carla::geom Namespace Reference

Namespaces
	deformation

Classes
class	BoundingBox
class	CubicPolynomial
	Describes a Cubic Polynomial so: f(x) = a + bx + cx^2 + dx^3. More...
class	GeoLocation
class	Location
class	Math
class	Mesh
	Mesh data container, validator and exporter. More...
class	MeshFactory
	Mesh helper generator. More...
struct	MeshMaterial
	Material that references the vertex index start and end of a mesh where it is affecting. More...
class	PointCloudRtree
	Rtree class working with 3D point clouds. More...
class	Rotation
class	SegmentCloudRtree
	Rtree class working with 3D segment clouds. More...
class	Simplification
class	Transform
class	Vector2D
class	Vector3D
class	Vector3DInt
struct	VertexInfo
struct	VertexNeighbors
struct	VertexWeight

Functions
static VertexWeight	ComputeVertexWeight (const MeshFactory::RoadParameters &road_param, const VertexInfo &vertex_info, const VertexInfo &neighbor_info)
std::vector< VertexNeighbors >	GetVertexNeighborhoodAndWeights (const MeshFactory::RoadParameters &road_param, std::vector< std::unique_ptr< Mesh >> &lane_meshes)
static void	LatLonAddMeters (double lat_start, double lon_start, double dx, double dy, double &lat_end, double &lon_end)
	Adds meters dx/dy to given lat/lon and returns new lat/lon. More...
template<class float_type >
static void	LatLonToMercator (double lat, double lon, double scale, float_type &mx, float_type &my)
	Converts lat/lon/scale to mx/my (mx/my in meters if correct scale is given). More...
static double	LatToScale (double lat)
	Convert latitude to scale, which is needed by mercator transformations. More...
static void	MercatorToLatLon (double mx, double my, double scale, double &lat, double &lon)
	Converts mx/my/scale to lat/lon (mx/my in meters if correct scale is given). More...
Mesh	operator+ (const Mesh &lhs, const Mesh &rhs)
std::ostream &	operator<< (std::ostream &out, const Vector3D &vector3D)

Variables
static constexpr double	EARTH_RADIUS_EQUA = 6378137.0
	Earth radius at equator [m]. More...
static constexpr double	EPSILON = 10.0 * std::numeric_limits<double>::epsilon()
	We use this epsilon to shift the waypoints away from the edges of the lane sections to avoid floating point precision errors. More...
static constexpr double	MESH_EPSILON = 50.0 * std::numeric_limits<double>::epsilon()

Function Documentation

ComputeVertexWeight()

static VertexWeight carla::geom::ComputeVertexWeight ( const MeshFactory::RoadParameters &  road_param, const VertexInfo &  vertex_info, const VertexInfo &  neighbor_info  )

static

Definition at line 1044 of file MeshFactory.cpp.

References carla::geom::Math::Distance(), carla::geom::VertexInfo::is_static, carla::geom::MeshFactory::RoadParameters::lane_ends_multiplier, carla::geom::VertexInfo::lane_mesh_idx, carla::geom::MeshFactory::RoadParameters::max_weight_distance, carla::geom::MeshFactory::RoadParameters::same_lane_weight_multiplier, and carla::geom::VertexInfo::vertex.

Referenced by GetVertexNeighborhoodAndWeights().

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GetVertexNeighborhoodAndWeights()

std::vector<VertexNeighbors> carla::geom::GetVertexNeighborhoodAndWeights	(	const MeshFactory::RoadParameters &	road_param,
		std::vector< std::unique_ptr< Mesh >> &	lane_meshes
	)

Definition at line 1070 of file MeshFactory.cpp.

References ComputeVertexWeight(), carla::geom::VertexNeighbors::neighbors, and carla::geom::VertexNeighbors::vertex.

Referenced by carla::geom::MeshFactory::MergeAndSmooth().

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LatLonAddMeters()

static void carla::geom::LatLonAddMeters ( double  lat_start, double  lon_start, double  dx, double  dy, double &  lat_end, double &  lon_end  )

static

Adds meters dx/dy to given lat/lon and returns new lat/lon.

Definition at line 51 of file GeoLocation.cpp.

References LatLonToMercator(), LatToScale(), and MercatorToLatLon().

Referenced by carla::geom::GeoLocation::Transform().

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LatLonToMercator()

template<class float_type >

static void carla::geom::LatLonToMercator ( double  lat, double  lon, double  scale, float_type &  mx, float_type &  my  )

static

Converts lat/lon/scale to mx/my (mx/my in meters if correct scale is given).

Definition at line 38 of file GeoLocation.cpp.

References EARTH_RADIUS_EQUA, carla::logging::log(), and carla::geom::Math::ToRadians().

Referenced by LatLonAddMeters().

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LatToScale()

static double carla::geom::LatToScale ( double  lat )

static

Convert latitude to scale, which is needed by mercator transformations.

Parameters

lat	latitude in degrees (DEG)

Returns

scale factor

Note

when converting from lat/lon -> mercator and back again, or vice versa, use the same scale in both transformations!

Definition at line 31 of file GeoLocation.cpp.

References carla::geom::Math::ToRadians().

Referenced by LatLonAddMeters().

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MercatorToLatLon()

static void carla::geom::MercatorToLatLon ( double  mx, double  my, double  scale, double &  lat, double &  lon  )

static

Converts mx/my/scale to lat/lon (mx/my in meters if correct scale is given).

Definition at line 45 of file GeoLocation.cpp.

Referenced by LatLonAddMeters().

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operator+()

Mesh carla::geom::operator+	(	const Mesh &	lhs,
		const Mesh &	rhs
	)

Definition at line 385 of file Mesh.cpp.

Referenced by carla::geom::Mesh::Mesh().

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operator<<()

std::ostream& carla::geom::operator<<	(	std::ostream &	out,
		const Vector3D &	vector3D
	)

Definition at line 18 of file test_geom.cpp.

References carla::geom::Vector3D::x, carla::geom::Vector3D::y, and carla::geom::Vector3D::z.

Variable Documentation

EARTH_RADIUS_EQUA

constexpr double carla::geom::EARTH_RADIUS_EQUA = 6378137.0

static

Earth radius at equator [m].

Definition at line 23 of file GeoLocation.cpp.

Referenced by LatLonToMercator().

EPSILON

constexpr double carla::geom::EPSILON = 10.0 * std::numeric_limits<double>::epsilon()

static

We use this epsilon to shift the waypoints away from the edges of the lane sections to avoid floating point precision errors.

Definition at line 31 of file MeshFactory.cpp.

Referenced by carla::geom::MeshFactory::Generate(), carla::geom::MeshFactory::GenerateOrderedWithMaxLen(), carla::geom::MeshFactory::GenerateSidewalk(), carla::geom::MeshFactory::GenerateTesselated(), carla::geom::MeshFactory::GenerateWalls(), carla::geom::MeshFactory::GenerateWallsWithMaxLen(), and carla::geom::MeshFactory::GenerateWithMaxLen().

MESH_EPSILON

constexpr double carla::geom::MESH_EPSILON = 50.0 * std::numeric_limits<double>::epsilon()

static

Definition at line 32 of file MeshFactory.cpp.