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

#include <RoutingGraph.h>

Public Attributes
Optional< uint32_t >	elementLimit
	element limit for every path. Effect depends on includeShorterPaths More...

bool	includeLaneChanges {false}
	if true, returned paths will include lane changes More...

bool	includeShorterPaths {false}
	also return paths that do not reach the limits More...

RoutingCostId	routingCostId {}
	the routing cost module to be used for the costs More...

Optional< double >	routingCostLimit
	cost limit for every path. Either that or maxElements must be valid. More...

Detailed Description

Controls the behaviour of the different possible path algorithms in RoutingGraph.

Consider the following graph (- or \ connects followers, | is a lane change):

1-2-3-4-5
 \   /
  6-7
  | |
  8-9

Assuming we are using lanelet 1 as start of the search you can get the following results:

routingCostLimit=50 (and the rest the default): Will give you all optimal paths that are at least 50 long (wrt to routing cost module zero, i.e. the first routing cost object from the "routingCosts" parameter that the routing graph was crated with), does not include lane changes. The paths end with the first lanelet that exceeds the 50 cost limit. Depending on the costs, the returned paths might be only the path 1-2-3 (assuming 1-6-7 is too short).
routingCostLimit=70: Will give you only 1-2-3-4, because 1-6-7-4 is a suboptimal path and 1-6-7 is too short.
routingCostLimit=70, includeShorterPaths=True: Will give you 1-2-3-4 and 1-6-7. 1-6-7-4 is not included because the path to 4 is suboptimal
elementLimit=3: Will give you all optimal paths with exactly 3 lanelets (excluding lane changes). The result will be 1-2-3 and 1-6-7
elementLimit=4: Will give you only 1-2-3-4, also because 1-6-7-4 is suboptimal
elementLimit=5, includeShorterPaths=true, includeLaneChanges=true: Will give you all optimal paths that are at most 5 lanelets/areas long, including lane changes. The result might be 1-2-3-4-5, 1-6-7, 1-8-9.
routingCostLimit=50, elementLimit=3, includeLaneChanges=true: Will give you all optimal paths (including lane changes) where the last lanelet/area exceeds the 50 cost limit or that are 3 lanelets/areas long (whatever occurs first). The result might be 1-2-3, 1-6-7 and 1-8-9
routingCostLimit=70, elementLimit=4, includeShorterPaths=true: Will give you all optimal paths as above but also include shorter/cheaper paths. Result: 1-2-3-4, 1-6-7, 1-8-9.

Definition at line 50 of file RoutingGraph.h.

Member Data Documentation

◆ elementLimit

Optional<uint32_t> lanelet::routing::PossiblePathsParams::elementLimit

element limit for every path. Effect depends on includeShorterPaths

Definition at line 52 of file RoutingGraph.h.

◆ includeLaneChanges

bool lanelet::routing::PossiblePathsParams::includeLaneChanges {false}

if true, returned paths will include lane changes

Definition at line 54 of file RoutingGraph.h.

◆ includeShorterPaths

bool lanelet::routing::PossiblePathsParams::includeShorterPaths {false}

also return paths that do not reach the limits

Definition at line 55 of file RoutingGraph.h.

◆ routingCostId

RoutingCostId lanelet::routing::PossiblePathsParams::routingCostId {}

the routing cost module to be used for the costs

Definition at line 53 of file RoutingGraph.h.

◆ routingCostLimit

Optional<double> lanelet::routing::PossiblePathsParams::routingCostLimit

cost limit for every path. Either that or maxElements must be valid.

Definition at line 51 of file RoutingGraph.h.

The documentation for this struct was generated from the following file:

RoutingGraph.h