Program Listing for File LaneletMatching.h

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/*
 * Copyright (c) 2019
 * FZI Forschungszentrum Informatik, Karlsruhe, Germany (www.fzi.de)
 * KIT, Institute of Measurement and Control, Karlsruhe, Germany (www.mrt.kit.edu)
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * 1. Redistributions of source code must retain the above copyright notice,
 *    this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright notice,
 *    this list of conditions and the following disclaimer in the documentation
 *    and/or other materials provided with the distribution.
 * 3. Neither the name of the copyright holder nor the names of its contributors
 *    may be used to endorse or promote products derived from this software without
 *    specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */

#pragma once

#include <lanelet2_core/LaneletMap.h>
#include <lanelet2_traffic_rules/TrafficRulesFactory.h>

#include "Exceptions.h"
#include "Types.h"
#include "Utilities.h"

namespace lanelet {
namespace matching {

std::vector<LaneletMatch> getDeterministicMatches(LaneletMap& map, const Object2d& obj, double maxDist);
std::vector<ConstLaneletMatch> getDeterministicMatches(const LaneletMap& map, const Object2d& obj, double maxDist);

std::vector<LaneletMatchProbabilistic> getProbabilisticMatches(LaneletMap& map, const ObjectWithCovariance2d& obj,
                                                               double maxDist);
std::vector<ConstLaneletMatchProbabilistic> getProbabilisticMatches(const LaneletMap& map,
                                                                    const ObjectWithCovariance2d& obj, double maxDist);

template <typename LayerT>
bool isCloseTo(const LayerT& map, const Object2d& obj, double maxDist) {
  auto closePrimitives = utils::findWithin(map, obj, maxDist);
  return !closePrimitives.empty();
}

template <typename LayerT>
bool isWithin(const LayerT& map, const Object2d& obj) {
  return isCloseTo(map, obj, 0.);
}

template <typename MatchVectorT>
MatchVectorT removeNonRuleCompliantMatches(const MatchVectorT& matches,
                                           const lanelet::traffic_rules::TrafficRulesPtr& trafficRulesPtr) {
  MatchVectorT compliantMatches = matches;
  compliantMatches.erase(
      std::remove_if(compliantMatches.begin(), compliantMatches.end(),
                     [&trafficRulesPtr](auto& match) { return !trafficRulesPtr->canPass(match.lanelet); }),
      compliantMatches.end());
  return compliantMatches;
}

}  // namespace matching
}  // namespace lanelet