Logical representation of an intersection along the route. More...

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

Inheritance diagram for ad::map::intersection::Intersection:

Collaboration diagram for ad::map::intersection::Intersection:

[legend]

Public Member Functions
IntersectionType	intersectionType () const

TurnDirection	turnDirection () const

const landmark::LandmarkIdSet &	applicableTrafficLights () const
	return all traffic lights that are relevant for following the route

const lane::LaneIdSet &	lanesOnRoute () const

const point::ParaPointList &	paraPointsOnRoute () const

const lane::LaneIdSet &	incomingLanesOnRoute () const

const lane::LaneIdSet &	outgoingLanesOnRoute () const

const point::ParaPointList &	incomingParaPointsOnRoute () const

const point::ParaPointList &	outgoingParaPointsOnRoute () const

const point::ParaPointList &	outgoingParaPoints () const

const lane::LaneIdSet &	internalLanesWithHigherPriority () const

const lane::LaneIdSet &	internalLanesWithLowerPriority () const

const lane::LaneIdSet &	incomingLanes () const

const lane::LaneIdSet &	outgoingLanes () const

const lane::LaneIdSet &	incomingLanesWithLowerPriority () const

const lane::LaneIdSet &	incomingLanesWithHigherPriority () const

const point::ParaPointList &	incomingParaPoints () const

const point::ParaPointList &	incomingParaPointsWithHigherPriority () const

const point::ParaPointList &	incomingParaPointsWithLowerPriority () const

const lane::LaneIdSet &	crossingLanes () const

route::RoutePlanningCounter	getRoutePlanningCounter () const

route::SegmentCounter	getRouteSegmentCountFromDestination () const

void	updateRouteCounters (route::RoutePlanningCounter newRoutePlanningCounter, route::SegmentCounter newRouteSegmentCounter)
	update the route counters according to new route

route::RouteParaPoint	getIntersectionStartOnRoute () const

physics::Distance	objectInterpenetrationDistanceWithIntersection (match::Object const &object) const
	calculate and return the physics::Distance the object interpenetrates with the intersection More...

bool	objectOnIncomingLane (match::MapMatchedObjectBoundingBox const &object) const

bool	objectOnIncomingLaneWithHigherPriority (match::MapMatchedObjectBoundingBox const &object) const

bool	objectOnIncomingLaneWithLowerPriority (match::MapMatchedObjectBoundingBox const &object) const

bool	objectOnInternalLaneWithHigherPriority (match::MapMatchedObjectBoundingBox const &object) const

bool	objectOnInternalLaneWithLowerPriority (match::MapMatchedObjectBoundingBox const &object) const

bool	objectOnLaneWithHigherPriority (match::MapMatchedObjectBoundingBox const &object) const

bool	objectOnLaneWithLowerPriority (match::MapMatchedObjectBoundingBox const &object) const

bool	objectOnCrossingLane (match::MapMatchedObjectBoundingBox const &object) const

bool	objectOnIntersectionRoute (match::MapMatchedObjectBoundingBox const &object) const

bool	objectRouteCrossesIntersectionRoute (route::FullRoute const &objectRoute) const

bool	objectRouteFromSameArmAsIntersectionRoute (route::FullRoute const &objectRoute) const

bool	objectRouteOppositeToIntersectionRoute (route::FullRoute const &objectRoute) const

bool	objectRouteCrossesLanesWithHigherPriority (route::FullRoute const &objectRoute) const

physics::Speed	getSpeedLimit () const
	return the speed limit of this intersection

bool	onlySolidTrafficLightsOnRoute ()
	checks if there is just solid traffic lights on the intersection entry. More...

Public Member Functions inherited from ad::map::intersection::CoreIntersection
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 IntersectionPtr	getIntersectionForRoadSegment (route::RouteIterator const &routeIterator)
	retrieve the intersection for the given routeIterator More...

static std::vector< IntersectionPtr >	getIntersectionsForRoute (route::FullRoute const &route)
	retrieve all intersections for the given route More...

static IntersectionPtr	getNextIntersectionOnRoute (route::FullRoute const &route)
	retrieve the next intersection for the given route More...

Static Public Member Functions inherited from ad::map::intersection::CoreIntersection
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...

Additional Inherited Members
Protected Types inherited from ad::map::intersection::CoreIntersection
enum	SuccessorMode { OwnIntersection, AnyIntersection }

Protected Member Functions inherited from ad::map::intersection::CoreIntersection
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 inherited from ad::map::intersection::CoreIntersection
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

Logical representation of an intersection along the route.

There is no public constructor but the static method getIntersectionForRoadSegment which creates an Intersection for a specific road segment of a route and the static method getIntersectionsForRoute which extracts all intersections along the given route. The returned intersections provide the following information:

type of intersection (more precisely the priority at the given entry) --> intersectionType
all lanes inside the intersections (all lanes of type INTERSECTION that are connected to each other) --> internalLanes
all lanes that directly connect with the intersection --> incomingLanes
all lanes that cross any lane on the route (inside the intersection) --> crossingLanes
all lanes that have higher priority than lanes on route --> lanesWithHigherPriority
get the physics::Distance between an object and the border of the intersection --> physics::DistanceToEntry

Member Function Documentation

◆ crossingLanes()

const lane::LaneIdSet& ad::map::intersection::Intersection::crossingLanes ( ) const

Returns: all lanes that cross the lanes of the route (in this intersection)

◆ getIntersectionForRoadSegment()

static IntersectionPtr ad::map::intersection::Intersection::getIntersectionForRoadSegment ( route::RouteIterator const & routeIterator )

static

retrieve the intersection for the given routeIterator

Parameters

[in] routeIterator the route iterator of the road segment

Returns: If the route iterator refers to a road segment which is part of an intersection and the preceeding road segment within the route is not part of an intersection, an Intersection object for this specific route through the intersection is created and returned.

◆ getIntersectionsForRoute()

static std::vector<IntersectionPtr> ad::map::intersection::Intersection::getIntersectionsForRoute ( route::FullRoute const & route )

static

retrieve all intersections for the given route

Parameters

[in] route planned route

Returns: list of all intersections along the route, see getIntersectionForRoadSegment() for details.

◆ getIntersectionStartOnRoute()

route::RouteParaPoint ad::map::intersection::Intersection::getIntersectionStartOnRoute ( ) const

Returns: the route para point this intersection start

That point marks the start of the intersection on the route.

◆ getNextIntersectionOnRoute()

static IntersectionPtr ad::map::intersection::Intersection::getNextIntersectionOnRoute ( route::FullRoute const & route )

static

retrieve the next intersection for the given route

Parameters

[in] route planned route

Returns: If there is an intersection within the route, an Intersection object for the first intersection on the specific route through the intersection is created and returned.

◆ getRoutePlanningCounter()

route::RoutePlanningCounter ad::map::intersection::Intersection::getRoutePlanningCounter ( ) const

Returns: the route planning counter of the route used to create this intersection

◆ getRouteSegmentCountFromDestination()

route::SegmentCounter ad::map::intersection::Intersection::getRouteSegmentCountFromDestination ( ) const

Returns: the route segment counter of the road segment this intersection was created

◆ incomingLanes()

const lane::LaneIdSet& ad::map::intersection::Intersection::incomingLanes ( ) const

Returns: all lanes that lead into the intersection (except the lanes on the route leading into the intersection)

◆ incomingLanesOnRoute()

const lane::LaneIdSet& ad::map::intersection::Intersection::incomingLanesOnRoute ( ) const

Returns: all lanes that enter intersection on the route

◆ incomingLanesWithHigherPriority()

const lane::LaneIdSet& ad::map::intersection::Intersection::incomingLanesWithHigherPriority ( ) const

Returns: all lanes that lead into the intersection with higher priority (except the lanes on the route leading into the intersection)

◆ incomingLanesWithLowerPriority()

const lane::LaneIdSet& ad::map::intersection::Intersection::incomingLanesWithLowerPriority ( ) const

Returns: all lanes that lead into the intersection with lower priority (except the lanes on the route leading into the intersection)

◆ incomingParaPoints()

const point::ParaPointList& ad::map::intersection::Intersection::incomingParaPoints ( ) const

Returns: the border points of all lanes that lead into the intersection (incomingLanes() as ParaPoint's)

◆ incomingParaPointsOnRoute()

const point::ParaPointList& ad::map::intersection::Intersection::incomingParaPointsOnRoute ( ) const

Returns: all lanes that enter intersection on the route

◆ incomingParaPointsWithHigherPriority()

const point::ParaPointList& ad::map::intersection::Intersection::incomingParaPointsWithHigherPriority ( ) const

Returns: the border points of all lanes that lead into the intersection and have higher priority

◆ incomingParaPointsWithLowerPriority()

const point::ParaPointList& ad::map::intersection::Intersection::incomingParaPointsWithLowerPriority ( ) const

Returns: the border points of all lanes that lead into the intersection and have lower priority

◆ internalLanesWithHigherPriority()

const lane::LaneIdSet& ad::map::intersection::Intersection::internalLanesWithHigherPriority ( ) const

Returns: all lanes that are inside the intersection and have higher priority (subset of internalLanes)

◆ internalLanesWithLowerPriority()

const lane::LaneIdSet& ad::map::intersection::Intersection::internalLanesWithLowerPriority ( ) const

Returns: all lanes that are inside the intersection and have lower priority (subset of internalLanes)

◆ intersectionType()

IntersectionType ad::map::intersection::Intersection::intersectionType ( ) const

Returns: the type of this intersection

◆ lanesOnRoute()

const lane::LaneIdSet& ad::map::intersection::Intersection::lanesOnRoute ( ) const

Returns: all lanes along the route within the intersection

◆ objectInterpenetrationDistanceWithIntersection()

physics::Distance ad::map::intersection::Intersection::objectInterpenetrationDistanceWithIntersection ( match::Object const & object ) const

calculate and return the physics::Distance the object interpenetrates with the intersection

If the object is not within the intersection: result == 0. If the object is partly within the intersection: 0. < result < object length If the object is fully within the intersection: result == object length If the object is touching incoming/outgoing lanes of different intersection arms at the same time: result == object length

◆ objectOnCrossingLane()

bool ad::map::intersection::Intersection::objectOnCrossingLane ( match::MapMatchedObjectBoundingBox const & object ) const

Returns: true if the object touches one of the crossing lanes

◆ objectOnIncomingLane()

bool ad::map::intersection::Intersection::objectOnIncomingLane ( match::MapMatchedObjectBoundingBox const & object ) const

Returns: true if the object touches one of the incoming lanes

◆ objectOnIncomingLaneWithHigherPriority()

bool ad::map::intersection::Intersection::objectOnIncomingLaneWithHigherPriority ( match::MapMatchedObjectBoundingBox const & object ) const

Returns: true if the object touches one of the incoming lanes with higher priority

◆ objectOnIncomingLaneWithLowerPriority()

bool ad::map::intersection::Intersection::objectOnIncomingLaneWithLowerPriority ( match::MapMatchedObjectBoundingBox const & object ) const

Returns: true if the object touches one of the incoming lanes with lower priority

◆ objectOnInternalLaneWithHigherPriority()

bool ad::map::intersection::Intersection::objectOnInternalLaneWithHigherPriority ( match::MapMatchedObjectBoundingBox const & object ) const

Returns: true if the object touches one of the internal lanes with higher priority

◆ objectOnInternalLaneWithLowerPriority()

bool ad::map::intersection::Intersection::objectOnInternalLaneWithLowerPriority ( match::MapMatchedObjectBoundingBox const & object ) const

Returns: true if the object touches one of the internal lanes with lower priority

◆ objectOnIntersectionRoute()

bool ad::map::intersection::Intersection::objectOnIntersectionRoute ( match::MapMatchedObjectBoundingBox const & object ) const

Returns: true if the object touches the route of the intersection

◆ objectOnLaneWithHigherPriority()

bool ad::map::intersection::Intersection::objectOnLaneWithHigherPriority ( match::MapMatchedObjectBoundingBox const & object ) const

Returns: true if the object touches one of the incoming or internal lanes with higher priority

◆ objectOnLaneWithLowerPriority()

bool ad::map::intersection::Intersection::objectOnLaneWithLowerPriority ( match::MapMatchedObjectBoundingBox const & object ) const

Returns: true if the object touches one of the incoming or internal lanes with lower priority

◆ objectRouteCrossesIntersectionRoute()

bool ad::map::intersection::Intersection::objectRouteCrossesIntersectionRoute ( route::FullRoute const & objectRoute ) const

Returns: true if the provided objectRoute crosses the route of the intersection

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

◆ objectRouteCrossesLanesWithHigherPriority()

bool ad::map::intersection::Intersection::objectRouteCrossesLanesWithHigherPriority ( route::FullRoute const & objectRoute ) const

Returns: true if the provided objectRoute crosses a internal lane with higher priority

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

◆ objectRouteFromSameArmAsIntersectionRoute()

bool ad::map::intersection::Intersection::objectRouteFromSameArmAsIntersectionRoute ( route::FullRoute const & objectRoute ) const

Returns: true if the beginning of the provided objectRoute is coming from the same arm as the intersection route

This means the object is driving from same direction through the intersection.

◆ objectRouteOppositeToIntersectionRoute()

bool ad::map::intersection::Intersection::objectRouteOppositeToIntersectionRoute ( route::FullRoute const & objectRoute ) const

Returns: true if the beginning of the provided objectRoute is coming from the same arm where the intersection route exits and leaves the intersection from the same arm the intersection route enters.

This means the object is driving from exactly the opposite direction through the intersection.

◆ onlySolidTrafficLightsOnRoute()

bool ad::map::intersection::Intersection::onlySolidTrafficLightsOnRoute ( )

checks if there is just solid traffic lights on the intersection entry.

Returns: true just if solid traffic lights are found

◆ outgoingLanes()

const lane::LaneIdSet& ad::map::intersection::Intersection::outgoingLanes ( ) const

Returns: all lanes that lead out from the intersection

◆ outgoingLanesOnRoute()

const lane::LaneIdSet& ad::map::intersection::Intersection::outgoingLanesOnRoute ( ) const

Returns: all lanes that leave the intersection on the route

◆ outgoingParaPoints()

const point::ParaPointList& ad::map::intersection::Intersection::outgoingParaPoints ( ) const

Returns: the border points of all lanes that exit the intersection

◆ outgoingParaPointsOnRoute()

const point::ParaPointList& ad::map::intersection::Intersection::outgoingParaPointsOnRoute ( ) const

Returns: the border points of all lanes that exit the intersection on the route

◆ paraPointsOnRoute()

const point::ParaPointList& ad::map::intersection::Intersection::paraPointsOnRoute ( ) const

Returns: all parametric points along the route within the intersection

◆ turnDirection()

TurnDirection ad::map::intersection::Intersection::turnDirection ( ) const

Returns: the turn direction of the ego route within this intersection

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

include/ad/map/intersection/Intersection.hpp

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ crossingLanes()

◆ getIntersectionForRoadSegment()

◆ getIntersectionsForRoute()

◆ getIntersectionStartOnRoute()

◆ getNextIntersectionOnRoute()

◆ getRoutePlanningCounter()

◆ getRouteSegmentCountFromDestination()

◆ incomingLanes()

◆ incomingLanesOnRoute()

◆ incomingLanesWithHigherPriority()

◆ incomingLanesWithLowerPriority()

◆ incomingParaPoints()

◆ incomingParaPointsOnRoute()

◆ incomingParaPointsWithHigherPriority()

◆ incomingParaPointsWithLowerPriority()

◆ internalLanesWithHigherPriority()

◆ internalLanesWithLowerPriority()

◆ intersectionType()

◆ lanesOnRoute()

◆ objectInterpenetrationDistanceWithIntersection()

◆ objectOnCrossingLane()

◆ objectOnIncomingLane()

◆ objectOnIncomingLaneWithHigherPriority()

◆ objectOnIncomingLaneWithLowerPriority()

◆ objectOnInternalLaneWithHigherPriority()

◆ objectOnInternalLaneWithLowerPriority()

◆ objectOnIntersectionRoute()

◆ objectOnLaneWithHigherPriority()

◆ objectOnLaneWithLowerPriority()

◆ objectRouteCrossesIntersectionRoute()

◆ objectRouteCrossesLanesWithHigherPriority()

◆ objectRouteFromSameArmAsIntersectionRoute()

◆ objectRouteOppositeToIntersectionRoute()

◆ onlySolidTrafficLightsOnRoute()

◆ outgoingLanes()

◆ outgoingLanesOnRoute()

◆ outgoingParaPoints()

◆ outgoingParaPointsOnRoute()

◆ paraPointsOnRoute()

◆ turnDirection()