路径规划 Route Planning¶
GenerateRoute¶
bool GenerateRoute(const SSD::SimPoint3DVector &inputPoints, SSD::SimVector< int > &indexOfValidPoints, SSD::SimPoint3DVector &route)
获取路网路径规划
Get road network path planning.
参数:
| 名称 | 类型 | 说明 |
|---|---|---|
inputPoints |
const SSD::SimPoint3DVector & |
用于引导生成路线的输入点 Input points that guide the generated route. |
indexOfValidPoints |
SSD::SimVector< int > & |
从输入点中选出的有效点的索引 Indices of valid points picked from input points. |
route |
SSD::SimPoint3DVector & |
生成的路线 Generated route. |
返回值:
| 类型 | 说明 |
|---|---|
bool |
如果已生成任何路线，则返回true，否则返回false Returns true if any route has been generated, else returns false. |
Navigate¶
bool Navigate(const SSD::SimPoint3DVector &inputPoints, SSD::SimVector< int > &indexOfValidPoints, SSD::SimVector< long > &roadIdList)
获取规划路径所途径道路的ID列表
Get the ID list of roads traversed by the planned path.
参数:
| 名称 | 类型 | 说明 |
|---|---|---|
inputPoints |
const SSD::SimPoint3DVector & |
用于引导生成路线的输入点 Input points that guide the generated route. |
indexOfValidPoints |
SSD::SimVector< int > & |
从输入点中选出的有效点的索引 Indices of valid points picked from input points. |
roadIdList |
SSD::SimVector< long > & |
路径所途径的道路ID列表 List of road IDs that are traversed by the routing path. |
返回值:
| 类型 | 说明 |
|---|---|
bool |
如果已生成任何路线，则返回true，否则返回false Returns true if any route has been generated, else returns false. |
GenerateRoute_V2¶
bool GenerateRoute_V2(const SSD::SimPoint3DVector &inputPoints, SSD::SimVector< int > &indexOfValidPoints, HDMapStandalone::MRoutePath &path, SSD::SimVector< HDMapStandalone::MRoutePoint > &routePtList)
获取路网路径规划详细信息
Get detailed information about road network path planning.
参数:
| 名称 | 类型 | 说明 |
|---|---|---|
inputPoints |
const SSD::SimPoint3DVector & |
用于指导生成路线应通过的输入点 Input points that guide the generated route should pass over. |
indexOfValidPoints |
SSD::SimVector< int > & |
从输入点中选择有效的点 Pick valid ones from input points. Valid ones will be used for generating route. |
path |
HDMapStandalone::MRoutePath & |
生成路线的途径点和段信息 Waypoints and segment info of the generated route. |
routePtList |
SSD::SimVector< HDMapStandalone::MRoutePoint > & |
生成路线的车道详细信息 Lane detail information of the generated route. |
返回值:
| 类型 | 说明 |
|---|---|
bool |
如果生成了任何路线，则返回true，否则返回false Returns true if any route has been generated, else returns false. |
GetTopoGraph¶
bool GetTopoGraph(HDMapStandalone::MTopoGraph &topoGraph)
获取拓扑信息
Get the topological graph.
参数:
| 名称 | 类型 | 说明 |
|---|---|---|
topoGraph |
HDMapStandalone::MTopoGraph & |
用于存储结果的拓扑图对象 The topological graph object to store the result. |
返回值:
| 类型 | 说明 |
|---|---|
bool |
如果成功检索到拓扑图，则返回true，否则返回false Returns true if the topological graph is successfully retrieved, false otherwise. |
GetRoadType¶
void GetRoadType(const SSD::SimString &roadId, SSD::SimVector< HDMapStandalone::MRoadTypeInfo > &roadTypeInfoList)
获取道路类型信息
Get the road type information.
参数:
| 名称 | 类型 | 说明 |
|---|---|---|
roadId |
const SSD::SimString & |
指定道路的ID The ID of the specified road. |
roadTypeInfoList |
SSD::SimVector< HDMapStandalone::MRoadTypeInfo > & |
用于存储结果的道路类型信息向量 The vector to store the road type information. |