7.3.4
Description
Abstract
Add auto HdMapUtils::isInIntersection(const lanelet::Id lanelet_id) const -> bool function.
Background
In the current master branch implementation, there was no function to determine if a lanelet is a lanelet at an intersection.
Details
Since it was found that lanelets included in an intersection have an attribute called turn_direction, it was decided to make a judgment based on this attribute.
The use of intersection_area polygon was also suggested, but the condition is that intersection in lanelet2 means turn_direction, and polygon(intersection_area) is the polygon that is responsible for setting the area. Therefore, we decided to use the presence or absence of turn_direction` as a condition for judgment.
Lanelet outside intersection.
Lanelet inside intersection.
References
Internal link.
Document about lanelet2(Japanese)
Document about lanelet2(English)
Destructive Changes
N/A
Known Limitations
N/A