Namespaces
namespace	geom

Classes
struct	BoundingBox

struct	ClassDefaults
	Per highway class defaults, ported from profiles.py's _EU_CLASSES. More...

struct	Connection

struct	Controller

struct	Elevation

struct	Geom

struct	Junction

struct	Lane
	One lane of a road, numbered outward from the reference line. More...

struct	LaneGraphOptions

struct	LaneLink

struct	LaneProfile
	The lane layout an OSM way resolves to, before it is cut at junctions. More...

class	LocalFrame
	WGS84 <-> local ENU metres, a transverse Mercator centred on the origin. More...

struct	Marking

struct	OsmData

struct	OsmMember

struct	OsmNode

struct	OsmRelation

struct	OsmWay

struct	Road

struct	RoadLink

struct	Signal

struct	SignalOptions

struct	SignalType

struct	TwinModelData
	Everything the OpenDRIVE writer reads. More...

Typedefs
using	Tags = std::map< std::string, std::string >

Enumerations
enum class	ContactPoint { Start , End }

enum class	Direction { Forward , Backward , Both }

enum class	LaneType { Driving , Sidewalk , Shoulder , Parking , Biking , Border , Restricted , Median , None }

enum class	LinkElement { Road , Junction }

enum class	MarkingColor { White , Yellow }

enum class	MarkingKind { None , Solid , Broken , SolidSolid , SolidBroken , BrokenSolid , BrokenBroken }

enum class	SignalKind { TrafficLight , TrafficLightPedestrian , SpeedLimit , Stop , Yield , PriorityRoad , Crosswalk }
	OpenDRIVE type/subtype follow road/SignalType.h; the crosswalk is not a signal in CARLA but an <object type="crosswalk">. More...

Functions
TwinModelData	BuildLaneGraph (const OsmData &osm, const LocalFrame &frame, const std::string &name, const LaneGraphOptions &options=LaneGraphOptions())
	OSM ways -> roads, lanes and junctions in model space.

void	BuildSignals (const OsmData &osm, const LocalFrame &frame, TwinModelData &model, const SignalOptions &options)
	Read traffic lights, stop and give-way signs, speed limits and crossings out of the OSM tags and attach them to the roads they govern.

std::string	ExportXodr (const TwinModelData &model, const LocalFrame &frame)
	Serialise the model as an OpenDRIVE 1.6 document.

const ClassDefaults *	FindClassDefaults (const std::string &highway)

const std::string *	FindTag (const Tags &tags, const std::string &key)

std::vector< Geom >	FitPlanView (const geom::Line3 &line, double max_offset=kMaxPlanViewOffset)
	Fit a polyline as a piecewise cubic paramPoly3 planview.

SignalType	GetSignalType (SignalKind kind)

bool	HasTag (const Tags &tags, const std::string &key, const std::string &value)

bool	IsDrivable (const std::string &highway)
	True when the way carries motor traffic and should become a Road.

std::optional< double >	ParseMaxSpeed (const std::string &value)
	Parse an OSM maxspeed value into m/s; "50", "50 km/h" and "30 mph".

OsmData	ParseOsmXml (const std::string &xml)
	Parse an OpenStreetMap XML document.

LaneProfile	ResolveProfile (const std::string &highway, const Tags &tags)
	Resolve the lane layout from the way's tags, falling back to the class defaults.

const char *	ToString (ContactPoint point)

const char *	ToString (Direction direction)

const char *	ToString (LaneType type)

const char *	ToString (MarkingColor color)

const char *	ToString (MarkingKind kind)

Variables
constexpr double	kMaxPlanViewOffset = 0.25
	A vertex whose rounding would pull the curve further than this off the polyline becomes a corner instead; export/xodr.py's MAX_PLANVIEW_OFFSET.

Typedef Documentation

◆ Tags

using twinmodel::Tags = typedef std::map<std::string, std::string>

Definition at line 18 of file Model.h.

Enumeration Type Documentation

◆ ContactPoint

enum class twinmodel::ContactPoint

strong

Enumerator
Start
End

Definition at line 40 of file Model.h.

◆ Direction

enum class twinmodel::Direction

strong

Enumerator
Forward
Backward
Both

Definition at line 34 of file Model.h.

◆ LaneType

enum class twinmodel::LaneType

strong

Enumerator
Driving
Sidewalk
Shoulder
Parking
Biking
Border
Restricted
Median
None

Definition at line 30 of file Model.h.

◆ LinkElement

enum class twinmodel::LinkElement

strong

Enumerator
Road
Junction

Definition at line 42 of file Model.h.

◆ MarkingColor

enum class twinmodel::MarkingColor

strong

Enumerator
White
Yellow

Definition at line 38 of file Model.h.

◆ MarkingKind

enum class twinmodel::MarkingKind

strong

Enumerator
None
Solid
Broken
SolidSolid
SolidBroken
BrokenSolid
BrokenBroken

Definition at line 36 of file Model.h.

◆ SignalKind

enum class twinmodel::SignalKind

strong

OpenDRIVE type/subtype follow road/SignalType.h; the crosswalk is not a signal in CARLA but an <object type="crosswalk">.

Enumerator
TrafficLight
TrafficLightPedestrian
SpeedLimit
Stop
Yield
PriorityRoad
Crosswalk

Definition at line 46 of file Model.h.

Function Documentation

◆ BuildLaneGraph()

TwinModelData twinmodel::BuildLaneGraph	(	const OsmData &	osm,
		const LocalFrame &	frame,
		const std::string &	name,
		const LaneGraphOptions &	options = `LaneGraphOptions()`
	)

OSM ways -> roads, lanes and junctions in model space.

The C++ port of twinmodel/lanegraph.py's build_lanegraph.

Definition at line 339 of file LaneGraph.cpp.

References twinmodel::LaneGraphOptions::clip, twinmodel::LaneGraphOptions::cluster_m, twinmodel::Connection::connecting_road, contact, twinmodel::Connection::contact_point, twinmodel::Lane::direction, Driving, End, twinmodel::TwinModelData::FindRoad(), FindTag(), Forward, twinmodel::LocalFrame::GetOriginLatitude(), twinmodel::LocalFrame::GetOriginLongitude(), twinmodel::geom::HeadingAt(), highway, twinmodel::Road::highway, twinmodel::geom::Hypot(), twinmodel::Lane::id, twinmodel::RoadLink::id, twinmodel::Road::id, twinmodel::Connection::id, twinmodel::Junction::id, twinmodel::Connection::incoming_road, IsDrivable(), Junction, junction, twinmodel::Road::junction_id, twinmodel::LaneGraphOptions::junction_radius, twinmodel::TwinModelData::junctions, twinmodel::Connection::lane_links, twinmodel::Road::lanes, twinmodel::geom::Length(), twinmodel::LaneGraphOptions::min_road_length, twinmodel::TwinModelData::name, node, twinmodel::OsmData::nodes, twinmodel::geom::NormalizeAngle(), twinmodel::TwinModelData::origin_lat, twinmodel::TwinModelData::origin_lon, point, twinmodel::Road::predecessor, twinmodel::Lane::predecessor_lane, twinmodel::Road::reference_line, ResolveProfile(), Road, road, road_id, twinmodel::TwinModelData::roads, Start, twinmodel::Road::successor, twinmodel::Lane::successor_lane, twinmodel::geom::To2D(), twinmodel::LocalFrame::ToLocal(), twinmodel::Lane::type, twinmodel::LaneGraphOptions::uturn_deg, twinmodel::OsmData::ways, twinmodel::Lane::width, x, and y.

Referenced by osm2odr::ConvertOSMToOpenDRIVE().

◆ BuildSignals()

void twinmodel::BuildSignals	(	const OsmData &	osm,
		const LocalFrame &	frame,
		TwinModelData &	model,
		const SignalOptions &	options
	)

Read traffic lights, stop and give-way signs, speed limits and crossings out of the OSM tags and attach them to the roads they govern.

Definition at line 89 of file Signals.cpp.

References twinmodel::SignalOptions::all_junctions_traffic_lights, twinmodel::TwinModelData::controllers, Crosswalk, twinmodel::TwinModelData::FindRoad(), FindTag(), twinmodel::SignalOptions::generate_traffic_lights, twinmodel::geom::HeadingAt(), highway, twinmodel::Controller::id, twinmodel::geom::Interpolate(), junction, twinmodel::Controller::junction_id, twinmodel::TwinModelData::junctions, twinmodel::geom::Length(), node, twinmodel::OsmData::nodes, ParseMaxSpeed(), point, PriorityRoad, road, road_id, twinmodel::TwinModelData::roads, twinmodel::Controller::sequence, twinmodel::Controller::signal_ids, twinmodel::TwinModelData::signals, twinmodel::SignalOptions::snap_m, SpeedLimit, Stop, twinmodel::geom::To2D(), twinmodel::LocalFrame::ToLocal(), TrafficLight, TrafficLightPedestrian, x, y, and Yield.

Referenced by osm2odr::ConvertOSMToOpenDRIVE().

◆ ExportXodr()

std::string twinmodel::ExportXodr	(	const TwinModelData &	model,
		const LocalFrame &	frame
	)

Serialise the model as an OpenDRIVE 1.6 document.

The C++ port of twinmodel/export/xodr.py's export_xodr.

Definition at line 345 of file XodrExport.cpp.

References pugi::xml_node::append_attribute(), pugi::xml_node::append_child(), twinmodel::TwinModelData::controllers, twinmodel::LocalFrame::GetProjString(), junction, twinmodel::TwinModelData::junctions, twinmodel::TwinModelData::name, node, pugi::node_cdata, pugi::node_declaration, pugi::xml_node::prepend_child(), road, twinmodel::TwinModelData::roads, pugi::xml_document::save(), pugi::xml_attribute::set_value(), pugi::xml_node::set_value(), twinmodel::TwinModelData::signals, and ToString().

Referenced by osm2odr::ConvertOSMToOpenDRIVE().

◆ FindClassDefaults()

const ClassDefaults * twinmodel::FindClassDefaults ( const std::string & highway )

Definition at line 78 of file Profiles.cpp.

References highway.

Referenced by ResolveProfile().

◆ FindTag()

const std::string * twinmodel::FindTag	(	const Tags &	tags,
		const std::string &	key
	)

inline

Definition at line 20 of file Model.h.

References tags.

Referenced by BuildLaneGraph(), BuildSignals(), HasTag(), and ResolveProfile().

◆ FitPlanView()

std::vector< Geom > twinmodel::FitPlanView	(	const geom::Line3 &	line,
		double	max_offset = `kMaxPlanViewOffset`
	)

Fit a polyline as a piecewise cubic paramPoly3 planview.

Tangent directions are Catmull-Rom, magnitudes the chord length, each segment expressed in the frame rotated to its start tangent so hdg stays G1.

Definition at line 102 of file PlanView.cpp.

References twinmodel::Geom::coeffs, twinmodel::Geom::hdg, twinmodel::Geom::is_line, twinmodel::Geom::length, twinmodel::Geom::s, x, twinmodel::Geom::x, y, and twinmodel::Geom::y.

◆ GetSignalType()

SignalType twinmodel::GetSignalType ( SignalKind kind )

Definition at line 52 of file ModelStrings.cpp.

References Crosswalk, PriorityRoad, SpeedLimit, Stop, TrafficLight, TrafficLightPedestrian, and Yield.

◆ HasTag()

bool twinmodel::HasTag	(	const Tags &	tags,
		const std::string &	key,
		const std::string &	value
	)

inline

Definition at line 25 of file Model.h.

References FindTag(), and tags.

◆ IsDrivable()

bool twinmodel::IsDrivable ( const std::string & highway )

True when the way carries motor traffic and should become a Road.

Definition at line 70 of file Profiles.cpp.

References highway.

Referenced by BuildLaneGraph().

◆ ParseMaxSpeed()

std::optional< double > twinmodel::ParseMaxSpeed ( const std::string & value )

Parse an OSM maxspeed value into m/s; "50", "50 km/h" and "30 mph".

Definition at line 84 of file Profiles.cpp.

Referenced by BuildSignals(), and ResolveProfile().

◆ ParseOsmXml()

OsmData twinmodel::ParseOsmXml ( const std::string & xml )

Parse an OpenStreetMap XML document.

Throws std::runtime_error when the document cannot be parsed or carries no nodes.

Definition at line 47 of file OsmIngest.cpp.

References pugi::xml_attribute::as_double(), pugi::xml_node::attribute(), twinmodel::OsmData::bbox, pugi::xml_node::child(), pugi::xml_parse_result::description(), twinmodel::BoundingBox::east, twinmodel::OsmNode::id, twinmodel::OsmWay::id, twinmodel::OsmRelation::id, twinmodel::OsmNode::lat, pugi::xml_document::load_buffer(), twinmodel::OsmNode::lon, twinmodel::OsmRelation::members, pugi::xml_node::next_sibling(), node, twinmodel::OsmWay::nodes, twinmodel::OsmData::nodes, twinmodel::BoundingBox::north, twinmodel::OsmMember::ref, twinmodel::OsmData::relations, twinmodel::OsmMember::role, twinmodel::BoundingBox::south, twinmodel::OsmNode::tags, twinmodel::OsmWay::tags, twinmodel::OsmRelation::tags, twinmodel::OsmMember::type, twinmodel::OsmData::ways, and twinmodel::BoundingBox::west.

Referenced by osm2odr::ConvertOSMToOpenDRIVE().

◆ ResolveProfile()

LaneProfile twinmodel::ResolveProfile	(	const std::string &	highway,
		const Tags &	tags
	)

Resolve the lane layout from the way's tags, falling back to the class defaults.

Honours lanes, lanes:forward/backward, oneway, width, maxspeed.

Definition at line 96 of file Profiles.cpp.

Referenced by BuildLaneGraph().

◆ ToString() [1/5]

const char * twinmodel::ToString ( ContactPoint point )

Definition at line 65 of file ModelStrings.cpp.

References End, and point.

◆ ToString() [2/5]

const char * twinmodel::ToString ( Direction direction )

Definition at line 26 of file ModelStrings.cpp.

References Backward, Both, and Forward.

◆ ToString() [3/5]

const char * twinmodel::ToString ( LaneType type )

Definition at line 11 of file ModelStrings.cpp.

References Biking, Border, Driving, Median, None, Parking, Restricted, Shoulder, and Sidewalk.

Referenced by ExportXodr().

◆ ToString() [4/5]

const char * twinmodel::ToString ( MarkingColor color )

Definition at line 48 of file ModelStrings.cpp.

References Yellow.

◆ ToString() [5/5]

const char * twinmodel::ToString ( MarkingKind kind )

Definition at line 35 of file ModelStrings.cpp.

References Broken, BrokenBroken, BrokenSolid, None, Solid, SolidBroken, and SolidSolid.

Variable Documentation

◆ kMaxPlanViewOffset

constexpr double twinmodel::kMaxPlanViewOffset = 0.25

constexpr

A vertex whose rounding would pull the curve further than this off the polyline becomes a corner instead; export/xodr.py's MAX_PLANVIEW_OFFSET.

Definition at line 18 of file PlanView.h.

Namespaces

Classes

Typedefs

Enumerations

Functions

Variables

Typedef Documentation

◆ Tags

Enumeration Type Documentation

◆ ContactPoint

◆ Direction

◆ LaneType

◆ LinkElement

◆ MarkingColor

◆ MarkingKind

◆ SignalKind

Function Documentation

◆ BuildLaneGraph()

◆ BuildSignals()

◆ ExportXodr()

◆ FindClassDefaults()

◆ FindTag()

◆ FitPlanView()

◆ GetSignalType()

◆ HasTag()

◆ IsDrivable()

◆ ParseMaxSpeed()

◆ ParseOsmXml()

◆ ResolveProfile()

◆ ToString() [1/5]

◆ ToString() [2/5]

◆ ToString() [3/5]

◆ ToString() [4/5]

◆ ToString() [5/5]

Variable Documentation

◆ kMaxPlanViewOffset