namespace lane More...

Classes
struct	ContactLane
	DataType ContactLane. More...

struct	ECEFBorder
	DataType ECEFBorder. More...

struct	ENUBorder
	DataType ENUBorder. More...

struct	GeoBorder
	DataType GeoBorder. More...

struct	Lane
	DataType Lane. More...

struct	LaneAltitudeRange
	Struct to hold the altitude range of a lane. More...

class	LaneId
	DataType LaneId. More...

Typedefs
typedef uint64_t	ComplianceVersion
	DataType ComplianceVersion. More...

typedef std::vector<::ad::map::lane::ContactLane >	ContactLaneList
	DataType ContactLaneList.

typedef std::vector<::ad::map::lane::ContactLocation >	ContactLocationList
	DataType ContactLocationList. More...

typedef std::vector<::ad::map::lane::ContactType >	ContactTypeList
	DataType ContactTypeList. More...

typedef std::vector<::ad::map::lane::ECEFBorder >	ECEFBorderList
	DataType ECEFBorderList. More...

typedef std::vector<::ad::map::lane::ENUBorder >	ENUBorderList
	DataType ENUBorderList. More...

typedef std::vector<::ad::map::lane::GeoBorder >	GeoBorderList
	DataType GeoBorderList. More...

typedef std::vector<::ad::map::lane::LaneId >	LaneIdList
	DataType LaneIdList. More...

typedef std::set< LaneId >	LaneIdSet

Enumerations
enum	ContactLocation : int32_t { ContactLocation::INVALID = 0, ContactLocation::UNKNOWN = 1, ContactLocation::LEFT = 2, ContactLocation::RIGHT = 3, ContactLocation::SUCCESSOR = 4, ContactLocation::PREDECESSOR = 5, ContactLocation::OVERLAP = 6 }
	DataType ContactLocation. More...

enum	ContactType : int32_t { ContactType::INVALID = 0, ContactType::UNKNOWN = 1, ContactType::FREE = 2, ContactType::LANE_CHANGE = 3, ContactType::LANE_CONTINUATION = 4, ContactType::LANE_END = 5, ContactType::SINGLE_POINT = 6, ContactType::STOP = 7, ContactType::STOP_ALL = 8, ContactType::YIELD = 9, ContactType::GATE_BARRIER = 10, ContactType::GATE_TOLBOOTH = 11, ContactType::GATE_SPIKES = 12, ContactType::GATE_SPIKES_CONTRA = 13, ContactType::CURB_UP = 14, ContactType::CURB_DOWN = 15, ContactType::SPEED_BUMP = 16, ContactType::TRAFFIC_LIGHT = 17, ContactType::CROSSWALK = 18, ContactType::PRIO_TO_RIGHT = 19, ContactType::RIGHT_OF_WAY = 20, ContactType::PRIO_TO_RIGHT_AND_STRAIGHT = 21 }
	DataType ContactType. More...

enum	LaneDirection : int32_t { LaneDirection::INVALID = 0, LaneDirection::UNKNOWN = 1, LaneDirection::POSITIVE = 2, LaneDirection::NEGATIVE = 3, LaneDirection::REVERSABLE = 4, LaneDirection::BIDIRECTIONAL = 5, LaneDirection::NONE = 6 }
	DataType LaneDirection. More...

enum	LaneType : int32_t { LaneType::INVALID = 0, LaneType::UNKNOWN = 1, LaneType::NORMAL = 2, LaneType::INTERSECTION = 3, LaneType::SHOULDER = 4, LaneType::EMERGENCY = 5, LaneType::MULTI = 6, LaneType::PEDESTRIAN = 7, LaneType::OVERTAKING = 8, LaneType::TURN = 9, LaneType::BIKE = 10 }
	DataType LaneType. More...

Functions
std::ostream &	operator<< (std::ostream &os, ContactLane const &_value)
	standard ostream operator More...

std::ostream &	operator<< (std::ostream &os, ContactLocation const &value)
	standard ostream operator More...

std::ostream &	operator<< (std::ostream &os, ContactType const &value)
	standard ostream operator More...

std::ostream &	operator<< (std::ostream &os, ECEFBorder const &_value)
	standard ostream operator More...

std::ostream &	operator<< (std::ostream &os, ENUBorder const &_value)
	standard ostream operator More...

std::ostream &	operator<< (std::ostream &os, GeoBorder const &_value)
	standard ostream operator More...

std::ostream &	operator<< (std::ostream &os, Lane const &_value)
	standard ostream operator More...

std::ostream &	operator<< (std::ostream &os, LaneDirection const &value)
	standard ostream operator More...

std::ostream &	operator<< (std::ostream &os, LaneId const &_value)
	standard ostream operator More...

std::ostream &	operator<< (std::ostream &os, LaneType const &value)
	standard ostream operator More...

point::ENUEdge	getLateralAlignmentEdge (ENUBorder const &border, physics::ParametricValue const lateralAlignment)
	Get the ENUEdge between the given border with corresponding lateralAlignment. More...

physics::Distance	getDistanceEnuPointToLateralAlignmentEdge (point::ENUPoint const &enuPoint, point::ENUEdge const &lateralAlignmentEdge)
	Get the distance between an ENU point and the lateral alignment edge. More...

void	normalizeBorder (ENUBorder &border, ENUBorder const *previousBorder=nullptr)
	normalizes the border More...

void	makeTransitionToSecondEdgeContinuous (point::ENUEdge const &first, point::ENUEdge &second)
	operation to make the transition between two edges continuous More...

void	makeTransitionToSecondBorderContinuous (ENUBorder const &first, ENUBorder &second)
	operation to make the transition between two borders continuous More...

void	makeTransitionFromFirstEdgeContinuous (point::ENUEdge &first, point::ENUEdge const &second)
	operation to make the transition between two edges continuous More...

void	makeTransitionFromFirstBorderContinuous (ENUBorder &first, ENUBorder const &second)
	operation to make the transition between two borders continuous More...

physics::Distance	calcLength (ENUBorder const &border)
	calculate the length of the provided border as distance value More...

physics::Distance	calcLength (ECEFBorder const &border)
	calculate the length of the provided border as distance value More...

physics::Distance	calcLength (GeoBorder const &border)
	calculate the length of the provided border as distance value More...

physics::Distance	calcLength (ENUBorderList const &borderList)
	calculate the length out of the provided ENU border List as distance value More...

point::ENUHeading	getENUHeading (ENUBorderList const &borderList, point::ENUPoint const &enuPoint)
	calculate the ENUHeading of the vector<ENUBorder> at the given ENUPoint More...

ContactLocation	oppositeLocation (ContactLocation const &e)
	Provides opposite Location. More...

bool	isAccessOk (ContactLane const &contactLane, restriction::VehicleDescriptor const &vehicle)
	Checks if vehicle fits the restriction criteria of the contact lane. More...

bool	isValid (ContactLane const &contactLane, bool const logErrors=true)
	checks if the given ContactLane is valid More...

bool	isValid (LaneId const &laneId, bool const logErrors=true)
	checks if the given LaneId is valid More...

bool	isValid (Lane const &lane, bool const logErrors=true)
	checks if the given Lane is valid More...

Lane::ConstPtr	getLanePtr (LaneId const &id)
	Method to be called to retrieve Lane from the Store. More...

const Lane &	getLane (lane::LaneId const &id)
	Method to be called to retrieve Lane from the Store. More...

LaneIdList	getLanes ()
	Method to be called to retrieve identifiers of all Lanes in the Store. More...

point::ECEFHeading	getLaneECEFHeading (match::MapMatchedPosition const &mapMatchedPosition)

point::ECEFHeading	getLaneECEFHeading (point::ParaPoint const &paraPoint)

point::ENUHeading	getLaneENUHeading (match::MapMatchedPosition const &mapMatchedPosition)

point::ENUHeading	getLaneENUHeading (point::ParaPoint const &paraPoint, point::GeoPoint const &gnssReference)

LaneId	uniqueLaneId (point::GeoPoint const &point)

point::ParaPoint	uniqueParaPoint (point::GeoPoint const &point)

bool	isAccessOk (Lane const &lane, restriction::VehicleDescriptor const &vehicle)
	Checks if vehicle fits the lanes restriction criteria. More...

bool	isNear (Lane const &lane, point::BoundingSphere const &boundingSphere)
	Checks if given sphere intersects with lane bounding ball. More...

physics::Distance	getWidth (Lane const &lane, physics::ParametricValue const &longitudinalOffset)

physics::Speed	getMaxSpeed (Lane const &lane, physics::ParametricRange const &range)

restriction::SpeedLimitList	getSpeedLimits (Lane const &lane, physics::ParametricRange const &range)

physics::Duration	getDuration (Lane const &lane, physics::ParametricRange const &range)

restriction::PassengerCount	getHOV (Lane const &lane)

ContactLaneList	getContactLanes (Lane const &lane, ContactLocation const &location)
	Find contact lanes at specific relative location. More...

ContactLaneList	getContactLanes (Lane const &lane, ContactLocationList const &locations)
	Find contact lanes at specific relative locations. More...

ContactLocation	getContactLocation (Lane const &lane, LaneId const &to_lane_id)
	Check nature of contact between this lane and another lane. More...

bool	isLaneDirectionPositive (Lane const &lane)

bool	isLaneDirectionNegative (Lane const &lane)

bool	isRouteable (Lane const &lane)

bool	isLanePartOfAnIntersection (Lane const &lane)

bool	isLeftMost (Lane const &lane)

bool	isRightMost (Lane const &lane)

point::ECEFPoint	getParametricPoint (Lane const &lane, physics::ParametricValue const &longitudinalOffset, physics::ParametricValue const &lateralOffset)
	Calculates parametric point on the lane. Point is calculated by first calculating t_long parametric point on the left and on the right boundary, and then parametric point t_lat between those two points. More...

bool	projectParametricPointToEdges (Lane const &lane, point::ECEFPoint const &referencePoint, point::ECEFPoint &point_on_left_edge, point::ECEFPoint &point_on_right_edge)
	Calculates the projection on left and right boundary of the given referencePoint. More...

bool	projectParametricPointToEdges (Lane const &lane, physics::ParametricValue const &longitudinalOffset, point::ECEFPoint &point_on_left_edge, point::ECEFPoint &point_on_right_edge)
	Calculates the projection on left and right boundary of the parametric point on the center of the lane. More...

point::ECEFPoint	getProjectedParametricPoint (Lane const &lane, physics::ParametricValue const &longitudinalOffset, physics::ParametricValue const &lateralOffset)
	Calculates projected parametric point on the lane. Point is calculated by first calculating the projected points on left and right boundary using ProjectParametricPointToEdges(), and then parametric point t_lat between those two points. More...

point::ECEFPoint	getStartPoint (Lane const &lane)

point::ECEFPoint	getEndPoint (Lane const &lane)

bool	isPyhsicalSuccessor (Lane const &lane, Lane const &other)
	Checks if Lane is longitudinally connected with another Lane at the end. More...

bool	isPhysicalPredecessor (Lane const &lane, Lane const &other)
	Checks if Lane is longitudinally connected with another Lane at the start. More...

bool	isVanishingLaneStart (Lane const &lane)

bool	isVanishingLaneEnd (Lane const &lane)

bool	satisfiesFilter (Lane const &lane, std::string const &typeFilter, bool isHov)
	Checks if Lane satisfies filter condition. More...

ContactLocation	getDirectNeighborhoodRelation (LaneId const laneId, LaneId const checkLaneId)
	get the neighborhood relation to the other lane More...

bool	isSuccessorOrPredecessor (LaneId const laneId, LaneId const checkLaneId)
	Check if a lane is successor or predecessor of a lane. More...

bool	isSameOrDirectNeighbor (LaneId const id, LaneId const neighbor)
	Check if two lanes are direct neighbors of even the same. More...

bool	isLaneDirectionPositive (LaneId const &laneId)
	Check if the lane direction is positive. More...

bool	isLaneDirectionNegative (LaneId const &laneId)
	Check if the lane direction is negative. More...

physics::Distance	getDistanceToLane (LaneId laneId, match::Object const &object)
	Get the distance of an object to the lane boundaries. More...

point::ENUHeading	getLaneENUHeading (point::ParaPoint const &position)

bool	isHeadingInLaneDirection (point::ParaPoint const &position, point::ENUHeading const &heading)
	Check if the provided heading is along the lane direction. More...

bool	projectPositionToLaneInHeadingDirection (point::ParaPoint const &position, point::ENUHeading const &heading, point::ParaPoint &projectedPosition)
	project a position to a neighboring lane (incl. the lane itself), which has the provided heading More...

bool	findNearestPointOnLane (Lane const &lane, point::ECEFPoint const &pt, match::MapMatchedPosition &mmpos)
	Finds point on the lane nearest to the given point. More...

bool	findNearestPointOnLaneInterval (route::LaneInterval const &laneInterval, point::ECEFPoint const &pt, match::MapMatchedPosition &mmpos)
	Finds point on the lane interval nearest to the given point. More...

point::ENUPoint	getENULanePoint (point::ParaPoint const parametricPoint, physics::ParametricValue const &lateralOffset=physics::ParametricValue(0.5))
	get the ENU point of a lane More...

physics::Distance	calcLength (LaneId const &laneId)
	calculate length of a lane with a given id

physics::Distance	calcLength (match::LaneOccupiedRegion const &laneOccupiedRegion)
	calculate length of a lane occupied region

physics::Distance	calcWidth (point::ParaPoint const &paraPoint)
	calculate the width of the lane at the provided lanePoint

physics::Distance	calcWidth (LaneId const &laneId, physics::ParametricValue const &longOffset)
	calculate the width of the provided lane at the provided longitudinal position

physics::Distance	calcWidth (point::ENUPoint const &enuPoint)
	calculate the width of a lane at the provided ENU position More...

physics::Distance	calcWidth (match::LaneOccupiedRegion const &laneOccupiedRegion)
	calculate width of a lane occupied region scales the with at the center of the occupied region by the lateral extend of the region

LaneAltitudeRange	calcLaneAltitudeRange (Lane const &lane)
	Calculates the altitude range of a lane. More...

bool	isLaneRelevantForExpansion (lane::LaneId const &laneId, lane::LaneIdSet const &relevantLanes)
	Checks if the laneId is relevant for expansion given the set of relevant lanes. More...

Detailed Description

namespace lane

Handling of lanes

Typedef Documentation

◆ ComplianceVersion

typedef uint64_t ad::map::lane::ComplianceVersion

DataType ComplianceVersion.

Compliance version

◆ ContactLocationList

typedef std::vector<::ad::map::lane::ContactLocation> ad::map::lane::ContactLocationList

DataType ContactLocationList.

List of contact locations

◆ ContactTypeList

typedef std::vector<::ad::map::lane::ContactType> ad::map::lane::ContactTypeList

DataType ContactTypeList.

List of Contact Types

◆ ECEFBorderList

typedef std::vector<::ad::map::lane::ECEFBorder> ad::map::lane::ECEFBorderList

DataType ECEFBorderList.

List of ECEFBorder elements

◆ ENUBorderList

typedef std::vector<::ad::map::lane::ENUBorder> ad::map::lane::ENUBorderList

DataType ENUBorderList.

List of ENUBorder elements

◆ GeoBorderList

typedef std::vector<::ad::map::lane::GeoBorder> ad::map::lane::GeoBorderList

DataType GeoBorderList.

List of GeoBorder elements

◆ LaneIdList

typedef std::vector<::ad::map::lane::LaneId> ad::map::lane::LaneIdList

DataType LaneIdList.

List of lane identifiers

Enumeration Type Documentation

◆ ContactLocation

enum ad::map::lane::ContactLocation : int32_t

strong

DataType ContactLocation.

Specification of the location of the contact of an object.

Enumerator
INVALID	Invalid value.
UNKNOWN	Unknown value.
LEFT	Another object is on Left from this object.
RIGHT	Another object is on Right from this object.
SUCCESSOR	Another object is an Successor of this object.
PREDECESSOR	Another object is an Predecessor of this object.
OVERLAP	Another object Overlaps this object.

◆ ContactType

enum ad::map::lane::ContactType : int32_t

strong

DataType ContactType.

Type of the contact between two objects.

Enumerator
INVALID	Invalid value.
UNKNOWN	Unknown value.
FREE	There is no physical or legal obstacles between two objects.
LANE_CHANGE	Transition between one lane to direct lateral neighboor.
LANE_CONTINUATION	Transition between one lane to longitudinal direct neighboor.
LANE_END	End of the Lane - line.
SINGLE_POINT	End of the Lane - point.
STOP	STOP regulation at the end of the lane.
STOP_ALL	STOP 3-way, 4-way etc regulation at the end of the lane.
YIELD	YIELD regulation at the end of the lane.
GATE_BARRIER	Gate with barrier at the end of the lane.
GATE_TOLBOOTH	Tolbooth barrier at the end of the lane.
GATE_SPIKES	Spikes (in direction) at the end of the lane.
GATE_SPIKES_CONTRA	Spikes (in opposite direction) at the end of the lane.
CURB_UP	Curb up at the object side.
CURB_DOWN	Curb down at the object.
SPEED_BUMP	Speed bump at the end of the lane.
TRAFFIC_LIGHT	Traffic light at the end of the lane.
CROSSWALK	Crosswalk at the end of the lane.
PRIO_TO_RIGHT	Priority to the right regulation at the end of the lane.
RIGHT_OF_WAY	Right of way regulation at the end of the lane.
PRIO_TO_RIGHT_AND_STRAIGHT	Priority to right and to straight regulation at the end of the lane (Singapore).

◆ LaneDirection

enum ad::map::lane::LaneDirection : int32_t

strong

DataType LaneDirection.

Direction of a lane

Enumerator
INVALID	INVALID
UNKNOWN	UNKNOWN
POSITIVE	POSITIVE
NEGATIVE	NEGATIVE
REVERSABLE	REVERSABLE
BIDIRECTIONAL	BIDIRECTIONAL
NONE	NONE

◆ LaneType

enum ad::map::lane::LaneType : int32_t

strong

DataType LaneType.

Type of lane

Enumerator
INVALID	INVALID
UNKNOWN	UNKNOWN
NORMAL	NORMAL
INTERSECTION	INTERSECTION
SHOULDER	SHOULDER
EMERGENCY	EMERGENCY
MULTI	MULTI
PEDESTRIAN	PEDESTRIAN
OVERTAKING	OVERTAKING
TURN	TURN
BIKE	BIKE

Function Documentation

◆ calcLaneAltitudeRange()

LaneAltitudeRange ad::map::lane::calcLaneAltitudeRange ( Lane const & lane )

Calculates the altitude range of a lane.

Returns: The range of the lanes altitude

◆ calcLength() [1/4]

physics::Distance ad::map::lane::calcLength ( ECEFBorder const & border )

inline

calculate the length of the provided border as distance value

For length calculation the average between left and right edge of the border is returned. Length calculation is performed within Cartesian ECEF coordinate frame.

◆ calcLength() [2/4]

physics::Distance ad::map::lane::calcLength ( ENUBorder const & border )

inline

calculate the length of the provided border as distance value

For length calculation the average between left and right edge of the border is returned. Length calculation is performed within Cartesian ENU coordinate frame.

◆ calcLength() [3/4]

physics::Distance ad::map::lane::calcLength ( ENUBorderList const & borderList )

calculate the length out of the provided ENU border List as distance value

calculate the length out of the provided GEO border List as distance value

calculate the length out of the provided ECEF border List as distance value

For length calculation the average between left and right edge of the border is returned. Length calculation is performed within Cartesian ENU coordinate frame.

For length calculation the average between left and right edge of the border is returned. Length calculation is performed within Cartesian ECEF coordinate frame.

For length calculation the average between left and right edge of the border is returned. Length calculation is performed within GEO coordinate frame.

◆ calcLength() [4/4]

physics::Distance ad::map::lane::calcLength ( GeoBorder const & border )

inline

calculate the length of the provided border as distance value

For length calculation the average between left and right edge of the border is returned. Length calculation is performed within Cartesian ECEF coordinate frame.

◆ calcWidth()

physics::Distance ad::map::lane::calcWidth ( point::ENUPoint const & enuPoint )

calculate the width of a lane at the provided ENU position

Returns: -1 in case the enuPoint could not be found on a lane

◆ findNearestPointOnLane()

bool ad::map::lane::findNearestPointOnLane	(	Lane const &	lane,
		point::ECEFPoint const &	pt,
		match::MapMatchedPosition &	mmpos
	)

Finds point on the lane nearest to the given point.

Parameters

[in]	lane	the lane.
[in]	pt	Given point.
[out]	mmpos	Resulting map-matched position. The resulting probability of the map matched position is derived from lateralT value: spans between [0.5; 1.0] for LANE_IN matches spans between [0.1; 0.5] for LANE_RIGHT/LANE_LEFT matches

Returns: true if successful.

◆ findNearestPointOnLaneInterval()

bool ad::map::lane::findNearestPointOnLaneInterval	(	route::LaneInterval const &	laneInterval,
		point::ECEFPoint const &	pt,
		match::MapMatchedPosition &	mmpos
	)

Finds point on the lane interval nearest to the given point.

Parameters

[in]	laneInterval	the interval of the lane to be considered.
[in]	pt	Given point.
[out]	mmpos	Resulting map-matched position. The resulting probability of the map matched position is derived from lateralT value: spans between [0.5; 1.0] for LANE_IN matches spans between [0.1; 0.5] for LANE_RIGHT/LANE_LEFT matches

Returns: true if successful.

◆ getContactLanes() [1/2]

ContactLaneList ad::map::lane::getContactLanes	(	Lane const &	lane,
		ContactLocation const &	location
	)

Find contact lanes at specific relative location.

Parameters

[in]	lane	the lane.
[in]	location	Location of interest.

Returns: Contacts to lane at specified location.

◆ getContactLanes() [2/2]

ContactLaneList ad::map::lane::getContactLanes	(	Lane const &	lane,
		ContactLocationList const &	locations
	)

Find contact lanes at specific relative locations.

Parameters

[in] locations Locations of interest.

Returns: Contacts to lanes at specified locations.

◆ getContactLocation()

ContactLocation ad::map::lane::getContactLocation	(	Lane const &	lane,
		LaneId const &	to_lane_id
	)

Check nature of contact between this lane and another lane.

Parameters

[in] to_lane_id Another lane identifier.

Returns: Type of the contact. Can be INVALID if there is no contact between lanes.

◆ getDirectNeighborhoodRelation()

ContactLocation ad::map::lane::getDirectNeighborhoodRelation	(	LaneId const	laneId,
		LaneId const	checkLaneId
	)

get the neighborhood relation to the other lane

Parameters

[in]	laneId	the main lane
[in]	checkLaneId	the lane to be checked on the

Return values

lane::ContactLocation::OVERLAP	if it's the same lane
lane::ContactLocation::LEFT	if it's a left neighbor
lane::ContactLocation::RIGHT	if it's a right neighbor
lane::ContactLocation::SUCCESSOR	if it a successor lane
lane::ContactLocation::PREDECESSOR	if it's a predecessor lane
lane::ContactLocation::INVALID	if it's nothing of the above

◆ getDistanceEnuPointToLateralAlignmentEdge()

physics::Distance ad::map::lane::getDistanceEnuPointToLateralAlignmentEdge	(	point::ENUPoint const &	enuPoint,
		point::ENUEdge const &	lateralAlignmentEdge
	)

Get the distance between an ENU point and the lateral alignment edge.

Parameters

[in]	enuPoint	is the point for which the distance should be calculated
[in]	lateralAlignmentEdge	the lateral alignment in ENU form

Returns: calculated Distance

◆ getDistanceToLane()

physics::Distance ad::map::lane::getDistanceToLane	(	LaneId	laneId,
		match::Object const &	object
	)

Get the distance of an object to the lane boundaries.

If the object provides a map matched bounding box, this information is used first (speed-up and more accurate). If the object's map matched bounding box is not touching the laneId at all, the object's center distance to the lane is calculated and reduced by max(width, length)/2 to obtain a good estimate for the shortest distance to the lane.

◆ getDuration()

physics::Duration ad::map::lane::getDuration	(	Lane const &	lane,
		physics::ParametricRange const &	range
	)

Returns: minimum duration to drive the provided parametric range along the lane based on the speed limits of the lane.

◆ getEndPoint()

point::ECEFPoint ad::map::lane::getEndPoint ( Lane const & lane )

inline

Returns: Middle of the lane at the end.

◆ getENUHeading()

point::ENUHeading ad::map::lane::getENUHeading	(	ENUBorderList const &	borderList,
		point::ENUPoint const &	enuPoint
	)

calculate the ENUHeading of the vector<ENUBorder> at the given ENUPoint

If the given ENUPoint is not within the given borders, an ENUHeading(2*M_PI) is returned.

◆ getENULanePoint()

point::ENUPoint ad::map::lane::getENULanePoint	(	point::ParaPoint const	parametricPoint,
		physics::ParametricValue const &	lateralOffset = `physics::ParametricValue(0.5)`
	)

get the ENU point of a lane

◆ getHOV()

restriction::PassengerCount ad::map::lane::getHOV ( Lane const & lane )

inline

Returns: Maximum of HOV restriction for the lane

◆ getLane()

const Lane& ad::map::lane::getLane ( lane::LaneId const & id )

Method to be called to retrieve Lane from the Store.

Parameters

[in] id Lane identifier.

Returns: Lane with given identifier. Throws std::invalid_argument if id is not valid or if lane does not exist in the store.

◆ getLaneECEFHeading() [1/2]

point::ECEFHeading ad::map::lane::getLaneECEFHeading ( match::MapMatchedPosition const & mapMatchedPosition )

Returns: lane heading at a mapMatchedPosition

◆ getLaneECEFHeading() [2/2]

point::ECEFHeading ad::map::lane::getLaneECEFHeading ( point::ParaPoint const & paraPoint )

Returns: lane heading at a paraPoint

◆ getLaneENUHeading() [1/3]

point::ENUHeading ad::map::lane::getLaneENUHeading ( match::MapMatchedPosition const & mapMatchedPosition )

Returns: lane heading at a mapMatchedPosition

◆ getLaneENUHeading() [2/3]

point::ENUHeading ad::map::lane::getLaneENUHeading	(	point::ParaPoint const &	paraPoint,
		point::GeoPoint const &	gnssReference
	)

Returns: lane heading at a paraPoint with given gnssReference

◆ getLaneENUHeading() [3/3]

point::ENUHeading ad::map::lane::getLaneENUHeading ( point::ParaPoint const & position )

Returns: the ENU heading of the lane at the given position

◆ getLanePtr()

Lane::ConstPtr ad::map::lane::getLanePtr ( LaneId const & id )

Method to be called to retrieve Lane from the Store.

Parameters

[in] id Lane identifier.

Returns: Lane with given identifier. Throws std::invalid_argument if id is not valid or if lane does not exist in the store.

◆ getLanes()

LaneIdList ad::map::lane::getLanes ( )

Method to be called to retrieve identifiers of all Lanes in the Store.

Returns: Identifiers of all lanes in the store.

◆ getLateralAlignmentEdge()

point::ENUEdge ad::map::lane::getLateralAlignmentEdge	(	ENUBorder const &	border,
		physics::ParametricValue const	lateralAlignment
	)

Get the ENUEdge between the given border with corresponding lateralAlignment.

Parameters

[in]	border	the ENU border, the edge is calculated from
[in]	lateralAlignment	the lateral alignment as TParam [0.;1.] used to calculate the resulting edge. The lateral alignment is relative to the left edge. If lateralAlignment is 1., the left edge is returned, if lateralAlignment is 0., the right edge is returned

Exceptions

std::invalid_argument if the lateralAlignment parameter is smaller than 0. or larger than 1.

◆ getMaxSpeed()

physics::Speed ad::map::lane::getMaxSpeed	(	Lane const &	lane,
		physics::ParametricRange const &	range
	)

Returns: Speed limits on the provided parametric range along the lane.

◆ getParametricPoint()

point::ECEFPoint ad::map::lane::getParametricPoint	(	Lane const &	lane,
		physics::ParametricValue const &	longitudinalOffset,
		physics::ParametricValue const &	lateralOffset
	)

Calculates parametric point on the lane. Point is calculated by first calculating t_long parametric point on the left and on the right boundary, and then parametric point t_lat between those two points.

Parameters

[in]	t_long	Longitudinal parameter.
[in]	t_lat	Lateral parameter relative to the left edge.

Returns: Parametric point on the lane. Can be invalid.

◆ getProjectedParametricPoint()

point::ECEFPoint ad::map::lane::getProjectedParametricPoint	(	Lane const &	lane,
		physics::ParametricValue const &	longitudinalOffset,
		physics::ParametricValue const &	lateralOffset
	)

Calculates projected parametric point on the lane. Point is calculated by first calculating the projected points on left and right boundary using ProjectParametricPointToEdges(), and then parametric point t_lat between those two points.

Parameters

[in]	longitudinalOffset	Longitudinal parameter.
[in]	lateralOffset	Lateral parameter relative to the left edge.

Returns: Parametric point on the lane. Can be invalid.

◆ getSpeedLimits()

restriction::SpeedLimitList ad::map::lane::getSpeedLimits	(	Lane const &	lane,
		physics::ParametricRange const &	range
	)

Returns: Speed limits on the provided parametric range along the lane.

◆ getStartPoint()

point::ECEFPoint ad::map::lane::getStartPoint ( Lane const & lane )

inline

Returns: Middle of the lane at the start.

◆ getWidth()

physics::Distance ad::map::lane::getWidth	(	Lane const &	lane,
		physics::ParametricValue const &	longitudinalOffset
	)

Parameters

[in]	lane	the lane.
[in]	longitudinalOffset	the longitudinal parametric offset

Returns: Width of the lane at the given longitudinal parametric offset longitudinalOffset

◆ isAccessOk() [1/2]

bool ad::map::lane::isAccessOk	(	ContactLane const &	contactLane,
		restriction::VehicleDescriptor const &	vehicle
	)

inline

Checks if vehicle fits the restriction criteria of the contact lane.

Parameters

[in]	contactLane	contact lane.
[in]	vehicle	Description of the vehicle.

Returns: true of vehicle fits the restrictions criteria.

◆ isAccessOk() [2/2]

bool ad::map::lane::isAccessOk	(	Lane const &	lane,
		restriction::VehicleDescriptor const &	vehicle
	)

inline

Checks if vehicle fits the lanes restriction criteria.

Parameters

[in]	lane	the lane.
[in]	vehicle	Description of the vehicle.

Returns: true of vehicle fits the restrictions criteria.

◆ isHeadingInLaneDirection()

bool ad::map::lane::isHeadingInLaneDirection	(	point::ParaPoint const &	position,
		point::ENUHeading const &	heading
	)

Check if the provided heading is along the lane direction.

Parameters

[in]	position	is the position at which the lane heading is obtained
[in]	heading	is the heading to be checked

Returns: true if the heading is within 90° of the lane direction, false otherwise

◆ isLaneDirectionNegative() [1/2]

bool ad::map::lane::isLaneDirectionNegative ( Lane const & lane )

inline

Returns: true if direction is NEGATIVE or BIDIRECTIONAL.

◆ isLaneDirectionNegative() [2/2]

bool ad::map::lane::isLaneDirectionNegative ( LaneId const & laneId )

Check if the lane direction is negative.

Parameters

[in] laneId the id of the lane to be checked

Returns: true if the lane direction is negative (negative || bidirectional)

◆ isLaneDirectionPositive() [1/2]

bool ad::map::lane::isLaneDirectionPositive ( Lane const & lane )

inline

Returns: true if direction is POSITIVE or BIDIRECTIONAL.

◆ isLaneDirectionPositive() [2/2]

bool ad::map::lane::isLaneDirectionPositive ( LaneId const & laneId )

Check if the lane direction is positive.

Parameters

[in] laneId the id of the lane to be checked

Returns: true if the lane direction is positive (positive || bidirectional)

◆ isLanePartOfAnIntersection()

bool ad::map::lane::isLanePartOfAnIntersection ( Lane const & lane )

inline

Returns: true if lane is part of an intersection.

◆ isLaneRelevantForExpansion()

bool ad::map::lane::isLaneRelevantForExpansion	(	lane::LaneId const &	laneId,
		lane::LaneIdSet const &	relevantLanes
	)

Checks if the laneId is relevant for expansion given the set of relevant lanes.

Returns: true if the relevantLanes set is empty, or if the laneId can be found in the set of relevantLanes.

◆ isLeftMost()

bool ad::map::lane::isLeftMost ( Lane const & lane )

inline

Returns: true if there are no lanes left of this one.

◆ isNear()

bool ad::map::lane::isNear	(	Lane const &	lane,
		point::BoundingSphere const &	boundingSphere
	)

inline

Checks if given sphere intersects with lane bounding ball.

Parameters

[in]	lane	the lane.
[in]	boundingSphere	input sphere

Returns: true given sphere intersects with lane bounding ball.

◆ isPhysicalPredecessor()

bool ad::map::lane::isPhysicalPredecessor	(	Lane const &	lane,
		Lane const &	other
	)

Checks if Lane is longitudinally connected with another Lane at the start.

Parameters

[in] other Other object. Must be IsValid()!

Returns: True if this Lane longitudinally connected with another Lane at the start.

◆ isPyhsicalSuccessor()

bool ad::map::lane::isPyhsicalSuccessor	(	Lane const &	lane,
		Lane const &	other
	)

Checks if Lane is longitudinally connected with another Lane at the end.

Parameters

[in] other Other object. Must be IsValid()!

Returns: True if this Lane longitudinally connected with another Lane at the end.

◆ isRightMost()

bool ad::map::lane::isRightMost ( Lane const & lane )

inline

Returns: true if there are no lanes right of this one.

◆ isRouteable()

bool ad::map::lane::isRouteable ( Lane const & lane )

inline

Returns: true if lane can be used in Routing.

◆ isSameOrDirectNeighbor()

bool ad::map::lane::isSameOrDirectNeighbor	(	LaneId const	id,
		LaneId const	neighbor
	)

Check if two lanes are direct neighbors of even the same.

Returns: true if the ids belong to the same or neighboring lanes, false otherwise

◆ isSuccessorOrPredecessor()

bool ad::map::lane::isSuccessorOrPredecessor	(	LaneId const	laneId,
		LaneId const	checkLaneId
	)

Check if a lane is successor or predecessor of a lane.

Parameters

[in]	laneId	the main lane
[in]	checkLaneId	the lane to be checked if it's a successor or predecessor of the main lane

Returns: true if the checkLaneId is a successor or predecessor of laneId

◆ isValid() [1/3]

bool ad::map::lane::isValid	(	ContactLane const &	contactLane,
		bool const	logErrors = `true`
	)

inline

checks if the given ContactLane is valid

The contactLane is valid if it's within valid input range.

◆ isValid() [2/3]

bool ad::map::lane::isValid	(	Lane const &	lane,
		bool const	logErrors = `true`
	)

inline

checks if the given Lane is valid

The lane is valid if it's within valid input range.

◆ isValid() [3/3]

bool ad::map::lane::isValid	(	LaneId const &	laneId,
		bool const	logErrors = `true`
	)

inline

checks if the given LaneId is valid

The laneId is valid if it's within valid input range.

◆ isVanishingLaneEnd()

bool ad::map::lane::isVanishingLaneEnd ( Lane const & lane )

Returns: true if this lane is vanishing at the end.

◆ isVanishingLaneStart()

bool ad::map::lane::isVanishingLaneStart ( Lane const & lane )

Returns: true if this lane is vanishing at the start.

◆ makeTransitionFromFirstBorderContinuous()

void ad::map::lane::makeTransitionFromFirstBorderContinuous	(	ENUBorder &	first,
		ENUBorder const &	second
	)

operation to make the transition between two borders continuous

This executes the makeTransitionToSecondEdgeContinuous() for left and right edges. In addition, adds interpolation points to the respective other edge if required.

Parameters

[in]	first	the first border to be adapted if required to make the transition continuous
[in]	second	the second border (is untouched by the algorithm)

◆ makeTransitionFromFirstEdgeContinuous()

void ad::map::lane::makeTransitionFromFirstEdgeContinuous	(	point::ENUEdge &	first,
		point::ENUEdge const &	second
	)

operation to make the transition between two edges continuous

If the end point of first is near (<=0.1m) to the end point of second or one of the edges has less than two points, nothing is done. Otherwise the first point of the second edge will exchanged by the last point of the first edge. The second point of the second edge is placed at some distance along the edge which is calculated using:

the distance of the displacement of the two edges
the direction of the displacement of the two edges compared to the the corresponding direction of the edges

Parameters

[in]	first	the first edge to be adapted if required to make the transition continuous
[in]	second	the second edge (is untouched by the algorithm)

◆ makeTransitionToSecondBorderContinuous()

void ad::map::lane::makeTransitionToSecondBorderContinuous	(	ENUBorder const &	first,
		ENUBorder &	second
	)

operation to make the transition between two borders continuous

This executes the makeTransitionToSecondEdgeContinuous() for left and right edges. In addition, adds interpolation points to the respective other edge if required.

Parameters

[in]	first	the first border (is untouched by the algorithm)
[in]	second	the second border to be adapted if required to make the transition continuous

◆ makeTransitionToSecondEdgeContinuous()

void ad::map::lane::makeTransitionToSecondEdgeContinuous	(	point::ENUEdge const &	first,
		point::ENUEdge &	second
	)

operation to make the transition between two edges continuous

If the end point of first is near (<=0.1m) to the end point of second or one of the edges has less than two points, nothing is done. Otherwise the first point of the second edge will exchanged by the last point of the first edge. The second point of the second edge is placed at some distance along the edge which is calculated using:

the distance of the displacement of the two edges
the direction of the displacement of the two edges compared to the the corresponding direction of the edges

Parameters

[in]	first	the first edge (is untouched by the algorithm)
[in]	second	the second edge to be adapted if required to make the transition continuous

◆ normalizeBorder()

void ad::map::lane::normalizeBorder	(	ENUBorder &	border,
		ENUBorder const *	previousBorder = `nullptr`
	)

normalizes the border

At first the left and right edges of the border are checked for irregular directional vectors (scalarproduct of the vectors of three consecutive edge points has to be positive) Irregular points are dropped.

Then, the number of points of the left and right edge of the border are made equal by extending the smaller edge. If an edge has less than 2 points, nothing is done.

The previousBorder (optional parameter) is used to extend the irregular directional vector check to the beginning of the border edges; here leading to an potential overwrite of the first edge point by the end of the previousBorder.

◆ operator<<() [1/10]

std::ostream& ad::map::lane::operator<<	(	std::ostream &	os,
		ContactLane const &	_value
	)

inline

standard ostream operator

Parameters

[in]	os	The output stream to write to
[in]	_value	ContactLane value

Returns: The stream object.

◆ operator<<() [2/10]

std::ostream& ad::map::lane::operator<<	(	std::ostream &	os,
		ContactLocation const &	value
	)

inline

standard ostream operator

Parameters

[in]	os	The output stream to write to
[in]	value	ContactLocation value

Returns: The stream object.

◆ operator<<() [3/10]

std::ostream& ad::map::lane::operator<<	(	std::ostream &	os,
		ContactType const &	value
	)

inline

standard ostream operator

Parameters

[in]	os	The output stream to write to
[in]	value	ContactType value

Returns: The stream object.

◆ operator<<() [4/10]

std::ostream& ad::map::lane::operator<<	(	std::ostream &	os,
		ECEFBorder const &	_value
	)

inline

standard ostream operator

Parameters

[in]	os	The output stream to write to
[in]	_value	ECEFBorder value

Returns: The stream object.

◆ operator<<() [5/10]

std::ostream& ad::map::lane::operator<<	(	std::ostream &	os,
		ENUBorder const &	_value
	)

inline

standard ostream operator

Parameters

[in]	os	The output stream to write to
[in]	_value	ENUBorder value

Returns: The stream object.

◆ operator<<() [6/10]

std::ostream& ad::map::lane::operator<<	(	std::ostream &	os,
		GeoBorder const &	_value
	)

inline

standard ostream operator

Parameters

[in]	os	The output stream to write to
[in]	_value	GeoBorder value

Returns: The stream object.

◆ operator<<() [7/10]

std::ostream& ad::map::lane::operator<<	(	std::ostream &	os,
		Lane const &	_value
	)

inline

standard ostream operator

Parameters

[in]	os	The output stream to write to
[in]	_value	Lane value

Returns: The stream object.

◆ operator<<() [8/10]

std::ostream& ad::map::lane::operator<<	(	std::ostream &	os,
		LaneDirection const &	value
	)

inline

standard ostream operator

Parameters

[in]	os	The output stream to write to
[in]	value	LaneDirection value

Returns: The stream object.

◆ operator<<() [9/10]

std::ostream& ad::map::lane::operator<<	(	std::ostream &	os,
		LaneId const &	_value
	)

inline

standard ostream operator

Parameters

[in]	os	The output stream to write to
[in]	_value	LaneId value

Returns: The stream object.

◆ operator<<() [10/10]

std::ostream& ad::map::lane::operator<<	(	std::ostream &	os,
		LaneType const &	value
	)

inline

standard ostream operator

Parameters

[in]	os	The output stream to write to
[in]	value	LaneType value

Returns: The stream object.

◆ oppositeLocation()

ContactLocation ad::map::lane::oppositeLocation ( ContactLocation const & e )

inline

Provides opposite Location.

Parameters

[in] e Base location.

Returns: Opposite location. INVALID if there is no opposite.

◆ projectParametricPointToEdges() [1/2]

bool ad::map::lane::projectParametricPointToEdges	(	Lane const &	lane,
		physics::ParametricValue const &	longitudinalOffset,
		point::ECEFPoint &	point_on_left_edge,
		point::ECEFPoint &	point_on_right_edge
	)

Calculates the projection on left and right boundary of the parametric point on the center of the lane.

Parameters

[in]	longitudinalOffset	Longitudinal parameter on the lane.
[out]	point_on_left_edge	projected point on the left boundary
[out]	point_on_right_edge	projected point on the right boundary

Returns: True if the operation succeeded.

◆ projectParametricPointToEdges() [2/2]

bool ad::map::lane::projectParametricPointToEdges	(	Lane const &	lane,
		point::ECEFPoint const &	referencePoint,
		point::ECEFPoint &	point_on_left_edge,
		point::ECEFPoint &	point_on_right_edge
	)

Calculates the projection on left and right boundary of the given referencePoint.

Parameters

[in]	referencePoint	reference point.
[out]	point_on_left_edge	projected point on the left boundary
[out]	point_on_right_edge	projected point on the right boundary

Returns: True if the operation succeeded.

◆ projectPositionToLaneInHeadingDirection()

bool ad::map::lane::projectPositionToLaneInHeadingDirection	(	point::ParaPoint const &	position,
		point::ENUHeading const &	heading,
		point::ParaPoint &	projectedPosition
	)

project a position to a neighboring lane (incl. the lane itself), which has the provided heading

Parameters

[in]	position	to be projected
[in]	heading	to be checked
[out]	projectedPosition	is the projected position (can be position, if the lane is already in heading direction)

Returns: true if a valid projection was found, false otherwise

◆ satisfiesFilter()

bool ad::map::lane::satisfiesFilter	(	Lane const &	lane,
		std::string const &	typeFilter,
		bool	isHov
	)

Checks if Lane satisfies filter condition.

Parameters

[in]	typeFilter	Type of the lane as string.
[in]	isHov	True if only lanes with HOV restriction shall be returned.

Returns: true if Lane satisfies filter condition.

◆ uniqueLaneId()

LaneId ad::map::lane::uniqueLaneId ( point::GeoPoint const & point )

Returns: lane id at given location

Throws if there is more than one lane at the given position

◆ uniqueParaPoint()

point::ParaPoint ad::map::lane::uniqueParaPoint ( point::GeoPoint const & point )

Returns: parametric point at given location

Throws if there is more than one lane at the given position

Classes

Typedefs

Enumerations

Functions

Detailed Description

Typedef Documentation

◆ ComplianceVersion

◆ ContactLocationList

◆ ContactTypeList

◆ ECEFBorderList

◆ ENUBorderList

◆ GeoBorderList

◆ LaneIdList

Enumeration Type Documentation

◆ ContactLocation

◆ ContactType

◆ LaneDirection

◆ LaneType

Function Documentation

◆ calcLaneAltitudeRange()

◆ calcLength() [1/4]

◆ calcLength() [2/4]

◆ calcLength() [3/4]

◆ calcLength() [4/4]

◆ calcWidth()

◆ findNearestPointOnLane()

◆ findNearestPointOnLaneInterval()

◆ getContactLanes() [1/2]

◆ getContactLanes() [2/2]

◆ getContactLocation()

◆ getDirectNeighborhoodRelation()

◆ getDistanceEnuPointToLateralAlignmentEdge()

◆ getDistanceToLane()

◆ getDuration()

◆ getEndPoint()

◆ getENUHeading()

◆ getENULanePoint()

◆ getHOV()

◆ getLane()

◆ getLaneECEFHeading() [1/2]

◆ getLaneECEFHeading() [2/2]

◆ getLaneENUHeading() [1/3]

◆ getLaneENUHeading() [2/3]

◆ getLaneENUHeading() [3/3]

◆ getLanePtr()

◆ getLanes()

◆ getLateralAlignmentEdge()

◆ getMaxSpeed()

◆ getParametricPoint()

◆ getProjectedParametricPoint()

◆ getSpeedLimits()

◆ getStartPoint()

◆ getWidth()

◆ isAccessOk() [1/2]

◆ isAccessOk() [2/2]

◆ isHeadingInLaneDirection()

◆ isLaneDirectionNegative() [1/2]

◆ isLaneDirectionNegative() [2/2]

◆ isLaneDirectionPositive() [1/2]

◆ isLaneDirectionPositive() [2/2]

◆ isLanePartOfAnIntersection()

◆ isLaneRelevantForExpansion()

◆ isLeftMost()

◆ isNear()

◆ isPhysicalPredecessor()

◆ isPyhsicalSuccessor()

◆ isRightMost()

◆ isRouteable()

◆ isSameOrDirectNeighbor()

◆ isSuccessorOrPredecessor()

◆ isValid() [1/3]

◆ isValid() [2/3]

◆ isValid() [3/3]

◆ isVanishingLaneEnd()

◆ isVanishingLaneStart()

◆ makeTransitionFromFirstBorderContinuous()

◆ makeTransitionFromFirstEdgeContinuous()

◆ makeTransitionToSecondBorderContinuous()

◆ makeTransitionToSecondEdgeContinuous()

◆ normalizeBorder()