Namespaces
namespace	deformation

Classes
struct	Acceleration
	Linear acceleration in metres per second squared. More...

struct	AngularVelocity
	Angular velocity in degrees per second. More...

class	BoundingBox

class	CubicPolynomial
	Describes a Cubic Polynomial so: f(x) = a + bx + cx^2 + dx^3. More...

class	Ellipsoid

class	GeoLocation

struct	GeoProjection

class	LambertConformalConicParams

struct	Location

class	Math

class	Mesh
	Mesh data container, validator and exporter. More...

class	MeshFactory
	Mesh helper generator. More...

struct	MeshMaterial
	Material that references the vertex index start and end of a mesh where it is affecting. More...

class	OffsetTransform

class	PointCloudRtree
	Rtree class working with 3D point clouds. More...

class	Quaternion
	Quaternion representing a 3D rotation, stored as `(x, y, z, w)`. More...

struct	RightHandedRotation
	Euler angles of a rotation expressed in a right-handed frame, in degrees. More...

struct	RightHandedTransform
	A rigid transform expressed in a right-handed frame: x forward, y left, z up (ROS REP-103 "FLU"), metres and degrees. More...

struct	RightHandedVector3D
	Internal adapter that holds a `Vector3D` in a right-handed coordinate frame. More...

class	Rotation
	Euler angles of a rotation in CARLA's / Unreal's left-handed frame: x forward, y right, z up, degrees. More...

class	SegmentCloudRtree
	Rtree class working with 3D segment clouds. More...

class	Simplification

class	Transform
	A rigid transform in CARLA's / Unreal's left-handed frame: x forward, y right, z up, metres, with a `Rotation` in degrees. More...

class	TransverseMercatorParams

class	UniversalTransverseMercatorParams

struct	Vector2D

struct	Vector3D

class	Vector3DInt

struct	Velocity
	Linear velocity in metres per second. More...

struct	VertexInfo

struct	VertexNeighbors

struct	VertexWeight

class	WebMercatorParams

Typedefs
using	ProjectionParams = boost::variant2::variant< TransverseMercatorParams, UniversalTransverseMercatorParams, WebMercatorParams, LambertConformalConicParams >

Enumerations
enum class	ProjectionType { TransverseMercator , UniversalTransverseMercator , WebMercator , LambertConformalConic }
	All the supported projection types. More...

Functions
static VertexWeight	ComputeVertexWeight (const MeshFactory::RoadParameters &road_param, const VertexInfo &vertex_info, const VertexInfo &neighbor_info)

static double	DegreesToRadians (double degrees)

std::vector< VertexNeighbors >	GetVertexNeighborhoodAndWeights (const MeshFactory::RoadParameters &road_param, std::vector< std::unique_ptr< Mesh > > &lane_meshes)

constexpr bool	operator!= (Location lhs, Location rhs)

Mesh	operator+ (const Mesh &lhs, const Mesh &rhs)

std::ostream &	operator<< (std::ostream &out, const Vector3D &vector3D)

constexpr bool	operator== (Location lhs, Location rhs)

static double	RadiansToDegrees (double radians)

static Location	SwapHandedness (Location location)

Variables
static const std::unordered_map< std::string, std::pair< double, double > >	custom_ellipsoids

static constexpr double	EPSILON = 10.0 * std::numeric_limits<double>::epsilon()
	We use this epsilon to shift the waypoints away from the edges of the lane sections to avoid floating point precision errors.

static constexpr double	MESH_EPSILON = 50.0 * std::numeric_limits<double>::epsilon()

Typedef Documentation

◆ ProjectionParams

using carla::geom::ProjectionParams = typedef boost::variant2::variant< TransverseMercatorParams, UniversalTransverseMercatorParams, WebMercatorParams, LambertConformalConicParams>

Definition at line 37 of file GeoProjection.h.

Enumeration Type Documentation

◆ ProjectionType

enum class carla::geom::ProjectionType

strong

All the supported projection types.

To add new ones, add them to this enum, create the parameters structure and the parser from geo to location (and viceversa).

Enumerator
TransverseMercator
UniversalTransverseMercator
WebMercator
LambertConformalConic

Definition at line 30 of file GeoProjection.h.

Function Documentation

◆ ComputeVertexWeight()

static VertexWeight carla::geom::ComputeVertexWeight	(	const MeshFactory::RoadParameters &	road_param,
		const VertexInfo &	vertex_info,
		const VertexInfo &	neighbor_info
	)

static

Definition at line 1070 of file MeshFactory.cpp.

References carla::geom::Math::Distance(), EPSILON, carla::geom::VertexInfo::is_static, carla::geom::MeshFactory::RoadParameters::lane_ends_multiplier, carla::geom::VertexInfo::lane_mesh_idx, carla::geom::MeshFactory::RoadParameters::max_weight_distance, carla::geom::MeshFactory::RoadParameters::same_lane_weight_multiplier, and carla::geom::VertexInfo::vertex.

Referenced by GetVertexNeighborhoodAndWeights().

◆ DegreesToRadians()

static double carla::geom::DegreesToRadians ( double degrees )

static

Definition at line 19 of file GeoProjection.cpp.

Referenced by carla::geom::GeoProjection::GeoLocationToTransformLambertConformalConic(), carla::geom::GeoProjection::GeoLocationToTransformTransverseMercator(), carla::geom::GeoProjection::GeoLocationToTransformUniversalTransverseMercator(), carla::geom::GeoProjection::GeoLocationToTransformWebMercator(), carla::geom::GeoProjection::TransformToGeoLocationLambertConformalConic(), carla::geom::GeoProjection::TransformToGeoLocationTransverseMercator(), and carla::geom::GeoProjection::TransformToGeoLocationUniversalTransverseMercator().

◆ GetVertexNeighborhoodAndWeights()

std::vector< VertexNeighbors > carla::geom::GetVertexNeighborhoodAndWeights	(	const MeshFactory::RoadParameters &	road_param,
		std::vector< std::unique_ptr< Mesh > > &	lane_meshes
	)

Definition at line 1096 of file MeshFactory.cpp.

References ComputeVertexWeight(), carla::geom::VertexNeighbors::neighbors, point, and carla::geom::VertexNeighbors::vertex.

Referenced by carla::geom::MeshFactory::MergeAndSmooth().

◆ operator!=()

constexpr bool carla::geom::operator!=	(	Location	lhs,
		Location	rhs
	)

constexpr

Definition at line 117 of file geom/Location.h.

◆ operator+()

Mesh carla::geom::operator+	(	const Mesh &	lhs,
		const Mesh &	rhs
	)

Definition at line 438 of file Mesh.cpp.

◆ operator<<()

std::ostream & carla::geom::operator<<	(	std::ostream &	out,
		const Vector3D &	vector3D
	)

Definition at line 28 of file test_geom.cpp.

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

◆ operator==()

constexpr bool carla::geom::operator==	(	Location	lhs,
		Location	rhs
	)

constexpr

Definition at line 113 of file geom/Location.h.

◆ RadiansToDegrees()

static double carla::geom::RadiansToDegrees ( double radians )

static

Definition at line 23 of file GeoProjection.cpp.

Referenced by carla::geom::GeoProjection::TransformToGeoLocationLambertConformalConic(), carla::geom::GeoProjection::TransformToGeoLocationTransverseMercator(), carla::geom::GeoProjection::TransformToGeoLocationUniversalTransverseMercator(), and carla::geom::GeoProjection::TransformToGeoLocationWebMercator().

◆ SwapHandedness()

static Location carla::geom::SwapHandedness ( Location location )

static

Definition at line 29 of file GeoProjection.cpp.

References carla::geom::Vector3D::y.

Referenced by carla::geom::GeoProjection::GeoLocationToTransform(), and carla::geom::GeoProjection::TransformToGeoLocation().

Variable Documentation

◆ custom_ellipsoids

const std::unordered_map<std::string, std::pair<double,double> > carla::geom::custom_ellipsoids

static

Initial value:

= {
        {"wgs84",  {6378137.0, 298.257223563}},
        {"grs80",  {6378137.0, 298.257222101}},
        {"intl",   {6378388.0, 297.0}},
        {"bessel", {6377397.155, 299.1528128}},
        {"clrk66", {6378206.4, 294.9786982138}},
        {"airy",   {6377563.396, 299.3249646}},
        {"wgs72",  {6378135.0, 298.26}},
        {"wgs66",  {6378145.0, 298.25}},
        {"sphere", {6370997.0, std::numeric_limits<double>::infinity()}}
    }

Definition at line 20 of file GeoProjectionsParams.h.

◆ EPSILON

constexpr double carla::geom::EPSILON = 10.0 * std::numeric_limits<double>::epsilon()

staticconstexpr

We use this epsilon to shift the waypoints away from the edges of the lane sections to avoid floating point precision errors.

Definition at line 31 of file MeshFactory.cpp.

◆ MESH_EPSILON

constexpr double carla::geom::MESH_EPSILON = 50.0 * std::numeric_limits<double>::epsilon()

staticconstexpr

Definition at line 32 of file MeshFactory.cpp.

Referenced by carla::geom::MeshFactory::Generate(), carla::geom::MeshFactory::GenerateLeftWall(), carla::geom::MeshFactory::GenerateRightWall(), carla::geom::MeshFactory::GenerateSidewalk(), and carla::geom::MeshFactory::GenerateTesselated().

Namespaces

Classes

Typedefs

Enumerations

Functions

Variables

Typedef Documentation

◆ ProjectionParams

Enumeration Type Documentation

◆ ProjectionType

Function Documentation

◆ ComputeVertexWeight()

◆ DegreesToRadians()

◆ GetVertexNeighborhoodAndWeights()

◆ operator!=()

◆ operator+()

◆ operator<<()

◆ operator==()

◆ RadiansToDegrees()

◆ SwapHandedness()

Variable Documentation

◆ custom_ellipsoids

◆ EPSILON

◆ MESH_EPSILON