Open-Harbor/osrm-backend
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases 3 Wiki Activity

Get rid of boost::optional leftovers (#6977)

Browse Source
This commit is contained in:
Siarhei Fedartsou
2024-07-02 22:37:09 +02:00
committed by GitHub
parent d0ed29adb7
commit 57b792c768
49 changed files with 232 additions and 218 deletions
Download Patch File Download Diff File Expand all files Collapse all files
include/engine/api/base_parameters.hpp
+11 -11
View File
@@ -33,7 +33,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "engine/hint.hpp"
#include "util/coordinate.hpp"
#include <boost/optional.hpp>
#include <optional>
#include <algorithm>
#include <vector>
@@ -74,12 +74,12 @@ struct BaseParameters
};
std::vector<util::Coordinate> coordinates;
std::vector<boost::optional<Hint>> hints;
std::vector<boost::optional<double>> radiuses;
std::vector<boost::optional<Bearing>> bearings;
std::vector<boost::optional<Approach>> approaches;
std::vector<std::optional<Hint>> hints;
std::vector<std::optional<double>> radiuses;
std::vector<std::optional<Bearing>> bearings;
std::vector<std::optional<Approach>> approaches;
std::vector<std::string> exclude;
boost::optional<OutputFormatType> format = OutputFormatType::JSON;
std::optional<OutputFormatType> format = OutputFormatType::JSON;
// Adds hints to response which can be included in subsequent requests, see `hints` above.
bool generate_hints = true;
@@ -90,10 +90,10 @@ struct BaseParameters
SnappingType snapping = SnappingType::Default;
BaseParameters(std::vector<util::Coordinate> coordinates_ = {},
std::vector<boost::optional<Hint>> hints_ = {},
std::vector<boost::optional<double>> radiuses_ = {},
std::vector<boost::optional<Bearing>> bearings_ = {},
std::vector<boost::optional<Approach>> approaches_ = {},
std::vector<std::optional<Hint>> hints_ = {},
std::vector<std::optional<double>> radiuses_ = {},
std::vector<std::optional<Bearing>> bearings_ = {},
std::vector<std::optional<Approach>> approaches_ = {},
bool generate_hints_ = true,
std::vector<std::string> exclude = {},
const SnappingType snapping_ = SnappingType::Default)
@@ -112,7 +112,7 @@ struct BaseParameters
(approaches.empty() || approaches.size() == coordinates.size()) &&
std::all_of(bearings.begin(),
bearings.end(),
[](const boost::optional<Bearing> &bearing_and_range)
[](const std::optional<Bearing> &bearing_and_range)
{
if (bearing_and_range)
{
include/engine/api/json_factory.hpp
+2 -2
View File
@@ -12,7 +12,7 @@
#include "util/coordinate.hpp"
#include "util/json_container.hpp"
#include <boost/optional.hpp>
#include <optional>
#include <algorithm>
#include <iterator>
@@ -90,7 +90,7 @@ util::json::Object makeRouteStep(guidance::RouteStep step, util::json::Value geo
util::json::Object makeRoute(const guidance::Route &route,
util::json::Array legs,
boost::optional<util::json::Value> geometry,
std::optional<util::json::Value> geometry,
const char *weight_name);
// Creates a Waypoint without Hint, see the Hint overload below
include/engine/api/nearest_api.hpp
+1 -1
View File
@@ -45,7 +45,7 @@ class NearestAPI final : public BaseAPI
flatbuffers::FlatBufferBuilder &fb_result) const
{
auto data_timestamp = facade.GetTimestamp();
boost::optional<flatbuffers::Offset<flatbuffers::String>> data_version_string = boost::none;
std::optional<flatbuffers::Offset<flatbuffers::String>> data_version_string = std::nullopt;
if (!data_timestamp.empty())
{
data_version_string = fb_result.CreateString(data_timestamp);
include/engine/api/route_api.hpp
+6 -7
View File
@@ -184,10 +184,10 @@ class RouteAPI : public BaseAPI
return builder.CreateVectorOfStructs(coordinates);
}
boost::optional<util::json::Value>
MakeGeometry(boost::optional<std::vector<Coordinate>> &&annotations) const
std::optional<util::json::Value>
MakeGeometry(std::optional<std::vector<Coordinate>> &&annotations) const
{
boost::optional<util::json::Value> json_geometry;
std::optional<util::json::Value> json_geometry;
if (annotations)
{
auto begin = annotations->begin();
@@ -720,8 +720,7 @@ class RouteAPI : public BaseAPI
std::vector<guidance::LegGeometry> &leg_geometries = legs_info.second;
auto route = guidance::assembleRoute(legs);
boost::optional<util::json::Value> json_overview =
MakeGeometry(MakeOverview(leg_geometries));
std::optional<util::json::Value> json_overview = MakeGeometry(MakeOverview(leg_geometries));
std::vector<util::json::Value> step_geometries;
const auto total_step_count =
@@ -997,10 +996,10 @@ class RouteAPI : public BaseAPI
return result;
}
boost::optional<std::vector<Coordinate>>
std::optional<std::vector<Coordinate>>
MakeOverview(const std::vector<guidance::LegGeometry> &leg_geometries) const
{
boost::optional<std::vector<Coordinate>> overview;
std::optional<std::vector<Coordinate>> overview;
if (parameters.overview != RouteParameters::OverviewType::False)
{
const auto use_simplification =
include/engine/api/route_parameters.hpp
+6 -6
View File
@@ -82,7 +82,7 @@ struct RouteParameters : public BaseParameters
const bool alternatives_,
const GeometriesType geometries_,
const OverviewType overview_,
const boost::optional<bool> continue_straight_,
const std::optional<bool> continue_straight_,
Args &&...args_)
// Once we perfectly-forward `args` (see #2990) this constructor can delegate to the one
// below.
@@ -100,7 +100,7 @@ struct RouteParameters : public BaseParameters
const bool annotations_,
const GeometriesType geometries_,
const OverviewType overview_,
const boost::optional<bool> continue_straight_,
const std::optional<bool> continue_straight_,
Args &&...args_)
: BaseParameters{std::forward<Args>(args_)...}, steps{steps_}, alternatives{alternatives_},
number_of_alternatives{alternatives_ ? 1u : 0u}, annotations{annotations_},
@@ -118,7 +118,7 @@ struct RouteParameters : public BaseParameters
const AnnotationsType annotations_,
const GeometriesType geometries_,
const OverviewType overview_,
const boost::optional<bool> continue_straight_,
const std::optional<bool> continue_straight_,
Args &&...args_)
: BaseParameters{std::forward<Args>(args_)...}, steps{steps_}, alternatives{alternatives_},
number_of_alternatives{alternatives_ ? 1u : 0u},
@@ -135,7 +135,7 @@ struct RouteParameters : public BaseParameters
const bool annotations_,
const GeometriesType geometries_,
const OverviewType overview_,
const boost::optional<bool> continue_straight_,
const std::optional<bool> continue_straight_,
std::vector<std::size_t> waypoints_,
const Args &&...args_)
: BaseParameters{std::forward<Args>(args_)...}, steps{steps_}, alternatives{alternatives_},
@@ -153,7 +153,7 @@ struct RouteParameters : public BaseParameters
const AnnotationsType annotations_,
const GeometriesType geometries_,
const OverviewType overview_,
const boost::optional<bool> continue_straight_,
const std::optional<bool> continue_straight_,
std::vector<std::size_t> waypoints_,
Args &&...args_)
: BaseParameters{std::forward<Args>(args_)...}, steps{steps_}, alternatives{alternatives_},
@@ -172,7 +172,7 @@ struct RouteParameters : public BaseParameters
AnnotationsType annotations_type = AnnotationsType::None;
GeometriesType geometries = GeometriesType::Polyline;
OverviewType overview = OverviewType::Simplified;
boost::optional<bool> continue_straight;
std::optional<bool> continue_straight;
std::vector<std::size_t> waypoints;
bool IsValid() const
include/engine/api/trip_parameters.hpp
+1 -1
View File
@@ -30,7 +30,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "engine/api/route_parameters.hpp"
#include <boost/optional.hpp>
#include <optional>
#include <vector>
namespace osrm::engine::api
include/engine/datafacade/contiguous_internalmem_datafacade.hpp
+6 -6
View File
@@ -369,7 +369,7 @@ class ContiguousInternalMemoryDataFacadeBase : public BaseDataFacade
std::vector<PhantomNodeWithDistance>
NearestPhantomNodesInRange(const util::Coordinate input_coordinate,
const double max_distance,
const boost::optional<Bearing> bearing,
const std::optional<Bearing> bearing,
const Approach approach,
const bool use_all_edges) const override final
{
@@ -382,20 +382,20 @@ class ContiguousInternalMemoryDataFacadeBase : public BaseDataFacade
std::vector<PhantomNodeWithDistance>
NearestPhantomNodes(const util::Coordinate input_coordinate,
const size_t max_results,
const boost::optional<double> max_distance,
const boost::optional<Bearing> bearing,
const std::optional<double> max_distance,
const std::optional<Bearing> bearing,
const Approach approach) const override final
{
BOOST_ASSERT(m_geospatial_query.get());
return m_geospatial_query->NearestPhantomNodes(
input_coordinate, approach, max_results, max_distance, bearing, boost::none);
input_coordinate, approach, max_results, max_distance, bearing, std::nullopt);
}
PhantomCandidateAlternatives
NearestCandidatesWithAlternativeFromBigComponent(const util::Coordinate input_coordinate,
const boost::optional<double> max_distance,
const boost::optional<Bearing> bearing,
const std::optional<double> max_distance,
const std::optional<Bearing> bearing,
const Approach approach,
const bool use_all_edges) const override final
{
include/engine/datafacade/datafacade_base.hpp
+6 -5
View File
@@ -35,6 +35,7 @@
#include <cstddef>
#include <engine/bearing.hpp>
#include <optional>
#include <string>
#include <string_view>
#include <utility>
@@ -126,21 +127,21 @@ class BaseDataFacade
virtual std::vector<PhantomNodeWithDistance>
NearestPhantomNodesInRange(const util::Coordinate input_coordinate,
const double max_distance,
const boost::optional<Bearing> bearing,
const std::optional<Bearing> bearing,
const Approach approach,
const bool use_all_edges) const = 0;
virtual std::vector<PhantomNodeWithDistance>
NearestPhantomNodes(const util::Coordinate input_coordinate,
const size_t max_results,
const boost::optional<double> max_distance,
const boost::optional<Bearing> bearing,
const std::optional<double> max_distance,
const std::optional<Bearing> bearing,
const Approach approach) const = 0;
virtual PhantomCandidateAlternatives
NearestCandidatesWithAlternativeFromBigComponent(const util::Coordinate input_coordinate,
const boost::optional<double> max_distance,
const boost::optional<Bearing> bearing,
const std::optional<double> max_distance,
const std::optional<Bearing> bearing,
const Approach approach,
const bool use_all_edges) const = 0;
include/engine/engine_config.hpp
+1 -1
View File
@@ -79,7 +79,7 @@ struct EngineConfig final
int max_locations_map_matching = -1;
double max_radius_map_matching = -1.0;
int max_results_nearest = -1;
boost::optional<double> default_radius = -1.0;
double default_radius = -1.0;
int max_alternatives = 3; // set an arbitrary upper bound; can be adjusted by user
bool use_shared_memory = true;
std::filesystem::path memory_file;
include/engine/geospatial_query.hpp
+9 -9
View File
@@ -12,7 +12,7 @@
#include "osrm/coordinate.hpp"
#include <boost/optional.hpp>
#include <optional>
#include <algorithm>
#include <cmath>
@@ -53,8 +53,8 @@ template <typename RTreeT, typename DataFacadeT> class GeospatialQuery
NearestPhantomNodes(const util::Coordinate input_coordinate,
const Approach approach,
const double max_distance,
const boost::optional<Bearing> bearing_with_range,
const boost::optional<bool> use_all_edges) const
const std::optional<Bearing> bearing_with_range,
const std::optional<bool> use_all_edges) const
{
auto results = rtree.SearchInRange(
input_coordinate,
@@ -85,9 +85,9 @@ template <typename RTreeT, typename DataFacadeT> class GeospatialQuery
NearestPhantomNodes(const util::Coordinate input_coordinate,
const Approach approach,
const size_t max_results,
const boost::optional<double> max_distance,
const boost::optional<Bearing> bearing_with_range,
const boost::optional<bool> use_all_edges) const
const std::optional<double> max_distance,
const std::optional<Bearing> bearing_with_range,
const std::optional<bool> use_all_edges) const
{
auto results = rtree.Nearest(
input_coordinate,
@@ -121,9 +121,9 @@ template <typename RTreeT, typename DataFacadeT> class GeospatialQuery
PhantomCandidateAlternatives NearestCandidatesWithAlternativeFromBigComponent(
const util::Coordinate input_coordinate,
const Approach approach,
const boost::optional<double> max_distance,
const boost::optional<Bearing> bearing_with_range,
const boost::optional<bool> use_all_edges) const
const std::optional<double> max_distance,
const std::optional<Bearing> bearing_with_range,
const std::optional<bool> use_all_edges) const
{
bool has_nearest = false;
bool has_big_component = false;
include/engine/guidance/assemble_steps.hpp
+1 -1
View File
@@ -17,9 +17,9 @@
#include "util/guidance/turn_lanes.hpp"
#include "util/typedefs.hpp"
#include <boost/optional.hpp>
#include <cstddef>
#include <guidance/turn_bearing.hpp>
#include <optional>
#include <vector>
namespace osrm::engine::guidance
include/engine/guidance/route_leg.hpp
+1 -1
View File
@@ -3,7 +3,7 @@
#include "engine/guidance/route_step.hpp"
#include <boost/optional.hpp>
#include <optional>
#include <string>
#include <vector>
include/engine/internal_route_result.hpp
+2 -2
View File
@@ -15,7 +15,7 @@
#include "util/integer_range.hpp"
#include "util/typedefs.hpp"
#include <boost/optional.hpp>
#include <optional>
#include <vector>
namespace osrm::engine
@@ -42,7 +42,7 @@ struct PathData
// Source of the speed value on this road segment
DatasourceID datasource_id;
// If segment precedes a turn, ID of the turn itself
boost::optional<EdgeID> turn_edge;
std::optional<EdgeID> turn_edge;
};
struct InternalRouteResult
include/engine/plugins/match.hpp
+1 -1
View File
@@ -22,7 +22,7 @@ class MatchPlugin : public BasePlugin
MatchPlugin(const int max_locations_map_matching,
const double max_radius_map_matching,
const boost::optional<double> default_radius)
const std::optional<double> default_radius)
: BasePlugin(default_radius), max_locations_map_matching(max_locations_map_matching),
max_radius_map_matching(max_radius_map_matching)
{
include/engine/plugins/nearest.hpp
+1 -1
View File
@@ -13,7 +13,7 @@ namespace osrm::engine::plugins
class NearestPlugin final : public BasePlugin
{
public:
explicit NearestPlugin(const int max_results, const boost::optional<double> default_radius);
explicit NearestPlugin(const int max_results, const std::optional<double> default_radius);
Status HandleRequest(const RoutingAlgorithmsInterface &algorithms,
const api::NearestParameters &params,
include/engine/plugins/plugin_base.hpp
+8 -8
View File
@@ -29,7 +29,7 @@ class BasePlugin
protected:
BasePlugin() = default;
BasePlugin(const boost::optional<double> default_radius_) : default_radius(default_radius_) {}
BasePlugin(const std::optional<double> default_radius_) : default_radius(default_radius_) {}
bool CheckAllCoordinates(const std::vector<util::Coordinate> &coordinates) const
{
@@ -200,8 +200,8 @@ class BasePlugin
phantom_nodes[i] = facade.NearestPhantomNodesInRange(
parameters.coordinates[i],
radiuses[i],
use_bearings ? parameters.bearings[i] : boost::none,
use_approaches && parameters.approaches[i] ? parameters.approaches[i].get()
use_bearings ? parameters.bearings[i] : std::nullopt,
use_approaches && parameters.approaches[i] ? parameters.approaches[i].value()
: engine::Approach::UNRESTRICTED,
use_all_edges);
}
@@ -242,8 +242,8 @@ class BasePlugin
parameters.coordinates[i],
number_of_results,
use_radiuses ? parameters.radiuses[i] : default_radius,
use_bearings ? parameters.bearings[i] : boost::none,
use_approaches && parameters.approaches[i] ? parameters.approaches[i].get()
use_bearings ? parameters.bearings[i] : std::nullopt,
use_approaches && parameters.approaches[i] ? parameters.approaches[i].value()
: engine::Approach::UNRESTRICTED);
// we didn't find a fitting node, return error
@@ -284,8 +284,8 @@ class BasePlugin
alternatives[i] = facade.NearestCandidatesWithAlternativeFromBigComponent(
parameters.coordinates[i],
use_radiuses ? parameters.radiuses[i] : default_radius,
use_bearings ? parameters.bearings[i] : boost::none,
use_approaches && parameters.approaches[i] ? parameters.approaches[i].get()
use_bearings ? parameters.bearings[i] : std::nullopt,
use_approaches && parameters.approaches[i] ? parameters.approaches[i].value()
: engine::Approach::UNRESTRICTED,
use_all_edges);
@@ -325,7 +325,7 @@ class BasePlugin
std::to_string(missing_index);
}
const boost::optional<double> default_radius;
const std::optional<double> default_radius;
};
} // namespace osrm::engine::plugins
include/engine/plugins/table.hpp
+1 -1
View File
@@ -15,7 +15,7 @@ class TablePlugin final : public BasePlugin
{
public:
explicit TablePlugin(const int max_locations_distance_table,
const boost::optional<double> default_radius);
const std::optional<double> default_radius);
Status HandleRequest(const RoutingAlgorithmsInterface &algorithms,
const api::TableParameters &params,
include/engine/plugins/trip.hpp
+1 -1
View File
@@ -32,7 +32,7 @@ class TripPlugin final : public BasePlugin
const bool roundtrip) const;
public:
explicit TripPlugin(const int max_locations_trip_, boost::optional<double> default_radius)
explicit TripPlugin(const int max_locations_trip_, std::optional<double> default_radius)
: BasePlugin(default_radius), max_locations_trip(max_locations_trip_)
{
}
include/engine/plugins/viaroute.hpp
+1 -1
View File
@@ -27,7 +27,7 @@ class ViaRoutePlugin final : public BasePlugin
public:
explicit ViaRoutePlugin(int max_locations_viaroute,
int max_alternatives,
boost::optional<double> default_radius);
std::optional<double> default_radius);
Status HandleRequest(const RoutingAlgorithmsInterface &algorithms,
const api::RouteParameters &route_parameters,
include/engine/routing_algorithms.hpp
+6 -6
View File
@@ -25,7 +25,7 @@ class RoutingAlgorithmsInterface
virtual InternalRouteResult
ShortestPathSearch(const std::vector<PhantomNodeCandidates> &waypoint_candidates,
const boost::optional<bool> continue_straight_at_waypoint) const = 0;
const std::optional<bool> continue_straight_at_waypoint) const = 0;
virtual InternalRouteResult
DirectShortestPathSearch(const PhantomEndpointCandidates &endpoint_candidates) const = 0;
@@ -40,7 +40,7 @@ class RoutingAlgorithmsInterface
MapMatching(const routing_algorithms::CandidateLists &candidates_list,
const std::vector<util::Coordinate> &trace_coordinates,
const std::vector<unsigned> &trace_timestamps,
const std::vector<boost::optional<double>> &trace_gps_precision,
const std::vector<std::optional<double>> &trace_gps_precision,
const bool allow_splitting) const = 0;
virtual std::vector<routing_algorithms::TurnData>
@@ -78,7 +78,7 @@ template <typename Algorithm> class RoutingAlgorithms final : public RoutingAlgo
InternalRouteResult ShortestPathSearch(
const std::vector<PhantomNodeCandidates> &waypoint_candidates,
const boost::optional<bool> continue_straight_at_waypoint) const final override;
const std::optional<bool> continue_straight_at_waypoint) const final override;
InternalRouteResult DirectShortestPathSearch(
const PhantomEndpointCandidates &endpoint_candidates) const final override;
@@ -93,7 +93,7 @@ template <typename Algorithm> class RoutingAlgorithms final : public RoutingAlgo
MapMatching(const routing_algorithms::CandidateLists &candidates_list,
const std::vector<util::Coordinate> &trace_coordinates,
const std::vector<unsigned> &trace_timestamps,
const std::vector<boost::optional<double>> &trace_gps_precision,
const std::vector<std::optional<double>> &trace_gps_precision,
const bool allow_splitting) const final override;
std::vector<routing_algorithms::TurnData>
@@ -160,7 +160,7 @@ InternalManyRoutesResult RoutingAlgorithms<Algorithm>::AlternativePathSearch(
template <typename Algorithm>
InternalRouteResult RoutingAlgorithms<Algorithm>::ShortestPathSearch(
const std::vector<PhantomNodeCandidates> &waypoint_candidates,
const boost::optional<bool> continue_straight_at_waypoint) const
const std::optional<bool> continue_straight_at_waypoint) const
{
return routing_algorithms::shortestPathSearch(
heaps, *facade, waypoint_candidates, continue_straight_at_waypoint);
@@ -178,7 +178,7 @@ inline routing_algorithms::SubMatchingList RoutingAlgorithms<Algorithm>::MapMatc
const routing_algorithms::CandidateLists &candidates_list,
const std::vector<util::Coordinate> &trace_coordinates,
const std::vector<unsigned> &trace_timestamps,
const std::vector<boost::optional<double>> &trace_gps_precision,
const std::vector<std::optional<double>> &trace_gps_precision,
const bool allow_splitting) const
{
return routing_algorithms::mapMatching(heaps,
include/engine/routing_algorithms/map_matching.hpp
+1 -1
View File
@@ -24,7 +24,7 @@ SubMatchingList mapMatching(SearchEngineData<Algorithm> &engine_working_data,
const CandidateLists &candidates_list,
const std::vector<util::Coordinate> &trace_coordinates,
const std::vector<unsigned> &trace_timestamps,
const std::vector<boost::optional<double>> &trace_gps_precision,
const std::vector<std::optional<double>> &trace_gps_precision,
const bool allow_splitting);
} // namespace osrm::engine::routing_algorithms
include/engine/routing_algorithms/routing_base.hpp
+2 -2
View File
@@ -258,7 +258,7 @@ void annotatePath(const FacadeT &facade,
alias_cast<EdgeDuration>(duration_vector[segment_idx]),
{0},
datasource_vector[segment_idx],
boost::none});
std::nullopt});
}
BOOST_ASSERT(!unpacked_path.empty());
@@ -315,7 +315,7 @@ void annotatePath(const FacadeT &facade,
alias_cast<EdgeDuration>(duration_vector[segment_idx]),
{0},
datasource_vector[segment_idx],
boost::none});
std::nullopt});
}
if (!unpacked_path.empty())
include/engine/routing_algorithms/shortest_path.hpp
+1 -1
View File
@@ -14,7 +14,7 @@ InternalRouteResult
shortestPathSearch(SearchEngineData<Algorithm> &engine_working_data,
const DataFacade<Algorithm> &facade,
const std::vector<PhantomNodeCandidates> &waypoint_candidates,
const boost::optional<bool> continue_straight_at_waypoint);
const std::optional<bool> continue_straight_at_waypoint);
} // namespace osrm::engine::routing_algorithms
include/engine/routing_algorithms/shortest_path_impl.hpp
+6 -6
View File
@@ -4,7 +4,7 @@
#include "engine/routing_algorithms/shortest_path.hpp"
#include <boost/assert.hpp>
#include <boost/optional.hpp>
#include <optional>
namespace osrm::engine::routing_algorithms
{
@@ -339,10 +339,10 @@ struct leg_connections
{
// X_to_Y = i can be read as
// sources[i].X is the source of the shortest leg path to target.Y
boost::optional<size_t> forward_to_forward;
boost::optional<size_t> reverse_to_forward;
boost::optional<size_t> forward_to_reverse;
boost::optional<size_t> reverse_to_reverse;
std::optional<size_t> forward_to_forward;
std::optional<size_t> reverse_to_forward;
std::optional<size_t> forward_to_reverse;
std::optional<size_t> reverse_to_reverse;
};
// Identify which of the source candidates segments is being used for paths to the
@@ -771,7 +771,7 @@ InternalRouteResult
shortestPathSearch(SearchEngineData<Algorithm> &engine_working_data,
const DataFacade<Algorithm> &facade,
const std::vector<PhantomNodeCandidates> &waypoint_candidates,
const boost::optional<bool> continue_straight_at_waypoint)
const std::optional<bool> continue_straight_at_waypoint)
{
const bool allow_uturn_at_waypoint =
!(continue_straight_at_waypoint ? *continue_straight_at_waypoint