CARLA
MapData.h
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1 // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
2 // de Barcelona (UAB).
3 //
4 // This work is licensed under the terms of the MIT license.
5 // For a copy, see <https://opensource.org/licenses/MIT>.
6 
7 #pragma once
8 
10 #include "carla/Iterator.h"
11 #include "carla/ListView.h"
12 #include "carla/NonCopyable.h"
13 #include "carla/road/Controller.h"
15 #include "carla/road/Junction.h"
16 #include "carla/road/Road.h"
17 #include "carla/road/RoadTypes.h"
18 #include "carla/road/Signal.h"
19 
20 #include <boost/iterator/transform_iterator.hpp>
21 
22 #include <unordered_map>
23 
24 namespace carla {
25 namespace road {
26 
27  class Lane;
28 
29  class MapData : private MovableNonCopyable {
30  public:
31 
33  return _geo_reference;
34  }
35 
36  std::unordered_map<RoadId, Road> &GetRoads();
37 
38  const std::unordered_map<RoadId, Road> &GetRoads() const {
39  return _roads;
40  }
41 
42  std::unordered_map<JuncId, Junction> &GetJunctions();
43 
44  const std::unordered_map<JuncId, Junction> &GetJunctions() const {
45  return _junctions;
46  }
47 
48  bool ContainsRoad(RoadId id) const {
49  return (_roads.find(id) != _roads.end());
50  }
51 
52  Road &GetRoad(const RoadId id);
53 
54  const Road &GetRoad(const RoadId id) const;
55 
57 
58  const Junction *GetJunction(JuncId id) const;
59 
60  template <typename T>
61  auto GetRoadInfo(const RoadId id, const double s) {
62  return GetRoad(id).template GetInfo<T>(s);
63  }
64 
65  template <typename T>
67  const RoadId road_id,
68  const SectionId section_id,
69  const LaneId lane_id,
70  const double s) {
71  return GetRoad(road_id).GetLaneById(section_id, lane_id).template GetInfo<T>(s);
72  }
73 
74  size_t GetRoadCount() const {
75  return _roads.size();
76  }
77 
78  const std::unordered_map<SignId, std::unique_ptr<Signal>> &GetSignals() const {
79  return _signals;
80  }
81 
82  const std::unordered_map<ContId, std::unique_ptr<Controller>>& GetControllers() const {
83  return _controllers;
84  }
85 
86  private:
87 
88  friend class MapBuilder;
89 
90  MapData() = default;
91 
93 
94  std::unordered_map<RoadId, Road> _roads;
95 
96  std::unordered_map<JuncId, Junction> _junctions;
97 
98  std::unordered_map<SignId, std::unique_ptr<Signal>> _signals;
99 
100  std::unordered_map<ContId, std::unique_ptr<Controller>> _controllers;
101  };
102 
103 } // namespace road
104 } // namespace carla
const geom::GeoLocation & GetGeoReference() const
Definition: MapData.h:32
const std::unordered_map< ContId, std::unique_ptr< Controller > > & GetControllers() const
Definition: MapData.h:82
uint32_t RoadId
Definition: RoadTypes.h:15
std::unordered_map< JuncId, Junction > & GetJunctions()
Definition: MapData.cpp:17
Junction * GetJunction(JuncId id)
Definition: MapData.cpp:29
std::unordered_map< RoadId, Road > & GetRoads()
Definition: MapData.cpp:13
bool ContainsRoad(RoadId id) const
Definition: MapData.h:48
std::unordered_map< SignId, std::unique_ptr< Signal > > _signals
Definition: MapData.h:98
const std::unordered_map< JuncId, Junction > & GetJunctions() const
Definition: MapData.h:44
Road & GetRoad(const RoadId id)
Definition: MapData.cpp:21
This file contains definitions of common data structures used in traffic manager. ...
Definition: Carla.cpp:99
uint32_t SectionId
Definition: RoadTypes.h:21
int32_t JuncId
Definition: RoadTypes.h:17
std::unordered_map< JuncId, Junction > _junctions
Definition: MapData.h:96
Inherit (privately) to suppress copy construction and assignment.
const std::unordered_map< SignId, std::unique_ptr< Signal > > & GetSignals() const
Definition: MapData.h:78
auto GetRoadInfo(const RoadId id, const double s)
Definition: MapData.h:61
int32_t LaneId
Definition: RoadTypes.h:19
std::unordered_map< RoadId, Road > _roads
Definition: MapData.h:94
Lane & GetLaneById(SectionId section_id, LaneId lane_id)
Definition: Road.cpp:110
auto GetLaneInfo(const RoadId road_id, const SectionId section_id, const LaneId lane_id, const double s)
Definition: MapData.h:66
std::unordered_map< ContId, std::unique_ptr< Controller > > _controllers
Definition: MapData.h:100
const std::unordered_map< RoadId, Road > & GetRoads() const
Definition: MapData.h:38
size_t GetRoadCount() const
Definition: MapData.h:74
geom::GeoLocation _geo_reference
Definition: MapData.h:92