feat(autoware_trajectory): implement a function to construct trajectory class for reference path (#469)

Signed-off-by: Mamoru Sobue <[email protected]>
Co-authored-by: Junya Sasaki <[email protected]>

Author: soblin

common/autoware_lanelet2_utils/CMakeLists.txt

@@ -9,6 +9,7 @@ ament_auto_add_library(${PROJECT_NAME} SHARED
   src/topology.cpp
   src/stop_line.cpp
   src/intersection.cpp
+  src/conversion.cpp
   src/geometry.cpp
 )
 

common/autoware_lanelet2_utils/include/autoware/lanelet2_utils/conversion.hpp

@@ -0,0 +1,46 @@
+// Copyright 2025 TIER IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef AUTOWARE__LANELET2_UTILS__CONVERSION_HPP_
+#define AUTOWARE__LANELET2_UTILS__CONVERSION_HPP_
+
+#include <lanelet2_core/Forward.h>
+#include <lanelet2_routing/Forward.h>
+#include <lanelet2_traffic_rules/TrafficRulesFactory.h>
+
+#include <string>
+#include <utility>
+
+namespace autoware::experimental::lanelet2_utils
+{
+
+/**
+ * @brief load a map file from the given path and return LaneletMap object
+ */
+lanelet::LaneletMapConstPtr load_mgrs_coordinate_map(
+  const std::string & path, const double centerline_resolution = 5.0);
+
+/**
+ * @brief instantiate RoutingGraph from given LaneletMap only from "road" lanes
+ * @param location [in, opt, lanelet::Locations::Germany] location value
+ * @param participant [in, opt, lanelet::Participants::Vehicle] participant value
+ * @return RoutingGraph object without road_shoulder and bicycle_lane, and traffic rule object
+ */
+std::pair<lanelet::routing::RoutingGraphConstPtr, lanelet::traffic_rules::TrafficRulesPtr>
+instantiate_routing_graph_and_traffic_rules(
+  lanelet::LaneletMapConstPtr lanelet_map, const char * location = lanelet::Locations::Germany,
+  const char * participant = lanelet::Participants::Vehicle);
+
+}  // namespace autoware::experimental::lanelet2_utils
+#endif  // AUTOWARE__LANELET2_UTILS__CONVERSION_HPP_

common/autoware_lanelet2_utils/include/autoware/lanelet2_utils/geometry.hpp

@@ -22,7 +22,7 @@
 
 #include <optional>
 
-namespace autoware::lanelet2_utils
+namespace autoware::experimental::lanelet2_utils
 {
 
 /**
@@ -100,6 +100,6 @@ std::optional<lanelet::LineString3d> get_linestring_from_arc_length(
 std::optional<geometry_msgs::msg::Pose> get_pose_from_2d_arc_length(
   const lanelet::ConstLanelets & lanelet_sequence, const double s);
 
-}  // namespace autoware::lanelet2_utils
+}  // namespace autoware::experimental::lanelet2_utils
 
 #endif  // AUTOWARE__LANELET2_UTILS__GEOMETRY_HPP_

common/autoware_lanelet2_utils/include/autoware/lanelet2_utils/topology.hpp

@@ -24,16 +24,6 @@
 
 namespace autoware::experimental::lanelet2_utils
 {
-/**
- * @brief instantiate RoutingGraph from given LaneletMap only from "road" lanes
- * @param location [in, opt, lanelet::Locations::Germany] location value
- * @param participant [in, opt, lanelet::Participants::Vehicle] participant value
- * @return RoutingGraph object without road_shoulder and bicycle_lane
- */
-lanelet::routing::RoutingGraphConstPtr instantiate_routing_graph(
-  lanelet::LaneletMapConstPtr lanelet_map, const char * location = lanelet::Locations::Germany,
-  const char * participant = lanelet::Participants::Vehicle);
-
 /**
  * @brief get the left adjacent and same_direction lanelet on the routing graph if exists regardless
  * of lane change permission