Implements routing support functionality on the lane network. More...

#include <ad/map/route/RouteExpander.hpp>

Inheritance diagram for ad::map::route::planning::RouteExpander< RoutingCostData >:

Collaboration diagram for ad::map::route::planning::RouteExpander< RoutingCostData >:

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Classes
struct	RoutingCost
	definition of the routing cost data More...

Public Types
typedef std::pair< RoutingParaPoint, RoutingCost >	RoutingPoint
	definition of the routing point

Public Types inherited from ad::map::route::planning::Route
enum	Type { Type::INVALID, Type::SHORTEST, Type::SHORTEST_IGNORE_DIRECTION }
	Routing type. More...

typedef std::vector< point::ParaPointList >	BasicRoute
	Basic route description.

Public Member Functions
	RouteExpander (const RoutingParaPoint &start, const RoutingParaPoint &dest, physics::Distance const &maxDistance, physics::Duration const &maxDuration, Type const &routingType)
	Constructor. More...

	RouteExpander (RouteExpander const &)=delete

	RouteExpander (RouteExpander const &&)=delete

RouteExpander &	operator= (RouteExpander const &)=delete

RouteExpander &	operator= (RouteExpander &&)=delete

virtual	~RouteExpander ()=default
	destructor.

void	expandNeighbors (RoutingPoint const &origin)
	Triggers the expansion of the given routing point origin to its valid neighborhood.

void	setRelevantLanes (::ad::map::lane::LaneIdSet const &relevantLanes)
	set the lanes that are relevant for routing All the rest of the lanes in the map are ignored.

void	clearRelevantLanes ()
	clear the list of relevant lanes.

Public Member Functions inherited from ad::map::route::planning::Route
	Route (const RoutingParaPoint &start, const RoutingParaPoint &dest, physics::Distance const &maxDistance, physics::Duration const &maxDuration, Type const &routingType)
	Constructor. Calculates route between two points. More...

	Route (Route const &)=delete

	Route (Route const &&)=delete

Route &	operator= (Route const &)=delete

Route &	operator= (Route &&)=delete

virtual	~Route ()=default
	Destructor.

const point::ParaPoint &	getStart () const

const RoutingParaPoint &	getRoutingStart () const

const point::ParaPoint &	getDest () const

const RoutingParaPoint &	getRoutingDest () const

Type	getType () const

bool	laneDirectionIsIgnored () const

virtual bool	calculate ()=0
	Performs the routing. More...

bool	isValid () const

const RawRoute &	getRawRoute (size_t const routeIndex=0u) const

const std::vector< RawRoute > &	getRawRoutes () const

BasicRoute	getBasicRoute (size_t const routeIndex=0u) const

std::vector< BasicRoute >	getBasicRoutes () const

Protected Types
enum	ExpandReason { ExpandReason::SameLaneNeighbor, ExpandReason::LongitudinalNeighbor, ExpandReason::LateralNeighbor, ExpandReason::Destination }
	Definition of the reasons for route expansion. More...

Protected Member Functions
virtual void	addNeighbor (lane::Lane::ConstPtr originLane, RoutingPoint const &origin, lane::Lane::ConstPtr neighborLane, RoutingPoint const &neighbor, ExpandReason const &expandReason)=0
	a neighbor is added More...

bool	isStart (RoutingPoint const &origin)

bool	isEnd (RoutingPoint const &origin)

bool	isPositiveMovement (lane::Lane::ConstPtr lane, RoutingPoint const &origin)

bool	isNegativeMovement (lane::Lane::ConstPtr lane, RoutingPoint const &origin)

bool	isLaneRelevantForExpansion (lane::LaneId const laneId) const
	check if lane is relevant for route expander

void	expandSameLaneNeighbors (lane::Lane::ConstPtr lane, RoutingPoint const &origin)
	perform the expansion of the neighbor points on the same lane

void	expandLongitudinalNeighbors (lane::Lane::ConstPtr lane, RoutingPoint const &origin)
	perform the expansion of the neighbor points in longitudinal (contacts: successor/predecessor) lane direction

void	expandLateralNeighbors (lane::Lane::ConstPtr lane, RoutingPoint const &origin)
	perform the expansion of the neighbor points in lateral (contacts: left/right) lane direction

RoutingPoint	createNeighbor (lane::Lane::ConstPtr originLane, RoutingPoint const &origin, lane::Lane::ConstPtr neighborLane, RoutingParaPoint neighborRoutingParaPoint)
	create neighbor point and calculate the actual distance/duration to reach it

RoutingPoint	createLongitudinalNeighbor (RoutingPoint const &origin, RoutingParaPoint neighborRoutingParaPoint)
	create longitudinal neighbor point with minimal actual distance/duration to reach

Protected Attributes
::ad::map::lane::LaneIdSet	mRelevantLanes
	relevant lanes for the routing

Protected Attributes inherited from ad::map::route::planning::Route
RoutingParaPoint	mStart
	Start point.

RoutingParaPoint	mDest
	Destination point.

const physics::Distance	mMaxDistance
	prediction distance to be used

const physics::Duration	mMaxDuration
	prediction duration to be used

Type	mType
	Type of the route to be calculated.

bool	mValid
	Indicates if calculation was successful. More...

std::vector< RawRoute >	mRawRoutes

Detailed Description

template<class RoutingCostData>
class ad::map::route::planning::RouteExpander< RoutingCostData >

Implements routing support functionality on the lane network.

This class is used to expand a route by its reachable neighbors. The routing cost data is defined by a template type to be defined by the actual routing class.

Member Enumeration Documentation

◆ ExpandReason

template<class RoutingCostData >

enum ad::map::route::planning::RouteExpander::ExpandReason

strongprotected

Definition of the reasons for route expansion.

Enumerator
SameLaneNeighbor	expand the route by a neighbor point within the same lane
LongitudinalNeighbor	expand the route by a longitudinal neighbor lane point
LateralNeighbor	expand the route by a lateral neighbor lane point
Destination	expand the destination

Constructor & Destructor Documentation

◆ RouteExpander()

template<class RoutingCostData >

ad::map::route::planning::RouteExpander< RoutingCostData >::RouteExpander	(	const RoutingParaPoint &	start,
		const RoutingParaPoint &	dest,
		physics::Distance const &	maxDistance,
		physics::Duration const &	maxDuration,
		Type const &	routingType
	)

inline

Constructor.

Parameters

[in]	start	Start point.
[in]	dest	Destination point.
[in]	maxDistance	maximum route search distance.
[in]	maxDuration	maximum route search duration.
[in]	typ	Type of the route to be calculated.

Member Function Documentation

◆ addNeighbor()

template<class RoutingCostData >

virtual void ad::map::route::planning::RouteExpander< RoutingCostData >::addNeighbor	(	lane::Lane::ConstPtr	originLane,
		RoutingPoint const &	origin,
		lane::Lane::ConstPtr	neighborLane,
		RoutingPoint const &	neighbor,
		ExpandReason const &	expandReason
	)

protectedpure virtual

a neighbor is added

Override this function in the derived class to get notified on expanded neighbors.

Parameters

[in]	originLane	the lane object of the origin point
[in]	origin	the origin RoutingPoint provided to the ExpandNeighbors() function
[in]	neighborLane	the lane object of the neighbor point
[in]	neighbor	the neighbor RoutingPoint which is added (RoutingCostData not filled!)
[in]	expandReason	the reason why the origin was expanded to this neighbor

◆ isEnd()

template<class RoutingCostData >

bool ad::map::route::planning::RouteExpander< RoutingCostData >::isEnd ( RoutingPoint const & origin )

inlineprotected

Returns: true if the given origin point is the parametric end

◆ isNegativeMovement()

template<class RoutingCostData >

bool ad::map::route::planning::RouteExpander< RoutingCostData >::isNegativeMovement	(	lane::Lane::ConstPtr	lane,
		RoutingPoint const &	origin
	)

inlineprotected

Returns: true if the given origin point on the given lane defines a negative movement

◆ isPositiveMovement()

template<class RoutingCostData >

bool ad::map::route::planning::RouteExpander< RoutingCostData >::isPositiveMovement	(	lane::Lane::ConstPtr	lane,
		RoutingPoint const &	origin
	)

inlineprotected

Returns: true if the given origin point on the given lane defines a positive movement

◆ isStart()

template<class RoutingCostData >

bool ad::map::route::planning::RouteExpander< RoutingCostData >::isStart ( RoutingPoint const & origin )

inlineprotected

Returns: true if the given origin point is the parametric start

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

include/ad/map/route/RouteExpander.hpp

Classes

Public Types

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Detailed Description

template<class RoutingCostData> class ad::map::route::planning::RouteExpander< RoutingCostData >

Member Enumeration Documentation

◆ ExpandReason

Constructor & Destructor Documentation

◆ RouteExpander()

Member Function Documentation

◆ addNeighbor()

◆ isEnd()

◆ isNegativeMovement()

◆ isPositiveMovement()

◆ isStart()

template<class RoutingCostData>
class ad::map::route::planning::RouteExpander< RoutingCostData >