Builder class to create a route from a routing graph and the shortest path.
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#include <RouteBuilder.h>
Builder class to create a route from a routing graph and the shortest path.
Definition at line 12 of file RouteBuilder.h.
◆ RouteBuilder()
| lanelet::routing::internal::RouteBuilder::RouteBuilder |
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const RoutingGraphGraph & |
g | ) |
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inlineexplicit |
- Note
- Important things about pending elements: Pending elements are lanelets that can be reached from the shortest path (e.g. a lanelet right of a shortest path lanelet), but we don't know yet if we can reach the lanelet of the shortest path using that lanelet. This could happen if one is allowed to change the lane to the right, but not back. It could happen that we could switch to the left a couple of lanelets later, but we don't know yet. Pending elements hold relations the left or right lanelet that is certainly part of the route, but a lanelet that is part of the route never has a relation to a pending element. These are added once we know that a pending element will become a part of the route.
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Important things about lanes: During the creation of a route we assign lane IDs. A lane is a number of consecutive lanelets that follow each other and have unambiguous relations. Relations are unambiugous when two or more lanelets are merging or if they are diverging. Judging which of the lanes is going to continue and which one ends or starts is difficult. So in both those situations we're starting new lanes. Every so often - for example in diverging situations - we don't know if both new lanes are going to be a part of the final route, but lane IDs are issued anyway. As soon as the route is determined we can replace the lane IDs with IDs that make more sense in the context of the route. For example: there's a diverging situation and we issue new lane IDs. It turns out that the left lanelet doesn't lead to the goal. So in the context of the route this is not a diverging situation but rather it's just one lanelet (the right one) is following its predecessor. We would say that they are part of the same lane since there's no other way to go.
Definition at line 34 of file RouteBuilder.h.
◆ getRouteFromShortestPath()
This is the algorithm in its most simple form. For efficiency reasons, all internal operations are not based on the lanelets but on the vertex ids that boost::graph has assigned to them.
Definition at line 438 of file RouteBuilder.cpp.
◆ graph_
The documentation for this class was generated from the following files: