Function SimOneAPI::GetNearLanesWithAngle

Function Documentation

bool SimOneAPI :: GetNearLanesWithAngle ( const SSD :: SimPoint3D & pos , const double & distance , const double & headingAngle , const double & angleShift , SSD :: SimStringVector & nearLanes )

获取视野范围内所有车道

Get all lanes within the field of view.

此函数用于获取指定范围和指定角度范围内靠近输入点的车道

This function is used to get lanes that are close to the input point within a specified distance range and within a specified angle range in the 2D-inertial system.

参数 :

  • pos – [in]

    输入的3D位置

    Input 3D location.

  • distance – [in]

    搜索的距离范围

    Input distance range to search.

  • headingAngle – [in]

    相对于2D惯性系统X轴的指定前进方向角度，以弧度定义

    A specified heading direction’s angle relative to the x-axis in the 2D-inertial system, defined in radians.

  • angleShift – [in]

    用于定义角度范围为[headingAngle - angleShift, headingAngle + angleShift]，以弧度定义

    To define the range of angle as [headingAngle - angleShift, headingAngle + angleShift], defined in radians.

  • nearLanes – [out]

    找到的车道ID列表，每个ID格式为roadId_sectionIndex_laneId

    Lane IDs of the found lanes, each ID formatted as roadId_sectionIndex_laneId.

返回 :

当找到一个或多个车道时返回true，否则返回false

Returns true when one or more lanes are found, else returns false.