Function lanelet::matching::getProbabilisticMatches(LaneletMap&, const ObjectWithCovariance2d&, double)

Function Documentation

std::vector<LaneletMatchProbabilistic> lanelet::matching::getProbabilisticMatches(LaneletMap &map, const ObjectWithCovariance2d &obj, double maxDist)

get probabilistic lanelet matches of an object with a maximum deterministic euler distance of maxDist, sorted ascending by Mahalanobis distance

for the distance computation see D. Petrich, T. Dang, D. Kasper, G. Breuel and C. Stiller, “Map-based long term motion prediction for vehicles in traffic environments,” 16th International IEEE Conference on Intelligent Transportation Systems (ITSC 2013), The Hague, 2013, pp. 2166-2172. doi: 10.1109/ITSC.2013.6728549 https://ieeexplore.ieee.org/document/6728549

Throws:

MatchingError – if the orientationCovarianceRadians or the determinant of the position covariance is zero