Program Listing for File Utilities.h

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/*
 * Copyright (c) 2019
 * FZI Forschungszentrum Informatik, Karlsruhe, Germany (www.fzi.de)
 * KIT, Institute of Measurement and Control, Karlsruhe, Germany (www.mrt.kit.edu)
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * 1. Redistributions of source code must retain the above copyright notice,
 *    this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright notice,
 *    this list of conditions and the following disclaimer in the documentation
 *    and/or other materials provided with the distribution.
 * 3. Neither the name of the copyright holder nor the names of its contributors
 *    may be used to endorse or promote products derived from this software without
 *    specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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 */

#pragma once

#include <lanelet2_core/LaneletMap.h>
#include <lanelet2_core/geometry/LaneletMap.h>
#include <lanelet2_core/geometry/Polygon.h>

#include "Exceptions.h"
#include "Types.h"

namespace lanelet {
namespace matching {
namespace utils {

template <typename LayerT>
auto findWithin(LayerT& map, const Object2d& obj, double maxDist)
    -> std::vector<std::pair<double, traits::LayerPrimitiveType<LayerT>>> {
  if (obj.absoluteHull.empty()) {
    return lanelet::geometry::findWithin2d(map, lanelet::BasicPoint2d{obj.pose.translation()}, maxDist);
  }
  return lanelet::geometry::findWithin2d(map, lanelet::BasicPolygon2d{obj.absoluteHull}, maxDist);
}

double getMahalanobisDistSq(const ConstLanelet& lanelet, const ObjectWithCovariance2d& obj);

}  // namespace utils
}  // namespace matching
}  // namespace lanelet