Abstract class to define a framework for custom routing cost calculation modules. This interfaces can be implemented to allow routing cost calculation based on specific needs (e.g. road conditions). As of now, two modules are implemented which should satisfy basic needs: More...

#include <RoutingCost.h>

Inheritance diagram for lanelet::routing::RoutingCost:

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Public Member Functions
virtual double	getCostLaneChange (const traffic_rules::TrafficRules &trafficRules, const ConstLanelets &from, const ConstLanelets &to) const =0
	Get the cost of the lane change between two adjacent lanelets. More...

virtual double	getCostSucceeding (const traffic_rules::TrafficRules &trafficRules, const ConstLaneletOrArea &from, const ConstLaneletOrArea &to) const =0
	Get the cost of the transistion from one to another lanelet. More...

virtual	~RoutingCost ()=default

Detailed Description

Abstract class to define a framework for custom routing cost calculation modules. This interfaces can be implemented to allow routing cost calculation based on specific needs (e.g. road conditions). As of now, two modules are implemented which should satisfy basic needs:

Distance-based calculation
Travel time-based calculation Routing cost modules can be used to prohibit a certain relation by setting the cost to infinity. Still it is generally better to use regulatory elements and the TrafficRules module to achieve this. The cost can represent whatever you want it to be - seconds, meter, lane changes, ... but it must not be negative!

Definition at line 21 of file RoutingCost.h.

Constructor & Destructor Documentation

◆ ~RoutingCost()

virtual lanelet::routing::RoutingCost::~RoutingCost ( )

virtualdefault

Member Function Documentation

◆ getCostLaneChange()

virtual double lanelet::routing::RoutingCost::getCostLaneChange	(	const traffic_rules::TrafficRules &	trafficRules,
		const ConstLanelets &	from,
		const ConstLanelets &	to
	)		const

pure virtual

Get the cost of the lane change between two adjacent lanelets.

Parameters

trafficRules	TrafficRules module to apply
from	The lanelet or area the traffic participant is on (assumed to be in the middle)
to	The lanelet or area the traffic participant is reaching for (reference is the middle again)

Returns: Routing cost of the lane change

Note: The calculated cost will be assigned to the edge in the graph between 'from' and 'to'. So typically this should represent some artificial cost for a lane change.

Implemented in lanelet::routing::RoutingCostTravelTime, and lanelet::routing::RoutingCostDistance.

◆ getCostSucceeding()

virtual double lanelet::routing::RoutingCost::getCostSucceeding	(	const traffic_rules::TrafficRules &	trafficRules,
		const ConstLaneletOrArea &	from,
		const ConstLaneletOrArea &	to
	)		const