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feat(lanelet2_extension)!: release format_v2 #26

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merged 9 commits into from
Aug 28, 2024
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Merged

feat(lanelet2_extension)!: release format_v2 #26

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0977660
reflect comment(1)
soblin Aug 20, 2024
3ed9301
reflect comment(2)
soblin Aug 20, 2024
7c30f0c
add unit test
soblin Aug 20, 2024
8e0efbd
feat(lanelet2_extension): docuement for bus_stop_area and bicycle_lan…
soblin Aug 19, 2024
ebe8adf
add figures
soblin Aug 20, 2024
ee49476
add bus_stop_area
soblin Aug 19, 2024
699a273
release format_v2
soblin Aug 20, 2024
3f55410
migrate
soblin Aug 26, 2024
5e6d5ea
migrate main
soblin Aug 28, 2024
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4 changes: 2 additions & 2 deletions ...ware_lanelet2_extension/include/autoware_lanelet2_extension/projection/mgrs_projector.hpp
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Expand Up @@ -31,7 +31,7 @@
namespace lanelet::projection
{

inline namespace format_v1
inline namespace format_v2
{
class MGRSProjector : public Projector
{
Expand Down Expand Up @@ -111,7 +111,7 @@ class MGRSProjector : public Projector
*/
mutable std::string projected_grid_;
};
} // namespace format_v1
} // namespace format_v2

} // namespace lanelet::projection

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4 changes: 2 additions & 2 deletions ...xtension/include/autoware_lanelet2_extension/projection/transverse_mercator_projector.hpp
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Expand Up @@ -28,7 +28,7 @@
namespace lanelet::projection
{

inline namespace format_v1
inline namespace format_v2
{
class TransverseMercatorProjector : public Projector
{
Expand Down Expand Up @@ -56,7 +56,7 @@ class TransverseMercatorProjector : public Projector
double origin_y_;
double central_meridian_;
};
} // namespace format_v1
} // namespace format_v2

} // namespace lanelet::projection

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15 changes: 4 additions & 11 deletions ...re_lanelet2_extension/include/autoware_lanelet2_extension/regulatory_elements/Forward.hpp
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Expand Up @@ -25,7 +25,7 @@
namespace lanelet::autoware
{

inline namespace format_v1
inline namespace format_v2
{
class AutowareTrafficLight;
class Crosswalk;
Expand All @@ -35,18 +35,15 @@ class NoStoppingArea;
class RoadMarking;
class SpeedBump;
class VirtualTrafficLight;
} // namespace format_v1

namespace format_v2
{
class BusStopArea;
} // namespace format_v2

} // namespace lanelet::autoware

namespace lanelet
{
inline namespace format_v1

inline namespace format_v2
{
using TrafficSignConstPtr = std::shared_ptr<const lanelet::TrafficSign>;
using TrafficLightConstPtr = std::shared_ptr<const lanelet::TrafficLight>;
Expand All @@ -57,11 +54,7 @@ using NoStoppingAreaConstPtr = std::shared_ptr<const lanelet::autoware::NoStoppi
using NoParkingAreaConstPtr = std::shared_ptr<const lanelet::autoware::NoParkingArea>;
using SpeedBumpConstPtr = std::shared_ptr<const lanelet::autoware::SpeedBump>;
using CrosswalkConstPtr = std::shared_ptr<const lanelet::autoware::Crosswalk>;
} // namespace format_v1

namespace format_v2
{
using BusStopAreaConstPtr = std::shared_ptr<const lanelet::autoware::format_v2::BusStopArea>;
using BusStopAreaConstPtr = std::shared_ptr<const lanelet::autoware::BusStopArea>;
} // namespace format_v2

} // namespace lanelet
Expand Down
4 changes: 2 additions & 2 deletions ...ension/include/autoware_lanelet2_extension/regulatory_elements/autoware_traffic_light.hpp
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Expand Up @@ -29,7 +29,7 @@
namespace lanelet::autoware
{

inline namespace format_v1
inline namespace format_v2
{
class AutowareTrafficLight : public lanelet::TrafficLight
{
Expand Down Expand Up @@ -86,7 +86,7 @@ class AutowareTrafficLight : public lanelet::TrafficLight
friend class RegisterRegulatoryElement<AutowareTrafficLight>;
explicit AutowareTrafficLight(const lanelet::RegulatoryElementDataPtr & data);
};
} // namespace format_v1
} // namespace format_v2

} // namespace lanelet::autoware

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3 changes: 1 addition & 2 deletions ...elet2_extension/include/autoware_lanelet2_extension/regulatory_elements/bus_stop_area.hpp
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Expand Up @@ -26,8 +26,7 @@
namespace lanelet::autoware
{

// TODO(soblin): when updating existing elements from format_v1, prefix this with inline
namespace format_v2
inline namespace format_v2
{
class BusStopArea : public lanelet::RegulatoryElement
{
Expand Down
4 changes: 2 additions & 2 deletions ..._lanelet2_extension/include/autoware_lanelet2_extension/regulatory_elements/crosswalk.hpp
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Expand Up @@ -26,7 +26,7 @@
namespace lanelet::autoware
{

inline namespace format_v1
inline namespace format_v2
{
class Crosswalk : public lanelet::RegulatoryElement
{
Expand Down Expand Up @@ -87,7 +87,7 @@ class Crosswalk : public lanelet::RegulatoryElement
friend class RegisterRegulatoryElement<Crosswalk>;
explicit Crosswalk(const lanelet::RegulatoryElementDataPtr & data);
};
} // namespace format_v1
} // namespace format_v2

} // namespace lanelet::autoware

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4 changes: 2 additions & 2 deletions ...let2_extension/include/autoware_lanelet2_extension/regulatory_elements/detection_area.hpp
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Expand Up @@ -28,7 +28,7 @@
namespace lanelet::autoware
{

inline namespace format_v1
inline namespace format_v2
{
class DetectionArea : public lanelet::RegulatoryElement
{
Expand Down Expand Up @@ -91,7 +91,7 @@ class DetectionArea : public lanelet::RegulatoryElement
friend class RegisterRegulatoryElement<DetectionArea>;
explicit DetectionArea(const lanelet::RegulatoryElementDataPtr & data);
};
} // namespace format_v1
} // namespace format_v2

} // namespace lanelet::autoware

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4 changes: 2 additions & 2 deletions ...et2_extension/include/autoware_lanelet2_extension/regulatory_elements/no_parking_area.hpp
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Expand Up @@ -26,7 +26,7 @@
namespace lanelet::autoware
{

inline namespace format_v1
inline namespace format_v2
{
class NoParkingArea : public lanelet::RegulatoryElement
{
Expand Down Expand Up @@ -67,7 +67,7 @@ class NoParkingArea : public lanelet::RegulatoryElement
friend class RegisterRegulatoryElement<NoParkingArea>;
explicit NoParkingArea(const lanelet::RegulatoryElementDataPtr & data);
};
} // namespace format_v1
} // namespace format_v2

} // namespace lanelet::autoware

Expand Down
4 changes: 2 additions & 2 deletions ...t2_extension/include/autoware_lanelet2_extension/regulatory_elements/no_stopping_area.hpp
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Expand Up @@ -26,7 +26,7 @@
namespace lanelet::autoware
{

inline namespace format_v1
inline namespace format_v2
{
class NoStoppingArea : public lanelet::RegulatoryElement
{
Expand Down Expand Up @@ -89,7 +89,7 @@ class NoStoppingArea : public lanelet::RegulatoryElement
friend class RegisterRegulatoryElement<NoStoppingArea>;
explicit NoStoppingArea(const lanelet::RegulatoryElementDataPtr & data);
};
} // namespace format_v1
} // namespace format_v2

} // namespace lanelet::autoware

Expand Down
4 changes: 2 additions & 2 deletions ...nelet2_extension/include/autoware_lanelet2_extension/regulatory_elements/road_marking.hpp
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Expand Up @@ -26,7 +26,7 @@
namespace lanelet::autoware
{

inline namespace format_v1
inline namespace format_v2
{
class RoadMarking : public lanelet::RegulatoryElement
{
Expand Down Expand Up @@ -67,7 +67,7 @@ class RoadMarking : public lanelet::RegulatoryElement
friend class RegisterRegulatoryElement<RoadMarking>;
explicit RoadMarking(const lanelet::RegulatoryElementDataPtr & data);
};
} // namespace format_v1
} // namespace format_v2

} // namespace lanelet::autoware

Expand Down
4 changes: 2 additions & 2 deletions ...lanelet2_extension/include/autoware_lanelet2_extension/regulatory_elements/speed_bump.hpp
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Expand Up @@ -28,7 +28,7 @@
namespace lanelet::autoware
{

inline namespace format_v1
inline namespace format_v2
{
class SpeedBump : public lanelet::RegulatoryElement
{
Expand Down Expand Up @@ -69,7 +69,7 @@ class SpeedBump : public lanelet::RegulatoryElement
friend class RegisterRegulatoryElement<SpeedBump>;
explicit SpeedBump(const lanelet::RegulatoryElementDataPtr & data);
};
} // namespace format_v1
} // namespace format_v2

} // namespace lanelet::autoware

Expand Down
4 changes: 2 additions & 2 deletions ...tension/include/autoware_lanelet2_extension/regulatory_elements/virtual_traffic_light.hpp
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Expand Up @@ -26,7 +26,7 @@
namespace lanelet::autoware
{

inline namespace format_v1
inline namespace format_v2
{
class VirtualTrafficLight : public lanelet::RegulatoryElement
{
Expand Down Expand Up @@ -74,7 +74,7 @@ class VirtualTrafficLight : public lanelet::RegulatoryElement
friend class RegisterRegulatoryElement<VirtualTrafficLight>;
explicit VirtualTrafficLight(const lanelet::RegulatoryElementDataPtr & data);
};
} // namespace format_v1
} // namespace format_v2

} // namespace lanelet::autoware

Expand Down
4 changes: 2 additions & 2 deletions autoware_lanelet2_extension/include/autoware_lanelet2_extension/utility/query.hpp
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Expand Up @@ -40,7 +40,7 @@
namespace lanelet::utils::query
{

inline namespace format_v1
inline namespace format_v2
{
/**
* [crosswalkLanelets extracts crosswalk lanelets]
Expand Down Expand Up @@ -207,7 +207,7 @@ std::vector<lanelet::ConstLineString3d> stopLinesLanelet(const lanelet::ConstLan
*/
std::vector<lanelet::ConstLineString3d> stopSignStopLines(
const lanelet::ConstLanelets & lanelets, const std::string & stop_sign_id = "stop_sign");
} // namespace format_v1
} // namespace format_v2

/**
* [laneletLayer converts laneletLayer into lanelet vector]
Expand Down
3 changes: 2 additions & 1 deletion autoware_lanelet2_extension/include/autoware_lanelet2_extension/version.hpp
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Expand Up @@ -27,10 +27,11 @@ namespace lanelet::autoware
enum class Version : int {
none = 0,
format_v1,
format_v2,
};

// current format_version
static constexpr Version version = Version::format_v1;
static constexpr Version version = Version::format_v2;
} // namespace lanelet::autoware

#endif // AUTOWARE_LANELET2_EXTENSION__VERSION_HPP_
4 changes: 2 additions & 2 deletions ...re_lanelet2_extension/include/autoware_lanelet2_extension/visualization/visualization.hpp
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Expand Up @@ -38,7 +38,7 @@
namespace lanelet::visualization
{

inline namespace format_v1
inline namespace format_v2
{
/**
* [autowareTrafficLightsAsMarkerArray creates marker array to visualize traffic
Expand Down Expand Up @@ -217,7 +217,7 @@ visualization_msgs::msg::MarkerArray noObstacleSegmentationAreaForRunOutAsMarker
visualization_msgs::msg::MarkerArray hatchedRoadMarkingsAreaAsMarkerArray(
const lanelet::ConstPolygons3d & hatched_road_markings_area,
const std_msgs::msg::ColorRGBA & area_color, const std_msgs::msg::ColorRGBA & line_color);
} // namespace format_v1
} // namespace format_v2

/**
* [lanelet2Triangle converts lanelet into vector of triangles. Used for
Expand Down
4 changes: 0 additions & 4 deletions autoware_lanelet2_extension/lib/bus_stop_area.cpp
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Expand Up @@ -94,9 +94,6 @@ RegulatoryElementDataPtr constructBusStopAreaData(
}
} // namespace

// TODO(soblin): remove this when format_v2 has been released
namespace format_v2
{
BusStopArea::BusStopArea(const RegulatoryElementDataPtr & data) : RegulatoryElement(data)
{
if (getConstPoly(data->parameters, RoleName::Refers).empty()) {
Expand Down Expand Up @@ -129,7 +126,6 @@ bool BusStopArea::removeBusStopArea(const Polygon3d & primitive)
}

RegisterRegulatoryElement<BusStopArea> regBusStopArea;
} // namespace format_v2

} // namespace lanelet::autoware

Expand Down
4 changes: 2 additions & 2 deletions autoware_lanelet2_extension/lib/query.cpp
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Expand Up @@ -55,7 +55,7 @@ namespace lanelet::utils

namespace query
{
inline namespace format_v1
inline namespace format_v2
{
lanelet::ConstLanelets crosswalkLanelets(const lanelet::ConstLanelets & lls)
{
Expand Down Expand Up @@ -699,7 +699,7 @@ std::vector<lanelet::ConstLineString3d> stopSignStopLines(
}
return stoplines;
}
} // namespace format_v1
} // namespace format_v2
} // namespace query

// returns all lanelets in laneletLayer - don't know how to convert
Expand Down
4 changes: 2 additions & 2 deletions autoware_lanelet2_extension/lib/visualization.cpp
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Expand Up @@ -351,7 +351,7 @@ namespace lanelet

namespace visualization
{
inline namespace format_v1
inline namespace format_v2
{
visualization_msgs::msg::MarkerArray autowareTrafficLightsAsMarkerArray(
const std::vector<lanelet::AutowareTrafficLightConstPtr> & tl_reg_elems,
Expand Down Expand Up @@ -1075,7 +1075,7 @@ visualization_msgs::msg::MarkerArray hatchedRoadMarkingsAreaAsMarkerArray(

return marker_array;
}
} // namespace format_v1
} // namespace format_v2
} // namespace visualization

void visualization::lanelet2Triangle(
Expand Down
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