conversions.hpp

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// Copyright Institute for Automotive Engineering (ika), RWTH Aachen University
// SPDX-License-Identifier: Apache-2.0
 
#pragma once
 
#include <vector>
 
#include <lanelet2_core/primitives/LineString.h>
#include <lanelet2_core/primitives/Point.h>
#include <Eigen/Core>
#include <geometry_msgs/msg/point.hpp>
#include <geometry_msgs/msg/quaternion.hpp>
#include <perception_msgs/msg/ego_data.hpp>
#include <route_planning_msgs/msg/route.hpp>
 
namespace lanelet2_route_planning {
 
Eigen::Vector2d to2d(const Eigen::Vector3d& point);
 
Eigen::Vector3d to3d(const Eigen::Vector2d& point);
 
Eigen::Vector3d to3d(const Eigen::Vector2d& point, double z);
 
std::vector<Eigen::Vector2d> to2d(const std::vector<Eigen::Vector3d>& points);
 
std::vector<Eigen::Vector3d> to3d(const std::vector<Eigen::Vector2d>& points);
 
geometry_msgs::msg::Point toRos(const Eigen::Vector2d& point);
 
geometry_msgs::msg::Point toRos(const Eigen::Vector3d& point);
 
geometry_msgs::msg::Point toRos(const lanelet::BasicPoint2d& point);
 
lanelet::BasicPoint2d toLanelet(const Eigen::Vector2d& point);
 
lanelet::BasicPoint3d toLanelet(const Eigen::Vector3d& point);
 
Eigen::Vector2d toEigen2d(const geometry_msgs::msg::Point& point);
 
Eigen::Vector3d toEigen(const geometry_msgs::msg::Point& point);
 
geometry_msgs::msg::Point egoPosition(const perception_msgs::msg::EgoData& ego_data);
 
std::vector<Eigen::Vector2d> toEigen(const lanelet::BasicLineString2d& line_string);
 
std::vector<Eigen::Vector3d> toEigen(const lanelet::BasicLineString3d& line_string);
 
lanelet::BasicLineString2d toLanelet(const std::vector<Eigen::Vector2d>& line_string);
 
lanelet::BasicLineString3d toLanelet(const std::vector<Eigen::Vector3d>& line_string);
 
geometry_msgs::msg::Quaternion toRosQuaternion(const Eigen::Vector2d& vector);
 
std::vector<Eigen::Vector3d> suggestedReferenceLineToEigen(
    const std::vector<route_planning_msgs::msg::RouteElement>& route_elements);
 
}  // namespace lanelet2_route_planning