Function SimOneAPI::GetNearLanesWithAngle¶

• Defined in File SimOneHDMapAPI.h

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:¶

const SSD::SimPoint3D &pos¶

[in]

输入的3D位置

Input 3D location.

const double &distance¶

[in]

搜索的距离范围

Input distance range to search.

const double &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.

const double &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.

SSD::SimStringVector &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.