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feat(lanelet2_extension): add query for bicycle_lane #29

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Sep 5, 2024
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feat(lanelet2_extension): add query for bicycle_lane #29

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8 changes: 8 additions & 0 deletions autoware_lanelet2_extension/include/autoware_lanelet2_extension/utility/query.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -56,6 +56,14 @@ lanelet::ConstLanelets walkwayLanelets(const lanelet::ConstLanelets & lls);
* @return [shoulder lanelets]
*/
lanelet::ConstLanelets shoulderLanelets(const lanelet::ConstLanelets & lls);

/**
* [bicycleLaneLanelets extracts shoulder lanelets]
* @param lls [input lanelets possibly with subtype bicycle_lane]
* @return [shoulder lanelets]
*/
lanelet::ConstLanelets bicycleLaneLanelets(const lanelet::ConstLanelets & lls);

/**
* [trafficLights extracts Traffic Light regulatory element from lanelets]
* @param lanelets [input lanelets]
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5 changes: 5 additions & 0 deletions autoware_lanelet2_extension/lib/query.cpp
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Expand Up @@ -72,6 +72,11 @@
return subtypeLanelets(lls, "road_shoulder");
}

lanelet::ConstLanelets bicycleLaneLanelets(const lanelet::ConstLanelets & lls)

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{
return subtypeLanelets(lls, "bicycle_lane");

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}

std::vector<lanelet::TrafficLightConstPtr> trafficLights(const lanelet::ConstLanelets & lanelets)
{
std::vector<lanelet::TrafficLightConstPtr> tl_reg_elems;
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