A basic distance-based routing cost module. Uses the 2D length and a fixed lane change cost to evaluate relations. More...

#include <RoutingCost.h>

Inheritance diagram for lanelet::routing::RoutingCostDistance:

[legend]

Public Member Functions
double	getCostLaneChange (const traffic_rules::TrafficRules &, const ConstLanelets &from, const ConstLanelets &) const noexcept override
	Get the cost of the lane change between two adjacent lanelets. More...

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

	RoutingCostDistance (double laneChangeCost, double minLaneChangeLength=0.)

Public Member Functions inherited from lanelet::routing::RoutingCost
virtual	~RoutingCost ()=default

Static Private Member Functions
static double	length (const ConstArea &ar) noexcept

static double	length (const ConstLanelet &ll) noexcept

Private Attributes
const double	laneChangeCost_

const double	minChangeLength_

Detailed Description

A basic distance-based routing cost module. Uses the 2D length and a fixed lane change cost to evaluate relations.

Definition at line 48 of file RoutingCost.h.

Constructor & Destructor Documentation

◆ RoutingCostDistance()

lanelet::routing::RoutingCostDistance::RoutingCostDistance	(	double	laneChangeCost,
		double	minLaneChangeLength = `0.`
	)

inlineexplicit

Distance cost of a lane change [m]. If a lane change requires less than minLaneChangeLength, no lane change will be possible here. Instead, relation between the involved lanelets will be "adjacent".

Definition at line 52 of file RoutingCost.h.

Member Function Documentation

◆ getCostLaneChange()

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

inlineoverridevirtualnoexcept

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.

Implements lanelet::routing::RoutingCost.

Definition at line 63 of file RoutingCost.h.

◆ getCostSucceeding()

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

inlineoverridevirtual

Get the cost of the transistion from one to another lanelet.

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 for passing this lanelet

Note: The calculated cost will be assigned to the edge in the graph between 'from' and 'to'. So typically this should represent the cost of passing the 'from'-lanelet with regards of going into the 'to'-lanelet.

Implements lanelet::routing::RoutingCost.

Definition at line 58 of file RoutingCost.h.

◆ length() [1/2]

double lanelet::routing::RoutingCostDistance::length ( const ConstArea & ar )

staticprivatenoexcept

Definition at line 37 of file RoutingCost.cpp.

◆ length() [2/2]

double lanelet::routing::RoutingCostDistance::length ( const ConstLanelet & ll )

staticprivatenoexcept

Definition at line 35 of file RoutingCost.cpp.

Member Data Documentation

◆ laneChangeCost_

const double lanelet::routing::RoutingCostDistance::laneChangeCost_

private

Definition at line 76 of file RoutingCost.h.

◆ minChangeLength_

const double lanelet::routing::RoutingCostDistance::minChangeLength_