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finished except for one
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Signed-off-by: Mamoru Sobue <[email protected]>
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@soblin
soblin committed Jan 12, 2024
1 parent dd79772 commit 880dc3a
Showing 1 changed file with 95 additions and 28 deletions.
123 changes: 95 additions & 28 deletions tmp/lanelet2_extension_python/src/utility.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -146,6 +146,68 @@ double getLateralDistanceToClosestLanelet(
return lanelet::utils::getLateralDistanceToClosestLanelet(lanelet_sequence, pose);
}

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lanelet::Optional<lanelet::ConstLanelet> getLinkedLanelet(

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const lanelet::ConstLineString3d & parking_space,
const lanelet::ConstLanelets & all_road_lanelets,
const lanelet::ConstPolygons3d & all_parking_lots)
{
lanelet::ConstLanelet linked_lanelet;
if (lanelet::utils::query::getLinkedLanelet(

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parking_space, all_road_lanelets, all_parking_lots, &linked_lanelet)) {
return linked_lanelet;
} else {
return {};
}
}

lanelet::Optional<lanelet::ConstLanelet> getLinkedLanelet(

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const lanelet::ConstLineString3d & parking_space,
const lanelet::LaneletMapConstPtr & lanelet_map_ptr)
{
lanelet::ConstLanelet linked_lanelet;
if (lanelet::utils::query::getLinkedLanelet(parking_space, lanelet_map_ptr, &linked_lanelet)) {

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return linked_lanelet;
} else {
return {};
}
}

lanelet::Optional<lanelet::ConstPolygon3d> getLinkedParkingLot(

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const lanelet::ConstLanelet & lanelet, const lanelet::ConstPolygons3d & all_parking_lots)
{
lanelet::ConstPolygon3d linked_parking_lot;
if (lanelet::utils::query::getLinkedParkingLot(lanelet, all_parking_lots, &linked_parking_lot)) {

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return linked_parking_lot;
} else {
return {};
}
}

lanelet::Optional<lanelet::ConstPolygon3d> getLinkedParkingLot(

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const lanelet::BasicPoint2d & current_position, const lanelet::ConstPolygons3d & all_parking_lots)
{
lanelet::ConstPolygon3d linked_parking_lot;
if (lanelet::utils::query::getLinkedParkingLot(

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current_position, all_parking_lots, &linked_parking_lot)) {
return linked_parking_lot;
} else {
return {};
}
}

lanelet::Optional<lanelet::ConstPolygon3d> getLinkedParkingLot(

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const lanelet::ConstLineString3d & parking_space,
const lanelet::ConstPolygons3d & all_parking_lots)
{
lanelet::ConstPolygon3d linked_parking_lot;
if (lanelet::utils::query::getLinkedParkingLot(

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parking_space, all_parking_lots, &linked_parking_lot)) {
return linked_parking_lot;
} else {
return {};
}
}

lanelet::ConstLanelets getLaneletsWithinRange_point(

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const lanelet::ConstLanelets & lanelets, const std::string & point_byte, const double range)
{
Expand Down Expand Up @@ -196,9 +258,8 @@ lanelet::ConstLanelets getAllNeighbors_point(
return lanelet::utils::query::getAllNeighbors(graph, road_lanelets, point);
}

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bool getClosestLaneletWithConstrains(
lanelet::Optional<lanelet::ConstLanelet> getClosestLaneletWithConstrains(

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const lanelet::ConstLanelets & lanelets, const std::string & pose_byte,
lanelet::ConstLanelet * closest_lanelet_ptr,
const double dist_threshold = std::numeric_limits<double>::max(),
const double yaw_threshold = std::numeric_limits<double>::max())
{
Expand All @@ -212,13 +273,17 @@ bool getClosestLaneletWithConstrains(
geometry_msgs::msg::Pose pose;
static rclcpp::Serialization<geometry_msgs::msg::Pose> serializer;
serializer.deserialize_message(&serialized_msg, &pose);
return lanelet::utils::query::getClosestLaneletWithConstrains(
lanelets, pose, closest_lanelet_ptr, dist_threshold, yaw_threshold);
lanelet::ConstLanelet closest_lanelet;
if (lanelet::utils::query::getClosestLaneletWithConstrains(

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lanelets, pose, &closest_lanelet, dist_threshold, yaw_threshold)) {
return closest_lanelet;
} else {
return {};
}
}

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bool getCurrentLanelets_point(
const lanelet::ConstLanelets & lanelets, const std::string & point_byte,
lanelet::ConstLanelets * current_lanelets_ptr)
lanelet::ConstLanelets getCurrentLanelets_point(

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const lanelet::ConstLanelets & lanelets, const std::string & point_byte)
{
rclcpp::SerializedMessage serialized_msg;

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static constexpr size_t message_header_length = 8u;
Expand All @@ -230,12 +295,13 @@ bool getCurrentLanelets_point(
geometry_msgs::msg::Point point;
static rclcpp::Serialization<geometry_msgs::msg::Point> serializer;
serializer.deserialize_message(&serialized_msg, &point);

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return lanelet::utils::query::getCurrentLanelets(lanelets, point, current_lanelets_ptr);
lanelet::ConstLanelets current_lanelets;
lanelet::utils::query::getCurrentLanelets(lanelets, point, &current_lanelets);
return current_lanelets;
}

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bool getCurrentLanelets_pose(
const lanelet::ConstLanelets & lanelets, const std::string & pose_byte,
lanelet::ConstLanelets * current_lanelets_ptr)
lanelet::ConstLanelets getCurrentLanelets_pose(

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const lanelet::ConstLanelets & lanelets, const std::string & pose_byte)
{
rclcpp::SerializedMessage serialized_msg;

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static constexpr size_t message_header_length = 8u;
Expand All @@ -247,7 +313,9 @@ bool getCurrentLanelets_pose(
geometry_msgs::msg::Pose pose;
static rclcpp::Serialization<geometry_msgs::msg::Pose> serializer;
serializer.deserialize_message(&serialized_msg, &pose);

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return lanelet::utils::query::getCurrentLanelets(lanelets, pose, current_lanelets_ptr);
lanelet::ConstLanelets current_lanelets;
lanelet::utils::query::getCurrentLanelets(lanelets, pose, &current_lanelets);
return current_lanelets;
}

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lanelet::ConstLanelets subtypeLanelets(

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Expand All @@ -263,7 +331,7 @@ lanelet::ConstLanelets subtypeLanelets(
BOOST_PYTHON_FUNCTION_OVERLOADS(

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stopSignStopLines_overload, lanelet::utils::query::stopSignStopLines, 1, 2)
BOOST_PYTHON_FUNCTION_OVERLOADS(

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getClosestLaneletWithConstrains_overload, ::getClosestLaneletWithConstrains, 3, 5)
getClosestLaneletWithConstrains_overload, ::getClosestLaneletWithConstrains, 2, 4)
BOOST_PYTHON_FUNCTION_OVERLOADS(

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getPrecedingLaneletSequences_overload, lanelet::utils::query::getPrecedingLaneletSequences, 3, 4)

Expand Down Expand Up @@ -369,29 +437,28 @@ BOOST_PYTHON_MODULE(_lanelet2_extension_python_boost_python_utility)
bp::class_<lanelet::ConstPolygons3d>("lanelet::ConstPolygons3d")
.def(bp::vector_indexing_suite<lanelet::ConstPolygons3d>());

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bp::def<bool(
bp::def<lanelet::Optional<lanelet::ConstLanelet>(
const lanelet::ConstLineString3d &, const lanelet::ConstLanelets &,
const lanelet::ConstPolygons3d &, lanelet::ConstLanelet *)>(
"getLinkedLanelet", lanelet::utils::query::getLinkedLanelet);
bp::def<bool(
const lanelet::ConstLineString3d &, const lanelet::LaneletMapConstPtr &,
lanelet::ConstLanelet *)>("getLinkedLanelet", lanelet::utils::query::getLinkedLanelet);
const lanelet::ConstPolygons3d &)>("getLinkedLanelet", ::getLinkedLanelet);

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bp::def<lanelet::Optional<lanelet::ConstLanelet>(
const lanelet::ConstLineString3d &, const lanelet::LaneletMapConstPtr &)>(

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"getLinkedLanelet", ::getLinkedLanelet);
bp::def<lanelet::ConstLanelets(
const lanelet::ConstLineString3d &, const lanelet::ConstLanelets &,
const lanelet::ConstPolygons3d &)>(

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"getLinkedLanelets", lanelet::utils::query::getLinkedLanelets);
bp::def<lanelet::ConstLanelets(
const lanelet::ConstLineString3d &, const lanelet::LaneletMapConstPtr &)>(

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"getLinkedLanelets", lanelet::utils::query::getLinkedLanelets);
bp::def<bool(
const lanelet::ConstLanelet &, const lanelet::ConstPolygons3d &, lanelet::ConstPolygon3d *)>(
"getLinkedParkingLot", lanelet::utils::query::getLinkedParkingLot);
bp::def<bool(
const lanelet::BasicPoint2d &, const lanelet::ConstPolygons3d &, lanelet::ConstPolygon3d *)>(
"getLinkedParkingLot", lanelet::utils::query::getLinkedParkingLot);
bp::def<bool(
const lanelet::ConstLineString3d &, const lanelet::ConstPolygons3d &,
lanelet::ConstPolygon3d *)>("getLinkedParkingLot", lanelet::utils::query::getLinkedParkingLot);
bp::def<lanelet::Optional<lanelet::ConstPolygon3d>(
const lanelet::ConstLanelet &, const lanelet::ConstPolygons3d &)>(

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"getLinkedParkingLot", ::getLinkedParkingLot);
bp::def<lanelet::Optional<lanelet::ConstPolygon3d>(
const lanelet::BasicPoint2d &, const lanelet::ConstPolygons3d &)>(

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"getLinkedParkingLot", ::getLinkedParkingLot);
bp::def<lanelet::Optional<lanelet::ConstPolygon3d>(
const lanelet::ConstLineString3d &, const lanelet::ConstPolygons3d &)>(

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"getLinkedParkingLot", ::getLinkedParkingLot);
bp::def("stopLinesLanelets", lanelet::utils::query::stopLinesLanelets);
bp::def("stopLinesLanelet", lanelet::utils::query::stopLinesLanelet);

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bp::def(
Expand Down

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