geometry.hpp

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// Copyright Institute for Automotive Engineering (ika), RWTH Aachen University
// SPDX-License-Identifier: Apache-2.0
 
#pragma once
 
#include <optional>
#include <vector>
 
#include <Eigen/Core>
 
namespace lanelet2_route_planning {
 
double wrapAngle(const double angle);
 
double angleBetweenVectors(const Eigen::Vector2d& v1, const Eigen::Vector2d& v2);
 
struct IntersectionOfLinesResult {
  Eigen::Vector2d intersection;  
  bool intersects_line1;         
  bool intersects_line2;         
};
 
std::optional<IntersectionOfLinesResult> intersectionOfLines(const std::vector<Eigen::Vector2d>& line1,
                                                             const std::vector<Eigen::Vector2d>& line2);
 
Eigen::Vector2d tangentOfPointAlongLineString(const Eigen::Vector2d& point,
                                              const Eigen::Vector2d& prev_point,
                                              const Eigen::Vector2d& next_point);
 
Eigen::Vector2d normalOfPointAlongLineString(const Eigen::Vector2d& point,
                                             const Eigen::Vector2d& prev_point,
                                             const Eigen::Vector2d& next_point);
 
std::vector<Eigen::Vector3d> resampleLineString(const std::vector<Eigen::Vector3d>& line_string,
                                                const double delta,
                                                double& offset);
 
std::vector<size_t> adaptivelySampleLineString(const std::vector<Eigen::Vector2d>& line_string,
                                               double max_lateral_error,
                                               const std::vector<size_t>& break_after_indices = {});
 
Eigen::Vector2d projectPointToLineString(const Eigen::Vector2d& point, const std::vector<Eigen::Vector2d>& line_string);
 
Eigen::Vector3d projectPointToLineString(const Eigen::Vector3d& point, const std::vector<Eigen::Vector3d>& line_string);
 
struct ProjectPointToLineStringAlongAxisResult {
  Eigen::Vector2d projected_point;            
  bool found_intersection_with_line_segment;  
};
 
std::optional<ProjectPointToLineStringAlongAxisResult> projectPointToLineStringAlongAxis(
    const Eigen::Vector2d& point, const Eigen::Vector2d& axis, const std::vector<Eigen::Vector2d>& line_string);
 
std::optional<ProjectPointToLineStringAlongAxisResult> projectPointToLineStringAlongNormal(
    const Eigen::Vector2d& point,
    const Eigen::Vector2d& prev_point,
    const Eigen::Vector2d& next_point,
    const std::vector<Eigen::Vector2d>& line_string);
 
}  // namespace lanelet2_route_planning