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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,35 @@ | ||
| cmake_minimum_required(VERSION 3.8) | ||
| project(autoware_lanelet2_utility) | ||
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| find_package(autoware_cmake REQUIRED) | ||
| autoware_package() | ||
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| ament_auto_add_library(${PROJECT_NAME} SHARED | ||
| src/kind.cpp | ||
| src/topology.cpp | ||
| ) | ||
|
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| if(BUILD_TESTING) | ||
| find_package(ament_cmake_ros REQUIRED) | ||
| ament_auto_find_test_dependencies() | ||
|
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| file(GLOB_RECURSE test_files test/*.cpp) | ||
|
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| foreach (test_file IN LISTS test_files) | ||
| get_filename_component(test_file_name ${test_file} NAME) | ||
| ament_auto_add_gtest(${test_file_name}_${PROJECT_NAME} ${test_file}) | ||
| target_link_libraries(${test_file_name}_${PROJECT_NAME} | ||
| ${PROJECT_NAME} | ||
| ) | ||
| endforeach() | ||
| endif() | ||
|
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| ament_auto_package(INSTALL_TO_SHARE | ||
| sample_map | ||
| ) | ||
|
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| install(PROGRAMS | ||
| scripts/lanelet_anonymizer.py | ||
| scripts/lanelet_id_aligner.py | ||
| DESTINATION lib/${PROJECT_NAME} | ||
| ) |
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62 changes: 62 additions & 0 deletions
62
common/autoware_lanelet2_utility/include/autoware_lanelet2_utility/kind.hpp
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,62 @@ | ||
| // Copyright 2025 TIER IV, Inc. | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
|
|
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| #ifndef AUTOWARE_LANELET2_UTILITY__KIND_HPP_ | ||
| #define AUTOWARE_LANELET2_UTILITY__KIND_HPP_ | ||
|
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| #include <lanelet2_core/Forward.h> | ||
|
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| namespace autoware::lanelet2_utility | ||
| { | ||
| static constexpr const char * k_road_lane_type = "road"; | ||
| static constexpr const char * k_shoulder_lane_type = "road_shoulder"; | ||
| static constexpr const char * k_bicycle_lane_type = "bicycle_lane"; | ||
|
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| /* | ||
| * TODO(soblin): distinguish road lane type | ||
| class RoadLane : public lanelet::ConstLanelet | ||
| { | ||
| }; | ||
| class RoadShoulderLane : public lanelet::ConstLanelet | ||
| { | ||
| }; | ||
| class BicycleLane : public lanelet::ConstLanelet | ||
| { | ||
| }; | ||
| */ | ||
|
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| /** | ||
| * @brief check if the given lanelet type has "road" subtype | ||
| * @param [in] lanelet input lanelet | ||
| * @return if the lanelet is road or not | ||
| */ | ||
| bool is_road_lane(const lanelet::ConstLanelet & lanelet); | ||
|
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| /** | ||
| * @brief check if the given lanelet type has "road_shoulder" subtype | ||
| * @param [in] lanelet input lanelet | ||
| * @return if the lanelet is road_shoulder or not | ||
| */ | ||
| bool is_shoulder_lane(const lanelet::ConstLanelet & lanelet); | ||
|
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| /** | ||
| * @brief check if the given lanelet type has "bicycle_lane" subtype | ||
| * @param [in] lanelet input lanelet | ||
| * @return if the lanelet is bicycle_lane or not | ||
| */ | ||
| bool is_bicycle_lane(const lanelet::ConstLanelet & lanelet); | ||
| } // namespace autoware::lanelet2_utility | ||
| #endif // AUTOWARE_LANELET2_UTILITY__KIND_HPP_ |
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186
common/autoware_lanelet2_utility/include/autoware_lanelet2_utility/topology.hpp
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,186 @@ | ||
| // Copyright 2025 TIER IV, Inc. | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
|
|
||
| #ifndef AUTOWARE_LANELET2_UTILITY__TOPOLOGY_HPP_ | ||
| #define AUTOWARE_LANELET2_UTILITY__TOPOLOGY_HPP_ | ||
|
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| #include <lanelet2_core/primitives/Lanelet.h> | ||
| #include <lanelet2_routing/Forward.h> | ||
| #include <lanelet2_traffic_rules/TrafficRulesFactory.h> | ||
|
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| #include <optional> | ||
| #include <vector> | ||
|
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| namespace autoware::lanelet2_utility | ||
| { | ||
| /** | ||
| * @brief instantiate RoutingGraph from given LaneletMap only from "road" lanes | ||
| * @param location [in, opt, lanelet::Locations::Germany] location value | ||
| * @param participant [in, opt, lanelet::Participants::Vehicle] participant value | ||
| * @return RoutingGraph object without road_shoulder and bicycle_lane | ||
| */ | ||
| lanelet::routing::RoutingGraphConstPtr instantiate_routing_graph( | ||
| lanelet::LaneletMapConstPtr lanelet_map, const char * location = lanelet::Locations::Germany, | ||
| const char * participant = lanelet::Participants::Vehicle); | ||
|
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| /** | ||
| * @brief get the left adjacent and same_direction lanelet on the routing graph if exists regardless | ||
| * of lane change permission | ||
| * @param [in] lanelet input lanelet | ||
| * @param [in] routing_graph routing_graph containing `lanelet` | ||
| * @return optional of left adjacent lanelet(nullopt if there is no such adjacent lanelet) | ||
| */ | ||
| std::optional<lanelet::ConstLanelet> left_lanelet( | ||
| const lanelet::ConstLanelet & lanelet, | ||
| const lanelet::routing::RoutingGraphConstPtr routing_graph); | ||
|
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| /** | ||
| * @brief get the right adjacent and same_direction lanelet on the routing graph if exists | ||
| * @param [in] lanelet input lanelet | ||
| * @param [in] routing_graph routing_graph containing `lanelet` | ||
| * @return optional of right adjacent lanelet(nullopt if there is no such adjacent lanelet) | ||
| */ | ||
| std::optional<lanelet::ConstLanelet> right_lanelet( | ||
| const lanelet::ConstLanelet & lanelet, | ||
| const lanelet::routing::RoutingGraphConstPtr routing_graph); | ||
|
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| /** | ||
| * @brief get left_lanelet() or sibling lanelet. If `lanelet` has turn_direction, search for sibling | ||
| * lanelet is limited to the one with same turn_direction value | ||
| * @param [in] lanelet input lanelet | ||
| * @param [in] routing_graph routing_graph containing `lanelet` | ||
| * @return optional of aforementioned lanelet(nullopt if there is no such lanelet) | ||
| */ | ||
| /* | ||
| std::optional<lanelet::ConstLanelet> left_similar_lanelet( | ||
| const lanelet::ConstLanelet & lanelet, const lanelet::LaneletMapConstPtr lanelet_map, | ||
| const lanelet::routing::RoutingGraphConstPtr routing_graph); | ||
| */ | ||
|
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| /** | ||
| * @brief get right_lanelet() or sibling lanelet. If `lanelet` has turn_direction, search for | ||
| * sibling lanelet is limited to the one with same turn_direction value | ||
| * @param [in] lanelet input lanelet | ||
| * @param [in] routing_graph routing_graph containing `lanelet` | ||
| * @return optional of aforementioned lanelet(nullopt if there is no such lanelet) | ||
| */ | ||
| /* | ||
| std::optional<lanelet::ConstLanelet> right_similar_lanelet( | ||
| const lanelet::ConstLanelet & lanelet, const lanelet::LaneletMapConstPtr lanelet_map, | ||
| const lanelet::routing::RoutingGraphConstPtr routing_graph); | ||
| */ | ||
|
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| /** | ||
| * @brief get the left adjacent and opposite_direction lanelet on the routing graph if exists | ||
| * @param [in] lanelet input lanelet | ||
| * @param [in] lanelet_map lanelet_map containing `lanelet` | ||
| * @return optional of the left opposite lanelet(nullopt if there is not such opposite lanelet) | ||
| */ | ||
| std::optional<lanelet::ConstLanelet> left_opposite_lanelet( | ||
| const lanelet::ConstLanelet & lanelet, const lanelet::LaneletMapConstPtr lanelet_map); | ||
|
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| /** | ||
| * @brief get the right adjacent and opposite_direction lanelet on the routing graph if exists | ||
| * @param [in] lanelet input lanelet | ||
| * @param [in] routing_graph routing_graph containing `lanelet` | ||
| * @return optional of the right opposite lanelet(nullopt if there is no such opposite lanelet) | ||
| */ | ||
| std::optional<lanelet::ConstLanelet> right_opposite_lanelet( | ||
| const lanelet::ConstLanelet & lanelet, const lanelet::LaneletMapConstPtr lanelet_map); | ||
|
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| /** | ||
| * @brief get the leftmost same_direction lanelet if exists | ||
| * @param [in] lanelet input lanelet | ||
| * @param [in] routing_graph routing_graph containing `lanelet` | ||
| * @return optional of such lanelet(nullopt if there is no such adjacent lanelet) | ||
| */ | ||
| std::optional<lanelet::ConstLanelet> leftmost_lanelet( | ||
| const lanelet::ConstLanelet & lanelet, | ||
| const lanelet::routing::RoutingGraphConstPtr routing_graph); | ||
|
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| std::optional<lanelet::ConstLanelet> rightmost_lanelet( | ||
| const lanelet::ConstLanelet & lanelet, | ||
| const lanelet::routing::RoutingGraphConstPtr routing_graph); | ||
|
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| /** | ||
| * @brief get the left lanelets which are adjacent to `lanelet` | ||
| * @param [in] lanelet input lanelet | ||
| * @param [in] routing_graph routing_graph containing `lanelet` | ||
| * @param [in] include_opposite flag if opposite_direction lanelet is included | ||
| * @param [in] invert_opposite_lanelet flag if the opposite lanelet in the output is `.inverted()` | ||
| * or not | ||
| * @return the list of lanelets excluding `lanelet` which is ordered in the *hopping* number from | ||
| * `lanelet` | ||
| */ | ||
| lanelet::ConstLanelets left_lanelets( | ||
| const lanelet::ConstLanelet & lanelet, const lanelet::LaneletMapConstPtr lanelet_map, | ||
| const lanelet::routing::RoutingGraphConstPtr routing_graph, const bool include_opposite = false, | ||
| const bool invert_opposite_lane = false); | ||
|
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| /** | ||
| * @brief get the right lanelets which are adjacent to `lanelet` | ||
| * @param [in] lanelet input lanelet | ||
| * @param [in] routing_graph routing_graph containing `lanelet` | ||
| * @param [in] include_opposite flag if opposite_direction lanelet is included | ||
| * @param [in] invert_opposite_lanelet flag if the opposite lanelet in the output is `.inverted()` | ||
| * or not | ||
| * @return the list of lanelets excluding `lanelet` which is ordered in the *hopping* number from | ||
| * `lanelet` | ||
| */ | ||
| lanelet::ConstLanelets right_lanelets( | ||
| const lanelet::ConstLanelet & lanelet, const lanelet::LaneletMapConstPtr lanelet_map, | ||
| const lanelet::routing::RoutingGraphConstPtr routing_graph, const bool include_opposite = false, | ||
| const bool invert_opposite_lane = false); | ||
|
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| /** | ||
| * @brief get the following lanelets | ||
| * @param [in] lanelet input lanelet | ||
| * @param [in] routing_graph routing_graph containing `lanelet` | ||
| * @return the following lanelets | ||
| */ | ||
| lanelet::ConstLanelets following_lanelets( | ||
| const lanelet::ConstLanelet & lanelet, | ||
| const lanelet::routing::RoutingGraphConstPtr routing_graph); | ||
|
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| /** | ||
| * @brief get the previous lanelets | ||
| * @param [in] lanelet input lanelet | ||
| * @param [in] routing_graph routing_graph containing `lanelet` | ||
| * @return the previous lanelets | ||
| */ | ||
| lanelet::ConstLanelets previous_lanelets( | ||
| const lanelet::ConstLanelet & lanelet, | ||
| const lanelet::routing::RoutingGraphConstPtr routing_graph); | ||
|
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| /** | ||
| * @brief get the sibling lanelets | ||
| * @param [in] lanelet input lanelet | ||
| * @param [in] routing_graph routing_graph containing `lanelet` | ||
| * @return the sibling lanelets excluding `lanelet` | ||
| */ | ||
| lanelet::ConstLanelets sibling_lanelets( | ||
| const lanelet::ConstLanelet & lanelet, | ||
| const lanelet::routing::RoutingGraphConstPtr routing_graph); | ||
|
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| /** | ||
| * @brief get Lanelet instances of the designated ids | ||
| * @param [in] lanelet input lanelet | ||
| * @param [in] routing_graph routing_graph containing `lanelet` | ||
| * @return the list of Lanelets in the same order as `ids` | ||
| */ | ||
| lanelet::ConstLanelets from_ids( | ||
| const lanelet::LaneletMapConstPtr lanelet_map, const std::vector<lanelet::Id> & ids); | ||
| } // namespace autoware::lanelet2_utility | ||
|
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| #endif // AUTOWARE_LANELET2_UTILITY__TOPOLOGY_HPP_ |
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