26#include <boost/thread/locks.hpp>
27#include <boost/thread/shared_mutex.hpp>
29#include "nlohmann/json.hpp"
31#include "modules/common_msgs/dreamview_msgs/simulation_world.pb.h"
32#include "modules/common_msgs/routing_msgs/routing.pb.h"
57 std::vector<apollo::hdmap::Path> *paths)
const;
82 const double x,
const double y,
const double heading,
86 const double x,
const double y,
const std::string
id,
92 const double heading)
const;
106 void UpdateOffsets();
108 bool GetNearestLaneWithDistance(
const double x,
const double y,
110 double *nearest_s,
double *nearest_l)
const;
112 bool GetNearestLane(
const double x,
const double y,
114 double *nearest_s,
double *nearest_l)
const;
116 bool GetNearestLaneWithHeading(
const double x,
const double y,
118 double *nearest_s,
double *nearest_l,
119 const double heading)
const;
121 bool CreatePathsFromRouting(
123 std::vector<apollo::hdmap::Path> *paths)
const;
126 std::vector<apollo::hdmap::Path> *paths)
const;
128 static const char kMetaFileName[];
130 const bool use_sim_map_;
134 bool MapReady()
const;
136 double x_offset_ = 0.0;
137 double y_offset_ = 0.0;
140 mutable boost::shared_mutex mutex_;
bool CheckRoutingPoint(const double x, const double y) const
double GetYOffset() const
double GetXOffset() const
bool CheckRoutingPointWithHeading(const double x, const double y, const double heading) const
bool PointIsValid(const double x, const double y) const
double GetLaneHeading(const std::string &id_str, double s)
void CollectMapElementIds(const apollo::common::PointENU &point, double raidus, MapElementIds *ids) const
hdmap::Map RetrieveMapElements(const MapElementIds &ids) const
bool ReloadMap(bool force_reload)
bool GetStartPoint(apollo::common::PointENU *start_point) const
bool ConstructLaneWayPointWithLaneId(const double x, const double y, const std::string id, routing::LaneWaypoint *laneWayPoint) const
bool ConstructLaneWayPointWithHeading(const double x, const double y, const double heading, routing::LaneWaypoint *laneWayPoint) const
bool CheckRoutingPointLaneType(apollo::hdmap::LaneInfoConstPtr lane) const
bool GetPoseWithRegardToLane(const double x, const double y, double *theta, double *s) const
size_t CalculateMapHash(const MapElementIds &ids) const
bool GetPathsFromRouting(const apollo::routing::RoutingResponse &routing, std::vector< apollo::hdmap::Path > *paths) const
bool ConstructLaneWayPoint(const double x, const double y, routing::LaneWaypoint *laneWayPoint) const
The function fills out proper routing lane waypoint from the given (x,y) position.
std::string GetParkingSpaceId(const double x, const double y) const
High-precision map loader interface.
std::shared_ptr< const LaneInfo > LaneInfoConstPtr