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@github-actions github-actions released this 18 Nov 09:35
· 1013 commits to master since this release
5.3.1
4b32049

Description

Abstract

  • add RoutingGraphType enum class to specity types of routing graph
  • add RoutingGraphs class to manage routing graph and paired traffic rule class
  • replace EntityType with RoutingGraphType to specify types of routing graph

Background

The current HDMapUtils class uses the vehicle routing graph by default (even for pedestrians).
As the first step to bettter management of routing graph, this pull-request adds RoutingGraphs class.

In addition, the handling of shoulder lanes varies depending on the function, and there is no consistency.
In the future, I plan to develop a unified handling of shoulder lanes by adding a routing graph that includes road shoulders to the better routing graph management added in this pull request.

Details

  • HDMapUtils::getNextLaneletIds
    • add type argument to switch routing graph(default: VEHICLE for backward compatibility)
    • two overload has not type argument yet, because it treats road shoulder lanelet.
  • HDMapUtils::getPriviousLaneletIds
    • add type argument to switch routing graph(default: VEHICLE for backward compatibility)
      • one overload has not type argument yet, because it treats road shoulder lanelet and has a bug.
  • HDMapUtils::getRightLaneletIds
    • replace EntityType with RoutingGraphType in argument
  • HDMapUtils::getLeftLaneletIds
    • replace EntityType with RoutingGraphType in argument
  • HDMapUtils::getRoute
    • move inplementation into HDMapUtils::RoutingGraphs::getRoute
    • add type argument to switch routing graph(default: VEHICLE for backward compatibility)

References

Regression Test(OK)

Destructive Changes

Although there have been some additions to function arguments, all of this has been carefully implemented to ensure backward compatibility.

Known Limitations

Related Issues

Assets 2
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