Struct PossiblePathsParams

Struct Documentation

struct PossiblePathsParams

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.

Public Members

Optional<double> routingCostLimit

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

Optional<uint32_t> elementLimit

element limit for every path. Effect depends on includeShorterPaths

RoutingCostId routingCostId = {}

the routing cost module to be used for the costs

bool includeLaneChanges = {false}

if true, returned paths will include lane changes

bool includeShorterPaths = {false}

also return paths that do not reach the limits