Generates midpoints between cones using Delaunay triangulation. More...

#include <midpoint_generator.hpp>

Collaboration diagram for MidpointGenerator:

Public Member Functions
	MidpointGenerator ()=default
	Default constructor.

	MidpointGenerator (const MidpointGeneratorConfig &config)
	Constructs a new MidpointGenerator with a specific configuration.

std::vector< std::shared_ptr< Midpoint > > &	generate_midpoints (const std::vector< Cone > &cone_array, bool rebuild_all_midpoints)
	Generates midpoints from a set of cones.

const std::vector< std::pair< Point, Point > > &	get_triangulations () const
	Returns the current set of Delaunay edges used for visualization.

void	set_vehicle_pose (const Pose &vehicle_pose)
	Updates the vehicle pose for dynamic filtering.

Private Member Functions
void	filter_cones (const std::vector< Cone > &cone_array, std::vector< std::shared_ptr< Cone > > &filtered_cones, bool rebuild_all_midpoints)
	Filters input cones based on proximity to the vehicle pose.

std::shared_ptr< Midpoint >	process_triangle_edge (const Vertex_handle &va, const Vertex_handle &vb, std::vector< std::shared_ptr< Cone > > &filtered_cones, std::map< std::pair< int, int >, std::shared_ptr< Midpoint > > &segment_to_midpoint)
	Processes a single edge of a Delaunay triangle and creates its midpoint if valid.

void	connect_triangle_midpoints (const std::array< std::shared_ptr< Midpoint >, 3 > &triangle_midpoints)
	Connects midpoints that belong to the same Delaunay triangle.

int	find_cone (std::vector< std::shared_ptr< Cone > > &cones, double x, double y)
	Finds a cone in a vector based on its position coordinates.

Private Attributes
std::vector< std::pair< Point, Point > >	triangulations_

Pose	vehicle_pose_

std::vector< std::shared_ptr< Midpoint > >	midpoints_

MidpointGeneratorConfig	config_

Detailed Description

Generates midpoints between cones using Delaunay triangulation.

The algorithm performs the following main steps:

Filters cones using a sliding window based on the vehicle’s position (if enabled).
Builds a Delaunay triangulation from the cone coordinates.
Creates midpoints for valid cone pairs (within configured distance limits).
Connects midpoints belonging to the same triangle.

Definition at line 34 of file midpoint_generator.hpp.

Constructor & Destructor Documentation

◆ MidpointGenerator() [1/2]

MidpointGenerator::MidpointGenerator ( )

default

Default constructor.

◆ MidpointGenerator() [2/2]

MidpointGenerator::MidpointGenerator ( const MidpointGeneratorConfig & config )

inlineexplicit

Constructs a new MidpointGenerator with a specific configuration.

Parameters

config Configuration object defining thresholds and filtering behavior.

Definition at line 46 of file midpoint_generator.hpp.

Member Function Documentation

◆ connect_triangle_midpoints()

void MidpointGenerator::connect_triangle_midpoints ( const std::array< std::shared_ptr< Midpoint >, 3 > & triangle_midpoints )

private

Connects midpoints that belong to the same Delaunay triangle.

Parameters

triangle_midpoints Array of up to three midpoints from one triangle.

Definition at line 110 of file midpoint_generator.cpp.

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◆ filter_cones()

void MidpointGenerator::filter_cones	(	const std::vector< Cone > &	cone_array,
		std::vector< std::shared_ptr< Cone > > &	filtered_cones,
		bool	rebuild_all_midpoints
	)

private

Filters input cones based on proximity to the vehicle pose.

Parameters

cone_array	Input array of detected cones.
filtered_cones	Output vector containing cones after filtering.
rebuild_all_midpoints	Whether to reset filtering and include all cones.

Definition at line 44 of file midpoint_generator.cpp.

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◆ find_cone()

int MidpointGenerator::find_cone	(	std::vector< std::shared_ptr< Cone > > &	cones,
		double	x,
		double	y
	)

private

Finds a cone in a vector based on its position coordinates.

Parameters

cones	Reference to a vector of shared pointers to `Cone` objects.
x	The x-coordinate of the cone to find.
y	The y-coordinate of the cone to find.

Returns: The index of the cone with the matching position, or -1 if not found.

Definition at line 133 of file midpoint_generator.cpp.

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◆ generate_midpoints()

std::vector< std::shared_ptr< Midpoint > > & MidpointGenerator::generate_midpoints	(	const std::vector< Cone > &	cone_array,
		bool	rebuild_all_midpoints
	)

Generates midpoints from a set of cones.

This method filters cones (if enabled), computes the Delaunay triangulation, and generates valid midpoints between cone pairs that meet distance constraints.

Parameters

cone_array	Input vector of cone objects.
rebuild_all_midpoints	Whether to use all cones

Returns: Reference to the vector containing all generated midpoints.

Definition at line 3 of file midpoint_generator.cpp.

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◆ get_triangulations()

const std::vector< std::pair< Point, Point > > & MidpointGenerator::get_triangulations ( ) const

Returns the current set of Delaunay edges used for visualization.

Returns: A const reference to the vector of triangulated edges.

Definition at line 125 of file midpoint_generator.cpp.

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◆ process_triangle_edge()

std::shared_ptr< Midpoint > MidpointGenerator::process_triangle_edge	(	const Vertex_handle &	va,
		const Vertex_handle &	vb,
		std::vector< std::shared_ptr< Cone > > &	filtered_cones,
		std::map< std::pair< int, int >, std::shared_ptr< Midpoint > > &	segment_to_midpoint
	)

private

Processes a single edge of a Delaunay triangle and creates its midpoint if valid.

This function verifies the corresponding cones for the edge, checks distance constraints, and either creates a new midpoint or reuses an existing one to prevent duplication.

Parameters

va	First vertex of the triangle edge.
vb	Second vertex of the triangle edge.
filtered_cones	Vector of all filtered cones.
segment_to_midpoint	Map used to ensure unique midpoint creation per cone pair.

Returns: A shared pointer to the created or existing midpoint, or nullptr if invalid.

Definition at line 69 of file midpoint_generator.cpp.

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◆ set_vehicle_pose()

void MidpointGenerator::set_vehicle_pose ( const Pose & vehicle_pose )

Updates the vehicle pose for dynamic filtering.

This pose is used to center the sliding window for filtering relevant cones.

Parameters

vehicle_pose The current vehicle pose.

Definition at line 129 of file midpoint_generator.cpp.

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Member Data Documentation

◆ config_

MidpointGeneratorConfig MidpointGenerator::config_

private

Definition at line 87 of file midpoint_generator.hpp.

◆ midpoints_

std::vector<std::shared_ptr<Midpoint> > MidpointGenerator::midpoints_

private

Definition at line 85 of file midpoint_generator.hpp.

◆ triangulations_

std::vector<std::pair<Point, Point> > MidpointGenerator::triangulations_

private

Definition at line 79 of file midpoint_generator.hpp.

◆ vehicle_pose_

Pose MidpointGenerator::vehicle_pose_

private

Definition at line 82 of file midpoint_generator.hpp.

The documentation for this class was generated from the following files:

src/planning/include/planning/midpoint_generator.hpp
src/planning/src/planning/midpoint_generator.cpp

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ MidpointGenerator() [1/2]

◆ MidpointGenerator() [2/2]

Member Function Documentation

◆ connect_triangle_midpoints()

◆ filter_cones()

◆ find_cone()

◆ generate_midpoints()

◆ get_triangulations()

◆ process_triangle_edge()

◆ set_vehicle_pose()

Member Data Documentation

◆ config_

◆ midpoints_

◆ triangulations_

◆ vehicle_pose_