28 #include <unordered_map>
29 #include <unordered_set>
32 #include <dlib/matrix.h>
73 std::map<adore::env::BorderBased::BorderID,info>
plotMap_;
80 if(result->second.visible_)
91 return result!=
plotMap_.end() && result->second.visible_;
95 static long long counter = 0;
99 result->second.visible_ = visible;
104 std::stringstream ss;
105 ss<<
prefix_<<
"/localmap/border"<<counter;
106 plotMap_.emplace(std::make_pair(
id,
info(visible,ss.str())));
112 return result->second.name_;
143 bool to_be_plotted =
false;
154 bool do_plot =
false;
175 std::stringstream ss;
176 ss<<
"border/"<<std::hex<<border;
178 auto name = ss.str();
Definition: laneplot_config.h:24
bool plot_other_lane
Definition: laneplot_config.h:34
bool plot_emergency_lane
Definition: laneplot_config.h:33
bool plot_drive_lane
Definition: laneplot_config.h:35
a optimzed plotting application to plot map borders, vehicles and environment information and backgro...
Definition: plot_lanes.h:47
DLR_TS::PlotLab::AFigureStub * figure_
Definition: plot_lanes.h:57
void setVisible(adore::env::BorderBased::BorderID id, bool visible)
Definition: plot_lanes.h:93
std::string getName(adore::env::BorderBased::BorderID id)
Definition: plot_lanes.h:109
adore::params::APMapProvider * pmap_
Definition: plot_lanes.h:50
adore::params::APVehicle * pvehicle_
Definition: plot_lanes.h:49
double fov_height_
Definition: plot_lanes.h:63
adore::mad::AFeed< adore::env::BorderBased::Border > * borderfeed_
Definition: plot_lanes.h:52
adore::PLOT::LanePlotConfig config_
Definition: plot_lanes.h:65
adore::env::VehicleMotionState9d position_
Definition: plot_lanes.h:59
adore::env::BorderBased::BorderSet borderSet_
Definition: plot_lanes.h:58
std::unordered_set< std::string > plot_tags_current_
Definition: plot_lanes.h:55
~PlotLanes()
Definition: plot_lanes.h:129
void unfocus(adore::env::BorderBased::BorderID id)
Definition: plot_lanes.h:75
PlotLanes(DLR_TS::PlotLab::AFigureStub *figure, std::string prefix, const adore::PLOT::LanePlotConfig &config)
Definition: plot_lanes.h:116
adore::mad::AReader< adore::env::VehicleMotionState9d > * positionReader_
Definition: plot_lanes.h:51
bool isVisible(adore::env::BorderBased::BorderID id)
Definition: plot_lanes.h:88
double fov_width_
Definition: plot_lanes.h:62
std::string prefix_
Definition: plot_lanes.h:60
std::unordered_set< std::string > plot_tags_old_
Definition: plot_lanes.h:54
void run()
Definition: plot_lanes.h:133
std::map< adore::env::BorderBased::BorderID, info > plotMap_
Definition: plot_lanes.h:73
virtual TVehicleMotionStateReader * getVehicleMotionStateReader()=0
virtual TBorderFeed * getBorderFeed()=0
efficiently store borders in boost R-tree
Definition: borderset.h:99
Border * getRightNeighbor(Border *b)
get the right neighbor of a border
Definition: borderset.h:1279
bool hasRightNeighbor(Border *b)
checks whether right neighbor exists for a border
Definition: borderset.h:1292
void insert_border(Border *b, bool force_insert=false)
insert new border into this
Definition: borderset.h:225
BorderIteratorPair2 getAllBorders()
get all borders in this
Definition: borderset.h:356
Border * getBorder(const BorderID &id) const
retrieve a border by ID
Definition: borderset.h:628
bool hasLeftNeighbor(Border *b)
checks whether left border exists for a border
Definition: borderset.h:1267
static adore::env::AFactory * get()
Definition: afactory.h:236
virtual void getNext(T &value)=0
virtual bool hasNext() const =0
virtual void getData(T &value)=0
virtual bool hasUpdate() const =0
virtual APVehicle * getVehicle() const =0
virtual APMapProvider * getMapProvider() const =0
abstract class containing parameters to configure aspects of the map provider
Definition: ap_map_provider.h:25
abstract class for vehicle configuration related paremeters
Definition: ap_vehicle.h:29
static adore::params::AFactory * get()
Definition: afactory.h:103
void plotBorder(std::string name, adore::env::BorderBased::Border *right, adore::env::BorderBased::Border *left, double z, std::string options, DLR_TS::PlotLab::AFigureStub *figure, bool plotarrows=false)
Definition: plot_border.h:58
@ OTHER
Definition: border.h:38
@ EMERGENCY
Definition: border.h:41
@ DRIVING
Definition: border.h:39
Definition: areaofeffectconverter.h:20
Definition: plot_lanes.h:68
std::string name_
Definition: plot_lanes.h:69
bool visible_
Definition: plot_lanes.h:70
info(bool visible, std::string name)
Definition: plot_lanes.h:71
This struct identifies a Border by the coordinates of the starting and the end point.
Definition: borderid.h:31
The border struct contains data of the smallest.
Definition: border.h:62
BorderType::TYPE m_type
Definition: border.h:71
BorderID m_id
Definition: border.h:68
BorderID * m_left
Definition: border.h:69
This struct holds the motion state of the vehicle in 9d.
Definition: vehiclemotionstate9d.h:39