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Merge pull request #1456 from tier4/feature/shoulder_routing_graph
Add new routing graph for road shoulder
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71 changes: 71 additions & 0 deletions
71
simulation/traffic_simulator/include/traffic_simulator/hdmap_utils/traffic_rules.hpp
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,71 @@ | ||
| // Copyright 2015 TIER IV, Inc. All rights reserved. | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
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| #ifndef TRAFFIC_SIMULATOR__HDMAP_UTILS__TRAFFIC_RULES_HPP_ | ||
| #define TRAFFIC_SIMULATOR__HDMAP_UTILS__TRAFFIC_RULES_HPP_ | ||
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| #include <lanelet2_traffic_rules/GermanTrafficRules.h> | ||
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| namespace hdmap_utils | ||
| { | ||
| struct Locations | ||
| { | ||
| /// @note DIRTY HACK!! Originally, a location code should be an ISO country code. | ||
| /// @sa https://github.com/fzi-forschungszentrum-informatik/Lanelet2/blob/507033b82d9915f086f2539d56c3b62e71802438/lanelet2_traffic_rules/include/lanelet2_traffic_rules/TrafficRules.h#L97 | ||
| static constexpr char RoadShoulderPassableGermany[] = "de_road_shoulder_passable"; | ||
| }; | ||
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| class GermanRoadShoulderPassableVehicle : public lanelet::traffic_rules::GermanVehicle | ||
| { | ||
| public: | ||
| using lanelet::traffic_rules::GermanVehicle::GermanVehicle; | ||
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| protected: | ||
| /// @note this function overrides and adds road shoulder handling to GenericTrafficRules::canPass | ||
| lanelet::Optional<bool> canPass( | ||
| const std::string & type, const std::string & /*location*/) const override | ||
| { | ||
| using lanelet::AttributeValueString; | ||
| using lanelet::Participants; | ||
| const static std::map<std::string, std::vector<std::string>> participants_map{ | ||
| // clang-format off | ||
| {"", {Participants::Vehicle}}, | ||
| {AttributeValueString::Road, {Participants::Vehicle, Participants::Bicycle}}, | ||
| {"road_shoulder", {Participants::Vehicle, Participants::Bicycle}}, // add road_shoulder | ||
| {AttributeValueString::Highway, {Participants::Vehicle}}, | ||
| {AttributeValueString::BicycleLane, {Participants::Bicycle}}, | ||
| {AttributeValueString::PlayStreet, {Participants::Pedestrian, Participants::Bicycle, Participants::Vehicle}}, | ||
| {AttributeValueString::EmergencyLane, {Participants::VehicleEmergency}}, | ||
| {AttributeValueString::Exit, {Participants::Pedestrian, Participants::Bicycle, Participants::Vehicle}}, | ||
| {AttributeValueString::Walkway, {Participants::Pedestrian}}, | ||
| {AttributeValueString::Crosswalk, {Participants::Pedestrian}}, | ||
| {AttributeValueString::Stairs, {Participants::Pedestrian}}, | ||
| {AttributeValueString::SharedWalkway, {Participants::Pedestrian, Participants::Bicycle}} | ||
| // clang-format on | ||
| }; | ||
| auto participants = participants_map.find(type); | ||
| if (participants == participants_map.end()) { | ||
| return {}; | ||
| } | ||
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| auto startsWith = [](const std::string & str, const std::string & substr) { | ||
| return str.compare(0, substr.size(), substr) == 0; | ||
| }; | ||
| return lanelet::utils::anyOf(participants->second, [this, startsWith](auto & participant) { | ||
| return startsWith(this->participant(), participant); | ||
| }); | ||
| } | ||
| }; | ||
| } // namespace hdmap_utils | ||
| #endif // TRAFFIC_SIMULATOR__HDMAP_UTILS__TRAFFIC_RULES_HPP_ |
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21 changes: 21 additions & 0 deletions
21
simulation/traffic_simulator/src/hdmap_utils/traffic_rules.cpp
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| // Copyright 2015 TIER IV, Inc. All rights reserved. | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
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| #include <lanelet2_traffic_rules/TrafficRulesFactory.h> | ||
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| #include <traffic_simulator/hdmap_utils/traffic_rules.hpp> | ||
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| lanelet::traffic_rules::RegisterTrafficRules<hdmap_utils::GermanRoadShoulderPassableVehicle> | ||
| germanRoadShoulderPassableVehicleRules( | ||
| hdmap_utils::Locations::RoadShoulderPassableGermany, lanelet::Participants::Vehicle); |
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