RoutingGraphBuilder.h

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#pragma once
#include <lanelet2_core/LaneletMap.h>
 
#include "lanelet2_routing/RoutingGraph.h"
#include "lanelet2_routing/internal/Graph.h"
 
namespace lanelet {
class LaneletLayer;
 
namespace routing {
namespace internal {
 
class LaneChangeLaneletsCollector;
 
class RoutingGraphBuilder {
 public:
  RoutingGraphBuilder(const traffic_rules::TrafficRules& trafficRules, const RoutingCostPtrs& routingCosts,
                      const RoutingGraph::Configuration& config);
 
  RoutingGraphUPtr build(const LaneletMapLayers& laneletMapLayers);
 
 private:
  using PointsLaneletMap = std::multimap<IdPair, ConstLanelet>;
  using PointsLaneletMapIt = PointsLaneletMap::iterator;
  using PointsLaneletMapResult = std::pair<PointsLaneletMapIt, PointsLaneletMapIt>;
 
  static ConstLanelets getPassableLanelets(const LaneletLayer& lanelets,
                                           const traffic_rules::TrafficRules& trafficRules);
  static ConstAreas getPassableAreas(const AreaLayer& areas, const traffic_rules::TrafficRules& trafficRules);
  void appendBidirectionalLanelets(ConstLanelets& llts);
  void addLaneletsToGraph(ConstLanelets& llts);
  void addAreasToGraph(ConstAreas& areas);
  void addEdges(const ConstLanelets& lanelets, const LaneletLayer& passableLanelets);
  void addEdges(const ConstAreas& areas, const LaneletLayer& passableLanelets, const AreaLayer& passableAreas);
  void addFollowingEdges(const ConstLanelet& ll);
  void addSidewayEdge(LaneChangeLaneletsCollector& laneChangeLanelets, const ConstLanelet& ll,
                      const ConstLineString3d& bound, const RelationType& relation);
  void addConflictingEdge(const ConstLanelet& ll, const LaneletLayer& passableLanelets);
  void addLaneChangeEdges(LaneChangeLaneletsCollector& laneChanges, const RelationType& relation);
  void addAreaEdge(const ConstArea& area, const LaneletLayer& passableLanelets);
  void addAreaEdge(const ConstArea& area, const AreaLayer& passableAreas);
 
  Optional<double> participantHeight() const;
 
  void addPointsToSearchIndex(const ConstLanelet& ll);
  bool hasEdge(const ConstLanelet& from, const ConstLanelet& to);
  void assignLaneChangeCosts(ConstLanelets froms, ConstLanelets tos, const RelationType& relation);
 
  void assignCosts(const ConstLaneletOrArea& from, const ConstLaneletOrArea& to, const RelationType& relation);
  std::unique_ptr<RoutingGraphGraph> graph_;
  PointsLaneletMap pointsToLanelets_;  
  std::set<Id> bothWaysLaneletIds_;
  const traffic_rules::TrafficRules& trafficRules_;
  const RoutingCostPtrs& routingCosts_;
  const RoutingGraph::Configuration& config_;
};
}  // namespace internal
}  // namespace routing
}  // namespace lanelet