Classes
class	ConflictingSectionFilter
	Finds vertices that are in conflict or adjacent to some vertices (not reachable though bidirectional lane changes) More...

class	ConnectedPathIterator
	An iterator that finds paths from a start vertex to all reachable destinations. More...

struct	DijkstraCostMap

class	DijkstraStyleSearch

struct	EdgeCostFilter
	An internal edge filter to get a filtered view on the graph. More...

struct	EdgeInfo
	Internal information of an edge in the graph. More...

class	EdgeRelationFilter

class	EdgeWriterGraphViz
	Internal edge writer for graphViz file export. Includes label, color and if existent routing cost (as 'weight') and the routing cost module ID. More...

struct	GetEdges

struct	GetEdges< false >

struct	GetEdges< true >

struct	GetTarget

struct	GetTarget< false >

struct	GetTarget< true >

class	Graph
	Manages the actual routing graph and provieds different views on the edges (lazily computed) More...

class	LaneChangeLaneletsCollector
	This class collects lane changable lanelets and combines them to a sequence of adjacent lanechangable lanelets. More...

class	NextToRouteFilter
	Removes vertices from the graph that are not adjacent to a set of vertices. Adjacent can also mean conflicting! More...

class	NoConflictingFilter
	Removes conflicting edges from the graph. More...

class	OnlyDrivableEdgesWithinFilter
	Removes edges from the graph that are not drivable (e.g. adjacent or conflicing) OR leave the route at its end. More...

class	OnRouteAndConflictFilter
	Finds vertices within a set of vertices that are in conflict with another set of vertices. More...

class	OnRouteFilter
	Reduces the graph to a set of desired vertices. More...

class	OriginalGraphFilter
	Filter that reduces the original graph by edges that belong to different cost types or lane changes. More...

class	RouteBuilder
	Builder class to create a route from a routing graph and the shortest path. More...

class	RouteGraph

struct	RouteVertexInfo
	Internal information of a vertex in the route graph. More...

class	RoutingGraphBuilder

class	RoutingGraphGraph

struct	SparseColorMap
	For graph queries, we implement our own color map because boost's color does not perform well on sparse graphs. More...

struct	VertexInfo
	Internal information of a vertex in the graph If A* search is adapted, this could hold information about longitude and latitude. More...

struct	VertexState

struct	VertexVisitInformation
	This object carries the required information for the graph neighbourhood search. More...

class	VertexWriterGraphViz
	Internal vertex writer for graphViz file export. More...

Typedefs
using	ConflictOrAdjacentToRouteGraph = boost::filtered_graph< OriginalGraph, OnlyDrivableEdgesFilter, ConflictingSectionFilter >

using	ConflictsWithPathGraph = boost::filtered_graph< OriginalGraph, NoConflictingFilter, OnRouteAndConflictFilter >

template<typename VertexT >
using	DijkstraSearchMap = std::map< VertexT, VertexState >

using	DrivableGraph = boost::filtered_graph< OriginalGraph, OnlyDrivableEdgesFilter >

using	FilteredGraphDesc = std::pair< size_t, RelationType >

template<typename BaseGraphT >
using	FilteredGraphT = boost::filtered_graph< BaseGraphT, EdgeCostFilter< BaseGraphT > >

template<typename BaseGraphT >
using	FilteredGraphTraits = boost::graph_traits< FilteredGraphT< BaseGraphT > >

using	FilteredRouteGraph = FilteredGraphT< RouteGraphType >

using	FilteredRoutingGraph = FilteredGraphT< GraphType >

using	GraphTraits = boost::graph_traits< GraphType >

using	GraphType = boost::adjacency_list< boost::vecS, boost::vecS, boost::bidirectionalS, VertexInfo, EdgeInfo >
	General graph type definitions. More...

using	IdPair = std::pair< Id, Id >

using	LaneletOrAreaToVertex = std::unordered_map< ConstLaneletOrArea, std::uint32_t >

using	LaneletVertexId = GraphTraits::vertex_descriptor

using	LaneletVertexIds = std::vector< LaneletVertexId >

using	NextToRouteGraph = boost::filtered_graph< OriginalGraph, OnlyDrivableEdgesWithinFilter, NextToRouteFilter >

using	NoConflictingGraph = boost::filtered_graph< OriginalGraph, NoConflictingFilter >

using	OnlyConflictingFilter = EdgeRelationFilter< RelationType::Conflicting, OriginalGraph >

using	OnlyConflictingGraph = boost::filtered_graph< OriginalGraph, OnlyConflictingFilter >

using	OnlyDrivableEdgesFilter = EdgeRelationFilter< RelationType::Successor\|RelationType::Left\|RelationType::Right, OriginalGraph >
	Removes edges from the graph that are not drivable (e.g. adjacent or conflicing) More...

using	OnRouteGraph = boost::filtered_graph< OriginalGraph, boost::keep_all, OnRouteFilter >

using	OriginalGraph = boost::filtered_graph< GraphType, OriginalGraphFilter >

using	RouteGraphType = boost::adjacency_list< boost::vecS, boost::vecS, boost::bidirectionalS, RouteVertexInfo, EdgeInfo >

using	RouteLanelets = std::set< LaneletVertexId >

Functions
template<typename Vertex , typename Graph , typename Func >
bool	anySidewayNeighbourIs (Vertex v, const Graph &g, Func &&f)

template<typename G >
void	exportGraphMLImpl (const std::string &filename, const G &g, const RelationType &relationTypes, RoutingCostId routingCostId=0)
	GraphML export function. More...

template<typename G , typename E = boost::keep_all, typename V = boost::keep_all>
void	exportGraphMLImpl (const std::string &filename, const G &g, E eFilter=boost::keep_all(), V vFilter=boost::keep_all())
	Implementation of graphML export function. More...

template<typename G >
void	exportGraphVizImpl (const std::string &filename, const G &g, const RelationType &relationTypes, RoutingCostId routingCostId=0)
	GraphViz export function. More...

template<typename G , typename E = boost::keep_all, typename V = boost::keep_all>
void	exportGraphVizImpl (const std::string &filename, const G &g, E edgeFilter=boost::keep_all(), V vertexFilter=boost::keep_all())
	Implementation of graphViz export function. More...

template<typename VertexT >
DijkstraCostMap< VertexT >::value_type	get (const DijkstraCostMap< VertexT > &map, VertexT key)

SparseColorMap::value_type	get (const SparseColorMap &map, LaneletVertexId key)

template<typename Graph >
std::set< LaneletVertexId >	getAllNeighbourLanelets (LaneletVertexId ofVertex, const Graph &ofRoute)

template<RelationType R, typename Graph >
Optional< LaneletVertexId >	getNext (LaneletVertexId ofVertex, const Graph &g)

template<typename ContainerT , typename T >
bool	has (const ContainerT &c, const T &t)

template<typename ContainerT , typename T >
bool	has (const std::set< T > &c, const T &t)

template<RelationType R, typename GraphT , typename EdgeT >
bool	hasRelation (const GraphT &g, EdgeT e)

template<typename VertexT >
void	put (DijkstraCostMap< VertexT > &map, VertexT key, typename DijkstraCostMap< VertexT >::value_type value)

void	put (SparseColorMap &map, LaneletVertexId key, SparseColorMap::value_type value)

Typedef Documentation

◆ ConflictOrAdjacentToRouteGraph

using lanelet::routing::internal::ConflictOrAdjacentToRouteGraph = typedef boost::filtered_graph<OriginalGraph, OnlyDrivableEdgesFilter, ConflictingSectionFilter>

Definition at line 401 of file GraphUtils.h.

◆ ConflictsWithPathGraph

using lanelet::routing::internal::ConflictsWithPathGraph = typedef boost::filtered_graph<OriginalGraph, NoConflictingFilter, OnRouteAndConflictFilter>

Definition at line 402 of file GraphUtils.h.

◆ DijkstraSearchMap

template<typename VertexT >

using lanelet::routing::internal::DijkstraSearchMap = typedef std::map<VertexT, VertexState>

Definition at line 33 of file ShortestPath.h.

◆ DrivableGraph

using lanelet::routing::internal::DrivableGraph = typedef boost::filtered_graph<OriginalGraph, OnlyDrivableEdgesFilter>

Definition at line 396 of file GraphUtils.h.

◆ FilteredGraphDesc

using lanelet::routing::internal::FilteredGraphDesc = typedef std::pair<size_t, RelationType>

Definition at line 103 of file Graph.h.

◆ FilteredGraphT

template<typename BaseGraphT >

using lanelet::routing::internal::FilteredGraphT = typedef boost::filtered_graph<BaseGraphT, EdgeCostFilter<BaseGraphT> >

Filtered graphs provide a filtered view on a graph. Here we can filter out types of relations (e.g. CONFLICTING) or filter by routing cost module ID.

Definition at line 54 of file Graph.h.

◆ FilteredGraphTraits

template<typename BaseGraphT >

using lanelet::routing::internal::FilteredGraphTraits = typedef boost::graph_traits<FilteredGraphT<BaseGraphT> >

Definition at line 57 of file Graph.h.

◆ FilteredRouteGraph

using lanelet::routing::internal::FilteredRouteGraph = typedef FilteredGraphT<RouteGraphType>

Definition at line 60 of file Graph.h.

◆ FilteredRoutingGraph

using lanelet::routing::internal::FilteredRoutingGraph = typedef FilteredGraphT<GraphType>

Definition at line 59 of file Graph.h.

◆ GraphTraits

using lanelet::routing::internal::GraphTraits = typedef boost::graph_traits<GraphType>

Definition at line 46 of file Graph.h.

◆ GraphType

using lanelet::routing::internal::GraphType = typedef boost::adjacency_list<boost::vecS, boost::vecS, boost::bidirectionalS, VertexInfo, EdgeInfo>

General graph type definitions.

Definition at line 43 of file Graph.h.

◆ IdPair

using lanelet::routing::internal::IdPair = typedef std::pair<Id, Id>

Definition at line 14 of file Forward.h.

◆ LaneletOrAreaToVertex

using lanelet::routing::internal::LaneletOrAreaToVertex = typedef std::unordered_map<ConstLaneletOrArea, std::uint32_t>

Definition at line 102 of file Graph.h.

◆ LaneletVertexId

using lanelet::routing::internal::LaneletVertexId = typedef GraphTraits::vertex_descriptor

Definition at line 12 of file GraphUtils.h.

◆ LaneletVertexIds

using lanelet::routing::internal::LaneletVertexIds = typedef std::vector<LaneletVertexId>

Definition at line 13 of file GraphUtils.h.

◆ NextToRouteGraph

using lanelet::routing::internal::NextToRouteGraph = typedef boost::filtered_graph<OriginalGraph, OnlyDrivableEdgesWithinFilter, NextToRouteFilter>

Definition at line 399 of file GraphUtils.h.

◆ NoConflictingGraph

using lanelet::routing::internal::NoConflictingGraph = typedef boost::filtered_graph<OriginalGraph, NoConflictingFilter>

Definition at line 397 of file GraphUtils.h.

◆ OnlyConflictingFilter

using lanelet::routing::internal::OnlyConflictingFilter = typedef EdgeRelationFilter<RelationType::Conflicting, OriginalGraph>

Definition at line 160 of file GraphUtils.h.

◆ OnlyConflictingGraph

using lanelet::routing::internal::OnlyConflictingGraph = typedef boost::filtered_graph<OriginalGraph, OnlyConflictingFilter>

Definition at line 398 of file GraphUtils.h.

◆ OnlyDrivableEdgesFilter

using lanelet::routing::internal::OnlyDrivableEdgesFilter = typedef EdgeRelationFilter<RelationType::Successor | RelationType::Left | RelationType::Right, OriginalGraph>

Removes edges from the graph that are not drivable (e.g. adjacent or conflicing)

Definition at line 159 of file GraphUtils.h.

◆ OnRouteGraph

using lanelet::routing::internal::OnRouteGraph = typedef boost::filtered_graph<OriginalGraph, boost::keep_all, OnRouteFilter>

Definition at line 395 of file GraphUtils.h.

◆ OriginalGraph

using lanelet::routing::internal::OriginalGraph = typedef boost::filtered_graph<GraphType, OriginalGraphFilter>

Definition at line 129 of file GraphUtils.h.

◆ RouteGraphType

using lanelet::routing::internal::RouteGraphType = typedef boost::adjacency_list<boost::vecS, boost::vecS, boost::bidirectionalS, RouteVertexInfo, EdgeInfo>

Definition at line 45 of file Graph.h.

◆ RouteLanelets

using lanelet::routing::internal::RouteLanelets = typedef std::set<LaneletVertexId>

Definition at line 14 of file GraphUtils.h.

Function Documentation

◆ anySidewayNeighbourIs()

template<typename Vertex , typename Graph , typename Func >

bool lanelet::routing::internal::anySidewayNeighbourIs	(	Vertex	v,
		const Graph &	g,
		Func &&	f
	)

Definition at line 77 of file GraphUtils.h.

◆ exportGraphMLImpl() [1/2]

template<typename G >

void lanelet::routing::internal::exportGraphMLImpl	(	const std::string &	filename,
		const G &	g,
		const RelationType &	relationTypes,
		RoutingCostId	routingCostId = `0`
	)

inline

GraphML export function.

Parameters

filename	Fully qualified file name - ideally with extension (.graphml)
g	Graph to export
relationTypes	Relations that will be included in the export
routingCostId	ID of the routing cost module

Definition at line 126 of file RoutingGraphVisualization.h.

◆ exportGraphMLImpl() [2/2]

template<typename G , typename E = boost::keep_all, typename V = boost::keep_all>

void lanelet::routing::internal::exportGraphMLImpl	(	const std::string &	filename,
		const G &	g,
		E	eFilter = `boost::keep_all()`,
		V	vFilter = `boost::keep_all()`
	)

inline

Implementation of graphML export function.

Parameters

filename	Fully qualified file name - ideally with extension (.graphml)
g	Graph to export
eFilter	Edge filter that will be used to create a filtered graph
vFilter	Vertex filter. Not used yet

Definition at line 98 of file RoutingGraphVisualization.h.

◆ exportGraphVizImpl() [1/2]

template<typename G >

void lanelet::routing::internal::exportGraphVizImpl	(	const std::string &	filename,
		const G &	g,
		const RelationType &	relationTypes,
		RoutingCostId	routingCostId = `0`
	)

inline

GraphViz export function.

Parameters

filename	Fully qualified file name - ideally with extension (.gv)
g	Graph to export
relationTypes	Relations that will be included in the export
routingCostId	ID of the routing cost module

Definition at line 86 of file RoutingGraphVisualization.h.

◆ exportGraphVizImpl() [2/2]

template<typename G , typename E = boost::keep_all, typename V = boost::keep_all>

void lanelet::routing::internal::exportGraphVizImpl	(	const std::string &	filename,
		const G &	g,
		E	edgeFilter = `boost::keep_all()`,
		V	vertexFilter = `boost::keep_all()`
	)

inline

Implementation of graphViz export function.

Parameters

filename	Fully qualified file name - ideally with extension (.gv)
g	Graph to export
edgeFilter	Edge filter that will be used to create a filtered graph
vertexFilter	Vertex filter. Not used yet

Definition at line 64 of file RoutingGraphVisualization.h.

◆ get() [1/2]

template<typename VertexT >

DijkstraCostMap<VertexT>::value_type lanelet::routing::internal::get	(	const DijkstraCostMap< VertexT > &	map,
		VertexT	key
	)

inline

Definition at line 45 of file ShortestPath.h.

◆ get() [2/2]

SparseColorMap::value_type lanelet::routing::internal::get	(	const SparseColorMap &	map,
		LaneletVertexId	key
	)

inline

Definition at line 310 of file GraphUtils.h.

◆ getAllNeighbourLanelets()

template<typename Graph >

std::set<LaneletVertexId> lanelet::routing::internal::getAllNeighbourLanelets	(	LaneletVertexId	ofVertex,
		const Graph &	ofRoute
	)

Definition at line 93 of file GraphUtils.h.

◆ getNext()

template<RelationType R, typename Graph >

Optional<LaneletVertexId> lanelet::routing::internal::getNext	(	LaneletVertexId	ofVertex,
		const Graph &	g
	)

Definition at line 29 of file GraphUtils.h.

◆ has() [1/2]

template<typename ContainerT , typename T >

bool lanelet::routing::internal::has	(	const ContainerT &	c,
		const T &	t
	)

inline

Definition at line 17 of file GraphUtils.h.

◆ has() [2/2]

template<typename ContainerT , typename T >

bool lanelet::routing::internal::has	(	const std::set< T > &	c,
		const T &	t
	)

inline

Definition at line 21 of file GraphUtils.h.

◆ hasRelation()

template<RelationType R, typename GraphT , typename EdgeT >

bool lanelet::routing::internal::hasRelation	(	const GraphT &	g,
		EdgeT	e
	)

inline

Definition at line 25 of file GraphUtils.h.

◆ put() [1/2]

template<typename VertexT >

void lanelet::routing::internal::put	(	DijkstraCostMap< VertexT > &	map,
		VertexT	key,
		typename DijkstraCostMap< VertexT >::value_type	value
	)

inline

Definition at line 54 of file ShortestPath.h.

◆ put() [2/2]

void lanelet::routing::internal::put	(	SparseColorMap &	map,
		LaneletVertexId	key,
		SparseColorMap::value_type	value
	)

inline

Definition at line 318 of file GraphUtils.h.

Classes

Typedefs

Functions

Typedef Documentation

◆ ConflictOrAdjacentToRouteGraph

◆ ConflictsWithPathGraph

◆ DijkstraSearchMap

◆ DrivableGraph

◆ FilteredGraphDesc

◆ FilteredGraphT

◆ FilteredGraphTraits

◆ FilteredRouteGraph

◆ FilteredRoutingGraph

◆ GraphTraits

◆ GraphType

◆ IdPair

◆ LaneletOrAreaToVertex

◆ LaneletVertexId

◆ LaneletVertexIds

◆ NextToRouteGraph

◆ NoConflictingGraph

◆ OnlyConflictingFilter

◆ OnlyConflictingGraph

◆ OnlyDrivableEdgesFilter

◆ OnRouteGraph

◆ OriginalGraph

◆ RouteGraphType

◆ RouteLanelets

Function Documentation

◆ anySidewayNeighbourIs()

◆ exportGraphMLImpl() [1/2]

◆ exportGraphMLImpl() [2/2]

◆ exportGraphVizImpl() [1/2]

◆ exportGraphVizImpl() [2/2]

◆ get() [1/2]

◆ get() [2/2]

◆ getAllNeighbourLanelets()

◆ getNext()

◆ has() [1/2]

◆ has() [2/2]

◆ hasRelation()

◆ put() [1/2]

◆ put() [2/2]