feat(lanelet2_extention): add getAllFences (#209)

add getAllFences Signed-off-by: kyoichi-sugahara <[email protected]>
autowarefoundation · Oct 19, 2023 · 36b3825 · 36b3825
1 parent 44dc388
commit 36b3825
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diff --git a/tmp/lanelet2_extension/include/lanelet2_extension/utility/query.hpp b/tmp/lanelet2_extension/include/lanelet2_extension/utility/query.hpp
@@ -146,6 +146,9 @@ lanelet::ConstPolygons3d getAllParkingLots(const lanelet::LaneletMapConstPtr & l
 // query all partitions in lanelet2 map
 lanelet::ConstLineStrings3d getAllPartitions(const lanelet::LaneletMapConstPtr & lanelet_map_ptr);
 
+// query all fences in lanelet2 map
+lanelet::ConstLineStrings3d getAllFences(const lanelet::LaneletMapConstPtr & lanelet_map_ptr);
+
 // query all pedestrian markings in lanelet2 map
 lanelet::ConstLineStrings3d getAllPedestrianMarkings(
   const lanelet::LaneletMapConstPtr & lanelet_map_ptr);

diff --git a/tmp/lanelet2_extension/lib/query.cpp b/tmp/lanelet2_extension/lib/query.cpp
@@ -369,6 +369,18 @@ lanelet::ConstLineStrings3d query::getAllPartitions(
   return partitions;
 }
 
+lanelet::ConstLineStrings3d query::getAllFences(const lanelet::LaneletMapConstPtr & lanelet_map_ptr)
+{
+  lanelet::ConstLineStrings3d fences;
+  for (const auto & ls : lanelet_map_ptr->lineStringLayer) {
+    const std::string type = ls.attributeOr(lanelet::AttributeName::Type, "none");
+    if (type == "fence") {
+      fences.push_back(ls);
+    }
+  }
+  return fences;
+}
+
 lanelet::ConstLineStrings3d query::getAllPedestrianMarkings(
   const lanelet::LaneletMapConstPtr & lanelet_map_ptr)
 {