poggenhans
commented
3 years ago Well there is the doxygen doc. Essentially, the RoutingGraph has an underlying Graph object that manages the boost::graph object which represents the actual graph. Adding an edge is basically as easy as doing routingGraph->graph_.addEdge(fromLanelet, toLanelet, edgeInfo);. However so far there has not been any need for modifications to the graph so there is no functionality to remove or modify an existing edge. Also there is nothing to prevent someone from adding multiple edges for the same vertices. So basically what you could do is:
- add a protected getter for the graph_ member to the
RoutingGraph - implement functions in the
Graphto modify or remove edges - inherit from the
RoutingGraphto create something like aMutableRoutingGraphthat has member functions that allow to adding or modifying neighbour relations.
Alternatively you could also create something like a RoutingGraphTemplate that has the superset of all edges that might be there (basically as if initialized with a dummy TrafficRule object where everything is passable) and then offers a function to create an actual RoutingGraph using the actual TrafficRules (and RoutingCosts) by copying the underlying graph object and removing all unpassable edges. Since this second step should be very fast compared to the first, this can be used to quickly create a new graph once the rules have changed while still making sure the resulting graph is consistent with the rules.
Hope this helps. Should you have something running, think about creating a PR, maybe others might find this useful too.
msmcconnell
github-actions[bot]
I have a system using a particularly large lanelet2 map and a mechanism for dynamic updates to regulatory elements. Sometimes these regulatory element updates require that the RoutingGraph be recomputed. However, this process can take a very long time 30s or more which is not acceptable for my use case. I would like to investigate the possibility of either limiting the graph update to only the impacted lanelets, and or creating a portable format for the routing graph which I can communicate to other system components, so only one component would need to do the long computation. The code structure for the RoutingGraph is quite complex, so I am wondering if there is any additional documentation that could be provided such as Class, Activity, or Sequence Diagrams? Having such documentation would be a big first step in identifying how to make the modifications.