Helper Functions

Note

SW Release Applicability: This tutorial is applicable to modules in NVIDIA DRIVE Software releases.

Closest Point

The following function returns the closest point on a Lane Plan.

dwStatus dwLanePlan_findClosestPoint(
    dwMapsGeoPoint* closestPoint,
    dwLanePlanIndex* lanePlanIndex,
    const dwMapsGeoPoint* gps,
    dwBool ignoreHeight,
    dwConstLanePlanHandle_t lanePlan);

Iterating along the Lane Plan

To iterate along a lane on a Lane Plan, the following functions can be used:

dwStatus dwLanePlan_increaseIndex(
    dwLanePlanIndex* lanePlanIndex,
    uint32_t increaseCount,
    dwConstLanePlanHandle_t lanePlan);

dwStatus dwLanePlan_decreaseIndex(
    dwLanePlanIndex* lanePlanIndex,
    uint32_t decreaseCount,
    dwConstLanePlanHandle_t lanePlan);

These functions increase the point index up to the end of the Lane Plan Lane, and then automatically jump onto the next Lane Plan Segment, if there is one that has a lane that connects to the current lane.

Distance Between Two Lane Plan Points

The following function computes the distance between two points on the lane plan. However, it returns a result only when the two points are connected without lane changes.

dwStatus dwLanePlan_computeDistance(
    float32_t* distance,
    const dwLanePlanIndex* index1,
    const dwLanePlanIndex* index2,
    dwConstLanePlanHandle_t lanePlan);