#include <Map.h>

Inheritance diagram for carla::road::Map:

Collaboration diagram for carla::road::Map:

Classes
struct	SignalSearchData
	Data structure for the signal search. More...

Public Types
using	Waypoint = element::Waypoint

Public Member Functions
std::vector< element::LaneMarking >	CalculateCrossedLanes (const geom::Location &origin, const geom::Location &destination) const

std::unordered_map< road::RoadId, std::unordered_set< road::RoadId > >	ComputeJunctionConflicts (JuncId id) const

geom::Transform	ComputeTransform (Waypoint waypoint) const

std::vector< JuncId >	FilterJunctionsByPosition (const geom::Vector3D &minpos, const geom::Vector3D &maxpos) const

std::vector< RoadId >	FilterRoadsByPosition (const geom::Vector3D &minpos, const geom::Vector3D &maxpos) const

std::vector< std::unique_ptr< geom::Mesh > >	GenerateChunkedMesh (const rpc::OpendriveGenerationParameters &params) const

void	GenerateJunctions (const carla::geom::MeshFactory &mesh_factory, const rpc::OpendriveGenerationParameters &params, const geom::Vector3D &minpos, const geom::Vector3D &maxpos, std::map< road::Lane::LaneType, std::vector< std::unique_ptr< geom::Mesh >>> *juntion_out_mesh_list) const

std::vector< std::unique_ptr< geom::Mesh > >	GenerateLineMarkings (const rpc::OpendriveGenerationParameters &params, const geom::Vector3D &minpos, const geom::Vector3D &maxpos, std::vector< std::string > &outinfo) const
	Buids a list of meshes related with LineMarkings. More...

geom::Mesh	GenerateMesh (const double distance, const float extra_width=0.6f, const bool smooth_junctions=true) const
	Buids a mesh based on the OpenDRIVE. More...

std::map< road::Lane::LaneType, std::vector< std::unique_ptr< geom::Mesh > > >	GenerateOrderedChunkedMeshInLocations (const rpc::OpendriveGenerationParameters &params, const geom::Vector3D &minpos, const geom::Vector3D &maxpos) const

std::map< road::Lane::LaneType, std::vector< std::unique_ptr< geom::Mesh > > >	GenerateRoadsMultithreaded (const carla::geom::MeshFactory &mesh_factory, const std::vector< RoadId > &RoadsID, const size_t index, const size_t number_of_roads_per_thread) const

void	GenerateSingleJunction (const carla::geom::MeshFactory &mesh_factory, const JuncId Id, std::map< road::Lane::LaneType, std::vector< std::unique_ptr< geom::Mesh >>> *junction_out_mesh_list) const

std::vector< std::pair< Waypoint, Waypoint > >	GenerateTopology () const
	Generate the minimum set of waypoints that define the topology of map. More...

geom::Mesh	GenerateWalls (const double distance, const float wall_height) const

std::vector< Waypoint >	GenerateWaypoints (double approx_distance) const
	Generate all the waypoints in map separated by approx_distance. More...

std::vector< Waypoint >	GenerateWaypointsInRoad (RoadId road_id, Lane::LaneType lane_type=Lane::LaneType::Driving) const
	Generate waypoints at the entry of each lane of the specified road. More...

std::vector< Waypoint >	GenerateWaypointsOnRoadEntries (Lane::LaneType lane_type=Lane::LaneType::Driving) const
	Generate waypoints on each lane at the start of each road. More...

geom::Mesh	GetAllCrosswalkMesh () const
	Buids a mesh of all crosswalks based on the OpenDRIVE. More...

std::vector< geom::Location >	GetAllCrosswalkZones () const
	Returns a list of locations defining 2d areas, when a location is repeated an area is finished. More...

std::vector< const element::RoadInfoSignal * >	GetAllSignalReferences () const
	Return all RoadInfoSignal in the map. More...

boost::optional< element::Waypoint >	GetClosestWaypointOnRoad (const geom::Location &location, int32_t lane_type=static_cast< int32_t >(Lane::LaneType::Driving)) const
	======================================================================== – Geometry ---------------------------------------------------------— More...

const std::unordered_map< ContId, std::unique_ptr< Controller > > &	GetControllers () const

const geom::GeoLocation &	GetGeoReference () const
	======================================================================== – Georeference -----------------------------------------------------— More...

Junction *	GetJunction (JuncId id)

const Junction *	GetJunction (JuncId id) const

JuncId	GetJunctionId (RoadId road_id) const

std::vector< carla::geom::BoundingBox >	GetJunctionsBoundingBoxes () const

std::vector< std::pair< Waypoint, Waypoint > >	GetJunctionWaypoints (JuncId id, Lane::LaneType lane_type) const
	Generate waypoints of the junction. More...

const Lane &	GetLane (Waypoint waypoint) const
	======================================================================== – Road information -------------------------------------------------— More...

Lane::LaneType	GetLaneType (Waypoint waypoint) const

double	GetLaneWidth (Waypoint waypoint) const

boost::optional< Waypoint >	GetLeft (Waypoint waypoint) const
	Return a waypoint at the lane of waypoint's left lane. More...

std::pair< const element::RoadInfoMarkRecord , const element::RoadInfoMarkRecord >	GetMarkRecord (Waypoint waypoint) const

std::vector< Waypoint >	GetNext (Waypoint waypoint, double distance) const
	Return the list of waypoints at distance such that a vehicle at waypoint could drive to. More...

std::vector< Waypoint >	GetPredecessors (Waypoint waypoint) const

std::vector< Waypoint >	GetPrevious (Waypoint waypoint, double distance) const
	Return the list of waypoints at distance in the reversed direction that a vehicle at waypoint could drive to. More...

boost::optional< Waypoint >	GetRight (Waypoint waypoint) const
	Return a waypoint at the lane of waypoint's right lane. More...

const std::unordered_map< SignId, std::unique_ptr< Signal > > &	GetSignals () const

std::vector< SignalSearchData >	GetSignalsInDistance (Waypoint waypoint, double distance, bool stop_at_junction=false) const
	Searches signals from an initial waypoint until the defined distance. More...

std::vector< Waypoint >	GetSuccessors (Waypoint waypoint) const
	======================================================================== – Waypoint generation -------------------------------------------—— More...

std::vector< std::pair< geom::Transform, std::string > >	GetTreesTransform (const geom::Vector3D &minpos, const geom::Vector3D &maxpos, float distancebetweentrees, float distancefromdrivinglineborder, float s_offset=0) const

boost::optional< element::Waypoint >	GetWaypoint (const geom::Location &location, int32_t lane_type=static_cast< int32_t >(Lane::LaneType::Driving)) const

boost::optional< element::Waypoint >	GetWaypoint (RoadId road_id, LaneId lane_id, float s) const

float	GetZPosInDeformation (float posx, float posy) const

bool	IsJunction (RoadId road_id) const

	Map (MapData m)
	======================================================================== – Constructor ------------------------------------------------------— More...

std::unique_ptr< geom::Mesh >	SDFToMesh (const road::Junction &jinput, const std::vector< geom::Vector3D > &sdfinput, int grid_cells_per_dim) const

Private Types
using	Rtree = geom::SegmentCloudRtree< Waypoint >

Private Member Functions
void	AddElementToRtree (std::vector< Rtree::TreeElement > &rtree_elements, geom::Transform &current_transform, geom::Transform &next_transform, Waypoint &current_waypoint, Waypoint &next_waypoint)
	Helper Functions for constructing the rtree element list. More...

void	AddElementToRtreeAndUpdateTransforms (std::vector< Rtree::TreeElement > &rtree_elements, geom::Transform &current_transform, Waypoint &current_waypoint, Waypoint &next_waypoint)

void	CreateRtree ()

Private Member Functions inherited from carla::MovableNonCopyable
	MovableNonCopyable ()=default

	MovableNonCopyable (const MovableNonCopyable &)=delete

	MovableNonCopyable (MovableNonCopyable &&)=default

MovableNonCopyable &	operator= (const MovableNonCopyable &)=delete

MovableNonCopyable &	operator= (MovableNonCopyable &&)=default

Private Attributes
MapData	_data

Rtree	_rtree

friend	MapBuilder

Detailed Description

Definition at line 29 of file road/Map.h.

Member Typedef Documentation

◆ Rtree

using carla::road::Map::Rtree = geom::SegmentCloudRtree<Waypoint>

private

Definition at line 209 of file road/Map.h.

◆ Waypoint

using carla::road::Map::Waypoint = element::Waypoint

Definition at line 32 of file road/Map.h.

Constructor & Destructor Documentation

◆ Map()

carla::road::Map::Map ( MapData m )

inline

========================================================================

– Constructor ------------------------------------------------------—

Definition at line 38 of file road/Map.h.

References CreateRtree().

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Member Function Documentation

◆ AddElementToRtree()

void carla::road::Map::AddElementToRtree	(	std::vector< Rtree::TreeElement > &	rtree_elements,
		geom::Transform &	current_transform,
		geom::Transform &	next_transform,
		Waypoint &	current_waypoint,
		Waypoint &	next_waypoint
	)

private

Helper Functions for constructing the rtree element list.

Definition at line 844 of file road/Map.cpp.

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

◆ AddElementToRtreeAndUpdateTransforms()

void carla::road::Map::AddElementToRtreeAndUpdateTransforms	(	std::vector< Rtree::TreeElement > &	rtree_elements,
		geom::Transform &	current_transform,
		Waypoint &	current_waypoint,
		Waypoint &	next_waypoint
	)

private

Definition at line 865 of file road/Map.cpp.

◆ CalculateCrossedLanes()

std::vector< LaneMarking > carla::road::Map::CalculateCrossedLanes	(	const geom::Location &	origin,
		const geom::Location &	destination
	)		const

Definition at line 449 of file road/Map.cpp.

References carla::road::element::LaneCrossingCalculator::Calculate().

Referenced by carla::client::Map::CalculateCrossedLanes(), and GetGeoReference().

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◆ ComputeJunctionConflicts()

std::unordered_map< road::RoadId, std::unordered_set< road::RoadId > > carla::road::Map::ComputeJunctionConflicts ( JuncId id ) const

Definition at line 764 of file road/Map.cpp.

References carla::geom::BoundingBox::extent, carla::road::Junction::GetBoundingBox(), and carla::geom::BoundingBox::location.

Referenced by carla::road::MapBuilder::ComputeJunctionRoadConflicts().

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◆ ComputeTransform()

geom::Transform carla::road::Map::ComputeTransform ( Waypoint waypoint ) const

Definition at line 273 of file road/Map.cpp.

References carla::road::element::Waypoint::s.

Referenced by carla::road::element::LaneCrossingCalculator::Calculate(), carla::road::MapBuilder::CheckSignalsOnRoads(), carla::road::MapBuilder::CreateJunctionBoundingBoxes(), and GetGeoReference().

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◆ CreateRtree()

void carla::road::Map::CreateRtree ( )

private

Definition at line 887 of file road/Map.cpp.

References carla::road::Lane::Any, carla::road::ForEachLane(), carla::geom::Transform::GetForwardVector(), carla::road::GetRemainingLength(), carla::geom::Math::GetVectorAngle(), carla::road::Lane::IsStraight(), min(), and RELEASE_ASSERT.

Referenced by Map().

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◆ FilterJunctionsByPosition()

std::vector< JuncId > carla::road::Map::FilterJunctionsByPosition	(	const geom::Vector3D &	minpos,
		const geom::Vector3D &	maxpos
	)		const

Definition at line 1410 of file road/Map.cpp.

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

◆ FilterRoadsByPosition()

std::vector< RoadId > carla::road::Map::FilterRoadsByPosition	(	const geom::Vector3D &	minpos,
		const geom::Vector3D &	maxpos
	)		const

Definition at line 1427 of file road/Map.cpp.

References carla::road::Lane::ComputeTransform(), carla::road::Lane::GetDistance(), carla::geom::Transform::location, carla::geom::Vector3D::x, and carla::geom::Vector3D::y.

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◆ GenerateChunkedMesh()

std::vector< std::unique_ptr< geom::Mesh > > carla::road::Map::GenerateChunkedMesh ( const rpc::OpendriveGenerationParameters & params ) const

Definition at line 1053 of file road/Map.cpp.

References carla::geom::MeshFactory::Generate(), carla::geom::MeshFactory::GenerateAllWithMaxLen(), carla::rpc::OpendriveGenerationParameters::max_road_length, carla::geom::MeshFactory::MergeAndSmooth(), min(), carla::road::Lane::Sidewalk, carla::rpc::OpendriveGenerationParameters::smooth_junctions, carla::geom::Vector2D::x, and carla::geom::Vector2D::y.

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◆ GenerateJunctions()

void carla::road::Map::GenerateJunctions	(	const carla::geom::MeshFactory &	mesh_factory,
		const rpc::OpendriveGenerationParameters &	params,
		const geom::Vector3D &	minpos,
		const geom::Vector3D &	maxpos,
		std::map< road::Lane::LaneType, std::vector< std::unique_ptr< geom::Mesh >>> *	juntion_out_mesh_list
	)		const

Definition at line 1347 of file road/Map.cpp.

Referenced by GenerateOrderedChunkedMeshInLocations().

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◆ GenerateLineMarkings()

std::vector< std::unique_ptr< geom::Mesh > > carla::road::Map::GenerateLineMarkings	(	const rpc::OpendriveGenerationParameters &	params,
		const geom::Vector3D &	minpos,
		const geom::Vector3D &	maxpos,
		std::vector< std::string > &	outinfo
	)		const

Buids a list of meshes related with LineMarkings.

Definition at line 1289 of file road/Map.cpp.

References carla::geom::MeshFactory::GenerateLaneMarkForRoad().

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◆ GenerateMesh()

geom::Mesh carla::road::Map::GenerateMesh	(	const double	distance,
		const float	extra_width = `0.6f`,
		const bool	smooth_junctions = `true`
	)		const

Buids a mesh based on the OpenDRIVE.

Definition at line 1005 of file road/Map.cpp.

References carla::geom::MeshFactory::RoadParameters::extra_lane_width, carla::geom::MeshFactory::Generate(), carla::geom::MeshFactory::MergeAndSmooth(), RELEASE_ASSERT, carla::geom::MeshFactory::RoadParameters::resolution, and carla::geom::MeshFactory::road_param.

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◆ GenerateOrderedChunkedMeshInLocations()

std::map< road::Lane::LaneType, std::vector< std::unique_ptr< geom::Mesh > > > carla::road::Map::GenerateOrderedChunkedMeshInLocations	(	const rpc::OpendriveGenerationParameters &	params,
		const geom::Vector3D &	minpos,
		const geom::Vector3D &	maxpos
	)		const

Definition at line 1138 of file road/Map.cpp.

References GenerateJunctions().

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◆ GenerateRoadsMultithreaded()

std::map< road::Lane::LaneType, std::vector< std::unique_ptr< geom::Mesh > > > carla::road::Map::GenerateRoadsMultithreaded	(	const carla::geom::MeshFactory &	mesh_factory,
		const std::vector< RoadId > &	RoadsID,
		const size_t	index,
		const size_t	number_of_roads_per_thread
	)		const

Definition at line 1327 of file road/Map.cpp.

References carla::geom::MeshFactory::GenerateAllOrderedWithMaxLen().

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◆ GenerateSingleJunction()

void carla::road::Map::GenerateSingleJunction	(	const carla::geom::MeshFactory &	mesh_factory,
		const JuncId	Id,
		std::map< road::Lane::LaneType, std::vector< std::unique_ptr< geom::Mesh >>> *	junction_out_mesh_list
	)		const

Definition at line 1525 of file road/Map.cpp.

References carla::road::Lane::Driving, carla::geom::MeshFactory::GenerateSidewalk(), carla::geom::MeshFactory::GenerateTesselated(), and carla::road::Lane::Sidewalk.

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◆ GenerateTopology()

std::vector< std::pair< Waypoint, Waypoint > > carla::road::Map::GenerateTopology ( ) const

Generate the minimum set of waypoints that define the topology of map.

The waypoints are placed at the entrance of each lane.

Definition at line 724 of file road/Map.cpp.

References carla::road::ForEachDrivableLane(), and carla::road::GetDistanceAtEndOfLane().

Referenced by carla::client::Map::GetTopology().

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◆ GenerateWalls()

geom::Mesh carla::road::Map::GenerateWalls	(	const double	distance,
		const float	wall_height
	)		const

◆ GenerateWaypoints()

std::vector< Waypoint > carla::road::Map::GenerateWaypoints ( double approx_distance ) const

Generate all the waypoints in map separated by approx_distance.

Definition at line 648 of file road/Map.cpp.

References carla::road::EPSILON, carla::road::ForEachDrivableLaneAt(), and RELEASE_ASSERT.

Referenced by carla::client::Map::GenerateWaypoints().

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◆ GenerateWaypointsInRoad()

std::vector< Waypoint > carla::road::Map::GenerateWaypointsInRoad	(	RoadId	road_id,
		Lane::LaneType	lane_type = `Lane::LaneType::Driving`
	)		const

Generate waypoints at the entry of each lane of the specified road.

Definition at line 692 of file road/Map.cpp.

◆ GenerateWaypointsOnRoadEntries()

std::vector< Waypoint > carla::road::Map::GenerateWaypointsOnRoadEntries ( Lane::LaneType lane_type = Lane::LaneType::Driving ) const

Generate waypoints on each lane at the start of each road.

Definition at line 662 of file road/Map.cpp.

◆ GetAllCrosswalkMesh()

geom::Mesh carla::road::Map::GetAllCrosswalkMesh ( ) const

Buids a mesh of all crosswalks based on the OpenDRIVE.

Definition at line 1252 of file road/Map.cpp.

References carla::geom::Mesh::AddMaterial(), carla::geom::Mesh::AddTriangleFan(), and carla::geom::Mesh::EndMaterial().

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◆ GetAllCrosswalkZones()

std::vector< geom::Location > carla::road::Map::GetAllCrosswalkZones ( ) const

Returns a list of locations defining 2d areas, when a location is repeated an area is finished.

Definition at line 455 of file road/Map.cpp.

References carla::road::element::Waypoint::lane_id, carla::geom::Transform::location, carla::road::element::Waypoint::road_id, carla::geom::Transform::rotation, carla::road::element::Waypoint::s, carla::road::element::Waypoint::section_id, carla::geom::Transform::TransformPoint(), carla::geom::Vector3D::x, and carla::geom::Rotation::yaw.

Referenced by carla::client::Map::GetAllCrosswalkZones(), and GetGeoReference().

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◆ GetAllSignalReferences()

std::vector< const element::RoadInfoSignal * > carla::road::Map::GetAllSignalReferences ( ) const

Return all RoadInfoSignal in the map.

Definition at line 437 of file road/Map.cpp.

Referenced by carla::client::Map::GetAllLandmarks(), carla::client::Map::GetAllLandmarksOfType(), and carla::client::Map::GetLandmarksFromId().

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◆ GetClosestWaypointOnRoad()

boost::optional< Waypoint > carla::road::Map::GetClosestWaypointOnRoad	(	const geom::Location &	location,
		int32_t	lane_type = `static_cast<int32_t>(Lane::LaneType::Driving)`
	)		const

========================================================================

– Geometry ---------------------------------------------------------—

Definition at line 165 of file road/Map.cpp.

References carla::geom::Math::DistanceSegmentToPoint(), carla::road::element::Waypoint::lane_id, carla::road::element::Waypoint::s, carla::geom::Vector3D::x, carla::geom::Vector3D::y, and carla::geom::Vector3D::z.

Referenced by carla::road::element::LaneCrossingCalculator::Calculate(), carla::road::MapBuilder::CheckSignalsOnRoads(), GetGeoReference(), and carla::client::Map::GetWaypoint().

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◆ GetControllers()

const std::unordered_map<ContId, std::unique_ptr<Controller> >& carla::road::Map::GetControllers ( ) const

inline

Definition at line 192 of file road/Map.h.

References _data, carla::road::MapData::GetControllers(), and GetJunctionsBoundingBoxes().

Referenced by carla::client::Map::GetLandmarkGroup().

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◆ GetGeoReference()

const geom::GeoLocation& carla::road::Map::GetGeoReference ( ) const

inline

========================================================================

– Georeference -----------------------------------------------------—

Definition at line 46 of file road/Map.h.

References _data, CalculateCrossedLanes(), ComputeTransform(), carla::road::Lane::Driving, GetAllCrosswalkZones(), GetClosestWaypointOnRoad(), carla::road::MapData::GetGeoReference(), GetJunctionId(), GetLane(), GetLaneType(), GetLaneWidth(), GetMarkRecord(), GetWaypoint(), and IsJunction().

Referenced by carla::client::Map::GetGeoReference().

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◆ GetJunction() [1/2]

Junction * carla::road::Map::GetJunction ( JuncId id )

Definition at line 997 of file road/Map.cpp.

Referenced by carla::road::MapBuilder::CreateJunctionBoundingBoxes(), and carla::client::Map::GetJunction().

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◆ GetJunction() [2/2]

const Junction * carla::road::Map::GetJunction ( JuncId id ) const

Definition at line 1001 of file road/Map.cpp.

◆ GetJunctionId()

JuncId carla::road::Map::GetJunctionId ( RoadId road_id ) const

Definition at line 298 of file road/Map.cpp.

Referenced by GetGeoReference().

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◆ GetJunctionsBoundingBoxes()

std::vector< carla::geom::BoundingBox > carla::road::Map::GetJunctionsBoundingBoxes ( ) const

Definition at line 1309 of file road/Map.cpp.

References carla::geom::BoundingBox::extent.

Referenced by GetControllers().

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◆ GetJunctionWaypoints()

std::vector< std::pair< Waypoint, Waypoint > > carla::road::Map::GetJunctionWaypoints	(	JuncId	id,
		Lane::LaneType	lane_type
	)		const

Generate waypoints of the junction.

Definition at line 747 of file road/Map.cpp.

References carla::road::ForEachLane(), carla::road::Junction::GetConnections(), carla::road::GetDistanceAtEndOfLane(), and carla::road::element::Waypoint::s.

Referenced by carla::road::MapBuilder::CreateJunctionBoundingBoxes(), and carla::client::Map::GetJunctionWaypoints().

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◆ GetLane()

const Lane & carla::road::Map::GetLane ( Waypoint waypoint ) const

========================================================================

– Road information -------------------------------------------------—

Definition at line 834 of file road/Map.cpp.

References carla::road::Road::GetLaneById(), carla::road::Lane::GetRoad(), carla::road::element::Waypoint::lane_id, carla::road::element::Waypoint::road_id, and carla::road::element::Waypoint::section_id.

Referenced by GetGeoReference().

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◆ GetLaneType()

Lane::LaneType carla::road::Map::GetLaneType ( Waypoint waypoint ) const

Definition at line 281 of file road/Map.cpp.

Referenced by carla::road::MapBuilder::CheckSignalsOnRoads(), and GetGeoReference().

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◆ GetLaneWidth()

double carla::road::Map::GetLaneWidth ( Waypoint waypoint ) const

Definition at line 285 of file road/Map.cpp.

References RELEASE_ASSERT, and carla::road::element::Waypoint::s.

Referenced by carla::road::MapBuilder::CheckSignalsOnRoads(), and GetGeoReference().

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◆ GetLeft()

boost::optional< Waypoint > carla::road::Map::GetLeft ( Waypoint waypoint ) const

Return a waypoint at the lane of waypoint's left lane.

Definition at line 636 of file road/Map.cpp.

References carla::road::IsLanePresent(), carla::road::element::Waypoint::lane_id, and RELEASE_ASSERT.

Referenced by carla::road::MapBuilder::CheckSignalsOnRoads().

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◆ GetMarkRecord()

std::pair< const RoadInfoMarkRecord *, const RoadInfoMarkRecord * > carla::road::Map::GetMarkRecord ( Waypoint waypoint ) const

Definition at line 307 of file road/Map.cpp.

References carla::road::element::Waypoint::lane_id, RELEASE_ASSERT, carla::road::element::Waypoint::s, and carla::road::element::Waypoint::section_id.

Referenced by carla::road::element::CrossingAtSameSection(), and GetGeoReference().

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◆ GetNext()

std::vector< Waypoint > carla::road::Map::GetNext	(	Waypoint	waypoint,
		double	distance
	)		const

Return the list of waypoints at distance such that a vehicle at waypoint could drive to.

Definition at line 554 of file road/Map.cpp.

References carla::road::ConcatVectors(), DEBUG_ASSERT, carla::road::EPSILON, carla::road::element::Waypoint::lane_id, RELEASE_ASSERT, carla::road::element::Waypoint::road_id, carla::road::element::Waypoint::s, and carla::road::element::Waypoint::section_id.

Referenced by carla::road::MapBuilder::CreateJunctionBoundingBoxes().

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◆ GetPredecessors()

std::vector< Waypoint > carla::road::Map::GetPredecessors ( Waypoint waypoint ) const

Definition at line 536 of file road/Map.cpp.

References carla::road::GetDistanceAtEndOfLane(), and RELEASE_ASSERT.

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◆ GetPrevious()

std::vector< Waypoint > carla::road::Map::GetPrevious	(	Waypoint	waypoint,
		double	distance
	)		const

Return the list of waypoints at distance in the reversed direction that a vehicle at waypoint could drive to.

Definition at line 590 of file road/Map.cpp.

References carla::road::ConcatVectors(), DEBUG_ASSERT, carla::road::EPSILON, carla::road::element::Waypoint::lane_id, RELEASE_ASSERT, carla::road::element::Waypoint::road_id, carla::road::element::Waypoint::s, and carla::road::element::Waypoint::section_id.

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◆ GetRight()

boost::optional< Waypoint > carla::road::Map::GetRight ( Waypoint waypoint ) const

Return a waypoint at the lane of waypoint's right lane.

Definition at line 626 of file road/Map.cpp.

References carla::road::IsLanePresent(), carla::road::element::Waypoint::lane_id, and RELEASE_ASSERT.

Referenced by carla::road::MapBuilder::CheckSignalsOnRoads().

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◆ GetSignals()

const std::unordered_map<SignId, std::unique_ptr<Signal> >& carla::road::Map::GetSignals ( ) const

inline

Definition at line 188 of file road/Map.h.

References _data, and carla::road::MapData::GetSignals().

Referenced by carla::client::Map::GetLandmarkGroup().

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◆ GetSignalsInDistance()

std::vector< Map::SignalSearchData > carla::road::Map::GetSignalsInDistance	(	Waypoint	waypoint,
		double	distance,
		bool	stop_at_junction = `false`
	)		const

Searches signals from an initial waypoint until the defined distance.

Definition at line 330 of file road/Map.cpp.

References carla::road::ConcatVectors(), DEBUG_ASSERT, carla::road::element::RoadInfo::GetDistance(), carla::road::element::Waypoint::lane_id, carla::road::element::Waypoint::road_id, and carla::road::element::Waypoint::s.

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◆ GetSuccessors()

std::vector< Waypoint > carla::road::Map::GetSuccessors ( Waypoint waypoint ) const

========================================================================

– Waypoint generation -------------------------------------------——

Return the list of waypoints placed at the entrance of each drivable successor lane; i.e., the list of each waypoint in the next road segment that a vehicle could drive from waypoint.

Definition at line 518 of file road/Map.cpp.

References carla::road::GetDistanceAtStartOfLane(), and RELEASE_ASSERT.

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◆ GetTreesTransform()

std::vector< std::pair< geom::Transform, std::string > > carla::road::Map::GetTreesTransform	(	const geom::Vector3D &	minpos,
		const geom::Vector3D &	maxpos,
		float	distancebetweentrees,
		float	distancefromdrivinglineborder,
		float	s_offset = `0`
	)		const

Definition at line 1207 of file road/Map.cpp.

References carla::road::Lane::ComputeTransform(), carla::road::Lane::Driving, carla::road::Lane::GetCornerPositions(), carla::road::Lane::GetDistance(), carla::road::Lane::GetInfo(), carla::road::element::RoadInfoSpeed::GetType(), carla::road::Lane::GetWidth(), carla::geom::Vector3D::MakeUnitVector(), and carla::geom::Transform::rotation.

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◆ GetWaypoint() [1/2]

boost::optional< Waypoint > carla::road::Map::GetWaypoint	(	const geom::Location &	location,
		int32_t	lane_type = `static_cast<int32_t>(Lane::LaneType::Driving)`
	)		const

Definition at line 212 of file road/Map.cpp.

References carla::geom::Math::Distance2D(), carla::geom::CubicPolynomial::Evaluate(), and carla::road::element::RoadInfoLaneWidth::GetPolynomial().

Referenced by GetGeoReference(), carla::client::Map::GetWaypoint(), carla::client::Map::GetWaypointXODR(), and carla::road::element::IsOffRoad().

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◆ GetWaypoint() [2/2]

boost::optional< Waypoint > carla::road::Map::GetWaypoint	(	RoadId	road_id,
		LaneId	lane_id,
		float	s
	)		const

Definition at line 233 of file road/Map.cpp.

References carla::road::Road::GetLaneSectionsAt(), carla::road::Road::GetLength(), carla::road::element::Waypoint::lane_id, carla::road::element::Waypoint::road_id, carla::road::element::Waypoint::s, and carla::road::element::Waypoint::section_id.

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◆ GetZPosInDeformation()

float carla::road::Map::GetZPosInDeformation	(	float	posx,
		float	posy
	)		const

inline

Definition at line 1321 of file road/Map.cpp.

References carla::geom::deformation::GetBumpDeformation(), and carla::geom::deformation::GetZPosInDeformation().

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◆ IsJunction()

bool carla::road::Map::IsJunction ( RoadId road_id ) const

Definition at line 302 of file road/Map.cpp.

Referenced by carla::road::element::LaneCrossingCalculator::Calculate(), and GetGeoReference().

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◆ SDFToMesh()

std::unique_ptr< geom::Mesh > carla::road::Map::SDFToMesh	(	const road::Junction &	jinput,
		const std::vector< geom::Vector3D > &	sdfinput,
		int	grid_cells_per_dim
	)		const

Definition at line 1448 of file road/Map.cpp.

References carla::geom::Mesh::AddIndex(), carla::geom::Mesh::AddVertex(), carla::geom::BoundingBox::extent, carla::road::Junction::GetBoundingBox(), carla::road::Junction::GetId(), carla::geom::Mesh::GetVertices(), carla::geom::Vector3D::Length(), carla::geom::Transform::location, carla::geom::BoundingBox::location, carla::geom::Vector3D::MakeUnitVector(), MeshReconstruction::MarchCube(), MeshReconstruction::Rect3::min, carla::geom::BoundingBox::rotation, MeshReconstruction::Rect3::size, MeshReconstruction::Vec3::x, carla::geom::Vector3D::x, carla::geom::Vector3D::y, and carla::geom::Vector3D::z.

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Member Data Documentation

◆ _data

MapData carla::road::Map::_data

private

Definition at line 207 of file road/Map.h.

Referenced by carla::road::MapBuilder::CheckSignalsOnRoads(), carla::road::MapBuilder::ComputeJunctionRoadConflicts(), carla::road::MapBuilder::CreateJunctionBoundingBoxes(), GetControllers(), GetGeoReference(), and GetSignals().

◆ _rtree

Rtree carla::road::Map::_rtree

private

Definition at line 210 of file road/Map.h.

◆ MapBuilder

friend carla::road::Map::MapBuilder

private

Definition at line 206 of file road/Map.h.

The documentation for this class was generated from the following files:

Classes

Public Types

Public Member Functions

– Geometry ---------------------------------------------------------—

– Georeference -----------------------------------------------------—

– Road information -------------------------------------------------—

– Waypoint generation -------------------------------------------——

– Constructor ------------------------------------------------------—

Private Types

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

◆ Rtree

◆ Waypoint

Constructor & Destructor Documentation

◆ Map()

– Constructor ------------------------------------------------------—

Member Function Documentation

◆ AddElementToRtree()

◆ AddElementToRtreeAndUpdateTransforms()

◆ CalculateCrossedLanes()

◆ ComputeJunctionConflicts()

◆ ComputeTransform()

◆ CreateRtree()

◆ FilterJunctionsByPosition()

◆ FilterRoadsByPosition()

◆ GenerateChunkedMesh()

◆ GenerateJunctions()

◆ GenerateLineMarkings()

◆ GenerateMesh()

◆ GenerateOrderedChunkedMeshInLocations()

◆ GenerateRoadsMultithreaded()

◆ GenerateSingleJunction()

◆ GenerateTopology()

◆ GenerateWalls()

◆ GenerateWaypoints()

◆ GenerateWaypointsInRoad()

◆ GenerateWaypointsOnRoadEntries()

◆ GetAllCrosswalkMesh()

◆ GetAllCrosswalkZones()

◆ GetAllSignalReferences()

◆ GetClosestWaypointOnRoad()

– Geometry ---------------------------------------------------------—

◆ GetControllers()

◆ GetGeoReference()

– Georeference -----------------------------------------------------—

◆ GetJunction() [1/2]

◆ GetJunction() [2/2]

◆ GetJunctionId()

◆ GetJunctionsBoundingBoxes()

◆ GetJunctionWaypoints()

◆ GetLane()

– Road information -------------------------------------------------—

◆ GetLaneType()

◆ GetLaneWidth()

◆ GetLeft()

◆ GetMarkRecord()

◆ GetNext()

◆ GetPredecessors()

◆ GetPrevious()

◆ GetRight()

◆ GetSignals()

◆ GetSignalsInDistance()

◆ GetSuccessors()

– Waypoint generation -------------------------------------------——

◆ GetTreesTransform()

◆ GetWaypoint() [1/2]

◆ GetWaypoint() [2/2]

◆ GetZPosInDeformation()

◆ IsJunction()

◆ SDFToMesh()

Member Data Documentation

◆ _data

◆ _rtree

◆ MapBuilder