Function SimOneAPI::GetInertialFromLaneST

Function Documentation

bool SimOneAPI::GetInertialFromLaneST(const SSD::SimString &id, const double &s, const double &t, SSD::SimPoint3D &inertial, SSD::SimPoint3D &dir)

根据车道ST坐标获取局部坐标

Get local coordinates based on lane ST coordinates.

此函数用于根据车道的中心线相对的[s, t]坐标值对获取局部ENU坐标系中的[x, y, z]位置

This function is used to obtain the [x, y, z] position in the local ENU coordinate system, based on the [s, t] value pair relative to the lane's center line.

参数:

  • id -- [in]

    输入的车道ID，格式为roadId_sectionIndex_laneId

    Input lane ID, formatted as roadId_sectionIndex_laneId.

  • s, t -- [in]

    [s, t]表示在s-t坐标系统中的输入点值对

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

  • inertial -- [out]

    局部ENU坐标系中的[x, y, z]位置

    The [x, y, z] position in local ENU.

  • dir -- [out]

    车道中线上的局部ENU方向

    The direction in local ENU on the lane's middle line.

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.