15.0.0
Description
Abstract
This is the partial PR of the HdMapUtils refactor (PR 2/6) ( #1478 )
Details
Replace usage of HdMapUtils::getLateralDistance with non-member function lanelet_wrapper::distance::lateralDistance
References
Destructive Changes
The hdmap_utils_ptr parameter has been removed from the following functions:
traffic_simulator::distance::lateralDistance
traffic_simulator::distance::boundingBoxLaneLateralDistance
For the rationale behind this change, see #1478.
Migration Guide
Before (Old Signature)
auto lateralDistance(
const CanonicalizedLaneletPose & from, const CanonicalizedLaneletPose & to,
const traffic_simulator::RoutingConfiguration & routing_configuration,
const std::shared_ptr<hdmap_utils::HdMapUtils> & hdmap_utils_ptr) -> std::optional<double>;
auto lateralDistance(
const CanonicalizedLaneletPose & from, const CanonicalizedLaneletPose & to,
double matching_distance, const traffic_simulator::RoutingConfiguration & routing_configuration,
const std::shared_ptr<hdmap_utils::HdMapUtils> & hdmap_utils_ptr) -> std::optional<double>;
auto boundingBoxLaneLateralDistance(
const CanonicalizedLaneletPose & from,
const traffic_simulator_msgs::msg::BoundingBox & from_bounding_box,
const CanonicalizedLaneletPose & to,
const traffic_simulator_msgs::msg::BoundingBox & to_bounding_box,
const traffic_simulator::RoutingConfiguration & routing_configuration,
const std::shared_ptr<hdmap_utils::HdMapUtils> & hdmap_utils_ptr) -> std::optional<double>;
After (New Signature)
auto lateralDistance(
const CanonicalizedLaneletPose & from, const CanonicalizedLaneletPose & to,
const traffic_simulator::RoutingConfiguration & routing_configuration,
const RoutingConfiguration & routing_configuration) -> std::optional<double>;
auto lateralDistance(
const CanonicalizedLaneletPose & from, const CanonicalizedLaneletPose & to,
const double matching_distance, const RoutingConfiguration & routing_configuration)
-> std::optional<double>;
auto boundingBoxLaneLateralDistance(
const CanonicalizedLaneletPose & from,
const traffic_simulator_msgs::msg::BoundingBox & from_bounding_box,
const CanonicalizedLaneletPose & to,
const traffic_simulator_msgs::msg::BoundingBox & to_bounding_box,
const RoutingConfiguration & routing_configuration) -> std::optional<double>;
const std::shared_ptr<hdmap_utils::HdMapUtils> & hdmap_utils_ptr
parameter has been removed.
Remove the hdmap_utils_ptr
argument from call to lateralDistance
and boundingBoxLaneLateralDistance
.
Known Limitations
None.