Functions | |
| template<typename LayerT > | |
| auto | findWithin (LayerT &map, const Object2d &obj, double maxDist) -> std::vector< std::pair< double, traits::LayerPrimitiveType< LayerT >>> |
| Find all primitives as close as or closer than maxDist to an object. More... | |
| double | getMahalanobisDistSq (const ConstLanelet &lanelet, const ObjectWithCovariance2d &obj) |
| Compute squared mahalanobis distance based on pose and covariance, hull is not used. More... | |
| auto lanelet::matching::utils::findWithin | ( | LayerT & | map, |
| const Object2d & | obj, | ||
| double | maxDist | ||
| ) | -> std::vector<std::pair<double, traits::LayerPrimitiveType<LayerT>>> |
Find all primitives as close as or closer than maxDist to an object.
Definition at line 48 of file Utilities.h.
| double lanelet::matching::utils::getMahalanobisDistSq | ( | const ConstLanelet & | lanelet, |
| const ObjectWithCovariance2d & | obj | ||
| ) |
Compute squared mahalanobis distance based on pose and covariance, hull is not used.
| MatchingError | if the orientationCovarianceRadians or the determinant of the position covariance is zero |
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
uses approximation orientationCovariance = 1./obj.vonMisesKappa
Definition at line 73 of file Utilities.cpp.