feat add polyline label id info

[danielsanchezaran]

This PR adds label ids to the polilyne construction so it is not 0.0 by default

[ktro2828]

@danielsanchezaran Thank you for your PR. I left some minor suggestions. Please check them out.

[ktro2828]

[NITS] TODO can be removed.

Suggested change

	itr->x(), itr->y(), itr->z(), dx, dy, dz, label_id); // TODO(ktro2828): Label ID
	itr->x(), itr->y(), itr->z(), dx, dy, dz, label_id);

[ktro2828]

[NITS] It would be better to separate functions only used in the source file using anonymous namespace.

Suggested change

	bool isVirtualLinestring(const std::string & line_type, const std::string & line_subtype)
	{
	// Indicate whether input linestring type and subtype is virtual.
	// Args:
	// line_type (str): Line type name.
	// line_subtype (str): Line subtype name.
	// Returns:
	// bool: Return True if line type is `virtual` and subtype is `""`.
	return line_type == "virtual" && line_subtype == "";
	}
	bool isRoadedgeLinestring(const std::string & line_type)
	{
	// Indicate whether input linestring type and subtype is supported RoadEdge.
	// Args:
	// line_type (str): Line type name.
	// line_subtype (str): Line subtype name.
	// Returns:
	// bool: Return True if line type is contained in T4RoadEdge.
	return std::find(T4_ROADEDGE.begin(), T4_ROADEDGE.end(), line_type) != T4_ROADEDGE.end();
	}
	bool isRoadlineLinestring(const std::string & line_subtype)
	{
	// Indicate whether input linestring type and subtype is supported RoadLine.
	// Args:
	// line_type (str): Line type name.
	// line_subtype (str): Line subtype name.
	// Returns:
	// bool: Return True if line subtype is contained in T4RoadLine.
	// Note: Currently `line_type` is not used, but it might be used in the future.
	return std::find(T4_ROADLINE.begin(), T4_ROADLINE.end(), line_subtype) != T4_ROADLINE.end();
	}
	std::string getLinestringType(const lanelet::ConstLineString3d & linestring)
	{
	if (linestring.hasAttribute("type")) {
	return linestring.attribute("type").value();
	} else {
	return "";
	}
	}
	std::string getLinestringSubtype(const lanelet::ConstLineString3d & linestring)
	{
	if (linestring.hasAttribute("subtype")) {
	return linestring.attribute("subtype").value();
	} else {
	return "";
	}
	}
	float getBoundaryType(const lanelet::ConstLineString3d & linestring)
	{
	// Return the `BoundaryType` from linestring.
	// Args:
	// linestring (lanelet::ConstLineString3d): LineString instance.
	// Returns:
	// MapType: Boundary type.
	auto line_type = getLinestringType(linestring);
	auto line_subtype = getLinestringSubtype(linestring);
	if (isVirtualLinestring(line_type, line_subtype)) {
	return static_cast<float>(MapType::UNKNOWN);
	} else if (isRoadedgeLinestring(line_type)) {
	return static_cast<float>(autoware::mtr::g_map_type_mapping.at(line_type));
	} else if (isRoadlineLinestring(line_subtype)) {
	return static_cast<float>(autoware::mtr::g_map_type_mapping.at(line_subtype));
	} else {
	return static_cast<float>(MapType::UNKNOWN);
	}
	}
	namespace
	{
	bool isVirtualLinestring(const std::string & line_type, const std::string & line_subtype)
	{
	// Indicate whether input linestring type and subtype is virtual.
	// Args:
	// line_type (str): Line type name.
	// line_subtype (str): Line subtype name.
	// Returns:
	// bool: Return True if line type is `virtual` and subtype is `""`.
	return line_type == "virtual" && line_subtype == "";
	}
	bool isRoadedgeLinestring(const std::string & line_type)
	{
	// Indicate whether input linestring type and subtype is supported RoadEdge.
	// Args:
	// line_type (str): Line type name.
	// line_subtype (str): Line subtype name.
	// Returns:
	// bool: Return True if line type is contained in T4RoadEdge.
	return std::find(T4_ROADEDGE.begin(), T4_ROADEDGE.end(), line_type) != T4_ROADEDGE.end();
	}
	bool isRoadlineLinestring(const std::string & line_subtype)
	{
	// Indicate whether input linestring type and subtype is supported RoadLine.
	// Args:
	// line_type (str): Line type name.
	// line_subtype (str): Line subtype name.
	// Returns:
	// bool: Return True if line subtype is contained in T4RoadLine.
	// Note: Currently `line_type` is not used, but it might be used in the future.
	return std::find(T4_ROADLINE.begin(), T4_ROADLINE.end(), line_subtype) != T4_ROADLINE.end();
	}
	std::string getLinestringType(const lanelet::ConstLineString3d & linestring)
	{
	if (linestring.hasAttribute("type")) {
	return linestring.attribute("type").value();
	} else {
	return "";
	}
	}
	std::string getLinestringSubtype(const lanelet::ConstLineString3d & linestring)
	{
	if (linestring.hasAttribute("subtype")) {
	return linestring.attribute("subtype").value();
	} else {
	return "";
	}
	}
	float getBoundaryType(const lanelet::ConstLineString3d & linestring)
	{
	// Return the `BoundaryType` from linestring.
	// Args:
	// linestring (lanelet::ConstLineString3d): LineString instance.
	// Returns:
	// MapType: Boundary type.
	auto line_type = getLinestringType(linestring);
	auto line_subtype = getLinestringSubtype(linestring);
	if (isVirtualLinestring(line_type, line_subtype)) {
	return static_cast<float>(MapType::UNKNOWN);
	} else if (isRoadedgeLinestring(line_type)) {
	return static_cast<float>(autoware::mtr::g_map_type_mapping.at(line_type));
	} else if (isRoadlineLinestring(line_subtype)) {
	return static_cast<float>(autoware::mtr::g_map_type_mapping.at(line_subtype));
	} else {
	return static_cast<float>(MapType::UNKNOWN);
	}
	}
	} // namespace