Route.h

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#pragma once
#include <lanelet2_core/Forward.h>
#include <lanelet2_core/LaneletMap.h>
#include <lanelet2_core/primitives/LaneletSequence.h>
 
#include <memory>
#include <string>
#include <vector>
 
#include "lanelet2_routing/Forward.h"
#include "lanelet2_routing/LaneletPath.h"
#include "lanelet2_routing/Types.h"
 
namespace lanelet {
namespace routing {
 
class Route {
 public:
  using Errors = std::vector<std::string>;
  Route();
  Route(const Route& other) = delete;
  Route& operator=(const Route& other) = delete;
  Route& operator=(Route&& other) noexcept;
  Route(Route&& other) noexcept;
  ~Route() noexcept;
 
  Route(LaneletPath shortestPath, std::unique_ptr<internal::RouteGraph> graph,
        LaneletSubmapConstPtr laneletSubmap) noexcept;
 
  inline const LaneletPath& shortestPath() const noexcept { return shortestPath_; }
 
  LaneletPath remainingShortestPath(const ConstLanelet& ll) const;
 
  LaneletSequence fullLane(const ConstLanelet& ll) const;
 
  LaneletSequence remainingLane(const ConstLanelet& ll) const;
 
  double length2d() const;
 
  size_t numLanes() const;
 
  inline LaneletSubmapConstPtr laneletSubmap() const noexcept { return laneletSubmap_; }
 
  [[deprecated("Use laneletSubmap() to obtain a view on the elements within this route")]] inline LaneletMapConstPtr
  laneletMap() const noexcept {
    return laneletSubmap_->laneletMap();
  }
 
  LaneletMapPtr getDebugLaneletMap() const;
 
  size_t size() const;
 
  LaneletRelations followingRelations(const ConstLanelet& lanelet) const;
 
  ConstLanelets following(const ConstLanelet& lanelet) const;
 
  LaneletRelations previousRelations(const ConstLanelet& lanelet) const;
 
  ConstLanelets previous(const ConstLanelet& lanelet) const;
 
  Optional<LaneletRelation> leftRelation(const ConstLanelet& lanelet) const;
 
  LaneletRelations leftRelations(const ConstLanelet& lanelet) const;
 
  Optional<LaneletRelation> rightRelation(const ConstLanelet& lanelet) const;
 
  LaneletRelations rightRelations(const ConstLanelet& lanelet) const;
 
  void forEachSuccessor(const ConstLanelet& lanelet, const LaneletVisitFunction& f) const;
 
  void forEachPredecessor(const ConstLanelet& lanelet, const LaneletVisitFunction& f) const;
 
  ConstLanelets conflictingInRoute(const ConstLanelet& lanelet) const;
 
  ConstLaneletOrAreas conflictingInMap(const ConstLanelet& lanelet) const;
 
  ConstLaneletOrAreas allConflictingInMap() const;
 
  bool contains(const ConstLanelet& lanelet) const;
 
  Errors checkValidity(bool throwOnError = false) const;
 
 private:
  std::unique_ptr<internal::RouteGraph> graph_;  
  LaneletPath shortestPath_;                     
  LaneletSubmapConstPtr laneletSubmap_;          
};
}  // namespace routing
}  // namespace lanelet