Namespaces
	internal

	tests

Classes
class	DebugMapBuilder

class	LaneletOrAreaPath
	Similar to LaneletPath, but can also contain areas. More...

struct	LaneletOrAreaVisitInformation
	This object carries the required information for the graph neighbourhood search. More...

class	LaneletPath
	A lanelet path represents a set of lanelets that can be reached in order by either driving straight or doing lane changes. More...

struct	LaneletRelation
	Represents the relation of a lanelet to another lanelet. More...

struct	LaneletVisitInformation
	This object carries the required information for the graph neighbourhood search. More...

struct	PossiblePathsParams
	Controls the behaviour of the different possible path algorithms in RoutingGraph. More...

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

class	RoutingCost
	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...

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

class	RoutingCostTravelTime
	A basic travel time-based routing cost module. Uses maximum allowed speed or the maximum speed of the participant (what every is lower) and a fixed lane chance cost. More...

class	RoutingGraph
	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...

class	RoutingGraphContainer
	Container to associate multiple routing graphs to allow queries on multiple graphs. More...

Typedefs
using	LaneId = uint16_t

using	LaneletOrAreaPaths = std::vector< LaneletOrAreaPath >

using	LaneletOrAreaVisitFunction = std::function< bool(const LaneletOrAreaVisitInformation &)>

using	LaneletPaths = std::vector< LaneletPath >

using	LaneletRelations = std::vector< LaneletRelation >

using	LaneletVisitFunction = std::function< bool(const LaneletVisitInformation &)>

using	RelationUnderlyingType = std::underlying_type_t< RelationType >

using	Routes = std::vector< Route >

using	RouteUPtr = std::unique_ptr< Route >

using	RoutingCostId = uint16_t

using	RoutingCostPtr = std::shared_ptr< RoutingCost >

using	RoutingCostPtrs = std::vector< RoutingCostPtr >

using	RoutingCosts = std::vector< RoutingCost >

using	RoutingCostUPtr = std::unique_ptr< RoutingCost >

using	RoutingCostUPtrs = std::vector< RoutingCostUPtr >

using	RoutingGraphConstPtr = std::shared_ptr< const RoutingGraph >

using	RoutingGraphContainerUPtr = std::unique_ptr< RoutingGraphContainer >

using	RoutingGraphPtr = std::shared_ptr< RoutingGraph >

using	RoutingGraphUPtr = std::unique_ptr< RoutingGraph >

Enumerations
enum	RelationType : uint8_t { RelationType::None = 0, RelationType::Successor = 0b1, RelationType::Left = 0b10, RelationType::Right = 0b100, RelationType::AdjacentLeft = 0b1000, RelationType::AdjacentRight = 0b10000, RelationType::Conflicting = 0b100000, RelationType::Area = 0b1000000 }

Functions
RelationType	allowedRelationsfromConfiguration (bool includeAdjacent, bool includeConflicting)
	Helper function to slim down getDebugLaneletMap. More...

constexpr RelationType	allRelations ()

template<RelationType Expect>
void	checkRelationIs (Route::Errors &errors, Id source, Id dest, RelationType sourceRel, RelationType targetRel)

LineString3d	createLineString (const Point2d &from, const Point2d &to, RelationType relation, double routingCost)

RoutingCostPtrs	defaultRoutingCosts ()
	Returns routing cost objects for initialization of routing graph with reasonable default values (for vehicles) More...

BasicPolygon3d	getEnclosingPolygon3d (const LaneletOrAreaPath &path)

bool	operator!= (const LaneletRelation &rhs, const LaneletRelation &lhs)

constexpr RelationType	operator& (RelationType r1, RelationType r2)

constexpr RelationType	operator&= (RelationType &r1, RelationType r2)

std::ostream &	operator<< (std::ostream &os, const RelationType &r)

bool	operator== (const LaneletRelation &lhs, const LaneletRelation &rhs)

std::istream &	operator>> (std::istream &is, const RelationType &)

constexpr RelationType	operator\| (RelationType r1, RelationType r2)

constexpr RelationType	operator\|= (RelationType &r1, RelationType r2)

constexpr RelationType	operator~ (RelationType r)

std::string	relationToColor (RelationType type)

std::string	relationToString (RelationType type)

Typedef Documentation

◆ LaneId

using lanelet::routing::LaneId = typedef uint16_t

Definition at line 23 of file Forward.h.

◆ LaneletOrAreaPaths

using lanelet::routing::LaneletOrAreaPaths = typedef std::vector<LaneletOrAreaPath>

Definition at line 49 of file Forward.h.

◆ LaneletOrAreaVisitFunction

using lanelet::routing::LaneletOrAreaVisitFunction = typedef std::function<bool(const LaneletOrAreaVisitInformation&)>

Definition at line 31 of file Types.h.

◆ LaneletPaths

using lanelet::routing::LaneletPaths = typedef std::vector<LaneletPath>

Definition at line 47 of file Forward.h.

◆ LaneletRelations

typedef std::vector< LaneletRelation > lanelet::routing::LaneletRelations

Definition at line 34 of file Forward.h.

◆ LaneletVisitFunction

using lanelet::routing::LaneletVisitFunction = typedef std::function<bool(const LaneletVisitInformation&)>

Definition at line 30 of file Types.h.

◆ RelationUnderlyingType

using lanelet::routing::RelationUnderlyingType = typedef std::underlying_type_t<RelationType>

Definition at line 67 of file Forward.h.

◆ Routes

using lanelet::routing::Routes = typedef std::vector<Route>

Definition at line 37 of file Forward.h.

◆ RouteUPtr

using lanelet::routing::RouteUPtr = typedef std::unique_ptr<Route>

Definition at line 36 of file Forward.h.

◆ RoutingCostId

using lanelet::routing::RoutingCostId = typedef uint16_t

Definition at line 44 of file Forward.h.

◆ RoutingCostPtr

using lanelet::routing::RoutingCostPtr = typedef std::shared_ptr<RoutingCost>

Definition at line 39 of file Forward.h.

◆ RoutingCostPtrs

using lanelet::routing::RoutingCostPtrs = typedef std::vector<RoutingCostPtr>

Definition at line 43 of file Forward.h.

◆ RoutingCosts

using lanelet::routing::RoutingCosts = typedef std::vector<RoutingCost>

Definition at line 41 of file Forward.h.

◆ RoutingCostUPtr

using lanelet::routing::RoutingCostUPtr = typedef std::unique_ptr<RoutingCost>

Definition at line 40 of file Forward.h.

◆ RoutingCostUPtrs

using lanelet::routing::RoutingCostUPtrs = typedef std::vector<RoutingCostUPtr>

Definition at line 42 of file Forward.h.

◆ RoutingGraphConstPtr

using lanelet::routing::RoutingGraphConstPtr = typedef std::shared_ptr<const RoutingGraph>

Definition at line 27 of file Forward.h.

◆ RoutingGraphContainerUPtr

using lanelet::routing::RoutingGraphContainerUPtr = typedef std::unique_ptr<RoutingGraphContainer>

Definition at line 30 of file Forward.h.

◆ RoutingGraphPtr

using lanelet::routing::RoutingGraphPtr = typedef std::shared_ptr<RoutingGraph>

Definition at line 25 of file Forward.h.

◆ RoutingGraphUPtr

using lanelet::routing::RoutingGraphUPtr = typedef std::unique_ptr<RoutingGraph>

Definition at line 26 of file Forward.h.

Enumeration Type Documentation

◆ RelationType

enum lanelet::routing::RelationType : uint8_t

strong

This enum expresses the types of relations lanelet2 distiguishes internally. Between two lanelets a and b (in this order), exactly one of these relation exists.

Note: The relation between b and a is different than between a and b. There is also no obvious symmetry. When a is left of b, b can be either right or adjacent right to b.

Enumerator
None	No relation.
Successor	A (the only) direct, reachable successor. Not merging and not diverging.
Left	(the only) directly adjacent, reachable left neighbour
Right	(the only) directly adjacent, reachable right neighbour
AdjacentLeft	directly adjacent, unreachable left neighbor
AdjacentRight	directly adjacent, unreachable right neighbor
Conflicting	Unreachable but with overlapping shape.
Area	Adjacent to a reachable area.

Definition at line 56 of file Forward.h.

Function Documentation

◆ allowedRelationsfromConfiguration()

RelationType lanelet::routing::allowedRelationsfromConfiguration	(	bool	includeAdjacent,
		bool	includeConflicting
	)

Helper function to slim down getDebugLaneletMap.

Definition at line 761 of file RoutingGraph.cpp.

◆ allRelations()

constexpr RelationType lanelet::routing::allRelations ( )

constexpr

Definition at line 69 of file Forward.h.

◆ checkRelationIs()

template<RelationType Expect>

void lanelet::routing::checkRelationIs	(	Route::Errors &	errors,
		Id	source,
		Id	dest,
		RelationType	sourceRel,
		RelationType	targetRel
	)

Definition at line 355 of file Route.cpp.

◆ createLineString()

LineString3d lanelet::routing::createLineString	(	const Point2d &	from,
		const Point2d &	to,
		RelationType	relation,
		double	routingCost
	)

Definition at line 774 of file RoutingGraph.cpp.

◆ defaultRoutingCosts()

RoutingCostPtrs lanelet::routing::defaultRoutingCosts ( )

inline

Returns routing cost objects for initialization of routing graph with reasonable default values (for vehicles)

Definition at line 122 of file RoutingCost.h.

◆ getEnclosingPolygon3d()

BasicPolygon3d lanelet::routing::getEnclosingPolygon3d ( const LaneletOrAreaPath & path )

finds the Polygon containing all Lanelets and Areas in Path. All points on the polygon will be identical to points of primitives in path.

Parameters

path	Path to merge

Returns: Polygon containing all Lanelets and Areas in Path

Definition at line 338 of file LaneletPath.cpp.

◆ operator!=()

bool lanelet::routing::operator!=	(	const LaneletRelation &	rhs,
		const LaneletRelation &	lhs
	)

inline

Definition at line 41 of file Types.h.

◆ operator&()

constexpr RelationType lanelet::routing::operator&	(	RelationType	r1,
		RelationType	r2
	)

constexpr

Definition at line 73 of file Forward.h.

◆ operator&=()

constexpr RelationType lanelet::routing::operator&=	(	RelationType &	r1,
		RelationType	r2
	)

constexpr

Definition at line 76 of file Forward.h.

◆ operator<<()

std::ostream& lanelet::routing::operator<<	(	std::ostream &	os,
		const RelationType &	r
	)

inline

Definition at line 17 of file RoutingGraphVisualization.h.

◆ operator==()

bool lanelet::routing::operator==	(	const LaneletRelation &	lhs,
		const LaneletRelation &	rhs
	)

inline

Definition at line 38 of file Types.h.

◆ operator>>()

std::istream& lanelet::routing::operator>>	(	std::istream &	is,
		const RelationType &
	)

inline

Definition at line 18 of file RoutingGraphVisualization.h.

◆ operator|()

constexpr RelationType lanelet::routing::operator\|	(	RelationType	r1,
		RelationType	r2
	)

constexpr

Definition at line 77 of file Forward.h.

◆ operator|=()

constexpr RelationType lanelet::routing::operator\|=	(	RelationType &	r1,
		RelationType	r2
	)

constexpr

Definition at line 80 of file Forward.h.

◆ operator~()

constexpr RelationType lanelet::routing::operator~ ( RelationType r )

constexpr

Definition at line 72 of file Forward.h.

◆ relationToColor()

std::string lanelet::routing::relationToColor ( RelationType type )

inline

Definition at line 105 of file Forward.h.

◆ relationToString()

std::string lanelet::routing::relationToString ( RelationType type )

inline

Definition at line 83 of file Forward.h.

Namespaces

Classes

Typedefs

Enumerations

Functions

Typedef Documentation

◆ LaneId

◆ LaneletOrAreaPaths

◆ LaneletOrAreaVisitFunction

◆ LaneletPaths

◆ LaneletRelations

◆ LaneletVisitFunction

◆ RelationUnderlyingType

◆ Routes

◆ RouteUPtr

◆ RoutingCostId

◆ RoutingCostPtr

◆ RoutingCostPtrs

◆ RoutingCosts

◆ RoutingCostUPtr

◆ RoutingCostUPtrs

◆ RoutingGraphConstPtr

◆ RoutingGraphContainerUPtr

◆ RoutingGraphPtr

◆ RoutingGraphUPtr

Enumeration Type Documentation

◆ RelationType

Function Documentation

◆ allowedRelationsfromConfiguration()

◆ allRelations()

◆ checkRelationIs()

◆ createLineString()

◆ defaultRoutingCosts()

◆ getEnclosingPolygon3d()

◆ operator!=()

◆ operator&()

◆ operator&=()

◆ operator<<()

◆ operator==()

◆ operator>>()

◆ operator|()

◆ operator|=()

◆ operator~()

◆ relationToColor()

◆ relationToString()