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[TEST] RJD-1769 Find scenarios with custom centerline #1593

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[TEST] RJD-1769 Find scenarios with custom centerline #1593

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50ccebc
RJD-1769 Force creating centerline for all lanelets
gmajrobotec Apr 29, 2025
0be9a3e
Merge branch 'master' into RJD-1769/centerline
gmajrobotec May 4, 2025
4d90999
Throw exception when custom centerline is present to detect scenarios…
TauTheLepton May 13, 2025
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7 changes: 4 additions & 3 deletions simulation/traffic_simulator/src/hdmap_utils/hdmap_utils.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1080,10 +1080,11 @@ auto HdMapUtils::generateMarker() const -> visualization_msgs::msg::MarkerArray
auto HdMapUtils::overwriteLaneletsCenterline() -> void
{
for (auto & lanelet_obj : lanelet_map_ptr_->laneletLayer) {
if (!lanelet_obj.hasCustomCenterline()) {
const auto fine_center_line = generateFineCenterline(lanelet_obj, 2.0);
lanelet_obj.setCenterline(fine_center_line);
if (lanelet_obj.hasCustomCenterline()) {
THROW_SIMULATION_ERROR("Detected custom centerline in lanelet map");
}
const auto fine_center_line = generateFineCenterline(lanelet_obj, 2.0);
lanelet_obj.setCenterline(fine_center_line);
}
}

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6 changes: 3 additions & 3 deletions simulation/traffic_simulator/src/lanelet_wrapper/lanelet_loader.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -77,11 +77,11 @@ auto LaneletLoader::overwriteLaneletsCenterline(lanelet::LaneletMapPtr lanelet_m
}
return centerline;
};

for (auto & lanelet_obj : lanelet_map_ptr->laneletLayer) {
if (!lanelet_obj.hasCustomCenterline()) {
lanelet_obj.setCenterline(generateFineCenterline(lanelet_obj));
if (lanelet_obj.hasCustomCenterline()) {
THROW_SIMULATION_ERROR("Detected custom centerline in lanelet map");
}
lanelet_obj.setCenterline(generateFineCenterline(lanelet_obj));
}
}

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