Add python repr for routing module

fzi-forschungszentrum-informatik · Jan 25, 2025 · 01ac3ef · 01ac3ef
1 parent 7afad88
commit 01ac3ef
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Showing 3 changed files with 21 additions and 9 deletions.
diff --git a/lanelet2_python/python_api/core.cpp b/lanelet2_python/python_api/core.cpp
@@ -44,7 +44,7 @@ std::string repr(const RegulatoryElementConstPtrs& regelems) {
 }
 
 template <typename LaneletT>
-std::string makeLaneletRepr(const std::string& displayName, bool withRegelems, const LaneletT& llt) {
+std::string makeLaneletRepr(const std::string& displayName, bool withRegelems, LaneletT& llt) {
   if (withRegelems) {
     return makeRepr("Lanelet", llt.id(), repr(object(llt.leftBound())), repr(object(llt.rightBound())),
                     repr(llt.attributes()), repr(ConstLanelet(llt).regulatoryElements()));
@@ -54,7 +54,7 @@ std::string makeLaneletRepr(const std::string& displayName, bool withRegelems, c
 }
 
 template <typename AreaT>
-std::string makeAreaRepr(const std::string& displayName, bool withRegelems, const AreaT& area) {
+std::string makeAreaRepr(const std::string& displayName, bool withRegelems, AreaT& area) {
   if (withRegelems) {
     return makeRepr("Area", area.id(), repr(object(area.outerBound())), repr(object(area.innerBounds())),
                     repr(area.attributes()), repr(ConstArea(area).regulatoryElements()));
@@ -813,7 +813,7 @@ BOOST_PYTHON_MODULE(PYTHON_API_MODULE_NAME) {  // NOLINT
            "returned in reversed order")
       .def(
           "__repr__",
-          +[](const LineString2d& ls) {
+          +[](LineString2d& ls) {
             return makeRepr("LineString2d", ls.id(), repr(list(ls)), repr(ls.attributes()));
           })
       .def(IsLineString<LineString2d>());
@@ -849,7 +849,7 @@ BOOST_PYTHON_MODULE(PYTHON_API_MODULE_NAME) {  // NOLINT
            "points returned in reversed order")
       .def(
           "__repr__",
-          +[](const LineString3d& ls) {
+          +[](LineString3d& ls) {
             return makeRepr("LineString3d", ls.id(), repr(list(ls)), repr(ls.attributes()));
           })
       .def(IsLineString<LineString3d>())
@@ -931,7 +931,7 @@ BOOST_PYTHON_MODULE(PYTHON_API_MODULE_NAME) {  // NOLINT
                                        "Create from an ID, the boundary points and (optionally) attributes"))
       .def(
           "__repr__",
-          +[](const Polygon2d& p) { return makeRepr("Polygon2d", p.id(), repr(list(p)), repr(p.attributes())); })
+          +[](Polygon2d& p) { return makeRepr("Polygon2d", p.id(), repr(list(p)), repr(p.attributes())); })
       .def(IsLineString<Polygon2d>())
       .def(IsPrimitive<Polygon2d>());
 
@@ -941,7 +941,7 @@ BOOST_PYTHON_MODULE(PYTHON_API_MODULE_NAME) {  // NOLINT
       init<Id, Points3d, AttributeMap>((arg("id"), arg("points"), arg("attributes") = AttributeMap())))
       .def(
           "__repr__",
-          +[](const Polygon3d& p) { return makeRepr("Polygon3d", p.id(), repr(list(p)), repr(p.attributes())); })
+          +[](Polygon3d& p) { return makeRepr("Polygon3d", p.id(), repr(list(p)), repr(p.attributes())); })
       .def(IsLineString<Polygon3d>())
       .def(IsPrimitive<Polygon3d>());
 

diff --git a/lanelet2_python/python_api/routing.cpp b/lanelet2_python/python_api/routing.cpp
@@ -4,6 +4,7 @@
 #include <boost/make_shared.hpp>
 
 #include "lanelet2_python/internal/converter.h"
+#include "lanelet2_python/internal/repr.h"
 
 using namespace boost::python;
 using namespace lanelet;
@@ -55,6 +56,7 @@ Optional<T> objectToOptional(const object& o) {
 BOOST_PYTHON_MODULE(PYTHON_API_MODULE_NAME) {  // NOLINT
   auto trafficRules = import("lanelet2.traffic_rules");
   using namespace lanelet::routing;
+  using namespace lanelet::python;
 
   using converters::IterableConverter;
   using converters::OptionalConverter;
@@ -115,6 +117,11 @@ BOOST_PYTHON_MODULE(PYTHON_API_MODULE_NAME) {  // NOLINT
           "getRemainingLane",
           +[](const LaneletPath& self, const ConstLanelet& llt) { return self.getRemainingLane(llt); },
           "get the sequence of remaining lanelets without a lane change")
+      .def(
+          "__repr__",
+          +[](const LaneletPath& self) {
+            return makeRepr("LaneletPath", repr(list(ConstLanelets{self.begin(), self.end()})));
+          })
       .def(self == self)   // NOLINT
       .def(self != self);  // NOLINT
 
@@ -280,7 +287,11 @@ BOOST_PYTHON_MODULE(PYTHON_API_MODULE_NAME) {  // NOLINT
 
   class_<LaneletRelation>("LaneletRelation")
       .def_readwrite("lanelet", &LaneletRelation::lanelet)
-      .def_readwrite("relationType", &LaneletRelation::relationType);
+      .def_readwrite("relationType", &LaneletRelation::relationType)
+      .def(
+          "__repr__", +[](const LaneletRelation& self) {
+            return makeRepr("LaneletRelation", repr(object(self.lanelet)), repr(object(self.relationType)));
+          });
 
   enum_<RelationType>("RelationType")
       .value("Successor", RelationType::Successor)
@@ -332,5 +343,6 @@ BOOST_PYTHON_MODULE(PYTHON_API_MODULE_NAME) {  // NOLINT
           +[](Route& self, const ConstLanelet& from, object func) { self.forEachPredecessor(from, std::move(func)); },
           "similar to forEachSuccessor but instead goes backwards along the routing graph",
           (arg("lanelet"), arg("func")))
+      .def("__contains__", &Route::contains, "Checks if a specific lanelet is part of the route", (arg("lanelet")))
       .def("checkValidity", &Route::checkValidity, "perform sanity check on the route");
 }
diff --git a/lanelet2_python/test/test_lanelet2.py b/lanelet2_python/test/test_lanelet2.py
@@ -79,8 +79,8 @@ def test_lanelet_repr_regelem_cycle(self):
         llt2 = getLanelet()
         regelem = RightOfWay(getId(), AttributeMap(), [llt], [llt2])
         llt.addRegulatoryElement(regelem)
-        self.assertIn("Lanelet(id=0,", repr(llt))
-        self.assertIn(f"RightOfWay(id={regelem.id},", repr(regelem))
+        self.assertIn(f"Lanelet({llt.id}", repr(llt))
+        self.assertIn(f"RightOfWay({regelem.id},", repr(regelem))
 
 
 class LaneletMapApiTestCase(unittest.TestCase):