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route_handler.cpp
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// Copyright 2021 Tier IV, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include "route_handler/route_handler.hpp"
#include <lanelet2_extension/utility/message_conversion.hpp>
#include <lanelet2_extension/utility/query.hpp>
#include <lanelet2_extension/utility/utilities.hpp>
#include <rclcpp/rclcpp.hpp>
#include <lanelet2_core/LaneletMap.h>
#include <lanelet2_core/geometry/Lanelet.h>
#include <lanelet2_core/primitives/LaneletSequence.h>
#include <tf2/utils.h>
#include <algorithm>
#include <limits>
#include <memory>
#include <string>
#include <unordered_set>
#include <vector>
namespace
{
using autoware_auto_mapping_msgs::msg::MapPrimitive;
using autoware_auto_planning_msgs::msg::Path;
using autoware_auto_planning_msgs::msg::PathWithLaneId;
using geometry_msgs::msg::Pose;
using lanelet::utils::to2D;
bool exists(const std::vector<MapPrimitive> & primitives, const int64_t & id)
{
for (const auto & p : primitives) {
if (p.id == id) {
return true;
}
}
return false;
}
template <typename T>
bool exists(const std::vector<T> & vectors, const T & item)
{
for (const auto & i : vectors) {
if (i == item) {
return true;
}
}
return false;
}
bool isRouteLooped(const autoware_auto_planning_msgs::msg::HADMapRoute & route_msg)
{
const auto & route_sections = route_msg.segments;
for (const auto & route_section : route_sections) {
const auto primitives = route_section.primitives;
for (auto itr = primitives.begin(); itr != primitives.end(); ++itr) {
const auto next_itr = itr + 1;
if (next_itr == primitives.end()) break;
if (std::any_of(next_itr, primitives.end(), [itr](auto p) { return p.id == itr->id; })) {
return true;
}
}
}
return false;
}
lanelet::ConstPoint3d get3DPointFrom2DArcLength(
const lanelet::ConstLanelets & lanelet_sequence, const double s)
{
double accumulated_distance2d = 0;
for (const auto & llt : lanelet_sequence) {
const auto & centerline = llt.centerline();
lanelet::ConstPoint3d prev_pt;
if (!centerline.empty()) {
prev_pt = centerline.front();
}
for (const auto & pt : centerline) {
double distance2d = lanelet::geometry::distance2d(to2D(prev_pt), to2D(pt));
if (accumulated_distance2d + distance2d > s) {
double ratio = (s - accumulated_distance2d) / distance2d;
auto interpolated_pt = prev_pt.basicPoint() * (1 - ratio) + pt.basicPoint() * ratio;
return lanelet::ConstPoint3d(
lanelet::InvalId, interpolated_pt.x(), interpolated_pt.y(), interpolated_pt.z());
}
accumulated_distance2d += distance2d;
prev_pt = pt;
}
}
return lanelet::ConstPoint3d();
}
Path convertToPathFromPathWithLaneId(const PathWithLaneId & path_with_lane_id)
{
Path path;
path.header = path_with_lane_id.header;
path.drivable_area = path_with_lane_id.drivable_area;
for (const auto & pt_with_lane_id : path_with_lane_id.points) {
path.points.push_back(pt_with_lane_id.point);
}
return path;
}
PathWithLaneId removeOverlappingPoints(const PathWithLaneId & input_path)
{
PathWithLaneId filtered_path;
for (const auto & pt : input_path.points) {
if (filtered_path.points.empty()) {
filtered_path.points.push_back(pt);
continue;
}
constexpr double min_dist = 0.1;
if (
tier4_autoware_utils::calcDistance3d(filtered_path.points.back().point, pt.point) <
min_dist) {
filtered_path.points.back().lane_ids.push_back(pt.lane_ids.front());
filtered_path.points.back().point.longitudinal_velocity_mps = std::min(
pt.point.longitudinal_velocity_mps,
filtered_path.points.back().point.longitudinal_velocity_mps);
} else {
filtered_path.points.push_back(pt);
}
}
filtered_path.drivable_area = input_path.drivable_area;
return filtered_path;
}
double getDistanceToShoulderBoundary(
const lanelet::ConstLanelets & shoulder_lanelets, const Pose & pose)
{
lanelet::ConstLanelet closest_shoulder_lanelet;
lanelet::ArcCoordinates arc_coordinates;
if (lanelet::utils::query::getClosestLanelet(
shoulder_lanelets, pose, &closest_shoulder_lanelet)) {
const auto lanelet_point = lanelet::utils::conversion::toLaneletPoint(pose.position);
const auto & left_line_2d = lanelet::utils::to2D(closest_shoulder_lanelet.leftBound3d());
arc_coordinates = lanelet::geometry::toArcCoordinates(
left_line_2d, lanelet::utils::to2D(lanelet_point).basicPoint());
} else {
RCLCPP_ERROR_STREAM(
rclcpp::get_logger("behavior_path_planner").get_child("utilities"),
"closest shoulder lanelet not found.");
}
return arc_coordinates.distance;
}
std::string toString(const geometry_msgs::msg::Pose & pose)
{
std::stringstream ss;
ss << "(" << pose.position.x << ", " << pose.position.y << "," << pose.position.z << ")";
return ss.str();
}
} // namespace
namespace route_handler
{
RouteHandler::RouteHandler(const HADMapBin & map_msg) { setMap(map_msg); }
void RouteHandler::setMap(const HADMapBin & map_msg)
{
lanelet_map_ptr_ = std::make_shared<lanelet::LaneletMap>();
lanelet::utils::conversion::fromBinMsg(
map_msg, lanelet_map_ptr_, &traffic_rules_ptr_, &routing_graph_ptr_);
const auto traffic_rules = lanelet::traffic_rules::TrafficRulesFactory::create(
lanelet::Locations::Germany, lanelet::Participants::Vehicle);
const auto pedestrian_rules = lanelet::traffic_rules::TrafficRulesFactory::create(
lanelet::Locations::Germany, lanelet::Participants::Pedestrian);
lanelet::routing::RoutingGraphConstPtr vehicle_graph =
lanelet::routing::RoutingGraph::build(*lanelet_map_ptr_, *traffic_rules);
lanelet::routing::RoutingGraphConstPtr pedestrian_graph =
lanelet::routing::RoutingGraph::build(*lanelet_map_ptr_, *pedestrian_rules);
lanelet::routing::RoutingGraphContainer overall_graphs({vehicle_graph, pedestrian_graph});
overall_graphs_ptr_ =
std::make_shared<const lanelet::routing::RoutingGraphContainer>(overall_graphs);
lanelet::ConstLanelets all_lanelets = lanelet::utils::query::laneletLayer(lanelet_map_ptr_);
road_lanelets_ = lanelet::utils::query::roadLanelets(all_lanelets);
shoulder_lanelets_ = lanelet::utils::query::shoulderLanelets(all_lanelets);
is_map_msg_ready_ = true;
is_handler_ready_ = false;
setLaneletsFromRouteMsg();
}
void RouteHandler::setRoute(const HADMapRoute & route_msg)
{
if (!isRouteLooped(route_msg)) {
route_msg_ = route_msg;
is_route_msg_ready_ = true;
is_handler_ready_ = false;
setLaneletsFromRouteMsg();
} else {
RCLCPP_ERROR(
logger_,
"Loop detected within route! Currently, no loop is allowed for route! Using previous route");
}
}
bool RouteHandler::isHandlerReady() const { return is_handler_ready_; }
void RouteHandler::setRouteLanelets(const lanelet::ConstLanelets & path_lanelets)
{
if (!path_lanelets.empty()) {
auto first_lanelet = path_lanelets.front();
start_lanelets_ = lanelet::utils::query::getAllNeighbors(routing_graph_ptr_, first_lanelet);
auto last_lanelet = path_lanelets.back();
goal_lanelets_ = lanelet::utils::query::getAllNeighbors(routing_graph_ptr_, last_lanelet);
}
// set route lanelets
std::unordered_set<lanelet::Id> route_lanelets_id;
std::unordered_set<lanelet::Id> candidate_lanes_id;
for (const auto & lane : path_lanelets) {
route_lanelets_id.insert(lane.id());
const auto right_relations = routing_graph_ptr_->rightRelations(lane);
for (const auto & right_relation : right_relations) {
if (right_relation.relationType == lanelet::routing::RelationType::Right) {
route_lanelets_id.insert(right_relation.lanelet.id());
} else if (right_relation.relationType == lanelet::routing::RelationType::AdjacentRight) {
candidate_lanes_id.insert(right_relation.lanelet.id());
}
}
const auto left_relations = routing_graph_ptr_->leftRelations(lane);
for (const auto & left_relation : left_relations) {
if (left_relation.relationType == lanelet::routing::RelationType::Left) {
route_lanelets_id.insert(left_relation.lanelet.id());
} else if (left_relation.relationType == lanelet::routing::RelationType::AdjacentLeft) {
candidate_lanes_id.insert(left_relation.lanelet.id());
}
}
}
// check if candidates are really part of route
for (const auto & candidate_id : candidate_lanes_id) {
lanelet::ConstLanelet lanelet = lanelet_map_ptr_->laneletLayer.get(candidate_id);
auto previous_lanelets = routing_graph_ptr_->previous(lanelet);
bool is_connected_to_main_lanes_prev = false;
bool is_connected_to_candidate_prev = true;
if (exists(start_lanelets_, lanelet)) {
is_connected_to_candidate_prev = false;
}
while (!previous_lanelets.empty() && is_connected_to_candidate_prev &&
!is_connected_to_main_lanes_prev) {
is_connected_to_candidate_prev = false;
for (const auto & prev_lanelet : previous_lanelets) {
if (route_lanelets_id.find(prev_lanelet.id()) != route_lanelets_id.end()) {
is_connected_to_main_lanes_prev = true;
break;
}
if (exists(start_lanelets_, prev_lanelet)) {
break;
}
if (candidate_lanes_id.find(prev_lanelet.id()) != candidate_lanes_id.end()) {
is_connected_to_candidate_prev = true;
previous_lanelets = routing_graph_ptr_->previous(prev_lanelet);
break;
}
}
}
auto following_lanelets = routing_graph_ptr_->following(lanelet);
bool is_connected_to_main_lanes_next = false;
bool is_connected_to_candidate_next = true;
if (exists(goal_lanelets_, lanelet)) {
is_connected_to_candidate_next = false;
}
while (!following_lanelets.empty() && is_connected_to_candidate_next &&
!is_connected_to_main_lanes_next) {
is_connected_to_candidate_next = false;
for (const auto & next_lanelet : following_lanelets) {
if (route_lanelets_id.find(next_lanelet.id()) != route_lanelets_id.end()) {
is_connected_to_main_lanes_next = true;
break;
}
if (exists(goal_lanelets_, next_lanelet)) {
break;
}
if (candidate_lanes_id.find(next_lanelet.id()) != candidate_lanes_id.end()) {
is_connected_to_candidate_next = true;
following_lanelets = routing_graph_ptr_->following(next_lanelet);
break;
}
}
}
if (is_connected_to_main_lanes_next && is_connected_to_main_lanes_prev) {
route_lanelets_id.insert(candidate_id);
}
}
route_lanelets_.clear();
for (const auto & id : route_lanelets_id) {
route_lanelets_.push_back(lanelet_map_ptr_->laneletLayer.get(id));
}
}
void RouteHandler::setLaneletsFromRouteMsg()
{
if (!is_route_msg_ready_ || !is_map_msg_ready_) {
return;
}
route_lanelets_.clear();
preferred_lanelets_.clear();
for (const auto & route_section : route_msg_.segments) {
for (const auto & primitive : route_section.primitives) {
const auto id = primitive.id;
const auto & llt = lanelet_map_ptr_->laneletLayer.get(id);
route_lanelets_.push_back(llt);
if (id == route_section.preferred_primitive_id) {
preferred_lanelets_.push_back(llt);
}
}
}
goal_lanelets_.clear();
start_lanelets_.clear();
if (!route_msg_.segments.empty()) {
for (const auto & primitive : route_msg_.segments.back().primitives) {
const auto id = primitive.id;
const auto & llt = lanelet_map_ptr_->laneletLayer.get(id);
goal_lanelets_.push_back(llt);
}
for (const auto & primitive : route_msg_.segments.front().primitives) {
const auto id = primitive.id;
const auto & llt = lanelet_map_ptr_->laneletLayer.get(id);
start_lanelets_.push_back(llt);
}
}
is_handler_ready_ = true;
}
lanelet::ConstPolygon3d RouteHandler::getIntersectionAreaById(const lanelet::Id id) const
{
return lanelet_map_ptr_->polygonLayer.get(id);
}
Header RouteHandler::getRouteHeader() const { return route_msg_.header; }
std::vector<lanelet::ConstLanelet> RouteHandler::getLanesBeforePose(
const geometry_msgs::msg::Pose & pose, const double vehicle_length) const
{
lanelet::ConstLanelet pose_lanelet;
if (!getClosestLaneletWithinRoute(pose, &pose_lanelet)) {
return std::vector<lanelet::ConstLanelet>{};
}
const double min_preceding_length = vehicle_length * 2;
const auto preceding_lanes_vec = lanelet::utils::query::getPrecedingLaneletSequences(
routing_graph_ptr_, pose_lanelet, min_preceding_length);
if (preceding_lanes_vec.empty()) {
return std::vector<lanelet::ConstLanelet>{};
}
return preceding_lanes_vec.front();
}
std::vector<lanelet::ConstLanelet> RouteHandler::getLanesAfterGoal(
const double vehicle_length) const
{
lanelet::ConstLanelet goal_lanelet;
if (!getGoalLanelet(&goal_lanelet)) {
return std::vector<lanelet::ConstLanelet>{};
}
const double min_succeeding_length = vehicle_length * 2;
const auto succeeding_lanes_vec = lanelet::utils::query::getSucceedingLaneletSequences(
routing_graph_ptr_, goal_lanelet, min_succeeding_length);
if (succeeding_lanes_vec.empty()) {
return std::vector<lanelet::ConstLanelet>{};
}
return succeeding_lanes_vec.front();
}
lanelet::ConstLanelets RouteHandler::getRouteLanelets() const { return route_lanelets_; }
Pose RouteHandler::getGoalPose() const { return route_msg_.goal_pose; }
void RouteHandler::setPullOverGoalPose(
const lanelet::ConstLanelet target_lane, const double vehicle_width, const double margin)
{
const auto arc_position_goal =
lanelet::utils::getArcCoordinates({target_lane}, route_msg_.goal_pose);
Path centerline_path = convertToPathFromPathWithLaneId(
getCenterLinePath({target_lane}, 0.0, arc_position_goal.length + 10));
const auto seg_idx = tier4_autoware_utils::findNearestSegmentIndex(
centerline_path.points, route_msg_.goal_pose.position);
const double d_lat = tier4_autoware_utils::calcLongitudinalOffsetToSegment(
centerline_path.points, seg_idx, route_msg_.goal_pose.position);
const auto shoulder_point =
tier4_autoware_utils::calcOffsetPose(centerline_path.points.at(seg_idx).pose, d_lat, 0.0, 0.0);
pull_over_goal_pose_.orientation = shoulder_point.orientation;
pull_over_goal_pose_.position = shoulder_point.position;
// distance between shoulder lane's left boundary and shoulder lane center
double distance_shoulder_to_left_boundary =
getDistanceToShoulderBoundary({target_lane}, shoulder_point);
// distance between shoulder lane center and target line
double distance_shoulder_to_target =
distance_shoulder_to_left_boundary + vehicle_width / 2 + margin;
// Apply shifting shoulder lane to adjust to target line
double offset = -distance_shoulder_to_target;
double yaw = tf2::getYaw(shoulder_point.orientation);
pull_over_goal_pose_.position.x = shoulder_point.position.x - std::sin(yaw) * offset;
pull_over_goal_pose_.position.y = shoulder_point.position.y + std::cos(yaw) * offset;
}
Pose RouteHandler::getPullOverGoalPose() const { return pull_over_goal_pose_; }
lanelet::Id RouteHandler::getGoalLaneId() const
{
if (route_msg_.segments.empty()) {
return lanelet::InvalId;
} else {
return route_msg_.segments.back().preferred_primitive_id;
}
}
bool RouteHandler::getGoalLanelet(lanelet::ConstLanelet * goal_lanelet) const
{
const lanelet::Id goal_lane_id = getGoalLaneId();
for (const auto & llt : route_lanelets_) {
if (llt.id() == goal_lane_id) {
*goal_lanelet = llt;
return true;
}
}
return false;
}
bool RouteHandler::isInGoalRouteSection(const lanelet::ConstLanelet & lanelet) const
{
if (route_msg_.segments.empty()) {
return false;
} else {
return exists(route_msg_.segments.back().primitives, lanelet.id());
}
}
lanelet::ConstLanelets RouteHandler::getLaneletsFromIds(const lanelet::Ids ids) const
{
lanelet::ConstLanelets lanelets;
for (const auto & id : ids) {
lanelets.push_back(lanelet_map_ptr_->laneletLayer.get(id));
}
return lanelets;
}
lanelet::ConstLanelet RouteHandler::getLaneletsFromId(const lanelet::Id id) const
{
return lanelet_map_ptr_->laneletLayer.get(id);
}
bool RouteHandler::isDeadEndLanelet(const lanelet::ConstLanelet & lanelet) const
{
lanelet::ConstLanelet next_lanelet;
if (getNextLaneletWithinRoute(lanelet, &next_lanelet)) {
return false;
}
return true;
}
lanelet::ConstLanelets RouteHandler::getLaneletSequenceAfter(
const lanelet::ConstLanelet & lanelet, const double min_length) const
{
lanelet::ConstLanelets lanelet_sequence_forward;
if (!exists(route_lanelets_, lanelet)) {
return lanelet_sequence_forward;
}
double length = 0;
lanelet::ConstLanelet current_lanelet = lanelet;
while (rclcpp::ok() && length < min_length) {
lanelet::ConstLanelet next_lanelet;
if (!getNextLaneletWithinRoute(current_lanelet, &next_lanelet)) {
break;
}
lanelet_sequence_forward.push_back(next_lanelet);
current_lanelet = next_lanelet;
length += boost::geometry::length(next_lanelet.centerline().basicLineString());
}
return lanelet_sequence_forward;
}
lanelet::ConstLanelets RouteHandler::getLaneletSequenceUpTo(
const lanelet::ConstLanelet & lanelet, const double min_length) const
{
lanelet::ConstLanelets lanelet_sequence_backward;
if (!exists(route_lanelets_, lanelet)) {
return lanelet_sequence_backward;
}
lanelet::ConstLanelet current_lanelet = lanelet;
double length = 0;
while (rclcpp::ok() && length < min_length) {
lanelet::ConstLanelets candidate_lanelets;
if (!getPreviousLaneletsWithinRoute(current_lanelet, &candidate_lanelets)) {
break;
}
// If lanelet_sequence_backward with input lanelet contains all candidate lanelets,
// break the loop.
if (std::all_of(
candidate_lanelets.begin(), candidate_lanelets.end(),
[lanelet_sequence_backward, lanelet](auto & prev_llt) {
return std::any_of(
lanelet_sequence_backward.begin(), lanelet_sequence_backward.end(),
[prev_llt, lanelet](auto & llt) {
return (llt.id() == prev_llt.id() || lanelet.id() == prev_llt.id());
});
})) {
break;
}
for (const auto & prev_lanelet : candidate_lanelets) {
if (std::any_of(
lanelet_sequence_backward.begin(), lanelet_sequence_backward.end(),
[prev_lanelet, lanelet](auto & llt) {
return (llt.id() == prev_lanelet.id() || lanelet.id() == prev_lanelet.id());
})) {
continue;
}
lanelet_sequence_backward.push_back(prev_lanelet);
length += boost::geometry::length(prev_lanelet.centerline().basicLineString());
current_lanelet = prev_lanelet;
break;
}
}
std::reverse(lanelet_sequence_backward.begin(), lanelet_sequence_backward.end());
return lanelet_sequence_backward;
}
lanelet::ConstLanelets RouteHandler::getLaneletSequence(
const lanelet::ConstLanelet & lanelet, const double backward_distance,
const double forward_distance) const
{
Pose current_pose{};
current_pose.orientation.w = 1;
if (!lanelet.centerline().empty()) {
current_pose.position = lanelet::utils::conversion::toGeomMsgPt(lanelet.centerline().front());
}
lanelet::ConstLanelets lanelet_sequence;
lanelet::ConstLanelets lanelet_sequence_backward;
lanelet::ConstLanelets lanelet_sequence_forward;
if (!exists(route_lanelets_, lanelet)) {
return lanelet_sequence;
}
lanelet_sequence_forward = getLaneletSequenceAfter(lanelet, forward_distance);
const auto arc_coordinate = lanelet::utils::getArcCoordinates({lanelet}, current_pose);
if (arc_coordinate.length < backward_distance) {
lanelet_sequence_backward = getLaneletSequenceUpTo(lanelet, backward_distance);
}
// loop check
if (!lanelet_sequence_forward.empty() && !lanelet_sequence_backward.empty()) {
if (lanelet_sequence_backward.back().id() == lanelet_sequence_forward.front().id()) {
return lanelet_sequence_forward;
}
}
lanelet_sequence.insert(
lanelet_sequence.end(), lanelet_sequence_backward.begin(), lanelet_sequence_backward.end());
lanelet_sequence.push_back(lanelet);
lanelet_sequence.insert(
lanelet_sequence.end(), lanelet_sequence_forward.begin(), lanelet_sequence_forward.end());
return lanelet_sequence;
}
lanelet::ConstLanelets RouteHandler::getLaneletSequence(
const lanelet::ConstLanelet & lanelet, const Pose & current_pose, const double backward_distance,
const double forward_distance) const
{
lanelet::ConstLanelets lanelet_sequence;
lanelet::ConstLanelets lanelet_sequence_backward;
lanelet::ConstLanelets lanelet_sequence_forward;
if (!exists(route_lanelets_, lanelet)) {
return lanelet_sequence;
}
lanelet_sequence_forward = getLaneletSequenceAfter(lanelet, forward_distance);
const auto arc_coordinate = lanelet::utils::getArcCoordinates({lanelet}, current_pose);
if (arc_coordinate.length < backward_distance) {
lanelet_sequence_backward = getLaneletSequenceUpTo(lanelet, backward_distance);
}
// loop check
if (!lanelet_sequence_forward.empty() && !lanelet_sequence_backward.empty()) {
if (lanelet_sequence_backward.back().id() == lanelet_sequence_forward.front().id()) {
return lanelet_sequence_forward;
}
}
lanelet_sequence.insert(
lanelet_sequence.end(), lanelet_sequence_backward.begin(), lanelet_sequence_backward.end());
lanelet_sequence.push_back(lanelet);
lanelet_sequence.insert(
lanelet_sequence.end(), lanelet_sequence_forward.begin(), lanelet_sequence_forward.end());
return lanelet_sequence;
}
bool RouteHandler::getFollowingShoulderLanelet(
const lanelet::ConstLanelet & lanelet, lanelet::ConstLanelet * following_lanelet) const
{
Pose back_pose;
back_pose.position.x = lanelet.centerline2d().back().x();
back_pose.position.y = lanelet.centerline2d().back().y();
back_pose.position.z = 0;
lanelet::ArcCoordinates arc_coordinates;
const auto & centerline_2d = to2D(lanelet.centerline());
for (const auto & shoulder_lanelet : shoulder_lanelets_) {
Pose front_pose;
front_pose.position.x = shoulder_lanelet.centerline2d().front().x();
front_pose.position.y = shoulder_lanelet.centerline2d().front().y();
front_pose.position.z = 0;
if (
std::hypot(
front_pose.position.x - back_pose.position.x,
front_pose.position.y - back_pose.position.y) < 5) {
*following_lanelet = shoulder_lanelet;
return true;
}
}
return false;
}
lanelet::ConstLanelets RouteHandler::getShoulderLaneletSequenceAfter(
const lanelet::ConstLanelet & lanelet, const double min_length) const
{
lanelet::ConstLanelets lanelet_sequence_forward;
if (!exists(shoulder_lanelets_, lanelet)) {
return lanelet_sequence_forward;
}
double length = 0;
lanelet::ConstLanelet current_lanelet = lanelet;
while (rclcpp::ok() && length < min_length) {
lanelet::ConstLanelet next_lanelet;
if (!getFollowingShoulderLanelet(current_lanelet, &next_lanelet)) {
break;
}
lanelet_sequence_forward.push_back(next_lanelet);
current_lanelet = next_lanelet;
length += boost::geometry::length(next_lanelet.centerline().basicLineString());
}
return lanelet_sequence_forward;
}
bool RouteHandler::getPreviousShoulderLanelet(
const lanelet::ConstLanelet & lanelet, lanelet::ConstLanelet * prev_lanelet) const
{
Pose front_pose;
front_pose.position.x = lanelet.centerline2d().front().x();
front_pose.position.y = lanelet.centerline2d().front().y();
front_pose.position.z = 0;
lanelet::ArcCoordinates arc_coordinates;
const auto & centerline_2d = to2D(lanelet.centerline());
for (const auto & shoulder_lanelet : shoulder_lanelets_) {
Pose back_pose;
back_pose.position.x = shoulder_lanelet.centerline2d().back().x();
back_pose.position.y = shoulder_lanelet.centerline2d().back().y();
back_pose.position.z = 0;
if (
std::hypot(
front_pose.position.x - back_pose.position.x,
front_pose.position.y - back_pose.position.y) < 5) {
*prev_lanelet = shoulder_lanelet;
return true;
}
}
return false;
}
lanelet::ConstLanelets RouteHandler::getShoulderLaneletSequenceUpTo(
const lanelet::ConstLanelet & lanelet, const double min_length) const
{
lanelet::ConstLanelets lanelet_sequence_backward;
if (!exists(shoulder_lanelets_, lanelet)) {
return lanelet_sequence_backward;
}
double length = 0;
lanelet::ConstLanelet current_lanelet = lanelet;
while (rclcpp::ok() && length < min_length) {
lanelet::ConstLanelet prev_lanelet;
if (!getPreviousShoulderLanelet(current_lanelet, &prev_lanelet)) {
break;
}
lanelet_sequence_backward.insert(lanelet_sequence_backward.begin(), prev_lanelet);
current_lanelet = prev_lanelet;
length += boost::geometry::length(prev_lanelet.centerline().basicLineString());
}
return lanelet_sequence_backward;
}
lanelet::ConstLanelets RouteHandler::getShoulderLaneletSequence(
const lanelet::ConstLanelet & lanelet, const Pose & current_pose, const double backward_distance,
const double forward_distance) const
{
lanelet::ConstLanelets lanelet_sequence;
lanelet::ConstLanelets lanelet_sequence_backward;
lanelet::ConstLanelets lanelet_sequence_forward;
if (!exists(shoulder_lanelets_, lanelet)) {
return lanelet_sequence;
}
lanelet_sequence_forward = getShoulderLaneletSequenceAfter(lanelet, forward_distance);
const auto arc_coordinate = lanelet::utils::getArcCoordinates({lanelet}, current_pose);
if (arc_coordinate.length < backward_distance) {
lanelet_sequence_backward = getShoulderLaneletSequenceUpTo(lanelet, backward_distance);
}
// loop check
if (!lanelet_sequence_forward.empty() && !lanelet_sequence_backward.empty()) {
if (lanelet_sequence_backward.back().id() == lanelet_sequence_forward.front().id()) {
return lanelet_sequence_forward;
}
}
lanelet_sequence.insert(
lanelet_sequence.end(), lanelet_sequence_backward.begin(), lanelet_sequence_backward.end());
lanelet_sequence.push_back(lanelet);
lanelet_sequence.insert(
lanelet_sequence.end(), lanelet_sequence_forward.begin(), lanelet_sequence_forward.end());
return lanelet_sequence;
}
bool RouteHandler::getClosestLaneletWithinRoute(
const Pose & search_pose, lanelet::ConstLanelet * closest_lanelet) const
{
return lanelet::utils::query::getClosestLanelet(route_lanelets_, search_pose, closest_lanelet);
}
bool RouteHandler::getNextLaneletWithinRoute(
const lanelet::ConstLanelet & lanelet, lanelet::ConstLanelet * next_lanelet) const
{
if (exists(goal_lanelets_, lanelet)) {
return false;
}
lanelet::ConstLanelets following_lanelets = routing_graph_ptr_->following(lanelet);
for (const auto & llt : following_lanelets) {
if (exists(route_lanelets_, llt)) {
*next_lanelet = llt;
return true;
}
}
return false;
}
lanelet::ConstLanelets RouteHandler::getNextLanelets(const lanelet::ConstLanelet & lanelet) const
{
return routing_graph_ptr_->following(lanelet);
}
bool RouteHandler::getPreviousLaneletsWithinRoute(
const lanelet::ConstLanelet & lanelet, lanelet::ConstLanelets * prev_lanelets) const
{
if (exists(start_lanelets_, lanelet)) {
return false;
}
lanelet::ConstLanelets candidate_lanelets = routing_graph_ptr_->previous(lanelet);
prev_lanelets->clear();
for (const auto & llt : candidate_lanelets) {
if (exists(route_lanelets_, llt)) {
prev_lanelets->push_back(llt);
}
}
return !(prev_lanelets->empty());
}
lanelet::ConstLanelets RouteHandler::getLaneletsFromPoint(const lanelet::ConstPoint3d & point) const
{
return lanelet::utils::findUsagesInLanelets(*lanelet_map_ptr_, point);
}
bool RouteHandler::getRightLaneletWithinRoute(
const lanelet::ConstLanelet & lanelet, lanelet::ConstLanelet * right_lanelet) const
{
auto opt_right_lanelet = routing_graph_ptr_->right(lanelet);
if (!!opt_right_lanelet) {
*right_lanelet = opt_right_lanelet.get();
return exists(route_lanelets_, *right_lanelet);
} else {
return false;
}
}
bool RouteHandler::getNextLaneletWithinRouteExceptStart(
const lanelet::ConstLanelet & lanelet, lanelet::ConstLanelet * next_lanelet) const
{
if (exists(goal_lanelets_, lanelet)) {
return false;
}
lanelet::ConstLanelets following_lanelets = routing_graph_ptr_->following(lanelet);
for (const auto & llt : following_lanelets) {
if (exists(route_lanelets_, llt) && !exists(start_lanelets_, llt)) {
*next_lanelet = llt;
return true;
}
}
return false;
}
bool RouteHandler::getPreviousLaneletWithinRouteExceptGoal(
const lanelet::ConstLanelet & lanelet, lanelet::ConstLanelet * prev_lanelet) const
{
if (exists(start_lanelets_, lanelet)) {
return false;
}
lanelet::ConstLanelets previous_lanelets = routing_graph_ptr_->previous(lanelet);
for (const auto & llt : previous_lanelets) {
if (exists(route_lanelets_, llt) && !(exists(goal_lanelets_, llt))) {
*prev_lanelet = llt;
return true;
}
}
return false;
}
bool RouteHandler::isBijectiveConnection(
const lanelet::ConstLanelets & lanelet_section1,
const lanelet::ConstLanelets & lanelet_section2) const
{
if (lanelet_section1.size() != lanelet_section2.size()) {
return false;
}
// check injection
for (const auto & lanelet : lanelet_section1) {
lanelet::ConstLanelet next_lanelet;
if (!getNextLaneletWithinRouteExceptStart(lanelet, &next_lanelet)) {
return false;
}
if (!exists(lanelet_section2, next_lanelet)) {
return false;
}
}
// check surjection
for (const auto & lanelet : lanelet_section2) {
lanelet::ConstLanelet prev_lanelet;
if (!getPreviousLaneletWithinRouteExceptGoal(lanelet, &prev_lanelet)) {
return false;
}
if (!exists(lanelet_section1, prev_lanelet)) {
return false;
}
}
return true;
}
boost::optional<lanelet::ConstLanelet> RouteHandler::getRightLanelet(
const lanelet::ConstLanelet & lanelet) const
{
// routable lane
const auto & right_lane = routing_graph_ptr_->right(lanelet);
if (right_lane) {
return right_lane;
}
// non-routable lane (e.g. lane change infeasible)
const auto & adjacent_right_lane = routing_graph_ptr_->adjacentRight(lanelet);
return adjacent_right_lane;
}
bool RouteHandler::getLeftLaneletWithinRoute(
const lanelet::ConstLanelet & lanelet, lanelet::ConstLanelet * left_lanelet) const
{
auto opt_left_lanelet = routing_graph_ptr_->left(lanelet);
if (!!opt_left_lanelet) {
*left_lanelet = opt_left_lanelet.get();
return exists(route_lanelets_, *left_lanelet);
} else {
return false;
}
}
boost::optional<lanelet::ConstLanelet> RouteHandler::getLeftLanelet(
const lanelet::ConstLanelet & lanelet) const
{
// routable lane
const auto & left_lane = routing_graph_ptr_->left(lanelet);
if (left_lane) {
return left_lane;
}
// non-routable lane (e.g. lane change infeasible)
const auto & adjacent_left_lane = routing_graph_ptr_->adjacentLeft(lanelet);
return adjacent_left_lane;
}
lanelet::Lanelets RouteHandler::getRightOppositeLanelets(
const lanelet::ConstLanelet & lanelet) const
{
return lanelet_map_ptr_->laneletLayer.findUsages(lanelet.rightBound().invert());
}
lanelet::ConstLanelets RouteHandler::getAllLeftSharedLinestringLanelets(
const lanelet::ConstLanelet & lane, const bool & include_opposite) const noexcept
{
lanelet::ConstLanelets linestring_shared;
auto lanelet_at_left = getLeftLanelet(lane);
auto lanelet_at_left_opposite = getLeftOppositeLanelets(lane);
while (lanelet_at_left) {
linestring_shared.push_back(lanelet_at_left.get());
lanelet_at_left = getLeftLanelet(lanelet_at_left.get());
lanelet_at_left_opposite = getLeftOppositeLanelets(lanelet_at_left.get());
}
if (!lanelet_at_left_opposite.empty() && include_opposite) {
linestring_shared.push_back(lanelet_at_left_opposite.front());
auto lanelet_at_right = getRightLanelet(lanelet_at_left_opposite.front());
while (lanelet_at_right) {
linestring_shared.push_back(lanelet_at_right.get());
lanelet_at_right = getRightLanelet(lanelet_at_right.get());
}
}
return linestring_shared;
}
lanelet::ConstLanelets RouteHandler::getAllRightSharedLinestringLanelets(
const lanelet::ConstLanelet & lane, const bool & include_opposite) const noexcept
{
lanelet::ConstLanelets linestring_shared;
auto lanelet_at_right = getRightLanelet(lane);
auto lanelet_at_right_opposite = getRightOppositeLanelets(lane);
while (lanelet_at_right) {
linestring_shared.push_back(lanelet_at_right.get());
lanelet_at_right = getRightLanelet(lanelet_at_right.get());
lanelet_at_right_opposite = getRightOppositeLanelets(lanelet_at_right.get());
}
if (!lanelet_at_right_opposite.empty() && include_opposite) {
linestring_shared.push_back(lanelet_at_right_opposite.front());
auto lanelet_at_left = getLeftLanelet(lanelet_at_right_opposite.front());
while (lanelet_at_left) {
linestring_shared.push_back(lanelet_at_left.get());
lanelet_at_left = getLeftLanelet(lanelet_at_left.get());
}
}
return linestring_shared;
}
lanelet::ConstLanelets RouteHandler::getAllSharedLineStringLanelets(
const lanelet::ConstLanelet & current_lane, bool is_right, bool is_left,
bool is_opposite) const noexcept
{
lanelet::ConstLanelets shared{current_lane};
if (is_right) {
const lanelet::ConstLanelets all_right_lanelets =
getAllRightSharedLinestringLanelets(current_lane, is_opposite);
shared.insert(shared.end(), all_right_lanelets.begin(), all_right_lanelets.end());
}
if (is_left) {
const lanelet::ConstLanelets all_left_lanelets =
getAllLeftSharedLinestringLanelets(current_lane, is_opposite);
shared.insert(shared.end(), all_left_lanelets.begin(), all_left_lanelets.end());
}
return shared;
}
lanelet::Lanelets RouteHandler::getLeftOppositeLanelets(const lanelet::ConstLanelet & lanelet) const
{