@@ -205,54 +205,6 @@ class RouteHandler
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const lanelet::ConstLanelet & lanelet, const bool enable_same_root = false ,
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const bool get_shoulder_lane = false ) const ;
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- /* *
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- * @brief Searches the furthest linestring to the right side of the lanelet
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- * Only lanelet with same direction is considered
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- * @param the lanelet of interest
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- * @return right most linestring of the lane with same direction
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- */
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- lanelet::ConstLineString3d getRightMostSameDirectionLinestring (
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- const lanelet::ConstLanelet & lanelet, const bool enable_same_root = false ) const noexcept ;
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-
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- /* *
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- * @brief Searches the furthest linestring to the right side of the lanelet
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- * Used to search for road shoulders. Lane direction is ignored
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- * @param the lanelet of interest
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- * @return right most linestring
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- */
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- lanelet::ConstLineString3d getRightMostLinestring (
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- const lanelet::ConstLanelet & lanelet, const bool enable_same_root = false ) const noexcept ;
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-
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- /* *
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- * @brief Searches the furthest linestring to the left side of the lanelet
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- * Only lanelet with same direction is considered
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- * @param the lanelet of interest
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- * @return left most linestring of the lane with same direction
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- */
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- lanelet::ConstLineString3d getLeftMostSameDirectionLinestring (
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- const lanelet::ConstLanelet & lanelet, const bool enable_same_root = false ) const noexcept ;
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-
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- /* *
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- * @brief Searches the furthest linestring to the left side of the lanelet
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- * Used to search for road shoulders. Lane direction is ignored
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- * @param the lanelet of interest
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- * @return left most linestring
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- */
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- lanelet::ConstLineString3d getLeftMostLinestring (
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- const lanelet::ConstLanelet & lanelet, const bool enable_same_root = false ) const noexcept ;
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-
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- /* *
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- * @brief Return furthest linestring on both side of the lanelet
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- * @param the lanelet of interest
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- * @param (optional) search furthest right side
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- * @param (optional) search furthest left side
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- * @param (optional) include opposite lane as well
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- * @return right and left linestrings
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- */
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- lanelet::ConstLineStrings3d getFurthestLinestring (
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- const lanelet::ConstLanelet & lanelet, bool is_right = true , bool is_left = true ,
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- bool is_opposite = true , bool enable_same_root = false ) const noexcept ;
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-
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/* *
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* Retrieves a sequence of lanelets before the given lanelet.
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* The total length of retrieved lanelet sequence at least given length. Returned lanelet sequence
@@ -276,18 +228,6 @@ class RouteHandler
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int getNumLaneToPreferredLane (
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const lanelet::ConstLanelet & lanelet, const Direction direction = Direction::NONE) const ;
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- /* *
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- * Query input lanelet to see whether it exist in the preferred lane. If it doesn't exist, return
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- * the distance to the preferred lane from the give lane.
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- * The total distance is computed from the front point of the centerline of the given lane to
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- * the front point of the preferred lane.
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- * @param lanelet lanelet to query
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- * @param direction change direction
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- * @return number of lanes from input to the preferred lane
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- */
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- double getTotalLateralDistanceToPreferredLane (
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- const lanelet::ConstLanelet & lanelet, const Direction direction = Direction::NONE) const ;
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-
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/* *
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* Query input lanelet to see whether it exist in the preferred lane. If it doesn't exist, return
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* the distance to the preferred lane from the give lane.
@@ -321,11 +261,6 @@ class RouteHandler
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const lanelet::ConstLanelet & lanelet, const Pose & pose,
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const double backward_distance = std::numeric_limits<double >::max(),
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const double forward_distance = std::numeric_limits<double>::max()) const ;
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- lanelet::ConstLanelets getCheckTargetLanesFromPath (
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- const PathWithLaneId & path, const lanelet::ConstLanelets & target_lanes,
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- const double check_length) const ;
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- lanelet::routing::RelationType getRelation (
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- const lanelet::ConstLanelet & prev_lane, const lanelet::ConstLanelet & next_lane) const ;
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bool isShoulderLanelet (const lanelet::ConstLanelet & lanelet) const ;
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bool isRouteLanelet (const lanelet::ConstLanelet & lanelet) const ;
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bool isRoadLanelet (const lanelet::ConstLanelet & lanelet) const ;
@@ -339,22 +274,16 @@ class RouteHandler
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const lanelet::ConstLanelets & lanelets, const Direction direction = Direction::NONE) const ;
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std::optional<lanelet::ConstLanelet> getLaneChangeTargetExceptPreferredLane (
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const lanelet::ConstLanelets & lanelets, const Direction direction) const ;
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- bool getRightLaneChangeTargetExceptPreferredLane (
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- const lanelet::ConstLanelets & lanelets, lanelet::ConstLanelet * target_lanelet) const ;
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- bool getLeftLaneChangeTargetExceptPreferredLane (
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- const lanelet::ConstLanelets & lanelets, lanelet::ConstLanelet * target_lanelet) const ;
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std::optional<lanelet::ConstLanelet> getPullOverTarget (const Pose & goal_pose) const ;
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std::optional<lanelet::ConstLanelet> getPullOutStartLane (
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const Pose & pose, const double vehicle_width) const ;
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- double getLaneChangeableDistance (const Pose & current_pose, const Direction & direction) const ;
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lanelet::ConstLanelets getRoadLaneletsAtPose (const Pose & pose) const ;
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std::optional<lanelet::ConstLanelet> getLeftShoulderLanelet (
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const lanelet::ConstLanelet & lanelet) const ;
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std::optional<lanelet::ConstLanelet> getRightShoulderLanelet (
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const lanelet::ConstLanelet & lanelet) const ;
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lanelet::ConstLanelets getShoulderLaneletsAtPose (const Pose & pose) const ;
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lanelet::ConstPolygon3d getIntersectionAreaById (const lanelet::Id id) const ;
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- bool isPreferredLane (const lanelet::ConstLanelet & lanelet) const ;
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private:
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// MUST
@@ -385,8 +314,6 @@ class RouteHandler
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lanelet::ConstLanelets getMainLanelets (const lanelet::ConstLanelets & path_lanelets) const ;
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// for lanelet
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- bool isInTargetLane (const PoseStamped & pose, const lanelet::ConstLanelets & target) const ;
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- bool isInPreferredLane (const PoseStamped & pose) const ;
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bool isBijectiveConnection (
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const lanelet::ConstLanelets & lanelet_section1,
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const lanelet::ConstLanelets & lanelet_section2) const ;
@@ -419,17 +346,13 @@ class RouteHandler
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const double min_length = std::numeric_limits<double >::max()) const ;
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lanelet::ConstLanelets getPreviousLaneletSequence (
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const lanelet::ConstLanelets & lanelet_sequence) const ;
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- lanelet::ConstLanelets getLaneChangeTargetLanes (const Pose & pose) const ;
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lanelet::ConstLanelets getLaneSequenceUpTo (const lanelet::ConstLanelet & lanelet) const ;
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lanelet::ConstLanelets getLaneSequenceAfter (const lanelet::ConstLanelet & lanelet) const ;
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lanelet::ConstLanelets getLaneSequence (const lanelet::ConstLanelet & lanelet) const ;
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lanelet::ConstLanelets getNeighborsWithinRoute (const lanelet::ConstLanelet & lanelet) const ;
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- std::vector<lanelet::ConstLanelets> getLaneSection (const lanelet::ConstLanelet & lanelet) const ;
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- lanelet::ConstLanelets getNextLaneSequence (const lanelet::ConstLanelets & lane_sequence) const ;
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// for path
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- PathWithLaneId updatePathTwist (const PathWithLaneId & path) const ;
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/* *
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* @brief Checks if a path has a no_drivable_lane or not
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* @param path lanelet path
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