Release 2.1.0

* Added physics::AngleRange, physics::AngluarAcceleration data types and some AngleOperations
* Extended physics Parametric and Ratio Operations to all physics basic types
* Map Matching
  - map::match::MapMatchedPosition get matchedPointDistance member
  - removed distance parameter from match::AdMapMatching::getMapMatchedBoundingBox() and match::AdMapMatching::getLaneOccupiedRegions() functions which is now derived automatically from samplingDistance parameter
  - The occupied regions only consider longitudinal in-lane matches
* Removed misleading functions route::getRouteIntervalStart/End(LaneInterval); directly use the LaneInterval members instead
* route::calculateConnectingRoute() shortens the result route by removing overlapping regions with the objects; the length of the connecting route now reflects the distance of the vehicles much better
* Improved documentation (BUILDING, map_maker)
* Added qgis plugin static build colcon meta file	* Added qgis plugin static build colcon meta file

ad_map_access/generated/CMakeLists.txt

@@ -14,7 +14,7 @@
 ##
 
 cmake_minimum_required(VERSION 3.5)
-project(ad_map_access VERSION 2.0.3)
+project(ad_map_access VERSION 2.1.0)
 
 include(GNUInstallDirs)
 include(CMakePackageConfigHelpers)
@@ -47,7 +47,7 @@ get_target_property(AD_MAP_OPENDRIVE_READER_INTERFACE_INCLUDE_DIRS ad_map_opendr
 list(APPEND INCLUDE_DIRS ${AD_MAP_OPENDRIVE_READER_INTERFACE_INCLUDE_DIRS})
 list(APPEND LIBRARIES ad_map_opendrive_reader)
 
-find_package(ad_physics 2.0.3 REQUIRED CONFIG)
+find_package(ad_physics 2.1.0 REQUIRED CONFIG)
 find_package(spdlog REQUIRED CONFIG)
 
 add_library(${PROJECT_NAME}

ad_map_access/generated/cmake/Config.cmake.in

@@ -30,7 +30,7 @@ get_target_property(AD_MAP_OPENDRIVE_READER_INTERFACE_INCLUDE_DIRS ad_map_opendr
 list(APPEND INCLUDE_DIRS ${AD_MAP_OPENDRIVE_READER_INTERFACE_INCLUDE_DIRS})
 list(APPEND LIBRARIES ad_map_opendrive_reader)
 
-find_dependency(ad_physics 2.0.3)
+find_dependency(ad_physics 2.1.0)
 find_dependency(spdlog)
 
 include("${CMAKE_CURRENT_LIST_DIR}/@PROJECT_NAME@Targets.cmake")

ad_map_access/generated/include/ad/map/match/MapMatchedPosition.hpp

@@ -24,6 +24,7 @@
 #include "ad/map/match/LanePoint.hpp"
 #include "ad/map/match/MapMatchedPositionType.hpp"
 #include "ad/map/point/ECEFPoint.hpp"
+#include "ad/physics/Distance.hpp"
 #include "ad/physics/Probability.hpp"
 /*!
  * @brief namespace ad
@@ -105,7 +106,8 @@ struct MapMatchedPosition
   bool operator==(const MapMatchedPosition &other) const
   {
     return (lanePoint == other.lanePoint) && (type == other.type) && (matchedPoint == other.matchedPoint)
-      && (probability == other.probability) && (queryPoint == other.queryPoint);
+      && (probability == other.probability) && (queryPoint == other.queryPoint)
+      && (matchedPointDistance == other.matchedPointDistance);
   }
 
   /**
@@ -133,6 +135,11 @@ struct MapMatchedPosition
    * Point that is used for determining this matched pos.
    */
   ::ad::map::point::ECEFPoint queryPoint;
+
+  /*!
+   * The distance between the matchedPoint and the queryPoint.
+   */
+  ::ad::physics::Distance matchedPointDistance;
 };
 
 } // namespace match
@@ -185,6 +192,9 @@ inline std::ostream &operator<<(std::ostream &os, MapMatchedPosition const &_val
   os << ",";
   os << "queryPoint:";
   os << _value.queryPoint;
+  os << ",";
+  os << "matchedPointDistance:";
+  os << _value.matchedPointDistance;
   os << ")";
   return os;
 }

ad_map_access/generated/include/ad/map/match/MapMatchedPositionValidInputRange.hpp

@@ -23,6 +23,7 @@
 #include "ad/map/match/MapMatchedPosition.hpp"
 #include "ad/map/match/MapMatchedPositionTypeValidInputRange.hpp"
 #include "ad/map/point/ECEFPointValidInputRange.hpp"
+#include "ad/physics/DistanceValidInputRange.hpp"
 #include "ad/physics/ProbabilityValidInputRange.hpp"
 #include "spdlog/fmt/ostr.h"
 #include "spdlog/spdlog.h"
@@ -43,7 +44,8 @@ inline bool withinValidInputRange(::ad::map::match::MapMatchedPosition const &in
   bool inValidInputRange = true;
   inValidInputRange = withinValidInputRange(input.lanePoint, logErrors) && withinValidInputRange(input.type, logErrors)
     && withinValidInputRange(input.matchedPoint, logErrors) && withinValidInputRange(input.probability, logErrors)
-    && withinValidInputRange(input.queryPoint, logErrors);
+    && withinValidInputRange(input.queryPoint, logErrors)
+    && withinValidInputRange(input.matchedPointDistance, logErrors);
   if (!inValidInputRange && logErrors)
   {
     spdlog::error("withinValidInputRange(::ad::map::match::MapMatchedPosition)>> {} has invalid member",

ad_map_access/generated/include/ad_map_access/Version.hpp

@@ -25,14 +25,14 @@
 /*!
  * The minor version of ad_map_access
  */
-#define AD_MAP_ACCESS_VERSION_MINOR 0
+#define AD_MAP_ACCESS_VERSION_MINOR 1
 
 /*!
  * The revision of ad_map_access
  */
-#define AD_MAP_ACCESS_VERSION_REVISION 3
+#define AD_MAP_ACCESS_VERSION_REVISION 0
 
 /*!
  * The version of ad_map_access as string
  */
-#define AD_MAP_ACCESS_VERSION_STRING "2.0.3"
+#define AD_MAP_ACCESS_VERSION_STRING "2.1.0"

ad_map_access/impl/include/ad/map/match/AdMapMatching.hpp

@@ -216,16 +216,14 @@ class AdMapMatching
    *
    * @param[in] enuObjectPosition object position, orientation, dimensions and ENRReferencePoint
    *  to match against the map in ENU coordinate frame
-   * @param[in] distance search radius around geoPoint to select a lane as a match
    * @param[in] samplingDistance The step size to be used to perform map matching in between the vehicle boundaries
    *   This parameter is heavily influencing the performance of this function:
    *   A samplingDistance of 0.1 at a car (3x5m) means 1500x map matching. With a distance of 1.0 we get only 15x map
-   * matching. To ensure the correctness of the LaneOccupiedRegions, this parameter is set <= distance!
+   * matching.
    *
    * @returns the map matched bounding box of the object
    */
   MapMatchedObjectBoundingBox getMapMatchedBoundingBox(ENUObjectPosition const &enuObjectPosition,
-                                                       physics::Distance const &distance,
                                                        physics::Distance const &samplingDistance
                                                        = physics::Distance(1.));
 
@@ -238,15 +236,13 @@ class AdMapMatching
    * only works as expected if the the provided enuObjectPositionList covers the whole object.
    *
    * @param[in] enuObjectPositionList list of ENUObjectPosition entries
-   * @param[in] distance search radius around geoPoint to select a lane as a match
    * @param[in] samplingDistance The step size to be used to perform map matching in between the vehicle boundaries
    *   A samplingDistance of 0.1 at a car (3x5m) means 1500x map matching. With a distance of 1.0 we get only 15x map
-   * matching. To ensure the correctness of the LaneOccupiedRegions, this parameter is set <= distance!
+   * matching.
    *
    * @returns the map matched bounding box of the object
    */
   LaneOccupiedRegionList getLaneOccupiedRegions(ENUObjectPositionList enuObjectPositionList,
-                                                physics::Distance const &distance,
                                                 physics::Distance const &samplingDistance = physics::Distance(1.));
 
   /**

ad_map_access/impl/include/ad/map/point/HeadingOperation.hpp

@@ -14,6 +14,7 @@
 #include "ad/map/point/ENUPoint.hpp"
 #include "ad/map/point/GeoPoint.hpp"
 #include "ad/map/point/PointOperation.hpp"
+#include "ad/physics/Angle.hpp"
 #include "ad/physics/Distance.hpp"
 
 namespace ad {
@@ -48,10 +49,20 @@ ECEFHeading createECEFHeading(ENUHeading const &yaw, GeoPoint const &enuReferenc
  * @param[in] yawAngleRadian heading provided as yaw angle in radians
  *
  * @returns heading with given yaw angle is normalized in the range -M_PI < heading <= M_PI
- *
  */
 ENUHeading createENUHeading(double yawAngleRadian);
 
+/**
+ * @brief create a ENUHeading from angle
+ *
+ * Heading in ENU coordinate system as angle measured from East to North axis (yaw) in radians
+ *
+ * @param[in] angle heading provided as yaw angle in radians
+ *
+ * @returns heading with given yaw angle is normalized in the range -M_PI < heading <= M_PI
+ */
+ENUHeading createENUHeading(physics::Angle const &angle);
+
 /**
  * @brief create a ENUHeading from ECEFHeading value
  *

ad_map_access/impl/include/ad/map/route/LaneIntervalOperation.hpp

@@ -31,16 +31,6 @@ namespace route {
  * isRouteDirectionPositive(), isRouteDirectionNegative() provide the expected information.
  */
 
-/**
- * @brief get the start point of a LaneInterval considering the route direction
- */
-point::ParaPoint getRouteIntervalStart(LaneInterval const &laneInterval);
-
-/**
- * @brief get the end point of a LaneInterval considering the route direction
- */
-point::ParaPoint getRouteIntervalEnd(LaneInterval const &laneInterval);
-
 /**
  * @brief get interval start as ParaPoint
  */

ad_map_access/impl/src/lane/LaneOperation.cpp

@@ -570,6 +570,7 @@ bool findNearestPointOnLane(Lane const &lane, point::ECEFPoint const &pt, match:
       mmpos.lanePoint.laneLength = lane.length;
       mmpos.lanePoint.laneWidth = point::distance(pt_left, pt_right);
       mmpos.queryPoint = pt;
+      mmpos.matchedPointDistance = point::distance(mmpos.matchedPoint, mmpos.queryPoint);
       return true;
     }
   }