Utilities.h

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/*
 * Copyright (c) 2019
 * FZI Forschungszentrum Informatik, Karlsruhe, Germany (www.fzi.de)
 * KIT, Institute of Measurement and Control, Karlsruhe, Germany (www.mrt.kit.edu)
 * All rights reserved.
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 * modification, are permitted provided that the following conditions are met:
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#pragma once

#include <lanelet2_core/LaneletMap.h>
#include <lanelet2_core/geometry/LaneletMap.h>
#include <lanelet2_core/geometry/Polygon.h>

#include "Exceptions.h"
#include "Types.h"

namespace lanelet {
namespace matching {
namespace utils {

template <typename LayerT>
auto findWithin(LayerT& map, const Object2d& obj, double maxDist)
    -> std::vector<std::pair<double, traits::LayerPrimitiveType<LayerT>>> {
  if (obj.absoluteHull.empty()) {
    return lanelet::geometry::findWithin2d(map, lanelet::BasicPoint2d{obj.pose.translation()}, maxDist);
  }
  return lanelet::geometry::findWithin2d(map, lanelet::BasicPolygon2d{obj.absoluteHull}, maxDist);
}

double getMahalanobisDistSq(const ConstLanelet& lanelet, const ObjectWithCovariance2d& obj);

}  // namespace utils
}  // namespace matching
}  // namespace lanelet