hdmap.h

浏览该文件的文档.

/******************************************************************************
 * Copyright 2017 The Apollo Authors. All Rights Reserved.
 *
 * 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.
 *****************************************************************************/
 
#pragma once
 
#include <string>
#include <utility>
#include <vector>
 
#include "modules/common_msgs/basic_msgs/geometry.pb.h"
#include "modules/common_msgs/map_msgs/map_area.pb.h"
#include "modules/common_msgs/map_msgs/map_barrier_gate.pb.h"
#include "modules/common_msgs/map_msgs/map_clear_area.pb.h"
#include "modules/common_msgs/map_msgs/map_crosswalk.pb.h"
#include "modules/common_msgs/map_msgs/map_junction.pb.h"
#include "modules/common_msgs/map_msgs/map_lane.pb.h"
#include "modules/common_msgs/map_msgs/map_overlap.pb.h"
#include "modules/common_msgs/map_msgs/map_parking_space.pb.h"
#include "modules/common_msgs/map_msgs/map_road.pb.h"
#include "modules/common_msgs/map_msgs/map_signal.pb.h"
#include "modules/common_msgs/map_msgs/map_speed_bump.pb.h"
#include "modules/common_msgs/map_msgs/map_stop_sign.pb.h"
#include "modules/common_msgs/map_msgs/map_yield_sign.pb.h"
 
#include "cyber/common/macros.h"
#include "modules/map/hdmap/hdmap_common.h"
#include "modules/map/hdmap/hdmap_impl.h"
 
namespace apollo {
namespace hdmap {
 
class HDMap {
 public:
  int LoadMapFromFile(const std::string& map_filename);
 
  int LoadMapFromProto(const Map& map_proto);
 
  LaneInfoConstPtr GetLaneById(const Id& id) const;
  JunctionInfoConstPtr GetJunctionById(const Id& id) const;
  SignalInfoConstPtr GetSignalById(const Id& id) const;
  CrosswalkInfoConstPtr GetCrosswalkById(const Id& id) const;
  StopSignInfoConstPtr GetStopSignById(const Id& id) const;
  YieldSignInfoConstPtr GetYieldSignById(const Id& id) const;
  ClearAreaInfoConstPtr GetClearAreaById(const Id& id) const;
  SpeedBumpInfoConstPtr GetSpeedBumpById(const Id& id) const;
  OverlapInfoConstPtr GetOverlapById(const Id& id) const;
  RoadInfoConstPtr GetRoadById(const Id& id) const;
  ParkingSpaceInfoConstPtr GetParkingSpaceById(const Id& id) const;
  PNCJunctionInfoConstPtr GetPNCJunctionById(const Id& id) const;
  RSUInfoConstPtr GetRSUById(const Id& id) const;
  AreaInfoConstPtr GetAreaById(const Id& id) const;
  BarrierGateInfoConstPtr GetBarrierGateById(const Id& id) const;
 
  int GetAreas(const apollo::common::PointENU& point, double distance,
               std::vector<AreaInfoConstPtr>* areas) const;
 
  int GetLanes(const apollo::common::PointENU& point, double distance,
               std::vector<LaneInfoConstPtr>* lanes) const;
  int GetJunctions(const apollo::common::PointENU& point, double distance,
                   std::vector<JunctionInfoConstPtr>* junctions) const;
  int GetSignals(const apollo::common::PointENU& point, double distance,
                 std::vector<SignalInfoConstPtr>* signals) const;
  int GetBarrierGates(const apollo::common::PointENU& point, double distance,
                 std::vector<BarrierGateInfoConstPtr>* barrier_gates) const;
  int GetCrosswalks(const apollo::common::PointENU& point, double distance,
                    std::vector<CrosswalkInfoConstPtr>* crosswalks) const;
  int GetStopSigns(const apollo::common::PointENU& point, double distance,
                   std::vector<StopSignInfoConstPtr>* stop_signs) const;
  int GetYieldSigns(const apollo::common::PointENU& point, double distance,
                    std::vector<YieldSignInfoConstPtr>* yield_signs) const;
  int GetClearAreas(const apollo::common::PointENU& point, double distance,
                    std::vector<ClearAreaInfoConstPtr>* clear_areas) const;
  int GetSpeedBumps(const apollo::common::PointENU& point, double distance,
                    std::vector<SpeedBumpInfoConstPtr>* speed_bumps) const;
  int GetRoads(const apollo::common::PointENU& point, double distance,
               std::vector<RoadInfoConstPtr>* roads) const;
  int GetParkingSpaces(
      const apollo::common::PointENU& point, double distance,
      std::vector<ParkingSpaceInfoConstPtr>* parking_spaces) const;
  int GetPNCJunctions(
      const apollo::common::PointENU& point, double distance,
      std::vector<PNCJunctionInfoConstPtr>* pnc_junctions) const;
 
  int GetNearestLaneWithDistance(const apollo::common::PointENU& point,
                                 const double distance,
                                 LaneInfoConstPtr* nearest_lane,
                                 double* nearest_s, double* nearest_l) const;
 
  int GetNearestLane(const apollo::common::PointENU& point,
                     LaneInfoConstPtr* nearest_lane, double* nearest_s,
                     double* nearest_l) const;
  int GetNearestLaneWithHeading(const apollo::common::PointENU& point,
                                const double distance,
                                const double central_heading,
                                const double max_heading_difference,
                                LaneInfoConstPtr* nearest_lane,
                                double* nearest_s, double* nearest_l) const;
  int GetLanesWithHeading(const apollo::common::PointENU& point,
                          const double distance, const double central_heading,
                          const double max_heading_difference,
                          std::vector<LaneInfoConstPtr>* lanes) const;
  int GetRoadBoundaries(const apollo::common::PointENU& point, double radius,
                        std::vector<RoadROIBoundaryPtr>* road_boundaries,
                        std::vector<JunctionBoundaryPtr>* junctions) const;
  int GetRoadBoundaries(const apollo::common::PointENU& point, double radius,
                        std::vector<RoadRoiPtr>* road_boundaries,
                        std::vector<JunctionInfoConstPtr>* junctions) const;
  int GetRoi(const apollo::common::PointENU& point, double radius,
             std::vector<RoadRoiPtr>* roads_roi,
             std::vector<PolygonRoiPtr>* polygons_roi);
  int GetForwardNearestSignalsOnLane(
      const apollo::common::PointENU& point, const double distance,
      std::vector<SignalInfoConstPtr>* signals) const;
 
  int GetForwardNearestBarriersOnLane(
      const apollo::common::PointENU& point, const double distance,
      std::vector<BarrierGateInfoConstPtr>* barrier_gates) const;
 
  int GetStopSignAssociatedStopSigns(
      const Id& id, std::vector<StopSignInfoConstPtr>* stop_signs) const;
 
  int GetStopSignAssociatedLanes(const Id& id,
                                 std::vector<LaneInfoConstPtr>* lanes) const;
 
  int GetLocalMap(const apollo::common::PointENU& point,
                  const std::pair<double, double>& range, Map* local_map) const;
 
  int GetForwardNearestRSUs(const apollo::common::PointENU& point,
                            double distance, double central_heading,
                            double max_heading_difference,
                            std::vector<RSUInfoConstPtr>* rsus) const;
 
  bool GetMapHeader(Header* map_header) const;
 
 private:
  HDMapImpl impl_;
};
 
}  // namespace hdmap
}  // namespace apollo