carma_wm::TrackPos Class Reference

Position in a track based coordinate system where the axis are downtrack and crosstrack. Positive crosstrack is to the left of the reference line. More...

#include <TrackPos.hpp>

Collaboration diagram for carma_wm::TrackPos:

Public Member Functions
	TrackPos (double down_track, double cross_track)
	Constructor. More...
	TrackPos (const lanelet::ArcCoordinates &arc_coord)
	Constructor from lanelet ArcCoordinates which are converted to TrackPos where downtrack = ArcCoordinates.length and crosstrack = -ArcCoordinates.distance. More...
lanelet::ArcCoordinates	toArcCoordinates ()
	Returns a lanelet ArcCoordinate built from this TrackPos where downtrack = ArcCoordinates.length and crosstrack = -ArcCoordinates.distance. More...
bool	operator== (const TrackPos &other) const
bool	operator!= (const TrackPos &other) const

Public Attributes
double	downtrack = 0
double	crosstrack = 0

Detailed Description

Position in a track based coordinate system where the axis are downtrack and crosstrack. Positive crosstrack is to the left of the reference line.

The position of a point relative to a reference line. The perpendicular distance from the point to the reference line is the crosstrack The distance to the intersection of the perpendicular from the start of the line is the downtrack distance If an x,y point would be located to the right of the reference line then the crosstrack is positive. It is negative if on the left side of the line. NOTE: The positive/negative crosstrack side is flipped relative to a lanelet::ArcCoordinate Most utility functions will assume that the downtrack/crosstrack values are specified in meters

Definition at line 34 of file TrackPos.hpp.

Constructor & Destructor Documentation

TrackPos() [1/2]

carma_wm::TrackPos::TrackPos ( double  down_track, double  cross_track  )

inline

Constructor.

Parameters

down_track	The downtrack distance
cross_track	The crosstrack distance

Definition at line 45 of file TrackPos.hpp.

                                                  : downtrack(down_track), crosstrack(cross_track)
  {
  }

TrackPos() [2/2]

carma_wm::TrackPos::TrackPos ( const lanelet::ArcCoordinates &  arc_coord )

inline

Constructor from lanelet ArcCoordinates which are converted to TrackPos where downtrack = ArcCoordinates.length and crosstrack = -ArcCoordinates.distance.

Parameters

arc_coord

ArcCoordinate to copy

Definition at line 54 of file TrackPos.hpp.

                                                   : downtrack(arc_coord.length), crosstrack(-arc_coord.distance)
  {
  }

Member Function Documentation

operator!=()

bool carma_wm::TrackPos::operator!= ( const TrackPos &  other ) const

inline

Definition at line 74 of file TrackPos.hpp.

  {
    return !(*this == other);
  }

operator==()

bool carma_wm::TrackPos::operator== ( const TrackPos &  other ) const

inline

Definition at line 69 of file TrackPos.hpp.

  {
    return this == &other || (this->downtrack == other.downtrack && this->crosstrack == other.crosstrack);
  }

References crosstrack, and downtrack.

toArcCoordinates()

lanelet::ArcCoordinates carma_wm::TrackPos::toArcCoordinates ( )

inline

Returns a lanelet ArcCoordinate built from this TrackPos where downtrack = ArcCoordinates.length and crosstrack = -ArcCoordinates.distance.

Returns

lanelet::ArcCoordinates with values copied from this object

Definition at line 63 of file TrackPos.hpp.

  {
    return lanelet::ArcCoordinates{ downtrack, -crosstrack };
  }

References crosstrack, and downtrack.

Member Data Documentation

crosstrack

double carma_wm::TrackPos::crosstrack = 0

Definition at line 38 of file TrackPos.hpp.

Referenced by route::RouteGeneratorWorker::bumperPoseCb(), carma_wm_ctrl::WMBroadcaster::distToNearestActiveGeofence(), operator==(), carma_wm::CARMAWorldModel::pointFromRouteTrackPos(), platoon_strategic_ihp::PlatoonStrategicIHPPlugin::pose_cb(), carma_wm::CARMAWorldModel::routeTrackPos(), carma_wm::geometry::selectFirstSegment(), toArcCoordinates(), and carma_wm::CARMAWorldModel::toRoadwayObstacle().

downtrack

double carma_wm::TrackPos::downtrack = 0

Definition at line 37 of file TrackPos.hpp.

Referenced by route::RouteGeneratorWorker::bumperPoseCb(), route::RouteGeneratorWorker::composeRouteMarkerMsg(), carma_wm_ctrl::WMBroadcaster::distToNearestActiveGeofence(), carma_wm::query::getAffectedLaneletOrAreas(), carma_wm::CARMAWorldModel::getLaneletsBetween(), carma_wm::CARMAWorldModel::getNearestObjInLane(), carma_wm::geometry::matchSegment(), carma_wm::query::nonConnectedAdjacentLeft(), operator==(), carma_wm::CARMAWorldModel::pointFromRouteTrackPos(), platoon_strategic_ihp::PlatoonStrategicIHPPlugin::pose_cb(), carma_wm::CARMAWorldModel::routeTrackPos(), carma_wm::CARMAWorldModel::sampleRoutePoints(), carma_wm::geometry::selectFirstSegment(), carma_wm_ctrl::WMBroadcaster::splitLaneletWithPoint(), carma_wm_ctrl::WMBroadcaster::splitOppositeLaneletWithPoint(), toArcCoordinates(), and carma_wm::CARMAWorldModel::toRoadwayObstacle().

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

• carma_wm/include/carma_wm/TrackPos.hpp