autoware_lanelet2_utils

Nomenclature

This package aims to strictly define the meaning of several words to clarify the documentation and API’s scope. In the table below, codespace words are given specific meanings when used in the API and API description. italic words are emphasized to indicate that it refers to social common sense which often comes with ambiguity. To help disambiguate the meaning, illustration is provided. “Lanelet” refers to the entity of alanelet::ConstLanelet object in order to distinguish with the word “lane” used in social customs. A and B stands for some Lanelets objects.

Word	Meaning	Illustration
driving	The vehicle position belongs to the designated Lanelet.	In each map, green Lanelet are the driving lanes of the vehicle. Open
boundary, entry, exit	The boundary of a Lanelet refers to the left or right Linestring.	Open
adjacent	If A is adjacent to B, A and B share a common boundary with same direction either on the left or right side.	In each map, orange Lanelet is adjacent to green Lanelet. Open
same_direction	Lanelet A and Lanelet B are same_direction if A and B are directly or indirectly adjacent to each other.	In each map, orange Lanelets are same_direction as green Lanelet. Open
bundle	A bundle refers to a transitive closure set of Lanelets which are same_direction to each other.	The enclosed sets of Lanelets are bundles. Open
opposite	If A is opposite to B, A and B share a common boundary with opposite direction.	In the first map, green Lanelet and orange Lanelet are opposite to each other. In the second map, two red Lanelets are not opposite relation because they do not share a common LineString. Open
opposite_direction	If A and B are opposite_direction, the bundle of A and B are directly opposite to each other.	In the each map, green Lanelet and orange Lanelet are opposite_direction because their bundles(enclosed in dotted line) are opposite relation. Open
connected	A is connected to(from) B if and only if the exit(entry) of A is identical to the entry(exit) of B.	A is connected to B, and B is connected from A. Open
following	The following Lanelets of A is the list of Lanelets to which A is connected.	In each map, orange Lanelets are the following of green Lanelet. Open
previous	The previous Lanelets of A is the list of Lanelets from which A is connected.	In each map, orange Lanelets are the previous of green Lanelet. Open
conflicting	A is conflicting with B if A and B are geometrically intersecting.
merging	A is said to be merging Lanelet of B if and only if A is conflicting with B and both A and B are connected to a common Lanelet.	In each map, one of the orange Lanelet is a merging Lanelet of the other orange Lanelet. Open
sibling	The designated Lanelets are referred to as sibling if all of them are connected from a common Lanelet.	In each map, orange Lanelets are siblings. Open
oncoming	TBD	TBD
upcoming	TBD	TBD
sequence	sequence is a list of Lanelets whose each element is connected from or adjacent to the previous element.	Open
current_route_lanelet	current_route_lanelet is one of the lanelet within the route which serves as the reference for ego position.

API description

<autoware/lanelet2_utils/geometry.hpp>

Function	Description	Average Computational Complexity	Illustration
extrapolate_point	Linearly extrapolate a point (ConstPoint3d) beyond a segment defined by two points (first and second) with given distance.		Open
interpolate_point	Linearly interpolates a point along a segment defined by two points.		Open
interpolate_lanelet	Find an interpolated point from a lanelet centerline at a given distance.		Open
interpolate_lanelet_sequence	Find the first interpolated point from a centerline of the lanelet sequence at a given distance.		Open
concatenate_center_line	Concatenate all center line of input lanelet sequence (several ConstLanelets)		Open
get_linestring_from_arc_length	Extract a sub-linestring between two arc-length positions along an input linestring.		Open
get_pose_from_2d_arc_length	Compute the 2D pose (position and heading) at a given arc-length along a sequence of lanelets.		Open
get_polygon_from_arc_length	Extract a lanelet Polygon between two arc-length positions along input lanelet sequence.		Open
get_closest_segment	Find the closest segment of the ConstLineString3d to the search point (BasicPoint3d).		Open
get_lanelet_angle	Find the angle of center line segment of the lanelet that is closest to search point (BasicPoint3d). The angle is defined with the x-axis as the reference (0 radians). Positive angles are measured counterclockwise, while negative angles are measured clockwise within range of −π to π radians.		Open
get_closest_center_pose	Find pose of the closest point of the lanelet centerline to search point.		Open
get_arc_coordinates	Find ArcCoordinates of the search pose on lanelet sequence centerline. ArcCoordinates consists of {length, distance}.<ul><li>length: arc-length of pose projection point on the lanelet sequence centerline</li><li>distance: lateral distance from centerline to pose (left is positive, right is negative).</li></ul>		Open
get_arc_coordinates_on_ego_centerline	Find ArcCoordinates of the search pose on lanelet sequence centerline. When the use_waypoints in the autoware_map_loader is true, the waypoints tag in the lanelet2::LaneletMapPtr is used instead of the centerline. ArcCoordinates consists of {length, distance}.<ul><li>length: arc-length of pose projection point on the lanelet sequence centerline</li><li>distance: lateral distance from centerline to pose (left is positive, right is negative).</li></ul>		Open
get_lateral_distance_to_centerline	Find distance of search pose to centerline (distance in ArcCoordinates). (lanelet - lanelet::ConstLanelet or lanelet sequence - lanelet::ConstLanelets)		Open Open
combine_lanelets_shape	Combine lanelet sequence (several lanelets) into one lanelet.		Open
get_dirty_expanded_lanelet	Expand the lanelet. Note: <ul><li>for left_offset positive value expand, negative value narrow lanelet </li> <li> for right_offset negative value expand, positive value narrow lanelet</li></ul>		Open
get_dirty_expanded_lanelets	Expand several lanelets. Note: <ul><li>for left_offset positive value expand, negative value narrow lanelet </li> <li> for right_offset negative value expand, positive value narrow lanelet</li></ul>		Open
get_fine_centerline	Get the centerline of ConstLanelet (without offset) with designated resolution. Note: The number of segments is calculated as the ceiling of the longer bound length divided by the resolution.		Open
get_centerline_with_offset	Get the centerline of ConstLanelet with offset. Sign Convention: <ul><li>Positive: to the left bound</li><li>Negative: to the right bound</li></ul>		Open
get_right_bound_with_offset	Get the right bound of ConstLanelet with offset. Sign Convention: (Opposite to centerline) <ul><li>Positive: to the right bound</li><li>Negative: to the left bound</li></ul>		Open
get_left_bound_with_offset	Get the left bound of ConstLanelet with offset. Sign Convention: (Same as centerline) <ul><li>Positive: to the left bound</li><li>Negative: to the right bound</li></ul>		Open
is_in_lanelet	Check if the query pose is inside lanelet or within given radius from the closest point of lanelet.		Open

Example Usage of geometry

Extrapolate point for distance of 5.

```cpp title=”./examples/example_geometry.cpp:51:55” –8<– common/autoware_lanelet2_utils/examples/example_geometry.cpp:51:55 –8<–

Interpolate point at half of the segment.


```cpp title="./examples/example_geometry.cpp:69:74"
--8<--
common/autoware_lanelet2_utils/examples/example_geometry.cpp:69:74
--8<--

Interpolate lanelet at distance of 3.

```cpp title=”./examples/example_geometry.cpp:82:84” –8<– common/autoware_lanelet2_utils/examples/example_geometry.cpp:82:84 –8<–

Interpolate lanelet sequence at distance of 3.


```cpp title="./examples/example_geometry.cpp:92:98"
--8<--
common/autoware_lanelet2_utils/examples/example_geometry.cpp:92:98
--8<--

Concatenate several lanelet centerline.

```cpp title=”./examples/example_geometry.cpp:110:118” –8<– common/autoware_lanelet2_utils/examples/example_geometry.cpp:110:118 –8<–

```

Get linestring from arc-length range (of 0.5 to 1.5).

```cpp title=”./examples/example_geometry.cpp:142:150”

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Changelog for package autoware_lanelet2_utils

1.1.0 (2025-05-01)

• refactor(autoware_lanelet2_utils)!: move everything to namespace experimental (#372)

• refactor(autoware_lanelet2_utils): rewrite using modern C++ without API breakage (#347)

  • refactor using modern c++
  • precommit
  • fix
  • fix
  • precommit
  • use std::strcmp
  • precommit

  * Revert "refactor using modern c++" This reverts commit 3f7e4953c08f5237dc3bc75db3d896cc9c0640a3. ---------

• Contributors: Mamoru Sobue, Yutaka Kondo

1.7.0 (2026-02-14)

• Merge remote-tracking branch 'origin/main' into humble

• feat(lanelet2_utils): add empty input handler for get_arc_coordinates (#831)

  • add empty input lanelets handler for get_arc_coordinates

  * add test ensure default ArcCoordinates ---------Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>>

• docs(lanelet2_utils): add succeeding/preceding lanelet sequence illustration (#830) added succeeding/preceding lanelet sequences illustration

• feat(lanelet2_extension): port some lanelet2_extension query functions (2) (#809)

• feat(lanelet2_extension): port remaining lanelet2_extension utilities functions (#760) Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>>

• feat(lanelet2_extension): port some lanelet2_extension query functions (#790)

  • port left/right/all_neighbor_lanelets and their tests
  • replace getAllNeighbors* with ported functions
  • add neighbors order description and verify in test
  • add ported functions to API table
  • add example code snippet

  * Remove optional from return value Assume one lanelet is always in return value (itself)

  • change usage of left/right_lanelets (always check access)
  • fix README for example code snippet
  • fix cppcheck-differential

  * fix README description ---------Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>> Co-authored-by: Mamoru Sobue <<hilo.soblin@gmail.com>>

• revert: feat(path_generator): use [route_manager]{.title-ref} to handle route data #725 (#801) This reverts commit 2403cb5952d33db8e4a403d6cc7b368521d47f5e.

• feat(path_generator): use [route_manager]{.title-ref} to handle route data (#725)

• Contributors: Mitsuhiro Sakamoto, Ryohsuke Mitsudome, Sarun MUKDAPITAK

1.6.0 (2025-12-30)

• Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base

• feat(autoware_lanelet2_utils): define remove_const in header (#741) Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>>

• chore: jazzy-porting: fix test depend launch-test missing (#738) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

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