Each primitive in lanelet2 has its own layer in the map. More...

#include <LaneletMap.h>

Classes
struct	Tree

Public Types
using	const_iterator = internal::TransformIterator< typename Map::const_iterator, const ConstPrimitiveT, internal::PairConverter< const ConstPrimitiveT > >
	iterator that gives a const primitive, not a std::pair More...

using	ConstPrimitiveT = traits::ConstPrimitiveType< T >

using	ConstPrimitiveVec = std::vector< ConstPrimitiveT >

using	ConstSearchFunction = std::function< bool(const internal::SearchBoxT< T > &box, const ConstPrimitiveT &prim)>

using	iterator = internal::TransformIterator< typename Map::iterator, PrimitiveT, internal::PairConverter< PrimitiveT > >
	iterator that gives the primitive when dereferencing, not a std:pair More...

using	Map = std::unordered_map< Id, T >

using	OptConstPrimitiveT = Optional< ConstPrimitiveT >

using	OptPrimitiveT = Optional< PrimitiveT >

using	PrimitiveT = T

using	PrimitiveVec = std::vector< PrimitiveT >

using	SearchFunction = std::function< bool(const internal::SearchBoxT< T > &box, const PrimitiveT &prim)>

Public Member Functions
iterator	begin ()
	iterator to beginning More...

const_iterator	begin () const
	iterator to beginning of the elements (not ordered by id!) More...

bool	empty () const
	returns whether this layer contains something More...

iterator	end ()
	iterator to end More...

const_iterator	end () const
	iterator to end of the elements More...

bool	exists (Id id) const
	checks whether an element exists in this layer More...

iterator	find (Id id)
	non-const version of finding an element More...

const_iterator	find (Id id) const
	find returns an iterator to an element if it exists More...

std::vector< PrimitiveT >	findUsages (const traits::ConstPrimitiveType< traits::OwnedT< PrimitiveT >> &primitive)
	finds usages of an owned type within this layer More...

std::vector< ConstPrimitiveT >	findUsages (const traits::ConstPrimitiveType< traits::OwnedT< PrimitiveT >> &primitive) const
	finds usages of an owned type within this layer More...

PrimitiveT	get (Id id)
	returns an element for this id if it exists More...

ConstPrimitiveT	get (Id id) const
	returns an element for this id if it exists More...

PrimitiveVec	nearest (const BasicPoint2d &point, unsigned n)

ConstPrimitiveVec	nearest (const BasicPoint2d &point, unsigned n) const
	search for the n nearest elements to a point More...

PrimitiveVec	nearest (const Point2d &point, unsigned n)

ConstPrimitiveVec	nearest (const Point2d &point, unsigned n) const

OptConstPrimitiveT	nearestUntil (const BasicPoint2d &point, const ConstSearchFunction &func) const
	repeatedly calls a user-defined predicate until it returns true. More...

OptPrimitiveT	nearestUntil (const BasicPoint2d &point, const SearchFunction &func)

OptConstPrimitiveT	nearestUntil (const ConstPoint2d &point, const ConstSearchFunction &func) const

OptPrimitiveT	nearestUntil (const Point2d &point, const SearchFunction &func)

PrimitiveLayer &	operator= (const PrimitiveLayer &rhs)=delete

	PrimitiveLayer (const PrimitiveLayer &rhs)=delete

	PrimitiveLayer (const PrimitiveLayer::Map &primitives)

	PrimitiveLayer (const PrimitiveLayer::Map &primitives)

PrimitiveVec	search (const BoundingBox2d &area)

ConstPrimitiveVec	search (const BoundingBox2d &area) const
	searches for elements within a search area More...

OptConstPrimitiveT	searchUntil (const BoundingBox2d &area, const ConstSearchFunction &func) const
	searches within search area until a search function returns true. More...

OptPrimitiveT	searchUntil (const BoundingBox2d &area, const SearchFunction &func)

size_t	size () const
	returns number of elements in this layer More...

Id	uniqueId () const
	returns a unique id. it is guaranteed that the id is not used within this layer More...

Protected Member Functions
void	add (const Area &area)

void	add (const Lanelet &ll)

void	add (const Point3d &p)

void	add (const PrimitiveLayer< RegulatoryElementPtr >::PrimitiveT &element)

void	add (const PrimitiveT &element)

PrimitiveLayer &	operator= (PrimitiveLayer &&rhs) noexcept

	PrimitiveLayer (const Map &primitives=Map())

	PrimitiveLayer (PrimitiveLayer &&rhs) noexcept

void	remove (Id element)

	~PrimitiveLayer () noexcept

Protected Attributes
Map	elements_
	the list of elements in this layer More...

std::unique_ptr< Tree >	tree_
	Hides boost trees from you/the compiler. More...

Friends
class	LaneletMap

class	LaneletMapLayers

class	LaneletSubmap

Detailed Description

template<typename T>
class lanelet::PrimitiveLayer< T >

Each primitive in lanelet2 has its own layer in the map.

This template class defines the common interface for these layers. It is only implemented for lanelet primitives and should not be instanciated with any other type.

Layers are an integral part of LaneletMap, they can not be created or modified without a LaneletMap object.

Internally, the elements are identified by their id, therefore it is absolutely important that an id is unique within one layer.

Definition at line 39 of file LaneletMap.h.

Member Typedef Documentation

◆ const_iterator

template<typename T >

using lanelet::PrimitiveLayer< T >::const_iterator = internal::TransformIterator<typename Map::const_iterator, const ConstPrimitiveT, internal::PairConverter<const ConstPrimitiveT> >

iterator that gives a const primitive, not a std::pair

Definition at line 56 of file LaneletMap.h.

◆ ConstPrimitiveT

template<typename T >

using lanelet::PrimitiveLayer< T >::ConstPrimitiveT = traits::ConstPrimitiveType<T>

Definition at line 42 of file LaneletMap.h.

◆ ConstPrimitiveVec

template<typename T >

using lanelet::PrimitiveLayer< T >::ConstPrimitiveVec = std::vector<ConstPrimitiveT>

Definition at line 44 of file LaneletMap.h.

◆ ConstSearchFunction

template<typename T >

using lanelet::PrimitiveLayer< T >::ConstSearchFunction = std::function<bool(const internal::SearchBoxT<T>& box, const ConstPrimitiveT& prim)>

Definition at line 155 of file LaneletMap.h.

◆ iterator

template<typename T >

using lanelet::PrimitiveLayer< T >::iterator = internal::TransformIterator<typename Map::iterator, PrimitiveT, internal::PairConverter<PrimitiveT> >

iterator that gives the primitive when dereferencing, not a std:pair

Definition at line 51 of file LaneletMap.h.

◆ Map

template<typename T >

using lanelet::PrimitiveLayer< T >::Map = std::unordered_map<Id, T>

Definition at line 43 of file LaneletMap.h.

◆ OptConstPrimitiveT

template<typename T >

using lanelet::PrimitiveLayer< T >::OptConstPrimitiveT = Optional<ConstPrimitiveT>

Definition at line 46 of file LaneletMap.h.

◆ OptPrimitiveT

template<typename T >

using lanelet::PrimitiveLayer< T >::OptPrimitiveT = Optional<PrimitiveT>

Definition at line 47 of file LaneletMap.h.

◆ PrimitiveT

template<typename T >

using lanelet::PrimitiveLayer< T >::PrimitiveT = T

Definition at line 41 of file LaneletMap.h.

◆ PrimitiveVec

template<typename T >

using lanelet::PrimitiveLayer< T >::PrimitiveVec = std::vector<PrimitiveT>

Definition at line 45 of file LaneletMap.h.

◆ SearchFunction

template<typename T >

using lanelet::PrimitiveLayer< T >::SearchFunction = std::function<bool(const internal::SearchBoxT<T>& box, const PrimitiveT& prim)>

Definition at line 156 of file LaneletMap.h.

Constructor & Destructor Documentation

◆ PrimitiveLayer() [1/5]

template<typename T >

lanelet::PrimitiveLayer< T >::PrimitiveLayer ( const PrimitiveLayer< T > & rhs )

delete

◆ PrimitiveLayer() [2/5]

template<typename T >

lanelet::PrimitiveLayer< T >::PrimitiveLayer ( const Map & primitives = Map() )

explicitprotected

Definition at line 329 of file LaneletMap.cpp.

◆ PrimitiveLayer() [3/5]

template<typename T >

lanelet::PrimitiveLayer< T >::PrimitiveLayer ( PrimitiveLayer< T > && rhs )

protecteddefaultnoexcept

◆ ~PrimitiveLayer()

template<typename T >

lanelet::PrimitiveLayer< T >::~PrimitiveLayer ( )

protecteddefaultnoexcept

◆ PrimitiveLayer() [4/5]

lanelet::PrimitiveLayer< Lanelet >::PrimitiveLayer ( const PrimitiveLayer< T >::Map & primitives )

Definition at line 337 of file LaneletMap.cpp.

◆ PrimitiveLayer() [5/5]

lanelet::PrimitiveLayer< Area >::PrimitiveLayer ( const PrimitiveLayer< T >::Map & primitives )

Definition at line 345 of file LaneletMap.cpp.

Member Function Documentation

◆ add() [1/5]

void lanelet::PrimitiveLayer< Area >::add ( const Area & area )

protected

Definition at line 392 of file LaneletMap.cpp.

◆ add() [2/5]

void lanelet::PrimitiveLayer< Lanelet >::add ( const Lanelet & ll )

protected

Definition at line 399 of file LaneletMap.cpp.

◆ add() [3/5]

void lanelet::PrimitiveLayer< Point3d >::add ( const Point3d & p )

protected

Definition at line 406 of file LaneletMap.cpp.

◆ add() [4/5]

void lanelet::PrimitiveLayer< RegulatoryElementPtr >::add ( const PrimitiveLayer< RegulatoryElementPtr >::PrimitiveT & element )

protected

Definition at line 413 of file LaneletMap.cpp.

◆ add() [5/5]

template<typename T >

void lanelet::PrimitiveLayer< T >::add ( const PrimitiveT & element )

protected

Definition at line 383 of file LaneletMap.cpp.

◆ begin() [1/2]

template<typename T >

iterator lanelet::PrimitiveLayer< T >::begin ( )

iterator to beginning

Returns: the iterator

◆ begin() [2/2]

template<typename T >

PrimitiveLayer< T >::iterator lanelet::PrimitiveLayer< T >::begin

iterator to beginning of the elements (not ordered by id!)

Returns: the iterator

Definition at line 476 of file LaneletMap.cpp.

◆ empty()

template<typename T >

bool lanelet::PrimitiveLayer< T >::empty ( ) const

inline

returns whether this layer contains something

Returns: true if no elements

Definition at line 147 of file LaneletMap.h.

◆ end() [1/2]

template<typename T >

iterator lanelet::PrimitiveLayer< T >::end ( )

iterator to end

Returns: the iterator

◆ end() [2/2]

template<typename T >

PrimitiveLayer< T >::iterator lanelet::PrimitiveLayer< T >::end

iterator to end of the elements

Returns: the iterator

Definition at line 481 of file LaneletMap.cpp.

◆ exists()

template<typename T >

bool lanelet::PrimitiveLayer< T >::exists ( Id id ) const

checks whether an element exists in this layer

Parameters

id	the id identifying the element

Returns: true if element exists

Definition at line 354 of file LaneletMap.cpp.

◆ find() [1/2]

template<typename T >

PrimitiveLayer< T >::iterator lanelet::PrimitiveLayer< T >::find ( Id id )

non-const version of finding an element

Parameters

id	the id to look for

Returns: iterator to the matching element or end()

Definition at line 486 of file LaneletMap.cpp.

◆ find() [2/2]

template<typename T >

PrimitiveLayer< T >::const_iterator lanelet::PrimitiveLayer< T >::find ( Id id ) const

find returns an iterator to an element if it exists

Parameters

id	id to look for

Returns: iterator to the element or end()

Note that dereferencing the iterator will give you only the primitive, not a std::pair as usual with normal std::maps!

Definition at line 471 of file LaneletMap.cpp.

◆ findUsages() [1/2]

template<typename T >

std::vector< typename PrimitiveLayer< T >::PrimitiveT > lanelet::PrimitiveLayer< T >::findUsages ( const traits::ConstPrimitiveType< traits::OwnedT< PrimitiveT >> & primitive )

finds usages of an owned type within this layer

This is the non-const version to find usages of a primitive in a layer.

Definition at line 427 of file LaneletMap.cpp.

◆ findUsages() [2/2]

template<typename T >

std::vector<ConstPrimitiveT> lanelet::PrimitiveLayer< T >::findUsages ( const traits::ConstPrimitiveType< traits::OwnedT< PrimitiveT >> & primitive ) const

finds usages of an owned type within this layer

See also: utils::findUsages

Finds e.g. points owned by linestrings in the lanelet layer.

The relations are stored by a map internally, so this is just a fast map lookup.

◆ get() [1/2]

template<typename T >

PrimitiveLayer< T >::PrimitiveT lanelet::PrimitiveLayer< T >::get ( Id id )

returns an element for this id if it exists

Parameters

id	the id identifying the element

Exceptions

NoSuchPrimitiveError if the element does not exist

Returns: the non-const version of the element

Definition at line 359 of file LaneletMap.cpp.

◆ get() [2/2]

template<typename T >

PrimitiveLayer< T >::ConstPrimitiveT lanelet::PrimitiveLayer< T >::get ( Id id ) const

returns an element for this id if it exists

Parameters

id	the id identifying the element

Exceptions

NoSuchPrimitiveError if the element does not exist

Returns: the const version of the element

Definition at line 371 of file LaneletMap.cpp.

◆ nearest() [1/4]

template<typename T >

PrimitiveLayer< T >::PrimitiveVec lanelet::PrimitiveLayer< T >::nearest	(	const BasicPoint2d &	point,
		unsigned	n
	)

Definition at line 533 of file LaneletMap.cpp.

◆ nearest() [2/4]

template<typename T >

PrimitiveLayer< T >::ConstPrimitiveVec lanelet::PrimitiveLayer< T >::nearest	(	const BasicPoint2d &	point,
		unsigned	n
	)		const

search for the n nearest elements to a point

Parameters

point	the point for the query
n	number of elements returned

Returns: the element whose bounding boxes are closest to the point

See also: nearestUntil, lanelet::geometry::findNearest

Note that this function does not yield accurate results for all primitives except points. For all other primitives, "nearest" is determined by the bounding box of the object. For regulatory elements, this will be the bounding box of all parameters of the regulatory element. For Lanelets, it will be the bounding box alround the polygon.

If you are not happy with this, have a look at nearestUntil, or one of the free functions, like geometry::findNearest.

Definition at line 526 of file LaneletMap.cpp.

◆ nearest() [3/4]

template<typename T >

PrimitiveVec lanelet::PrimitiveLayer< T >::nearest	(	const Point2d &	point,
		unsigned	n
	)

inline

Definition at line 206 of file LaneletMap.h.

◆ nearest() [4/4]

template<typename T >

ConstPrimitiveVec lanelet::PrimitiveLayer< T >::nearest	(	const Point2d &	point,
		unsigned	n
	)		const

inline

Definition at line 205 of file LaneletMap.h.

◆ nearestUntil() [1/4]

template<typename T >

PrimitiveLayer< T >::OptConstPrimitiveT lanelet::PrimitiveLayer< T >::nearestUntil	(	const BasicPoint2d &	point,
		const ConstSearchFunction &	func
	)		const

repeatedly calls a user-defined predicate until it returns true.

Returns: the element for which the function returned true. If it was never true, an empty Optional is returned.

Starting at the primitive with the closest bounding-box distance to the query point iteratively calls func until true is returned. This can be used for iterative queries.

Definition at line 541 of file LaneletMap.cpp.

◆ nearestUntil() [2/4]

template<typename T >

PrimitiveLayer< T >::OptPrimitiveT lanelet::PrimitiveLayer< T >::nearestUntil	(	const BasicPoint2d &	point,
		const SearchFunction &	func
	)

Definition at line 547 of file LaneletMap.cpp.

◆ nearestUntil() [3/4]

template<typename T >

OptConstPrimitiveT lanelet::PrimitiveLayer< T >::nearestUntil	(	const ConstPoint2d &	point,
		const ConstSearchFunction &	func
	)		const

inline

Definition at line 219 of file LaneletMap.h.

◆ nearestUntil() [4/4]

template<typename T >

OptPrimitiveT lanelet::PrimitiveLayer< T >::nearestUntil	(	const Point2d &	point,
		const SearchFunction &	func
	)

inline

Definition at line 222 of file LaneletMap.h.

◆ operator=() [1/2]

template<typename T >

PrimitiveLayer& lanelet::PrimitiveLayer< T >::operator= ( const PrimitiveLayer< T > & rhs )

delete

◆ operator=() [2/2]

template<typename T >

PrimitiveLayer< T > & lanelet::PrimitiveLayer< T >::operator= ( PrimitiveLayer< T > && rhs )

protecteddefaultnoexcept

◆ remove()

template<typename T >

void lanelet::PrimitiveLayer< T >::remove ( Id element )

protected

◆ search() [1/2]

template<typename T >

PrimitiveLayer< T >::PrimitiveVec lanelet::PrimitiveLayer< T >::search ( const BoundingBox2d & area )

Definition at line 507 of file LaneletMap.cpp.

◆ search() [2/2]

template<typename T >

PrimitiveLayer< T >::ConstPrimitiveVec lanelet::PrimitiveLayer< T >::search ( const BoundingBox2d & area ) const

searches for elements within a search area

Parameters

area	the search area in the map

Returns: a immutable list of matching elements

The search is done by comparing bounding boxes, therefore this function might return false positives because the elements do not intersect with the area, but their bounding boxes do. To sort these out use lanelet::geometry::intersects or lanelet::geometry::overlaps.

Note that this function is also implemented for the point layer for consistency, even if it does not make sense for this type. It will always return an empty vector.

Definition at line 500 of file LaneletMap.cpp.

◆ searchUntil() [1/2]

template<typename T >

PrimitiveLayer< T >::OptConstPrimitiveT lanelet::PrimitiveLayer< T >::searchUntil	(	const BoundingBox2d &	area,
		const ConstSearchFunction &	func
	)		const

searches within search area until a search function returns true.

Returns: the element for which the function returned true

See also: nearestUntil

Starting by the object with the closest bounding box, searchUntil will pass primitives to func until the result is true. This is the returned object. If no such object exists, the Optional will be empty.

Definition at line 514 of file LaneletMap.cpp.

◆ searchUntil() [2/2]

template<typename T >

PrimitiveLayer< T >::OptPrimitiveT lanelet::PrimitiveLayer< T >::searchUntil	(	const BoundingBox2d &	area,
		const SearchFunction &	func
	)

Definition at line 520 of file LaneletMap.cpp.

◆ size()

template<typename T >

size_t lanelet::PrimitiveLayer< T >::size ( ) const

inline

returns number of elements in this layer

Returns: number of elements

Definition at line 153 of file LaneletMap.h.

◆ uniqueId()

template<typename T >

Id lanelet::PrimitiveLayer< T >::uniqueId

returns a unique id. it is guaranteed that the id is not used within this layer

Returns: an unused id

Several calls to uniqueId might or might not produce the same Id, as long as no element with this Id was added to the layer

Definition at line 553 of file LaneletMap.cpp.

Friends And Related Function Documentation

◆ LaneletMap

template<typename T >

friend class LaneletMap

friend

Definition at line 237 of file LaneletMap.h.

◆ LaneletMapLayers

template<typename T >

friend class LaneletMapLayers

friend

Definition at line 238 of file LaneletMap.h.

◆ LaneletSubmap

template<typename T >

friend class LaneletSubmap

friend

Definition at line 239 of file LaneletMap.h.

Member Data Documentation

◆ elements_

template<typename T >

Map lanelet::PrimitiveLayer< T >::elements_

protected

the list of elements in this layer

Definition at line 249 of file LaneletMap.h.

◆ tree_

template<typename T >

std::unique_ptr<Tree> lanelet::PrimitiveLayer< T >::tree_

protected

Hides boost trees from you/the compiler.

Definition at line 250 of file LaneletMap.h.

The documentation for this class was generated from the following files:

Classes

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Detailed Description

template<typename T> class lanelet::PrimitiveLayer< T >

Member Typedef Documentation

◆ const_iterator

◆ ConstPrimitiveT

◆ ConstPrimitiveVec

◆ ConstSearchFunction

◆ iterator

◆ Map

◆ OptConstPrimitiveT

◆ OptPrimitiveT

◆ PrimitiveT

◆ PrimitiveVec

◆ SearchFunction

Constructor & Destructor Documentation

◆ PrimitiveLayer() [1/5]

◆ PrimitiveLayer() [2/5]

◆ PrimitiveLayer() [3/5]

◆ ~PrimitiveLayer()

◆ PrimitiveLayer() [4/5]

◆ PrimitiveLayer() [5/5]

Member Function Documentation

◆ add() [1/5]

◆ add() [2/5]

◆ add() [3/5]

◆ add() [4/5]

◆ add() [5/5]

◆ begin() [1/2]

◆ begin() [2/2]

◆ empty()

◆ end() [1/2]

◆ end() [2/2]

◆ exists()

◆ find() [1/2]

◆ find() [2/2]

◆ findUsages() [1/2]

◆ findUsages() [2/2]

◆ get() [1/2]

◆ get() [2/2]

◆ nearest() [1/4]

◆ nearest() [2/4]

◆ nearest() [3/4]

◆ nearest() [4/4]

◆ nearestUntil() [1/4]

◆ nearestUntil() [2/4]

◆ nearestUntil() [3/4]

◆ nearestUntil() [4/4]

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ remove()

◆ search() [1/2]

◆ search() [2/2]

◆ searchUntil() [1/2]

◆ searchUntil() [2/2]

◆ size()

◆ uniqueId()

Friends And Related Function Documentation

◆ LaneletMap

◆ LaneletMapLayers

◆ LaneletSubmap

Member Data Documentation

◆ elements_

◆ tree_

template<typename T>
class lanelet::PrimitiveLayer< T >