provides route planning capabilities on the road network of the map More...

Classes
class	Route
	Implements routing on the lane network. More...

class	RouteAstar
	Implements routing on the lane network. More...

struct	RouteAstarScore
	cost data for route calculation More...

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

class	RoutePrediction
	Implements route prediction on the lane network. More...

struct	RoutePredictionScore

struct	RoutingParaPoint
	routing para point More...

Enumerations
enum	FilterDuplicatesMode { FilterDuplicatesMode::Off, FilterDuplicatesMode::OnlyEqual, FilterDuplicatesMode::SubRoutesPreferShorterOnes, FilterDuplicatesMode::SubRoutesPreferLongerOnes }
	mode for filtering duplicates in prediction More...

enum	CompareRouteResult { CompareRouteResult::Equal, CompareRouteResult::Shorter, CompareRouteResult::Longer, CompareRouteResult::Differ }
	result for comparing two routes with each other More...

enum	RoutingDirection { RoutingDirection::DONT_CARE, RoutingDirection::POSITIVE, RoutingDirection::NEGATIVE }
	direction at the para point in respect to the lane orientation More...

Functions
RoutingParaPoint	createRoutingPoint (lane::LaneId const &laneId, physics::ParametricValue const &parametricOffset, RoutingDirection const &routingDirection=RoutingDirection::DONT_CARE)
	create a RoutingParaPoint More...

RoutingParaPoint	createRoutingPoint (point::ParaPoint const &paraPoint, RoutingDirection const &routingDirection=RoutingDirection::DONT_CARE)
	create a RoutingParaPoint More...

RoutingParaPoint	createRoutingPoint (match::LaneOccupiedRegion const &occupiedRegion, RoutingDirection const &routingDirection=RoutingDirection::DONT_CARE)
	create a RoutingParaPoint More...

RoutingParaPoint	createRoutingPoint (point::ParaPoint const &paraPoint, point::ENUHeading const &heading)
	create a RoutingParaPoint More...

RoutingParaPoint	createRoutingPoint (match::LaneOccupiedRegion const &occupiedRegion, point::ENUHeading const &heading)
	create a RoutingParaPoint More...

route::FullRoute	planRoute (const RoutingParaPoint &start, const RoutingParaPoint &dest, RouteCreationMode const routeCreationMode=RouteCreationMode::SameDrivingDirection)
	Calculates route between two points. More...

route::FullRoute	planRoute (const point::ParaPoint &start, const point::ParaPoint &dest, RouteCreationMode const routeCreationMode=RouteCreationMode::SameDrivingDirection)
	Calculates route between two points. More...

route::FullRoute	planRoute (const point::ParaPoint &start, point::ENUHeading const &startHeading, const point::ParaPoint &dest, RouteCreationMode const routeCreationMode=RouteCreationMode::SameDrivingDirection)
	Calculates route between two points. More...

route::FullRoute	planRoute (const point::ParaPoint &start, point::ENUHeading const &startHeading, const point::ParaPoint &dest, point::ENUHeading const &destHeading, RouteCreationMode const routeCreationMode=RouteCreationMode::SameDrivingDirection)
	Calculates route between two points. More...

route::FullRoute	planRoute (const RoutingParaPoint &start, const point::GeoPoint &dest, RouteCreationMode const routeCreationMode=RouteCreationMode::SameDrivingDirection)
	Calculates route between two points. More...

route::FullRoute	planRoute (const RoutingParaPoint &start, const point::ENUPoint &dest, RouteCreationMode const routeCreationMode=RouteCreationMode::SameDrivingDirection)
	Calculates route between two points. More...

route::FullRoute	planRoute (const point::ParaPoint &start, const point::GeoPoint &dest, RouteCreationMode const routeCreationMode=RouteCreationMode::SameDrivingDirection)
	Calculates route between two points. More...

route::FullRoute	planRoute (const point::ParaPoint &start, point::ENUHeading const &startHeading, const point::GeoPoint &dest, RouteCreationMode const routeCreationMode=RouteCreationMode::SameDrivingDirection)
	Calculates route between two points. More...

FullRoute	planRoute (const point::ParaPoint &start, const config::PointOfInterest &dest, RouteCreationMode const routeCreationMode=RouteCreationMode::SameDrivingDirection)
	Calculates route between two points. More...

FullRoute	planRoute (const RoutingParaPoint &start, const std::vector< point::GeoPoint > &dest, RouteCreationMode const routeCreationMode=RouteCreationMode::SameDrivingDirection)
	Calculates route between two points considering supporting points on the way. More...

FullRoute	planRoute (const RoutingParaPoint &start, const std::vector< point::ENUPoint > &dest, RouteCreationMode const routeCreationMode=RouteCreationMode::SameDrivingDirection)
	Calculates route between two points considering supporting points on the way. More...

FullRoute	planRoute (const RoutingParaPoint &start, std::vector< RoutingParaPoint > const &dest, RouteCreationMode const routeCreationMode=RouteCreationMode::SameDrivingDirection)
	Calculates route between two points considering supporting points on the way. More...

route::FullRoute	planRoute (const point::ParaPoint &start, point::ENUHeading const &startHeading, const std::vector< point::GeoPoint > &dest, RouteCreationMode const routeCreationMode=RouteCreationMode::SameDrivingDirection)
	Calculates route between two points considering supporting points on the way. More...

std::vector< route::FullRoute >	predictRoutesOnDuration (const RoutingParaPoint &start, physics::Duration const &predictionDuration, RouteCreationMode const routeCreationMode=RouteCreationMode::SameDrivingDirection, FilterDuplicatesMode const filterMode=FilterDuplicatesMode::SubRoutesPreferLongerOnes, ::ad::map::lane::LaneIdSet const &relevantLanes=::ad::map::lane::LaneIdSet())
	perform route based prediction restricted by the prediction duration. Note: Route predictions will not stop in the middle of an intersection. They continue until the intersection is left again. More...

std::vector< route::FullRoute >	predictRoutesOnDistance (const RoutingParaPoint &start, physics::Distance const &predictionDistance, RouteCreationMode const routeCreationMode=RouteCreationMode::SameDrivingDirection, FilterDuplicatesMode const filterMode=FilterDuplicatesMode::SubRoutesPreferLongerOnes, ::ad::map::lane::LaneIdSet const &relevantLanes=::ad::map::lane::LaneIdSet())
	perform route based prediction restricted by the prediction distance. Note: Route predictions will not stop in the middle of an intersection. They continue until the intersection is left again. More...

std::vector< route::FullRoute >	predictRoutes (const RoutingParaPoint &start, physics::Distance const &predictionDistance, physics::Duration const &predictionDuration, RouteCreationMode const routeCreationMode=RouteCreationMode::SameDrivingDirection, FilterDuplicatesMode const filterMode=FilterDuplicatesMode::SubRoutesPreferLongerOnes, ::ad::map::lane::LaneIdSet const &relevantLanes=::ad::map::lane::LaneIdSet())
	perform route based prediction restricted by the prediction distance and duration. Note: Route predictions will not stop in the middle of an intersection. They continue until the intersection is left again. More...

std::vector< route::FullRoute >	predictRoutesOnDuration (const match::MapMatchedObjectBoundingBox &start, physics::Duration const &predictionDuration, RouteCreationMode const routeCreationMode=RouteCreationMode::SameDrivingDirection, FilterDuplicatesMode const filterMode=FilterDuplicatesMode::SubRoutesPreferLongerOnes, ::ad::map::lane::LaneIdSet const &relevantLanes=::ad::map::lane::LaneIdSet())
	perform route based prediction restricted by the prediction duration. Note: Route predictions will not stop in the middle of an intersection. They continue until the intersection is left again. More...

std::vector< route::FullRoute >	predictRoutesOnDistance (const match::MapMatchedObjectBoundingBox &start, physics::Distance const &predictionDistance, RouteCreationMode const routeCreationMode=RouteCreationMode::SameDrivingDirection, FilterDuplicatesMode const filterMode=FilterDuplicatesMode::SubRoutesPreferLongerOnes, ::ad::map::lane::LaneIdSet const &relevantLanes=::ad::map::lane::LaneIdSet())
	perform route based prediction restricted by the prediction distance. Note: Route predictions will not stop in the middle of an intersection. They continue until the intersection is left again. More...

std::vector< route::FullRoute >	predictRoutes (const match::MapMatchedObjectBoundingBox &start, physics::Distance const &predictionDistance, physics::Duration const &predictionDuration, RouteCreationMode const routeCreationMode=RouteCreationMode::SameDrivingDirection, FilterDuplicatesMode const filterMode=FilterDuplicatesMode::SubRoutesPreferLongerOnes, ::ad::map::lane::LaneIdSet const &relevantLanes=::ad::map::lane::LaneIdSet())
	perform route based prediction restricted by the prediction distance and duration. Note: Route predictions will not stop in the middle of an intersection. They continue until the intersection is left again. More...

std::vector< route::FullRoute >	predictRoutesDirectionless (const point::ParaPoint &start, physics::Distance const &predictionDistance, physics::Duration const &predictionDuration, RouteCreationMode const routeCreationMode=RouteCreationMode::AllRoutableLanes, FilterDuplicatesMode const filterMode=FilterDuplicatesMode::SubRoutesPreferLongerOnes, ::ad::map::lane::LaneIdSet const &relevantLanes=::ad::map::lane::LaneIdSet())
	perform route based prediction restricted by the prediction distance and duration. Note: Route predictions will not stop in the middle of an intersection. They continue until the intersection is left again. More...

FullRouteList	filterDuplicatedRoutes (const FullRouteList fullRoutes, FilterDuplicatesMode const filterMode)
	Filter duplicated routes from a list of routes. More...

std::ostream &	operator<< (std::ostream &os, CompareRouteResult const &value)

CompareRouteResult	compareRoutesOnIntervalLevel (FullRoute const &left, FullRoute const &right)
	Compare two routes on interval level. More...

ConnectingRoute	calculateConnectingRoute (const match::Object &startObject, const match::Object &destObject, physics::Distance const &maxDistance, physics::Duration const &maxDuration, std::vector< route::FullRoute > const &startObjectPredictionHints=std::vector< route::FullRoute >(), std::vector< route::FullRoute > const &destObjectPredictionHints=std::vector< route::FullRoute >(), ::ad::map::lane::LaneIdSet const &relevantLanes=::ad::map::lane::LaneIdSet())
	Calculate the connecting route between the the two objects. More...

ConnectingRoute	calculateConnectingRoute (const match::Object &startObject, const match::Object &destObject, physics::Distance const &maxDistance, std::vector< route::FullRoute > const &startObjectPredictionHints=std::vector< route::FullRoute >(), std::vector< route::FullRoute > const &destObjectPredictionHints=std::vector< route::FullRoute >(), ::ad::map::lane::LaneIdSet const &relevantLanes=::ad::map::lane::LaneIdSet())
	Calculate the connecting route between the the two objects. More...

ConnectingRoute	calculateConnectingRoute (const match::Object &startObject, const match::Object &destObject, physics::Duration const &maxDuration, std::vector< route::FullRoute > const &startObjectPredictionHints=std::vector< route::FullRoute >(), std::vector< route::FullRoute > const &destObjectPredictionHints=std::vector< route::FullRoute >(), ::ad::map::lane::LaneIdSet const &relevantLanes=::ad::map::lane::LaneIdSet())
	Calculate the connecting route between the the two objects. More...

void	updateRoutePlanningCounters (route::FullRoute &route)
	update route planning counters of the route More...

FullRoute	createFullRoute (const Route::RawRoute &rawRoute, RouteCreationMode const routeCreationMode, lane::LaneIdSet const &relevantLanes)
	helper function to create a full route More...

std::ostream &	operator<< (std::ostream &os, Route::RawRoute const &value)

RoutingParaPoint	createRoutingParaPoint (lane::LaneId const &laneId, physics::ParametricValue const &parametricOffset, RoutingDirection const &routingDirection=RoutingDirection::DONT_CARE)
	create a RoutingParaPoint More...

Variables
static const physics::Distance	cMinimumNeighborDistance {0.1}

static const physics::Duration	cMinimumNeighborDuration {0.05}

static const physics::Speed	cMinimumSpeed {10.}

Detailed Description

provides route planning capabilities on the road network of the map

Enumeration Type Documentation

◆ CompareRouteResult

enum ad::map::route::planning::CompareRouteResult

strong

result for comparing two routes with each other

Enumerator
Equal	equal
Shorter	shorter
Longer	longer
Differ	differ

◆ FilterDuplicatesMode

enum ad::map::route::planning::FilterDuplicatesMode

strong

mode for filtering duplicates in prediction

Enumerator
Off	no filtering at all
OnlyEqual	filter routes that are exactly equal
SubRoutesPreferShorterOnes	filter real sub-routes, prefer shorter ones
SubRoutesPreferLongerOnes	filter real sub-routes, prefer longer ones

◆ RoutingDirection

enum ad::map::route::planning::RoutingDirection

strong

direction at the para point in respect to the lane orientation

Enumerator
DONT_CARE	Vehicle direction is not relevant.
POSITIVE	Vehicle direction is same as Lane orientation.
NEGATIVE	Vehicle direction is opposite of Lane orientation.

Function Documentation

◆ calculateConnectingRoute() [1/3]

ConnectingRoute ad::map::route::planning::calculateConnectingRoute	(	const match::Object &	startObject,
		const match::Object &	destObject,
		physics::Distance const &	maxDistance,
		physics::Duration const &	maxDuration,
		std::vector< route::FullRoute > const &	startObjectPredictionHints = `std::vector< route::FullRoute >()`,
		std::vector< route::FullRoute > const &	destObjectPredictionHints = `std::vector< route::FullRoute >()`,
		::ad::map::lane::LaneIdSet const &	relevantLanes = `::ad::map::lane::LaneIdSet()`
	)

Calculate the connecting route between the the two objects.

For route calculations the route type core::Route::Type::SHORTEST_IGNORE_DIRECTION is used. The prediction hints are taken into account if no direct connecting route can be found in search of a merge route. If no prediction hints are given, respective route predictions are calculated internally.

Parameters

[in]	startObject	object at starting position
[in]	destObject	object at destination position
[in]	maxDistance	distance when the search can be stopped.
[in]	maxDuration	duration when the search can be stopped.
[in]	startObjectPredictionHints	route prediction hints for start object (optional)
[in]	destObjectPredictionHints	route prediction hints for dest object (optional)
[in]	relevantLanes	if not empty, the function restricts the prediction to the given set of lanes

◆ calculateConnectingRoute() [2/3]

ConnectingRoute ad::map::route::planning::calculateConnectingRoute	(	const match::Object &	startObject,
		const match::Object &	destObject,
		physics::Distance const &	maxDistance,
		std::vector< route::FullRoute > const &	startObjectPredictionHints = `std::vector< route::FullRoute >()`,
		std::vector< route::FullRoute > const &	destObjectPredictionHints = `std::vector< route::FullRoute >()`,
		::ad::map::lane::LaneIdSet const &	relevantLanes = `::ad::map::lane::LaneIdSet()`
	)

Calculate the connecting route between the the two objects.

For route calculations the route type core::Route::Type::SHORTEST_IGNORE_DIRECTION is used. The prediction hints are taken into account if no direct connecting route can be found in search of a merge route. If no prediction hints are given, respective route predictions are calculated internally.

Parameters

[in]	startObject	object at starting position
[in]	destObject	object at destination position
[in]	maxDistance	distance when the search can be stopped.
[in]	startObjectPredictionHints	route prediction hints for start object (optional)
[in]	destObjectPredictionHints	route prediction hints for dest object (optional)
[in]	relevantLanes	if not empty, the function restricts the prediction to the given set of lanes

◆ calculateConnectingRoute() [3/3]

ConnectingRoute ad::map::route::planning::calculateConnectingRoute	(	const match::Object &	startObject,
		const match::Object &	destObject,
		physics::Duration const &	maxDuration,
		std::vector< route::FullRoute > const &	startObjectPredictionHints = `std::vector< route::FullRoute >()`,
		std::vector< route::FullRoute > const &	destObjectPredictionHints = `std::vector< route::FullRoute >()`,
		::ad::map::lane::LaneIdSet const &	relevantLanes = `::ad::map::lane::LaneIdSet()`
	)

Calculate the connecting route between the the two objects.

For route calculations the route type core::Route::Type::SHORTEST_IGNORE_DIRECTION is used. The prediction hints are taken into account if no direct connecting route can be found in search of a merge route. If no prediction hints are given, respective route predictions are calculated internally.

Parameters

[in]	startObject	object at starting position
[in]	destObject	object at destination position
[in]	maxDuration	duration when the search can be stopped.
[in]	startObjectPredictionHints	route prediction hints for start object (optional)
[in]	destObjectPredictionHints	route prediction hints for dest object (optional)
[in]	relevantLanes	if not empty, the function restricts the prediction to the given set of lanes

◆ compareRoutesOnIntervalLevel()

CompareRouteResult ad::map::route::planning::compareRoutesOnIntervalLevel	(	FullRoute const &	left,
		FullRoute const &	right
	)

Compare two routes on interval level.

Returns: CompareRouteResult of the comparison

Return values

CompareRouteResult::Equal	left route and right route are considered equal on interval level
CompareRouteResult::Shorter	left route is a real sub-route of the right route, therefore left route is considered shorter
CompareRouteResult::Longer	right route is a real sub-route of the left route, therefore left route is considered longer
CompareRouteResult::Differ	left route and right route are considered different on interval level

◆ createFullRoute()

FullRoute ad::map::route::planning::createFullRoute	(	const Route::RawRoute &	rawRoute,
		RouteCreationMode const	routeCreationMode,
		lane::LaneIdSet const &	relevantLanes
	)

helper function to create a full route

mainly used internally.

◆ createRoutingParaPoint()

RoutingParaPoint ad::map::route::planning::createRoutingParaPoint	(	lane::LaneId const &	laneId,
		physics::ParametricValue const &	parametricOffset,
		RoutingDirection const &	routingDirection = `RoutingDirection::DONT_CARE`
	)

inline

create a RoutingParaPoint

Parameters

[in]	laneId	the lane id
[in]	parametricOffset	the parametric offset
[in]	routingDirection	the routing direction in respect to the lane orientation Be aware: this might be different from the nominal driving direction!

◆ createRoutingPoint() [1/5]

RoutingParaPoint ad::map::route::planning::createRoutingPoint	(	lane::LaneId const &	laneId,
		physics::ParametricValue const &	parametricOffset,
		RoutingDirection const &	routingDirection = `RoutingDirection::DONT_CARE`
	)

create a RoutingParaPoint

Parameters

[in]	laneId	the lane id
[in]	parametricOffset	the parametric offset
[in]	routingDirection	the routing direction in respect to the lane orientation Be aware: this might be different from the nominal driving direction!

◆ createRoutingPoint() [2/5]

RoutingParaPoint ad::map::route::planning::createRoutingPoint	(	match::LaneOccupiedRegion const &	occupiedRegion,
		point::ENUHeading const &	heading
	)

create a RoutingParaPoint

We select the routing point by either taking the maximum or minimum of the occupied region Since occupied regions span over a certain area, the point is selected in a way, that it is ensured that any other point within the region can be reached by routing with the given routing direction

Parameters

[in]	occupiedRegion	the occupied region
[in]	heading	the heading to be respected

◆ createRoutingPoint() [3/5]

RoutingParaPoint ad::map::route::planning::createRoutingPoint	(	match::LaneOccupiedRegion const &	occupiedRegion,
		RoutingDirection const &	routingDirection = `RoutingDirection::DONT_CARE`
	)

create a RoutingParaPoint

We select the routing point by either taking the maximum or minimum of the occupied region Since occupied regions span over a certain area, the point is selected in a way, that it is ensured that any other point within the region can be reached by routing with the given routing direction

Parameters

[in]	occupiedRegion	the occupied region
[in]	routingDirection	the routing direction in respect to the lane orientation Be aware: this might be different from the nominal driving direction!

◆ createRoutingPoint() [4/5]

RoutingParaPoint ad::map::route::planning::createRoutingPoint	(	point::ParaPoint const &	paraPoint,
		point::ENUHeading const &	heading
	)

create a RoutingParaPoint

Parameters

[in]	paraPoint	the parametric point
[in]	heading	the heading to be respected

◆ createRoutingPoint() [5/5]

RoutingParaPoint ad::map::route::planning::createRoutingPoint	(	point::ParaPoint const &	paraPoint,
		RoutingDirection const &	routingDirection = `RoutingDirection::DONT_CARE`
	)

create a RoutingParaPoint

Parameters

[in]	paraPoint	the parametric point
[in]	routingDirection	the routing direction in respect to the lane orientation Be aware: this might be different from the nominal driving direction!

◆ filterDuplicatedRoutes()

FullRouteList ad::map::route::planning::filterDuplicatedRoutes	(	const FullRouteList	fullRoutes,
		FilterDuplicatesMode const	filterMode
	)

Filter duplicated routes from a list of routes.

If one of the routes is a real sub-route of the other, the longer version of the route is kept, the shorter dropped

Parameters

[in]	fullRoutes	list of full routes to be filtered
[in]	filterMode	the mode for filtering the routes

Returns: the filtered list of routes according to the provided filterMode

◆ planRoute() [1/13]

FullRoute ad::map::route::planning::planRoute	(	const point::ParaPoint &	start,
		const config::PointOfInterest &	dest,
		RouteCreationMode const	routeCreationMode = `RouteCreationMode::SameDrivingDirection`
	)

inline

Calculates route between two points.

Parameters

[in]	start	Start point.
[in]	dest	Destination point as point of interest.
[in]	routeCreationMode	the mode of creating the route (default: RouteCreationMode::SameDrivingDirection)

◆ planRoute() [2/13]

route::FullRoute ad::map::route::planning::planRoute	(	const point::ParaPoint &	start,
		const point::GeoPoint &	dest,
		RouteCreationMode const	routeCreationMode = `RouteCreationMode::SameDrivingDirection`
	)

inline

Calculates route between two points.

Parameters

[in]	start	Start point.
[in]	dest	Destination point as geo point.
[in]	routeCreationMode	the mode of creating the route (default: RouteCreationMode::SameDrivingDirection)

◆ planRoute() [3/13]

route::FullRoute ad::map::route::planning::planRoute	(	const point::ParaPoint &	start,
		const point::ParaPoint &	dest,
		RouteCreationMode const	routeCreationMode = `RouteCreationMode::SameDrivingDirection`
	)

inline

Calculates route between two points.

Orientation at start/dest are not considered.

Parameters

[in]	start	Start point.
[in]	dest	Destination point.
[in]	routeCreationMode	the mode of creating the route (default: RouteCreationMode::SameDrivingDirection)

◆ planRoute() [4/13]

route::FullRoute ad::map::route::planning::planRoute	(	const point::ParaPoint &	start,
		point::ENUHeading const &	startHeading,
		const point::GeoPoint &	dest,
		RouteCreationMode const	routeCreationMode = `RouteCreationMode::SameDrivingDirection`
	)

inline

Calculates route between two points.

Parameters

[in]	start	Start point.
[in]	startHeading	Heading at start point.
[in]	dest	Destination point as geo point.
[in]	routeCreationMode	the mode of creating the route (default: RouteCreationMode::SameDrivingDirection)

◆ planRoute() [5/13]

route::FullRoute ad::map::route::planning::planRoute	(	const point::ParaPoint &	start,
		point::ENUHeading const &	startHeading,
		const point::ParaPoint &	dest,
		point::ENUHeading const &	destHeading,
		RouteCreationMode const	routeCreationMode = `RouteCreationMode::SameDrivingDirection`
	)

inline

Calculates route between two points.

Parameters

[in]	start	Start point.
[in]	startHeading	Heading at start point.
[in]	dest	Destination point.
[in]	destHeading	Heading at dest point.
[in]	routeCreationMode	the mode of creating the route (default: RouteCreationMode::SameDrivingDirection)

◆ planRoute() [6/13]

route::FullRoute ad::map::route::planning::planRoute	(	const point::ParaPoint &	start,
		point::ENUHeading const &	startHeading,
		const point::ParaPoint &	dest,
		RouteCreationMode const	routeCreationMode = `RouteCreationMode::SameDrivingDirection`
	)

inline

Calculates route between two points.

Orientation at dest is not considered.

Parameters

[in]	start	Start point.
[in]	startHeading	Heading at start point.
[in]	dest	Destination point.
[in]	routeCreationMode	the mode of creating the route (default: RouteCreationMode::SameDrivingDirection)

◆ planRoute() [7/13]

route::FullRoute ad::map::route::planning::planRoute	(	const point::ParaPoint &	start,
		point::ENUHeading const &	startHeading,
		const std::vector< point::GeoPoint > &	dest,
		RouteCreationMode const	routeCreationMode = `RouteCreationMode::SameDrivingDirection`
	)

inline

Calculates route between two points considering supporting points on the way.

Parameters

[in]	start	Start point.
[in]	startHeading	Heading at start point.
[in]	dest	Vector with supporting points as geo points to be visited on the route. Last point in the list is the actual destination point.
[in]	routeCreationMode	the mode of creating the route (default: RouteCreationMode::SameDrivingDirection)

◆ planRoute() [8/13]

route::FullRoute ad::map::route::planning::planRoute	(	const RoutingParaPoint &	start,
		const point::ENUPoint &	dest,
		RouteCreationMode const	routeCreationMode = `RouteCreationMode::SameDrivingDirection`
	)

Calculates route between two points.

Parameters

[in]	start	Start point as RoutingParaPoint (Be aware: routing direction in respect to lane orientation!).
[in]	dest	Destination point as ENU point.
[in]	routeCreationMode	the mode of creating the route (default: RouteCreationMode::SameDrivingDirection)

◆ planRoute() [9/13]

route::FullRoute ad::map::route::planning::planRoute	(	const RoutingParaPoint &	start,
		const point::GeoPoint &	dest,
		RouteCreationMode const	routeCreationMode = `RouteCreationMode::SameDrivingDirection`
	)

Calculates route between two points.

Parameters

[in]	start	Start point as RoutingParaPoint (Be aware: routing direction in respect to lane orientation!).
[in]	dest	Destination point as geo point.
[in]	routeCreationMode	the mode of creating the route (default: RouteCreationMode::SameDrivingDirection)

◆ planRoute() [10/13]

route::FullRoute ad::map::route::planning::planRoute	(	const RoutingParaPoint &	start,
		const RoutingParaPoint &	dest,
		RouteCreationMode const	routeCreationMode = `RouteCreationMode::SameDrivingDirection`
	)

Calculates route between two points.

Parameters

[in]	start	Start point as RoutingParaPoint (Be aware: routing direction in respect to lane orientation!).
[in]	dest	Destination point as RoutingParaPoint (Be aware: routing direction in respect to lane orientation!).
[in]	routeCreationMode	the mode of creating the route (default: RouteCreationMode::SameDrivingDirection)

◆ planRoute() [11/13]

FullRoute ad::map::route::planning::planRoute	(	const RoutingParaPoint &	start,
		const std::vector< point::ENUPoint > &	dest,
		RouteCreationMode const	routeCreationMode = `RouteCreationMode::SameDrivingDirection`
	)

Calculates route between two points considering supporting points on the way.

Parameters

[in]	start	Start point.
[in]	dest	Vector with supporting points as ENU points to be visited on the route. Last point in the list is the actual destination point.
[in]	routeCreationMode	the mode of creating the route (default: RouteCreationMode::SameDrivingDirection)

Be aware: Supporting points providing multiple map maptched positions (i.e. the ones located within intersections) are discarded to ensure the proper route is taken.

◆ planRoute() [12/13]

FullRoute ad::map::route::planning::planRoute	(	const RoutingParaPoint &	start,
		const std::vector< point::GeoPoint > &	dest,
		RouteCreationMode const	routeCreationMode = `RouteCreationMode::SameDrivingDirection`
	)

Calculates route between two points considering supporting points on the way.

Parameters

[in]	start	Start point.
[in]	dest	Vector with supporting points as geo points to be visited on the route. Last point in the list is the actual destination point.
[in]	routeCreationMode	the mode of creating the route (default: RouteCreationMode::SameDrivingDirection)

Be aware: Supporting points providing multiple map maptched positions (i.e. the ones located within intersections) are discarded to ensure the proper route is taken.

◆ planRoute() [13/13]

FullRoute ad::map::route::planning::planRoute	(	const RoutingParaPoint &	start,
		std::vector< RoutingParaPoint > const &	dest,
		RouteCreationMode const	routeCreationMode = `RouteCreationMode::SameDrivingDirection`
	)

Calculates route between two points considering supporting points on the way.

Parameters

[in]	start	Start point.
[in]	dest	Vector with supporting points to be visited on the route. Last point in the list is the actual destination point.
[in]	routeCreationMode	the mode of creating the route (default: RouteCreationMode::SameDrivingDirection)

◆ predictRoutes() [1/2]

std::vector<route::FullRoute> ad::map::route::planning::predictRoutes	(	const match::MapMatchedObjectBoundingBox &	start,
		physics::Distance const &	predictionDistance,
		physics::Duration const &	predictionDuration,
		RouteCreationMode const	routeCreationMode = `RouteCreationMode::SameDrivingDirection`,
		FilterDuplicatesMode const	filterMode = `FilterDuplicatesMode::SubRoutesPreferLongerOnes`,
		::ad::map::lane::LaneIdSet const &	relevantLanes = `::ad::map::lane::LaneIdSet()`
	)

perform route based prediction restricted by the prediction distance and duration. Note: Route predictions will not stop in the middle of an intersection. They continue until the intersection is left again.

Parameters

[in]	start	start point as map matched bounding box.
[in]	predictionDistance	distance when the prediction can be stopped.
[in]	predictionDuration	duration when the prediction can be stopped.
[in]	routeCreationMode	the mode of creating the route (default: RouteCreationMode::SameDrivingDirection)
[in]	filterMode	the mode for filtering the routes (default: FilterDuplicatesMode::SubRoutesPreferLongerOnes)
[in]	relevantLanes	if not empty, the function restricts the prediction to the given set of lanes

Returns: vector with all possible predicted routes.

◆ predictRoutes() [2/2]

std::vector<route::FullRoute> ad::map::route::planning::predictRoutes	(	const RoutingParaPoint &	start,
		physics::Distance const &	predictionDistance,
		physics::Duration const &	predictionDuration,
		RouteCreationMode const	routeCreationMode = `RouteCreationMode::SameDrivingDirection`,
		FilterDuplicatesMode const	filterMode = `FilterDuplicatesMode::SubRoutesPreferLongerOnes`,
		::ad::map::lane::LaneIdSet const &	relevantLanes = `::ad::map::lane::LaneIdSet()`
	)

perform route based prediction restricted by the prediction distance and duration. Note: Route predictions will not stop in the middle of an intersection. They continue until the intersection is left again.

Parameters

[in]	start	start point.
[in]	predictionDistance	distance when the prediction can be stopped.
[in]	predictionDuration	duration when the prediction can be stopped.
[in]	routeCreationMode	the mode of creating the route (default: RouteCreationMode::SameDrivingDirection)
[in]	filterMode	the mode for filtering the routes (default: FilterDuplicatesMode::SubRoutesPreferLongerOnes)
[in]	relevantLanes	if not empty, the function restricts the prediction to the given set of lanes

Returns: vector with all possible predicted routes.

◆ predictRoutesDirectionless()

std::vector<route::FullRoute> ad::map::route::planning::predictRoutesDirectionless	(	const point::ParaPoint &	start,
		physics::Distance const &	predictionDistance,
		physics::Duration const &	predictionDuration,
		RouteCreationMode const	routeCreationMode = `RouteCreationMode::AllRoutableLanes`,
		FilterDuplicatesMode const	filterMode = `FilterDuplicatesMode::SubRoutesPreferLongerOnes`,
		::ad::map::lane::LaneIdSet const &	relevantLanes = `::ad::map::lane::LaneIdSet()`
	)

perform route based prediction restricted by the prediction distance and duration. Note: Route predictions will not stop in the middle of an intersection. They continue until the intersection is left again.

This variant of route prediction allows to travel in either road directions. Therefore, the start orientation is irrelevant (considered to be RoutingDirection::DONT_CARE).

Parameters

[in]	start	start point as parametric point.
[in]	predictionDistance	distance when the prediction can be stopped.
[in]	predictionDuration	duration when the prediction can be stopped.
[in]	routeCreationMode	the mode of creating the route (default: RouteCreationMode::AllRoutableLanes) Be aware: selecting a routeCreationMode of RouteCreationMode::SameDrivingDirection will lead to incomplete FullRoutes since the routes starting in wrong direction cannot be presented by this!
[in]	filterMode	the mode for filtering the routes (default: FilterDuplicatesMode::SubRoutesPreferLongerOnes)
[in]	relevantLanes	if not empty, the function restricts the prediction to the given set of lanes

Returns: vector with all possible predicted routes.

◆ predictRoutesOnDistance() [1/2]

std::vector<route::FullRoute> ad::map::route::planning::predictRoutesOnDistance	(	const match::MapMatchedObjectBoundingBox &	start,
		physics::Distance const &	predictionDistance,
		RouteCreationMode const	routeCreationMode = `RouteCreationMode::SameDrivingDirection`,
		FilterDuplicatesMode const	filterMode = `FilterDuplicatesMode::SubRoutesPreferLongerOnes`,
		::ad::map::lane::LaneIdSet const &	relevantLanes = `::ad::map::lane::LaneIdSet()`
	)

perform route based prediction restricted by the prediction distance. Note: Route predictions will not stop in the middle of an intersection. They continue until the intersection is left again.

Parameters

[in]	start	start point as map matched bounding box.
[in]	predictionDistance	distance when the prediction can be stopped.
[in]	routeCreationMode	the mode of creating the route (default: RouteCreationMode::SameDrivingDirection)
[in]	filterMode	the mode for filtering the routes (default: FilterDuplicatesMode::SubRoutesPreferLongerOnes)
[in]	relevantLanes	if not empty, the function restricts the prediction to the given set of lanes

Returns: vector with all possible predicted routes.

◆ predictRoutesOnDistance() [2/2]

std::vector<route::FullRoute> ad::map::route::planning::predictRoutesOnDistance	(	const RoutingParaPoint &	start,
		physics::Distance const &	predictionDistance,
		RouteCreationMode const	routeCreationMode = `RouteCreationMode::SameDrivingDirection`,
		FilterDuplicatesMode const	filterMode = `FilterDuplicatesMode::SubRoutesPreferLongerOnes`,
		::ad::map::lane::LaneIdSet const &	relevantLanes = `::ad::map::lane::LaneIdSet()`
	)

perform route based prediction restricted by the prediction distance. Note: Route predictions will not stop in the middle of an intersection. They continue until the intersection is left again.

Parameters

[in]	start	start point.
[in]	predictionDistance	distance when the prediction can be stopped.
[in]	routeCreationMode	the mode of creating the route (default: RouteCreationMode::SameDrivingDirection)
[in]	filterMode	the mode for filtering the routes (default: FilterDuplicatesMode::SubRoutesPreferLongerOnes)
[in]	relevantLanes	if not empty, the function restricts the prediction to the given set of lanes

Returns: vector with all possible predicted routes.

◆ predictRoutesOnDuration() [1/2]

std::vector<route::FullRoute> ad::map::route::planning::predictRoutesOnDuration	(	const match::MapMatchedObjectBoundingBox &	start,
		physics::Duration const &	predictionDuration,
		RouteCreationMode const	routeCreationMode = `RouteCreationMode::SameDrivingDirection`,
		FilterDuplicatesMode const	filterMode = `FilterDuplicatesMode::SubRoutesPreferLongerOnes`,
		::ad::map::lane::LaneIdSet const &	relevantLanes = `::ad::map::lane::LaneIdSet()`
	)

perform route based prediction restricted by the prediction duration. Note: Route predictions will not stop in the middle of an intersection. They continue until the intersection is left again.

Parameters

[in]	start	start point as map matched bounding box.
[in]	predictionDuration	duration when the prediction can be stopped.
[in]	routeCreationMode	the mode of creating the route (default: RouteCreationMode::SameDrivingDirection)
[in]	filterMode	the mode for filtering the routes (default: FilterDuplicatesMode::SubRoutesPreferLongerOnes)
[in]	relevantLanes	if not empty, the function restricts the prediction to the given set of lanes

Returns: vector with all possible predicted routes.

◆ predictRoutesOnDuration() [2/2]

std::vector<route::FullRoute> ad::map::route::planning::predictRoutesOnDuration	(	const RoutingParaPoint &	start,
		physics::Duration const &	predictionDuration,
		RouteCreationMode const	routeCreationMode = `RouteCreationMode::SameDrivingDirection`,
		FilterDuplicatesMode const	filterMode = `FilterDuplicatesMode::SubRoutesPreferLongerOnes`,
		::ad::map::lane::LaneIdSet const &	relevantLanes = `::ad::map::lane::LaneIdSet()`
	)

perform route based prediction restricted by the prediction duration. Note: Route predictions will not stop in the middle of an intersection. They continue until the intersection is left again.

Parameters

[in]	start	start point.
[in]	predictionDuration	duration when the prediction can be stopped.
[in]	routeCreationMode	the mode of creating the route (default: RouteCreationMode::SameDrivingDirection)
[in]	filterMode	the mode for filtering the routes (default: FilterDuplicatesMode::SubRoutesPreferLongerOnes)
[in]	relevantLanes	if not empty, the function restricts the prediction to the given set of lanes

Returns: vector with all possible predicted routes.

◆ updateRoutePlanningCounters()

void ad::map::route::planning::updateRoutePlanningCounters ( route::FullRoute & route )

update route planning counters of the route

mainly used internally.

Classes

Enumerations

Functions

Variables

Detailed Description

Enumeration Type Documentation

◆ CompareRouteResult

◆ FilterDuplicatesMode

◆ RoutingDirection

Function Documentation

◆ calculateConnectingRoute() [1/3]

◆ calculateConnectingRoute() [2/3]

◆ calculateConnectingRoute() [3/3]

◆ compareRoutesOnIntervalLevel()

◆ createFullRoute()

◆ createRoutingParaPoint()

◆ createRoutingPoint() [1/5]

◆ createRoutingPoint() [2/5]

◆ createRoutingPoint() [3/5]

◆ createRoutingPoint() [4/5]

◆ createRoutingPoint() [5/5]

◆ filterDuplicatedRoutes()

◆ planRoute() [1/13]

◆ planRoute() [2/13]

◆ planRoute() [3/13]

◆ planRoute() [4/13]

◆ planRoute() [5/13]

◆ planRoute() [6/13]

◆ planRoute() [7/13]

◆ planRoute() [8/13]

◆ planRoute() [9/13]

◆ planRoute() [10/13]

◆ planRoute() [11/13]

◆ planRoute() [12/13]

◆ planRoute() [13/13]

◆ predictRoutes() [1/2]

◆ predictRoutes() [2/2]

◆ predictRoutesDirectionless()

◆ predictRoutesOnDistance() [1/2]

◆ predictRoutesOnDistance() [2/2]

◆ predictRoutesOnDuration() [1/2]

◆ predictRoutesOnDuration() [2/2]

◆ updateRoutePlanningCounters()