The famous route object that marks a route from A to B. More...

#include <Route.h>

Public Types
using	Errors = std::vector< std::string >

Public Member Functions
ConstLaneletOrAreas	allConflictingInMap () const
	Provides all lanelets in the map that conflict with any lanelet in the route. More...

Errors	checkValidity (bool throwOnError=false) const
	Perform some sanity checks on the route. More...

ConstLaneletOrAreas	conflictingInMap (const ConstLanelet &lanelet) const
	Information about conflicting lanelets of a lanelet within all passable lanelets in the laneletMap. More...

ConstLanelets	conflictingInRoute (const ConstLanelet &lanelet) const
	Information about conflicting lanelets of a lanelet within the route. More...

bool	contains (const ConstLanelet &lanelet) const
	Checks if a specific lanelet is part of the route. More...

ConstLanelets	following (const ConstLanelet &lanelet) const
	Similar to followingRelations but directly provides the following lanelets within the Route. More...

LaneletRelations	followingRelations (const ConstLanelet &lanelet) const
	Provides information of the following lanelets within the Route. More...

void	forEachPredecessor (const ConstLanelet &lanelet, const LaneletVisitFunction &f) const
	Similar to forEachSuccessor but goes backwards in the routing graph instead of forwards. More...

void	forEachSuccessor (const ConstLanelet &lanelet, const LaneletVisitFunction &f) const

LaneletSequence	fullLane (const ConstLanelet &ll) const
	Returns the complete lane a Lanelet belongs to. Circular lanes will always have 'll' as the first element. More...

LaneletMapPtr	getDebugLaneletMap () const
	Get a laneletMap that represents the Lanelets of the Route and their relationship. More...

LaneletMapConstPtr	laneletMap () const noexcept
	A LaneletMap with all lanelets that are part of the route and those referenced by regelems. More...

LaneletSubmapConstPtr	laneletSubmap () const noexcept
	A LaneletSubmap with all lanelets that are part of the route. More...

Optional< LaneletRelation >	leftRelation (const ConstLanelet &lanelet) const
	Provides information of the lanelet left of a given lanelet within the Route. More...

LaneletRelations	leftRelations (const ConstLanelet &lanelet) const
	Provides information of the all lanelets left of a given lanelet within the Route. More...

double	length2d () const
	Get the 2d length of the shortest path of this route. More...

size_t	numLanes () const
	Returns the number of individual lanes. More...

Route &	operator= (const Route &other)=delete

Route &	operator= (Route &&other) noexcept

ConstLanelets	previous (const ConstLanelet &lanelet) const
	Similar to followingRelations but directly provides the following lanelets within the Route. More...

LaneletRelations	previousRelations (const ConstLanelet &lanelet) const
	Provides information of the previous lanelets within the Route. More...

LaneletSequence	remainingLane (const ConstLanelet &ll) const
	Returns that remaining lane a Lanelet belongs to. More...

LaneletPath	remainingShortestPath (const ConstLanelet &ll) const
	Obtains the remaining shortest path to the destination. If the route is circular, the result will always have the same length and end before the lanelet passed as input argument. More...

Optional< LaneletRelation >	rightRelation (const ConstLanelet &lanelet) const
	Provides information of the lanelet right of a given lanelet within the Route. More...

LaneletRelations	rightRelations (const ConstLanelet &lanelet) const
	Provides information of the all lanelets right of a given lanelet within the Route. More...

	Route ()

	Route (const Route &other)=delete

	Route (LaneletPath shortestPath, std::unique_ptr< internal::RouteGraph > graph, LaneletSubmapConstPtr laneletSubmap) noexcept
	Constructs a route. Not supposed to be called directly. Use RoutingGraph to obtain routes. More...

	Route (Route &&other) noexcept

const LaneletPath &	shortestPath () const noexcept
	Returns the shortest path that was the base of this route. More...

size_t	size () const
	Number of Lanelets in the route. More...

	~Route () noexcept

Private Attributes
std::unique_ptr< internal::RouteGraph >	graph_
	The internal graph. More...

LaneletSubmapConstPtr	laneletSubmap_
	LaneletSubmap with all lanelets that are part of the route. More...

LaneletPath	shortestPath_
	The underlying shortest path used to create the route. More...

Detailed Description

The famous route object that marks a route from A to B.

A Route includes all Lanelets that are adjacent to the Lanelets that represent the shortest path and lead towards the goal. Any Lanelet that is close, but not directly attached, e.g. the other way around a channeling island is not included. Any adjacent Lanelet which does not lead to the goal is also not included.
A Route does not have any relations to Lanelets that are not part of the Route (the only exception are conflicting Lanelets)
A Route is usually obtained from a RoutingGraph via "RoutingGraph::getRoute".
A Route is self-sustained in terms of that there is no relation to the RoutingGraph anymore
RelationTypes within a Route refer to relations of the Elements that are part of the Route. A lanelet can have fewer successors than in the routing graph if some are not part of the route
The route is divided into lanes with individual Ids. The exact value of the id for a lane is random. Ids are not continuous.
A new lane begins at every lanelet that has not exactly one predecessor or that is part of a diverging situation. Simple routes often just have one lane leading across multiple intersections.
It is recommended to check a couple of basic things with the "checkValidity" function once the Route is created
Routes can also be circular (e.g. if start and end lanelet are the same). The "last" lanelet of the route will then have the first lanelet of the route as successor.

Definition at line 36 of file Route.h.

Member Typedef Documentation

◆ Errors

using lanelet::routing::Route::Errors = std::vector<std::string>

Definition at line 38 of file Route.h.

Constructor & Destructor Documentation

◆ Route() [1/4]

lanelet::routing::Route::Route ( )

default

◆ Route() [2/4]

lanelet::routing::Route::Route ( const Route & other )

delete

◆ Route() [3/4]

lanelet::routing::Route::Route ( Route && other )

defaultnoexcept

◆ ~Route()

lanelet::routing::Route::~Route ( )

defaultnoexcept

◆ Route() [4/4]

lanelet::routing::Route::Route	(	LaneletPath	shortestPath,
		std::unique_ptr< internal::RouteGraph >	graph,
		LaneletSubmapConstPtr	laneletSubmap
	)

noexcept

Constructs a route. Not supposed to be called directly. Use RoutingGraph to obtain routes.

Member Function Documentation

◆ allConflictingInMap()

ConstLaneletOrAreas lanelet::routing::Route::allConflictingInMap ( ) const

Provides all lanelets in the map that conflict with any lanelet in the route.

Definition at line 344 of file Route.cpp.

◆ checkValidity()

Route::Errors lanelet::routing::Route::checkValidity ( bool throwOnError = false ) const

Perform some sanity checks on the route.

Parameters

throwOnError Throw or not-throw an exception if errors are found

Exceptions

Throws if errors are encountered and throwOnError is true

Returns: Vector of errors if no-throw is chosen and errors are found

Definition at line 363 of file Route.cpp.

◆ conflictingInMap()

ConstLaneletOrAreas lanelet::routing::Route::conflictingInMap ( const ConstLanelet & lanelet ) const

Information about conflicting lanelets of a lanelet within all passable lanelets in the laneletMap.

Parameters

lanelet Lanelet to find conflicting lanelets to

Returns: Vector of conflicting lanelets. Empty vector if input lanelet is not part of the route. Lanelets that are also conflicting in route are returned as well.

See also: conflictingInRoute

Definition at line 336 of file Route.cpp.

◆ conflictingInRoute()

ConstLanelets lanelet::routing::Route::conflictingInRoute ( const ConstLanelet & lanelet ) const

Information about conflicting lanelets of a lanelet within the route.

Parameters

lanelet Lanelet to find conflicting lanelets to

Returns: Vector of conflicting lanelets. Empty vector if input lanelet is not part of the route.

See also: conflictingInMap

Definition at line 328 of file Route.cpp.

◆ contains()

bool lanelet::routing::Route::contains ( const ConstLanelet & lanelet ) const

Checks if a specific lanelet is part of the route.

Definition at line 352 of file Route.cpp.

◆ following()

ConstLanelets lanelet::routing::Route::following ( const ConstLanelet & lanelet ) const

Similar to followingRelations but directly provides the following lanelets within the Route.

Definition at line 235 of file Route.cpp.

◆ followingRelations()

LaneletRelations lanelet::routing::Route::followingRelations ( const ConstLanelet & lanelet ) const

Provides information of the following lanelets within the Route.

Parameters

lanelet Lanelet to get information about.

Returns: Relations to following lanelets in the route. Nothing if 'lanelet' is not part of the route. The relation will always be "succesor"

Definition at line 227 of file Route.cpp.

◆ forEachPredecessor()

void lanelet::routing::Route::forEachPredecessor	(	const ConstLanelet &	lanelet,
		const LaneletVisitFunction &	f
	)		const

Similar to forEachSuccessor but goes backwards in the routing graph instead of forwards.

Definition at line 314 of file Route.cpp.

◆ forEachSuccessor()

void lanelet::routing::Route::forEachSuccessor	(	const ConstLanelet &	lanelet,
		const LaneletVisitFunction &	f
	)		const

Can be used to search the route object with a custom function that is called for the successors of lanelet. This function works similar to RoutingGraph::forEachSuccessor. Which costs and whether lane changes are used to determine the shortest path depends on the cost id that was used to create this route object.

Definition at line 301 of file Route.cpp.

◆ fullLane()

LaneletSequence lanelet::routing::Route::fullLane ( const ConstLanelet & ll ) const

Returns the complete lane a Lanelet belongs to. Circular lanes will always have 'll' as the first element.

Parameters

ll	Lanelet to get lane for

Returns: All lanelets of that route. Nothing if Lanelet is not part of the route.

If

Definition at line 154 of file Route.cpp.

◆ getDebugLaneletMap()

LaneletMapPtr lanelet::routing::Route::getDebugLaneletMap ( ) const

Get a laneletMap that represents the Lanelets of the Route and their relationship.

Returns: The laneletMap Note that this laneletMap won't contain any Lanelets but rather just points and line string that represent the lanelets and their relationship.

Definition at line 202 of file Route.cpp.

◆ laneletMap()

LaneletMapConstPtr lanelet::routing::Route::laneletMap ( ) const

inlinenoexcept

A LaneletMap with all lanelets that are part of the route and those referenced by regelems.

Returns: A laneletMap with all lanelets of the route, excluding regulatory elements. Can be used to do spatial lookups like 'which Lanelets of the route are close to my position'. Note that not all lanelets in the map automatically belong to the route. They can also belong to one of the regulatory elements of the lanelet. Use Route::contains for that.

Due to this behaviour that the map can contain lanelets that are not on the route, this function is deprecated. laneletSubmap() only returns lanelets on the map. To get the old behaviour use laneletSubmap()->laneletMap().

Definition at line 98 of file Route.h.

◆ laneletSubmap()

LaneletSubmapConstPtr lanelet::routing::Route::laneletSubmap ( ) const

inlinenoexcept

A LaneletSubmap with all lanelets that are part of the route.

Can be used to do spatial lookups like 'which Lanelets of the route are close to my position'. It does not contain anything beyond that, no points, linestrings, etc.

Definition at line 86 of file Route.h.

◆ leftRelation()

Optional< LaneletRelation > lanelet::routing::Route::leftRelation ( const ConstLanelet & lanelet ) const

Provides information of the lanelet left of a given lanelet within the Route.

Note: The returned lanelet can include a lanelet that can be switched or not-switched to. The relation will be "left" and "adjacent_left" accordingly.

Parameters

lanelet Lanelet to get information about.

Returns: Relation to lanelet left of the input lanelet in the route. Nothing if 'lanelet' is not part of the route.

Definition at line 259 of file Route.cpp.

◆ leftRelations()

LaneletRelations lanelet::routing::Route::leftRelations ( const ConstLanelet & lanelet ) const

Provides information of the all lanelets left of a given lanelet within the Route.

Note: The returned lanelets include lanelets that can be switched or not-switched to. The relations will be "left" and "adjacent_left" accordingly.

Parameters

lanelet Lanelet to get information about.

Returns: Relations to lanelets left of the input lanelet in the route. Nothing if 'lanelet' is not part of the route.

Definition at line 267 of file Route.cpp.

◆ length2d()

double lanelet::routing::Route::length2d ( ) const

Get the 2d length of the shortest path of this route.

Definition at line 188 of file Route.cpp.

◆ numLanes()

size_t lanelet::routing::Route::numLanes ( ) const

Returns the number of individual lanes.

Returns: Number of lanes

Definition at line 193 of file Route.cpp.

◆ operator=() [1/2]

Route& lanelet::routing::Route::operator= ( const Route & other )

delete

◆ operator=() [2/2]

Route & lanelet::routing::Route::operator= ( Route && other )

defaultnoexcept

◆ previous()

ConstLanelets lanelet::routing::Route::previous ( const ConstLanelet & lanelet ) const

Similar to followingRelations but directly provides the following lanelets within the Route.

Definition at line 251 of file Route.cpp.

◆ previousRelations()

LaneletRelations lanelet::routing::Route::previousRelations ( const ConstLanelet & lanelet ) const

Provides information of the previous lanelets within the Route.

Parameters

lanelet Lanelet to get information about.

Returns: Relations to previous lanelets in the route. Nothing if 'lanelet' is not part of the route. The type will always be "successor".

Definition at line 243 of file Route.cpp.

◆ remainingLane()

LaneletSequence lanelet::routing::Route::remainingLane ( const ConstLanelet & ll ) const

Returns that remaining lane a Lanelet belongs to.

Parameters

ll	Lanelet to get remaining lane for

Returns: All remaining lanelets of that lane. Nothing if Lanelet is not part of the route.

Definition at line 180 of file Route.cpp.

◆ remainingShortestPath()

LaneletPath lanelet::routing::Route::remainingShortestPath ( const ConstLanelet & ll ) const

Obtains the remaining shortest path to the destination. If the route is circular, the result will always have the same length and end before the lanelet passed as input argument.

Parameters

ll	a lanelet on the shortest path

Returns: shortest path where lanelet is the first element. Nothing if the lanelet is not on the shortest path.

Definition at line 140 of file Route.cpp.

◆ rightRelation()

Optional< LaneletRelation > lanelet::routing::Route::rightRelation ( const ConstLanelet & lanelet ) const

Provides information of the lanelet right of a given lanelet within the Route.

Note: The returned lanelet can include a lanelet that can be switched or not-switched to. The relation will be "right" and "adjacent_right" accordingly.

Parameters

lanelet Lanelet to get information about.

Returns: Relation to lanelet right of the input lanelet in the route. Nothing if 'lanelet' is not part of the route.

Definition at line 280 of file Route.cpp.

◆ rightRelations()

LaneletRelations lanelet::routing::Route::rightRelations ( const ConstLanelet & lanelet ) const

Provides information of the all lanelets right of a given lanelet within the Route.

Note: The returned lanelets include lanelets that can be switched or not-switched to. The relations will be "right" and "adjacent_right" accordingly.

Parameters

lanelet Lanelet to get information about.

Returns: Relations to lanelets right of the input lanelet in the route. Nothing if 'lanelet' is not part of the route.

Definition at line 288 of file Route.cpp.

◆ shortestPath()

const LaneletPath& lanelet::routing::Route::shortestPath ( ) const

inlinenoexcept

Returns the shortest path that was the base of this route.

Definition at line 51 of file Route.h.

◆ size()

size_t lanelet::routing::Route::size ( ) const

Number of Lanelets in the route.

Returns: Number of lanelets.

Definition at line 225 of file Route.cpp.

Member Data Documentation

◆ graph_

std::unique_ptr<internal::RouteGraph> lanelet::routing::Route::graph_

private

The internal graph.

Definition at line 202 of file Route.h.

◆ laneletSubmap_

LaneletSubmapConstPtr lanelet::routing::Route::laneletSubmap_

private

LaneletSubmap with all lanelets that are part of the route.

Definition at line 204 of file Route.h.

◆ shortestPath_

LaneletPath lanelet::routing::Route::shortestPath_

private

The underlying shortest path used to create the route.

Definition at line 203 of file Route.h.

The documentation for this class was generated from the following files:

Public Types

Public Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

◆ Errors

Constructor & Destructor Documentation

◆ Route() [1/4]

◆ Route() [2/4]

◆ Route() [3/4]

◆ ~Route()

◆ Route() [4/4]

Member Function Documentation

◆ allConflictingInMap()

◆ checkValidity()

◆ conflictingInMap()

◆ conflictingInRoute()

◆ contains()

◆ following()

◆ followingRelations()

◆ forEachPredecessor()

◆ forEachSuccessor()

◆ fullLane()

◆ getDebugLaneletMap()

◆ laneletMap()

◆ laneletSubmap()

◆ leftRelation()

◆ leftRelations()

◆ length2d()

◆ numLanes()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ previous()

◆ previousRelations()

◆ remainingLane()

◆ remainingShortestPath()

◆ rightRelation()

◆ rightRelations()

◆ shortestPath()

◆ size()

Member Data Documentation

◆ graph_

◆ laneletSubmap_

◆ shortestPath_