ad::map::intersection::CoreIntersection Class Reference

#include <ad/map/intersection/CoreIntersection.hpp>

Inheritance diagram for ad::map::intersection::CoreIntersection:

Collaboration diagram for ad::map::intersection::CoreIntersection:

Public Member Functions
bool	objectRouteCrossesIntersection (route::FullRoute const &objectRoute) const
physics::Distance	objectDistanceToIntersection (match::Object const &object) const
	calculate and return the physics::Distance of the object to the intersection
bool	objectWithinIntersection (match::MapMatchedObjectBoundingBox const &object) const
const lane::LaneIdSet &	internalLanes () const
const lane::LaneIdSet &	entryLanes () const
const point::ParaPointList &	entryParaPoints () const
const lane::LaneIdSet &	exitLanes () const
const point::ParaPointList &	exitParaPoints () const
const point::BoundingSphere &	getBoundingSphere () const

Static Public Member Functions
static bool	isLanePartOfAnIntersection (lane::LaneId const laneId)
	check if a lane is part of any intersection
static bool	isRoutePartOfAnIntersection (route::FullRoute const &route)
	check if any lane in the route is part of any intersection More...
static bool	isIntersectionOnRoute (route::FullRoute const &route)
	check if there is an intersection for the given route More...
static bool	isRoadSegmentEnteringIntersection (route::RouteIterator const &routeIterator, route::RoadSegmentList::const_iterator &routePreviousSegmentIter)
	check if the road segment enters an intersection More...
static CoreIntersectionPtr	getCoreIntersectionFor (lane::LaneId const &laneId)
	retrieve the core intersection for the given laneId More...
static std::vector< CoreIntersectionPtr >	getCoreIntersectionsFor (lane::LaneIdSet const &laneIds)
	retrieve all CoreIntersection objects for the given lane Ids More...
static std::vector< CoreIntersectionPtr >	getCoreIntersectionsFor (lane::LaneIdList const &laneIds)
	retrieve all CoreIntersection objects for the given lane Ids More...
static std::vector< CoreIntersectionPtr >	getCoreIntersectionsForMap ()
	retrieve all CoreIntersection objects of the map More...
static CoreIntersectionPtr	getCoreIntersectionFor (match::MapMatchedPosition const &mapMatchedPosition)
	retrieve the core intersection for the given mapMatchedPosition More...
static std::vector< CoreIntersectionPtr >	getCoreIntersectionsForInLaneMatches (point::ENUPoint const &position)
	retrieve the core intersection for the given ENU position More...
static std::vector< CoreIntersectionPtr >	getCoreIntersectionsForInLaneMatches (match::MapMatchedPositionConfidenceList const &mapMatchedPositionConfidenceList)
	retrieve the core intersection for the given mapMatchedPositionConfidenceList More...
static std::vector< CoreIntersectionPtr >	getCoreIntersectionsForInLaneMatches (match::MapMatchedObjectBoundingBox const &object)
	retrieve the core intersection for the given object More...

Protected Types
enum	SuccessorMode { OwnIntersection, AnyIntersection }

Protected Member Functions
bool	isLanePartOfCoreIntersection (lane::LaneId const laneId) const
	check if given lane is inside the intersection
void	extractLanesOfCoreIntersection (lane::LaneId const laneId)
bool	isLanePartOfIntersection (lane::LaneId const laneId, SuccessorMode const successorMode) const
std::pair< lane::LaneIdSet, lane::LaneIdSet >	getDirectSuccessorsInLaneDirection (lane::LaneId const laneId, SuccessorMode const successorMode) const
	Provide the direct successor lane segments in lane direction within and outside of the intersection. More...
lane::LaneIdSet	getDirectSuccessorsInLaneDirectionWithinIntersection (lane::LaneId const laneId, SuccessorMode const successorMode) const
	Provide the direct successor lane segments in lane direction within the intersection. More...
lane::LaneIdSet	getAllSuccessorsInLaneDirectionWithinIntersection (lane::LaneId const laneId, SuccessorMode const successorMode) const
	Provide the successor lane segments in lane direction within the intersection recursively until the intersection is left. More...
lane::LaneIdSet	getLaneAndAllSuccessorsInLaneDirectionWithinIntersection (lane::LaneId const laneId, SuccessorMode const successorMode) const
	Provide the successor lane segments in lane direction within the intersection recursively until the intersection is left including the input laneId if part of the inner lanes. More...
lane::LaneIdSet	getAllReachableOutgoingLanes (lane::LaneId const laneId, SuccessorMode const successorMode) const
	Provide the outgoing lane segments that are reachable in lane direction. More...
std::pair< lane::LaneIdSet, lane::LaneIdSet >	getAllReachableInternalAndOutgoingLanes (lane::LaneId const laneId, SuccessorMode const successorMode) const
	Provide the outgoing lane segments that are reachable in lane direction as well as the intersection internal lanes. More...
point::ParaPoint	getEntryParaPointOfExternalLane (lane::LaneId const &laneId) const
point::ParaPoint	getExitParaPointOfExternalLane (lane::LaneId const &laneId) const
point::ParaPoint	getEntryParaPointOfInternalLane (lane::LaneId const &laneId) const
point::ParaPoint	getExitParaPointOfInternalLane (lane::LaneId const &laneId) const

Protected Attributes
lane::LaneIdSet	mInternalLanes {}
	all lanes inside the intersection
lane::LaneIdSet	mEntryLanes {}
	lanes going into the intersection
point::ParaPointList	mEntryParaPoints {}
	lanes going into the intersection represented as ParaPoint
lane::LaneIdSet	mExitLanes {}
	lanes going out of the intersection
point::ParaPointList	mExitParaPoints {}
	lanes going out of the intersection represented as ParaPoint
std::map< lane::LaneId, lane::LaneIdSet >	mOverlapping
std::map< lane::LaneId, lane::LaneIdSet >	mSuccessor
std::map< lane::LaneId, lane::LaneIdSet >	mPredecessor
point::BoundingSphere	mInternalLanesBoundingSphere

Detailed Description

Class to provide basic intersection information.

The CoreIntersection class provides:

• the list of all lanes of the intersection and their extends (see CoreIntersection::internalLanes() and CoreIntersection::getBoundingSphere())
• the list of lanes entering the intersection (see CoreIntersection::entryLanes() and CoreIntersection::entryParaPoints())
• the list of lanes exiting the intersection (see CoreIntersection::exitLanes() and CoreIntersection::exitParaPoints())
• supporting functions to check how lanes, routes, objects are interacting with the intersection

Member Function Documentation

entryLanes()

const lane::LaneIdSet& ad::map::intersection::CoreIntersection::entryLanes

(

)

const

Returns

all lanes that lead into the intersection (not part of the intersection themselves)

entryParaPoints()

const point::ParaPointList& ad::map::intersection::CoreIntersection::entryParaPoints

(

)

const

Returns

the border points of all lanes that lead into the intersection as ParaPoint's

exitLanes()

const lane::LaneIdSet& ad::map::intersection::CoreIntersection::exitLanes

(

)

const

Returns

all lanes that lead out of the intersection (not part of the intersection themselves)

exitParaPoints()

const point::ParaPointList& ad::map::intersection::CoreIntersection::exitParaPoints

(

)

const

Returns

the border points of all lanes that lead out of the intersection as ParaPoint's

getAllReachableInternalAndOutgoingLanes()

std::pair<lane::LaneIdSet, lane::LaneIdSet> ad::map::intersection::CoreIntersection::getAllReachableInternalAndOutgoingLanes ( lane::LaneId const  laneId, SuccessorMode const  successorMode  ) const

protected

Provide the outgoing lane segments that are reachable in lane direction as well as the intersection internal lanes.

Parameters

laneId

LaneId

Returns

a pair with <the laneID segments within the intersection, the laneID segments outside the intersection>

getAllReachableOutgoingLanes()

lane::LaneIdSet ad::map::intersection::CoreIntersection::getAllReachableOutgoingLanes ( lane::LaneId const  laneId, SuccessorMode const  successorMode  ) const

protected

Provide the outgoing lane segments that are reachable in lane direction.

Parameters

laneId

LaneId

Returns

the outgoing laneID segments outside the intersection.

getAllSuccessorsInLaneDirectionWithinIntersection()

lane::LaneIdSet ad::map::intersection::CoreIntersection::getAllSuccessorsInLaneDirectionWithinIntersection ( lane::LaneId const  laneId, SuccessorMode const  successorMode  ) const

protected

Provide the successor lane segments in lane direction within the intersection recursively until the intersection is left.

Parameters

laneId

LaneId

Returns

the laneID segments within the intersection.

getBoundingSphere()

const point::BoundingSphere& ad::map::intersection::CoreIntersection::getBoundingSphere ( ) const

inline

Returns

the bounding sphere of all the inner lanes of the intersection

getCoreIntersectionFor() [1/2]

static CoreIntersectionPtr ad::map::intersection::CoreIntersection::getCoreIntersectionFor ( lane::LaneId const &  laneId )

static

retrieve the core intersection for the given laneId

Parameters

[in]

laneId

the laneId to use for creation of the CoreIntersection

Returns

if the provided laneId is part of an intersection a CoreIntersection object is created and returned.

getCoreIntersectionFor() [2/2]

static CoreIntersectionPtr ad::map::intersection::CoreIntersection::getCoreIntersectionFor ( match::MapMatchedPosition const &  mapMatchedPosition )

static

retrieve the core intersection for the given mapMatchedPosition

Returns

getCoreIntersectionFor(mapMatchedPosition.lanePoint.paraPoint.laneId)

getCoreIntersectionsFor() [1/2]

static std::vector<CoreIntersectionPtr> ad::map::intersection::CoreIntersection::getCoreIntersectionsFor ( lane::LaneIdList const &  laneIds )

static

retrieve all CoreIntersection objects for the given lane Ids

Parameters

[in]

laneIds

the vector of laneIds to use for creation of the CoreIntersection

Returns

if one of the provided lane Ids is part of an intersection a CoreIntersection object is created and returned. if multiple lane Ids are part of the same CoreIntersection only one single CoreIntersection is returned. if lane Ids are part of different CoreIntersections, multiple CoreIntersections are returned. In summary: the CoreIntersections of all lanedIds are returned, so that every laneId of the provided laneIds set that belongs to an intersection is present in one of the returned CoreIntersection::internalLanes() set.

getCoreIntersectionsFor() [2/2]

static std::vector<CoreIntersectionPtr> ad::map::intersection::CoreIntersection::getCoreIntersectionsFor ( lane::LaneIdSet const &  laneIds )

static

retrieve all CoreIntersection objects for the given lane Ids

Parameters

[in]

laneIds

the set of laneIds to use for creation of the CoreIntersection

Returns

if one of the provided lane Ids is part of an intersection a CoreIntersection object is created and returned. if multiple lane Ids are part of the same CoreIntersection only one single CoreIntersection is returned. if lane Ids are part of different CoreIntersections, multiple CoreIntersections are returned. In summary: the CoreIntersections of all lanedIds are returned, so that every laneId of the provided laneIds set that belongs to an intersection is present in one of the returned CoreIntersection::internalLanes() set.

getCoreIntersectionsForInLaneMatches() [1/3]

static std::vector<CoreIntersectionPtr> ad::map::intersection::CoreIntersection::getCoreIntersectionsForInLaneMatches ( match::MapMatchedObjectBoundingBox const &  object )

static

retrieve the core intersection for the given object

Returns

Collects all in lane matches part of the MapMatchedObjectBoundingBox in a LaneIdSet and returns the vector of CoreIntersection returned by getCoreIntersectionsFor(laneIdSet). Usually the result vector size is zero or one. In cases where multiple intersections are on top of each other and the map matching distance exceeded the altitude difference of the intersections, multiple CoreIntersection results are possible.

getCoreIntersectionsForInLaneMatches() [2/3]

static std::vector<CoreIntersectionPtr> ad::map::intersection::CoreIntersection::getCoreIntersectionsForInLaneMatches ( match::MapMatchedPositionConfidenceList const &  mapMatchedPositionConfidenceList )

static

retrieve the core intersection for the given mapMatchedPositionConfidenceList

Collects all in lane matches part of the mapMatchedPositionConfidenceList in a LaneIdSet and returns the vector of CoreIntersection returned by getCoreIntersectionsFor(laneIdSet). Usually the result vector size is zero or one. In cases where multiple intersections are on top of each other and the map matching distance exceeded the altitude difference of the intersections, multiple CoreIntersection results are possible.

getCoreIntersectionsForInLaneMatches() [3/3]

static std::vector<CoreIntersectionPtr> ad::map::intersection::CoreIntersection::getCoreIntersectionsForInLaneMatches ( point::ENUPoint const &  position )

static

retrieve the core intersection for the given ENU position

Performs map matching of the given position and returns getCoreIntersectionsForInLaneMatches(MapMatchedPositionConfidenceList) of the matching result.

getCoreIntersectionsForMap()

static std::vector<CoreIntersectionPtr> ad::map::intersection::CoreIntersection::getCoreIntersectionsForMap ( )

static

retrieve all CoreIntersection objects of the map

Returns

getCoreIntersectionsFor(lane::getLanes())

getDirectSuccessorsInLaneDirection()

std::pair<lane::LaneIdSet, lane::LaneIdSet> ad::map::intersection::CoreIntersection::getDirectSuccessorsInLaneDirection ( lane::LaneId const  laneId, SuccessorMode const  successorMode  ) const

protected

Provide the direct successor lane segments in lane direction within and outside of the intersection.

Parameters

laneId

LaneId

Returns

a pair with <the laneID segments within the intersection, the laneID segments outside the intersection>

getDirectSuccessorsInLaneDirectionWithinIntersection()

lane::LaneIdSet ad::map::intersection::CoreIntersection::getDirectSuccessorsInLaneDirectionWithinIntersection ( lane::LaneId const  laneId, SuccessorMode const  successorMode  ) const

protected

Provide the direct successor lane segments in lane direction within the intersection.

Parameters

laneId

LaneId

Returns

the laneID segments within the intersection.

getLaneAndAllSuccessorsInLaneDirectionWithinIntersection()

lane::LaneIdSet ad::map::intersection::CoreIntersection::getLaneAndAllSuccessorsInLaneDirectionWithinIntersection ( lane::LaneId const  laneId, SuccessorMode const  successorMode  ) const

protected

Provide the successor lane segments in lane direction within the intersection recursively until the intersection is left including the input laneId if part of the inner lanes.

Parameters

laneId

LaneId

Returns

the laneID segments within the intersection.

internalLanes()

const lane::LaneIdSet& ad::map::intersection::CoreIntersection::internalLanes

(

)

const

Returns

all lanes that are inside the intersection (independent of route)

isIntersectionOnRoute()

static bool ad::map::intersection::CoreIntersection::isIntersectionOnRoute ( route::FullRoute const &  route )

static

check if there is an intersection for the given route

Parameters

[in]

route

planned route

Returns

If there is an intersection within the route, true is returned.

isRoadSegmentEnteringIntersection()

static bool ad::map::intersection::CoreIntersection::isRoadSegmentEnteringIntersection ( route::RouteIterator const &  routeIterator, route::RoadSegmentList::const_iterator &  routePreviousSegmentIter  )

static

check if the road segment enters an intersection

Parameters

[in]	routeIterator	the route iterator of the road segment
[out]	routePreviousSegmentIter	if an intersectin is entered, this holds the previous route segment that is part of the transition

Returns

true if given routeIterator enters an intersection

isRoutePartOfAnIntersection()

static bool ad::map::intersection::CoreIntersection::isRoutePartOfAnIntersection ( route::FullRoute const &  route )

static

check if any lane in the route is part of any intersection

Parameters

[in]

route

planned route

Returns

If there is an intersection within the route, true is returned.

objectRouteCrossesIntersection()

bool ad::map::intersection::CoreIntersection::objectRouteCrossesIntersection

(

route::FullRoute const &

objectRoute

)

const

Returns

true if the provided objectRoute contains an internal lane

This is the case if one of the internalLanes() is part of the objectRoute.

objectWithinIntersection()

bool ad::map::intersection::CoreIntersection::objectWithinIntersection

(

match::MapMatchedObjectBoundingBox const &

object

)

const

Returns

true if the object is within the intersection (touches one of the internalLanes)

Member Data Documentation

mOverlapping

std::map<lane::LaneId, lane::LaneIdSet> ad::map::intersection::CoreIntersection::mOverlapping

protected

Managing relations between lanes through separate maps with sets. Reading: key: id of lane value: set of lanes that relate with this one (e.g. overlap)

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

• include/ad/map/intersection/CoreIntersection.hpp