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sarun-hubsarun-hub
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add ported functions to api table with illustration
Signed-off-by: Sarun Mukdapitak <sarun.mukda@gmail.com>
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‎common/autoware_lanelet2_utils/README.md‎

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| `concatenate_center_line` | Concatenate all center line of input lanelet sequence (several `ConstLanelets`) | | ![concatenate_center_line](./media/api/geometry/concatenate_center_line.drawio.svg)<br>[Open]({{ drawio("/common/autoware_lanelet2_utils/media/api/geometry/concatenate_center_line.drawio.svg") }}) |
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| `get_linestring_from_arc_length` | Extract a sub-linestring between two arc-length positions along an input linestring. | | ![get_linestring_from_arc_length](./media/api/geometry/get_linestring_from_arc_length.drawio.svg)<br>[Open]({{ drawio("/common/autoware_lanelet2_utils/media/api/geometry/get_linestring_from_arc_length.drawio.svg") }}) |
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| `get_pose_from_2d_arc_length` | Compute the 2D pose (position and heading) at a given arc-length along a sequence of lanelets. | | ![get_pose_from_2d_arc_length](./media/api/geometry/get_pose_from_2d_arc_length.drawio.svg)<br>[Open]({{ drawio("/common/autoware_lanelet2_utils/media/api/geometry/get_pose_from_2d_arc_length.drawio.svg") }}) |
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| `get_polygon_from_arc_length` | Extract a lanelet Polygon between two arc-length positions along input lanelet sequence. | | ![get_polygon_from_arc_length](./media/api/geometry/get_polygon_from_arc_length.drawio.svg)<br>[Open]({{ drawio("/common/autoware_lanelet2_utils/media/api/geometry/get_polygon_from_arc_length.drawio.svg") }}) |
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| `get_closest_segment` | Find the closest segment of the `ConstLineString3d` to the search point (`BasicPoint3d`). | | ![get_closest_segment](./media/api/geometry/get_closest_segment.drawio.svg)<br>[Open]({{ drawio("/common/autoware_lanelet2_utils/media/api/geometry/get_closest_segment.drawio.svg") }}) |
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| `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. | | ![get_lanelet_angle](./media/api/geometry/get_lanelet_angle.drawio.svg)<br>[Open]({{ drawio("/common/autoware_lanelet2_utils/media/api/geometry/get_lanelet_angle.drawio.svg") }}) |
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| `get_closest_center_pose` | Find pose of the closest point of the lanelet centerline to search point. | | ![get_closest_center_pose](./media/api/geometry/get_closest_center_pose.drawio.svg)<br>[Open]({{ drawio("/common/autoware_lanelet2_utils/media/api/geometry/get_closest_center_pose.drawio.svg") }}) |
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| `combine_lanelets_shape` | Combine lanelet sequence (several lanelets) into one lanelet. | | ![combine_lanelets_shape](./media/api/geometry/combine_lanelets_shape.drawio.svg)<br>[Open]({{ drawio("/common/autoware_lanelet2_utils/media/api/geometry/combine_lanelets_shape.drawio.svg") }}) |
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| `get_dirty_expanded_lanelet` | Expand the lanelet. <br><br>Note: <ul><li>`left_offset` needs to be positive.</li> <li> `right_offset` needs to be negative</li></ul> | | ![get_dirty_expanded_lanelet](./media/api/geometry/get_dirty_expanded_lanelet.drawio.svg)<br>[Open]({{ drawio("/common/autoware_lanelet2_utils/media/api/geometry/get_dirty_expanded_lanelet.drawio.svg") }}) |
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| `get_dirty_expanded_lanelets` | Expand several lanelets. <br><br>Note: <ul><li>`left_offset` needs to be positive.</li> <li> `right_offset` needs to be negative</li></ul> | | ![get_dirty_expanded_lanelets](./media/api/geometry/get_dirty_expanded_lanelets.drawio.svg)<br>[Open]({{ drawio("/common/autoware_lanelet2_utils/media/api/geometry/get_dirty_expanded_lanelets.drawio.svg") }}) |
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| `get_fine_centerline` | Get the centerline of `ConstLanelet` (without offset) with designated resolution.<br> ($ num_segments = \frac{longer_bound_length}{ resolution}$) | | ![get_fine_centerline](./media/api/geometry/get_fine_centerline.drawio.svg)<br>[Open]({{ drawio("/common/autoware_lanelet2_utils/media/api/geometry/get_fine_centerline.drawio.svg") }}) |
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| `get_centerline_with_offset` | Get the centerline of `ConstLanelet` with offset. <br><br>Sign Convention: <ul><li>Positive: to the **left** bound</li><li>Negative: to the **right** bound</li></ul> | | ![get_centerline_with_offset](./media/api/geometry/get_centerline_with_offset.drawio.svg)<br>[Open]({{ drawio("/common/autoware_lanelet2_utils/media/api/geometry/get_centerline_with_offset.drawio.svg") }}) |
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| `get_right_bound_with_offset` | Get the right bound of `ConstLanelet` with offset. <br><br>Sign Convention: (Opposite to centerline) <ul><li>Positive: to the **right** bound</li><li>Negative: to the **left** bound</li></ul> | | ![get_right_bound_with_offset](./media/api/geometry/get_right_bound_with_offset.drawio.svg)<br>[Open]({{ drawio("/common/autoware_lanelet2_utils/media/api/geometry/get_right_bound_with_offset.drawio.svg") }}) |
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| `get_left_bound_with_offset` | Get the left bound of `ConstLanelet` with offset. <br><br>Sign Convention: (Same as centerline) <ul><li>Positive: to the **left** bound</li><li>Negative: to the **right** bound</li></ul> | | ![get_left_bound_with_offset](./media/api/geometry/get_left_bound_with_offset.drawio.svg)<br>[Open]({{ drawio("/common/autoware_lanelet2_utils/media/api/geometry/get_left_bound_with_offset.drawio.svg") }}) |
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| `is_in_lanelet` | Check if the query pose is inside lanelet or within given radius from the closest point of lanelet. | | ![is_in_lanelet](./media/api/geometry/is_in_lanelet.drawio.svg)<br>[Open]({{ drawio("/common/autoware_lanelet2_utils/media/api/geometry/is_in_lanelet.drawio.svg") }}) |
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#### Example Usage of `geometry`
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