diff --git a/doc/source/Extensions/10_query.rst b/doc/source/Extensions/10_query.rst
deleted file mode 100644
index 907465a71a3665e8958c241a911d3b2af97e3fa1..0000000000000000000000000000000000000000
--- a/doc/source/Extensions/10_query.rst
+++ /dev/null
@@ -1,23 +0,0 @@
-..
- *******************************************************************************
- Copyright (c) 2022-2023 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
-
- This program and the accompanying materials are made available under the
- terms of the Eclipse Public License 2.0 which is available at
- http://www.eclipse.org/legal/epl-2.0.
-
- SPDX-License-Identifier: EPL-2.0
- *******************************************************************************
-
-Localization & coordinate conversion with osiql::Query
-======================================================
-
-The ``osiql::Query`` is the entry-point for any usage of osiql. It should be constructed only once for any ``osi3::GroundTruth`` and provides ways to convert global points to local coordinates and to calculate the intersections of geometry with the GroundTruth's lanes. It also includes more efficient getters (than by using OSI) for various object types given their id and has shortcuts to perform queries on the GroundTruth's host vehicle.
-
-Any global point touching a road can be converted to a set of local points inside lanes using ``Query::FindLocalPoints``. The returned value is a vector in case of overlapping lanes.
-
-For more information on local points, see :doc:`/Types/10_points`.
-
-For more information on localizing to a specific lane or road, see :doc:`/Wrappers/20_lane` or :doc:`/Extensions/30_road`.
-
-For more information on the Query class, refer to the doxygen documentation.
\ No newline at end of file
diff --git a/doc/source/Extensions/20_stream.rst b/doc/source/Extensions/20_stream.rst
deleted file mode 100644
index b32ceb550125f3c1207e22b0e20d41a90ba3d71d..0000000000000000000000000000000000000000
--- a/doc/source/Extensions/20_stream.rst
+++ /dev/null
@@ -1,17 +0,0 @@
-..
- *******************************************************************************
- Copyright (c) 2022-2024 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
-
- This program and the accompanying materials are made available under the
- terms of the Eclipse Public License 2.0 which is available at
- http://www.eclipse.org/legal/epl-2.0.
-
- SPDX-License-Identifier: EPL-2.0
- *******************************************************************************
-
-Vicinity queries with osiql::Stream
-===================================
-
-Streams can be constructed on-demand from a starting local point and are used to perform vicinity queries. A ``osiql::Stream`` is a tree traversing a local origin point's connected lanes or roads up to a certain distance. A stream can also look back peripherally into lanes merging into it. Once created, a stream can be searched either road-wide or lane-wide, which excludes any lane changes and any findings are returned with a distance from the starting point of the stream.
-
-Streams will be heavily expanded upon and replaced with Nodes in osiql 1.2.0.
diff --git a/doc/source/Types/10_points.rst b/doc/source/Types/10_points.rst
deleted file mode 100644
index d1ba56ed15920f7d715cdad1619ae228939fa364..0000000000000000000000000000000000000000
--- a/doc/source/Types/10_points.rst
+++ /dev/null
@@ -1,26 +0,0 @@
-..
- *******************************************************************************
- Copyright (c) 2022-2023 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
-
- This program and the accompanying materials are made available under the
- terms of the Eclipse Public License 2.0 which is available at
- http://www.eclipse.org/legal/epl-2.0.
-
- SPDX-License-Identifier: EPL-2.0
- *******************************************************************************
-
-Point Types
-===========
-
-There are four categories of points in osiql:
-
-* **Global point**: A set of cartesian XY(Z)-coordinates
-* **Local point**: A pair of local st-coordinates and an entity they relate to
-* **Pose**: A local point with an added relative angle
-* **Vertex**: A local and global point in one
-
-.. _points:
-.. figure:: ./points.svg
-
-``osiql::ReferenceLineCoordinates`` follow OSI's definition of a reference-line-based st-coordinate system, whereas a ``osiql::CenterlineCoordinates`` are similar, but their s-coordinate is relative to the start of a lane in its driving direction and their t-coordinate is relative to the respective lane's center line.
-
\ No newline at end of file
diff --git a/doc/source/Wrappers/10_world.rst b/doc/source/Wrappers/10_world.rst
deleted file mode 100644
index 686c78bc6ce137ba1e9f17deb83110dfdb8fea52..0000000000000000000000000000000000000000
--- a/doc/source/Wrappers/10_world.rst
+++ /dev/null
@@ -1,31 +0,0 @@
-..
- *******************************************************************************
- Copyright (c) 2023 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
-
- This program and the accompanying materials are made available under the
- terms of the Eclipse Public License 2.0 which is available at
- http://www.eclipse.org/legal/epl-2.0.
-
- SPDX-License-Identifier: EPL-2.0
- *******************************************************************************
-
-World (osi3::GroundTruth)
-=========================
-
-osiql::World is a wrapper of a osi3::GroundTruth that stores all its wrapper objects in separate containers to allow fetching objects by their id more efficiently than OSI's linear lookup. These are the stored types:
-
-* Lane Boundaries (osi3::LogicalLaneBoundary)
-* Lane Markings (osi3::LaneBoundary)
-* Lanes (osi3::LogicalLane);
-* Reference Lines (osi3::ReferenceLine)
-* Roads (No corresponding OSI object)
-* Moving Objects (osi3::MovingObject)
-* Road Markings (osi3::RoadMarking)
-* Static Objects (osi3::StationaryObject)
-* Light Bulbs (osi3::TrafficLight)
-* Traffic Lights (Set of light bulbs)
-* Traffic Signs (osi3::TrafficSign)
-
-While its host vehicle is read from the GroundTruth by default, it can also be manually replaced using ``SetHostVehicle``.
-
-See the doxygen documentation for all methods that osiql::World provides.
\ No newline at end of file
diff --git a/doc/source/Wrappers/20_lane.rst b/doc/source/Wrappers/20_lane.rst
deleted file mode 100644
index faf130d01fb9a07f048e4ea7b797533ba8148479..0000000000000000000000000000000000000000
--- a/doc/source/Wrappers/20_lane.rst
+++ /dev/null
@@ -1,36 +0,0 @@
-..
- *******************************************************************************
- Copyright (c) 2023 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
-
- This program and the accompanying materials are made available under the
- terms of the Eclipse Public License 2.0 which is available at
- http://www.eclipse.org/legal/epl-2.0.
-
- SPDX-License-Identifier: EPL-2.0
- *******************************************************************************
-
-Lane (osi3::LogicalLane)
-========================
-
-A ``osiql::Lane`` is a wrapper of a ``osi3::LogicalLane``, which unlike a ``osi3::Lane`` stores its driving direction, successor lanes and predecessor lanes.
-
-Direction & Side of Road
-************************
-
-The local coordinate system of a lane is dependent on its assigned reference line. The driving direction following the reference line is called ``Direction::Downstream`` in osiql and corresponds to ``osi3::LogicalLane_MoveDirection_MOVE_DIRECTION_INCREASING_S``, while the reversed direction is called ``Direction::Upstream`` in osiql or ``osi3::LogicalLane_MoveDirection_MOVE_DIRECTION_DECREASING_S`` in OSI. More intuitively, osiql provides ``GetSideOfRoad`` functions that return ``Side::Right`` for lanes with driving direction ``Direction::Downstream`` and ``Side::Left`` for ``Direction::Upstream``.
-
-Orientation
-***********
-
-In OSI, a successor of a logical lane is always at the end of the lane which is further along its assigned reference line, meaning a vehicle driving forwards on a lane on the left side of the road (or reference line) is driving from one lane onto its predecessor lane, which is rather unintuitive. In osiql, the method ``Lane::GetConnectedLane<Orientation::Forward>`` returns the successor in that lane's driving direction instead of the reference line's definition direction. Retrieving the OSI successor is still possible:
-
-.. code-block:: cpp
- :linenos:
-
- const osiql::Lane& lane{ ... };
- // Successors in driving direction:
- const std::vector<osiql::Lane*>& successorLanes{lane.GetConnectedLanes<osiql::Orientation::Forward>()};
- // Successors in road direction:
- const std::vector<osiql::Lane*>& osiSuccessorLanes{lane.GetConnectedLanes(osiql::Direction::Downstream)};
-
-Likewise, ``Lane::GetAdjacentLanes<Side, Orientation>`` returns the adjacent lane on the given side relative to the lane's driving direction in the given orientation, meaning ``GetAdjacentLanes<Side::Left, Orientation::Forward>() == GetAdjacentLanes<Side::Right, Orientation::Backward>()``.
\ No newline at end of file
diff --git a/doc/source/Wrappers/30_lines.rst b/doc/source/Wrappers/30_lines.rst
deleted file mode 100644
index 19f5c918b3d53b430c884d3b9c0b08e1ac7bf4e8..0000000000000000000000000000000000000000
--- a/doc/source/Wrappers/30_lines.rst
+++ /dev/null
@@ -1,15 +0,0 @@
-..
- *******************************************************************************
- Copyright (c) 2023 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
-
- This program and the accompanying materials are made available under the
- terms of the Eclipse Public License 2.0 which is available at
- http://www.eclipse.org/legal/epl-2.0.
-
- SPDX-License-Identifier: EPL-2.0
- *******************************************************************************
-
-Reference lines & bounaries
-===========================
-
-The reference line defines the the coordinate system of all lanes that refer to it. While this is not required in OSI, osiql assumes that all adjacent lanes of a lane refer to the same reference line. Queries may fail if this is not the case.
\ No newline at end of file
diff --git a/doc/source/Wrappers/40_objects.rst b/doc/source/Wrappers/40_objects.rst
deleted file mode 100644
index 529d65c34814e13e6316a8415d10dbf063870f0d..0000000000000000000000000000000000000000
--- a/doc/source/Wrappers/40_objects.rst
+++ /dev/null
@@ -1,25 +0,0 @@
-..
- *******************************************************************************
- Copyright (c) 2023 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
-
- This program and the accompanying materials are made available under the
- terms of the Eclipse Public License 2.0 which is available at
- http://www.eclipse.org/legal/epl-2.0.
-
- SPDX-License-Identifier: EPL-2.0
- *******************************************************************************
-
-Objects
-=======
-
-Moving objects
-**************
-
-osiql ignores the assigned positions of moving objects. Instead, when constructing a ``osiql::Query``, copies of all moving objects are created and their local positions are calculated. This is because there is a chance that a reference to a ``osi3::MovingObject`` may be invalidated (despawned or reallocated) between timesteps. The original assigned positions can still be accessed directly through the object's handle.
-
-Stationary objects
-******************
-
-Static objects, which includes ``osi3::RoadMarking``, ``osiql::StaticObject``, ``osiql::TrafficLight`` & ``osi3::TrafficSign``, inherit their assigned positions from the OSI GroundTruth.
-
-A ``osi3::TrafficLight`` is an individual light bulb, whereas an ``osiql::TrafficLight`` is a collection of light bulbs that have identical lane assignments to each other.
\ No newline at end of file
diff --git a/include/OsiQueryLibrary/Routing/Node.tpp b/include/OsiQueryLibrary/Routing/Node.tpp
index 657dee7a106dd6367c798f1b0313d33c6cf2ea79..bb1b9bc033246e77286bff57c279b697b1c20704 100644
--- a/include/OsiQueryLibrary/Routing/Node.tpp
+++ b/include/OsiQueryLibrary/Routing/Node.tpp
@@ -235,8 +235,7 @@ decltype(auto) Node<D, Scope>::GetPlacements(Predicate &&pred) const
else
{
std::vector<Placement<Type>> result;
- decltype(auto) placements{GetPlacements<Type>()};
- for (const auto &entry : placements)
+ for (decltype(auto) entry : GetPlacements<Type>())
{
if (pred(get<Placement<Type>>(entry)))
{
@@ -251,7 +250,7 @@ template <LaneDirection D, typename Scope>
template <typename Type, typename Predicate>
std::optional<Placement<Type>> Node<D, Scope>::GetPlacement(Predicate &&pred) const
{
- for (const auto &entry : GetPlacements<Type>())
+ for (decltype(auto) entry : GetPlacements<Type>())
{
if (pred(get<Placement<Type>>(entry)))
{
@@ -341,22 +340,14 @@ template <LaneDirection D, typename Scope>
template <typename Type, typename Predicate, typename Transform, typename OutputIt>
OutputIt Node<D, Scope>::InsertAllWithin(OutputIt output, Predicate &&pred, Transform &&transform) const
{
- decltype(auto) placements{GetPlacements<Type>()};
- if constexpr (std::is_same_v<Predicate, Return<true>>)
- {
- return std::transform(placements.begin(), placements.end(), output, ToLocation{*this});
- }
- else
+ for (decltype(auto) entry : GetPlacements<Type>())
{
- for (const auto &placement : placements)
+ if (Location<Type> candidate{ToLocation{*this}(get<Placement<Type>>(entry))}; pred(candidate))
{
- if (Location<Type> candidate{ToLocation{*this}(placement)}; pred(candidate))
- {
- *(output++) = transform(std::move(candidate));
- }
+ *(output++) = transform(std::move(candidate));
}
- return output;
}
+ return output;
}
template <LaneDirection D, typename Scope>
diff --git a/include/OsiQueryLibrary/Street/Lane.h b/include/OsiQueryLibrary/Street/Lane.h
index 0f0a460fbdb62df70361369cfe3ad143cdea7f26..055a7ce25fb33b2874a756e74a9c4384de5051fa 100644
--- a/include/OsiQueryLibrary/Street/Lane.h
+++ b/include/OsiQueryLibrary/Street/Lane.h
@@ -1,5 +1,5 @@
/********************************************************************************
- * Copyright (c) 2022-2024 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+ * Copyright (c) 2022-2025 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
*
* This program and the accompanying materials are made available under the
* terms of the Eclipse Public License 2.0 which is available at
@@ -48,6 +48,8 @@ struct Lane : public detail::BoundaryEnclosure<Lane>, public Overlapable<Lane>
using detail::BoundaryEnclosure<Lane>::BoundaryEnclosure;
+ using Direction = LaneDirection;
+
//! \brief The type of a lane
enum class Type : std::underlying_type_t<osi3::LogicalLane_Type>
{
diff --git a/include/OsiQueryLibrary/Street/Road.h b/include/OsiQueryLibrary/Street/Road.h
index 464a5fd2d23715ff21a653fcaed01928ec90d7a4..e3699cab7bff1c1605b9a95c6e1937ec751406a7 100644
--- a/include/OsiQueryLibrary/Street/Road.h
+++ b/include/OsiQueryLibrary/Street/Road.h
@@ -1,5 +1,5 @@
/********************************************************************************
- * Copyright (c) 2022-2024 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+ * Copyright (c) 2022-2025 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
*
* This program and the accompanying materials are made available under the
* terms of the Eclipse Public License 2.0 which is available at
@@ -27,6 +27,8 @@ struct Road : RoadBase, Overlapable<Road>
{
static constexpr const std::string_view name = "Road";
+ using Direction = RoadDirection;
+
Road(const ReferenceLine &);
//! Returns the id of this road's rightmost lane
diff --git a/tests/unitTests/NodeTests.cpp b/tests/unitTests/NodeTests.cpp
index 05f4a1f88cfb58f3a7706dd6168b3aa736e661f7..27ba41be7a38e66b7ac4384f5f46226b98a6fa2e 100644
--- a/tests/unitTests/NodeTests.cpp
+++ b/tests/unitTests/NodeTests.cpp
@@ -573,3 +573,31 @@ TEST_F(RoadNetwork, FindAll_GivenObjectsOnEveryRoad_WhenSearchingForwardAndBackw
std::sort(objects.begin(), objects.end(), Less<Distance>{});
EXPECT_THAT(objects, SizeIs(19));
}
+
+TEST(Node, FindAllWithin)
+{
+ test::GroundTruth groundTruth;
+ auto &logicalLane{groundTruth.AddLane(
+ groundTruth.AddReferenceLine(XY{0, 0}, XY{10, 0}),
+ groundTruth.AddBoundary(XY{0, 0}, XY{10, 0}),
+ groundTruth.AddBoundary(XY{0, -10}, XY{10, -10})
+ )};
+
+ World world{groundTruth.handle};
+ const Lane *lane{world.GetLane(get<Id>(logicalLane))};
+ auto roadNode{Node<>::Create(lane)};
+ auto laneNode{Node<LaneDirection::Forward, Lane>::Create(lane)};
+
+ EXPECT_THAT(roadNode->FindAllWithin<MovingObject>(), IsEmpty());
+ EXPECT_THAT(laneNode->FindAllWithin<MovingObject>(), IsEmpty());
+
+ groundTruth.Add<MovingObject>(XY{5, -5});
+ world.UpdateAll<MovingObject>(groundTruth.handle.moving_object());
+ EXPECT_THAT(roadNode->FindAllWithin<MovingObject>(), SizeIs(1));
+ EXPECT_THAT(laneNode->FindAllWithin<MovingObject>(), SizeIs(1));
+
+ groundTruth.Add<MovingObject>(XY{0, -5});
+ world.UpdateAll<MovingObject>(groundTruth.handle.moving_object());
+ EXPECT_THAT(roadNode->FindAllWithin<MovingObject>(), SizeIs(2));
+ EXPECT_THAT(laneNode->FindAllWithin<MovingObject>(), SizeIs(2));
+}