#include <route_segments.h>

类 apollo::hdmap::RouteSegments 继承关系图:

apollo::hdmap::RouteSegments 的协作图:

Public 成员函数
	RouteSegments ()=default
	The default constructor.

routing::ChangeLaneType	NextAction () const
	Get the next change lane action need to take by the vehicle, if the vehicle is on this RouteSegments.

void	SetNextAction (routing::ChangeLaneType action)

routing::ChangeLaneType	PreviousAction () const
	Get the previous change lane action need to take by the vehicle to reach current segment, if the vehicle is not on this RouteSegments.

void	SetPreviousAction (routing::ChangeLaneType action)

bool	CanExit () const
	Whether the passage region that generate this route segment can lead to another passage region in route.

void	SetCanExit (bool can_exit)

bool	GetProjection (const common::PointENU &point_enu, common::SLPoint sl_point, LaneWaypoint waypoint) const
	Project a point to this route segment.

bool	GetProjection (const common::math::Vec2d &point, common::SLPoint sl_point, LaneWaypoint waypoint) const

bool	GetProjection (const common::math::Vec2d &point, const double heading, common::SLPoint sl_point, LaneWaypoint waypoint) const

bool	GetWaypoint (const double s, LaneWaypoint *waypoint) const

bool	CanDriveFrom (const LaneWaypoint &waypoint) const
	Check whether the map allows a vehicle can reach current RouteSegment from a point on a lane (LaneWaypoint).

const LaneWaypoint &	RouteEndWaypoint () const

void	SetRouteEndWaypoint (const LaneWaypoint &waypoint)

bool	Stitch (const RouteSegments &other)
	Stitch current route segments with the other route segment.

bool	Shrink (const common::math::Vec2d &point, const double look_backward, const double look_forward)

bool	Shrink (const double s, const double look_backward, const double look_forward)

bool	Shrink (const double s, const LaneWaypoint &waypoint, const double look_backward, const double look_forward)

bool	IsOnSegment () const

void	SetIsOnSegment (bool on_segment)

bool	IsNeighborSegment () const

void	SetIsNeighborSegment (bool is_neighbor)

void	SetId (const std::string &id)

const std::string &	Id () const

LaneWaypoint	FirstWaypoint () const
	Get the first waypoint from the lane segments.

LaneWaypoint	LastWaypoint () const
	Get the last waypoint from the lane segments.

bool	IsWaypointOnSegment (const LaneWaypoint &waypoint) const
	Check if a waypoint is on segment

bool	IsConnectedSegment (const RouteSegments &other) const
	Check if we can reach the other segment from current segment just by following lane.

bool	StopForDestination () const

void	SetStopForDestination (bool stop_for_destination)

void	SetProperties (const RouteSegments &other)
	Copy the properties of other segments to current one

std::string	DebugString ()

静态 Public 成员函数
static bool	WithinLaneSegment (const LaneSegment &lane_segment, const LaneWaypoint &waypoint)

static bool	WithinLaneSegment (const LaneSegment &lane_segment, const routing::LaneWaypoint &waypoint)

static bool	WithinLaneSegment (const routing::LaneSegment &lane_segment, const LaneWaypoint &waypoint)

static bool	WithinLaneSegment (const routing::LaneSegment &lane_segment, const routing::LaneWaypoint &waypoint)

static double	Length (const RouteSegments &segments)

详细描述

class RouteSegments

This class is a representation of the Passage type in routing.proto. It is extended from a passage region, but keeps some properties of the passage, such as the last end LaneWaypoint of the original passage region (route_end_waypoint), whether the passage can lead to another passage in routing (can_exit_). This class contains the original data that can be used to generate hdmap::Path.

在文件 route_segments.h 第 48 行定义.

构造及析构函数说明

◆ RouteSegments()

apollo::hdmap::RouteSegments::RouteSegments ( )

default

The default constructor.

成员函数说明

◆ CanDriveFrom()

bool apollo::hdmap::RouteSegments::CanDriveFrom ( const LaneWaypoint & waypoint ) const

Check whether the map allows a vehicle can reach current RouteSegment from a point on a lane (LaneWaypoint).

参数

waypoint the start waypoint

返回: true if the map allows a vehicle to drive from waypoint to current RouteSegment. Otherwise false.

在文件 route_segments.cc 第 358 行定义.

                                                                   {
  auto point = waypoint.lane->GetSmoothPoint(waypoint.s);
 
  // 0 if waypoint is on segment, ok
  if (IsWaypointOnSegment(waypoint)) {
    return true;
  }
 
  // 1. should have valid projection.
  LaneWaypoint segment_waypoint;
  common::SLPoint route_sl;
  bool has_projection = GetProjection(point, &route_sl, &segment_waypoint);
  if (!has_projection) {
    AERROR << "No projection from waypoint: " << waypoint.DebugString();
    return false;
  }
  static constexpr double kMaxLaneWidth = 10.0;
  if (std::fabs(route_sl.l()) > 2 * kMaxLaneWidth) {
    return false;
  }
 
  // 2. heading should be the same.
  double waypoint_heading = waypoint.lane->Heading(waypoint.s);
  double segment_heading = segment_waypoint.lane->Heading(segment_waypoint.s);
  double heading_diff =
      common::math::AngleDiff(waypoint_heading, segment_heading);
  if (std::fabs(heading_diff) > M_PI / 2) {
    ADEBUG << "Angle diff too large:" << heading_diff;
    return false;
  }
 
  // 3. the waypoint and the projected lane should not be separated apart.
  double waypoint_left_width = 0.0;
  double waypoint_right_width = 0.0;
  waypoint.lane->GetWidth(waypoint.s, &waypoint_left_width,
                          &waypoint_right_width);
  double segment_left_width = 0.0;
  double segment_right_width = 0.0;
  segment_waypoint.lane->GetWidth(segment_waypoint.s, &segment_left_width,
                                  &segment_right_width);
  auto segment_projected_point =
      segment_waypoint.lane->GetSmoothPoint(segment_waypoint.s);
  double dist = common::util::DistanceXY(point, segment_projected_point);
  const double kLaneSeparationDistance = 0.3;
  if (route_sl.l() < 0) {  // waypoint at right side
    if (dist >
        waypoint_left_width + segment_right_width + kLaneSeparationDistance) {
      AERROR << "waypoint is too far to reach: " << dist;
      return false;
    }
  } else {  // waypoint at left side
    if (dist >
        waypoint_right_width + segment_left_width + kLaneSeparationDistance) {
      AERROR << "waypoint is too far to reach: " << dist;
      return false;
    }
  }
 
  return true;
}

◆ CanExit()

bool apollo::hdmap::RouteSegments::CanExit ( ) const

Whether the passage region that generate this route segment can lead to another passage region in route.

在文件 route_segments.cc 第 41 行定义.

41{ return can_exit_; }

◆ DebugString()

std::string apollo::hdmap::RouteSegments::DebugString ( )

inline

在文件 route_segments.h 第 204 行定义.

                          {
    std::stringstream ss;
    for (auto iter = begin(); iter != end(); ++iter) {
      ss << iter->DebugString() << ";";
    }
    return ss.str();
  }

◆ FirstWaypoint()

LaneWaypoint apollo::hdmap::RouteSegments::FirstWaypoint ( ) const

Get the first waypoint from the lane segments.

在文件 route_segments.cc 第 125 行定义.

                                                {
  return LaneWaypoint(front().lane, front().start_s, 0.0);
}

◆ GetProjection() [1/3]

bool apollo::hdmap::RouteSegments::GetProjection	(	const common::math::Vec2d &	point,
		common::SLPoint *	sl_point,
		LaneWaypoint *	waypoint
	)		const

在文件 route_segments.cc 第 266 行定义.

                                                                {
  double min_l = std::numeric_limits<double>::infinity();
  double accumulated_s = 0.0;
  bool has_projection = false;
  for (auto iter = begin(); iter != end();
       accumulated_s += (iter->end_s - iter->start_s), ++iter) {
    double lane_s = 0.0;
    double lane_l = 0.0;
    if (!iter->lane->GetProjection(point, &lane_s, &lane_l)) {
      AERROR << "Failed to get projection from point " << point.DebugString()
             << " on lane " << iter->lane->id().id();
      return false;
    }
    if (lane_s < iter->start_s - kSegmentationEpsilon ||
        lane_s > iter->end_s + kSegmentationEpsilon) {
      continue;
    }
    if (std::fabs(lane_l) < min_l) {
      has_projection = true;
      lane_s = std::max(iter->start_s, lane_s);
      lane_s = std::min(iter->end_s, lane_s);
      min_l = std::fabs(lane_l);
      sl_point->set_l(lane_l);
      sl_point->set_s(lane_s - iter->start_s + accumulated_s);
      waypoint->lane = iter->lane;
      waypoint->s = lane_s;
    }
  }
  return has_projection;
}

◆ GetProjection() [2/3]

bool apollo::hdmap::RouteSegments::GetProjection	(	const common::math::Vec2d &	point,
		const double	heading,
		common::SLPoint *	sl_point,
		LaneWaypoint *	waypoint
	)		const

在文件 route_segments.cc 第 299 行定义.

                                                                {
  double min_l = std::numeric_limits<double>::infinity();
  double accumulated_s = 0.0;
  bool has_projection = false;
  for (auto iter = begin(); iter != end();
       accumulated_s += (iter->end_s - iter->start_s), ++iter) {
    double lane_s = 0.0;
    double lane_l = 0.0;
    if (!iter->lane->GetProjection(point, heading, &lane_s, &lane_l)) {
      AERROR << "Failed to get projection from point " << point.DebugString()
             << " on lane " << iter->lane->id().id();
      return false;
    }
    if (lane_s < iter->start_s - kSegmentationEpsilon ||
        lane_s > iter->end_s + kSegmentationEpsilon) {
      continue;
    }
    if (std::fabs(lane_l) < min_l) {
      has_projection = true;
      lane_s = std::max(iter->start_s, lane_s);
      lane_s = std::min(iter->end_s, lane_s);
      min_l = std::fabs(lane_l);
      sl_point->set_l(lane_l);
      sl_point->set_s(lane_s - iter->start_s + accumulated_s);
      waypoint->lane = iter->lane;
      waypoint->s = lane_s;
    }
  }
  return has_projection;
}

◆ GetProjection() [3/3]

bool apollo::hdmap::RouteSegments::GetProjection	(	const common::PointENU &	point_enu,
		common::SLPoint *	sl_point,
		LaneWaypoint *	waypoint
	)		const

Project a point to this route segment.

参数

point_enu	a map point, or point, which is a Vec2d point
s	return the longitudinal s relative to the route segment.
l	return the lateral distance relative to the route segment.
waypoint	return the LaneWaypoint, which has lane and lane_s on the route segment.

返回: false if error happened or projected outside of the lane segments.

在文件 route_segments.cc 第 151 行定义.

                                                                {
  return GetProjection({point_enu.x(), point_enu.y()}, sl_point, waypoint);
}

◆ GetWaypoint()

bool apollo::hdmap::RouteSegments::GetWaypoint	(	const double	s,
		LaneWaypoint *	waypoint
	)		const

在文件 route_segments.cc 第 244 行定义.

                                                                            {
  double accumulated_s = 0.0;
  bool has_projection = false;
  for (auto iter = begin(); iter != end();
       accumulated_s += (iter->end_s - iter->start_s), ++iter) {
    if (accumulated_s - kSegmentationEpsilon < s &&
        s < accumulated_s + iter->end_s - iter->start_s +
                kSegmentationEpsilon) {
      waypoint->lane = iter->lane;
      waypoint->s = s - accumulated_s + iter->start_s;
      if (waypoint->s < iter->start_s) {
        waypoint->s = iter->start_s;
      } else if (waypoint->s > iter->end_s) {
        waypoint->s = iter->end_s;
      }
      has_projection = true;
      break;
    }
  }
  return has_projection;
}

◆ Id()

const std::string & apollo::hdmap::RouteSegments::Id ( ) const

在文件 route_segments.cc 第 35 行定义.

35{ return id_; }

◆ IsConnectedSegment()

bool apollo::hdmap::RouteSegments::IsConnectedSegment ( const RouteSegments & other ) const

Check if we can reach the other segment from current segment just by following lane.

参数

other Another route segment

在文件 route_segments.cc 第 157 行定义.

                                                                       {
  if (empty() || other.empty()) {
    return false;
  }
  if (IsWaypointOnSegment(other.FirstWaypoint())) {
    return true;
  }
  if (IsWaypointOnSegment(other.LastWaypoint())) {
    return true;
  }
  if (other.IsWaypointOnSegment(FirstWaypoint())) {
    return true;
  }
  if (other.IsWaypointOnSegment(LastWaypoint())) {
    return true;
  }
  return false;
}

◆ IsNeighborSegment()

bool apollo::hdmap::RouteSegments::IsNeighborSegment ( ) const

在文件 route_segments.cc 第 115 行定义.

115{ return is_neighbor_; }

◆ IsOnSegment()

bool apollo::hdmap::RouteSegments::IsOnSegment ( ) const

在文件 route_segments.cc 第 109 行定义.

109{ return is_on_segment_; }

◆ IsWaypointOnSegment()

bool apollo::hdmap::RouteSegments::IsWaypointOnSegment ( const LaneWaypoint & waypoint ) const

Check if a waypoint is on segment

在文件 route_segments.cc 第 349 行定义.

                                                                          {
  for (auto iter = begin(); iter != end(); ++iter) {
    if (WithinLaneSegment(*iter, waypoint)) {
      return true;
    }
  }
  return false;
}

◆ LastWaypoint()

LaneWaypoint apollo::hdmap::RouteSegments::LastWaypoint ( ) const

Get the last waypoint from the lane segments.

在文件 route_segments.cc 第 129 行定义.

                                               {
  return LaneWaypoint(back().lane, back().end_s, 0.0);
}

◆ Length()

double apollo::hdmap::RouteSegments::Length ( const RouteSegments & segments )

static

在文件 route_segments.cc 第 143 行定义.

                                                          {
  double s = 0.0;
  for (const auto &seg : segments) {
    s += seg.Length();
  }
  return s;
}

◆ NextAction()

routing::ChangeLaneType apollo::hdmap::RouteSegments::NextAction ( ) const

Get the next change lane action need to take by the vehicle, if the vehicle is on this RouteSegments.

— If the vehicle does not need to change lane, then change_lane_type == routing::FORWARD; — If the vehicle need to change to left lane according to routing, then change_lane_type_ == routing::LEFT; — If the vehicle need to change to right lane according to routing, then change_lane_type_ == routing::RIGHT;

在文件 route_segments.cc 第 345 行定义.

                                                      {
  return next_action_;
}

◆ PreviousAction()

routing::ChangeLaneType apollo::hdmap::RouteSegments::PreviousAction ( ) const

Get the previous change lane action need to take by the vehicle to reach current segment, if the vehicle is not on this RouteSegments.

If the vehicle is already on this segment, or does not need to change lane to reach this segment, then change_lane_type = routing::FORWARD; If the vehicle need to change to left to reach this segment, then change_lane_type_ = routing::LEFT; If the vehicle need to change to right to reach this segment, then change_lane_type_ = routing::RIGHT;

在文件 route_segments.cc 第 337 行定义.

                                                          {
  return previous_action_;
}

◆ RouteEndWaypoint()

const LaneWaypoint & apollo::hdmap::RouteSegments::RouteEndWaypoint ( ) const

在文件 route_segments.cc 第 105 行定义.

                                                          {
  return route_end_waypoint_;
}

◆ SetCanExit()

void apollo::hdmap::RouteSegments::SetCanExit ( bool can_exit )

在文件 route_segments.cc 第 39 行定义.

39{ can_exit_ = can_exit; }

◆ SetId()

void apollo::hdmap::RouteSegments::SetId ( const std::string & id )

在文件 route_segments.cc 第 37 行定义.

37{ id_ = id; }

◆ SetIsNeighborSegment()

void apollo::hdmap::RouteSegments::SetIsNeighborSegment ( bool is_neighbor )

在文件 route_segments.cc 第 117 行定义.

                                                         {
  is_neighbor_ = is_neighbor;
}

◆ SetIsOnSegment()

void apollo::hdmap::RouteSegments::SetIsOnSegment ( bool on_segment )

在文件 route_segments.cc 第 111 行定义.

                                                  {
  is_on_segment_ = on_segment;
}

◆ SetNextAction()

void apollo::hdmap::RouteSegments::SetNextAction ( routing::ChangeLaneType action )

在文件 route_segments.cc 第 341 行定义.

                                                              {
  next_action_ = action;
}

◆ SetPreviousAction()

void apollo::hdmap::RouteSegments::SetPreviousAction ( routing::ChangeLaneType action )

在文件 route_segments.cc 第 333 行定义.

                                                                  {
  previous_action_ = action;
}

◆ SetProperties()

void apollo::hdmap::RouteSegments::SetProperties ( const RouteSegments & other )

Copy the properties of other segments to current one

在文件 route_segments.cc 第 133 行定义.

                                                            {
  route_end_waypoint_ = other.RouteEndWaypoint();
  can_exit_ = other.CanExit();
  is_on_segment_ = other.IsOnSegment();
  next_action_ = other.NextAction();
  previous_action_ = other.PreviousAction();
  id_ = other.Id();
  stop_for_destination_ = other.StopForDestination();
}

◆ SetRouteEndWaypoint()

void apollo::hdmap::RouteSegments::SetRouteEndWaypoint ( const LaneWaypoint & waypoint )

在文件 route_segments.cc 第 121 行定义.

                                                                    {
  route_end_waypoint_ = waypoint;
}

◆ SetStopForDestination()

void apollo::hdmap::RouteSegments::SetStopForDestination ( bool stop_for_destination )

在文件 route_segments.cc 第 45 行定义.

                                                                   {
  stop_for_destination_ = stop_for_destination;
}

◆ Shrink() [1/3]

bool apollo::hdmap::RouteSegments::Shrink	(	const common::math::Vec2d &	point,
		const double	look_backward,
		const double	look_forward
	)

在文件 route_segments.cc 第 176 行定义.

                                                      {
  common::SLPoint sl_point;
  LaneWaypoint waypoint;
  if (!GetProjection(point, &sl_point, &waypoint)) {
    AERROR << "failed to project " << point.DebugString() << " to segment";
    return false;
  }
  return Shrink(sl_point.s(), look_backward, look_forward);
}

◆ Shrink() [2/3]

bool apollo::hdmap::RouteSegments::Shrink	(	const double	s,
		const double	look_backward,
		const double	look_forward
	)

在文件 route_segments.cc 第 188 行定义.

                                                      {
  LaneWaypoint waypoint;
  if (!GetWaypoint(s, &waypoint)) {
    return false;
  }
  return Shrink(s, waypoint, look_backward, look_forward);
}

◆ Shrink() [3/3]

bool apollo::hdmap::RouteSegments::Shrink	(	const double	s,
		const LaneWaypoint &	waypoint,
		const double	look_backward,
		const double	look_forward
	)

在文件 route_segments.cc 第 197 行定义.

                                                      {
  double acc_s = 0.0;
  auto iter = begin();
  while (iter != end() && acc_s + iter->Length() < s - look_backward) {
    acc_s += iter->Length();
    ++iter;
  }
  if (iter == end()) {
    return true;
  }
  iter->start_s =
      std::max(iter->start_s, s - look_backward - acc_s + iter->start_s);
  if (iter->Length() < kSegmentationEpsilon) {
    ++iter;
  }
  erase(begin(), iter);
 
  iter = begin();
  acc_s = 0.0;
  while (iter != end() && !WithinLaneSegment(*iter, waypoint)) {
    ++iter;
  }
  if (iter == end()) {
    return true;
  }
  acc_s = iter->end_s - waypoint.s;
  if (acc_s >= look_forward) {
    iter->end_s = waypoint.s + look_forward;
    ++iter;
    erase(iter, end());
    return true;
  }
  ++iter;
  while (iter != end() && acc_s + iter->Length() < look_forward) {
    acc_s += iter->Length();
    ++iter;
  }
  if (iter == end()) {
    return true;
  }
  iter->end_s = std::min(iter->end_s, look_forward - acc_s + iter->start_s);
  erase(iter + 1, end());
  return true;
}

◆ Stitch()

bool apollo::hdmap::RouteSegments::Stitch ( const RouteSegments & other )

Stitch current route segments with the other route segment.

返回: false if these two reference line cannot be stitched

在文件 route_segments.cc 第 78 行定义.

                                                     {
  auto first_waypoint = FirstWaypoint();
  bool has_overlap = IsWaypointOnSegment(other.FirstWaypoint());
  if (other.IsWaypointOnSegment(first_waypoint)) {
    auto iter = other.begin();
    while (iter != other.end() && !WithinLaneSegment(*iter, first_waypoint)) {
      ++iter;
    }
    begin()->start_s = std::min(begin()->start_s, iter->start_s);
    begin()->end_s = std::max(begin()->end_s, iter->end_s);
    insert(begin(), other.begin(), iter);
    has_overlap = true;
  }
  auto last_waypoint = LastWaypoint();
  if (other.IsWaypointOnSegment(last_waypoint)) {
    auto iter = other.rbegin();
    while (iter != other.rend() && !WithinLaneSegment(*iter, last_waypoint)) {
      ++iter;
    }
    back().start_s = std::min(back().start_s, iter->start_s);
    back().end_s = std::max(back().end_s, iter->end_s);
    insert(end(), iter.base(), other.end());
    has_overlap = true;
  }
  return has_overlap;
}

◆ StopForDestination()

bool apollo::hdmap::RouteSegments::StopForDestination ( ) const

在文件 route_segments.cc 第 43 行定义.

43{ return stop_for_destination_; }

◆ WithinLaneSegment() [1/4]

bool apollo::hdmap::RouteSegments::WithinLaneSegment	(	const LaneSegment &	lane_segment,
		const LaneWaypoint &	waypoint
	)

static

在文件 route_segments.cc 第 49 行定义.

                                                                    {
  return waypoint.lane &&
         lane_segment.lane->id().id() == waypoint.lane->id().id() &&
         lane_segment.start_s - kSegmentationEpsilon <= waypoint.s &&
         lane_segment.end_s + kSegmentationEpsilon >= waypoint.s;
}

◆ WithinLaneSegment() [2/4]

bool apollo::hdmap::RouteSegments::WithinLaneSegment	(	const LaneSegment &	lane_segment,
		const routing::LaneWaypoint &	waypoint
	)

static

在文件 route_segments.cc 第 57 行定义.

                                                                           {
  return lane_segment.lane && lane_segment.lane->id().id() == waypoint.id() &&
         lane_segment.start_s - kSegmentationEpsilon <= waypoint.s() &&
         lane_segment.end_s + kSegmentationEpsilon >= waypoint.s();
}

◆ WithinLaneSegment() [3/4]

bool apollo::hdmap::RouteSegments::WithinLaneSegment	(	const routing::LaneSegment &	lane_segment,
		const LaneWaypoint &	waypoint
	)

static

在文件 route_segments.cc 第 64 行定义.

                                                                    {
  return waypoint.lane && lane_segment.id() == waypoint.lane->id().id() &&
         lane_segment.start_s() - kSegmentationEpsilon <= waypoint.s &&
         lane_segment.end_s() + kSegmentationEpsilon >= waypoint.s;
}

◆ WithinLaneSegment() [4/4]

bool apollo::hdmap::RouteSegments::WithinLaneSegment	(	const routing::LaneSegment &	lane_segment,
		const routing::LaneWaypoint &	waypoint
	)

static

在文件 route_segments.cc 第 71 行定义.

                                                                           {
  return lane_segment.id() == waypoint.id() &&
         lane_segment.start_s() - kSegmentationEpsilon <= waypoint.s() &&
         lane_segment.end_s() + kSegmentationEpsilon >= waypoint.s();
}

该类的文档由以下文件生成:

modules/map/pnc_map/route_segments.h
modules/map/pnc_map/route_segments.cc

Public 成员函数

静态 Public 成员函数

详细描述

构造及析构函数说明

◆ RouteSegments()

成员函数说明

◆ CanDriveFrom()

◆ CanExit()

◆ DebugString()

◆ FirstWaypoint()

◆ GetProjection() [1/3]

◆ GetProjection() [2/3]

◆ GetProjection() [3/3]

◆ GetWaypoint()

◆ Id()

◆ IsConnectedSegment()

◆ IsNeighborSegment()

◆ IsOnSegment()

◆ IsWaypointOnSegment()

◆ LastWaypoint()

◆ Length()

◆ NextAction()

◆ PreviousAction()

◆ RouteEndWaypoint()

◆ SetCanExit()

◆ SetId()

◆ SetIsNeighborSegment()

◆ SetIsOnSegment()

◆ SetNextAction()

◆ SetPreviousAction()

◆ SetProperties()

◆ SetRouteEndWaypoint()

◆ SetStopForDestination()

◆ Shrink() [1/3]

◆ Shrink() [2/3]

◆ Shrink() [3/3]

◆ Stitch()

◆ StopForDestination()

◆ WithinLaneSegment() [1/4]

◆ WithinLaneSegment() [2/4]

◆ WithinLaneSegment() [3/4]

◆ WithinLaneSegment() [4/4]