hdmap_impl.h

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/* 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 <memory>
#include <string>
#include <unordered_map>
#include <utility>
#include <vector>
 
#include "modules/common_msgs/map_msgs/map.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_geometry.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_pnc_junction.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 "modules/common/math/aabox2d.h"
#include "modules/common/math/aaboxkdtree2d.h"
#include "modules/common/math/line_segment2d.h"
#include "modules/common/math/polygon2d.h"
#include "modules/common/math/vec2d.h"
#include "modules/map/hdmap/hdmap_common.h"
 
namespace apollo {
namespace hdmap {
 
class HDMapImpl {
 public:
  using LaneTable = std::unordered_map<std::string, std::shared_ptr<LaneInfo>>;
  using JunctionTable =
      std::unordered_map<std::string, std::shared_ptr<JunctionInfo>>;
  using AreaTable = std::unordered_map<std::string, std::shared_ptr<AreaInfo>>;
  using SignalTable =
      std::unordered_map<std::string, std::shared_ptr<SignalInfo>>;
  using BarrierGateTable =
      std::unordered_map<std::string, std::shared_ptr<BarrierGateInfo>>;
  using CrosswalkTable =
      std::unordered_map<std::string, std::shared_ptr<CrosswalkInfo>>;
  using StopSignTable =
      std::unordered_map<std::string, std::shared_ptr<StopSignInfo>>;
  using YieldSignTable =
      std::unordered_map<std::string, std::shared_ptr<YieldSignInfo>>;
  using ClearAreaTable =
      std::unordered_map<std::string, std::shared_ptr<ClearAreaInfo>>;
  using SpeedBumpTable =
      std::unordered_map<std::string, std::shared_ptr<SpeedBumpInfo>>;
  using OverlapTable =
      std::unordered_map<std::string, std::shared_ptr<OverlapInfo>>;
  using RoadTable = std::unordered_map<std::string, std::shared_ptr<RoadInfo>>;
  using ParkingSpaceTable =
      std::unordered_map<std::string, std::shared_ptr<ParkingSpaceInfo>>;
  using PNCJunctionTable =
      std::unordered_map<std::string, std::shared_ptr<PNCJunctionInfo>>;
  using RSUTable = std::unordered_map<std::string, std::shared_ptr<RSUInfo>>;
 
 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;
 
  Id CreateHDMapId(const std::string& string_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 GetCrosswalks(const apollo::common::PointENU& point, double distance,
                    std::vector<CrosswalkInfoConstPtr>* crosswalks) 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 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:
  int GetLanes(const apollo::common::math::Vec2d& point, double distance,
               std::vector<LaneInfoConstPtr>* lanes) const;
  int GetJunctions(const apollo::common::math::Vec2d& point, double distance,
                   std::vector<JunctionInfoConstPtr>* junctions) const;
  int GetAreas(const apollo::common::math::Vec2d&, double distance,
               std::vector<AreaInfoConstPtr>* areas) const;
  int GetCrosswalks(const apollo::common::math::Vec2d& point, double distance,
                    std::vector<CrosswalkInfoConstPtr>* crosswalks) const;
  int GetSignals(const apollo::common::math::Vec2d& point, double distance,
                 std::vector<SignalInfoConstPtr>* signals) const;
  int GetBarrierGates(const apollo::common::math::Vec2d& point, double distance,
                 std::vector<BarrierGateInfoConstPtr>* barrier_gates) const;
  int GetStopSigns(const apollo::common::math::Vec2d& point, double distance,
                   std::vector<StopSignInfoConstPtr>* stop_signs) const;
  int GetYieldSigns(const apollo::common::math::Vec2d& point, double distance,
                    std::vector<YieldSignInfoConstPtr>* yield_signs) const;
  int GetClearAreas(const apollo::common::math::Vec2d& point, double distance,
                    std::vector<ClearAreaInfoConstPtr>* clear_areas) const;
  int GetSpeedBumps(const apollo::common::math::Vec2d& point, double distance,
                    std::vector<SpeedBumpInfoConstPtr>* speed_bumps) const;
  int GetParkingSpaces(
      const apollo::common::math::Vec2d& point, double distance,
      std::vector<ParkingSpaceInfoConstPtr>* parking_spaces) const;
  int GetPNCJunctions(
      const apollo::common::math::Vec2d& point, double distance,
      std::vector<PNCJunctionInfoConstPtr>* pnc_junctions) const;
  int GetNearestLane(const apollo::common::math::Vec2d& point,
                     LaneInfoConstPtr* nearest_lane, double* nearest_s,
                     double* nearest_l) const;
  int GetNearestLaneWithHeading(const apollo::common::math::Vec2d& 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::math::Vec2d& point,
                          const double distance, const double central_heading,
                          const double max_heading_difference,
                          std::vector<LaneInfoConstPtr>* lanes) const;
  int GetRoads(const apollo::common::math::Vec2d& point, double distance,
               std::vector<RoadInfoConstPtr>* roads) const;
  int GetNearestLaneWithDistance(const apollo::common::math::Vec2d& point,
                                 const double distance,
                                 LaneInfoConstPtr* nearest_lane,
                                 double* nearest_s, double* nearest_l) const;
 
  template <class Table, class BoxTable, class KDTree>
  static void BuildSegmentKDTree(
      const Table& table, const apollo::common::math::AABoxKDTreeParams& params,
      BoxTable* const box_table, std::unique_ptr<KDTree>* const kdtree);
 
  template <class Table, class BoxTable, class KDTree>
  static void BuildPolygonKDTree(
      const Table& table, const apollo::common::math::AABoxKDTreeParams& params,
      BoxTable* const box_table, std::unique_ptr<KDTree>* const kdtree);
 
  void BuildLaneSegmentKDTree();
  void BuildJunctionPolygonKDTree();
  void BuildCrosswalkPolygonKDTree();
  void BuildSignalSegmentKDTree();
  void BuildStopSignSegmentKDTree();
  void BuildYieldSignSegmentKDTree();
  void BuildClearAreaPolygonKDTree();
  void BuildSpeedBumpSegmentKDTree();
  void BuildParkingSpacePolygonKDTree();
  void BuildPNCJunctionPolygonKDTree();
  void BuildAreaPolygonKDTree();
  void BuildBarrierGateSegmentKDTree();
 
  template <class KDTree>
  static int SearchObjects(const apollo::common::math::Vec2d& center,
                           const double radius, const KDTree& kdtree,
                           std::vector<std::string>* const results);
 
  void Clear();
 
 private:
  Map map_;
  LaneTable lane_table_;
  JunctionTable junction_table_;
  AreaTable area_table_;
  CrosswalkTable crosswalk_table_;
  SignalTable signal_table_;
  BarrierGateTable barrier_gate_table_;
  StopSignTable stop_sign_table_;
  YieldSignTable yield_sign_table_;
  ClearAreaTable clear_area_table_;
  SpeedBumpTable speed_bump_table_;
  OverlapTable overlap_table_;
  RoadTable road_table_;
  ParkingSpaceTable parking_space_table_;
  PNCJunctionTable pnc_junction_table_;
  RSUTable rsu_table_;
 
  std::vector<LaneSegmentBox> lane_segment_boxes_;
  std::unique_ptr<LaneSegmentKDTree> lane_segment_kdtree_;
 
  std::vector<JunctionPolygonBox> junction_polygon_boxes_;
  std::unique_ptr<JunctionPolygonKDTree> junction_polygon_kdtree_;
 
  std::vector<AreaPolygonBox> area_polygon_boxes_;
  std::unique_ptr<AreaPolygonKDTree> area_polygon_kdtree_;
 
  std::vector<CrosswalkPolygonBox> crosswalk_polygon_boxes_;
  std::unique_ptr<CrosswalkPolygonKDTree> crosswalk_polygon_kdtree_;
 
  std::vector<SignalSegmentBox> signal_segment_boxes_;
  std::unique_ptr<SignalSegmentKDTree> signal_segment_kdtree_;
 
  std::vector<BarrierGateSegmentBox> barrier_gate_segment_boxes_;
  std::unique_ptr<BarrierGateSegmentKDTree> barrier_gate_segment_kdtree_;
 
  std::vector<StopSignSegmentBox> stop_sign_segment_boxes_;
  std::unique_ptr<StopSignSegmentKDTree> stop_sign_segment_kdtree_;
 
  std::vector<YieldSignSegmentBox> yield_sign_segment_boxes_;
  std::unique_ptr<YieldSignSegmentKDTree> yield_sign_segment_kdtree_;
 
  std::vector<ClearAreaPolygonBox> clear_area_polygon_boxes_;
  std::unique_ptr<ClearAreaPolygonKDTree> clear_area_polygon_kdtree_;
 
  std::vector<SpeedBumpSegmentBox> speed_bump_segment_boxes_;
  std::unique_ptr<SpeedBumpSegmentKDTree> speed_bump_segment_kdtree_;
 
  std::vector<ParkingSpacePolygonBox> parking_space_polygon_boxes_;
  std::unique_ptr<ParkingSpacePolygonKDTree> parking_space_polygon_kdtree_;
 
  std::vector<PNCJunctionPolygonBox> pnc_junction_polygon_boxes_;
  std::unique_ptr<PNCJunctionPolygonKDTree> pnc_junction_polygon_kdtree_;
};
 
}  // namespace hdmap
}  // namespace apollo