Main class of the routing module that holds routing information and can be queried. The RoutingGraph class is the central object of this module and is initialized with a LaneletMap, TrafficRules and RoutingCost. A routing graph with all interesting relations will be created for the traffic participant featured in the provided TrafficRules module. Routing costs will be calculated for each provided module. The routing graph can answer queries like "left", "following", "conflicting" lanelets, but also provide a shortest route or a Route. More...

#include <RoutingGraph.h>

Public Types
using	Configuration = std::map< std::string, Attribute >

using	Errors = std::vector< std::string >
	For the checkValidity function. More...

Public Member Functions
Optional< ConstLanelet >	adjacentLeft (const ConstLanelet &lanelet, RoutingCostId routingCostId={}) const
	Get adjacent left (non-routable) lanelet of a given lanelet if it exists. More...

ConstLanelets	adjacentLefts (const ConstLanelet &lanelet, RoutingCostId routingCostId={}) const
	Get all adjacent left (non-routable) lanelets of a given lanelet if they exist. More...

Optional< ConstLanelet >	adjacentRight (const ConstLanelet &lanelet, RoutingCostId routingCostId={}) const
	Get adjacent right (non-routable) lanelet of a given lanelet if it exists. More...

ConstLanelets	adjacentRights (const ConstLanelet &lanelet, RoutingCostId routingCostId={}) const
	Get all adjacent right (non-routable) lanelets of a given lanelet if they exist. More...

ConstLanelets	besides (const ConstLanelet &lanelet, RoutingCostId routingCostId={}) const
	Retrieve all reachable left and right lanelets. More...

Errors	checkValidity (bool throwOnError=true) const
	Performs some basic sanity checks. It is recommended to call this function after the routing graph has been generated since it can point out some mapping errors. More...

ConstLaneletOrAreas	conflicting (const ConstLaneletOrArea &laneletOrArea) const
	Retrieve all lanelets that are conflicting with the given lanelet. More...

void	exportGraphML (const std::string &filename, const RelationType &edgeTypesToExclude=RelationType::None, RoutingCostId routingCostId={}) const
	Export the internal graph to graphML (xml-based) file format. More...

void	exportGraphViz (const std::string &filename, const RelationType &edgeTypesToExclude=RelationType::None, RoutingCostId routingCostId={}) const
	Export the internal graph to graphViz (DOT) file format. This format includes coloring of the edges in the graph and bears little more information than graphML export. More...

ConstLanelets	following (const ConstLanelet &lanelet, bool withLaneChanges=false) const
	Returns the lanelets that can be reached from this lanelet. More...

LaneletRelations	followingRelations (const ConstLanelet &lanelet, bool withLaneChanges=false) const
	Returns the lanelets that can be reached from this lanelet and the relation. More...

void	forEachPredecessor (const ConstLanelet &lanelet, const LaneletVisitFunction &f, bool allowLaneChanges=true, RoutingCostId routingCostId={}) const

void	forEachPredecessorIncludingAreas (const ConstLaneletOrArea &lanelet, const LaneletOrAreaVisitFunction &f, bool allowLaneChanges=true, RoutingCostId routingCostId={}) const
	Similar to RoutingGraph::forEachPredecessor but also includes areas into the search. More...

void	forEachSuccessor (const ConstLanelet &lanelet, const LaneletVisitFunction &f, bool allowLaneChanges=true, RoutingCostId routingCostId={}) const
	Calls a function on every successor of lanelet, optionally including lane changes. More...

void	forEachSuccessorIncludingAreas (const ConstLaneletOrArea &lanelet, const LaneletOrAreaVisitFunction &f, bool allowLaneChanges=true, RoutingCostId routingCostId={}) const
	Similar to RoutingGraph::forEachSuccessor but also includes areas into the search. More...

LaneletMapPtr	getDebugLaneletMap (RoutingCostId routingCostId={}, bool includeAdjacent=false, bool includeConflicting=false) const
	An abstract lanelet map holding the information of the routing graph. A good way to view the routing graph since it can be exported using the lanelet2_io module and there can be viewed in tools like JOSM. Each lanelet is represented by a point at the center of gravity of the lanelet. Relations are linestrings between points representing lanelets. More...

Optional< Route >	getRoute (const ConstLanelet &from, const ConstLanelet &to, RoutingCostId routingCostId={}, bool withLaneChanges=true) const
	Get a driving route from 'start' to 'end' lanelet. More...

Optional< Route >	getRouteVia (const ConstLanelet &from, const ConstLanelets &via, const ConstLanelet &to, RoutingCostId routingCostId={}, bool withLaneChanges=true) const
	Get a driving route from 'start' to 'end' lanelets while going via other lanelets. More...

Optional< ConstLanelet >	left (const ConstLanelet &lanelet, RoutingCostId routingCostId={}) const
	Get left (routable) lanelet of a given lanelet if it exists. More...

LaneletRelations	leftRelations (const ConstLanelet &lanelet, RoutingCostId routingCostId={}) const
	Retrieve all lanelets and relations left of a given lanelet. More...

ConstLanelets	lefts (const ConstLanelet &lanelet, RoutingCostId routingCostId={}) const
	Get all left (routable) lanelets of a given lanelet if they exist. More...

RoutingGraph &	operator= (const RoutingGraph &)=delete

RoutingGraph &	operator= (RoutingGraph &&) noexcept

LaneletMapConstPtr	passableMap () const noexcept
	LaneletSubmap that includes all passable lanelets and areas. This map contains all passable lanelets and areas with all primitives (linestrings, points), including regulatory elements and lanelets referenced by them. It can be used to perform spacial queries e.g. for localization. When selecting a lanelet from this map please be aware that the routing graph may also contain the inverted lanelet. More...

LaneletSubmapConstPtr	passableSubmap () const noexcept
	Returns a submap that contains all lanelets and areas within this routing graph, and nothing else. You can obtain a full map of the routing graph by calling passabelSubmap()->laneletMap(), which ist a potentially costly operation. More...

LaneletPaths	possiblePaths (const ConstLanelet &startPoint, const PossiblePathsParams &params) const
	Determines possible routes from a given start lanelet that satisfy the configuration in PossiblePathsParams. More...

LaneletPaths	possiblePaths (const ConstLanelet &startPoint, double minRoutingCost, RoutingCostId routingCostId={}, bool allowLaneChanges=false) const
	Determines possible routes from a given start lanelet that are "minRoutingCost"-long. More...

LaneletPaths	possiblePaths (const ConstLanelet &startPoint, uint32_t minLanelets, bool allowLaneChanges=false, RoutingCostId routingCostId={}) const
	Determines possible paths from a given start lanelet that are "minLanelets"-long. More...

LaneletOrAreaPaths	possiblePathsIncludingAreas (const ConstLaneletOrArea &startPoint, const PossiblePathsParams &params) const
	Similar to RoutingGraph::possiblePaths, but also considers areas. More...

LaneletOrAreaPaths	possiblePathsIncludingAreas (const ConstLaneletOrArea &startPoint, double minRoutingCost, RoutingCostId routingCostId={}, bool allowLaneChanges=false) const
	Similar to RoutingGraph::possiblePaths, but also considers areas. More...

LaneletOrAreaPaths	possiblePathsIncludingAreas (const ConstLaneletOrArea &startPoint, uint32_t minElements, bool allowLaneChanges=false, RoutingCostId routingCostId={}) const
	Similar to RoutingGraph::possiblePaths, but also considers areas. More...

LaneletPaths	possiblePathsTowards (const ConstLanelet &targetLanelet, const PossiblePathsParams &params) const
	Determines possible routes to reach the given lanelet which satisfy the configuration in PossiblePathsParams. More...

LaneletPaths	possiblePathsTowards (const ConstLanelet &targetLanelet, double minRoutingCost, RoutingCostId routingCostId={}, bool allowLaneChanges=false) const
	Determines possible routes that reach the given lanelet and are "minRoutingCost" long. More...

LaneletPaths	possiblePathsTowards (const ConstLanelet &targetLanelet, uint32_t minLanelets, bool allowLaneChanges=false, RoutingCostId routingCostId={}) const
	Determines possible paths towards a destination lanelet that are "minLanelets"-long. More...

ConstLanelets	previous (const ConstLanelet &lanelet, bool withLaneChanges=false) const
	Returns the possible previous lanelets of this lanelet. More...

LaneletRelations	previousRelations (const ConstLanelet &lanelet, bool withLaneChanges=false) const
	Returns the possible previous lanelets of this lanelet and the relation. More...

ConstLanelets	reachableSet (const ConstLanelet &lanelet, double maxRoutingCost, RoutingCostId routingCostId={}, bool allowLaneChanges=true) const
	Retrieve a set of lanelets that can be reached from a given lanelet. More...

ConstLaneletOrAreas	reachableSetIncludingAreas (const ConstLaneletOrArea &llOrAr, double maxRoutingCost, RoutingCostId routingCostId={}) const
	Retrieve set of lanelet or areas that are reachable without exceeding routing cost. More...

ConstLanelets	reachableSetTowards (const ConstLanelet &lanelet, double maxRoutingCost, RoutingCostId routingCostId={}, bool allowLaneChanges=true) const
	Retrieve a set of lanelets that can reach a given lanelet. More...

Optional< ConstLanelet >	right (const ConstLanelet &lanelet, RoutingCostId routingCostId={}) const
	Get right (routable) lanelet of a given lanelet if it exists. More...

LaneletRelations	rightRelations (const ConstLanelet &lanelet, RoutingCostId routingCostId={}) const
	Retrieve all lanelets and relations right of a given lanelet. More...

ConstLanelets	rights (const ConstLanelet &lanelet, RoutingCostId routingCostId={}) const
	Get all right (routable) lanelets of a given lanelet if they exist. More...

	RoutingGraph ()=delete
	The graph can not be copied, only moved. More...

	RoutingGraph (const RoutingGraph &)=delete

	RoutingGraph (RoutingGraph &&) noexcept

	RoutingGraph (std::unique_ptr< internal::RoutingGraphGraph > &&graph, lanelet::LaneletSubmapConstPtr &&passableMap)

Optional< RelationType >	routingRelation (const ConstLanelet &from, const ConstLanelet &to, bool includeConflicting=false) const
	Determines the relation between two lanelets. More...

Optional< LaneletPath >	shortestPath (const ConstLanelet &from, const ConstLanelet &to, RoutingCostId routingCostId={}, bool withLaneChanges=true) const
	Retrieve a shortest path between 'start' and 'end'. More...

Optional< LaneletOrAreaPath >	shortestPathIncludingAreas (const ConstLaneletOrArea &from, const ConstLaneletOrArea &to, RoutingCostId routingCostId={}, bool withLaneChanges=true) const
	Retrieve a shortest path between 'start' and 'end' that may contain Areas. More...

Optional< LaneletOrAreaPath >	shortestPathIncludingAreasVia (const ConstLaneletOrArea &start, const ConstLaneletOrAreas &via, const ConstLaneletOrArea &end, RoutingCostId routingCostId={}, bool withLaneChanges=true) const
	Retrieve a shortest path between 'start' and 'end' using intermediate points. Will find a shortest path using Djikstra's shortest path algorithm and the routing cost calculated by the routing cost module with the respective ID. Be aware that the shortest path may contain lane changes, i.e. lanelets that are parallel and not only adjacent. More...

Optional< LaneletPath >	shortestPathVia (const ConstLanelet &start, const ConstLanelets &via, const ConstLanelet &end, RoutingCostId routingCostId={}, bool withLaneChanges=true) const
	Retrieve a shortest path between 'start' and 'end' using intermediate points. Will find a shortest path using Djikstra's shortest path algorithm and the routing cost calculated by the routing cost module with the respective ID. Be aware that the shortest path may contain lane changes, i.e. lanelets that are parallel and not only adjacent. More...

	~RoutingGraph ()

Static Public Member Functions
static RoutingGraphUPtr	build (const LaneletMap &laneletMap, const traffic_rules::TrafficRules &trafficRules, const RoutingCostPtrs &routingCosts=defaultRoutingCosts(), const Configuration &config=Configuration())
	Main constructor with optional configuration. More...

static RoutingGraphUPtr	build (const LaneletSubmap &laneletSubmap, const traffic_rules::TrafficRules &trafficRules, const RoutingCostPtrs &routingCosts=defaultRoutingCosts(), const Configuration &config=Configuration())
	Similar to the above but for a LaneletSubmap. More...

Static Public Attributes
static constexpr const char	ParticipantHeight [] = "participant_height"
	Defined configuration attributes. More...

Private Attributes
std::unique_ptr< internal::RoutingGraphGraph >	graph_
	Documentation to be found in the cpp file. More...

LaneletSubmapConstPtr	passableLaneletSubmap_
	Lanelet map of all passable lanelets. More...

Detailed Description

Main class of the routing module that holds routing information and can be queried. The RoutingGraph class is the central object of this module and is initialized with a LaneletMap, TrafficRules and RoutingCost. A routing graph with all interesting relations will be created for the traffic participant featured in the provided TrafficRules module. Routing costs will be calculated for each provided module. The routing graph can answer queries like "left", "following", "conflicting" lanelets, but also provide a shortest route or a Route.

Note: The direction of lanelets matters! 'lanelet' and 'lanelet.invert()' are differentiated since this matters when lanelets are passable in both directions.; 'adjacent_left' and 'adjacent_right' means that there is a passable lanelet left/right of another passable lanelet, but a lane change is not allowed.

Definition at line 69 of file RoutingGraph.h.

Member Typedef Documentation

◆ Configuration

using lanelet::routing::RoutingGraph::Configuration = std::map<std::string, Attribute>

Used to provide a configuration

Definition at line 72 of file RoutingGraph.h.

◆ Errors

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

For the checkValidity function.

Definition at line 71 of file RoutingGraph.h.

Constructor & Destructor Documentation

◆ RoutingGraph() [1/4]

lanelet::routing::RoutingGraph::RoutingGraph ( )

delete

The graph can not be copied, only moved.

◆ RoutingGraph() [2/4]

lanelet::routing::RoutingGraph::RoutingGraph ( const RoutingGraph & )

delete

◆ RoutingGraph() [3/4]

lanelet::routing::RoutingGraph::RoutingGraph ( RoutingGraph && )

defaultnoexcept

◆ ~RoutingGraph()

lanelet::routing::RoutingGraph::~RoutingGraph ( )

default

◆ RoutingGraph() [4/4]

lanelet::routing::RoutingGraph::RoutingGraph	(	std::unique_ptr< internal::RoutingGraphGraph > &&	graph,
		lanelet::LaneletSubmapConstPtr &&	passableMap
	)

Constructs the routing graph. Don't call this directly, use RoutingGraph::build instead.

Member Function Documentation

◆ adjacentLeft()

Optional< ConstLanelet > lanelet::routing::RoutingGraph::adjacentLeft	(	const ConstLanelet &	lanelet,
		RoutingCostId	routingCostId = `{}`
	)		const

Get adjacent left (non-routable) lanelet of a given lanelet if it exists.

Parameters

lanelet	Start lanelet
routingCostId	the routing cost module to be used. Can make a difference if one allows a lane change but the other one doesn't.

Returns: Adjacent left lanelet if it exists. Nothing if it doesn't.

See also: left, lefts, adjacentLefts

Definition at line 497 of file RoutingGraph.cpp.

◆ adjacentLefts()

ConstLanelets lanelet::routing::RoutingGraph::adjacentLefts	(	const ConstLanelet &	lanelet,
		RoutingCostId	routingCostId = `{}`
	)		const

Get all adjacent left (non-routable) lanelets of a given lanelet if they exist.

Parameters

lanelet	Start lanelet
routingCostId	the routing cost module to be used. Can make a difference if one allows a lane change but the other one doesn't.

Returns: Adjacent left lanelets if they exists. Empty if they don't.

See also: adjacentLeft, left, lefts

Definition at line 518 of file RoutingGraph.cpp.

◆ adjacentRight()

Optional< ConstLanelet > lanelet::routing::RoutingGraph::adjacentRight	(	const ConstLanelet &	lanelet,
		RoutingCostId	routingCostId = `{}`
	)		const

Get adjacent right (non-routable) lanelet of a given lanelet if it exists.

Parameters

lanelet	Start lanelet
routingCostId	the routing cost module to be used. Can make a difference if one allows a lane change but the other one doesn't.

Returns: Adjacent right lanelet if it exists. Nothing if it doesn't.

See also: right, rights, adjacentRights

Definition at line 508 of file RoutingGraph.cpp.

◆ adjacentRights()

ConstLanelets lanelet::routing::RoutingGraph::adjacentRights	(	const ConstLanelet &	lanelet,
		RoutingCostId	routingCostId = `{}`
	)		const

Get all adjacent right (non-routable) lanelets of a given lanelet if they exist.

Parameters

lanelet	Start lanelet
routingCostId	the routing cost module to be used. Can make a difference if one allows a lane change but the other one doesn't.

Returns: Adjacent right lanelets if they exists. Empty if they don't.

See also: adjacentRight, right, rights

Definition at line 546 of file RoutingGraph.cpp.

◆ besides()

ConstLanelets lanelet::routing::RoutingGraph::besides	(	const ConstLanelet &	lanelet,
		RoutingCostId	routingCostId = `{}`
	)		const

Retrieve all reachable left and right lanelets.

Parameters

lanelet	Start lanelet
routingCostId	the routing cost module to be used. Can make a difference if one allows a lane change but the other one doesn't.

Returns: All left and right lanelets that can be reached, including lanelet, ordered left to right.

Definition at line 480 of file RoutingGraph.cpp.

◆ build() [1/2]

RoutingGraphUPtr lanelet::routing::RoutingGraph::build	(	const LaneletMap &	laneletMap,
		const traffic_rules::TrafficRules &	trafficRules,
		const RoutingCostPtrs &	routingCosts = `defaultRoutingCosts()`,
		const Configuration &	config = `Configuration()`
	)

static

Main constructor with optional configuration.

Parameters

laneletMap	Map that should be used to build the graph
trafficRules	Traffic rules that apply to find passable lanelets
routingCosts	One or more ways to calculate routing costs
config	Optional configuration

Definition at line 375 of file RoutingGraph.cpp.

◆ build() [2/2]

RoutingGraphUPtr lanelet::routing::RoutingGraph::build	(	const LaneletSubmap &	laneletSubmap,
		const traffic_rules::TrafficRules &	trafficRules,
		const RoutingCostPtrs &	routingCosts = `defaultRoutingCosts()`,
		const Configuration &	config = `Configuration()`
	)

static

Similar to the above but for a LaneletSubmap.

Definition at line 380 of file RoutingGraph.cpp.

◆ checkValidity()

RoutingGraph::Errors lanelet::routing::RoutingGraph::checkValidity ( bool throwOnError = true ) const

Performs some basic sanity checks. It is recommended to call this function after the routing graph has been generated since it can point out some mapping errors.

Exceptions

RoutingGraphError if an error is found an 'throwOnError' is true

Parameters

throwOnError Decide wheter to throw an exception or just return the errors

Returns: Possible errors if 'throwOnError' is false.

Definition at line 855 of file RoutingGraph.cpp.

◆ conflicting()

ConstLaneletOrAreas lanelet::routing::RoutingGraph::conflicting ( const ConstLaneletOrArea & laneletOrArea ) const

Retrieve all lanelets that are conflicting with the given lanelet.

Conflicting means that their bounding boxes overlap and the height clearance is smaller than the specified "participant_height".

Parameters

laneletOrArea Lanelet/Area to get conflicting lanelets for.

Returns: All conflicting lanelets.

Definition at line 570 of file RoutingGraph.cpp.

◆ exportGraphML()

void lanelet::routing::RoutingGraph::exportGraphML	(	const std::string &	filename,
		const RelationType &	edgeTypesToExclude = `RelationType::None`,
		RoutingCostId	routingCostId = `{}`
	)		const

Export the internal graph to graphML (xml-based) file format.

Parameters

filename	Fully qualified file name - ideally with extension (.graphml)
edgeTypesToExclude	Exclude the specified relations. E.g. conflicting. Combine them with "\|".
routingCostId	ID of the routing cost module

See also: exportGraphViz

Definition at line 736 of file RoutingGraph.cpp.

◆ exportGraphViz()

void lanelet::routing::RoutingGraph::exportGraphViz	(	const std::string &	filename,
		const RelationType &	edgeTypesToExclude = `RelationType::None`,
		RoutingCostId	routingCostId = `{}`
	)		const

Export the internal graph to graphViz (DOT) file format. This format includes coloring of the edges in the graph and bears little more information than graphML export.

Parameters

filename	Fully qualified file name - ideally with extension (.gv)
edgeTypesToExclude	Exclude the specified relations. E.g. conflicting. Combine them with "\|".
routingCostId	ID of the routing cost module

Definition at line 748 of file RoutingGraph.cpp.

◆ following()

ConstLanelets lanelet::routing::RoutingGraph::following	(	const ConstLanelet &	lanelet,
		bool	withLaneChanges = `false`
	)		const

Returns the lanelets that can be reached from this lanelet.

Parameters

lanelet	Start lanelet
withLaneChanges	Include left and right lanes or not

Returns: Lanelets that can be directly reached

See also: followingRelations

Definition at line 446 of file RoutingGraph.cpp.

◆ followingRelations()

LaneletRelations lanelet::routing::RoutingGraph::followingRelations	(	const ConstLanelet &	lanelet,
		bool	withLaneChanges = `false`
	)		const

Returns the lanelets that can be reached from this lanelet and the relation.

Parameters

lanelet	Start lanelet
withLaneChanges	Include left and right lanes or not

Returns: Lanelets can be directly reached

See also: following

Definition at line 451 of file RoutingGraph.cpp.

◆ forEachPredecessor()

void lanelet::routing::RoutingGraph::forEachPredecessor	(	const ConstLanelet &	lanelet,
		const LaneletVisitFunction &	f,
		bool	allowLaneChanges = `true`,
		RoutingCostId	routingCostId = `{}`
	)		const

Similar to RoutingGraph::forEachSuccessor but goes backwards in the routing graph instead of forward. The LaneletVisitInformation::cost will still be positive, despite going backwards.

Definition at line 702 of file RoutingGraph.cpp.

◆ forEachPredecessorIncludingAreas()

void lanelet::routing::RoutingGraph::forEachPredecessorIncludingAreas	(	const ConstLaneletOrArea &	lanelet,
		const LaneletOrAreaVisitFunction &	f,
		bool	allowLaneChanges = `true`,
		RoutingCostId	routingCostId = `{}`
	)		const

Similar to RoutingGraph::forEachPredecessor but also includes areas into the search.

Definition at line 718 of file RoutingGraph.cpp.

◆ forEachSuccessor()

void lanelet::routing::RoutingGraph::forEachSuccessor	(	const ConstLanelet &	lanelet,
		const LaneletVisitFunction &	f,
		bool	allowLaneChanges = `true`,
		RoutingCostId	routingCostId = `{}`
	)		const

Calls a function on every successor of lanelet, optionally including lane changes.

This function can be used to query the routing graph on a more direct level. The function will be called on lanelets with monotonically increasing cost from the start lanelet, including the start lanelet itself. If the function returns "false" on an input, its followers will not be visited through this lanelet, as if it did not exist.

The search internally uses the dijkstra algorithm in order to discover the shortest path to the successors of this lanelet and calls the provided function once it is known.

In order to abort the query early, an exception can be thrown. If the lanelet is not part of the graph, nothing will be called.

Parameters

lanelet	the lanelet where the search starts
f	the function to be called on lanelet and its successors
allowLaneChanges	also consider lane changes
routingCostId	id for the routing cost module that is used to calculate the shortest path

Definition at line 671 of file RoutingGraph.cpp.

◆ forEachSuccessorIncludingAreas()

void lanelet::routing::RoutingGraph::forEachSuccessorIncludingAreas	(	const ConstLaneletOrArea &	lanelet,
		const LaneletOrAreaVisitFunction &	f,
		bool	allowLaneChanges = `true`,
		RoutingCostId	routingCostId = `{}`
	)		const

Similar to RoutingGraph::forEachSuccessor but also includes areas into the search.

Definition at line 685 of file RoutingGraph.cpp.

◆ getDebugLaneletMap()

LaneletMapPtr lanelet::routing::RoutingGraph::getDebugLaneletMap	(	RoutingCostId	routingCostId = `{}`,
		bool	includeAdjacent = `false`,
		bool	includeConflicting = `false`
	)		const

An abstract lanelet map holding the information of the routing graph. A good way to view the routing graph since it can be exported using the lanelet2_io module and there can be viewed in tools like JOSM. Each lanelet is represented by a point at the center of gravity of the lanelet. Relations are linestrings between points representing lanelets.

Parameters

routingCostId	ID of the routing cost module used for the cost assignment
includeAdjacent	Also include adjacent (non-routable) relations
includeConflicting	Also include conflicting relations

Returns: LaneletMap with the requested information

Definition at line 844 of file RoutingGraph.cpp.

◆ getRoute()

Optional< Route > lanelet::routing::RoutingGraph::getRoute	(	const ConstLanelet &	from,
		const ConstLanelet &	to,
		RoutingCostId	routingCostId = `{}`,
		bool	withLaneChanges = `true`
	)		const

Get a driving route from 'start' to 'end' lanelet.

Parameters

from	Start lanelet to find a shortest path
to	End lanelet to find a shortest path
routingCostId	ID of RoutingCost module to determine shortest route
withLaneChanges	if false, the shortest path will not contain lane changes and the route will only contain lanelets that are reachable without lane changes

Returns: A route of all adjacent lanelets of the shortest route that lead to 'end'. Nothing if there's no route.

See also: Route

Definition at line 386 of file RoutingGraph.cpp.

◆ getRouteVia()

Optional< Route > lanelet::routing::RoutingGraph::getRouteVia	(	const ConstLanelet &	from,
		const ConstLanelets &	via,
		const ConstLanelet &	to,
		RoutingCostId	routingCostId = `{}`,
		bool	withLaneChanges = `true`
	)		const

Get a driving route from 'start' to 'end' lanelets while going via other lanelets.

Parameters

from	Start lanelet to find a shortest path
via	Other lanelets to visit (in this order)
to	End lanelet to find a shortest path
routingCostId	ID of RoutingCost module to determine shortest route
withLaneChanges	if false, the shortest path will not contain lane changes and the route will only contain lanelets that are reachable without lane changes

Returns: A route of all adjacent lanelets of the shortest route that lead to 'end'. Nothing if there's not route.

If from and to are the same lanelet, the resulting route will form a loop.

See also: Route

Definition at line 395 of file RoutingGraph.cpp.

◆ left()

Optional< ConstLanelet > lanelet::routing::RoutingGraph::left	(	const ConstLanelet &	lanelet,
		RoutingCostId	routingCostId = `{}`
	)		const

Get left (routable) lanelet of a given lanelet if it exists.

Parameters

lanelet	Start lanelet
routingCostId	the routing cost module to be used. Can make a difference if one allows a lane change but the other one doesn't.

Returns: Left lanelet if it exists. Nothing if it doesn't.

See also: adjacentLeft, lefts, adjacentLefts

Definition at line 492 of file RoutingGraph.cpp.

◆ leftRelations()

LaneletRelations lanelet::routing::RoutingGraph::leftRelations	(	const ConstLanelet &	lanelet,
		RoutingCostId	routingCostId = `{}`
	)		const

Retrieve all lanelets and relations left of a given lanelet.

Parameters

lanelet	Start lanelet
routingCostId	the routing cost module to be used. Can make a difference if one allows a lane change but the other one doesn't.

Returns: All lanelets and relations left of a given lanelet.

See also: lefts, adjacentLefts

Definition at line 522 of file RoutingGraph.cpp.

◆ lefts()

ConstLanelets lanelet::routing::RoutingGraph::lefts	(	const ConstLanelet &	lanelet,
		RoutingCostId	routingCostId = `{}`
	)		const

Get all left (routable) lanelets of a given lanelet if they exist.

Parameters

lanelet	Start lanelet
routingCostId	the routing cost module to be used. Can make a difference if one allows a lane change but the other one doesn't.

Returns: Left lanelets if they exists. Empty if they don't.

See also: adjacentLeft, left, adjacentLefts

Definition at line 514 of file RoutingGraph.cpp.

◆ operator=() [1/2]

RoutingGraph& lanelet::routing::RoutingGraph::operator= ( const RoutingGraph & )

delete

◆ operator=() [2/2]

RoutingGraph & lanelet::routing::RoutingGraph::operator= ( RoutingGraph && )

defaultnoexcept

◆ passableMap()

LaneletMapConstPtr lanelet::routing::RoutingGraph::passableMap ( ) const

inlinenoexcept

LaneletSubmap that includes all passable lanelets and areas. This map contains all passable lanelets and areas with all primitives (linestrings, points), including regulatory elements and lanelets referenced by them. It can be used to perform spacial queries e.g. for localization. When selecting a lanelet from this map please be aware that the routing graph may also contain the inverted lanelet.

Returns: LaneletMap with all passable lanelets and areas

This function is deprecated because it was misleading that the map also contained lanelets referenced by regulatory elements and not only the lanelets from the routing graph.

Definition at line 476 of file RoutingGraph.h.

◆ passableSubmap()

LaneletSubmapConstPtr lanelet::routing::RoutingGraph::passableSubmap ( ) const

inlinenoexcept

Returns a submap that contains all lanelets and areas within this routing graph, and nothing else. You can obtain a full map of the routing graph by calling passabelSubmap()->laneletMap(), which ist a potentially costly operation.

Definition at line 463 of file RoutingGraph.h.

◆ possiblePaths() [1/3]

LaneletPaths lanelet::routing::RoutingGraph::possiblePaths	(	const ConstLanelet &	startPoint,
		const PossiblePathsParams &	params
	)		const

Determines possible routes from a given start lanelet that satisfy the configuration in PossiblePathsParams.

Parameters

startPoint	Start lanelet
params	Parameters that configure the behaviour of the algorithm; see doc on PossiblePathsParams for details.

Returns: all valid possible paths. If a lanelet can be reached using different paths, only the one is included that requires the least number of lane changes and has minimum routing costs. "startPoint" itself is always included if it is in the routing graph.

Exceptions

InvalidInputError if neither elementLimit nor costLimit is valid in params

Definition at line 604 of file RoutingGraph.cpp.

◆ possiblePaths() [2/3]

LaneletPaths lanelet::routing::RoutingGraph::possiblePaths	(	const ConstLanelet &	startPoint,
		double	minRoutingCost,
		RoutingCostId	routingCostId = `{}`,
		bool	allowLaneChanges = `false`
	)		const

Determines possible routes from a given start lanelet that are "minRoutingCost"-long.

This behaves exactly as the PossiblePathsParams version with params.costLimit=minRoutingCost, params.includeLaneChanges=allowLaneChanges and params.routingCostId=routingCostId (and the rest as default).

Definition at line 614 of file RoutingGraph.cpp.

◆ possiblePaths() [3/3]

LaneletPaths lanelet::routing::RoutingGraph::possiblePaths	(	const ConstLanelet &	startPoint,
		uint32_t	minLanelets,
		bool	allowLaneChanges = `false`,
		RoutingCostId	routingCostId = `{}`
	)		const

Determines possible paths from a given start lanelet that are "minLanelets"-long.

This behaves exactly as the PossiblePathsParams version with params.elementLimit=minLanelets, params.includeLaneChanges=allowLaneChanges and params.routingCostId=routingCostId (and the rest as default).

Definition at line 619 of file RoutingGraph.cpp.

◆ possiblePathsIncludingAreas() [1/3]

LaneletOrAreaPaths lanelet::routing::RoutingGraph::possiblePathsIncludingAreas	(	const ConstLaneletOrArea &	startPoint,
		const PossiblePathsParams &	params
	)		const

Similar to RoutingGraph::possiblePaths, but also considers areas.

Definition at line 647 of file RoutingGraph.cpp.

◆ possiblePathsIncludingAreas() [2/3]

LaneletOrAreaPaths lanelet::routing::RoutingGraph::possiblePathsIncludingAreas	(	const ConstLaneletOrArea &	startPoint,
		double	minRoutingCost,
		RoutingCostId	routingCostId = `{}`,
		bool	allowLaneChanges = `false`
	)		const

Similar to RoutingGraph::possiblePaths, but also considers areas.

Definition at line 658 of file RoutingGraph.cpp.

◆ possiblePathsIncludingAreas() [3/3]

LaneletOrAreaPaths lanelet::routing::RoutingGraph::possiblePathsIncludingAreas	(	const ConstLaneletOrArea &	startPoint,
		uint32_t	minElements,
		bool	allowLaneChanges = `false`,
		RoutingCostId	routingCostId = `{}`
	)		const

Similar to RoutingGraph::possiblePaths, but also considers areas.

Definition at line 665 of file RoutingGraph.cpp.

◆ possiblePathsTowards() [1/3]

LaneletPaths lanelet::routing::RoutingGraph::possiblePathsTowards	(	const ConstLanelet &	targetLanelet,
		const PossiblePathsParams &	params
	)		const

Determines possible routes to reach the given lanelet which satisfy the configuration in PossiblePathsParams.

Returns: possible paths that are at least as long as specified in 'minRoutingCost'. "targetLanelet" itself is always included if it is in the routing graph.

Parameters

targetLanelet	Destination lanelet
params	Parameters that configure the behaviour of the algorithm; see doc on PossiblePathsParams for details.

Exceptions

InvalidInputError if neither elementLimit nor costLimit is valid in params

Definition at line 624 of file RoutingGraph.cpp.

◆ possiblePathsTowards() [2/3]

LaneletPaths lanelet::routing::RoutingGraph::possiblePathsTowards	(	const ConstLanelet &	targetLanelet,
		double	minRoutingCost,
		RoutingCostId	routingCostId = `{}`,
		bool	allowLaneChanges = `false`
	)		const

Determines possible routes that reach the given lanelet and are "minRoutingCost" long.

This behaves exactly as the PossiblePathsParams version with params.costLimit=minRoutingCost, params.includeLaneChanges=allowLaneChanges and params.routingCostId=routingCostId (and the rest as default).

Definition at line 635 of file RoutingGraph.cpp.

◆ possiblePathsTowards() [3/3]

LaneletPaths lanelet::routing::RoutingGraph::possiblePathsTowards	(	const ConstLanelet &	targetLanelet,
		uint32_t	minLanelets,
		bool	allowLaneChanges = `false`,
		RoutingCostId	routingCostId = `{}`
	)		const

Determines possible paths towards a destination lanelet that are "minLanelets"-long.

This behaves exactly as the PossiblePathsParams version with params.elementLimit=minLanelets, params.includeLaneChanges=allowLaneChanges and params.routingCostId=routingCostId (and the rest as default).

Definition at line 641 of file RoutingGraph.cpp.

◆ previous()

ConstLanelets lanelet::routing::RoutingGraph::previous	(	const ConstLanelet &	lanelet,
		bool	withLaneChanges = `false`
	)		const

Returns the possible previous lanelets of this lanelet.

Parameters

lanelet	Start lanelet
withLaneChanges	Include left and right lanes or not

Returns: All previous lanelets

See also: previousRelations

Definition at line 460 of file RoutingGraph.cpp.

◆ previousRelations()

LaneletRelations lanelet::routing::RoutingGraph::previousRelations	(	const ConstLanelet &	lanelet,
		bool	withLaneChanges = `false`
	)		const

Returns the possible previous lanelets of this lanelet and the relation.

Parameters

lanelet	Start lanelet
withLaneChanges	Include left and right lanes or not

Returns: Lanelets that could be used to reach this lanelet

See also: previous

Definition at line 465 of file RoutingGraph.cpp.

◆ reachableSet()

ConstLanelets lanelet::routing::RoutingGraph::reachableSet	(	const ConstLanelet &	lanelet,
		double	maxRoutingCost,
		RoutingCostId	routingCostId = `{}`,
		bool	allowLaneChanges = `true`
	)		const

Retrieve a set of lanelets that can be reached from a given lanelet.

Determines which lanelets can be reached from a give start lanelets within a given amount of routing cost.

Parameters

lanelet	Start lanelet
maxRoutingCost	Maximum amount of routing cost allowed to reach other lanelets
routingCostId	ID of the routing cost module used for routing cost.
allowLaneChanges	Allow or forbid lane changes

Returns: all lanelets that are reachable in no particular orders. "lanelet" itself is always included.

Definition at line 574 of file RoutingGraph.cpp.

◆ reachableSetIncludingAreas()

ConstLaneletOrAreas lanelet::routing::RoutingGraph::reachableSetIncludingAreas	(	const ConstLaneletOrArea &	llOrAr,
		double	maxRoutingCost,
		RoutingCostId	routingCostId = `{}`
	)		const

Retrieve set of lanelet or areas that are reachable without exceeding routing cost.

Definition at line 584 of file RoutingGraph.cpp.

◆ reachableSetTowards()

ConstLanelets lanelet::routing::RoutingGraph::reachableSetTowards	(	const ConstLanelet &	lanelet,
		double	maxRoutingCost,
		RoutingCostId	routingCostId = `{}`,
		bool	allowLaneChanges = `true`
	)		const

Retrieve a set of lanelets that can reach a given lanelet.

Determines which reach the given lanelet with a given amount of routing cost.

Parameters

lanelet	destination lanelet
maxRoutingCost	Maximum amount of routing cost allowed to reach other lanelets
routingCostId	ID of the routing cost module used for routing cost.
allowLaneChanges	Allow or forbid lane changes

Returns: all lanelets in range in no particular order. "lanelet" itself is always included.

Definition at line 594 of file RoutingGraph.cpp.

◆ right()

Optional< ConstLanelet > lanelet::routing::RoutingGraph::right	(	const ConstLanelet &	lanelet,
		RoutingCostId	routingCostId = `{}`
	)		const

Get right (routable) lanelet of a given lanelet if it exists.

Parameters

lanelet	Start lanelet
routingCostId	the routing cost module to be used. Can make a difference if one allows a lane change but the other one doesn't.

Returns: Right lanelet if it exists. Nothing if it doesn't.

See also: adjacentRight, rights, adjacentRights

Definition at line 503 of file RoutingGraph.cpp.

◆ rightRelations()

LaneletRelations lanelet::routing::RoutingGraph::rightRelations	(	const ConstLanelet &	lanelet,
		RoutingCostId	routingCostId = `{}`
	)		const

Retrieve all lanelets and relations right of a given lanelet.

Parameters

lanelet	Start lanelet
routingCostId	the routing cost module to be used. Can make a difference if one allows a lane change but the other one doesn't.

Returns: All lanelets and relations right of a given lanelet.

See also: rights, adjacentRights

Definition at line 550 of file RoutingGraph.cpp.

◆ rights()

ConstLanelets lanelet::routing::RoutingGraph::rights	(	const ConstLanelet &	lanelet,
		RoutingCostId	routingCostId = `{}`
	)		const

Get all right (routable) lanelets of a given lanelet if they exist.

Parameters

lanelet	Start lanelet
routingCostId	the routing cost module to be used. Can make a difference if one allows a lane change but the other one doesn't.

Returns: Right lanelets if they exists. Empty if they don't.

See also: adjacentRight, right, adjacentRights

Definition at line 542 of file RoutingGraph.cpp.

◆ routingRelation()

Optional< RelationType > lanelet::routing::RoutingGraph::routingRelation	(	const ConstLanelet &	from,
		const ConstLanelet &	to,
		bool	includeConflicting = `false`
	)		const

Determines the relation between two lanelets.

Parameters

from	Start lanelet
to	Goal lanelet
includeConflicting	if false, conflicting lanelets are not considered as relations

Returns: Relation between the lanelets or nothing if no relation exists. Nothing if at least one of the lanelets is not passable.

Definition at line 436 of file RoutingGraph.cpp.

◆ shortestPath()

Optional< LaneletPath > lanelet::routing::RoutingGraph::shortestPath	(	const ConstLanelet &	from,
		const ConstLanelet &	to,
		RoutingCostId	routingCostId = `{}`,
		bool	withLaneChanges = `true`
	)		const

Retrieve a shortest path between 'start' and 'end'.

Will find a shortest path using Djikstra's shortest path algorithm and the routing cost calculated by the routing cost module with the respective ID. Be aware that the shortest path may contain lane changes, i.e. lanelets that are parallel and not only adjacent.

Parameters

from	Start lanelet to find a shortest path
to	End lanelet to find a shortest path
routingCostId	ID of RoutingCost module to determine shortest path
withLaneChanges	if false, the shortest path will not contain lane changes

Definition at line 404 of file RoutingGraph.cpp.

◆ shortestPathIncludingAreas()

Optional< LaneletOrAreaPath > lanelet::routing::RoutingGraph::shortestPathIncludingAreas	(	const ConstLaneletOrArea &	from,
		const ConstLaneletOrArea &	to,
		RoutingCostId	routingCostId = `{}`,
		bool	withLaneChanges = `true`
	)		const

Retrieve a shortest path between 'start' and 'end' that may contain Areas.

Will find a shortest path using Djikstra's shortest path algorithm and the routing cost calculated by the routing cost module with the respective ID. Be aware that the shortest path may contain lane changes, i.e. lanelets that are parallel and not only adjacent.

Parameters

from	Start lanelet or area to find a shortest path
to	End lanelet or area to find a shortest path to
routingCostId	ID of RoutingCost module to determine shortest path
withLaneChanges	if false, the shortest path will not contain lane changes

Definition at line 409 of file RoutingGraph.cpp.

◆ shortestPathIncludingAreasVia()

Optional< LaneletOrAreaPath > lanelet::routing::RoutingGraph::shortestPathIncludingAreasVia	(	const ConstLaneletOrArea &	start,
		const ConstLaneletOrAreas &	via,
		const ConstLaneletOrArea &	end,
		RoutingCostId	routingCostId = `{}`,
		bool	withLaneChanges = `true`
	)		const

Retrieve a shortest path between 'start' and 'end' using intermediate points. Will find a shortest path using Djikstra's shortest path algorithm and the routing cost calculated by the routing cost module with the respective ID. Be aware that the shortest path may contain lane changes, i.e. lanelets that are parallel and not only adjacent.

Parameters

start	Start lanelet or area to find a shortest path
via	Intermediate lanelets or areas that have to be passed
end	End lanelet or area to find a shortest path
routingCostId	ID of RoutingCost module to determine shortest path
withLaneChanges	if false, the shortest path will not contain lane changes

See also: shortestPath

Definition at line 425 of file RoutingGraph.cpp.

◆ shortestPathVia()

Optional< LaneletPath > lanelet::routing::RoutingGraph::shortestPathVia	(	const ConstLanelet &	start,
		const ConstLanelets &	via,
		const ConstLanelet &	end,
		RoutingCostId	routingCostId = `{}`,
		bool	withLaneChanges = `true`
	)		const

Retrieve a shortest path between 'start' and 'end' using intermediate points. Will find a shortest path using Djikstra's shortest path algorithm and the routing cost calculated by the routing cost module with the respective ID. Be aware that the shortest path may contain lane changes, i.e. lanelets that are parallel and not only adjacent.

Parameters

start	Start lanelet to find a shortest path
via	Intermediate lanelets that have to be passed
end	End lanelet to find a shortest path
routingCostId	ID of RoutingCost module to determine shortest path
withLaneChanges	if false, the shortest path will not contain lane changes

See also: shortestPath

Definition at line 417 of file RoutingGraph.cpp.

Member Data Documentation

◆ graph_

std::unique_ptr<internal::RoutingGraphGraph> lanelet::routing::RoutingGraph::graph_

private

Documentation to be found in the cpp file.

Wrapper of the routing graph

Definition at line 495 of file RoutingGraph.h.

◆ ParticipantHeight

constexpr const char lanelet::routing::RoutingGraph::ParticipantHeight = "participant_height"

staticconstexpr

Defined configuration attributes.

Definition at line 74 of file RoutingGraph.h.

◆ passableLaneletSubmap_

LaneletSubmapConstPtr lanelet::routing::RoutingGraph::passableLaneletSubmap_

private

Lanelet map of all passable lanelets.

Definition at line 496 of file RoutingGraph.h.

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

Public Types

Public Member Functions

Static Public Member Functions

Static Public Attributes

Private Attributes

Detailed Description

Member Typedef Documentation

◆ Configuration

◆ Errors

Constructor & Destructor Documentation

◆ RoutingGraph() [1/4]

◆ RoutingGraph() [2/4]

◆ RoutingGraph() [3/4]

◆ ~RoutingGraph()

◆ RoutingGraph() [4/4]

Member Function Documentation

◆ adjacentLeft()

◆ adjacentLefts()

◆ adjacentRight()

◆ adjacentRights()

◆ besides()

◆ build() [1/2]

◆ build() [2/2]

◆ checkValidity()

◆ conflicting()

◆ exportGraphML()

◆ exportGraphViz()

◆ following()

◆ followingRelations()

◆ forEachPredecessor()

◆ forEachPredecessorIncludingAreas()

◆ forEachSuccessor()

◆ forEachSuccessorIncludingAreas()

◆ getDebugLaneletMap()

◆ getRoute()

◆ getRouteVia()

◆ left()

◆ leftRelations()

◆ lefts()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ passableMap()

◆ passableSubmap()

◆ possiblePaths() [1/3]

◆ possiblePaths() [2/3]

◆ possiblePaths() [3/3]

◆ possiblePathsIncludingAreas() [1/3]

◆ possiblePathsIncludingAreas() [2/3]

◆ possiblePathsIncludingAreas() [3/3]

◆ possiblePathsTowards() [1/3]

◆ possiblePathsTowards() [2/3]

◆ possiblePathsTowards() [3/3]

◆ previous()

◆ previousRelations()

◆ reachableSet()

◆ reachableSetIncludingAreas()

◆ reachableSetTowards()

◆ right()

◆ rightRelations()

◆ rights()

◆ routingRelation()

◆ shortestPath()

◆ shortestPathIncludingAreas()

◆ shortestPathIncludingAreasVia()

◆ shortestPathVia()

Member Data Documentation

◆ graph_

◆ ParticipantHeight

◆ passableLaneletSubmap_