An OpenDRIVE road: a run of carriageway divided along s into lane sections, each holding the lanes. More...

#include <Road.h>

Inheritance diagram for carla::client::Road:

Public Member Functions
road::RoadId	GetId () const

SharedPtr< Junction >	GetJunction () const
	The junction this road belongs to, or nullptr when it is not part of one.

road::JuncId	GetJunctionId () const
	Id of the junction this road belongs to, or -1 when it is not part of one.

SharedPtr< Lane >	GetLane (road::SectionId section_id, road::LaneId lane_id) const

SharedPtr< Lane >	GetLaneAt (double s, road::LaneId lane_id) const
	The lane with this id in whichever section covers s.

std::vector< SharedPtr< Lane > >	GetLanes (double s, road::Lane::LaneType type=road::Lane::LaneType::Driving) const
	Every lane of the given type present at road coordinate s, across every lane section covering it.

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

std::string	GetName () const

std::vector< SharedPtr< Road > >	GetNextRoads () const
	Roads reachable by continuing forward.

road::RoadId	GetPredecessorId () const
	Id of the road that precedes this one, as recorded in OpenDRIVE.

std::vector< SharedPtr< Road > >	GetPreviousRoads () const
	Roads that lead into this one.

SharedPtr< LaneSection >	GetSection (road::SectionId section_id) const

SharedPtr< LaneSection >	GetSectionAt (double s) const
	The lane section covering road coordinate s, or nullptr.

std::vector< SharedPtr< LaneSection > >	GetSections () const

road::RoadId	GetSuccessorId () const
	Id of the road that follows this one, as recorded in OpenDRIVE.

geom::Transform	GetTransformAt (double s) const
	Transform at the centre of the road at road coordinate s.

std::vector< SharedPtr< Waypoint > >	GetWaypoints (double distance, road::Lane::LaneType type=road::Lane::LaneType::Driving) const
	Waypoints sampled along the road every distance metres, on every lane of the given type.

std::vector< SharedPtr< Waypoint > >	GetWaypointsAt (double s, road::Lane::LaneType type=road::Lane::LaneType::Driving) const
	A cross-section: one waypoint per lane of the given type at s.

bool	IsJunction () const

bool	IsRHT () const
	Whether traffic on this road drives on the right.

bool	operator!= (const Road &rhs) const

bool	operator== (const Road &rhs) const

Private Member Functions
	Road (SharedPtr< const Map > parent, road::RoadId road_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
SharedPtr< const Map >	_parent

road::RoadId	_road_id

Friends
class	Junction

class	Lane

class	LaneSection

class	Map

class	Waypoint

Detailed Description

An OpenDRIVE road: a run of carriageway divided along s into lane sections, each holding the lanes.

Roads connect end to end through GetNextRoads() / GetPreviousRoads(), or through a junction. There is deliberately no left/right here: OpenDRIVE gives roads no lateral relation, since a road already contains the lanes on both sides of its centre line. Lateral neighbours live on Lane.

Definition at line 34 of file client/Road.h.

Constructor & Destructor Documentation

◆ Road()

carla::client::Road::Road	(	SharedPtr< const Map >	parent,
		road::RoadId	road_id
	)

inlineprivate

Definition at line 122 of file client/Road.h.

Member Function Documentation

◆ GetId()

road::RoadId carla::client::Road::GetId ( ) const

inline

Definition at line 39 of file client/Road.h.

References _road_id.

◆ GetJunction()

SharedPtr< Junction > carla::client::Road::GetJunction ( ) const

The junction this road belongs to, or nullptr when it is not part of one.

Definition at line 135 of file client/Road.cpp.

References _parent, GetJunctionId(), and IsJunction().

◆ GetJunctionId()

road::JuncId carla::client::Road::GetJunctionId ( ) const

Id of the junction this road belongs to, or -1 when it is not part of one.

Definition at line 41 of file client/Road.cpp.

References _parent, _road_id, carla::road::Road::GetJunctionId(), and carla::client::GetRoadData().

Referenced by GetJunction().

◆ GetLane()

SharedPtr< Lane > carla::client::Road::GetLane	(	road::SectionId	section_id,
		road::LaneId	lane_id
	)		const

Definition at line 97 of file client/Road.cpp.

References _parent, and _road_id.

◆ GetLaneAt()

SharedPtr< Lane > carla::client::Road::GetLaneAt	(	double	s,
		road::LaneId	lane_id
	)		const

The lane with this id in whichever section covers s.

Definition at line 101 of file client/Road.cpp.

References _parent, _road_id, and GetSectionAt().

◆ GetLanes()

std::vector< SharedPtr< Lane > > carla::client::Road::GetLanes	(	double	s,
		road::Lane::LaneType	type = `road::Lane::LaneType::Driving`
	)		const

Every lane of the given type present at road coordinate s, across every lane section covering it.

Definition at line 81 of file client/Road.cpp.

References _parent, _road_id, carla::client::GetRoadData(), and road.

Referenced by GetWaypointsAt().

◆ GetLength()

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

Length of the road, in metres.

Definition at line 33 of file client/Road.cpp.

References _parent, _road_id, carla::road::Road::GetLength(), and carla::client::GetRoadData().

Referenced by GetWaypoints().

◆ GetName()

std::string carla::client::Road::GetName ( ) const

Definition at line 29 of file client/Road.cpp.

References _parent, _road_id, carla::road::Road::GetName(), and carla::client::GetRoadData().

◆ GetNextRoads()

std::vector< SharedPtr< Road > > carla::client::Road::GetNextRoads ( ) const

Roads reachable by continuing forward.

Definition at line 57 of file client/Road.cpp.

References _parent, _road_id, carla::road::Road::GetNexts(), carla::client::GetRoadData(), and road.

◆ GetPredecessorId()

road::RoadId carla::client::Road::GetPredecessorId ( ) const

Id of the road that precedes this one, as recorded in OpenDRIVE.

Definition at line 53 of file client/Road.cpp.

References _parent, _road_id, carla::road::Road::GetPredecessor(), and carla::client::GetRoadData().

◆ GetPreviousRoads()

std::vector< SharedPtr< Road > > carla::client::Road::GetPreviousRoads ( ) const

Roads that lead into this one.

Definition at line 69 of file client/Road.cpp.

References _parent, _road_id, carla::road::Road::GetPrevs(), carla::client::GetRoadData(), and road.

◆ GetSection()

SharedPtr< LaneSection > carla::client::Road::GetSection ( road::SectionId section_id ) const

Definition at line 117 of file client/Road.cpp.

References _parent, and _road_id.

◆ GetSectionAt()

SharedPtr< LaneSection > carla::client::Road::GetSectionAt ( double s ) const

The lane section covering road coordinate s, or nullptr.

Definition at line 121 of file client/Road.cpp.

References _parent, _road_id, carla::road::LaneSection::GetId(), carla::client::GetRoadData(), and road.

Referenced by GetLaneAt().

◆ GetSections()

std::vector< SharedPtr< LaneSection > > carla::client::Road::GetSections ( ) const

Definition at line 109 of file client/Road.cpp.

References _parent, _road_id, carla::road::Road::GetLaneSections(), and carla::client::GetRoadData().

◆ GetSuccessorId()

road::RoadId carla::client::Road::GetSuccessorId ( ) const

Id of the road that follows this one, as recorded in OpenDRIVE.

Definition at line 49 of file client/Road.cpp.

References _parent, _road_id, carla::client::GetRoadData(), and carla::road::Road::GetSuccessor().

◆ GetTransformAt()

geom::Transform carla::client::Road::GetTransformAt ( double s ) const

Transform at the centre of the road at road coordinate s.

Definition at line 142 of file client/Road.cpp.

References _parent, _road_id, carla::road::Road::GetDirectedPointIn(), carla::client::GetRoadData(), carla::road::element::DirectedPoint::location, carla::geom::Math::ToDegrees(), and carla::geom::Vector3D::y.

◆ GetWaypoints()

std::vector< SharedPtr< Waypoint > > carla::client::Road::GetWaypoints	(	double	distance,
		road::Lane::LaneType	type = `road::Lane::LaneType::Driving`
	)		const

Waypoints sampled along the road every distance metres, on every lane of the given type.

Not to be confused with GetWaypointsAt(), which cuts across the road at a single s.

Definition at line 170 of file client/Road.cpp.

References distance, GetLength(), and GetWaypointsAt().

◆ GetWaypointsAt()

std::vector< SharedPtr< Waypoint > > carla::client::Road::GetWaypointsAt	(	double	s,
		road::Lane::LaneType	type = `road::Lane::LaneType::Driving`
	)		const

A cross-section: one waypoint per lane of the given type at s.

Definition at line 157 of file client/Road.cpp.

References GetLanes().

Referenced by GetWaypoints().

◆ IsJunction()

bool carla::client::Road::IsJunction ( ) const

Definition at line 37 of file client/Road.cpp.

References _parent, _road_id, carla::client::GetRoadData(), and carla::road::Road::IsJunction().

Referenced by GetJunction().

◆ IsRHT()

bool carla::client::Road::IsRHT ( ) const

Whether traffic on this road drives on the right.

Definition at line 45 of file client/Road.cpp.

References _parent, _road_id, carla::client::GetRoadData(), and carla::road::Road::IsRHT().

◆ operator!=()

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

inline

Definition at line 110 of file client/Road.h.

◆ operator==()

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

inline

Definition at line 106 of file client/Road.h.

References _road_id.

Friends And Related Symbol Documentation

◆ Junction

friend class Junction

friend

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

◆ Lane

friend class Lane

friend

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

◆ LaneSection

friend class LaneSection

friend

Definition at line 118 of file client/Road.h.

◆ Map

friend class Map

friend

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

◆ Waypoint

friend class Waypoint

friend

Definition at line 120 of file client/Road.h.

Member Data Documentation

◆ _parent

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

private

Definition at line 126 of file client/Road.h.

Referenced by GetJunction(), GetJunctionId(), GetLane(), GetLaneAt(), GetLanes(), GetLength(), GetName(), GetNextRoads(), GetPredecessorId(), GetPreviousRoads(), GetSection(), GetSectionAt(), GetSections(), GetSuccessorId(), GetTransformAt(), IsJunction(), and IsRHT().

◆ _road_id

road::RoadId carla::client::Road::_road_id

private

Definition at line 128 of file client/Road.h.

Referenced by GetId(), GetJunctionId(), GetLane(), GetLaneAt(), GetLanes(), GetLength(), GetName(), GetNextRoads(), GetPredecessorId(), GetPreviousRoads(), GetSection(), GetSectionAt(), GetSections(), GetSuccessorId(), GetTransformAt(), IsJunction(), IsRHT(), 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

◆ Road()

Member Function Documentation

◆ GetId()

◆ GetJunction()

◆ GetJunctionId()

◆ GetLane()

◆ GetLaneAt()

◆ GetLanes()

◆ GetLength()

◆ GetName()

◆ GetNextRoads()

◆ GetPredecessorId()

◆ GetPreviousRoads()

◆ GetSection()

◆ GetSectionAt()

◆ GetSections()

◆ GetSuccessorId()

◆ GetTransformAt()

◆ GetWaypoints()

◆ GetWaypointsAt()

◆ IsJunction()

◆ IsRHT()

◆ operator!=()

◆ operator==()

Friends And Related Symbol Documentation

◆ Junction

◆ Lane

◆ LaneSection

◆ Map

◆ Waypoint

Member Data Documentation

◆ _parent

◆ _road_id