conversion.hpp

Go to the documentation of this file.

// Copyright 2024 Kotaro Uetake.
//
// 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.
 
#ifndef AWVIZ_PLUGIN__AUTOWARE_MAP__CONVERSION_HPP_
#define AWVIZ_PLUGIN__AUTOWARE_MAP__CONVERSION_HPP_
 
#include <rerun.hpp>
 
#include <lanelet2_core/LaneletMap.h>
 
#include <set>
#include <string>
#include <vector>
 
namespace awviz_plugin
{
class LaneletLineStrips
{
public:
  LaneletLineStrips() = default;
 
  void emplace_back(const std::vector<rerun::Position3D> & points)
  {
    line_strips_.emplace_back(rerun::LineStrip3D(points));
  }
 
  rerun::LineStrips3D as_linestrips() const { return rerun::LineStrips3D(line_strips_); }
 
  const std::vector<rerun::LineStrip3D> & line_strips() const { return line_strips_; }
 
private:
  std::vector<rerun::LineStrip3D> line_strips_;  
};
 
bool has_attribute(
  const lanelet::ConstLineString3d & linestring, const std::set<std::string> & attributes);
 
LaneletLineStrips convert_road_lanelets(
  const lanelet::LaneletLayer & layer, const lanelet::ConstLanelets & lanelets);
 
LaneletLineStrips convert_road_boundaries(const lanelet::ConstLanelets & lanelets);
 
LaneletLineStrips convert_centerlines(const lanelet::ConstLanelets & lanelets);
 
LaneletLineStrips convert_stop_lines(const lanelet::LineStringLayer & layer);
 
std::vector<LaneletLineStrips> convert_crosswalks(const lanelet::ConstLanelets & lanelets);
}  // namespace awviz_plugin
 
#endif  // AWVIZ_PLUGIN__AUTOWARE_MAP__CONVERTION_HPP_