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feat(lanelet2_extensions): add query curbstones from vector map #206

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merged 3 commits into from
Sep 13, 2023
Merged

feat(lanelet2_extensions): add query curbstones from vector map #206

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7aad334
query curbstones from vector map
saka1-s Sep 11, 2023
b8f65b6
style(pre-commit): autofix
pre-commit-ci[bot] Sep 12, 2023
8ee5b23
Merge branch 'main' into feat/query-curbstones
saka1-s Sep 13, 2023
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3 changes: 3 additions & 0 deletions tmp/lanelet2_extension/include/lanelet2_extension/utility/query.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -129,6 +129,9 @@ std::vector<lanelet::SpeedBumpConstPtr> speedBumps(const lanelet::ConstLanelets
*/
std::vector<lanelet::CrosswalkConstPtr> crosswalks(const lanelet::ConstLanelets & lanelets);

// query all curbstones in lanelet2 map
lanelet::ConstLineStrings3d curbstones(const lanelet::LaneletMapConstPtr & lanelet_map_ptr);

// query all polygons that has given type in lanelet2 map
lanelet::ConstPolygons3d getAllPolygonsByType(
const lanelet::LaneletMapConstPtr & lanelet_map_ptr, const std::string & polygon_type);
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12 changes: 12 additions & 0 deletions tmp/lanelet2_extension/lib/query.cpp
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Expand Up @@ -305,6 +305,18 @@ std::vector<lanelet::CrosswalkConstPtr> query::crosswalks(const lanelet::ConstLa
return cw_reg_elems;
}

lanelet::ConstLineStrings3d query::curbstones(const lanelet::LaneletMapConstPtr & lanelet_map_ptr)
{
lanelet::ConstLineStrings3d curbstones;
for (const auto & ls : lanelet_map_ptr->lineStringLayer) {
const std::string type = ls.attributeOr(lanelet::AttributeName::Type, "none");
if (type == "curbstone") {
curbstones.push_back(ls);
}
}
return curbstones;
}

lanelet::ConstPolygons3d query::getAllPolygonsByType(
const lanelet::LaneletMapConstPtr & lanelet_map_ptr, const std::string & polygon_type)
{
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