geometry.hpp File Reference

#include <optional>
#include <vector>
#include <Eigen/Core>

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Classes
struct	lanelet2_route_planning::IntersectionOfLinesResult
	Return type of intersectionOfLines. More...
struct	lanelet2_route_planning::ProjectPointToLineStringAlongAxisResult
	Return type of projectPointToLineStringAlongAxis. More...

Namespaces
namespace	lanelet2_route_planning

Functions
double	lanelet2_route_planning::wrapAngle (const double angle)
	Wraps an angle to the range [-π, π].
double	lanelet2_route_planning::angleBetweenVectors (const Eigen::Vector2d &v1, const Eigen::Vector2d &v2)
	Computes the angle between two 2D vectors.
std::optional< IntersectionOfLinesResult >	lanelet2_route_planning::intersectionOfLines (const std::vector< Eigen::Vector2d > &line1, const std::vector< Eigen::Vector2d > &line2)
	Computes the intersection of two 2D lines.
Eigen::Vector2d	lanelet2_route_planning::tangentOfPointAlongLineString (const Eigen::Vector2d &point, const Eigen::Vector2d &prev_point, const Eigen::Vector2d &next_point)
	Computes a unit vector tangential to a point along a line string.
Eigen::Vector2d	lanelet2_route_planning::normalOfPointAlongLineString (const Eigen::Vector2d &point, const Eigen::Vector2d &prev_point, const Eigen::Vector2d &next_point)
	Computes a unit vector normal to a point along a line string.
std::vector< Eigen::Vector3d >	lanelet2_route_planning::resampleLineString (const std::vector< Eigen::Vector3d > &line_string, const double delta, double &offset)
	Resamples a 3D line string with a constant sampling distance.
std::vector< size_t >	lanelet2_route_planning::adaptivelySampleLineString (const std::vector< Eigen::Vector2d > &line_string, double max_lateral_error, const std::vector< size_t > &break_after_indices={})
	Simplifies a 2D line string within a maximum lateral error.
Eigen::Vector2d	lanelet2_route_planning::projectPointToLineString (const Eigen::Vector2d &point, const std::vector< Eigen::Vector2d > &line_string)
	Projects a point to the closest line segment of a line string.
Eigen::Vector3d	lanelet2_route_planning::projectPointToLineString (const Eigen::Vector3d &point, const std::vector< Eigen::Vector3d > &line_string)
	Projects a 3D point to the closest line segment of a 3D line string.
std::optional< ProjectPointToLineStringAlongAxisResult >	lanelet2_route_planning::projectPointToLineStringAlongAxis (const Eigen::Vector2d &point, const Eigen::Vector2d &axis, const std::vector< Eigen::Vector2d > &line_string)
	Projects a point along an axis to the closest line segment of a line string.
std::optional< ProjectPointToLineStringAlongAxisResult >	lanelet2_route_planning::projectPointToLineStringAlongNormal (const Eigen::Vector2d &point, const Eigen::Vector2d &prev_point, const Eigen::Vector2d &next_point, const std::vector< Eigen::Vector2d > &line_string)
	Projects a point to the closest line segment of a line string along the normal to the tangent at the point.