Detailed Description

Utility functions for map data.

Various utility functions to deal with map data, including coordinate transformation, helpers to create input structs, etc.

Functions
DW_API_PUBLIC dwStatus	dwMaps_computeBearing (float64_t bearingRadian, const dwMapsGeoPoint position, const dwMapsGeoPoint *headingPoint)
	Compute bearing in radian from two points. More...

DW_API_PUBLIC dwStatus	dwMaps_computeBounds (dwMapsBounds bounds, const dwMapsGeoPoint p, float32_t radiusMeter)
	Compute WGS84 query bounds from position and radius in meters. More...

DW_API_PUBLIC dwStatus	dwMaps_computeDistance (float32_t distance, const dwMapsGeoPoint p1, const dwMapsGeoPoint *p2)
	Compute Euclidean distance bewteen two points. More...

DW_API_PUBLIC dwStatus	dwMaps_computeLocalToENU (dwMatrix3d *localToENURotation33, float32_t bearingRadian)
	Create a rotation matrix that transfroms from a local coordinate system with x-axis pointing towards bearing into the ENU coordinate system. More...

DW_API_PUBLIC dwStatus	dwMaps_computePolylineLength (float32_t length, const dwMapsGeoPoint points, uint32_t pointCount)
	Compute length of a polyline of wgs84 points in meters. More...

DW_API_PUBLIC dwStatus	dwMaps_getNeighborLane (const dwMapsLane *otherLane, const dwMapsLane currentLane, dwMapsSide side, uint32_t offset, dwBool sideRelativeToDrivingDirection)
	Get a neighbor lane on a given side. More...

DW_API_PUBLIC dwStatus	dwMaps_getNeighborLaneCount (uint32_t laneCount, uint32_t laneCountAccessible, const dwMapsLane *lane, dwMapsSide side, dwBool sideRelativeToDrivingDirection)
	Get the number of lanes on the current road segment next to a given lane. More...

DW_API_PUBLIC dwStatus	dwMaps_interpolatePolylines (uint32_t srcStartIndex, uint32_t targetEndIndex, dwMapsGeoPointBuffer interpolatedPoints, const dwMapsGeoPoint srcPoints, uint32_t srcPointCount, const dwMapsGeoPoint targetPoints, uint32_t targetPointCount, float32_t start, float32_t end, float32_t stepSize, float32_t(interpolationFn)(float32_t, void ), void interpolationFnContext)
	Interpolate between 2 polylines. More...

DW_API_PUBLIC dwStatus	dwMaps_stitchLaneGeometry (dwMapsGeoPointBuffer polyline, const dwMapsLane lanes, uint32_t laneCount, dwMapsLaneGeometry geometrySelection)
	Stitches the poylines of a list of lanes into a single polyline. More...

DW_API_PUBLIC dwStatus	dwMaps_transformLaneDividersToLocalLines (dwMapsLaneDividerLineBuffer lineSegments, const dwMapsLaneDividerBuffer laneDividers, const dwMapsGeoPoint localOrigin, const float64_t localToENURotation33, const dwMapsLocalBounds bounds, const dwVector3f directionFilterVector, float32_t directionFilterAngleRadian, dwBool ignoreLaneDirection)
	Get line segments from the list of specified dividers, transformed into a local cartesian coordinate system defined by position 'localOrigin', rotation matrix 'localToENURotation33', optionally filtered by orientation and bounds in local coordinate. More...

DW_API_PUBLIC dwStatus	dwMaps_transformPoint (dwVector3f transformedPoint, const dwMapsGeoPoint point, const dwMapsGeoPoint localOrigin, const float64_t localToENURotation33)
	Transform a WGS84 point into a point in a local coordinate system defined by position 'localOrigin' and ration matrix 'localToENURotation33'. More...

DW_API_PUBLIC dwStatus	dwMaps_transformPolylines (dwMapsPointBuffer transformedPoints, const dwMapsGeoPolyline polylines, uint32_t polylineCount, const dwMapsGeoPoint localOrigin, const float64_t localToENURotation33)
	Transform polylines into points in a local coordinate system defined by position 'localOrigin' and rotation matrix 'localToENURotation33'. More...

DW_API_PUBLIC dwStatus	dwMaps_transformRoadFeaturesToLocalSpace (dwMapsPolyline3fBuffer localPolylines, dwMapsPointBuffer pointBuffer, const dwMapsFeatureBuffer features, const dwMapsGeoPoint localOrigin, const float64_t localToENURotation33, const dwMapsLocalBounds localBounds)
	Get geometry from the list of specified road features, transformed into a local cartesian coordinate system defined by position 'localOrigin' and rotation matrix 'localToENURotation33', optionally filtered by bounds in local coordinate system. More...

Function Documentation

◆ dwMaps_computeBearing()

DW_API_PUBLIC dwStatus dwMaps_computeBearing	(	float64_t *	bearingRadian,
		const dwMapsGeoPoint *	position,
		const dwMapsGeoPoint *	headingPoint
	)

Compute bearing in radian from two points.

'bearingRadian' is the angle relative to 'north' direction, increasing clockwise from 0 to 2*Pi.

Parameters

[out]	bearingRadian	Bearing pointing towards 'headingPoint' at given 'position'.
[in]	position	Position at which the bearing is computed.
[in]	headingPoint	Second point that defines the direction bearing is pointing towards.

Returns: DW_SUCCESS Successfully computed bearing.
DW_INVALID_ARGUMENT One or more parameters is a nullptr.

◆ dwMaps_computeBounds()

DW_API_PUBLIC dwStatus dwMaps_computeBounds	(	dwMapsBounds *	bounds,
		const dwMapsGeoPoint *	p,
		float32_t	radiusMeter
	)

Compute WGS84 query bounds from position and radius in meters.

Parameters

[out]	bounds	Computed bounds
[in]	p	Center point of query circle
[in]	radiusMeter	Radius in meters that the bounds need to cover. The Radius is a geodesic system on the earth sphere surface.

Returns: DW_SUCCESS Successfully computed maps bounds for given circle on earth sphere.
DW_INVALID_ARGUMENT 'bounds' or 'p' is a nullptr.

◆ dwMaps_computeDistance()

DW_API_PUBLIC dwStatus dwMaps_computeDistance	(	float32_t *	distance,
		const dwMapsGeoPoint *	p1,
		const dwMapsGeoPoint *	p2
	)

Compute Euclidean distance bewteen two points.

Parameters

[out]	distance	Euclidean distance between the two points
[in]	p1	First point
[in]	p2	Second point

Returns: DW_SUCCESS Successfully computed distance DW_INVALID_ARGUMENT On or more parameters are a nullptr.

◆ dwMaps_computeLocalToENU()

DW_API_PUBLIC dwStatus dwMaps_computeLocalToENU	(	dwMatrix3d *	localToENURotation33,
		float32_t	bearingRadian
	)

Create a rotation matrix that transfroms from a local coordinate system with x-axis pointing towards bearing into the ENU coordinate system.

Parameters

[out]	localToENURotation33	Rotation matrix that transforms from a right-handed local coordinate system with x-axis pointing towards 'bearing' and z-axis pointing up, into a local cartesian coordinate system with x-axis pointing east and y-axis pointing north) (east-north-up, ENU).
[in]	bearingRadian	Bearing in radian.

Returns: DW_SUCCESS Successfully computed rotation matrix.
DW_INVALID_ARGUMENT 'localToENURotation33 is a nullptr'.

◆ dwMaps_computePolylineLength()

DW_API_PUBLIC dwStatus dwMaps_computePolylineLength	(	float32_t *	length,
		const dwMapsGeoPoint *	points,
		uint32_t	pointCount
	)

Compute length of a polyline of wgs84 points in meters.

Parameters

[out]	length	Resulting polyline length.
[in]	points	Pointer to polyline point array.
[in]	pointCount	Number of points in polyline.

Returns: DW_SUCCESS Successfully computed polyline length DW_INVALID_ARGUMENT 'length' or 'points' is a nullptr.

◆ dwMaps_getNeighborLane()

DW_API_PUBLIC dwStatus dwMaps_getNeighborLane	(	const dwMapsLane **	otherLane,
		const dwMapsLane *	currentLane,
		dwMapsSide	side,
		uint32_t	offset,
		dwBool	sideRelativeToDrivingDirection
	)

Get a neighbor lane on a given side.

Parameters

[out]	otherLane	Neighbor lane.
[in]	currentLane	Query lane
[in]	side	DW_MAPS_SIDE_LEFT or DW_MAPS_SIDE_RIGHT
[in]	offset	Offset defines which neighbor lane is requested, e.g. offset 1 is the direct neighbor, offset 2 is the next one, etc.
[in]	sideRelativeToDrivingDirection	If true, the side is relative to the driving direction of the query lane. This means it is only defined if the lane has driving direction DW_MAPS_DIRECTION_FORWARD or DW_MAPS_DIRECTION_BACKWARD. Otherwise, the semantics of 'side' is relative to the geometry polyline direction.

Returns: DW_SUCCESS Neighbor lane has been successfully returned.
DW_INVALID_ARGUMENT 'side' may not be DW_MAPS_SIDE_NONE.
DW_NOT_AVAILABLE no neighbor has been found with the provided parameters.

◆ dwMaps_getNeighborLaneCount()

DW_API_PUBLIC dwStatus dwMaps_getNeighborLaneCount	(	uint32_t *	laneCount,
		uint32_t *	laneCountAccessible,
		const dwMapsLane *	lane,
		dwMapsSide	side,
		dwBool	sideRelativeToDrivingDirection
	)

Get the number of lanes on the current road segment next to a given lane.

Parameters

[out]	laneCount	Optional. Total number of lanes on requested side.
[out]	laneCountAccessible	Optional. Accessible number of lanes on requested side. A Lane is accessible when a lane change from the query lane to a neighbor lane is possible.
[in]	lane	Query lane
[in]	side	DW_MAPS_SIDE_LEFT or DW_MAPS_SIDE_RIGHT
[in]	sideRelativeToDrivingDirection	If true, the side is relative to the driving direction of the query lane. This means it is only defined if the lane has driving direction DW_MAPS_DIRECTION_FORWARD or DW_MAPS_DIRECTION_BACKWARD. Otherwise, the semantics of 'side' is relative to the geometry polyline direction.

Returns: DW_SUCCESS Lane counts have been returned successfully
DW_INVALID_ARGUMENT 'side' may not be DW_MAPS_SIDE_NONE

◆ dwMaps_interpolatePolylines()

DW_API_PUBLIC dwStatus dwMaps_interpolatePolylines	(	uint32_t *	srcStartIndex,
		uint32_t *	targetEndIndex,
		dwMapsGeoPointBuffer *	interpolatedPoints,
		const dwMapsGeoPoint *	srcPoints,
		uint32_t	srcPointCount,
		const dwMapsGeoPoint *	targetPoints,
		uint32_t	targetPointCount,
		float32_t	start,
		float32_t	end,
		float32_t	stepSize,
		float32_t()(float32_t, void )	interpolationFn,
		void *	interpolationFnContext
	)

Interpolate between 2 polylines.

This function interpolates between two polylines, creating a smooth polyline that connects the source polyline to the target polyline. The interpolation starts at 'start' on the source polyline and ends at 'end' of the target polyline. These values are defined in meters along the source and target polylines. Between 'start' and 'end', at each step, defined by 'stepSize', a new interpolated point is added to the result polyline.

Parameters

[out]	srcStartIndex	Index into the source polyline. First point before the interpolation.
[out]	targetEndIndex	index into the target polyline. First point after the interpolation.
[in,out]	interpolatedPoints	User buffer to store the interpolation result.
[in]	srcPoints	Source polyline.
[in]	srcPointCount	Number of points in source polyline.
[in]	targetPoints	Target polyline.
[in]	targetPointCount	Number of points in the target polyline.
[in]	start	Defines where on the source polyline the interpolation starts. In meters.
[in]	end	Defines where on the target polyline the interpolation stops. In meters.
[in]	stepSize	Defines the resolution of the resulting interpolation polyline. In meters.
[in]	interpolationFn	Callback to define the interpolation function. Argument to the function is a value between 0.0f and 1.0f that correspond to positions on the source and target lanes between 'start' and 'end'. The function should return a value between 0.0f and 1.0f, defining the weight of the source lane at that point. If nullptr, linear interpolation is applied.
[in]	interpolationFnContext	Optional user data that is passed on to the interpolation function callback.

Returns: DW_SUCCESS Successfully interpolated.
DW_INVALID_ARGUMENT Interpolation was not possible with given 'start' and 'end' values, or input polylines are invalid.

◆ dwMaps_stitchLaneGeometry()

DW_API_PUBLIC dwStatus dwMaps_stitchLaneGeometry	(	dwMapsGeoPointBuffer *	polyline,
		const dwMapsLane *	lanes,
		uint32_t	laneCount,
		dwMapsLaneGeometry	geometrySelection
	)

Stitches the poylines of a list of lanes into a single polyline.

Parameters

[in,out]	polyline	User provided wgs84 point buffer that gets filled with the result.
[in]	lanes	List of connected lanes.
[in]	laneCount	Number of connected lanes.
[in]	geometrySelection	Selects geometry of the lane to be stitched.

Returns: DW_SUCCESS Successfully return a stitched polyline for the input lanes. DW_NOT_AVAILABLE Could not successfully stitch the geometry of all lanes in the provided list. This can happen if some lanes in the list don't refer to a lane divider. DW_INVALID_ARGUMENT polyline of lanes is a nullptr.

◆ dwMaps_transformLaneDividersToLocalLines()

DW_API_PUBLIC dwStatus dwMaps_transformLaneDividersToLocalLines	(	dwMapsLaneDividerLineBuffer *	lineSegments,
		const dwMapsLaneDividerBuffer *	laneDividers,
		const dwMapsGeoPoint *	localOrigin,
		const float64_t *	localToENURotation33,
		const dwMapsLocalBounds *	bounds,
		const dwVector3f *	directionFilterVector,
		float32_t	directionFilterAngleRadian,
		dwBool	ignoreLaneDirection
	)

Get line segments from the list of specified dividers, transformed into a local cartesian coordinate system defined by position 'localOrigin', rotation matrix 'localToENURotation33', optionally filtered by orientation and bounds in local coordinate.

Parameters

[in,out]	lineSegments	User provided line segment buffer.
[in]	laneDividers	The list of lane deviders to process.
[in]	localOrigin	WGS84 coordinate point, origin of the local coordinate system.
[in]	localToENURotation33	3x3 Rotation matrix that transforms from local coordinate system (x: forward, y: left, z: up) into ENU local cartesian coordinate system with origin at point 'localOrigin' (x: east, y: north, z: up). z coordinate of ENU is the normal of the earth spheroid at point 'localOrigin'. No rotation is applied if localToENURotation33 is nullptr, meaning x-axis points east.
[in]	bounds	Optional bounds in the local coordinate system. No filtering is applied when it is nullptr.
[in]	directionFilterVector	Optional vector in local space coordinates that defines a direction to compare the line segments against.
[in]	directionFilterAngleRadian	A line segment is included if the angle between directionFilterVector and the line segment is smaller than given angle.
[in]	ignoreLaneDirection	If true, the angle check is applied on both sides of the line segment. Otherwise, the angle check on the line segment happens in driving direction of the corresponding lane only. Also, only lane dividers that correspond to drivable lanes are returned if ignoreLaneDirection is false.

Returns: DW_SUCCESS If the call was successful.
DW_INVALID_ARGUMENT 'lineSegments', 'localOrigin', 'laneDividers' is a nullptr,
or maxSize of 'lineSegments' is not big enough.
DW_INTERNAL_ERROR Unexpected internal sanity check failure.
DW_BAD_CAST Could not successfully cast handle to map object.

◆ dwMaps_transformPoint()

DW_API_PUBLIC dwStatus dwMaps_transformPoint	(	dwVector3f *	transformedPoint,
		const dwMapsGeoPoint *	point,
		const dwMapsGeoPoint *	localOrigin,
		const float64_t *	localToENURotation33
	)

Transform a WGS84 point into a point in a local coordinate system defined by position 'localOrigin' and ration matrix 'localToENURotation33'.

Parameters

[out]	transformedPoint	Resulting local space point.
[in]	point	WGS84 point.
[in]	localOrigin	WGS84 coordinate point, origin of the local coordinate system.
[in]	localToENURotation33	3x3 Rotation matrix that transforms from local coordinate system (x: forward, y: left, z: up) into ENU local cartesian coordinate system with origin at point 'localOrigin' (x: east, y: north, z: up). z coordinate of ENU is the normal of the earth spheroid at point 'localOrigin'. No rotation is applied if localToENURotation33 is nullptr, meaning x-axis points east.

Returns: DW_SUCCESS Successfully transformed 'point' into euclidean local space.
DW_INVALID_ARGUMENT 'transformedPoint', 'point' or 'localOrigin' is a nullptr.

◆ dwMaps_transformPolylines()

DW_API_PUBLIC dwStatus dwMaps_transformPolylines	(	dwMapsPointBuffer *	transformedPoints,
		const dwMapsGeoPolyline *	polylines,
		uint32_t	polylineCount,
		const dwMapsGeoPoint *	localOrigin,
		const float64_t *	localToENURotation33
	)

Transform polylines into points in a local coordinate system defined by position 'localOrigin' and rotation matrix 'localToENURotation33'.

Parameters

[in,out]	transformedPoints	User provider point buffer for result
[in]	polylines	Start of polyline array.
[in]	polylineCount	Number of polylines in the array.
[in]	localOrigin	WGS84 coordinate point, origin of the local coordinate system.
[in]	localToENURotation33	3x3 Rotation matrix that transforms from local coordinate system (x: forward, y: left, z: up) into ENU local cartesian coordinate system with origin at point 'localOrigin' (x: east, y: north, z: up). z coordinate of ENU is the normal of the earth spheroid at point 'localOrigin'. No rotation is applied if localToENURotation33 is nullptr, meaning x-axis points east.

Returns: DW_SUCCESS Successfully transformed WGS84 polylines into euclidean local space.
DW_INVALID_ARGUMENT 'transformedPoints', 'polylines', or 'localOrigin' is a nullptr, or maxSize of 'transformedPoints' is not big enough.

◆ dwMaps_transformRoadFeaturesToLocalSpace()

DW_API_PUBLIC dwStatus dwMaps_transformRoadFeaturesToLocalSpace	(	dwMapsPolyline3fBuffer *	localPolylines,
		dwMapsPointBuffer *	pointBuffer,
		const dwMapsFeatureBuffer *	features,
		const dwMapsGeoPoint *	localOrigin,
		const float64_t *	localToENURotation33,
		const dwMapsLocalBounds *	localBounds
	)

Get geometry from the list of specified road features, transformed into a local cartesian coordinate system defined by position 'localOrigin' and rotation matrix 'localToENURotation33', optionally filtered by bounds in local coordinate system.

Parameters

[in,out]	localPolylines	User provided buffer to store local geometry.
[in,out]	pointBuffer	User provided buffer holding the whole geometry.
[in]	features	The list of road features to process.
[in]	localOrigin	WGS84 coordinate point, origin of the local coordinate system.
[in]	localToENURotation33	3x3 Rotation matrix that transforms from local coordinate system (x: forward, y: left, z: up) into ENU local cartesian coordinate system with origin at point 'localOrigin' (x: east, y: north, z: up). z coordinate of ENU is the normal of the earth spheroid at point 'localOrigin'. No rotation is applied if localToENURotation33 is nullptr, meaning x-axis points east.
[in]	localBounds	Optional bounds in the local coordinate system. No filtering is applied when it is nullptr.

Returns: DW_SUCCESS If the call was successful.
DW_INVALID_ARGUMENT 'localPolylines', 'pointBuffer', 'features', 'localOrigin' is a nullptr,
or maxSize of 'localPolylines' or 'pointBuffer' is not big enough.
DW_INTERNAL_ERROR Unexpected internal sanity check failure.
DW_BAD_CAST Could not successfully cast handle to map object.

DriveWorks SDK Reference

| 0.6.67 Release

Detailed Description

Functions

Function Documentation

◆ dwMaps_computeBearing()

◆ dwMaps_computeBounds()

◆ dwMaps_computeDistance()

◆ dwMaps_computeLocalToENU()

◆ dwMaps_computePolylineLength()

◆ dwMaps_getNeighborLane()

◆ dwMaps_getNeighborLaneCount()

◆ dwMaps_interpolatePolylines()

◆ dwMaps_stitchLaneGeometry()

◆ dwMaps_transformLaneDividersToLocalLines()

◆ dwMaps_transformPoint()

◆ dwMaps_transformPolylines()

◆ dwMaps_transformRoadFeaturesToLocalSpace()