Detailed Description

Utility functions for map data.

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

Data Structures
struct	dwMapsLaneMerge
	Lane merge on a lane plan. More...

struct	dwMapsLaneMergeDetails
	Lane merge on a lane plan. More...

struct	dwMapsLaneSplit
	Lane split on a lane plan. More...

struct	dwMapsLaneSplitDetails
	Lane split on a lane plan. More...

Macros
#define	DW_MAPS_INVALID_LANE_INDEX 99999999
	Value that represents an invalid lane index. More...

Enumerations
enum	dwMapsLaneEventType { DW_MAPS_LANEEVENTTYPE_NONE = 0, DW_MAPS_LANEEVENTTYPE_SPLIT = 1 << 0, DW_MAPS_LANEEVENTTYPE_MERGE = 1 << 1, DW_MAPS_LANEEVENTTYPE_BOTH = DW_MAPS_LANEEVENTTYPE_SPLIT \| DW_MAPS_LANEEVENTTYPE_MERGE }
	Lane event type indicates whether the next lane event is a lane split, a lane merge, or both. More...

Functions
DW_API_PUBLIC dwStatus	dwMaps_closestPointOnPolyline (dwMapsGeoPoint closestPoint, float64_t distanceMeters, uint32_t lineSegmentIndex, const dwMapsGeoPoint p, const dwMapsGeoPolyline *polyline, bool ignoreHeight)
	Find closest point on a polyline of WGS84 points. More...

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

DW_API_PUBLIC dwStatus	dwMaps_computeBearingFromRotation (float64_t bearingRadian, const dwMatrix3d localToENURotation33)
	Compute bearing in radian from localToENU rotation. 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_computeBoundsSize (float32_t width, float32_t height, const dwMapsBounds *bounds)
	Compute width and height of bounds in meters. More...

DW_API_PUBLIC dwStatus	dwMaps_computeDistance (float64_t distance, const dwMapsGeoPoint p1, const dwMapsGeoPoint *p2)
	Compute Euclidean distance between two points. More...

DW_API_PUBLIC dwStatus	dwMaps_computeLocalToLocalTransform (dwTransformation3f transform, const dwMapsGeoPoint originSource, const dwMatrix3d localToENURotationSource, const dwMapsGeoPoint originTarget, const dwMatrix3d *localToENURotationTarget)
	Compute transform (translation and rotation) that changes a 3d point from one coordinate system to another. 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_computeRotationFromBearing (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_computeRotationFromGeoPoints (dwMatrix3d localToENURotation33, const dwMapsGeoPoint position, const dwMapsGeoPoint *headingPoint)
	Compute orientation matrix from two WGS84 points. More...

DW_API_PUBLIC dwStatus	dwMaps_computeRotationFromLocalPoints (dwMatrix3d localToENURotation33, const dwVector3f position, const dwVector3f *headingPoint)
	Compute orientation matrix from two local points in an ENU space. More...

DW_API_PUBLIC dwStatus	dwMaps_getConnectedToLocal (dwTransformation3f connectedToLocal, const dwMapsLane localLane, const dwMapsLane *connectedLane)
	Get coordinate transform to transform a point in connectedLane's coordinate system into the localLane's coordinate system. More...

DW_API_PUBLIC dwStatus	dwMaps_getLaneChange (dwMapsSide laneChangeSide, uint32_t laneChangeCount, float32_t laneChangeLength, const dwMapsLane srcLane, const dwMapsLane *targetLane)
	Check if there's a valid lane change from one lane to another on the same road segment. More...

DW_API_PUBLIC dwStatus	dwMaps_getLaneChangeAtGlobalPose (dwMapsSide laneChangeSide, uint32_t laneChangeCount, float32_t laneChangeLength, const dwMapsLane srcLane, const dwMapsLane targetLane, const dwMapsGeoPoint position, const dwMatrix3d *localToENURotation33)
	Check if there's a valid lane change from one lane to another on the same road segment. More...

DW_API_PUBLIC dwStatus	dwMaps_getLaneChangeAtLocalPose (dwMapsSide laneChangeSide, uint32_t laneChangeCount, float32_t laneChangeLength, const dwMapsLane srcLane, const dwMapsLane targetLane, const dwMapsRoadSegment referenceRoadSegment, const dwVector3f position, const dwMatrix3d localToENURotation33)
	Check if there's a valid lane change from one lane to another on the same road segment. More...

DW_API_PUBLIC dwStatus	dwMaps_getNeighborLane (const dwMapsLane *otherLane, const dwMapsLane currentLane, dwMapsSide side, uint32_t offset, bool 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, bool sideRelativeToDrivingDirection)
	Get the number of lanes on the current road segment next to a given lane. More...

DW_API_PUBLIC dwStatus	dwMaps_getNextLaneEvent (dwMapsLaneEventType type, dwMapsLaneSplitDetails laneSplit, dwMapsLaneMergeDetails laneMerge, float32_t nextEventDist, const dwMapsLane currentLane, const bool forwardOnPolyline, float32_t maxDistance)
	Get the next lane split and/or lane merge. More...

DW_API_PUBLIC dwStatus	dwMaps_getNextLaneSplitAtGlobalPose (dwMapsLaneSplitDetails laneSplit, float32_t laneSplitDistance, const dwMapsLane currentLane, float32_t maxSearchDistance, const dwMapsGeoPoint position, const dwMatrix3d *localToENURotation33)
	Get next lane split. More...

DW_API_PUBLIC dwStatus	dwMaps_getNextLaneSplitAtLocalPose (dwMapsLaneSplitDetails laneSplit, float32_t laneSplitDistance, const dwMapsLane currentLane, float32_t maxSearchDistance, const dwMapsRoadSegment referenceRoadSegment, const dwVector3f position, const dwMatrix3d localToENURotation33)
	Get next lane split. More...

DW_API_PUBLIC dwStatus	dwMaps_getPointAhead (dwMapsGeoPoint pointAhead, const dwMapsGeoPoint position, const dwMatrix3d *localToENURotation33, float32_t distance)
	Get wgs84 point moving forward from a position. 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_isConnectionDrivable (bool isDrivable, const dwMapsLane lane, const dwMapsLaneConnection *connection)
	Check whether it is possible/allowed to drive from the given onto the given connection. More...

DW_API_PUBLIC dwStatus	dwMaps_resamplePolyline (dwMapsGeoPointBuffer result, const dwMapsGeoPolyline polyline, float32_t stepSize)
	Resample a polyline of WGS84 points to a polyline with fixed step size. More...

DW_API_PUBLIC dwStatus	dwMaps_stitchLaneGeometry (dwMapsPointBuffer polyline, dwMapsLanePtrBuffer perPointLanes, const dwMapsLane *lanes, uint32_t laneCount, dwMapsLaneGeometry geometrySelection)
	Stitches the polylines of a list of lanes into a single polyline. More...

DW_API_PUBLIC dwStatus	dwMaps_transformPoint (dwVector3f transformedPoint, const dwMapsGeoPoint point, const dwMapsGeoPoint localOrigin, const dwMatrix3d localToENURotation33)
	Transform a WGS84 point into a point in a local coordinate system defined by position 'localOrigin' and rotation matrix 'localToENURotation33'. More...

DW_API_PUBLIC dwStatus	dwMaps_transformPointReverse (dwMapsGeoPoint transformedPoint, const dwVector3f point, const dwMapsGeoPoint localOrigin, const dwMatrix3d localToENURotation33)
	Transform a point in a local coordinate system defined by position 'localOrigin' and rotation matrix 'localToENURotation33' to a WGS84 point. More...

DW_API_PUBLIC dwStatus	dwMaps_transformPolylines (dwMapsPointBuffer transformedPoints, const dwMapsGeoPolyline polylines, uint32_t polylineCount, const dwMapsGeoPoint localOrigin, const dwMatrix3d localToENURotation33)
	Transform polylines into points in a local coordinate system defined by position 'localOrigin' and rotation matrix 'localToENURotation33'. More...

DW_API_PUBLIC dwStatus	dwMaps_transformPolylinesReverse (dwMapsGeoPointBuffer transformedPoints, const dwPolyline3f polylines, uint32_t polylineCount, const dwMapsGeoPoint localOrigin, const dwMatrix3d localToENURotation33)
	Transform local space polylines into WGS84 point polylines. More...

DW_API_PUBLIC dwStatus	dwMaps_transformRoadFeaturesToLocalSpace (dwMapsPolyline3fBuffer localPolylines, dwMapsPointBuffer pointBuffer, const dwMapsFeatureBuffer features, const dwMapsGeoPoint localOrigin, const dwMatrix3d 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...

Data Structure Documentation

◆ dwMapsLaneMerge

struct dwMapsLaneMerge

Data Fields
dwMapsLaneMeta	laneAfterMerge	lane into which the lanes merge
uint32_t	mergingLaneCount	number of merging lanes
uint32_t	mergingLaneIndex	index of the connection that connects to the lane on the lane plan. DW_MAPS_INVALID_LANE_INDEX if the information is not available.

◆ dwMapsLaneMergeDetails

struct dwMapsLaneMergeDetails

Data Fields
const dwMapsLane *	laneAfterMerge	lane into which the lanes merge
uint32_t	mergingLaneCount	number of merging lanes
uint32_t	mergingLaneIndex	index of the connection that connects to the lane on the lane plan. DW_MAPS_INVALID_LANE_INDEX if the information is not available.
const dwMapsLaneConnection *	mergingLanes[DW_MAPS_MAX_LANE_CONNECTIONS]	connections leading from 'laneAfterMerge' into the merging lanes. Sorted from left to right.

◆ dwMapsLaneSplit

struct dwMapsLaneSplit

Data Fields
dwMapsLaneMeta	laneBeforeSplit	lane that splits
float32_t	laneChangeLengthAfterSplit	lane change distance available after the split to go to the same lane if split is not executed at the split point. In the case of splitCount > 2, the value represents the worst case
uint32_t	splitCount	number of lanes emerging from the lane before the split
uint32_t	splitIndex	index of the connection that follows the lane plan. DW_MAPS_INVALID_LANE_INDEX if the information is not available.

◆ dwMapsLaneSplitDetails

struct dwMapsLaneSplitDetails

Data Fields
const dwMapsLane *	laneBeforeSplit	lane that splits
float32_t	laneChangeLengthAfterSplit	lane change distance available after the split to go to the same lane if split is not executed at the split point. In the case of splitCount > 2, the value represents the worst case
uint32_t	splitCount	number of lanes emerging from the lane before the split
uint32_t	splitIndex	index of the connection that follows the lane plan. DW_MAPS_INVALID_LANE_INDEX if the information is not available.
const dwMapsLaneConnection *	splitLanes[DW_MAPS_MAX_LANE_CONNECTIONS]	list of connections leading into the new lanes. Sorted from left to right.

Macro Definition Documentation

◆ DW_MAPS_INVALID_LANE_INDEX

#define DW_MAPS_INVALID_LANE_INDEX 99999999

Value that represents an invalid lane index.

Definition at line 1548 of file Maps.h.

Enumeration Type Documentation

◆ dwMapsLaneEventType

enum dwMapsLaneEventType

Lane event type indicates whether the next lane event is a lane split, a lane merge, or both.

Enumerator
DW_MAPS_LANEEVENTTYPE_NONE
DW_MAPS_LANEEVENTTYPE_SPLIT
DW_MAPS_LANEEVENTTYPE_MERGE
DW_MAPS_LANEEVENTTYPE_BOTH

Definition at line 1553 of file Maps.h.

Function Documentation

◆ dwMaps_closestPointOnPolyline()

DW_API_PUBLIC dwStatus dwMaps_closestPointOnPolyline	(	dwMapsGeoPoint *	closestPoint,
		float64_t *	distanceMeters,
		uint32_t *	lineSegmentIndex,
		const dwMapsGeoPoint *	p,
		const dwMapsGeoPolyline *	polyline,
		bool	ignoreHeight
	)

Find closest point on a polyline of WGS84 points.

Parameters

[out]	closestPoint	Closest point on polyline. Can be nullptr if result not needed.
[out]	distanceMeters	Distance between the query point and the closest point. Can be nullptr if result not needed.
[out]	lineSegmentIndex	Index of the line segment of the polyline (polyline point with smaller index) Can be nullptr if result not needed.
[in]	p	Query point.
[in]	polyline	Polyline on which to search for the closest point.
[in]	ignoreHeight	If true, distances are calculated after projection to height 0.

Returns: DW_SUCCESS Successfully found closest point. DW_INVALID_ARGUMENT 'p' or 'polyline' is a nullptr, or the polyline has less than 2 points.

◆ dwMaps_computeBearingFromGeoPoints()

DW_API_PUBLIC dwStatus dwMaps_computeBearingFromGeoPoints	(	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_computeBearingFromRotation()

DW_API_PUBLIC dwStatus dwMaps_computeBearingFromRotation	(	float64_t *	bearingRadian,
		const dwMatrix3d *	localToENURotation33
	)

Compute bearing in radian from localToENU rotation.

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

Parameters

[out]	bearingRadian	Resulting bearing.
[in]	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).

Returns: DW_SUCCESS Successfully computed bearing rotation matrix.
DW_INVALID_ARGUMENT 'bearingRadian' or 'localToENURotation33 is a nullptr'. DW_NOT_AVAILABLE Bearing is not defined if 'localToENURotation33' rotates the forward vector into the up or down vector of ENU space.

◆ 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_computeBoundsSize()

DW_API_PUBLIC dwStatus dwMaps_computeBoundsSize	(	float32_t *	width,
		float32_t *	height,
		const dwMapsBounds *	bounds
	)

Compute width and height of bounds in meters.

Compute the width and height of given maps bounds (defined by wgs84 coordinates). Computed width and height are euclidean distances of the outermost bound points (not the distance along the sphere surface).

Parameters

[out]	width	Longest east-west distance within bounds in meters.
[out]	height	Longest north-south distance within bounds in meters.
[in]	bounds	Maps bounds defined in wgs84 coordinates.

Returns: DW_SUCCESS Successfully compute widht and height of bounds.
DW_INVALID_ARGUMENT One or more parameters are a nullptr.

◆ dwMaps_computeDistance()

DW_API_PUBLIC dwStatus dwMaps_computeDistance	(	float64_t *	distance,
		const dwMapsGeoPoint *	p1,
		const dwMapsGeoPoint *	p2
	)

Compute Euclidean distance between 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 One or more parameters are a nullptr.

◆ dwMaps_computeLocalToLocalTransform()

DW_API_PUBLIC dwStatus dwMaps_computeLocalToLocalTransform	(	dwTransformation3f *	transform,
		const dwMapsGeoPoint *	originSource,
		const dwMatrix3d *	localToENURotationSource,
		const dwMapsGeoPoint *	originTarget,
		const dwMatrix3d *	localToENURotationTarget
	)

Compute transform (translation and rotation) that changes a 3d point from one coordinate system to another.

Both source and target coordinate systems are defined by a geo point and a local to ENU Rotation matrix.

Parameters

[out]	transform	Resulting transform.
[in]	originSource	Origin of the source coordinate system
[in]	localToENURotationSource	Local to ENU rotation of the source coordinate system. If this is NULL, it is interpreted as Identity, thus ENU at origin1.
[in]	originTarget	Origin of the target coordinate system
[in]	localToENURotationTarget	Local to ENU rotation of the target coordinate system. If this is NULL, it is interpreted as Identity, thus ENU at origin2.

Returns: DW_SUCCESS Successfully transformed 'point' into coordinate system with origin at origin2.
DW_INVALID_ARGUMENT 'transform', 'origin1' or 'origin2' 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_computeRotationFromBearing()

DW_API_PUBLIC dwStatus dwMaps_computeRotationFromBearing	(	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_computeRotationFromGeoPoints()

DW_API_PUBLIC dwStatus dwMaps_computeRotationFromGeoPoints	(	dwMatrix3d *	localToENURotation33,
		const dwMapsGeoPoint *	position,
		const dwMapsGeoPoint *	headingPoint
	)

Compute orientation matrix from two WGS84 points.

Parameters

[out]	localToENURotation33	Rotation matrix that rotates from a right-handed local coordinate system with x-axis pointing towards the specified direction into a local cartesian coordinate system with x-axis pointing east and y-axis pointing north) (east-north-up, ENU).
[in]	position	First point to describe heading direction
[in]	headingPoint	Second point to describe heading direction

Returns: DW_SUCCESS Successfully computed rotation matrix.
DW_INVALID_ARGUMENT One of the arguments is a nullptr'

◆ dwMaps_computeRotationFromLocalPoints()

DW_API_PUBLIC dwStatus dwMaps_computeRotationFromLocalPoints	(	dwMatrix3d *	localToENURotation33,
		const dwVector3f *	position,
		const dwVector3f *	headingPoint
	)

Compute orientation matrix from two local points in an ENU space.

Parameters

[out]	localToENURotation33	Rotation matrix that rotates from a right-handed local coordinate system with x-axis pointing towards the specified into a local cartesian coordinate system with x-axis pointing east and y-axis pointing north) (east-north-up, ENU).
[in]	position	First point to describe heading direction
[in]	headingPoint	Second point to describe heading direction

Returns: DW_SUCCESS Successfully computed rotation matrix.
DW_INVALID_ARGUMENT One of the arguments is a nullptr'

◆ dwMaps_getConnectedToLocal()

DW_API_PUBLIC dwStatus dwMaps_getConnectedToLocal	(	dwTransformation3f *	connectedToLocal,
		const dwMapsLane *	localLane,
		const dwMapsLane *	connectedLane
	)

Get coordinate transform to transform a point in connectedLane's coordinate system into the localLane's coordinate system.

The transformation is stored in the corresponding dwMapsRoadSegmentConnection. This function looks for the that connection and returns the transform if found.

Parameters

connectedToLocal
localLane
connectedLane

Returns: DW_SUCCESS Successfully returned transformation.
DW_NOT_AVAILABLE No connection found for localLane and connectedLane.
DW_INVALID_ARGUMENT One or more parameters are a nullptr.

◆ dwMaps_getLaneChange()

DW_API_PUBLIC dwStatus dwMaps_getLaneChange	(	dwMapsSide *	laneChangeSide,
		uint32_t *	laneChangeCount,
		float32_t *	laneChangeLength,
		const dwMapsLane *	srcLane,
		const dwMapsLane *	targetLane
	)

Check if there's a valid lane change from one lane to another on the same road segment.

Parameters

[out]	laneChangeSide	Side of the lane change in geometry direction. Can be a nullptr if this result is not needed.
[out]	laneChangeCount	Number of lane changes needed to get from source to target lane. Can be a nullptr if this result is not needed.
[in,out]	laneChangeLength	Input: search distance limit for the lane change length Output: length of stretch where the lane to the destination lane is possible Can be a nullptr if this result is not needed.
[in]	srcLane	Source lane.
[in]	targetLane	Target lane.

Returns: DW_SUCCESS There is a valid lane change to get from source to target lane.
DW_INVALID_ARGUMENT 'srcLane' or 'targetLane' is a nullptr
DW_NOT_AVAILABLE Lane change from source to target lane not possible.

◆ dwMaps_getLaneChangeAtGlobalPose()

DW_API_PUBLIC dwStatus dwMaps_getLaneChangeAtGlobalPose	(	dwMapsSide *	laneChangeSide,
		uint32_t *	laneChangeCount,
		float32_t *	laneChangeLength,
		const dwMapsLane *	srcLane,
		const dwMapsLane *	targetLane,
		const dwMapsGeoPoint *	position,
		const dwMatrix3d *	localToENURotation33
	)

Check if there's a valid lane change from one lane to another on the same road segment.

Position and orientation in absolute coordinates are used to figure out the driving direction on the lane.

Parameters

[out]	laneChangeSide	Side of the lane change. Relative to driving direction. Can be a nullptr if this result is not needed.
[out]	laneChangeCount	Number of lane changes needed to get from source to target lane. Can be a nullptr if this result is not needed.
[in,out]	laneChangeLength	Input: search distance limit for the lane change length Output: length of stretch where the change to the destination lane is possible. Can be a nullptr if this result is not needed.
[in]	srcLane	Source lane.
[in]	targetLane	Target lane.
[in]	position	Current position.
[in]	localToENURotation33	Current orientation. 3x3 Rotation matrix that rotates from local coordinate system (x: forward, y: left, z: up) into ENU local cartesian coordinate system with origin at point 'position' (x: east, y: north, z: up). z coordinate of ENU is the normal of the earth spheroid at point 'position'.

Returns: DW_SUCCESS There is a valid lane change to get from source to target lane.
DW_INVALID_ARGUMENT 'srcLane', 'targetLane', 'position' or 'localToENURotation33' is a nullptr
DW_NOT_AVAILABLE Lane change from source to target lane not possible.

◆ dwMaps_getLaneChangeAtLocalPose()

DW_API_PUBLIC dwStatus dwMaps_getLaneChangeAtLocalPose	(	dwMapsSide *	laneChangeSide,
		uint32_t *	laneChangeCount,
		float32_t *	laneChangeLength,
		const dwMapsLane *	srcLane,
		const dwMapsLane *	targetLane,
		const dwMapsRoadSegment *	referenceRoadSegment,
		const dwVector3f *	position,
		const dwMatrix3d *	localToENURotation33
	)

Check if there's a valid lane change from one lane to another on the same road segment.

Position and orientation in local coordinates relative to the referenceRoadSegments ENU space are used to figure out the driving direction on the lane.

Parameters

[out]	laneChangeSide	Side of the lane change. Relative to driving direction. Can be a nullptr if this result is not needed.
[out]	laneChangeCount	Number of lane changes needed to get from source to target lane. Can be a nullptr if this result is not needed.
[in,out]	laneChangeLength	Input: search distance limit for the lane change length Output: length of stretch where the change to the destination lane is possible. Can be a nullptr if this result is not needed.
[in]	srcLane	Source lane.
[in]	targetLane	Target lane.
[in]	referenceRoadSegment	Road segment that defines the coordinate system of provided position and orientation.
[in]	position	Current position, in coordinate system of referenceRoadSegment.
[in]	localToENURotation33	Current orientation. 3x3 Rotation matrix that rotates from local coordinate system (x: forward, y: left, z: up) into ENU local cartesian coordinate system with origin at point 'referenceRoadSegment->origin' (x: east, y: north, z: up). z coordinate of ENU is the normal of the earth spheroid at 'referenceRoadSegment->origin'.

Returns: DW_SUCCESS There is a valid lane change to get from source to target lane.
DW_INVALID_ARGUMENT 'srcLane', 'targetLane', 'position' or 'localToENURotation33' is a nullptr
DW_NOT_AVAILABLE Lane change from source to target lane not possible.

◆ dwMaps_getNeighborLane()

DW_API_PUBLIC dwStatus dwMaps_getNeighborLane	(	const dwMapsLane **	otherLane,
		const dwMapsLane *	currentLane,
		dwMapsSide	side,
		uint32_t	offset,
		bool	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,
		bool	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_getNextLaneEvent()

DW_API_PUBLIC dwStatus dwMaps_getNextLaneEvent	(	dwMapsLaneEventType *	type,
		dwMapsLaneSplitDetails *	laneSplit,
		dwMapsLaneMergeDetails *	laneMerge,
		float32_t *	nextEventDist,
		const dwMapsLane *	currentLane,
		const bool *	forwardOnPolyline,
		float32_t	maxDistance
	)

Get the next lane split and/or lane merge.

Walk along the 'currentLane' up to a maximum distance and return first lane split or lane merge along the way. The walking direction (forward/backward) on the lane polyline can be provided optionally. If it is not provided, it is derived from the driving direction of 'currentLane', however this will fail if currentLane is drivable in both directions.

It is possible that the same point along the way there is both a split and merge. In that case both are returned and the type is set to DW_MAPS_LANEEVENTTYPE_BOTH.

When the next lane event is a lane split, but the next lane merge is required, the search can be continued by repeating the call, using each split lane as 'currentLane'.

Parameters

[out]	type	None, lane split, lane merge, or both.
[out]	laneSplit	Struct to contain the resulting lane split.
[out]	laneMerge	Struct to contain the resulting lane merge.
[out]	nextEventDist	Distance to where the next lane action (change/split) takes place.
[in]	currentLane	Lane where the search for the next lane event is started.
[in]	forwardOnPolyline	Defined in which direction the search happens. If nullptr, the direction is along the lane's driving direction (not that this will fail if the lane is drivable both ways.
[in]	maxDistance	Distance at which the the search for the next lane event is stopped.

Returns: DW_SUCCESS Successfully finished the search ('type' contains the result type) DW_INVALID_ARGUMENT 'type', 'laneSplit', 'laneMerge', or 'currentLane' is a nullptr. DW_INTERNAL_ERROR In case of an internal problem, should not happen. DW_NOT_AVAILABLE 'forwardOnPolyline' is a nullptr and 'currentLane' does not have a driving direction defined.

◆ dwMaps_getNextLaneSplitAtGlobalPose()

DW_API_PUBLIC dwStatus dwMaps_getNextLaneSplitAtGlobalPose	(	dwMapsLaneSplitDetails *	laneSplit,
		float32_t *	laneSplitDistance,
		const dwMapsLane *	currentLane,
		float32_t	maxSearchDistance,
		const dwMapsGeoPoint *	position,
		const dwMatrix3d *	localToENURotation33
	)

Get next lane split.

Current pose defined in global coordinates.

The pose is required to compute the exact distance, and to get the orientation on the current lane.

Parameters

laneSplit	Next split.
laneSplitDistance	Distance of next lane split from current pose.
currentLane	Current lane where the split search starts.
maxSearchDistance	Maximum distance to search for a split.
position	Position relative to the reference road segment.
localToENURotation33	3x3 Rotation matrix that rotates from local coordinate system (x: forward, y: left, z: up) into ENU local cartesian coordinate system with origin at point 'referenceRoadSegment->origin' (x: east, y: north, z: up). z coordinate of ENU is the normal of the earth spheroid at point 'referenceRoadSegment->origin'.

Returns: DW_SUCCESS Successfully finished the search, a lane split was found. DW_INVALID_ARGUMENT At least one of the arguments is a nullptr. DW_NOT_AVAILABLE No lane split was found.

◆ dwMaps_getNextLaneSplitAtLocalPose()

DW_API_PUBLIC dwStatus dwMaps_getNextLaneSplitAtLocalPose	(	dwMapsLaneSplitDetails *	laneSplit,
		float32_t *	laneSplitDistance,
		const dwMapsLane *	currentLane,
		float32_t	maxSearchDistance,
		const dwMapsRoadSegment *	referenceRoadSegment,
		const dwVector3f *	position,
		const dwMatrix3d *	localToENURotation33
	)

Get next lane split.

Current pose defined in local coordinates.

The pose is required to compute the exact distance, and to get the orientation on the current lane.

Parameters

laneSplit	Next split.
laneSplitDistance	Distance of next lane split from current pose.
currentLane	Current lane where the split search starts.
maxSearchDistance	Maximum distance to search for a split.
referenceRoadSegment	Road segment the current pose refers to.
position	Position relative to the reference road segment.
localToENURotation33	3x3 Rotation matrix that rotates from local coordinate system (x: forward, y: left, z: up) into ENU local cartesian coordinate system with origin at point 'referenceRoadSegment->origin' (x: east, y: north, z: up). z coordinate of ENU is the normal of the earth spheroid at point 'referenceRoadSegment->origin'.

Returns: DW_SUCCESS Successfully finished the search, a lane split was found. DW_INVALID_ARGUMENT At least one of the arguments is a nullptr. DW_NOT_AVAILABLE No lane split was found.

◆ dwMaps_getPointAhead()

DW_API_PUBLIC dwStatus dwMaps_getPointAhead	(	dwMapsGeoPoint *	pointAhead,
		const dwMapsGeoPoint *	position,
		const dwMatrix3d *	localToENURotation33,
		float32_t	distance
	)

Get wgs84 point moving forward from a position.

Parameters

[out]	pointAhead	Resulting wgs84 point ahead.
[in]	position	Source position.
[in]	localToENURotation33	Rotation matrix that defines the orientation.
[in]	distance	Distance to move forward from source position.

Returns: DW_SUCCESS Successfully returned point ahead.
DW_INVALID_ARGUMENT One of the arguments is a nullptr.

◆ 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_isConnectionDrivable()

DW_API_PUBLIC dwStatus dwMaps_isConnectionDrivable	(	bool *	isDrivable,
		const dwMapsLane *	lane,
		const dwMapsLaneConnection *	connection
	)

Check whether it is possible/allowed to drive from the given onto the given connection.

A connection is drivable if

both lane and the connected lane are drivable
lane and its connection has the same driving direction or one or both are drivable in both directions

Parameters

[out]	isDrivable	Result
[in]	lane	Source lane.
[in]	connection	Connection to be checked.

Returns: DW_SUCCESS Successfully returned the isDrivable result;
DW_INVALID_ARGUMENT one of the parameters is null.

◆ dwMaps_resamplePolyline()

DW_API_PUBLIC dwStatus dwMaps_resamplePolyline	(	dwMapsGeoPointBuffer *	result,
		const dwMapsGeoPolyline *	polyline,
		float32_t	stepSize
	)

Resample a polyline of WGS84 points to a polyline with fixed step size.

Parameters

[out]	result	User provided buffer to hold the resulting resampled polyline point.
[in]	polyline	Input polyline to resample.
[in]	stepSize	Distance in meters between resampled points.

Returns: DW_SUCCESS Successfully resampled polyline. DW_INVALID_ARGUMENT 'result' or 'polyline', or stepSize is not positive. DW_BUFFER_FULL Result buffer not big enouhg.

◆ dwMaps_stitchLaneGeometry()

DW_API_PUBLIC dwStatus dwMaps_stitchLaneGeometry	(	dwMapsPointBuffer *	polyline,
		dwMapsLanePtrBuffer *	perPointLanes,
		const dwMapsLane *	lanes,
		uint32_t	laneCount,
		dwMapsLaneGeometry	geometrySelection
	)

Stitches the polylines 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,out]	perPointLanes	dwMapsLane for each point. Can be nullptr if not needed.
[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_transformPoint()

DW_API_PUBLIC dwStatus dwMaps_transformPoint	(	dwVector3f *	transformedPoint,
		const dwMapsGeoPoint *	point,
		const dwMapsGeoPoint *	localOrigin,
		const dwMatrix3d *	localToENURotation33
	)

Transform a WGS84 point into a point in a local coordinate system defined by position 'localOrigin' and rotation 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_transformPointReverse()

DW_API_PUBLIC dwStatus dwMaps_transformPointReverse	(	dwMapsGeoPoint *	transformedPoint,
		const dwVector3f *	point,
		const dwMapsGeoPoint *	localOrigin,
		const dwMatrix3d *	localToENURotation33
	)

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

Parameters

[out]	transformedPoint	Resulting WGS84 point.
[in]	point	Local coordinate 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 WGS84 system.
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 dwMatrix3d *	localToENURotation33
	)

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

Parameters

[in,out]	transformedPoints	User provided 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_transformPolylinesReverse()

DW_API_PUBLIC dwStatus dwMaps_transformPolylinesReverse	(	dwMapsGeoPointBuffer *	transformedPoints,
		const dwPolyline3f *	polylines,
		uint32_t	polylineCount,
		const dwMapsGeoPoint *	localOrigin,
		const dwMatrix3d *	localToENURotation33
	)

Transform local space polylines into WGS84 point polylines.

Parameters

[in,out]	transformedPoints	User provided point buffer for result.
[in]	polylines	Start of polyline array.
[in]	polylineCount	Number of polylines in polyline array.
[in]	localOrigin	Origin of the ENU space
[in]	localToENURotation33	3x3 Rotation matrix that rotates 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 local space polylines into WGS84 polylines
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 dwMatrix3d *	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 failure.
DW_BAD_CAST Could not successfully cast handle to map object.

Detailed Description

Data Structures

Macros

Enumerations

Functions

Data Structure Documentation

◆ dwMapsLaneMerge

◆ dwMapsLaneMergeDetails

◆ dwMapsLaneSplit

◆ dwMapsLaneSplitDetails

Macro Definition Documentation

◆ DW_MAPS_INVALID_LANE_INDEX

Enumeration Type Documentation

◆ dwMapsLaneEventType

Function Documentation

◆ dwMaps_closestPointOnPolyline()

◆ dwMaps_computeBearingFromGeoPoints()

◆ dwMaps_computeBearingFromRotation()

◆ dwMaps_computeBounds()

◆ dwMaps_computeBoundsSize()

◆ dwMaps_computeDistance()

◆ dwMaps_computeLocalToLocalTransform()

◆ dwMaps_computePolylineLength()

◆ dwMaps_computeRotationFromBearing()

◆ dwMaps_computeRotationFromGeoPoints()

◆ dwMaps_computeRotationFromLocalPoints()

◆ dwMaps_getConnectedToLocal()

◆ dwMaps_getLaneChange()

◆ dwMaps_getLaneChangeAtGlobalPose()

◆ dwMaps_getLaneChangeAtLocalPose()

◆ dwMaps_getNeighborLane()

◆ dwMaps_getNeighborLaneCount()

◆ dwMaps_getNextLaneEvent()

◆ dwMaps_getNextLaneSplitAtGlobalPose()

◆ dwMaps_getNextLaneSplitAtLocalPose()

◆ dwMaps_getPointAhead()

◆ dwMaps_interpolatePolylines()

◆ dwMaps_isConnectionDrivable()

◆ dwMaps_resamplePolyline()

◆ dwMaps_stitchLaneGeometry()

◆ dwMaps_transformPoint()

◆ dwMaps_transformPointReverse()

◆ dwMaps_transformPolylines()

◆ dwMaps_transformPolylinesReverse()

◆ dwMaps_transformRoadFeaturesToLocalSpace()