This class builds a discretized local map-cache. More...

#include <InMemoryMap.h>

Collaboration diagram for carla::traffic_manager::InMemoryMap:

Public Member Functions
NodeList	GetDenseTopology () const
	This method returns the full list of discrete samples of the map in the local cache. More...

const cc::Map &	GetMap () const

std::string	GetMapName ()

SimpleWaypointPtr	GetWaypoint (const cg::Location loc) const
	This method returns the closest waypoint to a given location on the map. More...

NodeList	GetWaypointsInDelta (const cg::Location loc, const uint16_t n_points, const float random_sample) const
	This method returns n waypoints in an delta area with a certain distance from the ego vehicle. More...

	InMemoryMap (WorldMap world_map)

bool	Load (const std::vector< uint8_t > &content)

void	SetUp ()
	This method constructs the local map with a resolution of sampling_resolution. More...

	~InMemoryMap ()

Static Public Member Functions
static void	Cook (WorldMap world_map, const std::string &path)

Private Member Functions
void	FindAndLinkLaneChange (SimpleWaypointPtr reference_waypoint)
	This method is used to find and place lane change links. More...

NodeList	GetPredecessors (const SegmentId segment_id, const SegmentTopology &segment_topology, const SegmentMap &segment_map)

SegmentId	GetSegmentId (const WaypointPtr &wp) const
	Computes the segment id of a given waypoint. More...

SegmentId	GetSegmentId (const SimpleWaypointPtr &swp) const

NodeList	GetSuccessors (const SegmentId segment_id, const SegmentTopology &segment_topology, const SegmentMap &segment_map)

void	Save (const std::string &path)

void	SetUpDenseTopology ()

void	SetUpRoadOption ()

void	SetUpSpatialTree ()

Private Attributes
WorldMap	_world_map
	Object to hold the world map received by the constructor. More...

NodeList	dense_topology
	Structure to hold all custom waypoint objects after interpolation of sparse topology. More...

Rtree	rtree
	Spatial quadratic R-tree for indexing and querying waypoints. More...

Detailed Description

This class builds a discretized local map-cache.

Instantiate the class with the world and run SetUp() to construct the local map.

Definition at line 63 of file InMemoryMap.h.

Constructor & Destructor Documentation

◆ InMemoryMap()

carla::traffic_manager::InMemoryMap::InMemoryMap ( WorldMap world_map )

Definition at line 22 of file InMemoryMap.cpp.

◆ ~InMemoryMap()

carla::traffic_manager::InMemoryMap::~InMemoryMap ( )

Definition at line 23 of file InMemoryMap.cpp.

Member Function Documentation

◆ Cook()

void carla::traffic_manager::InMemoryMap::Cook	(	WorldMap	world_map,
		const std::string &	path
	)

static

Definition at line 71 of file InMemoryMap.cpp.

References Save(), and SetUp().

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

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◆ FindAndLinkLaneChange()

void carla::traffic_manager::InMemoryMap::FindAndLinkLaneChange ( SimpleWaypointPtr reference_waypoint )

private

This method is used to find and place lane change links.

Cheack for transits

Left transit way point present only

Right transit way point present only

Both left and right transit present

Right transit way point

Left transit way point

For no transit waypoint (left or right)

Definition at line 512 of file InMemoryMap.cpp.

References carla::road::Both, and GetWaypoint().

Referenced by SetUp().

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◆ GetDenseTopology()

NodeList carla::traffic_manager::InMemoryMap::GetDenseTopology ( ) const

This method returns the full list of discrete samples of the map in the local cache.

Definition at line 508 of file InMemoryMap.cpp.

References dense_topology.

◆ GetMap()

const cc::Map & carla::traffic_manager::InMemoryMap::GetMap ( ) const

Definition at line 583 of file InMemoryMap.cpp.

References _world_map.

◆ GetMapName()

std::string carla::traffic_manager::InMemoryMap::GetMapName ( )

Definition at line 578 of file InMemoryMap.cpp.

References _world_map.

Referenced by Save().

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◆ GetPredecessors()

NodeList carla::traffic_manager::InMemoryMap::GetPredecessors	(	const SegmentId	segment_id,
		const SegmentTopology &	segment_topology,
		const SegmentMap &	segment_map
	)

private

Definition at line 52 of file InMemoryMap.cpp.

Referenced by SetUp().

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◆ GetSegmentId() [1/2]

SegmentId carla::traffic_manager::InMemoryMap::GetSegmentId ( const WaypointPtr & wp ) const

private

Computes the segment id of a given waypoint.

The Id takes into account OpenDrive's road Id, lane Id and Section Id.

Definition at line 25 of file InMemoryMap.cpp.

Referenced by GetSegmentId(), and SetUp().

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◆ GetSegmentId() [2/2]

SegmentId carla::traffic_manager::InMemoryMap::GetSegmentId ( const SimpleWaypointPtr & swp ) const

private

Definition at line 29 of file InMemoryMap.cpp.

References GetSegmentId().

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◆ GetSuccessors()

NodeList carla::traffic_manager::InMemoryMap::GetSuccessors	(	const SegmentId	segment_id,
		const SegmentTopology &	segment_topology,
		const SegmentMap &	segment_map
	)

private

Definition at line 33 of file InMemoryMap.cpp.

Referenced by SetUp().

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◆ GetWaypoint()

SimpleWaypointPtr carla::traffic_manager::InMemoryMap::GetWaypoint ( const cg::Location loc ) const

This method returns the closest waypoint to a given location on the map.

Definition at line 467 of file InMemoryMap.cpp.

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

Referenced by FindAndLinkLaneChange().

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◆ GetWaypointsInDelta()

NodeList carla::traffic_manager::InMemoryMap::GetWaypointsInDelta	(	const cg::Location	loc,
		const uint16_t	n_points,
		const float	random_sample
	)		const

This method returns n waypoints in an delta area with a certain distance from the ego vehicle.

Definition at line 480 of file InMemoryMap.cpp.

References carla::traffic_manager::constants::Map::DELTA, rtree, carla::geom::Vector3D::x, carla::geom::Vector3D::y, carla::geom::Vector3D::z, and carla::traffic_manager::constants::Map::Z_DELTA.

◆ Load()

bool carla::traffic_manager::InMemoryMap::Load ( const std::vector< uint8_t > & content )

Definition at line 112 of file InMemoryMap.cpp.

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◆ Save()

void carla::traffic_manager::InMemoryMap::Save ( const std::string & path )

private

Definition at line 77 of file InMemoryMap.cpp.

References dense_topology, GetMapName(), carla::log_error(), and carla::traffic_manager::CachedSimpleWaypoint::Write().

Referenced by Cook().

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◆ SetUp()

void carla::traffic_manager::InMemoryMap::SetUp ( )

This method constructs the local map with a resolution of sampling_resolution.

Definition at line 166 of file InMemoryMap.cpp.

References _world_map, dense_topology, carla::geom::Math::DistanceSquared(), FindAndLinkLaneChange(), GetPredecessors(), GetSegmentId(), GetSuccessors(), carla::geom::Math::GetVectorAngle(), carla::traffic_manager::constants::Map::MAP_RESOLUTION, carla::traffic_manager::constants::Map::MAX_GEODESIC_GRID_LENGTH, carla::traffic_manager::constants::LaneChange::MAX_WPT_DISTANCE, carla::traffic_manager::constants::Map::MAX_WPT_RADIANS, carla::traffic_manager::constants::Map::MIN_LANE_WIDTH, reverse(), SetUpRoadOption(), SetUpSpatialTree(), and sort().

Referenced by Cook().

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◆ SetUpDenseTopology()

void carla::traffic_manager::InMemoryMap::SetUpDenseTopology ( )

private

◆ SetUpRoadOption()

void carla::traffic_manager::InMemoryMap::SetUpRoadOption ( )

private

Definition at line 378 of file InMemoryMap.cpp.

References dense_topology, carla::traffic_manager::LaneFollow, carla::traffic_manager::Left, carla::traffic_manager::Right, carla::traffic_manager::RoadEnd, carla::traffic_manager::Straight, carla::traffic_manager::constants::Map::STRAIGHT_DEG, and carla::traffic_manager::Void.

Referenced by SetUp().

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◆ SetUpSpatialTree()

void carla::traffic_manager::InMemoryMap::SetUpSpatialTree ( )

private

Definition at line 368 of file InMemoryMap.cpp.

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

Referenced by Load(), and SetUp().

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Member Data Documentation

◆ _world_map

WorldMap carla::traffic_manager::InMemoryMap::_world_map

private

Object to hold the world map received by the constructor.

Definition at line 68 of file InMemoryMap.h.

Referenced by GetMap(), GetMapName(), Load(), and SetUp().

◆ dense_topology

NodeList carla::traffic_manager::InMemoryMap::dense_topology

private

Structure to hold all custom waypoint objects after interpolation of sparse topology.

Definition at line 71 of file InMemoryMap.h.

Referenced by GetDenseTopology(), Load(), Save(), SetUp(), SetUpRoadOption(), and SetUpSpatialTree().

◆ rtree

Rtree carla::traffic_manager::InMemoryMap::rtree

private

Spatial quadratic R-tree for indexing and querying waypoints.

Definition at line 73 of file InMemoryMap.h.

Referenced by GetWaypoint(), GetWaypointsInDelta(), and SetUpSpatialTree().

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

Public Member Functions

Static Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ InMemoryMap()

◆ ~InMemoryMap()

Member Function Documentation

◆ Cook()

◆ FindAndLinkLaneChange()

◆ GetDenseTopology()

◆ GetMap()

◆ GetMapName()

◆ GetPredecessors()

◆ GetSegmentId() [1/2]

◆ GetSegmentId() [2/2]

◆ GetSuccessors()

◆ GetWaypoint()

◆ GetWaypointsInDelta()

◆ Load()

◆ Save()

◆ SetUp()

◆ SetUpDenseTopology()

◆ SetUpRoadOption()

◆ SetUpSpatialTree()

Member Data Documentation

◆ _world_map

◆ dense_topology

◆ rtree