#include <gtest/gtest.h>
#include <iostream>
#include <carma_wm/CARMAWorldModel.hpp>
#include <lanelet2_core/geometry/LineString.h>
#include <lanelet2_traffic_rules/TrafficRulesFactory.h>
#include <lanelet2_core/Attribute.h>
#include <carma_perception_msgs/msg/roadway_obstacle.hpp>
#include <carma_perception_msgs/msg/predicted_state.hpp>
#include <carma_perception_msgs/msg/connected_vehicle_type.hpp>
#include <boost/geometry.hpp>
#include <boost/geometry/geometries/polygon.hpp>
#include <tf2/LinearMath/Transform.h>
#include <lanelet2_core/geometry/Polygon.h>
#include <lanelet2_extension/regulatory_elements/DigitalSpeedLimit.h>
#include <carma_wm/Geometry.hpp>
#include <carma_wm/MapConformer.hpp>
#include <rclcpp/rclcpp.hpp>
#include <lanelet2_extension/regulatory_elements/CarmaTrafficSignal.h>

Include dependency graph for WMTestLibForGuidance.hpp:

Classes
struct	carma_wm::test::MapOptions

Namespaces
namespace	carma_wm

namespace	carma_wm::test

Functions
lanelet::Point3d	carma_wm::test::getPoint (double x, double y, double z)
	helper function for quickly creating a lanelet::Point3d. random id is assigned More...

lanelet::BasicPoint2d	carma_wm::test::getBasicPoint (double x, double y)
	helper function for quickly creating a lanelet::BasicPoint. random id is assigned More...

lanelet::Lanelet	carma_wm::test::getLanelet (lanelet::LineString3d &left_ls, lanelet::LineString3d &right_ls, const lanelet::Attribute &left_sub_type=lanelet::AttributeValueString::SolidSolid, const lanelet::Attribute &right_sub_type=lanelet::AttributeValueString::Solid)
	helper function for quickly creating a lanelet::Lanelet using linestrings. random id is assigned More...

lanelet::Lanelet	carma_wm::test::getLanelet (std::vector< lanelet::Point3d > left, std::vector< lanelet::Point3d > right, const lanelet::Attribute &left_sub_type=lanelet::AttributeValueString::SolidSolid, const lanelet::Attribute &right_sub_type=lanelet::AttributeValueString::Solid)
	helper function for quickly creating a lanelet::Lanelet using points. random id is assigned More...

lanelet::Lanelet	carma_wm::test::getLanelet (lanelet::Id id, lanelet::LineString3d left_ls, lanelet::LineString3d right_ls, const lanelet::Attribute &left_sub_type=lanelet::AttributeValueString::SolidSolid, const lanelet::Attribute &right_sub_type=lanelet::AttributeValueString::Solid)
	helper function for quickly creating a lanelet::Lanelet using linestrings. id is specified More...

lanelet::Lanelet	carma_wm::test::getLanelet (lanelet::Id id, std::vector< lanelet::Point3d > left, std::vector< lanelet::Point3d > right, const lanelet::Attribute &left_sub_type=lanelet::AttributeValueString::SolidSolid, const lanelet::Attribute &right_sub_type=lanelet::AttributeValueString::Solid)
	helper function for quickly creating a lanelet::Lanelet using points. id is specified More...

lanelet::LaneletMapPtr	carma_wm::test::buildGuidanceTestMap (double width, double length, int num=1)
	helper function for creating lanelet map for getGuidanceTestMap More...

void	carma_wm::test::addObstacle (double x, double y, std::shared_ptr< carma_wm::CARMAWorldModel > cmw, std::vector< std::pair< double, double > > pred_coords={}, int time_step=100, double width=3, double length=3)
	adds a roadway object at the specified cartesian coords More...

void	carma_wm::test::addObstacle (carma_wm::TrackPos tp, lanelet::Id lanelet_id, std::shared_ptr< carma_wm::CARMAWorldModel > cmw, std::vector< carma_wm::TrackPos > pred_trackpos_list={}, int time_step=100, double width=3, double length=3)
	adds a roadway object at the specified trackpos relative to the given lanelet id More...

void	carma_wm::test::setSpeedLimit (lanelet::Velocity speed_limit, std::shared_ptr< carma_wm::CARMAWorldModel > cmw)
	Sets all lanelets in the map the given speed limit. More...

void	carma_wm::test::setRouteByLanelets (std::vector< lanelet::ConstLanelet > lanelets, std::shared_ptr< carma_wm::CARMAWorldModel > cmw)
	Sets the route by series of lanelets. More...

void	carma_wm::test::setRouteByIds (std::vector< lanelet::Id > lanelet_ids, std::shared_ptr< carma_wm::CARMAWorldModel > cmw)
	Sets the route by series of lanelets id. More...

void	carma_wm::test::addTrafficLight (std::shared_ptr< carma_wm::CARMAWorldModel > cmw, lanelet::Id light_id, std::vector< lanelet::Id > entry_lanelet_ids, std::vector< lanelet::Id > exit_lanelet_ids, std::vector< std::pair< boost::posix_time::ptime, lanelet::CarmaTrafficSignalState > > timing_plan={ std::make_pair< boost::posix_time::ptime, lanelet::CarmaTrafficSignalState >(lanelet::time::timeFromSec(0), lanelet::CarmaTrafficSignalState::PROTECTED_MOVEMENT_ALLOWED), std::make_pair< boost::posix_time::ptime, lanelet::CarmaTrafficSignalState >(lanelet::time::timeFromSec(4.0), lanelet::CarmaTrafficSignalState::PROTECTED_CLEARANCE), std::make_pair< boost::posix_time::ptime, lanelet::CarmaTrafficSignalState >(lanelet::time::timeFromSec(24.0), lanelet::CarmaTrafficSignalState::STOP_AND_REMAIN), std::make_pair< boost::posix_time::ptime, lanelet::CarmaTrafficSignalState >(lanelet::time::timeFromSec(44.0), lanelet::CarmaTrafficSignalState::PROTECTED_MOVEMENT_ALLOWED) })
	Method adds a traffic light to the provided world model instance NOTE: The stop line for the light will be located at the end of the owning_lanelets (in order) and formed from their two bound end points. NOTE: Exit lanelet matches the entry lanelets by order. More...

std::shared_ptr< carma_wm::CARMAWorldModel >	carma_wm::test::getGuidanceTestMap (MapOptions map_options)
	Gets the CARMAWorldModel for the guidance test map. More...

std::shared_ptr< carma_wm::CARMAWorldModel >	carma_wm::test::getGuidanceTestMap ()

Classes

Namespaces

Functions