32 lines
1.6 KiB
C++
32 lines
1.6 KiB
C++
#pragma once
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#include <optional>
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#include <eigen3/Eigen/Dense>
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#include <QMapboxGL>
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#include <QGeoCoordinate>
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#include "selfdrive/common/util.h"
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#include "common/transformations/coordinates.hpp"
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#include "common/transformations/orientation.hpp"
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#include "cereal/messaging/messaging.h"
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const QString MAPBOX_TOKEN = util::getenv("MAPBOX_TOKEN").c_str();
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const QString MAPS_HOST = util::getenv("MAPS_HOST", MAPBOX_TOKEN.isEmpty() ? "https://maps.comma.ai" : "https://api.mapbox.com").c_str();
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const QString MAPS_CACHE_PATH = "/data/mbgl-cache-navd.db";
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QString get_mapbox_token();
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QMapboxGLSettings get_mapbox_settings();
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QGeoCoordinate to_QGeoCoordinate(const QMapbox::Coordinate &in);
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QMapbox::CoordinatesCollections model_to_collection(
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const cereal::LiveLocationKalman::Measurement::Reader &calibratedOrientationECEF,
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const cereal::LiveLocationKalman::Measurement::Reader &positionECEF,
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const cereal::ModelDataV2::XYZTData::Reader &line);
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QMapbox::CoordinatesCollections coordinate_to_collection(QMapbox::Coordinate c);
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QMapbox::CoordinatesCollections capnp_coordinate_list_to_collection(const capnp::List<cereal::NavRoute::Coordinate>::Reader &coordinate_list);
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QMapbox::CoordinatesCollections coordinate_list_to_collection(QList<QGeoCoordinate> coordinate_list);
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QList<QGeoCoordinate> polyline_to_coordinate_list(const QString &polylineString);
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float minimum_distance(QGeoCoordinate a, QGeoCoordinate b, QGeoCoordinate p);
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std::optional<QMapbox::Coordinate> coordinate_from_param(std::string param);
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float distance_along_geometry(QList<QGeoCoordinate> geometry, QGeoCoordinate pos);
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