Function lanelet::utils::getArcCoordinatesOnEgoCenterline

• Defined in File utilities.hpp

Function Documentation

lanelet::ArcCoordinates lanelet::utils::getArcCoordinatesOnEgoCenterline(const lanelet::ConstLanelets &lanelet_sequence, const geometry_msgs::msg::Pose &pose, const lanelet::LaneletMapConstPtr &lanelet_map_ptr)

This function uses the centerline for the ego to follow.

• when the use_waypoints in the autoware_map_loader is true,

  • the waypoints tag in the lanelet2::LaneletMapPtr is used instead of the centerline.

• when the use_waypoints in the autoware_map_loader is false,

  • the centerline in the lanelet2::LaneletMapPtr is used.