Class LaneletSubmap

Inheritance Relationships

Base Type

Class Documentation

class LaneletSubmap : public lanelet::LaneletMapLayers

A LaneletSubmap only contains the elemets that have be expleicitly added to it.

This class is similar to a LaneletMap but with one fundamental difference: It is not self-contained. When add is called with an object only this object is added to the map and nothing else like e.g. its subobjects. But you can always convert this object back to a laneletMap by calling “LaneletSubmap::laneletMap”, which is of course a costly operation.

If you want to have a function that can operate on both LaneletMap and LaneletSubmap, consider using their common base class LaneletMapLayers as an input parameter for it.

Public Functions

LaneletSubmap() = default
inline explicit LaneletSubmap(LaneletMap &&rhs) noexcept

Constructs a submap from a moved-from LaneletMap.

inline LaneletSubmap &operator=(LaneletMap &&rhs)
void add(Lanelet lanelet)

adds a lanelet to the submap

If the lanelet or elements owned by the lanelet have InvalId as Id, they will be assigned a new, unique id. Otherwise you are responsible for making sure that the id has not already been for a different element.

Throws:

InvalidInputError – if lanelet has a reglatory element without members

void add(Area area)

adds an area

void add(const RegulatoryElementPtr &regElem)

adds a new regulatory element to the submap.

void add(Polygon3d polygon)

adds a new polygon to the submap

void add(LineString3d lineString)

adds a new lineString the submap

void add(Point3d point)

adds a new point to the submap

LaneletMapConstPtr laneletMap() const

Converts this into a fully valid lanelet map.

LaneletMapUPtr laneletMap()
void trackParameters(const RegulatoryElement &regelem)

In order to let areas and lanelets get out of scope, this function ensures they stay alive. LaneletSubmap::add already handles this for you, so there is usually no need to call this.

LaneletMapLayers() = default
LaneletMapLayers(LaneletMapLayers &&rhs) noexcept = default
LaneletMapLayers(const LaneletMapLayers &rhs) = delete
LaneletMapLayers(const LaneletLayer::Map &lanelets, const AreaLayer::Map &areas, const RegulatoryElementLayer::Map &regulatoryElements, const PolygonLayer::Map &polygons, const LineStringLayer::Map &lineStrings, const PointLayer::Map &points)

Construct from already initialized layers.

Constructs a map from its individual elements for the layers. Unlike with the add functions you are responsible that e.g. all points of a linestring are in the point layer. However, this is the most efficient way to create a map because this will result in the most efficient RTree structure for fastest lookups.

Parameters:

  • lanelets – new lanelet layer

  • areas – new area layer

  • regulatoryElements – new regulatoryElement layer

  • polygons – polygon layer

  • lineStrings – linesting layer

  • points – point layer