on a specific distance along a lane. More...
static double	LaneTotalWidth (const std::shared_ptr< const hdmap::LaneInfo > lane_info, const double s)
	Get the width on a specified distance on a lane. More...
static std::shared_ptr< const hdmap::LaneInfo >	LaneById (const std::string &id)
	Get a shared pointer to a lane by lane ID. More...
static std::shared_ptr< const hdmap::JunctionInfo >	JunctionById (const std::string &id)
	Get a shared pointer to a junction by junction ID. More...
static std::shared_ptr< const hdmap::OverlapInfo >	OverlapById (const std::string &id)
	Get a shared pointer to an overlap by overlap ID. More...
static bool	GetProjection (const Eigen::Vector2d &position, const std::shared_ptr< const hdmap::LaneInfo > lane_info, double *s, double *l)
	Get the frenet coordinates (s, l) on a lane by a position. More...
static bool	HasNearbyLane (const double x, const double y, const double radius)
	If there is a lane in the range with radius. More...
static bool	ProjectionFromLane (std::shared_ptr< const hdmap::LaneInfo > lane_info, const double s, hdmap::MapPathPoint *path_point)
	Get the nearest path point to a longitudinal coordinate on a lane. More...
static bool	IsVirtualLane (const std::string &lane_id)
	Determine if a lane is a virtual lane. More...
static bool	OnVirtualLane (const Eigen::Vector2d &position, const double radius)
	Determine if a point is on a virtual lane. More...
static void	OnLane (const std::vector< std::shared_ptr< const hdmap::LaneInfo >> &prev_lanes, const Eigen::Vector2d &point, const double heading, const double radius, const bool on_lane, const int max_num_lane, const double max_lane_angle_diff, std::vector< std::shared_ptr< const hdmap::LaneInfo >> *lanes)
	Get the connected lanes from some specified lanes. More...
static std::shared_ptr< const apollo::hdmap::LaneInfo >	GetMostLikelyCurrentLane (const common::PointENU &position, const double radius, const double heading, const double angle_diff_threshold)
	Get the lane that the position is on with minimal angle diff. More...
static bool	IsProjectionApproximateWithinLane (const Eigen::Vector2d &ego_position, const std::string &lane_id)
	Check whether the projection of ego vehicle is on the target lane. Note: the direction of the lane is approximated by the terminal points. More...
static bool	NearJunction (const Eigen::Vector2d &point, const double radius)
	Check if there are any junctions within the range centered at a certain point with a radius. More...
static bool	IsPointInJunction (const double x, const double y, const std::shared_ptr< const hdmap::JunctionInfo > junction_info_ptr)
	Check if a point with coord x and y is in the junction. More...
static bool	InJunction (const Eigen::Vector2d &point, const double radius)
	Check if the obstacle is in a junction. More...
static bool	IsLaneInJunction (const std::shared_ptr< const hdmap::LaneInfo > lane_info, const std::string &junction_id)
	Check if a lane is in a junction. More...
static std::vector< std::shared_ptr< const apollo::hdmap::JunctionInfo > >	GetJunctions (const Eigen::Vector2d &point, const double radius)
	Get a list of junctions given a point and a search radius. More...
static std::vector< std::shared_ptr< const apollo::hdmap::PNCJunctionInfo > >	GetPNCJunctions (const Eigen::Vector2d &point, const double radius)
	Get a list of junctions given a point and a search radius. More...
static double	PathHeading (std::shared_ptr< const hdmap::LaneInfo > lane_info, const common::PointENU &point)
	Get the lane heading on a point. More...
static bool	SmoothPointFromLane (const std::string &id, const double s, const double l, Eigen::Vector2d *point, double *heading)
	Get the smooth point on a lane by a longitudinal coordinate. More...
static void	NearbyLanesByCurrentLanes (const Eigen::Vector2d &point, const double heading, const double radius, const std::vector< std::shared_ptr< const hdmap::LaneInfo >> &lanes, const int max_num_lane, std::vector< std::shared_ptr< const hdmap::LaneInfo >> *nearby_lanes)
	Get nearby lanes by a position and current lanes. More...
static std::shared_ptr< const hdmap::LaneInfo >	GetLeftNeighborLane (const std::shared_ptr< const hdmap::LaneInfo > &ptr_ego_lane, const Eigen::Vector2d &ego_position, const double threshold)
static std::shared_ptr< const hdmap::LaneInfo >	GetRightNeighborLane (const std::shared_ptr< const hdmap::LaneInfo > &ptr_ego_lane, const Eigen::Vector2d &ego_position, const double threshold)
static std::vector< std::string >	NearbyLaneIds (const Eigen::Vector2d &point, const double radius)
	Get nearby lanes by a position. More...
static bool	IsLeftNeighborLane (std::shared_ptr< const hdmap::LaneInfo > target_lane, std::shared_ptr< const hdmap::LaneInfo > curr_lane)
	Check if a lane is a left neighbor of another lane. More...
static bool	IsLeftNeighborLane (std::shared_ptr< const hdmap::LaneInfo > target_lane, const std::vector< std::shared_ptr< const hdmap::LaneInfo >> &lanes)
	Check if the target lane is a left neighbor of one of some lanes. More...
static bool	IsRightNeighborLane (std::shared_ptr< const hdmap::LaneInfo > target_lane, std::shared_ptr< const hdmap::LaneInfo > curr_lane)
	Check if a lane is a right neighbor of another lane. More...
static bool	IsRightNeighborLane (std::shared_ptr< const hdmap::LaneInfo > target_lane, const std::vector< std::shared_ptr< const hdmap::LaneInfo >> &lanes)
	Check if the target lane is a right neighbor of one of some lanes. More...
static bool	IsSuccessorLane (std::shared_ptr< const hdmap::LaneInfo > target_lane, std::shared_ptr< const hdmap::LaneInfo > curr_lane)
	Check if the target lane is a successor of another lane. More...
static bool	IsSuccessorLane (std::shared_ptr< const hdmap::LaneInfo > target_lane, const std::vector< std::shared_ptr< const hdmap::LaneInfo >> &lanes)
	Check if the target lane is a successor of one of some lanes. More...
static bool	IsPredecessorLane (std::shared_ptr< const hdmap::LaneInfo > target_lane, std::shared_ptr< const hdmap::LaneInfo > curr_lane)
	Check if the target lane is a predecessor of another lane. More...
static bool	IsPredecessorLane (std::shared_ptr< const hdmap::LaneInfo > target_lane, const std::vector< std::shared_ptr< const hdmap::LaneInfo >> &lanes)
	Check if the target lane is a predecessor of one of some lanes. More...
static bool	IsIdenticalLane (std::shared_ptr< const hdmap::LaneInfo > other_lane, std::shared_ptr< const hdmap::LaneInfo > curr_lane)
	Check if two lanes are identical. More...
static bool	IsIdenticalLane (std::shared_ptr< const hdmap::LaneInfo > other_lane, const std::vector< std::shared_ptr< const hdmap::LaneInfo >> &lanes)
	Check if a lane is identical to one of some lanes. More...
static int	LaneTurnType (const std::string &lane_id)
	Get lane turn type. More...
static std::vector< std::shared_ptr< const hdmap::LaneInfo > >	GetNearbyLanes (const common::PointENU &position, const double nearby_radius)
	Get all nearby lanes within certain radius given a position. More...
static std::shared_ptr< const hdmap::LaneInfo >	LaneWithSmallestAverageCurvature (const std::vector< std::shared_ptr< const hdmap::LaneInfo >> &lane_infos)
	Get the pointer to the lane with the smallest average curvature. More...
static double	AverageCurvature (const std::string &lane_id, const size_t sample_size)
	Get the average curvature along a lane with the ID lane_id. More...

Member Function Documentation

AverageCurvature()

static double apollo::prediction::PredictionMap::AverageCurvature ( const std::string &  lane_id, const size_t  sample_size  )

static

Get the average curvature along a lane with the ID lane_id.

Parameters

The	ID of the lane
The	size of samples alone the lane to compute the average curvature

Returns

The average curvature

CurvatureOnLane()

static double apollo::prediction::PredictionMap::CurvatureOnLane ( const std::string &  lane_id, const double  s  )

static

Get the curvature of a point on a specific distance along a lane.

Parameters

lane_iid	The id of the lane to get a curvature.
s	The distance along the lane.

Returns

The curvature of the point.

GetJunctions()

static std::vector<std::shared_ptr<const apollo::hdmap::JunctionInfo> > apollo::prediction::PredictionMap::GetJunctions ( const Eigen::Vector2d &  point, const double  radius  )

static

Get a list of junctions given a point and a search radius.

Parameters

Point
Search	radius

Returns

A list of junctions

GetLeftNeighborLane()

static std::shared_ptr<const hdmap::LaneInfo> apollo::prediction::PredictionMap::GetLeftNeighborLane ( const std::shared_ptr< const hdmap::LaneInfo > &  ptr_ego_lane, const Eigen::Vector2d &  ego_position, const double  threshold  )

static

GetMostLikelyCurrentLane()

static std::shared_ptr<const apollo::hdmap::LaneInfo> apollo::prediction::PredictionMap::GetMostLikelyCurrentLane ( const common::PointENU &  position, const double  radius, const double  heading, const double  angle_diff_threshold  )

static

Get the lane that the position is on with minimal angle diff.

Parameters

position	the position of an obstacle
radius	The searching radius
heading	The specified heading
angle_diff_threshold	Threshold of angle diff

Returns

A pointer to a lane info

GetNearbyLanes()

static std::vector<std::shared_ptr<const hdmap::LaneInfo> > apollo::prediction::PredictionMap::GetNearbyLanes ( const common::PointENU &  position, const double  nearby_radius  )

static

Get all nearby lanes within certain radius given a position.

Parameters

position	Position in ENU frame
nearyby_radius	Search radius around the given position

Returns

All nearby lanes within the radius

GetPNCJunctions()

static std::vector<std::shared_ptr<const apollo::hdmap::PNCJunctionInfo> > apollo::prediction::PredictionMap::GetPNCJunctions ( const Eigen::Vector2d &  point, const double  radius  )

static

Get a list of junctions given a point and a search radius.

Parameters

Point
Search	radius

Returns

A list of junctions

GetProjection()

static bool apollo::prediction::PredictionMap::GetProjection ( const Eigen::Vector2d &  position, const std::shared_ptr< const hdmap::LaneInfo >  lane_info, double *  s, double *  l  )

static

Get the frenet coordinates (s, l) on a lane by a position.

Parameters

position	The position to get its frenet coordinates.
lane_info	The lane on which to get the frenet coordinates.
s	The longitudinal coordinate of the position.
l	The lateral coordinate of the position.

GetRightNeighborLane()

static std::shared_ptr<const hdmap::LaneInfo> apollo::prediction::PredictionMap::GetRightNeighborLane ( const std::shared_ptr< const hdmap::LaneInfo > &  ptr_ego_lane, const Eigen::Vector2d &  ego_position, const double  threshold  )

static

HasNearbyLane()

static bool apollo::prediction::PredictionMap::HasNearbyLane ( const double  x, const double  y, const double  radius  )

static

If there is a lane in the range with radius.

Parameters

x	x-axis coordinate
y	y-axis coordinate
radius	range radius

Returns

If there is a lane in the range with radius

HeadingOnLane()

static double apollo::prediction::PredictionMap::HeadingOnLane ( const std::shared_ptr< const hdmap::LaneInfo >  lane_info, const double  s  )

static

Get the heading of a point on a specific distance along a lane.

Parameters

lane_info	The lane to get a heading.
s	The distance along the lane.

Returns

The heading of the point.

InJunction()

static bool apollo::prediction::PredictionMap::InJunction ( const Eigen::Vector2d &  point, const double  radius  )

static

Check if the obstacle is in a junction.

Parameters

point	position
radius	the radius to search candidate junctions

Returns

If the obstacle is in a junction.

IsIdenticalLane() [1/2]

static bool apollo::prediction::PredictionMap::IsIdenticalLane ( std::shared_ptr< const hdmap::LaneInfo >  other_lane, std::shared_ptr< const hdmap::LaneInfo >  curr_lane  )

static

Check if two lanes are identical.

Parameters

other_lane	The other lane.
curr_lane	The current lane.

Returns

If other_lane is identical to curr_lane.

IsIdenticalLane() [2/2]

static bool apollo::prediction::PredictionMap::IsIdenticalLane ( std::shared_ptr< const hdmap::LaneInfo >  other_lane, const std::vector< std::shared_ptr< const hdmap::LaneInfo >> &  lanes  )

static

Check if a lane is identical to one of some lanes.

Parameters

other_lane	The other lane.
lanes	The lanes.

Returns

If other_lane is identical to one of lanes.

IsLaneInJunction()

static bool apollo::prediction::PredictionMap::IsLaneInJunction ( const std::shared_ptr< const hdmap::LaneInfo >  lane_info, const std::string &  junction_id  )

static

Check if a lane is in a junction.

Parameters

lane
junction	id

Returns

If the lane is in the junction

IsLeftNeighborLane() [1/2]

static bool apollo::prediction::PredictionMap::IsLeftNeighborLane ( std::shared_ptr< const hdmap::LaneInfo >  target_lane, std::shared_ptr< const hdmap::LaneInfo >  curr_lane  )

static

Check if a lane is a left neighbor of another lane.

Parameters

target_lane	The lane to check if it is a left neighbor.
curr_lane	The current lane.

Returns

If left_lane is a left neighbor of curr_lane.

IsLeftNeighborLane() [2/2]

static bool apollo::prediction::PredictionMap::IsLeftNeighborLane ( std::shared_ptr< const hdmap::LaneInfo >  target_lane, const std::vector< std::shared_ptr< const hdmap::LaneInfo >> &  lanes  )

static

Check if the target lane is a left neighbor of one of some lanes.

Parameters

target_lane	The lane to check if it is a left neighbor.
lanes	The current lanes.

Returns

If left_lane is a left neighbor of one of lanes.

IsPointInJunction()

static bool apollo::prediction::PredictionMap::IsPointInJunction ( const double  x, const double  y, const std::shared_ptr< const hdmap::JunctionInfo >  junction_info_ptr  )

static

Check if a point with coord x and y is in the junction.

Parameters

X	axis coordinate.
Y	axis coordinate.
A	pointer to junction info.

Returns

If the point is in the junction.

IsPredecessorLane() [1/2]

static bool apollo::prediction::PredictionMap::IsPredecessorLane ( std::shared_ptr< const hdmap::LaneInfo >  target_lane, std::shared_ptr< const hdmap::LaneInfo >  curr_lane  )

static

Check if the target lane is a predecessor of another lane.

Parameters

target_lane	The lane to check if it is a predecessor.
curr_lane	The current lane.

Returns

If pred_lane is a predecessor of curr_lane.

IsPredecessorLane() [2/2]

static bool apollo::prediction::PredictionMap::IsPredecessorLane ( std::shared_ptr< const hdmap::LaneInfo >  target_lane, const std::vector< std::shared_ptr< const hdmap::LaneInfo >> &  lanes  )

static

Check if the target lane is a predecessor of one of some lanes.

Parameters

target_lane	The lane to check if it is a predecessor.
lanes	The current lanes.

Returns

If pred_lane is a predecessor of one of lanes.

IsProjectionApproximateWithinLane()

static bool apollo::prediction::PredictionMap::IsProjectionApproximateWithinLane ( const Eigen::Vector2d &  ego_position, const std::string &  lane_id  )

static

Check whether the projection of ego vehicle is on the target lane. Note: the direction of the lane is approximated by the terminal points.

Parameters

ego_position	The position of the ego vehicle
lane_id	The target lane to project

Returns

true if the projection of ego vehicle is within the lane range; false otherwise.

IsRightNeighborLane() [1/2]

static bool apollo::prediction::PredictionMap::IsRightNeighborLane ( std::shared_ptr< const hdmap::LaneInfo >  target_lane, std::shared_ptr< const hdmap::LaneInfo >  curr_lane  )

static

Check if a lane is a right neighbor of another lane.

Parameters

target_lane	The lane to check if it is a right neighbor.
curr_lane	The current lane.

Returns

If right_lane is a right neighbor of curr_lane.

IsRightNeighborLane() [2/2]

static bool apollo::prediction::PredictionMap::IsRightNeighborLane ( std::shared_ptr< const hdmap::LaneInfo >  target_lane, const std::vector< std::shared_ptr< const hdmap::LaneInfo >> &  lanes  )

static

Check if the target lane is a right neighbor of one of some lanes.

Parameters

target_lane	The lane to check if it is a right neighbor.
lanes	The current lanes.

Returns

If right_lane is a right neighbor of one of lanes.

IsSuccessorLane() [1/2]

static bool apollo::prediction::PredictionMap::IsSuccessorLane ( std::shared_ptr< const hdmap::LaneInfo >  target_lane, std::shared_ptr< const hdmap::LaneInfo >  curr_lane  )

static

Check if the target lane is a successor of another lane.

Parameters

target_lane	The lane to check if it is a successor.
curr_lane	The current lane.

Returns

If succ_lane is a successor of curr_lane.

IsSuccessorLane() [2/2]

static bool apollo::prediction::PredictionMap::IsSuccessorLane ( std::shared_ptr< const hdmap::LaneInfo >  target_lane, const std::vector< std::shared_ptr< const hdmap::LaneInfo >> &  lanes  )

static

Check if the target lane is a successor of one of some lanes.

Parameters

target_lane	The lane to check if it is a successor.
lanes	The current lanes.

Returns

If succ_lane is a successor of one of lanes.

IsVirtualLane()

static bool apollo::prediction::PredictionMap::IsVirtualLane ( const std::string &  lane_id )

static

Determine if a lane is a virtual lane.

Parameters

The	lane ID of the lane.

Returns

If the lane is a virtual lane.

JunctionById()

static std::shared_ptr<const hdmap::JunctionInfo> apollo::prediction::PredictionMap::JunctionById ( const std::string &  id )

static

Get a shared pointer to a junction by junction ID.

Parameters

id	The ID of the target junction ID in the form of string.

Returns

A shared pointer to the junction with the input junction ID.

LaneById()

static std::shared_ptr<const hdmap::LaneInfo> apollo::prediction::PredictionMap::LaneById ( const std::string &  id )

static

Get a shared pointer to a lane by lane ID.

Parameters

id	The ID of the target lane ID in the form of string.

Returns

A shared pointer to the lane with the input lane ID.

LaneTotalWidth()

static double apollo::prediction::PredictionMap::LaneTotalWidth ( const std::shared_ptr< const hdmap::LaneInfo >  lane_info, const double  s  )

static

Get the width on a specified distance on a lane.

Parameters

lane_info	The lane to get the width.
s	The distance along the lane.

Returns

The width on the distance s.

LaneTurnType()

static int apollo::prediction::PredictionMap::LaneTurnType ( const std::string &  lane_id )

static

Get lane turn type.

Parameters

lane_id

The lane ID.

Returns

Integer corresponding to the lane turn type.

LaneWithSmallestAverageCurvature()

static std::shared_ptr<const hdmap::LaneInfo> apollo::prediction::PredictionMap::LaneWithSmallestAverageCurvature ( const std::vector< std::shared_ptr< const hdmap::LaneInfo >> &  lane_infos )

static

Get the pointer to the lane with the smallest average curvature.

Parameters

The	vector of lane infos

Returns

The pointer to the lane with the smallest average curvature

NearbyLaneIds()

static std::vector<std::string> apollo::prediction::PredictionMap::NearbyLaneIds ( const Eigen::Vector2d &  point, const double  radius  )

static

Get nearby lanes by a position.

Parameters

point	The position to search its nearby lanes.
radius	The searching radius.

Returns

A vector of nearby lane IDs.

NearbyLanesByCurrentLanes()

static void apollo::prediction::PredictionMap::NearbyLanesByCurrentLanes ( const Eigen::Vector2d &  point, const double  heading, const double  radius, const std::vector< std::shared_ptr< const hdmap::LaneInfo >> &  lanes, const int  max_num_lane, std::vector< std::shared_ptr< const hdmap::LaneInfo >> *  nearby_lanes  )

static

Get nearby lanes by a position and current lanes.

Parameters

point	The position to search its nearby lanes.
heading	The heading of an obstacle.
radius	The searching radius.
lanes	The current lanes.
nearby_lanes	The searched nearby lanes.

NearJunction()

static bool apollo::prediction::PredictionMap::NearJunction ( const Eigen::Vector2d &  point, const double  radius  )

static

Check if there are any junctions within the range centered at a certain point with a radius.

Parameters

point	The position.
radius	The radius to search junctions.

Returns

If any junctions exist.

OnLane()

static void apollo::prediction::PredictionMap::OnLane ( const std::vector< std::shared_ptr< const hdmap::LaneInfo >> &  prev_lanes, const Eigen::Vector2d &  point, const double  heading, const double  radius, const bool  on_lane, const int  max_num_lane, const double  max_lane_angle_diff, std::vector< std::shared_ptr< const hdmap::LaneInfo >> *  lanes  )

static

Get the connected lanes from some specified lanes.

Parameters

prev_lanes	The lanes from which to search their connected lanes.
heading	The specified heading.
radius	The searching radius.
on_lane	If the position is on lane.
lanes	The searched lanes.

OnVirtualLane()

static bool apollo::prediction::PredictionMap::OnVirtualLane ( const Eigen::Vector2d &  position, const double  radius  )

static

Determine if a point is on a virtual lane.

Parameters

The	point coordinate.

Returns

If the point is on a virtual lane.

OverlapById()

static std::shared_ptr<const hdmap::OverlapInfo> apollo::prediction::PredictionMap::OverlapById ( const std::string &  id )

static

Get a shared pointer to an overlap by overlap ID.

Parameters

id	The ID of the target overlap ID in the form of string.

Returns

A shared pointer to the overlap with the input overlap ID.

PathHeading()

static double apollo::prediction::PredictionMap::PathHeading ( std::shared_ptr< const hdmap::LaneInfo >  lane_info, const common::PointENU &  point  )

static

Get the lane heading on a point.

Parameters

lane_info	The target lane.
point	The point to get the heading.

Returns

The heading of the input point on the input lane.

PositionOnLane()

static Eigen::Vector2d apollo::prediction::PredictionMap::PositionOnLane ( const std::shared_ptr< const hdmap::LaneInfo >  lane_info, const double  s  )

static

Get the position of a point on a specific distance along a lane.

Parameters

lane_info	The lane to get a position.
s	The distance along the lane.

Returns

The position with coordinates.

ProjectionFromLane()

static bool apollo::prediction::PredictionMap::ProjectionFromLane ( std::shared_ptr< const hdmap::LaneInfo >  lane_info, const double  s, hdmap::MapPathPoint *  path_point  )

static

Get the nearest path point to a longitudinal coordinate on a lane.

Parameters

lane_info	The lane on which to get the projected point.
s	The longitudinal coordinate.
path_point	The nearest path point.
If	the process is successful.

Ready()

static bool apollo::prediction::PredictionMap::Ready ( )

static

Check if map is ready.

Returns

True if map is ready

SmoothPointFromLane()

static bool apollo::prediction::PredictionMap::SmoothPointFromLane ( const std::string &  id, const double  s, const double  l, Eigen::Vector2d *  point, double *  heading  )

static

Get the smooth point on a lane by a longitudinal coordinate.

Parameters

id	The lane ID.
s	The longitudinal coordinate along the lane.
l	The lateral coordinate of the position.
point	The point corresponding to the s,l-value coordinate.
heading	The lane heading on the point.

Returns

If the process is successful.

---

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

• modules/prediction/common/prediction_map.h