fix(traffic_simulator): adapt lanelet-wapper::pose to changes in hdma…

…p_utils
tier4 · Dec 10, 2024 · bd67439 · bd67439
1 parent af6198c
commit bd67439
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Showing 2 changed files with 13 additions and 10 deletions.
diff --git a/simulation/traffic_simulator/include/traffic_simulator/lanelet_wrapper/pose.hpp b/simulation/traffic_simulator/include/traffic_simulator/lanelet_wrapper/pose.hpp
@@ -81,12 +81,12 @@ auto matchToLane(
   -> std::optional<lanelet::Id>;
 
 auto leftLaneletIds(
-  const lanelet::Id lanelet_id, const RoutingGraphType type,
-  const bool include_opposite_direction = true) -> lanelet::Ids;
+  const lanelet::Id lanelet_id, const RoutingGraphType type, const bool include_opposite_direction)
+  -> lanelet::Ids;
 
 auto rightLaneletIds(
-  const lanelet::Id lanelet_id, const RoutingGraphType type,
-  const bool include_opposite_direction = true) -> lanelet::Ids;
+  const lanelet::Id lanelet_id, const RoutingGraphType type, const bool include_opposite_direction)
+  -> lanelet::Ids;
 }  // namespace pose
 }  // namespace lanelet_wrapper
 }  // namespace traffic_simulator

diff --git a/simulation/traffic_simulator/src/lanelet_wrapper/pose.cpp b/simulation/traffic_simulator/src/lanelet_wrapper/pose.cpp
@@ -425,10 +425,11 @@ auto leftLaneletIds(
   -> lanelet::Ids
 {
   if (include_opposite_direction) {
-    return lanelet_map::laneletIds(LaneletWrapper::routingGraph(type)->lefts(
-      LaneletWrapper::map()->laneletLayer.get(lanelet_id)));
+    throw common::Error(
+      "lanelet_wrapper::pose::leftLaneletIds with include_opposite_direction=true is not "
+      "implemented yet.");
   } else {
-    return lanelet_map::laneletIds(LaneletWrapper::routingGraph(type)->adjacentLefts(
+    return lanelet_map::laneletIds(LaneletWrapper::routingGraph(type)->lefts(
       LaneletWrapper::map()->laneletLayer.get(lanelet_id)));
   }
 }
@@ -438,10 +439,12 @@ auto rightLaneletIds(
   -> lanelet::Ids
 {
   if (include_opposite_direction) {
-    return lanelet_map::laneletIds(LaneletWrapper::routingGraph(type)->rights(
-      LaneletWrapper::map()->laneletLayer.get(lanelet_id)));
+    throw common::Error(
+      "lanelet_wrapper::pose::rightLaneletIds with include_opposite_direction=true is not "
+      "implemented "
+      "yet.");
   } else {
-    return lanelet_map::laneletIds(LaneletWrapper::routingGraph(type)->adjacentRights(
+    return lanelet_map::laneletIds(LaneletWrapper::routingGraph(type)->rights(
       LaneletWrapper::map()->laneletLayer.get(lanelet_id)));
   }
 }