geometry/Lanelet.h

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#pragma once

#include "lanelet2_core/primitives/Lanelet.h"

namespace lanelet {
namespace geometry {
template <typename LaneletT>
IfLL<LaneletT, bool> inside(const LaneletT& lanelet, const BasicPoint2d& point);

template <typename LaneletT>
double approximatedLength2d(const LaneletT& lanelet);

template <typename LaneletT>
double length2d(const LaneletT& lanelet);

template <typename LaneletT>
double length3d(const LaneletT& lanelet);

template <typename LaneletT>
double distanceToCenterline2d(const LaneletT& lanelet, const BasicPoint2d& point);

template <typename LaneletT>
double distanceToCenterline3d(const LaneletT& lanelet, const BasicPoint3d& point);

template <typename LaneletT>
IfLL<LaneletT, BoundingBox2d> boundingBox2d(const LaneletT& lanelet);

template <typename LaneletT>
IfLL<LaneletT, BoundingBox3d> boundingBox3d(const LaneletT& lanelet);

template <typename Lanelet1T, typename Lanelet2T>
IfLL<Lanelet1T, bool> intersects2d(const Lanelet1T& lanelet, const Lanelet2T& otherLanelet);

template <typename Lanelet1T, typename Lanelet2T>
IfLL<Lanelet1T, bool> overlaps2d(const Lanelet1T& lanelet, const Lanelet2T& otherLanelet);
template <typename Lanelet1T, typename Lanelet2T>
IfLL<Lanelet1T, bool> intersects3d(const Lanelet1T& lanelet, const Lanelet2T& otherLanelet,
                                   double heightTolerance = 3.);

template <typename Lanelet1T, typename Lanelet2T>
IfLL<Lanelet1T, bool> overlaps3d(const Lanelet1T& lanelet, const Lanelet2T& otherLanelet, double heightTolerance = 3);
template <typename Lanelet1T, typename Lanelet2T>
BasicPoints2d intersectCenterlines2d(const Lanelet1T& lanelet, const Lanelet2T& otherLanelet,
                                     std::vector<double>* distanceThis = nullptr,
                                     std::vector<double>* distanceOther = nullptr);

template <typename Lanelet1T, typename Lanelet2T>
IfLL<Lanelet1T, IfLL<Lanelet2T, bool>> leftOf(const Lanelet1T& left, const Lanelet2T& right);

template <typename Lanelet1T, typename Lanelet2T>
IfLL<Lanelet1T, IfLL<Lanelet2T, bool>> rightOf(const Lanelet1T& right, const Lanelet2T& left);

template <typename Lanelet1T, typename Lanelet2T>
IfLL<Lanelet1T, IfLL<Lanelet2T, bool>> follows(const Lanelet1T& prev, const Lanelet2T& next);

template <typename Lanelet1T, typename Lanelet2T>
IfLL<Lanelet1T, IfLL<Lanelet2T, Optional<ConstLineString3d>>> determineCommonLine(const Lanelet1T& ll,
                                                                                  const Lanelet2T& other,
                                                                                  bool allowInverted = false);

template <typename LaneletT>
Velocity maxCurveSpeed(const LaneletT& lanelet, const BasicPoint2d& position,
                       const Acceleration& maxLateralAcceleration = 2.0 * units::MPS2());
}  // namespace geometry
}  // namespace lanelet

#include "impl/Lanelet.h"