RoadInfoLateralShape.h

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// Copyright (c) 2026 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB).
//
// This work is licensed under the terms of the MIT license.
// For a copy, see <https://opensource.org/licenses/MIT>.
 
#pragma once
 
#include "carla/road/element/RoadInfo.h"
#include "carla/geom/CubicPolynomial.h"
 
namespace carla {
namespace road {
namespace element {
 
  /// One <lateralProfile><shape> record: at station s, the road surface
  /// height relative to the elevation profile is a cubic polynomial in
  /// (t - t_record), valid from t_record until the next record at the same
  /// station. Together the records describe the road cross-section (crown,
  /// banking); reconstructed real-world maps rely on them for crossing
  /// roads to agree on surface height inside junctions.
  class RoadInfoLateralShape final : public RoadInfo {
  public:
 
    RoadInfoLateralShape(
        double s,
        double t,
        double a,
        double b,
        double c,
        double d)
      : RoadInfo(s),
        _t(t),
        _shape(a, b, c, d, t) {}
 
    void AcceptVisitor(RoadInfoVisitor &v) final {
      v.Visit(*this);
    }
 
    double GetT() const {
      return _t;
    }
 
    /// Evaluate the surface height offset at lateral position t (the
    /// polynomial is defined over t - t_record).
    double Evaluate(const double t) const {
      return _shape.Evaluate(t);
    }
 
    const geom::CubicPolynomial &GetPolynomial() const {
      return _shape;
    }
 
  private:
 
    const double _t;
 
    const geom::CubicPolynomial _shape;
  };
 
} // namespace element
} // namespace road
} // namespace carla