21.0.0

Description

Abstract

This PR contains refactoring of HdMapUtils with the goal of moving functionality from this class to free functions.

Background

This is a part of #1479
See that PR for more background on why these changes are made.

Details

All changes are listed in the points below.

1

ActionNode::getDistanceToTargetEntity member function has been replaced with distance::splineDistanceToBoundingBox function.

The functionality is not changed, some surrounding changes had to be made in order to achieve this separation:

• Added getAltitudeRange member function to all spline classes.
  • It returns lowest and highest altitude if given spline
• Added lanelet_wrapper::pose::isAltitudeWithinRange function
  • It checks whether the given altitude is within a given range

This change necessitated changing several places where ActionNode::getDistanceToTargetEntity was used before.

2

ActionNode::getOtherEntitiesCanonicalizedEntityStatuses member function has been added.
It returns Canonicalized entity statuses of all other entities.

3

Fixed mistakes where local variables and function arguments used a _ suffix, which is a convention for member variables.
This mistake was introduced when renaming member variables in this commit.

4

Added check whether entity is in lanelet in ActionNode::getFrontEntityName.
This condition should be checked, because searching for entity in front is done on the lanelets.

5

Added check whether entity is in lanenet in ActionNode::getDistanceToConflictingEntity.
This condition should be checked, because searching for conflicting entity is done on the lanelets.

6

HdMapUtils::getAltitude was removed, because it was not used, and the functionality is in the traffic simulator utils.

7

Moved implementation of conflicting IDs functions from HdMapUtils to lanelet_wrapper::lanelet_map namespace.
The HdMapUtils forwarding member functions will be removed in the future.

• HdMapUtils::getConflictingCrosswalkIds => lanelet_wrapper::lanelet_map::conflictingCrosswalkIds
• HdMapUtils::getConflictingLaneIds => lanelet_wrapper::lanelet_map::conflictingLaneIds

8

lanelet_wrapper::pose::isAltitudeMatching has been renamed to lanelet_wrapper::pose::isAltitudeWithinThreshold.
This change makes it clear that a threshold is being used and to make it in line with lanelet_wrapper::pose::isAltitudeWithinRange naming.

The threshold altitude_threshold has been moved to header as global constant ALTITUDE_THRESHOLD to use it in both isAltitudeWithinThreshold and isAltitudeWithinRange.

References

Description of #1479 and Abstract of #1472 for better overview of the changes.

Destructive Changes

Some functions have been renamed, as explained in Details, but the codebase has been adjusted.

Known Limitations

None

Related Issues