Class RoutingGraphContainer

Class Documentation

class RoutingGraphContainer

Container to associate multiple routing graphs to allow queries on multiple graphs.

Note

We cannot use the ‘conflicting’ relations that have been determined when creating the individual graphs because they used their respective height in 3D (e.g. 2m for a pedestrian), but the participant we want to query for could be taller (e.g. 4m truck). Therefore we can’t rely on that.

Public Types

using ConflictingInGraph = std::pair<size_t, ConstLanelets>

id of conflicing graph, lanelets in conflict there

using ConflictingInGraphs = std::vector<ConflictingInGraph>

Public Functions

inline explicit RoutingGraphContainer(std::vector<RoutingGraphConstPtr> routingGraphs)

Constructor of routing graph container.

Parameters:

routingGraphs – The routing graphs that should be used in the container

inline explicit RoutingGraphContainer(const std::vector<RoutingGraphPtr> &routingGraphs)

Constructor of routing graph container.

Parameters:

routingGraphs – The routing graphs that should be used in the container

inline ConstLanelets conflictingInGraph(const ConstLanelet &lanelet, size_t routingGraphId, double participantHeight = .0) const

Find the conflicting lanelets of a given lanelet within a specified graph.

Parameters:

  • lanelet – Find conflicting ones for this lanelet

  • routingGraphId – ID/position in vector of the routing graph

  • participantHeight – Optional height of the participant

Throws:

InvalidInputError – if the routingGraphId is too high

Returns:

Conflicting lanelets within that graph

inline ConflictingInGraphs conflictingInGraphs(const ConstLanelet &lanelet, double participantHeight = .0) const

Find the conflicting lanelets of a given lanelet within all graphs.

Parameters:

  • lanelet – Find conflicting ones for this lanelet

  • participantHeight – Optional height of the participant

Returns:

Conflicting lanelets within the graphs

inline ConstLanelets conflictingOfRouteInGraph(const Route *route, size_t routingGraphId, double participantHeight = .0) const

Find the conflicting lanelets of a given route within a specified graph.

Parameters:

  • route – Find conflicting lanelets for all lanelets within this route

  • routingGraphId – ID/position in vector of the routing graph

  • participantHeight – Optional height of the participant

Throws:

InvalidInputError – if the routingGraphId is too high

Returns:

Conflicting lanelets within that graph to any lanelet within the route

inline ConflictingInGraphs conflictingOfRouteInGraphs(const Route *route, double participantHeight = .0) const

Find the conflicting lanelets of a given route within all graphs.

Parameters:

  • route – Find conflicting lanelets for all lanelets within this route

  • participantHeight – Optional height of the participant

Returns:

Conflicting lanelets of each graph to any lanelet within the route

inline const std::vector<RoutingGraphConstPtr> &routingGraphs() const

Returns the routing graphs stored in the container.