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  • The constructor calculates the length of each waysegment between two neibourghed points.
  • The constructor defines a vector called "jobs" where all jobs are listed with the information, if the minimal distance of 0.01 between two vehicles is undergone (called collision) or not. All possible collisions, between all pairs of path nodes are checked. The result (boolean: collision yes/no?) is cached. The collision decision is based on the rectangle-rectange distance between the vehicles.
  • map_match_pose(): A function which defines for each path if it can be matched to an edge on the map
  • find_subsequent_edges(): A function which finds the subsequent edges of a trajectory

    The reference state of a vehicle in the graph is stored as the triple (edge_index (called current_edge_index in the sourcecode),path_index (called current_edge_path_index in the sourcecode),s_offset[in meters](called delta_s_path_node_offset in the sourcecode))

    The following image shows a reference state that would be stored as (edge_index = 11, path_index = 1, s_offset = 0.01m).