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@github-actions github-actions released this 31 Mar 08:09
· 410 commits to master since this release
15.0.0
9084134

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.

Related Issues

Assets 2
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