A single OpenDRIVE lane, identified by (road id, lane section id, lane id). More...

#include <Lane.h>

Inheritance diagram for carla::client::Lane:

Public Member Functions
double	GetDistance () const
	The s coordinate, along the road, at which this lane's section begins.

road::LaneId	GetId () const

SharedPtr< Lane >	GetLeftLane () const
	The lane to the left, or nullptr. See GetRightLane() on direction.

double	GetLength () const
	Length of the lane, in metres.

bool	GetLevel () const

std::vector< SharedPtr< Lane > >	GetNextLanes () const
	Lanes this one leads into. Empty where the lane ends.

std::vector< SharedPtr< Lane > >	GetPreviousLanes () const
	Lanes leading into this one.

SharedPtr< Lane >	GetRightLane () const
	The lane to the right, or nullptr at the edge of the road.

SharedPtr< Road >	GetRoad () const

road::RoadId	GetRoadId () const

SharedPtr< LaneSection >	GetSection () const

road::SectionId	GetSectionId () const

geom::Transform	GetTransform (double s) const

road::Lane::LaneType	GetType () const

uint64_t	GetUniqueId () const
	Unique id of this lane within its map, for use as a dictionary key.

SharedPtr< Waypoint >	GetWaypoint (double s) const
	The waypoint on this lane at road coordinate s, or nullptr when s falls outside the lane.

std::vector< SharedPtr< Waypoint > >	GetWaypoints (double distance) const
	Waypoints along this lane, every distance metres.

double	GetWidth (double s) const
	Lane width at the given s, in metres.

bool	IsPositiveDirection () const
	Whether the lane runs along increasing s (a right-hand lane, id < 0).

bool	IsStraight () const

bool	operator!= (const Lane &rhs) const

bool	operator== (const Lane &rhs) const

Private Member Functions
const road::Lane &	GetLane () const
	The underlying OpenDRIVE lane. Valid only while _parent is alive.

	Lane (SharedPtr< const Map > parent, road::RoadId road_id, road::SectionId section_id, road::LaneId lane_id)

Private Member Functions inherited from carla::NonCopyable
	NonCopyable ()=default

	NonCopyable (const NonCopyable &)=delete

	NonCopyable (NonCopyable &&)=delete

NonCopyable &	operator= (const NonCopyable &)=delete

NonCopyable &	operator= (NonCopyable &&)=delete

Private Attributes
road::LaneId	_lane_id

SharedPtr< const Map >	_parent

road::RoadId	_road_id

road::SectionId	_section_id

Friends
class	Junction

class	LaneSection

class	Map

class	Road

class	Waypoint

Detailed Description

A single OpenDRIVE lane, identified by (road id, lane section id, lane id).

A lane lives inside exactly one lane section, which is why its identity carries the section: the same lane id on the same road is a different lane in a different section. Following GetNextLanes() can therefore cross into another section, or return nothing where the lane simply ends.

Like carla::client::Junction, this holds the parent map alive and resolves its ids on each call rather than caching a road::Lane pointer, which would dangle once the map is released.

Definition at line 35 of file client/Lane.h.

Constructor & Destructor Documentation

◆ Lane()

carla::client::Lane::Lane	(	SharedPtr< const Map >	parent,
		road::RoadId	road_id,
		road::SectionId	section_id,
		road::LaneId	lane_id
	)

inlineprivate

Definition at line 119 of file client/Lane.h.

Member Function Documentation

◆ GetDistance()

double carla::client::Lane::GetDistance ( ) const

The s coordinate, along the road, at which this lane's section begins.

Definition at line 66 of file client/Lane.cpp.

References carla::road::Lane::GetDistance(), and GetLane().

Referenced by carla::client::JunctionSideDistance().

◆ GetId()

road::LaneId carla::client::Lane::GetId ( ) const

inline

Definition at line 40 of file client/Lane.h.

References _lane_id.

◆ GetLane()

const road::Lane & carla::client::Lane::GetLane ( ) const

private

The underlying OpenDRIVE lane. Valid only while _parent is alive.

Definition at line 38 of file client/Lane.cpp.

References _lane_id, _parent, _road_id, _section_id, carla::road::Road::GetLaneById(), and carla::road::Lane::GetRoad().

Referenced by GetDistance(), GetLeftLane(), GetLength(), GetLevel(), GetNextLanes(), GetPreviousLanes(), GetRightLane(), GetTransform(), GetType(), GetWaypoint(), GetWaypoints(), GetWidth(), IsPositiveDirection(), and IsStraight().

◆ GetLeftLane()

SharedPtr< Lane > carla::client::Lane::GetLeftLane ( ) const

The lane to the left, or nullptr. See GetRightLane() on direction.

Definition at line 99 of file client/Lane.cpp.

References _lane_id, _parent, _road_id, _section_id, GetLane(), carla::road::Lane::GetRoad(), carla::road::Road::IsRHT(), carla::client::StepInward(), and carla::client::StepOutward().

◆ GetLength()

double carla::client::Lane::GetLength ( ) const

Length of the lane, in metres.

Definition at line 62 of file client/Lane.cpp.

References GetLane(), and carla::road::Lane::GetLength().

Referenced by carla::client::JunctionSideDistance().

◆ GetLevel()

bool carla::client::Lane::GetLevel ( ) const

Definition at line 70 of file client/Lane.cpp.

References GetLane(), and carla::road::Lane::GetLevel().

◆ GetNextLanes()

std::vector< SharedPtr< Lane > > carla::client::Lane::GetNextLanes ( ) const

Lanes this one leads into. Empty where the lane ends.

Definition at line 108 of file client/Lane.cpp.

References _parent, GetLane(), and carla::road::Lane::GetNextLanes().

◆ GetPreviousLanes()

std::vector< SharedPtr< Lane > > carla::client::Lane::GetPreviousLanes ( ) const

Lanes leading into this one.

Definition at line 120 of file client/Lane.cpp.

References _parent, GetLane(), and carla::road::Lane::GetPreviousLanes().

◆ GetRightLane()

SharedPtr< Lane > carla::client::Lane::GetRightLane ( ) const

The lane to the right, or nullptr at the edge of the road.

Crossing the centre line flips the sign of the lane id, so the neighbour returned may run in the opposite direction; this matches Waypoint::GetRight().

Definition at line 90 of file client/Lane.cpp.

References _lane_id, _parent, _road_id, _section_id, GetLane(), carla::road::Lane::GetRoad(), carla::road::Road::IsRHT(), carla::client::StepInward(), and carla::client::StepOutward().

◆ GetRoad()

SharedPtr< Road > carla::client::Lane::GetRoad ( ) const

Definition at line 54 of file client/Lane.cpp.

References _parent, and _road_id.

◆ GetRoadId()

road::RoadId carla::client::Lane::GetRoadId ( ) const

inline

Definition at line 44 of file client/Lane.h.

References _road_id.

◆ GetSection()

SharedPtr< LaneSection > carla::client::Lane::GetSection ( ) const

Definition at line 58 of file client/Lane.cpp.

References _parent, _road_id, and _section_id.

◆ GetSectionId()

road::SectionId carla::client::Lane::GetSectionId ( ) const

inline

Definition at line 48 of file client/Lane.h.

References _section_id.

◆ GetTransform()

geom::Transform carla::client::Lane::GetTransform ( double s ) const

Definition at line 86 of file client/Lane.cpp.

References carla::road::Lane::ComputeTransform(), and GetLane().

◆ GetType()

road::Lane::LaneType carla::client::Lane::GetType ( ) const

Definition at line 50 of file client/Lane.cpp.

References GetLane(), and carla::road::Lane::GetType().

◆ GetUniqueId()

uint64_t carla::client::Lane::GetUniqueId ( ) const

Unique id of this lane within its map, for use as a dictionary key.

Definition at line 42 of file client/Lane.cpp.

References _lane_id, _road_id, and _section_id.

◆ GetWaypoint()

SharedPtr< Waypoint > carla::client::Lane::GetWaypoint ( double s ) const

The waypoint on this lane at road coordinate s, or nullptr when s falls outside the lane.

Definition at line 132 of file client/Lane.cpp.

References _lane_id, _parent, _road_id, _section_id, carla::road::Lane::GetDistance(), GetLane(), and carla::road::Lane::GetLength().

◆ GetWaypoints()

std::vector< SharedPtr< Waypoint > > carla::client::Lane::GetWaypoints ( double distance ) const

Waypoints along this lane, every distance metres.

Definition at line 143 of file client/Lane.cpp.

References _parent, distance, carla::road::Lane::GetDistance(), GetLane(), and carla::road::Lane::GetLength().

◆ GetWidth()

double carla::client::Lane::GetWidth ( double s ) const

Lane width at the given s, in metres.

s is a road coordinate, not an offset from the start of the lane.

Definition at line 82 of file client/Lane.cpp.

References GetLane(), and carla::road::Lane::GetWidth().

◆ IsPositiveDirection()

bool carla::client::Lane::IsPositiveDirection ( ) const

Whether the lane runs along increasing s (a right-hand lane, id < 0).

Definition at line 78 of file client/Lane.cpp.

References GetLane(), and carla::road::Lane::IsPositiveDirection().

Referenced by carla::client::JunctionSideDistance().

◆ IsStraight()

bool carla::client::Lane::IsStraight ( ) const

Definition at line 74 of file client/Lane.cpp.

References GetLane(), and carla::road::Lane::IsStraight().

◆ operator!=()

bool carla::client::Lane::operator!= ( const Lane & rhs ) const

inline

Definition at line 107 of file client/Lane.h.

◆ operator==()

bool carla::client::Lane::operator== ( const Lane & rhs ) const

inline

Definition at line 101 of file client/Lane.h.

References _lane_id, _road_id, and _section_id.

Friends And Related Symbol Documentation

◆ Junction

friend class Junction

friend

Definition at line 116 of file client/Lane.h.

◆ LaneSection

friend class LaneSection

friend

Definition at line 115 of file client/Lane.h.

◆ Map

friend class Map

friend

Definition at line 113 of file client/Lane.h.

◆ Road

friend class Road

friend

Definition at line 114 of file client/Lane.h.

◆ Waypoint

friend class Waypoint

friend

Definition at line 117 of file client/Lane.h.

Member Data Documentation

◆ _lane_id

road::LaneId carla::client::Lane::_lane_id

private

Definition at line 138 of file client/Lane.h.

Referenced by GetId(), GetLane(), GetLeftLane(), GetRightLane(), GetUniqueId(), GetWaypoint(), and operator==().

◆ _parent

SharedPtr<const Map> carla::client::Lane::_parent

private

Definition at line 132 of file client/Lane.h.

Referenced by GetLane(), GetLeftLane(), GetNextLanes(), GetPreviousLanes(), GetRightLane(), GetRoad(), GetSection(), GetWaypoint(), and GetWaypoints().

◆ _road_id

road::RoadId carla::client::Lane::_road_id

private

Definition at line 134 of file client/Lane.h.

Referenced by GetLane(), GetLeftLane(), GetRightLane(), GetRoad(), GetRoadId(), GetSection(), GetUniqueId(), GetWaypoint(), and operator==().

◆ _section_id

road::SectionId carla::client::Lane::_section_id

private

Definition at line 136 of file client/Lane.h.

Referenced by GetLane(), GetLeftLane(), GetRightLane(), GetSection(), GetSectionId(), GetUniqueId(), GetWaypoint(), and operator==().

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

Public Member Functions

Private Member Functions

Private Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ Lane()

Member Function Documentation

◆ GetDistance()

◆ GetId()

◆ GetLane()

◆ GetLeftLane()

◆ GetLength()

◆ GetLevel()

◆ GetNextLanes()

◆ GetPreviousLanes()

◆ GetRightLane()

◆ GetRoad()

◆ GetRoadId()

◆ GetSection()

◆ GetSectionId()

◆ GetTransform()

◆ GetType()

◆ GetUniqueId()

◆ GetWaypoint()

◆ GetWaypoints()

◆ GetWidth()

◆ IsPositiveDirection()

◆ IsStraight()

◆ operator!=()

◆ operator==()

Friends And Related Symbol Documentation

◆ Junction

◆ LaneSection

◆ Map

◆ Road

◆ Waypoint

Member Data Documentation

◆ _lane_id

◆ _parent

◆ _road_id

◆ _section_id