Function SimOneAPI::GetRoadST

Function Documentation

bool SimOneAPI::GetRoadST(const SSD::SimString &id, const SSD::SimPoint3D &pos, double &s, double &t, double &z)

获取相对于道路参考线的ST坐标

Get the ST coordinates relative to the road reference line.

此函数用于获取输入点相对于车道所属道路的参考线的[s, t]坐标值对，以及在局部ENU坐标系中的高度值z

This function is used to obtain the [s, t] coordinate pair of the input point relative to the reference line of the road that owns the lane, along with the height value z in the local ENU coordinate system.

参数:
const SSD::SimString &id

[in]

输入的车道ID，格式为roadId_sectionIndex_laneId

Input lane ID, formatted as roadId_sectionIndex_laneId.

const SSD::SimPoint3D &pos

[in]

输入的3D位置

Input 3D location.

double &s

[out]

[s, t]表示输入点在s-t坐标系统中的s值

[s, t] represents the input point's s value in the s-t coordinate system.

double &t

[out]

[s, t]表示输入点在s-t坐标系统中的t值

[s, t] represents the input point's t value in the s-t coordinate system.

double &z

[out]

z表示输入点在局部ENU坐标系中的高度值

z represents the input point's height value in the local ENU coordinate system.

返回:

如果地图中存在指定的车道则返回true，否则返回false

Returns true if the specified lane exists in the map, else returns false.