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perf(query): add faster getLinkedParkingLot function #19

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merged 1 commit into from
Jul 10, 2024
Merged

perf(query): add faster getLinkedParkingLot function #19

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4 changes: 4 additions & 0 deletions autoware_lanelet2_extension/include/autoware_lanelet2_extension/utility/query.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -167,6 +167,10 @@ bool getLinkedParkingLot(
bool getLinkedParkingLot(
const lanelet::BasicPoint2d & current_position, const lanelet::ConstPolygons3d & all_parking_lots,
lanelet::ConstPolygon3d * linked_parking_lot);
bool getLinkedParkingLot(
const lanelet::BasicPoint2d & current_position,
const lanelet::LaneletMapConstPtr & lanelet_map_ptr,
lanelet::ConstPolygon3d * linked_parking_lot);
// get linked parking lot from parking space
bool getLinkedParkingLot(
const lanelet::ConstLineString3d & parking_space,
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16 changes: 16 additions & 0 deletions autoware_lanelet2_extension/lib/query.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -549,6 +549,22 @@
}
return false;
}
bool getLinkedParkingLot(

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autoware_lanelet2_extension/lib/query.cpp#L552 

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const lanelet::BasicPoint2d & current_position,
const lanelet::LaneletMapConstPtr & lanelet_map_ptr, lanelet::ConstPolygon3d * linked_parking_lot)
{
auto candidates =
lanelet_map_ptr->polygonLayer.search(lanelet::geometry::boundingBox2d(current_position));
candidates.erase(
std::remove_if(

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autoware_lanelet2_extension/lib/query.cpp#L559 

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candidates.begin(), candidates.end(),
[](const auto & c) {
const std::string type = c.attributeOr(lanelet::AttributeName::Type, "none");
return type != "parking_lot";

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autoware_lanelet2_extension/lib/query.cpp#L561-L563 

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}),
candidates.end());
return getLinkedParkingLot(current_position, candidates, linked_parking_lot);
}

// get overlapping parking lot
bool getLinkedParkingLot(
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