RoutingGraphAccessor Class Reference

This class serves as a method of exposing the internal protected members of the lanelet2 RoutingGraph. This allows for a conversion method to be written which converts the routing graph to a ROS message representation. More...

#include <RoutingGraphAccessor.hpp>

Inheritance diagram for RoutingGraphAccessor:

Collaboration diagram for RoutingGraphAccessor:

Public Member Functions
autoware_lanelet2_msgs::msg::RoutingGraph	routingGraphToMsg (const std::string &participant)
	Returns a ROS message version of this RoutingGraph. This is done by accessing protected data members directly. More...

Detailed Description

This class serves as a method of exposing the internal protected members of the lanelet2 RoutingGraph. This allows for a conversion method to be written which converts the routing graph to a ROS message representation.

ASSUMPTION: Note this class is heavily dependant on the non-public implementation API of lanelet2 (v1.1.1). Any change to the underlying data structures may negatively impact this classes performance or ability to compile.

Definition at line 32 of file RoutingGraphAccessor.hpp.

Member Function Documentation

routingGraphToMsg()

autoware_lanelet2_msgs::msg::RoutingGraph RoutingGraphAccessor::routingGraphToMsg ( const std::string &  participant )

inline

Returns a ROS message version of this RoutingGraph. This is done by accessing protected data members directly.

Parameters

participant

The participant which was used to build this routing graph. NOTE: This is not a choice. This must match the value used to generate this object.

Returns

The ros message which can be used to regenerate this routing graph structure.

Definition at line 44 of file RoutingGraphAccessor.hpp.

                                                                                        {
 
 
    autoware_lanelet2_msgs::msg::RoutingGraph msg; // output message
 
    // Assign base fields
    msg.num_unique_routing_cost_ids = this->graph_->numRoutingCosts();
    msg.participant_type = participant;
 
    // Get the underlying graph
    // Type will be boost::adjacency_list<boost::vecS, boost::vecS, boost::bidirectionalS, VertexInfo, EdgeInfo>
    // As version of lanelet2 used when writing this function
    auto underlying_graph = this->graph_->get();
 
    // Iterate over all vertices in the graph
    boost::graph_traits<lanelet::routing::internal::GraphType>::vertex_iterator vi, vi_end;
    
    for(boost::tie(vi, vi_end) = boost::vertices(underlying_graph); vi != vi_end; ++vi) {
       
      autoware_lanelet2_msgs::msg::RoutingGraphVertexAndEdges vertex_and_edges;
 
      lanelet::routing::internal::GraphType::vertex_descriptor source = *vi;
      
      // Iterate over all outgoing edges for this vertex
      boost::graph_traits<lanelet::routing::internal::GraphType>::out_edge_iterator ei, ei_end;
      for(boost::tie(ei, ei_end) = boost::out_edges(source, underlying_graph); ei != ei_end; ++ei) {
       
        lanelet::routing::internal::GraphType::edge_descriptor edge = *ei;
        lanelet::routing::internal::GraphType::vertex_descriptor target = boost::target(edge, underlying_graph);
 
 
        // Populate the edge info in the message
        vertex_and_edges.lanelet_or_area_ids.push_back(underlying_graph[target].laneletOrArea.id());
 
        vertex_and_edges.edge_routing_costs.push_back(underlying_graph[edge].routingCost);
        vertex_and_edges.edge_routing_cost_source_ids.push_back(underlying_graph[edge].costId);
 
        uint8_t relation = 0;
        switch(underlying_graph[edge].relation) {
          case lanelet::routing::RelationType::Successor:
            relation = autoware_lanelet2_msgs::msg::RoutingGraphVertexAndEdges::RELATION_SUCCESSOR; break;
          case lanelet::routing::RelationType::Left:
            relation = autoware_lanelet2_msgs::msg::RoutingGraphVertexAndEdges::RELATION_LEFT; break;
          case lanelet::routing::RelationType::Right:
            relation = autoware_lanelet2_msgs::msg::RoutingGraphVertexAndEdges::RELATION_RIGHT; break;
          case lanelet::routing::RelationType::AdjacentLeft:
            relation = autoware_lanelet2_msgs::msg::RoutingGraphVertexAndEdges::RELATION_ADJACENT_LEFT; break;
          case lanelet::routing::RelationType::AdjacentRight:
            relation = autoware_lanelet2_msgs::msg::RoutingGraphVertexAndEdges::RELATION_ADJACENT_RIGHT; break;
          case lanelet::routing::RelationType::Conflicting:
            relation = autoware_lanelet2_msgs::msg::RoutingGraphVertexAndEdges::RELATION_CONFLICTING; break;
          case lanelet::routing::RelationType::Area:
            relation = autoware_lanelet2_msgs::msg::RoutingGraphVertexAndEdges::RELATION_AREA; break;
          default: // None relation will be default
            relation = autoware_lanelet2_msgs::msg::RoutingGraphVertexAndEdges::RELATION_NONE; break;
        }
 
        vertex_and_edges.edge_relations.push_back(relation);
 
      }
 
      vertex_and_edges.lanelet_or_area = underlying_graph[source].laneletOrArea.id();
 
      // Assign core vertext to the correct array in the ros message based on its type
      if (underlying_graph[source].laneletOrArea.isLanelet()) { // Lanelet
        msg.lanelet_vertices.push_back(vertex_and_edges);
 
      } else { // Area
        msg.area_vertices.push_back(vertex_and_edges);
      }
      
    }
 
    return msg;
  }

References sci_strategic_plugin::Left, and sci_strategic_plugin::Right.

---

The documentation for this class was generated from the following file:

• carma_wm_ctrl/src/RoutingGraphAccessor.hpp