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| std::optional< lanelet::routing::Route > | lanelet2_route_planning::getRoute (const lanelet::routing::RoutingGraphUPtr &routing_graph, const std::vector< lanelet::ConstLanelet > &route_lanelets) |
| | Computes a route from start to destination along intermediate destinations.
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| size_t | lanelet2_route_planning::indexOfLineStringPointClosestToPoint (const std::vector< Eigen::Vector2d > &line_string, const Eigen::Vector2d &point, const bool consider_order=false, const bool behind=true) |
| | Finds the index of a point in a line string that is closest to another point.
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| size_t | lanelet2_route_planning::matchPointToLineString (const std::vector< Eigen::Vector2d > &line_string, const Eigen::Vector2d &point, const size_t idx_indication, const bool consider_order=false, const bool behind=true) |
| | Finds the index of a point in a line string that is locally closest to another point.
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| size_t | lanelet2_route_planning::considerOrderForPointMatchedToLineString (const std::vector< Eigen::Vector2d > &line_string, const Eigen::Vector2d &point, const size_t idx_closest, const bool behind) |
| | Takes a closest point in a line string and guarantees that it is behind or ahead of the given point.
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| bool | lanelet2_route_planning::changesLaneFromPointToPoint (const Eigen::Vector2d &point, const Eigen::Vector2d &next_point, const double sampling_distance) |
| | Identifies a lane change based on the distance between two reference line points.
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| std::vector< lanelet::ConstLanelet > | lanelet2_route_planning::adjacentLeftOrRightLanelets (const lanelet::ConstLanelet &lanelet, const lanelet::routing::RoutingGraphUPtr &routing_graph, bool left, bool sort_from_left=true) |
| | Finds lanelets adjacent to the left or right of a given lanelet.
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| std::vector< ProjectedLaneletPoints > | lanelet2_route_planning::projectPointToLaneletLines (const Eigen::Vector2d &point, const Eigen::Vector2d &prev_point, const Eigen::Vector2d &next_point, const std::vector< lanelet::ConstLanelet > &lanelets, const rclcpp::Logger &logger=rclcpp::get_logger("lanelet2_route_planning")) |
| | Projects a point to the centerline and bounds of a set of lanelets.
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| std::optional< int > | lanelet2_route_planning::computeFollowingLaneIdxOffset (const lanelet::ConstLanelet &lanelet, const lanelet::ConstLanelet &lanelet_of_next_point, const lanelet::routing::RoutingGraphUPtr &routing_graph) |
| | Computes the offset of lane element indices from current to next route element.
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| route_planning_msgs::msg::RouteElement | lanelet2_route_planning::createMinimalRouteElement (const geometry_msgs::msg::Point &position, const geometry_msgs::msg::Quaternion &orientation, double s=0.0, bool will_change_suggested_lane=false, uint8_t speed_limit=0) |
| | Create a minimal route element message.
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| std::pair< Eigen::Vector2d, Eigen::Vector2d > | lanelet2_route_planning::extractDrivableSpace (const lanelet::LineStringLayer &line_string_layer, const PointSequence &point_sequence, const double max_distance) |
| | Extracts drivable space boundaries for a route element.
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| bool | lanelet2_route_planning::isLineStringDrivable (const lanelet::ConstLineString3d &line_string) |
| | Checks if lanelet line string has a type that is considered drivable.
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| ExtractRegulatoryElementsResult | lanelet2_route_planning::extractRegulatoryElements (const lanelet::ConstLanelet &lanelet, const std::vector< lanelet::ConstLanelet > &adjacent_left_lanelets, const std::vector< lanelet::ConstLanelet > &adjacent_right_lanelets, const PointSequence &point_sequence) |
| | Extracts regulatory element information for a route element.
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| std::optional< std::array< geometry_msgs::msg::Point, 2 > > | lanelet2_route_planning::regulatoryElementReferenceLine (const std::shared_ptr< const lanelet::RegulatoryElement > ®ulatory_element) |
| | Extracts the reference/effect line of a regulatory element.
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| std::optional< std::array< geometry_msgs::msg::Point, 2 > > | lanelet2_route_planning::regulatoryElementCancelLine (const std::shared_ptr< const lanelet::RegulatoryElement > ®ulatory_element) |
| | Extracts the cancel line of a regulatory element.
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| std::vector< geometry_msgs::msg::Point > | lanelet2_route_planning::regulatoryElementPositions (const std::shared_ptr< const lanelet::RegulatoryElement > ®ulatory_element) |
| | Extracts the sign/signal positions of a regulatory element.
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| std::pair< uint8_t, uint8_t > | lanelet2_route_planning::regulatoryElementType (const std::shared_ptr< const lanelet::RegulatoryElement > ®ulatory_element) |
| | Extracts the type and meta value of a regulatory element.
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| uint8_t | lanelet2_route_planning::regulatoryElementSpeedLimit (const std::shared_ptr< const lanelet::RegulatoryElement > ®ulatory_element) |
| | Extracts the speed limit of a regulatory element of subtype 'speed_limit'.
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| uint8_t | lanelet2_route_planning::laneBoundaryType (const lanelet::ConstLineString2d &line) |
| | Extracts the lane boundary type of a lanelet line.
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| uint8_t | lanelet2_route_planning::speedLimit (const lanelet::ConstLanelet &lanelet, const bool consider_regulatory_elements=true) |
| | Extracts the speed limit of a lanelet.
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| uint8_t | lanelet2_route_planning::speedLimit (const lanelet::ConstLanelet &lanelet, const Eigen::Vector2d &point) |
| | Extracts the speed limit of a lanelet at a specific position on that lanelet.
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| std::tuple< uint8_t, int > | lanelet2_route_planning::suggestedTurnSignal (const lanelet::ConstLanelet &lanelet, const rclcpp::Logger &logger) |
| | Extracts the suggested turn signal of a lanelet.
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| lanelet::traffic_rules::TrafficRulesPtr | lanelet2_route_planning::getTrafficRules () |
| | Get traffic rules.
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| std::optional< lanelet::ConstLanelet > | lanelet2_route_planning::laneletAtPoint (const Eigen::Vector2d &point, const lanelet::LaneletMapConstPtr &map, const std::optional< lanelet::traffic_rules::TrafficRulesPtr > traffic_rules=std::nullopt) |
| | Find lanelet at arbitrary point.
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| lanelet::ConstLanelet | lanelet2_route_planning::followLaneletsAlongRoutingGraph (const lanelet::routing::RoutingGraphUPtr &routing_graph, const lanelet::ConstLanelet &lanelet, const Eigen::Vector2d &position, const double distance) |
| | Follows a lanelet's and following lanelets' centerline for a given distance.
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| ResampleCenterlinesAlongPathResult | lanelet2_route_planning::resampleCenterlinesAlongPath (const lanelet::routing::LaneletPath &path, const double delta_s, bool monotonically) |
| | Equidistantly resamples lanelet centerlines along a path to one joint centerline.
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| double | lanelet2_route_planning::distanceTraveled (const route_planning_msgs::msg::Route &route) |
| | Computes the traveled distance along the route.
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| double | lanelet2_route_planning::distanceRemaining (const route_planning_msgs::msg::Route &route) |
| | Computes the remaining distance along the route.
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| double | lanelet2_route_planning::estimateRemainingTime (const route_planning_msgs::msg::Route &route, const double reference_speed=50.0/3.6) |
| | Estimate remaining time for a route based on speed limits.
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| void | lanelet2_route_planning::postprocessRouteMessage (route_planning_msgs::msg::Route &route_msg, std::vector< std::vector< int > > &suggested_turn_signal_distance_ahead_by_route_element_by_lane_element) |
| | Postprocesses a route message, filling missing information that can be inferred from other message contents.
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| void | lanelet2_route_planning::sortLaneletsByMatchingCost (const lanelet::BasicPoint2d &point, std::vector< std::pair< double, lanelet::ConstLanelet > > &lanelets_with_distances, const std::optional< lanelet::traffic_rules::TrafficRulesPtr > &traffic_rules=std::nullopt) |
| | Sorts lanelet candidates by their matching cost for a 2D point.
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| LocalRouteWindow | lanelet2_route_planning::extractLocalRouteWindow (const route_planning_msgs::msg::Route &full_route, size_t current_global_idx, double distance_behind, double distance_ahead) |
| | Extracts a local route window while preserving absolute route data.
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1.12.0