This is a simple wrapper class on Carla's waypoint object. More...

#include <SimpleWaypoint.h>

Public Member Functions
bool	CheckIntersection () const
	Returns true if the object's waypoint belongs to an intersection (Doesn't use OpenDrive).

bool	CheckJunction () const
	Returns true if the object's waypoint belongs to an intersection.

void	ClearLinks ()
	Drops the links to the neighbouring waypoints (next, previous, left and right).

float	Distance (const cg::Location &location) const
	Calculates the distance from the object's waypoint to the passed location.

float	Distance (const SimpleWaypointPtr &other) const
	Calculates the distance the other SimpleWaypoint object.

float	DistanceSquared (const cg::Location &location) const
	Calculates the square of the distance to given location.

float	DistanceSquared (const SimpleWaypointPtr &other) const
	Calculates the square of the distance to other waypoints.

cg::Vector3D	GetForwardVector () const
	Returns the vector along the waypoint's direction.

GeoGridId	GetGeodesicGridId ()

uint64_t	GetId () const
	Returns the unique id for the waypoint.

GeoGridId	GetJunctionId () const
	Method to retreive junction id of the waypoint.

SimpleWaypointPtr	GetLeftWaypoint ()
	This method is used to get the closest left waypoint for a lane change.

cg::Location	GetLocation () const
	Returns the location object for this waypoint.

std::vector< SimpleWaypointPtr >	GetNextWaypoint () const
	Returns the list of next waypoints.

std::vector< SimpleWaypointPtr >	GetPreviousWaypoint () const
	Returns the list of previous waypoints.

SimpleWaypointPtr	GetRightWaypoint ()
	This method is used to get the closest right waypoint for a lane change.

RoadOption	GetRoadOption ()

cg::Transform	GetTransform () const
	Return transform object for the current waypoint.

WaypointPtr	GetWaypoint () const
	Returns a carla::shared_ptr to carla::waypoint.

void	SetGeodesicGridId (GeoGridId _geodesic_grid_id)
	Accessor methods for geodesic grid id.

void	SetIsJunction (bool value)
	This method is used to set whether the waypoint belongs to a junction.

void	SetLeftWaypoint (SimpleWaypointPtr &waypoint)
	This method is used to set the closest left waypoint for a lane change.

uint64_t	SetNextWaypoint (const std::vector< SimpleWaypointPtr > &next_waypoints)
	This method is used to set the next waypoints.

uint64_t	SetPreviousWaypoint (const std::vector< SimpleWaypointPtr > &next_waypoints)
	This method is used to set the previous waypoints.

void	SetRightWaypoint (SimpleWaypointPtr &waypoint)
	This method is used to set the closest right waypoint for a lane change.

void	SetRoadOption (RoadOption _road_option)

	SimpleWaypoint (WaypointPtr _waypoint)

	~SimpleWaypoint ()

Private Types
using	SimpleWaypointPtr = std::shared_ptr< SimpleWaypoint >

Private Attributes
bool	_is_junction = false

GeoGridId	geodesic_grid_id = 0
	Integer placing the waypoint into a geodesic grid.

SimpleWaypointPtr	next_left_waypoint
	Pointer to left lane change waypoint.

SimpleWaypointPtr	next_right_waypoint
	Pointer to right lane change waypoint.

std::vector< SimpleWaypointPtr >	next_waypoints
	List of pointers to next connecting waypoints.

std::vector< SimpleWaypointPtr >	previous_waypoints
	List of pointers to previous connecting waypoints.

RoadOption	road_option = RoadOption::Void
	RoadOption for the actual waypoint.

WaypointPtr	waypoint
	Pointer to Carla's waypoint object around which this class wraps around.

Detailed Description

This is a simple wrapper class on Carla's waypoint object.

The class is used to represent discrete samples of the world map.

Definition at line 38 of file SimpleWaypoint.h.

Member Typedef Documentation

◆ SimpleWaypointPtr

using carla::traffic_manager::SimpleWaypoint::SimpleWaypointPtr = std::shared_ptr<SimpleWaypoint>

private

Definition at line 40 of file SimpleWaypoint.h.

Constructor & Destructor Documentation

◆ SimpleWaypoint()

carla::traffic_manager::SimpleWaypoint::SimpleWaypoint ( WaypointPtr _waypoint )

Definition at line 16 of file SimpleWaypoint.cpp.

References next_left_waypoint, next_right_waypoint, and waypoint.

◆ ~SimpleWaypoint()

carla::traffic_manager::SimpleWaypoint::~SimpleWaypoint ( )

Definition at line 21 of file SimpleWaypoint.cpp.

Member Function Documentation

◆ CheckIntersection()

bool carla::traffic_manager::SimpleWaypoint::CheckIntersection ( ) const

Returns true if the object's waypoint belongs to an intersection (Doesn't use OpenDrive).

Definition at line 118 of file SimpleWaypoint.cpp.

References next_waypoints.

◆ CheckJunction()

bool carla::traffic_manager::SimpleWaypoint::CheckJunction ( ) const

Returns true if the object's waypoint belongs to an intersection.

Definition at line 110 of file SimpleWaypoint.cpp.

References _is_junction.

◆ ClearLinks()

void carla::traffic_manager::SimpleWaypoint::ClearLinks ( )

Drops the links to the neighbouring waypoints (next, previous, left and right).

They are shared pointers that point at each other, so a graph of waypoints is freed only once they are dropped.

Definition at line 23 of file SimpleWaypoint.cpp.

References next_left_waypoint, next_right_waypoint, next_waypoints, and previous_waypoints.

◆ Distance() [1/2]

float carla::traffic_manager::SimpleWaypoint::Distance ( const cg::Location & location ) const

Calculates the distance from the object's waypoint to the passed location.

Definition at line 94 of file SimpleWaypoint.cpp.

References carla::geom::Location::Distance(), and GetLocation().

◆ Distance() [2/2]

float carla::traffic_manager::SimpleWaypoint::Distance ( const SimpleWaypointPtr & other ) const

Calculates the distance the other SimpleWaypoint object.

Definition at line 98 of file SimpleWaypoint.cpp.

References carla::geom::Location::Distance(), and GetLocation().

◆ DistanceSquared() [1/2]

float carla::traffic_manager::SimpleWaypoint::DistanceSquared ( const cg::Location & location ) const

Calculates the square of the distance to given location.

Definition at line 102 of file SimpleWaypoint.cpp.

References GetLocation().

◆ DistanceSquared() [2/2]

float carla::traffic_manager::SimpleWaypoint::DistanceSquared ( const SimpleWaypointPtr & other ) const

Calculates the square of the distance to other waypoints.

Definition at line 106 of file SimpleWaypoint.cpp.

References GetLocation().

◆ GetForwardVector()

cg::Vector3D carla::traffic_manager::SimpleWaypoint::GetForwardVector ( ) const

Returns the vector along the waypoint's direction.

Definition at line 58 of file SimpleWaypoint.cpp.

References waypoint.

◆ GetGeodesicGridId()

GeoGridId carla::traffic_manager::SimpleWaypoint::GetGeodesicGridId ( )

Definition at line 126 of file SimpleWaypoint.cpp.

References geodesic_grid_id, and waypoint.

◆ GetId()

uint64_t carla::traffic_manager::SimpleWaypoint::GetId ( ) const

Returns the unique id for the waypoint.

Definition at line 42 of file SimpleWaypoint.cpp.

References waypoint.

◆ GetJunctionId()

GeoGridId carla::traffic_manager::SimpleWaypoint::GetJunctionId ( ) const

Method to retreive junction id of the waypoint.

Definition at line 136 of file SimpleWaypoint.cpp.

References waypoint.

◆ GetLeftWaypoint()

SimpleWaypointPtr carla::traffic_manager::SimpleWaypoint::GetLeftWaypoint ( )

This method is used to get the closest left waypoint for a lane change.

Definition at line 46 of file SimpleWaypoint.cpp.

References next_left_waypoint.

◆ GetLocation()

cg::Location carla::traffic_manager::SimpleWaypoint::GetLocation ( ) const

Returns the location object for this waypoint.

Definition at line 54 of file SimpleWaypoint.cpp.

References waypoint.

Referenced by Distance(), Distance(), DistanceSquared(), DistanceSquared(), SetLeftWaypoint(), and SetRightWaypoint().

◆ GetNextWaypoint()

std::vector< SimpleWaypointPtr > carla::traffic_manager::SimpleWaypoint::GetNextWaypoint ( ) const

Returns the list of next waypoints.

Definition at line 30 of file SimpleWaypoint.cpp.

References next_waypoints.

◆ GetPreviousWaypoint()

std::vector< SimpleWaypointPtr > carla::traffic_manager::SimpleWaypoint::GetPreviousWaypoint ( ) const

Returns the list of previous waypoints.

Definition at line 34 of file SimpleWaypoint.cpp.

References previous_waypoints.

◆ GetRightWaypoint()

SimpleWaypointPtr carla::traffic_manager::SimpleWaypoint::GetRightWaypoint ( )

This method is used to get the closest right waypoint for a lane change.

Definition at line 50 of file SimpleWaypoint.cpp.

References next_right_waypoint.

◆ GetRoadOption()

RoadOption carla::traffic_manager::SimpleWaypoint::GetRoadOption ( )

Definition at line 148 of file SimpleWaypoint.cpp.

References road_option.

◆ GetTransform()

cg::Transform carla::traffic_manager::SimpleWaypoint::GetTransform ( ) const

Return transform object for the current waypoint.

Definition at line 140 of file SimpleWaypoint.cpp.

References waypoint.

◆ GetWaypoint()

WaypointPtr carla::traffic_manager::SimpleWaypoint::GetWaypoint ( ) const

Returns a carla::shared_ptr to carla::waypoint.

Definition at line 38 of file SimpleWaypoint.cpp.

References waypoint.

Referenced by carla::traffic_manager::MotionPlanStage::GetLandmarkTargetVelocity().

◆ SetGeodesicGridId()

void carla::traffic_manager::SimpleWaypoint::SetGeodesicGridId ( GeoGridId _geodesic_grid_id )

Accessor methods for geodesic grid id.

Definition at line 122 of file SimpleWaypoint.cpp.

References geodesic_grid_id.

◆ SetIsJunction()

void carla::traffic_manager::SimpleWaypoint::SetIsJunction ( bool value )

This method is used to set whether the waypoint belongs to a junction.

Definition at line 114 of file SimpleWaypoint.cpp.

References _is_junction.

◆ SetLeftWaypoint()

void carla::traffic_manager::SimpleWaypoint::SetLeftWaypoint ( SimpleWaypointPtr & waypoint )

This method is used to set the closest left waypoint for a lane change.

Definition at line 76 of file SimpleWaypoint.cpp.

References GetLocation(), next_left_waypoint, waypoint, carla::geom::Vector3D::x, and carla::geom::Vector3D::y.

◆ SetNextWaypoint()

uint64_t carla::traffic_manager::SimpleWaypoint::SetNextWaypoint ( const std::vector< SimpleWaypointPtr > & next_waypoints )

This method is used to set the next waypoints.

Definition at line 62 of file SimpleWaypoint.cpp.

References next_waypoints.

◆ SetPreviousWaypoint()

uint64_t carla::traffic_manager::SimpleWaypoint::SetPreviousWaypoint ( const std::vector< SimpleWaypointPtr > & next_waypoints )

This method is used to set the previous waypoints.

Definition at line 69 of file SimpleWaypoint.cpp.

References previous_waypoints.

◆ SetRightWaypoint()

void carla::traffic_manager::SimpleWaypoint::SetRightWaypoint ( SimpleWaypointPtr & waypoint )

This method is used to set the closest right waypoint for a lane change.

Definition at line 85 of file SimpleWaypoint.cpp.

References GetLocation(), next_right_waypoint, waypoint, carla::geom::Vector3D::x, and carla::geom::Vector3D::y.

◆ SetRoadOption()

void carla::traffic_manager::SimpleWaypoint::SetRoadOption ( RoadOption _road_option )

Definition at line 144 of file SimpleWaypoint.cpp.

References road_option.

Member Data Documentation

◆ _is_junction

bool carla::traffic_manager::SimpleWaypoint::_is_junction = false

private

Definition at line 59 of file SimpleWaypoint.h.

Referenced by CheckJunction(), and SetIsJunction().

◆ geodesic_grid_id

GeoGridId carla::traffic_manager::SimpleWaypoint::geodesic_grid_id = 0

private

Integer placing the waypoint into a geodesic grid.

Definition at line 57 of file SimpleWaypoint.h.

Referenced by GetGeodesicGridId(), and SetGeodesicGridId().

◆ next_left_waypoint

SimpleWaypointPtr carla::traffic_manager::SimpleWaypoint::next_left_waypoint

private

Pointer to left lane change waypoint.

Definition at line 51 of file SimpleWaypoint.h.

Referenced by ClearLinks(), GetLeftWaypoint(), SetLeftWaypoint(), and SimpleWaypoint().

◆ next_right_waypoint

SimpleWaypointPtr carla::traffic_manager::SimpleWaypoint::next_right_waypoint

private

Pointer to right lane change waypoint.

Definition at line 53 of file SimpleWaypoint.h.

Referenced by ClearLinks(), GetRightWaypoint(), SetRightWaypoint(), and SimpleWaypoint().

◆ next_waypoints

std::vector<SimpleWaypointPtr> carla::traffic_manager::SimpleWaypoint::next_waypoints

private

List of pointers to next connecting waypoints.

Definition at line 47 of file SimpleWaypoint.h.

Referenced by CheckIntersection(), ClearLinks(), GetNextWaypoint(), and SetNextWaypoint().

◆ previous_waypoints

std::vector<SimpleWaypointPtr> carla::traffic_manager::SimpleWaypoint::previous_waypoints

private

List of pointers to previous connecting waypoints.

Definition at line 49 of file SimpleWaypoint.h.

Referenced by ClearLinks(), GetPreviousWaypoint(), and SetPreviousWaypoint().

◆ road_option

RoadOption carla::traffic_manager::SimpleWaypoint::road_option = RoadOption::Void

private

RoadOption for the actual waypoint.

Definition at line 55 of file SimpleWaypoint.h.

Referenced by GetRoadOption(), and SetRoadOption().

◆ waypoint

WaypointPtr carla::traffic_manager::SimpleWaypoint::waypoint

private

Pointer to Carla's waypoint object around which this class wraps around.

Definition at line 45 of file SimpleWaypoint.h.

Referenced by GetForwardVector(), GetGeodesicGridId(), GetId(), GetJunctionId(), GetLocation(), GetTransform(), GetWaypoint(), SetLeftWaypoint(), SetRightWaypoint(), and SimpleWaypoint().

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

Public Member Functions

Private Types

Private Attributes

Detailed Description

Member Typedef Documentation

◆ SimpleWaypointPtr

Constructor & Destructor Documentation

◆ SimpleWaypoint()

◆ ~SimpleWaypoint()

Member Function Documentation

◆ CheckIntersection()

◆ CheckJunction()

◆ ClearLinks()

◆ Distance() [1/2]

◆ Distance() [2/2]

◆ DistanceSquared() [1/2]

◆ DistanceSquared() [2/2]

◆ GetForwardVector()

◆ GetGeodesicGridId()

◆ GetId()

◆ GetJunctionId()

◆ GetLeftWaypoint()

◆ GetLocation()

◆ GetNextWaypoint()

◆ GetPreviousWaypoint()

◆ GetRightWaypoint()

◆ GetRoadOption()

◆ GetTransform()

◆ GetWaypoint()

◆ SetGeodesicGridId()

◆ SetIsJunction()

◆ SetLeftWaypoint()

◆ SetNextWaypoint()

◆ SetPreviousWaypoint()

◆ SetRightWaypoint()

◆ SetRoadOption()

Member Data Documentation

◆ _is_junction

◆ geodesic_grid_id

◆ next_left_waypoint

◆ next_right_waypoint

◆ next_waypoints

◆ previous_waypoints

◆ road_option

◆ waypoint