HdMapUtils refactor (PR 2/6) - extend lanelet_wrapper: add ::distance and necessary parts of ::route, ::lanelet_map, ::traffic_lights

[dmoszynski]

Description

Abstract

This is the second PR of 6 related to the HdMapUtils refactor (for the first one, see #1472).
For a full overview of changes that all 6 PRs will introduce, please see the Abstract of the first PR.

Background

The lanelet_wrapper namespace contains:

• LaneletLoader
• LaneletWrapper
• RouteCache,CenterPointsCache, LaneletLengthCache
• TrafficRulesWithRoutingGraph
• 6 category-specific sub-namespaces

These static methods are used by the sub-namespaces of lanelet_wrapper.
lanelet_wrapper namespace consist of 6 sub-namespaces:

• lanelet_wrapper::lanelet_map,
• lanelet_wrapper::pose,
• lanelet_wrapper::distance,
• lanelet_wrapper::route,
• lanelet_wrapper::lane_change,
• lanelet_wrapper::traffic_lights.

As a result of the merge of this PR 2/6, the namespaces lanelet_wrapper::lanelet_map, lanelet_wrapper::distance, lanelet_wrapper::route and lanelet_wrapper::traffic_lights were added to the project. But most importantly, the ::distance from utils is adapted for its use.
In addition to this, PR is making several other improvements to the code, see below for details.

Details

The distance namespace in lanelet_wrapper and only the strictly necessary parts of route and traffic_lights are developed.

Important

By moving from HdMapUtils, we mean moving the entire member function to lanelet_wrapper - making it a free function.
This is accessible to traffic_simulator through free functions in utils namespace.

Before these changes the structure looked like this:

<HdMapUtils member function name>

After the changes structure looks like this:

<utils namespace and function name> → <lanelet_wrapper namespace and function name>

Below is the list of moved function (member functions transformed to free functions)

Tip

Most functions that have been removed from HdMapUtils have been renamed in such a way that the get prefix has been removed and thus the first letter of the new function name has been made lower case.

Example of such name change can be the following

HdMapUtils::getLateralDistance → lanelet_wrapper::distance::lateralDistance

Old name	New name
HdMapUtils::getLateralDistance	distance::lateralDistance → lanelet_wrapper::distance::lateralDistance
HdMapUtils::getLongitudinalDistance	distance::longitudinalDistance → lanelet_wrapper::distance::longitudinalDistance
HdMapUtils::getDistanceToStopLine	distance::distanceToStopLine → lanelet_wrapper::distance::distanceToStopLine
HdMapUtils::getDistanceToTrafficLightStopLine	distance::distanceToTrafficLightStopLine → lanelet_wrapper::distance::distanceToTrafficLightStopLine
HdMapUtils::getDistanceToCrosswalk	distance::distanceToCrosswalk → lanelet_wrapper::distance::distanceToCrosswalk
HdMapUtils::getLeftBound	lanelet_wrapper::lanelet_map::leftBound
HdMapUtils::getRightBound	lanelet_wrapper::lanelet_map::rightBound
HdMapUtils::getLaneletPolygon	lanelet_wrapper::lanelet_map::laneletPolygon
HdMapUtils::getStopLinePolygon	lanelet_wrapper::lanelet_map::stopLinePolygon
HdMapUtils::toPolygon	lanelet_wrapper::lanelet_map::toPolygon
HdMapUtils::getRightOfWayLaneletIds	lanelet_wrapper::lanelet_map::rightOfWayLaneletIds
HdMapUtils::getTrafficSignRegulatoryElementsOnPath	lanelet_wrapper::lanelet_map::trafficSignsOnPath
HdMapUtils::getStopLinesOnPath	lanelet_wrapper::lanelet_map::stopLinesOnPath
HdMapUtils::getStopLineIdsOnPath	lanelet_wrapper::lanelet_map::stopLineIdsOnPath
HdMapUtils::getRoute	route::route → lanelet_wrapper::route::route
HdMapUtils::getTrafficLightStopLinesPoints	lanelet_wrapper::traffic_lights::trafficLightStopLinesPoints
HdMapUtils::getTrafficLightIdsOnPath	lanelet_wrapper::traffic_lights::trafficLightStopLinesPoints
HdMapUtils::getTrafficLights	lanelet_wrapper::traffic_lights::toAutowareTrafficLights
HdMapUtils::getTrafficLightRegulatoryElementsOnPath	lanelet_wrapper::traffic_lights::autowareTrafficLightsOnPath

References

Destructive Changes

Known Limitations

[sonarqubecloud]

Quality Gate passed

Issues
25 New issues
0 Accepted issues

Measures
0 Security Hotspots
52.6% Coverage on New Code
0.2% Duplication on New Code

See analysis details on SonarQube Cloud