lanelet::matching Namespace Reference

Namespaces
	utils

Classes
struct	ConstLaneletMatch
struct	ConstLaneletMatchProbabilistic
struct	LaneletMatch
struct	LaneletMatchProbabilistic
struct	Object2d
struct	ObjectWithCovariance2d

Typedefs
using	Hull2d = BasicPolygon2d
using	Pose2d = Eigen::Transform< double, 2, Eigen::Isometry, Eigen::DontAlign >
	a 2d pose More...
using	PositionCovariance2d = Eigen::Matrix< double, 2, 2, Eigen::DontAlign >
	a covariance of a 2d position More...

Functions
std::vector< LaneletMatch >	getDeterministicMatches (LaneletMap &map, const Object2d &obj, double maxDist)
	get deterministic lanelet matches of an object with a maximum distance of maxDist, sorted ascending by distance More...
std::vector< ConstLaneletMatch >	getDeterministicMatches (const LaneletMap &map, const Object2d &obj, double maxDist)
std::vector< LaneletMatchProbabilistic >	getProbabilisticMatches (LaneletMap &map, const ObjectWithCovariance2d &obj, double maxDist)
	get probabilistic lanelet matches of an object with a maximum deterministic euler distance of maxDist, sorted ascending by Mahalanobis distance More...
std::vector< ConstLaneletMatchProbabilistic >	getProbabilisticMatches (const LaneletMap &map, const ObjectWithCovariance2d &obj, double maxDist)
template<typename LayerT >
bool	isCloseTo (const LayerT &map, const Object2d &obj, double maxDist)
	Determine whether an object is within a maximum distance to any primitive of the layer. More...
template<typename LayerT >
bool	isWithin (const LayerT &map, const Object2d &obj)
	Determine whether an object is (at least partially) within any primitive of the layer. More...
template<typename MatchVectorT >
MatchVectorT	removeNonRuleCompliantMatches (const MatchVectorT &matches, const lanelet::traffic_rules::TrafficRulesPtr &trafficRulesPtr)
	Remove non traffic rule compliant probabilistic lanelet matches. More...

Typedef Documentation

Hull2d

using lanelet::matching::Hull2d = typedef BasicPolygon2d

a hull of 2d-points, as objects are usually closed rings, closing the ring by appending the first point of the polygon as last point again is suggested

Definition at line 51 of file Types.h.

Pose2d

using lanelet::matching::Pose2d = typedef Eigen::Transform<double, 2, Eigen::Isometry, Eigen::DontAlign>

a 2d pose

Definition at line 44 of file Types.h.

PositionCovariance2d

using lanelet::matching::PositionCovariance2d = typedef Eigen::Matrix<double, 2, 2, Eigen::DontAlign>

a covariance of a 2d position

Definition at line 45 of file Types.h.

Function Documentation

getDeterministicMatches() [1/2]

std::vector< LaneletMatch > lanelet::matching::getDeterministicMatches	(	LaneletMap &	map,
		const Object2d &	obj,
		double	maxDist
	)

get deterministic lanelet matches of an object with a maximum distance of maxDist, sorted ascending by distance

Definition at line 86 of file LaneletMatching.cpp.

getDeterministicMatches() [2/2]

std::vector< ConstLaneletMatch > lanelet::matching::getDeterministicMatches	(	const LaneletMap &	map,
		const Object2d &	obj,
		double	maxDist
	)

Definition at line 90 of file LaneletMatching.cpp.

getProbabilisticMatches() [1/2]

std::vector< LaneletMatchProbabilistic > lanelet::matching::getProbabilisticMatches	(	LaneletMap &	map,
		const ObjectWithCovariance2d &	obj,
		double	maxDist
	)

get probabilistic lanelet matches of an object with a maximum deterministic euler distance of maxDist, sorted ascending by Mahalanobis distance

Exceptions

MatchingError

if the orientationCovarianceRadians or the determinant of the position covariance is zero

for the distance computation see D. Petrich, T. Dang, D. Kasper, G. Breuel and C. Stiller, "Map-based long term motion prediction for vehicles in traffic environments," 16th International IEEE Conference on Intelligent Transportation Systems (ITSC 2013), The Hague, 2013, pp. 2166-2172. doi: 10.1109/ITSC.2013.6728549 https://ieeexplore.ieee.org/document/6728549

Definition at line 94 of file LaneletMatching.cpp.

getProbabilisticMatches() [2/2]

std::vector< ConstLaneletMatchProbabilistic > lanelet::matching::getProbabilisticMatches	(	const LaneletMap &	map,
		const ObjectWithCovariance2d &	obj,
		double	maxDist
	)

Definition at line 100 of file LaneletMatching.cpp.

isCloseTo()

template<typename LayerT >

bool lanelet::matching::isCloseTo	(	const LayerT &	map,
		const Object2d &	obj,
		double	maxDist
	)

Determine whether an object is within a maximum distance to any primitive of the layer.

Definition at line 70 of file LaneletMatching.h.

isWithin()

template<typename LayerT >

bool lanelet::matching::isWithin	(	const LayerT &	map,
		const Object2d &	obj
	)

Determine whether an object is (at least partially) within any primitive of the layer.

Definition at line 79 of file LaneletMatching.h.

removeNonRuleCompliantMatches()

template<typename MatchVectorT >

MatchVectorT lanelet::matching::removeNonRuleCompliantMatches	(	const MatchVectorT &	matches,
		const lanelet::traffic_rules::TrafficRulesPtr &	trafficRulesPtr
	)

Remove non traffic rule compliant probabilistic lanelet matches.

Definition at line 87 of file LaneletMatching.h.