Feature/is in intersection #1490
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…onst -> bool function Signed-off-by: Masaya Kataoka <[email protected]>
Signed-off-by: Masaya Kataoka <[email protected]>
Checklist for reviewers ☑️All references to "You" in the following text refer to the code reviewer.
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hakuturu583
added
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bump patch
dmoszynski
reviewed
Dec 18, 2024
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yamacir-kit
approved these changes
Dec 20, 2024
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Description
Abstract
Add
auto HdMapUtils::isInIntersection(const lanelet::Id lanelet_id) const -> boolfunction.Background
In the current master branch implementation, there was no function to determine if a lanelet is a lanelet at an intersection.
Details
Since it was found that lanelets included in an intersection have an attribute called
turn_direction, it was decided to make a judgment based on this attribute.The use of
intersection_areapolygon was also suggested, but the condition is thatintersection in lanelet2 meansturn_direction, and polygon(intersection_area) is the polygon that is responsible for setting the area. Therefore, we decided to use the presence or absence ofturn_direction` as a condition for judgment.Lanelet outside intersection.
Lanelet inside intersection.
References
Internal link.
Document about lanelet2(Japanese)
Document about lanelet2(English)
Destructive Changes
N/A
Known Limitations
N/A