lanelet::geometry Namespace Reference

Namespaces
	internal

Typedefs
using	IndexedTriangle = std::array< size_t, 3 >
using	IndexedTriangles = std::vector< IndexedTriangle >

Functions
template<typename LineStringT >
std::vector< double >	accumulatedLengthRatios (const LineStringT &lineString)
bool	adjacent (const ConstArea &area1, const ConstArea &area2)
	Test if two areas are adjacent. More...
template<typename LineString1T , typename LineString2T >
std::pair< LineString1T, LineString2T >	align (LineString1T left, LineString2T right)
	inverts the two linestrings such that they are parallel More...
template<typename LaneletT >
double	approximatedLength2d (const LaneletT &lanelet)
	approximates length by sampling points along left bound More...
template<typename AreaT >
IfAr< AreaT, BoundingBox2d >	boundingBox2d (const AreaT &area)
	calculates an up-right 2d bounding box More...
template<typename LaneletT >
IfLL< LaneletT, BoundingBox2d >	boundingBox2d (const LaneletT &lanelet)
	calculates an up-right 2d bounding box More...
template<typename LineString2dT >
IfLS< LineString2dT, BoundingBox2d >	boundingBox2d (const LineString2dT &lineString)
	Get the surrounding axis-aligned bounding box in 2d. More...
template<typename Polygon2dT >
IfPoly< Polygon2dT, BoundingBox2d >	boundingBox2d (const Polygon2dT &polygon)
BoundingBox2d	boundingBox2d (const RegulatoryElement &regElem)
	compute the 2d bounding box around all RuleParameters contained in this RegulatoryElement More...
BoundingBox2d	boundingBox2d (const RegulatoryElementConstPtr &regElem)
	compute bounding box in 2d More...
template<typename AreaT >
IfAr< AreaT, BoundingBox3d >	boundingBox3d (const AreaT &area)
	calculates 3d bounding box More...
template<typename LaneletT >
IfLL< LaneletT, BoundingBox3d >	boundingBox3d (const LaneletT &lanelet)
	calculates 3d bounding box More...
template<typename LineString3dT >
IfLS< LineString3dT, BoundingBox3d >	boundingBox3d (const LineString3dT &lineString)
	Get the surrounding axis-aligned bounding box in 3d. More...
template<typename Polygon3dT >
IfPoly< Polygon3dT, BoundingBox3d >	boundingBox3d (const Polygon3dT &polygon)
BoundingBox3d	boundingBox3d (const RegulatoryElement &regElem)
	compute the 3d bounding box around all RuleParameters contained in this RegulatoryElement More...
BoundingBox3d	boundingBox3d (const RegulatoryElementConstPtr &regElem)
Segment< BasicPoint2d >	closestSegment (const BasicLineString2d &lineString, const BasicPoint2d &pointToProject)
	find the segment on a 2d line string that is closest to a given point, determined by boost::geometry::distance More...
Segment< BasicPoint3d >	closestSegment (const BasicLineString3d &lineString, const BasicPoint3d &pointToProject)
	find the segment on a 3d line string that is closest to a given point, determined by boost::geometry::distance More...
Segment< BasicPoint2d >	closestSegment (const CompoundHybridLineString2d &lineString, const BasicPoint2d &pointToProject)
Segment< BasicPoint3d >	closestSegment (const CompoundHybridLineString3d &lineString, const BasicPoint3d &pointToProject)
Segment< ConstPoint2d >	closestSegment (const CompoundLineString2d &lineString, const BasicPoint2d &pointToProject)
Segment< ConstPoint3d >	closestSegment (const CompoundLineString3d &lineString, const BasicPoint3d &pointToProject)
Segment< BasicPoint2d >	closestSegment (const ConstHybridLineString2d &lineString, const BasicPoint2d &pointToProject)
Segment< BasicPoint3d >	closestSegment (const ConstHybridLineString3d &lineString, const BasicPoint3d &pointToProject)
Segment< ConstPoint2d >	closestSegment (const ConstLineString2d &lineString, const BasicPoint2d &pointToProject)
Segment< ConstPoint3d >	closestSegment (const ConstLineString3d &lineString, const BasicPoint3d &pointToProject)
template<typename Polygon2dT >
IfPoly< Polygon2dT, BasicPolygons2d >	convexPartition (const Polygon2dT &poly)
	Split a concave polygon into convex parts. More...
template<>
IfPoly< BasicPolygon2d, BasicPolygons2d >	convexPartition< BasicPolygon2d > (const BasicPolygon2d &poly)
	Split a concave polygon into convex parts. More...
template<typename Point2dT >
double	curvature2d (const Point2dT &p1, const Point2dT &p2, const Point2dT &p3)
Optional< ConstLineString3d >	determineCommonLine (const ConstArea &ar, const ConstLanelet &ll)
Optional< ConstLineString3d >	determineCommonLine (const ConstArea &ar1, const ConstArea &ar2)
template<typename Lanelet1T , typename Lanelet2T >
IfLL< Lanelet1T, IfLL< Lanelet2T, Optional< ConstLineString3d > > >	determineCommonLine (const Lanelet1T &ll, const Lanelet2T &other, bool allowInverted=false)
	find a common line string in ll and other. More...
Optional< ConstLineString3d >	determineCommonLineFollowing (const ConstArea &ar, const ConstLanelet &ll)
Optional< ConstLineString3d >	determineCommonLineFollowingOrPreceding (const ConstArea &ar, const ConstLanelet &ll)
Optional< ConstLineString3d >	determineCommonLineLeft (const ConstLanelet &right, const ConstArea &left)
Optional< ConstLineString3d >	determineCommonLinePreceding (const ConstLanelet &ll, const ConstArea &ar)
Optional< ConstLineString3d >	determineCommonLineRight (const ConstLanelet &left, const ConstArea &right)
Optional< ConstLineString3d >	determineCommonLineSideways (const ConstArea &ar, const ConstLanelet &ll)
Optional< ConstLineString3d >	determineCommonLineSideways (const ConstLanelet &ll, const ConstArea &ar)
double	distance2d (const RegulatoryElement &regElem, const BasicPoint2d &p)
double	distance2d (const RegulatoryElementConstPtr &regElem1, const BasicPoint2d &p)
	See non-shared-ptr version. More...
template<typename LineString3d1T , typename LineString3d2T >
IfLS2< LineString3d1T, LineString3d2T, double >	distance3d (const LineString3d1T &l1, const LineString3d2T &l2)
template<typename Polygon3dT >
IfPoly< Polygon3dT, double >	distanceToBorder3d (const Polygon3dT &poly1, const Polygon3dT &poly2)
	computes the distance of the outer bounds of two polygons in 3d. More...
template<typename LaneletT >
double	distanceToCenterline2d (const LaneletT &lanelet, const BasicPoint2d &point)
	calculates distance in 2d to the centerline of a lanelet. More...
template<typename LaneletT >
double	distanceToCenterline3d (const LaneletT &lanelet, const BasicPoint3d &point)
	calculates distance in 3d to centerline of a lanelet. More...
	EXTERN_CONST_FIND_NEAREST (Area)
	EXTERN_CONST_FIND_NEAREST (Lanelet)
	EXTERN_CONST_FIND_NEAREST (LineString3d)
	EXTERN_CONST_FIND_NEAREST (Point3d)
	EXTERN_CONST_FIND_NEAREST (Polygon3d)
	EXTERN_CONST_FIND_NEAREST (RegulatoryElementPtr)
	EXTERN_FIND_NEAREST (Area)
	EXTERN_FIND_NEAREST (Lanelet)
	EXTERN_FIND_NEAREST (LineString3d)
	EXTERN_FIND_NEAREST (Point3d)
	EXTERN_FIND_NEAREST (Polygon3d)
	EXTERN_FIND_NEAREST (RegulatoryElementPtr)
template<typename PrimT >
std::vector< std::pair< double, traits::ConstPrimitiveType< PrimT > > >	findNearest (const PrimitiveLayer< PrimT > &map, const BasicPoint2d &pt, unsigned count)
template<typename PrimT >
std::vector< std::pair< double, PrimT > >	findNearest (PrimitiveLayer< PrimT > &map, const BasicPoint2d &pt, unsigned count)
	returns the nearest n primitives to a point. More...
template<typename LayerT , typename GeometryT >
auto	findWithin2d (LayerT &layer, const GeometryT &geometry, double maxDist=0.) -> std::vector< std::pair< double, traits::LayerPrimitiveType< LayerT >>>
	Returns all elements that are closer than maxDist to a geometry in 2d. More...
template<typename LayerT , typename GeometryT >
auto	findWithin3d (LayerT &layer, const GeometryT &geometry, double maxDist=0.) -> std::vector< std::pair< double, traits::LayerPrimitiveType< LayerT >>>
	Returns all elements that are closer than maxDist to a geometry in 3d. More...
bool	follows (const ConstArea &prev, const ConstLanelet &next)
	Test whether lanelet follows area. More...
bool	follows (const ConstLanelet &prev, const ConstArea &next)
	Test whether area follows lanelet. More...
template<typename Lanelet1T , typename Lanelet2T >
IfLL< Lanelet1T, IfLL< Lanelet2T, bool > >	follows (const Lanelet1T &prev, const Lanelet2T &next)
	checks if a lanelet is the direct successor by checking if they share the same start/endpoints More...
template<typename LineString2dT >
BasicPoint2d	fromArcCoordinates (const LineString2dT &lineString, const ArcCoordinates &arcCoords)
	create a point by moving laterally arcCoords.distance from the linestring point at arcCoords.length More...
template<typename AreaT >
IfAr< AreaT, bool >	inside (const AreaT &area, const BasicPoint2d &point)
	Checks whether a point is within or at the border of a area. More...
template<typename LaneletT >
IfLL< LaneletT, bool >	inside (const LaneletT &lanelet, const BasicPoint2d &point)
	Checks whether a point is within or at the border of a lanelet. More...
	INSTANCIATE_CONST_FIND_NEAREST (Area, ConstArea)
	INSTANCIATE_CONST_FIND_NEAREST (Lanelet, ConstLanelet)
	INSTANCIATE_CONST_FIND_NEAREST (LineString3d, ConstLineString3d)
	INSTANCIATE_CONST_FIND_NEAREST (Point3d, ConstPoint3d)
	INSTANCIATE_CONST_FIND_NEAREST (Polygon3d, ConstPolygon3d)
	INSTANCIATE_CONST_FIND_NEAREST (RegulatoryElementPtr, RegulatoryElementConstPtr)
	INSTANCIATE_FIND_NEAREST (Area)
	INSTANCIATE_FIND_NEAREST (Lanelet)
	INSTANCIATE_FIND_NEAREST (LineString3d)
	INSTANCIATE_FIND_NEAREST (Point3d)
	INSTANCIATE_FIND_NEAREST (Polygon3d)
	INSTANCIATE_FIND_NEAREST (RegulatoryElementPtr)
template<typename LineStringT >
traits::BasicPointT< traits::PointType< LineStringT > >	interpolatedPointAtDistance (LineStringT lineString, double dist)
template<typename Lanelet1T , typename Lanelet2T >
BasicPoints2d	intersectCenterlines2d (const Lanelet1T &lanelet, const Lanelet2T &otherLanelet, std::vector< double > *distanceThis=nullptr, std::vector< double > *distanceOther=nullptr)
	calculates points of intersection between centerlines in 2d. More...
template<typename Area1T , typename Area2T >
IfAr< Area1T, bool >	intersects2d (const Area1T &area, const Area2T &otherArea)
	test whether two areas intersect in 2d. More...
template<typename Lanelet1T , typename Lanelet2T >
IfLL< Lanelet1T, bool >	intersects2d (const Lanelet1T &lanelet, const Lanelet2T &otherLanelet)
	test whether two lanelets intersect in 2d. More...
template<typename Lanelet1T , typename Lanelet2T >
IfLL< Lanelet1T, bool >	intersects3d (const Lanelet1T &lanelet, const Lanelet2T &otherLanelet, double heightTolerance=3.)
	test whether two lanelets intersect in 2d. More...
template<typename LineString3dT >
IfLS< LineString3dT, bool >	intersects3d (const LineString3dT &linestring, const LineString3dT &otherLinestring, double heightTolerance=3.)
	test whether two linestrings intersect in 3d. More...
bool	leftOf (const ConstLanelet &right, const ConstArea &left)
	Test whether area is left of lanelet. More...
template<typename Lanelet1T , typename Lanelet2T >
IfLL< Lanelet1T, IfLL< Lanelet2T, bool > >	leftOf (const Lanelet1T &left, const Lanelet2T &right)
	checks if a lanelet is direcly left of another by checking if they share the same boundary More...
template<typename LaneletT >
double	length2d (const LaneletT &lanelet)
	calculate length of centerline in 2d More...
template<typename LaneletT >
double	length3d (const LaneletT &lanelet)
	calculate length of centerline in 3d More...
template<typename LineStringT >
std::vector< double >	lengthRatios (const LineStringT &lineString)
template<typename LaneletT >
Velocity	maxCurveSpeed (const LaneletT &lanelet, const BasicPoint2d &position, const Acceleration &maxLateralAcceleration=2.0 *units::MPS2())
	calculates the maximum velocity without exceding a maximum lateral acceleration. More...
template<typename LineStringT >
traits::PointType< LineStringT >	nearestPointAtDistance (LineStringT lineString, double dist)
	returns the cosest point to a position on the linestring More...
template<typename LineString2dT >
BasicLineString2d	offset (const LineString2dT &lineString, double distance)
	create a linestring that is offset to the original one. Guarantees no self-intersections and no inversions in the result. More...
template<typename LineString2dT >
BasicLineString2d	offsetNoThrow (const LineString2dT &lineString, double distance)
	create a linestring that is offset to the original one. the result. More...
template<typename AreaT >
IfAr< AreaT, bool >	overlaps2d (const AreaT &area, const AreaT &otherArea)
template<typename AreaT , typename LaneletT >
IfAr< AreaT, IfLL< LaneletT, bool > >	overlaps2d (const AreaT &area, const LaneletT &lanelet)
template<typename Lanelet1T , typename Lanelet2T >
IfLL< Lanelet1T, bool >	overlaps2d (const Lanelet1T &lanelet, const Lanelet2T &otherLanelet)
	test whether two lanelets overlap in 2d. More...
template<typename Polygon2dT >
IfPoly< Polygon2dT, bool >	overlaps2d (const Polygon2dT &poly1, const Polygon2dT &poly2)
template<typename AreaT >
IfAr< AreaT, bool >	overlaps3d (const AreaT &area, const AreaT &otherArea, double heightTolerance)
template<typename AreaT , typename LaneletT >
IfAr< AreaT, IfLL< LaneletT, bool > >	overlaps3d (const AreaT &area, const LaneletT &lanelet, double heightTolerance)
template<typename Lanelet1T , typename Lanelet2T >
IfLL< Lanelet1T, bool >	overlaps3d (const Lanelet1T &lanelet, const Lanelet2T &otherLanelet, double heightTolerance=3)
	test whether two lanelets overlap in 3d. More...
template<typename Polygon3dT >
IfPoly< Polygon3dT, bool >	overlaps3d (const Polygon3dT &poly1, const Polygon3dT &poly2, double heightTolerance)
BasicPoint2d	project (const BasicSegment2d &segment, const BasicPoint2d &pointToProject)
BasicPoint3d	project (const BasicSegment3d &segment, const BasicPoint3d &pointToProject)
template<typename LineString2dT , typename >
BasicPoint2d	project (const LineString2dT &lineString, const BasicPoint2d &pointToProject)
	Projects the given point in 2d to the LineString. More...
template<typename LineString3dT , typename >
BasicPoint3d	project (const LineString3dT &lineString, const BasicPoint3d &pointToProject)
	Projects the given point in 3d to the LineString. More...
template<typename Polygon3dT >
IfPoly< Polygon3dT, std::pair< BasicPoint3d, BasicPoint3d > >	projectedBorderPoint3d (const Polygon3dT &l1, const Polygon3dT &l2)
template<typename LineString2dT >
IfLS< LineString2dT, std::pair< BasicPoint2d, BasicPoint2d > >	projectedPoint2d (const LineString2dT &l1, const LineString2dT &l2)
	Computes the projected points on the two linestrings for the shortest distance. More...
template<typename LineString3dT >
IfLS< LineString3dT, std::pair< BasicPoint3d, BasicPoint3d > >	projectedPoint3d (const LineString3dT &l1, const LineString3dT &l2)
	Computes the projected points on the two linestrings for the shortest distance. More...
template<typename LineStringIterator >
double	rangedLength (LineStringIterator start, LineStringIterator end)
bool	rightOf (const ConstLanelet &left, const ConstArea &area)
	Test whether area is right of lanelet. More...
template<typename Lanelet1T , typename Lanelet2T >
IfLL< Lanelet1T, IfLL< Lanelet2T, bool > >	rightOf (const Lanelet1T &right, const Lanelet2T &left)
	checks if a lanelet is direcly right of another by checking if they share the same boundary More...
template<typename Point2dT >
double	signedCurvature2d (const Point2dT &p1, const Point2dT &p2, const Point2dT &p3)
template<typename LineString2dT >
double	signedDistance (const LineString2dT &lineString, const BasicPoint2d &p)
template<typename LineString3dT >
double	signedDistance (const LineString3dT &lineString, const BasicPoint3d &p)
template<typename LineString2dT >
ArcCoordinates	toArcCoordinates (const LineString2dT &lineString, const BasicPoint2d &point)
	Transform a point to the coordinates of the linestring. More...
template<typename PolygonT >
IfPoly< PolygonT, bool >	touches2d (const PolygonT &poly1, const PolygonT &poly2)
template<typename Polygon2dT >
IfPoly< Polygon2dT, IndexedTriangles >	triangulate (const Polygon2dT &poly)
	Split a concave polygon into triangles. More...
template<>
IfPoly< BasicPolygon2d, IndexedTriangles >	triangulate< BasicPolygon2d > (const BasicPolygon2d &poly)
	Split a concave polygon into triangles. More...

Typedef Documentation

IndexedTriangle

using lanelet::geometry::IndexedTriangle = typedef std::array<size_t, 3>

Definition at line 318 of file geometry/Polygon.h.

IndexedTriangles

using lanelet::geometry::IndexedTriangles = typedef std::vector<IndexedTriangle>

Definition at line 319 of file geometry/Polygon.h.

Function Documentation

accumulatedLengthRatios()

template<typename LineStringT >

std::vector< double > lanelet::geometry::accumulatedLengthRatios

(

const LineStringT &

lineString

)

Calculates the accumulated length ratios for the lines in the LineString.

See also

lengthRatios, but summed up along the LineString.

Parameters

lineString

the LineString to do this for.

Returns

A vector of length ratios. Size is lineString.size()-1

The last element will aways be (near) 1

Definition at line 634 of file geometry/impl/LineString.h.

adjacent()

bool lanelet::geometry::adjacent ( const ConstArea &  area1, const ConstArea &  area2  )

inline

Test if two areas are adjacent.

Definition at line 78 of file geometry/impl/Area.h.

align()

template<typename LineString1T , typename LineString2T >

std::pair< LineString1T, LineString2T > lanelet::geometry::align	(	LineString1T	left,
		LineString2T	right
	)

inverts the two linestrings such that they are parallel

Parameters

left	the designated left linestring
right	the designated right linestring

Returns

a pair of the left and right linestring (in this order), potentially inverted.

Example input: <<<<<<<<LeftLinestring<<<<<<<

>>>>>>>>RightLinestring>>>>>>

Example output. Left was inverted: >>>>>>>>First>>>>>>>>>>>>>>>>

>>>>>>>>Second>>>>>>>>>>>>>>>

Todo:

this sadly is a bit heuristical...

Definition at line 809 of file geometry/impl/LineString.h.

approximatedLength2d()

template<typename LaneletT >

double lanelet::geometry::approximatedLength2d

(

const LaneletT &

lanelet

)

approximates length by sampling points along left bound

avoids to calculate the centerline which might be expensive.

Definition at line 174 of file geometry/impl/Lanelet.h.

boundingBox2d() [1/6]

template<typename AreaT >

IfAr< AreaT, BoundingBox2d > lanelet::geometry::boundingBox2d

(

const AreaT &

area

)

calculates an up-right 2d bounding box

Parameters

area	area to calculate it from

Returns

the bounding box.

Linear on number of points.

Definition at line 25 of file geometry/impl/Area.h.

boundingBox2d() [2/6]

template<typename LaneletT >

IfLL< LaneletT, BoundingBox2d > lanelet::geometry::boundingBox2d

(

const LaneletT &

lanelet

)

calculates an up-right 2d bounding box

Parameters

lanelet

lanelet to calculate it from

Returns

the bounding box.

Linear on number of points.

Definition at line 40 of file geometry/impl/Lanelet.h.

boundingBox2d() [3/6]

template<typename LineString2dT >

IfLS< LineString2dT, BoundingBox2d > lanelet::geometry::boundingBox2d

(

const LineString2dT &

lineString

)

Get the surrounding axis-aligned bounding box in 2d.

Definition at line 753 of file geometry/impl/LineString.h.

boundingBox2d() [4/6]

template<typename Polygon2dT >

IfPoly< Polygon2dT, BoundingBox2d > lanelet::geometry::boundingBox2d

(

const Polygon2dT &

polygon

)

Definition at line 269 of file geometry/Polygon.h.

boundingBox2d() [5/6]

BoundingBox2d lanelet::geometry::boundingBox2d

(

const RegulatoryElement &

regElem

)

compute the 2d bounding box around all RuleParameters contained in this RegulatoryElement

See also

boundingBox3d

Note that this does not include the lanelet that refers to this regulatry element, only the the roles in the regulatory element. The bounding box can also be empty if the RegulatoryElement does not contain any data.

Definition at line 73 of file RegulatoryElementGeometry.cpp.

boundingBox2d() [6/6]

BoundingBox2d lanelet::geometry::boundingBox2d ( const RegulatoryElementConstPtr &  regElem )

inline

compute bounding box in 2d

See non-shared-ptr version.

Definition at line 23 of file geometry/RegulatoryElement.h.

boundingBox3d() [1/6]

template<typename AreaT >

IfAr< AreaT, BoundingBox3d > lanelet::geometry::boundingBox3d

(

const AreaT &

area

)

calculates 3d bounding box

Parameters

area	area to calculate it from.

Returns

the bounding box

Definition at line 30 of file geometry/impl/Area.h.

boundingBox3d() [2/6]

template<typename LaneletT >

IfLL< LaneletT, BoundingBox3d > lanelet::geometry::boundingBox3d

(

const LaneletT &

lanelet

)

calculates 3d bounding box

Parameters

lanelet

lanelet to calculate it from.

Returns

the bounding box

Definition at line 47 of file geometry/impl/Lanelet.h.

boundingBox3d() [3/6]

template<typename LineString3dT >

IfLS< LineString3dT, BoundingBox3d > lanelet::geometry::boundingBox3d

(

const LineString3dT &

lineString

)

Get the surrounding axis-aligned bounding box in 3d.

Definition at line 743 of file geometry/impl/LineString.h.

boundingBox3d() [4/6]

template<typename Polygon3dT >

IfPoly< Polygon3dT, BoundingBox3d > lanelet::geometry::boundingBox3d

(

const Polygon3dT &

polygon

)

Get the surrounding bounding box

Returns

The enclosing axis aligned bounding box of all points.

Definition at line 259 of file geometry/Polygon.h.

boundingBox3d() [5/6]

BoundingBox3d lanelet::geometry::boundingBox3d

(

const RegulatoryElement &

regElem

)

compute the 3d bounding box around all RuleParameters contained in this RegulatoryElement

See also

boundingBox2d

Note that this does not include the lanelet that refers to this regulatry element, only the the roles in the regulatory element. The bounding box can also be empty if the regulatory elemnt does not contain any data.

Definition at line 79 of file RegulatoryElementGeometry.cpp.

boundingBox3d() [6/6]

BoundingBox3d lanelet::geometry::boundingBox3d ( const RegulatoryElementConstPtr &  regElem )

inline

Definition at line 35 of file geometry/RegulatoryElement.h.

closestSegment() [1/10]

Segment< BasicPoint2d > lanelet::geometry::closestSegment	(	const BasicLineString2d &	lineString,
		const BasicPoint2d &	pointToProject
	)

find the segment on a 2d line string that is closest to a given point, determined by boost::geometry::distance

Parameters

lineString	the line string the distance function is evaluated on
pointToProject	2d point that is projected on to the linestring

Returns

a new segment that is identical to the closest one on the line string

Definition at line 442 of file LineStringGeometry.cpp.

closestSegment() [2/10]

Segment< BasicPoint3d > lanelet::geometry::closestSegment	(	const BasicLineString3d &	lineString,
		const BasicPoint3d &	pointToProject
	)

find the segment on a 3d line string that is closest to a given point, determined by boost::geometry::distance

Parameters

lineString	the line string the distance function is evaluated on
pointToProject	3d point that is projected on to the linestring

Returns

a new segment that is identical to the closest one on the line string

Definition at line 445 of file LineStringGeometry.cpp.

closestSegment() [3/10]

Segment< BasicPoint2d > lanelet::geometry::closestSegment	(	const CompoundHybridLineString2d &	lineString,
		const BasicPoint2d &	pointToProject
	)

Definition at line 470 of file LineStringGeometry.cpp.

closestSegment() [4/10]

Segment< BasicPoint3d > lanelet::geometry::closestSegment	(	const CompoundHybridLineString3d &	lineString,
		const BasicPoint3d &	pointToProject
	)

Definition at line 473 of file LineStringGeometry.cpp.

closestSegment() [5/10]

Segment< ConstPoint2d > lanelet::geometry::closestSegment	(	const CompoundLineString2d &	lineString,
		const BasicPoint2d &	pointToProject
	)

Definition at line 463 of file LineStringGeometry.cpp.

closestSegment() [6/10]

Segment< ConstPoint3d > lanelet::geometry::closestSegment	(	const CompoundLineString3d &	lineString,
		const BasicPoint3d &	pointToProject
	)

Definition at line 466 of file LineStringGeometry.cpp.

closestSegment() [7/10]

Segment< BasicPoint2d > lanelet::geometry::closestSegment	(	const ConstHybridLineString2d &	lineString,
		const BasicPoint2d &	pointToProject
	)

Definition at line 456 of file LineStringGeometry.cpp.

closestSegment() [8/10]

Segment< BasicPoint3d > lanelet::geometry::closestSegment	(	const ConstHybridLineString3d &	lineString,
		const BasicPoint3d &	pointToProject
	)

Definition at line 459 of file LineStringGeometry.cpp.

closestSegment() [9/10]

Segment< ConstPoint2d > lanelet::geometry::closestSegment	(	const ConstLineString2d &	lineString,
		const BasicPoint2d &	pointToProject
	)

Definition at line 449 of file LineStringGeometry.cpp.

closestSegment() [10/10]

Segment< ConstPoint3d > lanelet::geometry::closestSegment	(	const ConstLineString3d &	lineString,
		const BasicPoint3d &	pointToProject
	)

Definition at line 452 of file LineStringGeometry.cpp.

convexPartition()

template<typename Polygon2dT >

IfPoly< Polygon2dT, BasicPolygons2d > lanelet::geometry::convexPartition

(

const Polygon2dT &

poly

)

Split a concave polygon into convex parts.

Internally computes a Delaunay triangulation which is greedily merged into convex parts. Guaranteed to deliver a partition with at most 2N+1 parts if N is minimum partition. Since boost only allows integral types, the triangulation is only millimeter-accurate, even though the resulting points are identical to the input points.

Template Parameters

Polygon2dT

Polygon Type

Parameters

poly	Polygon to partition

Returns

a list of convex polygons yielding the original polygon if merged.

Definition at line 82 of file geometry/impl/Polygon.h.

convexPartition< BasicPolygon2d >()

template<>

IfPoly< BasicPolygon2d, BasicPolygons2d > lanelet::geometry::convexPartition< BasicPolygon2d > ( const BasicPolygon2d &  poly )

inline

Split a concave polygon into convex parts.

Internally computes a Delaunay triangulation which is greedily merged into convex parts. Guaranteed to deliver a partition with at most 2N+1 parts if N is minimum partition. Since boost only allows integral types, the triangulation is only millimeter-accurate, even though the resulting points are identical to the input points.

Parameters

poly	BasicPolygon2d to partition

Returns

a list of convex polygons yielding the original polygon if merged.

Definition at line 94 of file geometry/impl/Polygon.h.

curvature2d()

template<typename Point2dT >

double lanelet::geometry::curvature2d	(	const Point2dT &	p1,
		const Point2dT &	p2,
		const Point2dT &	p3
	)

Calculate the curvature value given 3 consecutive points. The curvature value is always positive.

Parameters

p1,p2,p3

are the points

Returns

curvature value.

If any 2 of the 3 points duplicate, return infinity.

Definition at line 705 of file geometry/impl/LineString.h.

determineCommonLine() [1/3]

Optional< ConstLineString3d > lanelet::geometry::determineCommonLine ( const ConstArea &  ar, const ConstLanelet &  ll  )

inline

Find line string in area ar that borders Lanelet ll anywhere

Parameters

ar	Area that is adjacent anywhere to ll
ll	Lanelet

Returns

LineString3d if it exists

Definition at line 128 of file geometry/impl/Area.h.

determineCommonLine() [2/3]

Optional< ConstLineString3d > lanelet::geometry::determineCommonLine ( const ConstArea &  ar1, const ConstArea &  ar2  )

inline

Find Line String in Area ar1 that is common with Area ar2

Parameters

ar1	Area
ar2	Area

Returns

LineString3d in Area ar1 if it exists. The inverted line string is part of ar2.

Definition at line 121 of file geometry/impl/Area.h.

determineCommonLine() [3/3]

template<typename Lanelet1T , typename Lanelet2T >

IfLL< Lanelet1T, IfLL< Lanelet2T, Optional< ConstLineString3d > > > lanelet::geometry::determineCommonLine	(	const Lanelet1T &	ll,
		const Lanelet2T &	other,
		bool	allowInverted = false
	)

find a common line string in ll and other.

Parameters

ll	Lanelet
other	Lanelet
allowInverted	if true, the orientation of the line strings is ignored

Returns

line string in ll if it is shared with other

Definition at line 146 of file geometry/impl/Lanelet.h.

determineCommonLineFollowing()

Optional< ConstLineString3d > lanelet::geometry::determineCommonLineFollowing ( const ConstArea &  ar, const ConstLanelet &  ll  )

inline

Find line string in area ar that borders Lanelet ll if ar precedes ll

Parameters

ar	Area that is preceding ll
ll	Lanelet

Returns

LineString3d if it exists

Definition at line 98 of file geometry/impl/Area.h.

determineCommonLineFollowingOrPreceding()

Optional< ConstLineString3d > lanelet::geometry::determineCommonLineFollowingOrPreceding ( const ConstArea &  ar, const ConstLanelet &  ll  )

inline

Find line string in area ar that borders Lanelet ll if ar precedes or follows ll

Parameters

ar	Area that is preceding or following ll
ll	Lanelet

Returns

LineString3d if it exists

Definition at line 102 of file geometry/impl/Area.h.

determineCommonLineLeft()

Optional< ConstLineString3d > lanelet::geometry::determineCommonLineLeft ( const ConstLanelet &  right, const ConstArea &  left  )

inline

Find line string in Lanelet right that borders Area left if ar is left of ll.

Parameters

left	Area that borders ll on the left
right	Lanelet

Returns

LineString3d in right if it exists

Definition at line 133 of file geometry/impl/Area.h.

determineCommonLinePreceding()

Optional< ConstLineString3d > lanelet::geometry::determineCommonLinePreceding ( const ConstLanelet &  ll, const ConstArea &  ar  )

inline

Find line string in area ar that borders Lanelet ll if ar follows ll

Parameters

ll	Lanelet
ar	Area that is following ll

Returns

LineString3d if it exists

Definition at line 92 of file geometry/impl/Area.h.

determineCommonLineRight()

Optional< ConstLineString3d > lanelet::geometry::determineCommonLineRight ( const ConstLanelet &  left, const ConstArea &  right  )

inline

Find line string in Lanelet left that borders Area right if ar is right of ll.

Parameters

right	Area that borders ll on the right
left	Lanelet

Returns

LineString3d in left if it exists

Definition at line 141 of file geometry/impl/Area.h.

determineCommonLineSideways() [1/2]

Optional< ConstLineString3d > lanelet::geometry::determineCommonLineSideways ( const ConstArea &  ar, const ConstLanelet &  ll  )

inline

Find line string in Area ar that borders Lanelet ll if ar is left or right of ll. Same as determineCommonLineSideways(ll, ar) but returned line string is guaranteed to be in ar

Parameters

ar	Area
ll	Lanelet that borders ar

Returns

LineString3d in ar if it exists

Definition at line 115 of file geometry/impl/Area.h.

determineCommonLineSideways() [2/2]

Optional< ConstLineString3d > lanelet::geometry::determineCommonLineSideways ( const ConstLanelet &  ll, const ConstArea &  ar  )

inline

Find line string in Lanelet ll that borders Area ar if ar is left or right of ll. Same as determineCommonLineSideways(ar, ll) but returned line string is guaranteed to be in ll

Parameters

ar	Area that borders ll
ll	Lanelet

Returns

LineString3d in ll if it exists

Definition at line 110 of file geometry/impl/Area.h.

distance2d() [1/2]

double lanelet::geometry::distance2d	(	const RegulatoryElement &	regElem,
		const BasicPoint2d &	p
	)

computes the distance between a point and the closest RuleParameter of a RegulatoryElement

Definition at line 85 of file RegulatoryElementGeometry.cpp.

distance2d() [2/2]

double lanelet::geometry::distance2d ( const RegulatoryElementConstPtr &  regElem1, const BasicPoint2d &  p  )

inline

See non-shared-ptr version.

Definition at line 42 of file geometry/RegulatoryElement.h.

distance3d()

template<typename LineString3d1T , typename LineString3d2T >

IfLS2<LineString3d1T, LineString3d2T, double> lanelet::geometry::distance3d	(	const LineString3d1T &	l1,
		const LineString3d2T &	l2
	)

Definition at line 803 of file geometry/impl/LineString.h.

distanceToBorder3d()

template<typename Polygon3dT >

IfPoly< Polygon3dT, double > lanelet::geometry::distanceToBorder3d	(	const Polygon3dT &	poly1,
		const Polygon3dT &	poly2
	)

computes the distance of the outer bounds of two polygons in 3d.

There is no such implementation in boost::geometry, so we implemented our own solution using an RTree for more efficient computation.

Definition at line 37 of file geometry/impl/Polygon.h.

distanceToCenterline2d()

template<typename LaneletT >

double lanelet::geometry::distanceToCenterline2d	(	const LaneletT &	lanelet,
		const BasicPoint2d &	point
	)

calculates distance in 2d to the centerline of a lanelet.

Parameters

lanelet	lanelet to take the centerline from
point	the point

Returns

metric distance

Has linear complexity on the number of points in the lanelet.

Definition at line 30 of file geometry/impl/Lanelet.h.

distanceToCenterline3d()

template<typename LaneletT >

double lanelet::geometry::distanceToCenterline3d	(	const LaneletT &	lanelet,
		const BasicPoint3d &	point
	)

calculates distance in 3d to centerline of a lanelet.

calculates distance in 2d to the centerline of a lanelet.

Parameters

lanelet	lanelet to take the centerline from
point	the point

Returns

metric distance

Unlike distance3d, the surface does not have to be planar. Has linear complexity on the number of points in the lanelet.

Definition at line 35 of file geometry/impl/Lanelet.h.

EXTERN_CONST_FIND_NEAREST() [1/6]

lanelet::geometry::EXTERN_CONST_FIND_NEAREST

(

Area

)

EXTERN_CONST_FIND_NEAREST() [2/6]

lanelet::geometry::EXTERN_CONST_FIND_NEAREST

(

Lanelet

)

EXTERN_CONST_FIND_NEAREST() [3/6]

lanelet::geometry::EXTERN_CONST_FIND_NEAREST

(

LineString3d

)

EXTERN_CONST_FIND_NEAREST() [4/6]

lanelet::geometry::EXTERN_CONST_FIND_NEAREST

(

Point3d

)

EXTERN_CONST_FIND_NEAREST() [5/6]

lanelet::geometry::EXTERN_CONST_FIND_NEAREST

(

Polygon3d

)

EXTERN_CONST_FIND_NEAREST() [6/6]

lanelet::geometry::EXTERN_CONST_FIND_NEAREST

(

RegulatoryElementPtr

)

EXTERN_FIND_NEAREST() [1/6]

lanelet::geometry::EXTERN_FIND_NEAREST

(

Area

)

EXTERN_FIND_NEAREST() [2/6]

lanelet::geometry::EXTERN_FIND_NEAREST

(

Lanelet

)

EXTERN_FIND_NEAREST() [3/6]

lanelet::geometry::EXTERN_FIND_NEAREST

(

LineString3d

)

EXTERN_FIND_NEAREST() [4/6]

lanelet::geometry::EXTERN_FIND_NEAREST

(

Point3d

)

EXTERN_FIND_NEAREST() [5/6]

lanelet::geometry::EXTERN_FIND_NEAREST

(

Polygon3d

)

EXTERN_FIND_NEAREST() [6/6]

lanelet::geometry::EXTERN_FIND_NEAREST

(

RegulatoryElementPtr

)

findNearest() [1/2]

template<typename PrimT >

std::vector< std::pair< double, traits::ConstPrimitiveType< PrimT > > > lanelet::geometry::findNearest	(	const PrimitiveLayer< PrimT > &	map,
		const BasicPoint2d &	pt,
		unsigned	count
	)

Definition at line 992 of file LaneletMap.cpp.

findNearest() [2/2]

template<typename PrimT >

std::vector< std::pair< double, PrimT > > lanelet::geometry::findNearest	(	PrimitiveLayer< PrimT > &	map,
		const BasicPoint2d &	pt,
		unsigned	count
	)

returns the nearest n primitives to a point.

Returns

vector of the n closest primitives together with their distance in 2D space in ascending order.

See also

findWithin2d, findWithin3d

Other than than LaneletLayer::nearest, this returns the actually closest primitives, not only the closest bounding boxes. This comes at a slightly higher cost, because more primitives from the R-Tree need to be checked.

Example: std::vector<std::pair<double, Lanelet>> closeLanelets = findNearest(laneletMap.laneletLayer, BasicPoint2d(1,0), 5);

Definition at line 987 of file LaneletMap.cpp.

findWithin2d()

template<typename LayerT , typename GeometryT >

auto lanelet::geometry::findWithin2d	(	LayerT &	layer,
		const GeometryT &	geometry,
		double	maxDist = 0.
	)		-> std::vector< std::pair< double, traits::LayerPrimitiveType< LayerT >>>

Returns all elements that are closer than maxDist to a geometry in 2d.

Parameters

layer	for the check (a layer of LaneletMap)
geometry	to check (any 2d geometry)
maxDist	maximum distance to the input geometry. If zero, only primitives containing the element are returned. Be aware that rounding errors can affect the result for primitives directly on (or very close to) the boundary.

Returns

vector of pairs: <actual distance, element> of all elements of a layer which are closer than maxDist to the geometry. The return type differs depending on if the layer is const or not. Result sorted in ascending distance.

See also

findNearest

Definition at line 14 of file geometry/impl/LaneletMap.h.

findWithin3d()

template<typename LayerT , typename GeometryT >

auto lanelet::geometry::findWithin3d	(	LayerT &	layer,
		const GeometryT &	geometry,
		double	maxDist = 0.
	)		-> std::vector< std::pair< double, traits::LayerPrimitiveType< LayerT >>>

Returns all elements that are closer than maxDist to a geometry in 3d.

Parameters

layer	for the check (a layer of LaneletMap)
geometry	to check (any 3d geometry)
maxDist	maximum distance to the input geometry. If zero, only primitives containing the element are returned. Be aware that rounding errors can affect the result for primitives directly on (or very close to) the boundary.

Returns

vector of pairs: <actual distance, element> of all elements of a layer which are closer than maxDist to the geometry. The return type differs depending on if the layer is const or not. Result sorted in ascending distance.

Definition at line 38 of file geometry/impl/LaneletMap.h.

follows() [1/3]

bool lanelet::geometry::follows ( const ConstArea &  prev, const ConstLanelet &  next  )

inline

Test whether lanelet follows area.

Definition at line 76 of file geometry/impl/Area.h.

follows() [2/3]

bool lanelet::geometry::follows ( const ConstLanelet &  prev, const ConstArea &  next  )

inline

Test whether area follows lanelet.

Definition at line 68 of file geometry/impl/Area.h.

follows() [3/3]

template<typename Lanelet1T , typename Lanelet2T >

IfLL< Lanelet1T, IfLL< Lanelet2T, bool > > lanelet::geometry::follows	(	const Lanelet1T &	prev,
		const Lanelet2T &	next
	)

checks if a lanelet is the direct successor by checking if they share the same start/endpoints

Be aware that the orientation of the lanelets (see Lanelet::invert()) is important.

Definition at line 139 of file geometry/impl/Lanelet.h.

fromArcCoordinates()

template<typename LineString2dT >

BasicPoint2d lanelet::geometry::fromArcCoordinates	(	const LineString2dT &	lineString,
		const ArcCoordinates &	arcCoords
	)

create a point by moving laterally arcCoords.distance from the linestring point at arcCoords.length

Parameters

lineString	line string of which an offset point is generated
arcCoords	the coordinates the resulting point has (arcLength.distance > 0 creates a point on the left)

Definition at line 832 of file geometry/impl/LineString.h.

inside() [1/2]

template<typename AreaT >

IfAr< AreaT, bool > lanelet::geometry::inside	(	const AreaT &	area,
		const BasicPoint2d &	point
	)

Checks whether a point is within or at the border of a area.

Parameters

area	for the check
point	point to check

Returns

true if the point is within or at the border, false otherwise

Definition at line 20 of file geometry/impl/Area.h.

inside() [2/2]

template<typename LaneletT >

IfLL< LaneletT, bool > lanelet::geometry::inside	(	const LaneletT &	lanelet,
		const BasicPoint2d &	point
	)

Checks whether a point is within or at the border of a lanelet.

Parameters

lanelet	for the check
point	point to check

Returns

true if the point is within or at the border, false otherwise

Definition at line 25 of file geometry/impl/Lanelet.h.

INSTANCIATE_CONST_FIND_NEAREST() [1/6]

lanelet::geometry::INSTANCIATE_CONST_FIND_NEAREST	(	Area	,
		ConstArea
	)

INSTANCIATE_CONST_FIND_NEAREST() [2/6]

lanelet::geometry::INSTANCIATE_CONST_FIND_NEAREST	(	Lanelet	,
		ConstLanelet
	)

INSTANCIATE_CONST_FIND_NEAREST() [3/6]

lanelet::geometry::INSTANCIATE_CONST_FIND_NEAREST	(	LineString3d	,
		ConstLineString3d
	)

INSTANCIATE_CONST_FIND_NEAREST() [4/6]

lanelet::geometry::INSTANCIATE_CONST_FIND_NEAREST	(	Point3d	,
		ConstPoint3d
	)

INSTANCIATE_CONST_FIND_NEAREST() [5/6]

lanelet::geometry::INSTANCIATE_CONST_FIND_NEAREST	(	Polygon3d	,
		ConstPolygon3d
	)

INSTANCIATE_CONST_FIND_NEAREST() [6/6]

lanelet::geometry::INSTANCIATE_CONST_FIND_NEAREST	(	RegulatoryElementPtr	,
		RegulatoryElementConstPtr
	)

INSTANCIATE_FIND_NEAREST() [1/6]

lanelet::geometry::INSTANCIATE_FIND_NEAREST

(

Area

)

INSTANCIATE_FIND_NEAREST() [2/6]

lanelet::geometry::INSTANCIATE_FIND_NEAREST

(

Lanelet

)

INSTANCIATE_FIND_NEAREST() [3/6]

lanelet::geometry::INSTANCIATE_FIND_NEAREST

(

LineString3d

)

INSTANCIATE_FIND_NEAREST() [4/6]

lanelet::geometry::INSTANCIATE_FIND_NEAREST

(

Point3d

)

INSTANCIATE_FIND_NEAREST() [5/6]

lanelet::geometry::INSTANCIATE_FIND_NEAREST

(

Polygon3d

)

INSTANCIATE_FIND_NEAREST() [6/6]

lanelet::geometry::INSTANCIATE_FIND_NEAREST

(

RegulatoryElementPtr

)

interpolatedPointAtDistance()

template<typename LineStringT >

traits::BasicPointT< traits::PointType< LineStringT > > lanelet::geometry::interpolatedPointAtDistance	(	LineStringT	lineString,
		double	dist
	)

Returns the piecewise linearly interpolated point at the given distance. Negative distances are interpreted backwards from the end.

Parameters

lineString	the lineString to iterate. Size must be >0.
dist	distance along linestring. If negative, the lineString is iterated in reversed order.

Returns

The interpolated point (a new point if not perfectly matching)

This function works in 2d or 3d, depending on the type of the lineString. If the distance is greater length, the end point is returned (or start point if <0).

Definition at line 641 of file geometry/impl/LineString.h.

intersectCenterlines2d()

template<typename Lanelet1T , typename Lanelet2T >

BasicPoints2d lanelet::geometry::intersectCenterlines2d	(	const Lanelet1T &	lanelet,
		const Lanelet2T &	otherLanelet,
		std::vector< double > *	distanceThis = nullptr,
		std::vector< double > *	distanceOther = nullptr
	)

calculates points of intersection between centerlines in 2d.

Parameters

lanelet	first lanelet to calculate from
otherLanelet	second lanelet to calculate from
distanceThis	optional: if not null will contain distances to travel along the centerline to each intersection point. Same size as the returned result.
distanceOther	optional: same for the other lanelet

Returns

vector of intersection points, of empty if none.

Definition at line 93 of file geometry/impl/Lanelet.h.

intersects2d() [1/2]

template<typename Area1T , typename Area2T >

IfAr< Area1T, bool > lanelet::geometry::intersects2d	(	const Area1T &	area,
		const Area2T &	otherArea
	)

test whether two areas intersect in 2d.

Definition at line 35 of file geometry/impl/Area.h.

intersects2d() [2/2]

template<typename Lanelet1T , typename Lanelet2T >

IfLL< Lanelet1T, bool > lanelet::geometry::intersects2d	(	const Lanelet1T &	lanelet,
		const Lanelet2T &	otherLanelet
	)

test whether two lanelets intersect in 2d.

Parameters

lanelet	lanelet to check for
otherLanelet	other lanelet to check for

See also

overlaps2d

Returns

true if lanelets have intersections.

This also returns true if the two lanelets only touch each other. Use overlaps if you do not want this.

Definition at line 54 of file geometry/impl/Lanelet.h.

intersects3d() [1/2]

template<typename Lanelet1T , typename Lanelet2T >

IfLL< Lanelet1T, bool > lanelet::geometry::intersects3d	(	const Lanelet1T &	lanelet,
		const Lanelet2T &	otherLanelet,
		double	heightTolerance = 3.
	)

test whether two lanelets intersect in 2d.

Parameters

lanelet	lanelet to check for
otherLanelet	other lanelet to check for
heightTolerance	distance in z below which lanelets are considered as intersecting

Todo:

this is currently only an approximation based on the centerlines

Returns

true if lanelets have intersections.

Definition at line 111 of file geometry/impl/Lanelet.h.

intersects3d() [2/2]

template<typename LineString3dT >

IfLS< LineString3dT, bool > lanelet::geometry::intersects3d	(	const LineString3dT &	linestring,
		const LineString3dT &	otherLinestring,
		double	heightTolerance = 3.
	)

test whether two linestrings intersect in 3d.

Parameters

linestring	lanelet to check for
otherLinestring	other lanelet to check for
heightTolerance	distance in z below which linestrings are considered as intersecting (in m)

Definition at line 774 of file geometry/impl/LineString.h.

leftOf() [1/2]

bool lanelet::geometry::leftOf ( const ConstLanelet &  right, const ConstArea &  left  )

inline

Test whether area is left of lanelet.

Definition at line 62 of file geometry/impl/Area.h.

leftOf() [2/2]

template<typename Lanelet1T , typename Lanelet2T >

IfLL< Lanelet1T, IfLL< Lanelet2T, bool > > lanelet::geometry::leftOf	(	const Lanelet1T &	left,
		const Lanelet2T &	right
	)

checks if a lanelet is direcly left of another by checking if they share the same boundary

Be aware that the orientation of the lanelets (see Lanelet::invert()) is important

Definition at line 129 of file geometry/impl/Lanelet.h.

length2d()

template<typename LaneletT >

double lanelet::geometry::length2d

(

const LaneletT &

lanelet

)

calculate length of centerline in 2d

Parameters

lanelet

lanelet to do this for

Returns

length in m

Definition at line 188 of file geometry/impl/Lanelet.h.

length3d()

template<typename LaneletT >

double lanelet::geometry::length3d

(

const LaneletT &

lanelet

)

calculate length of centerline in 3d

Parameters

lanelet

lanelet to do this for

Returns

length in m

Definition at line 193 of file geometry/impl/Lanelet.h.

lengthRatios()

template<typename LineStringT >

std::vector< double > lanelet::geometry::lengthRatios

(

const LineStringT &

lineString

)

Calculates the length ratios for the lines in the LineString.

The length ratio of a line is the line's length divided by the LineString's length.

Parameters

lineString

the linestring to do this for.

Returns

A vector of length ratios. Size is lineString.size()-1

The function is templated to work on all LineString types, 2d or 3d. Depending on the type, the result will be computed in 2d or 3d.

Definition at line 617 of file geometry/impl/LineString.h.

maxCurveSpeed()

template<typename LaneletT >

Velocity lanelet::geometry::maxCurveSpeed	(	const LaneletT &	lanelet,
		const BasicPoint2d &	position,
		const Acceleration &	maxLateralAcceleration = 2.0 *units::MPS2()
	)

calculates the maximum velocity without exceding a maximum lateral acceleration.

Parameters

lanelet	lanelet to calculate this from
position	position in 2d next to the lanelet
maxLateralAcceleration	the maximum desired acceleration

Returns

the maximum velocity. Can be Inf if the lanelet has no curvature locally.

<

Todo:

Implement maxCurveSpeed

Definition at line 167 of file geometry/impl/Lanelet.h.

nearestPointAtDistance()

template<typename LineStringT >

traits::PointType< LineStringT > lanelet::geometry::nearestPointAtDistance	(	LineStringT	lineString,
		double	dist
	)

returns the cosest point to a position on the linestring

Parameters

lineString	the lineString to iterate. Size must be >0.
dist	distance along linestring. If negative, the lineString is iterated in reversed order.

Returns

The closest point.

This function works in 2d or 3d, depending on the type of the lineString. If the distance is greater length, the end point is returned (or start point if <0).

Definition at line 667 of file geometry/impl/LineString.h.

offset()

template<typename LineString2dT >

BasicLineString2d lanelet::geometry::offset	(	const LineString2dT &	lineString,
		double	distance
	)

create a linestring that is offset to the original one. Guarantees no self-intersections and no inversions in the result.

Parameters

lineString	linestring to offset
distance	offset distance (left = positive)

Exceptions

InvalidInpuError	if the linestring has less than 2 points
GeometryError	if the linestring is partially inverted after applying offset

The offset is generated by shifting points of the line string and making a new line string from them. The distance of any points on the generated line string is guaranteed to be between 1 and sqrt(2) times the specified offset distance. Notice that the reversed case is not true. On angles exceeding 90 degrees, a new point is introduced to the resulting line string to fulfill this guarantee.

Definition at line 865 of file geometry/impl/LineString.h.

offsetNoThrow()

template<typename LineString2dT >

BasicLineString2d lanelet::geometry::offsetNoThrow	(	const LineString2dT &	lineString,
		double	distance
	)

create a linestring that is offset to the original one. the result.

Parameters

lineString	linestring to offset
distance	offset distance (left = positive)

Exceptions

InvalidInpuError	if the linestring has less than 2 points
GeometryError	if the linestring is partially inverted after applying offset

The offset is generated by shifting points of the line string and making a new line string from them. No exception is thrown when

Definition at line 857 of file geometry/impl/LineString.h.

overlaps2d() [1/4]

template<typename AreaT >

IfAr< AreaT, bool > lanelet::geometry::overlaps2d	(	const AreaT &	area,
		const AreaT &	otherArea
	)

test whether two areas overlap in 2d (common area < 0). This is an approximation that ignores the holes of the areas!

Definition at line 43 of file geometry/impl/Area.h.

overlaps2d() [2/4]

template<typename AreaT , typename LaneletT >

IfAr< AreaT, IfLL< LaneletT, bool > > lanelet::geometry::overlaps2d	(	const AreaT &	area,
		const LaneletT &	lanelet
	)

test whether an area and a lanelet overlap in 2d This is an approximation that uses the overlap of the outer bound

Definition at line 53 of file geometry/impl/Area.h.

overlaps2d() [3/4]

template<typename Lanelet1T , typename Lanelet2T >

IfLL< Lanelet1T, bool > lanelet::geometry::overlaps2d	(	const Lanelet1T &	lanelet,
		const Lanelet2T &	otherLanelet
	)

test whether two lanelets overlap in 2d.

Returns true if the area shared by the two lanelets is >0.

Definition at line 64 of file geometry/impl/Lanelet.h.

overlaps2d() [4/4]

template<typename Polygon2dT >

IfPoly< Polygon2dT, bool > lanelet::geometry::overlaps2d	(	const Polygon2dT &	poly1,
		const Polygon2dT &	poly2
	)

Definition at line 57 of file geometry/impl/Polygon.h.

overlaps3d() [1/4]

template<typename AreaT >

IfAr< AreaT, bool > lanelet::geometry::overlaps3d	(	const AreaT &	area,
		const AreaT &	otherArea,
		double	heightTolerance
	)

test whether two areas overlap in 3d. This is an approximation that uses the overlap of the outer bound

Definition at line 48 of file geometry/impl/Area.h.

overlaps3d() [2/4]

template<typename AreaT , typename LaneletT >

IfAr< AreaT, IfLL< LaneletT, bool > > lanelet::geometry::overlaps3d	(	const AreaT &	area,
		const LaneletT &	lanelet,
		double	heightTolerance
	)

test whether an area and a lanelet overlap in 3d This is an approximation that uses the overlap of the outer bound

Definition at line 58 of file geometry/impl/Area.h.

overlaps3d() [3/4]

template<typename Lanelet1T , typename Lanelet2T >

IfLL< Lanelet1T, bool > lanelet::geometry::overlaps3d	(	const Lanelet1T &	lanelet,
		const Lanelet2T &	otherLanelet,
		double	heightTolerance = 3
	)

test whether two lanelets overlap in 3d.

Todo:

this is currently only an approximation based on the centerlines

Returns true if the area shared by the two lanelets is >0.

Definition at line 120 of file geometry/impl/Lanelet.h.

overlaps3d() [4/4]

template<typename Polygon3dT >

IfPoly< Polygon3dT, bool > lanelet::geometry::overlaps3d	(	const Polygon3dT &	poly1,
		const Polygon3dT &	poly2,
		double	heightTolerance
	)

Definition at line 72 of file geometry/impl/Polygon.h.

project() [1/4]

BasicPoint2d lanelet::geometry::project	(	const BasicSegment2d &	segment,
		const BasicPoint2d &	pointToProject
	)

Definition at line 477 of file LineStringGeometry.cpp.

project() [2/4]

BasicPoint3d lanelet::geometry::project	(	const BasicSegment3d &	segment,
		const BasicPoint3d &	pointToProject
	)

Definition at line 480 of file LineStringGeometry.cpp.

project() [3/4]

template<typename LineString2dT , typename >

BasicPoint2d lanelet::geometry::project	(	const LineString2dT &	lineString,
		const BasicPoint2d &	pointToProject
	)

Projects the given point in 2d to the LineString.

Definition at line 768 of file geometry/impl/LineString.h.

project() [4/4]

template<typename LineString3dT , typename >

BasicPoint3d lanelet::geometry::project	(	const LineString3dT &	lineString,
		const BasicPoint3d &	pointToProject
	)

Projects the given point in 3d to the LineString.

If the point is before or behind the lineString, this will be the respective endpoint of the lineString. If not, this will be some interpolated point on the linestring that minimizes the distance between pointToProject and the lineString

Definition at line 762 of file geometry/impl/LineString.h.

projectedBorderPoint3d()

template<typename Polygon3dT >

IfPoly< Polygon3dT, std::pair< BasicPoint3d, BasicPoint3d > > lanelet::geometry::projectedBorderPoint3d	(	const Polygon3dT &	l1,
		const Polygon3dT &	l2
	)

Definition at line 30 of file geometry/impl/Polygon.h.

projectedPoint2d()

template<typename LineString2dT >

IfLS< LineString2dT, std::pair< BasicPoint2d, BasicPoint2d > > lanelet::geometry::projectedPoint2d	(	const LineString2dT &	l1,
		const LineString2dT &	l2
	)

Computes the projected points on the two linestrings for the shortest distance.

First element of the pair is located on l1, second on l2

Definition at line 789 of file geometry/impl/LineString.h.

projectedPoint3d()

template<typename LineString3dT >

IfLS< LineString3dT, std::pair< BasicPoint3d, BasicPoint3d > > lanelet::geometry::projectedPoint3d	(	const LineString3dT &	l1,
		const LineString3dT &	l2
	)

Computes the projected points on the two linestrings for the shortest distance.

First element of the pair is located on l1, second on l2

Definition at line 796 of file geometry/impl/LineString.h.

rangedLength()

template<typename LineStringIterator >

double lanelet::geometry::rangedLength	(	LineStringIterator	start,
		LineStringIterator	end
	)

Definition at line 610 of file geometry/impl/LineString.h.

rightOf() [1/2]

bool lanelet::geometry::rightOf ( const ConstLanelet &  left, const ConstArea &  area  )

inline

Test whether area is right of lanelet.

Definition at line 66 of file geometry/impl/Area.h.

rightOf() [2/2]

template<typename Lanelet1T , typename Lanelet2T >

IfLL< Lanelet1T, IfLL< Lanelet2T, bool > > lanelet::geometry::rightOf	(	const Lanelet1T &	right,
		const Lanelet2T &	left
	)

checks if a lanelet is direcly right of another by checking if they share the same boundary

Be aware that the orientation of the lanelets (see Lanelet::invert()) is important.

Definition at line 134 of file geometry/impl/Lanelet.h.

signedCurvature2d()

template<typename Point2dT >

double lanelet::geometry::signedCurvature2d	(	const Point2dT &	p1,
		const Point2dT &	p2,
		const Point2dT &	p3
	)

Calculate the signed curvature value given 3 consecutive points. The signed curvature value is positive if the consecutive points describe a left turn, negative otherwise.

Parameters

p1,p2,p3

are the points

Returns

curvature value.

If any 2 of the 3 points duplicate, return infinity.

Definition at line 710 of file geometry/impl/LineString.h.

signedDistance() [1/2]

template<typename LineString2dT >

double lanelet::geometry::signedDistance	(	const LineString2dT &	lineString,
		const BasicPoint2d &	p
	)

Calculate the metric signed distance from p to the LineString. The sign is positive if the point is left of the linestring when projecting to the xy-plane.

Parameters

lineString	the linestring to check for
p	point to check for

Returns

the metric signed distance in 2d.

Todo:

not sure if this works as expected

If the point is before or behind the linestring, this is checked by extrapolating the first or last segment.

Definition at line 699 of file geometry/impl/LineString.h.

signedDistance() [2/2]

template<typename LineString3dT >

double lanelet::geometry::signedDistance	(	const LineString3dT &	lineString,
		const BasicPoint3d &	p
	)

Calculate the metric signed distance from p to the LineString. The sign is positive if the point is left of the linestring when projecting to the xy-plane.

Parameters

lineString	the linestring to check for
p	the point to check for

Returns

The metric signed distance in 3d.

Todo:

not sure if this works as expected

If the point is before or behind the linestring, this is checked by extrapolating the first or last segment.

Definition at line 693 of file geometry/impl/LineString.h.

toArcCoordinates()

template<typename LineString2dT >

ArcCoordinates lanelet::geometry::toArcCoordinates	(	const LineString2dT &	lineString,
		const BasicPoint2d &	point
	)

Transform a point to the coordinates of the linestring.

This computes the Distance along the LineString and distance to the LineString for the point on the LineString that is closest to the input point.

Definition at line 724 of file geometry/impl/LineString.h.

touches2d()

template<typename PolygonT >

IfPoly< PolygonT, bool > lanelet::geometry::touches2d	(	const PolygonT &	poly1,
		const PolygonT &	poly2
	)

Definition at line 44 of file geometry/impl/Polygon.h.

triangulate()

template<typename Polygon2dT >

IfPoly< Polygon2dT, IndexedTriangles > lanelet::geometry::triangulate

(

const Polygon2dT &

poly

)

Split a concave polygon into triangles.

Internally computes a Delaunay triangulation.

Template Parameters

Polygon2dT

Polygon Type

Parameters

poly	Polygon to partition

Returns

a list of indices sets. Each set refers to a triangle in the original polygon.

Definition at line 88 of file geometry/impl/Polygon.h.

triangulate< BasicPolygon2d >()

template<>

IfPoly< BasicPolygon2d, IndexedTriangles > lanelet::geometry::triangulate< BasicPolygon2d > ( const BasicPolygon2d &  poly )

inline

Split a concave polygon into triangles.

Internally computes a Delaunay triangulation.

Parameters

poly	Polygon to partition

Returns

a list of indices sets. Each set refers to a triangle in the original polygon.

Definition at line 99 of file geometry/impl/Polygon.h.