def _lane_msg_from_lines(left: Line, middle: Line, right: Line) -> LaneMsg:
"""Create a lane message from three lines."""
msg = LaneMsg()
msg.middle_line = middle.to_geometry_msgs()
msg.left_line = left.to_geometry_msgs()
msg.right_line = right.to_geometry_msgs()
return msg
def parking_msgs(
right_spots: List[Polygon],
left_spots: List[Polygon],
right_border: Line,
left_border: Line,
id: int,
) -> groundtruth_srvs.ParkingSrvResponse:
response = groundtruth_srvs.ParkingSrvResponse()
right_msg = groundtruth_msgs.Parking()
right_msg.borders = [
groundtruth_msgs.Line(right_border.to_geometry_msgs())
]
right_msg.spots = list(
groundtruth_msgs.LabeledPolygon(spot.to_geometry_msg(),
groundtruth_msgs.Parking.SPOT_FREE)
for spot in right_spots)
response.right_msg = right_msg
left_msg = groundtruth_msgs.Parking()
left_msg.borders = [groundtruth_msgs.Line(left_border.to_geometry_msgs())]
left_msg.spots = list(
groundtruth_msgs.LabeledPolygon(spot.to_geometry_msg(),
groundtruth_msgs.Parking.SPOT_FREE)
for spot in left_spots)
response.left_msg = left_msg
return response