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:
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 double &s

[in]

[s, t]表示在s-t坐标系统中的输入点s值

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

const double &t

[in]

[s, t]表示在s-t坐标系统中的输入点t值

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

SSD::SimPoint3D &inertial

[out]

局部ENU坐标系中的[x, y, z]位置

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

SSD::SimPoint3D &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.