#include <Road.h>

Inheritance diagram for carla::road::Road:

Public Member Functions
element::DirectedPoint	GetDirectedPointIn (const double s) const
	Returns a directed point on the center of the road (lane 0), with the corresponding laneOffset and elevation records applied, on distance "s".

element::DirectedPoint	GetDirectedPointInNoLaneOffset (const double s) const
	Returns a directed point on the center of the road (lane 0), with the corresponding laneOffset and elevation records applied, on distance "s".

const geom::CubicPolynomial &	GetElevationOn (const double s) const

LaneSection *	GetEndSection (LaneId id)
	Get the end section (from road coordinates s) given a lane id.

RoadId	GetId () const

template<typename T >
const T *	GetInfo (const double s) const

template<typename T >
std::vector< const T * >	GetInfos () const

template<typename T >
std::vector< const T * >	GetInfosInRange (const double min_s, const double max_s) const

JuncId	GetJunctionId () const

Lane &	GetLaneByDistance (double s, LaneId lane_id)

const Lane &	GetLaneByDistance (double s, LaneId lane_id) const

Lane &	GetLaneById (SectionId section_id, LaneId lane_id)

const Lane &	GetLaneById (SectionId section_id, LaneId lane_id) const

std::map< LaneId, const Lane * >	GetLanesAt (const double s) const
	Get all lanes at a given s.

std::vector< Lane * >	GetLanesByDistance (double s)
	Get all lanes from all lane sections in a specific s.

std::vector< const Lane * >	GetLanesByDistance (double s) const

LaneSection &	GetLaneSectionById (SectionId id)

const LaneSection &	GetLaneSectionById (SectionId id) const

auto	GetLaneSections () const

auto	GetLaneSectionsAt (const double s)

auto	GetLaneSectionsAt (const double s) const

double	GetLateralShapeZ (const double s, const double t) const
	Surface height offset from the <lateralProfile><shape> records at (s, t).

double	GetLength () const

const MapData *	GetMap () const

std::string	GetName () const

const std::pair< const Lane *, double >	GetNearestLane (const double s, const geom::Location &loc, uint32_t type=static_cast< uint32_t >(Lane::LaneType::Any)) const
	Returns a pointer to the nearest lane, given s relative to Road and a location.

const std::pair< double, double >	GetNearestPoint (const geom::Location &loc) const
	Returns a pair containing:

Lane *	GetNextLane (const double s, const LaneId lane_id)

std::vector< Road * >	GetNexts () const

RoadId	GetPredecessor () const

Lane *	GetPrevLane (const double s, const LaneId lane_id)

std::vector< Road * >	GetPrevs () const

LaneSection *	GetStartSection (LaneId id)
	Get the start section (from road coordinates s) given a lane id.

RoadId	GetSuccessor () const

bool	IsJunction () const

bool	IsRHT () const

	Road ()=default

double	UpperBound (double s) const
	Return the upper bound "s", i.e., the end distance of the lane section at s (clamped at road's length).

Static Private Member Functions
template<typename MultiMapT >
static auto	GetLessEqualRange (MultiMapT &map, double s)

Private Attributes
RoadId	_id { 0 }

InformationSet	_info

bool	_is_junction { false }

bool	_is_rht { true }

JuncId	_junction_id { -1 }

LaneSectionMap	_lane_sections

double	_length { 0.0 }

MapData *	_map_data { nullptr }

std::string	_name

std::vector< Road * >	_nexts

RoadId	_predecessor { 0 }

std::vector< Road * >	_prevs

RoadId	_successor { 0 }

friend	MapBuilder

Additional Inherited Members
Private Member Functions inherited from carla::MovableNonCopyable
	MovableNonCopyable ()=default

	MovableNonCopyable (const MovableNonCopyable &)=delete

	MovableNonCopyable (MovableNonCopyable &&)=default

MovableNonCopyable &	operator= (const MovableNonCopyable &)=delete

MovableNonCopyable &	operator= (MovableNonCopyable &&)=default

Detailed Description

Definition at line 32 of file road/Road.h.

Constructor & Destructor Documentation

◆ Road()

carla::road::Road::Road ( )

default

Member Function Documentation

◆ GetDirectedPointIn()

element::DirectedPoint carla::road::Road::GetDirectedPointIn ( const double s ) const

Returns a directed point on the center of the road (lane 0), with the corresponding laneOffset and elevation records applied, on distance "s".

@ param s distance regarding the road to compute the point

Definition at line 246 of file road/Road.cpp.

References _info, _length, carla::road::element::DirectedPoint::ApplyLateralOffset(), carla::geom::Math::Clamp(), GetElevationOn(), carla::road::InformationSet::GetInfo(), carla::road::element::DirectedPoint::location, carla::road::element::DirectedPoint::pitch, and carla::geom::Vector3D::z.

Referenced by GetNearestLane(), and carla::client::Road::GetTransformAt().

◆ GetDirectedPointInNoLaneOffset()

element::DirectedPoint carla::road::Road::GetDirectedPointInNoLaneOffset ( const double s ) const

Returns a directed point on the center of the road (lane 0), with the corresponding laneOffset and elevation records applied, on distance "s".

@ param s distance regarding the road to compute the point

Definition at line 268 of file road/Road.cpp.

References _info, _length, carla::geom::Math::Clamp(), GetElevationOn(), and carla::road::InformationSet::GetInfo().

Referenced by carla::road::MapBuilder::ComputeSignalTransform(), and carla::road::MapBuilder::ComputeStencilTransform().

◆ GetElevationOn()

const geom::CubicPolynomial & carla::road::Road::GetElevationOn ( const double s ) const

Definition at line 72 of file road/Road.cpp.

References carla::throw_exception().

Referenced by GetDirectedPointIn(), and GetDirectedPointInNoLaneOffset().

◆ GetEndSection()

LaneSection * carla::road::Road::GetEndSection ( LaneId id )

Get the end section (from road coordinates s) given a lane id.

Definition at line 173 of file road/Road.cpp.

References _lane_sections.

◆ GetId()

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

Definition at line 32 of file road/Road.cpp.

References _id.

◆ GetInfo()

template<typename T >

const T * carla::road::Road::GetInfo ( const double s ) const

inline

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

References _info, and carla::road::InformationSet::GetInfo().

◆ GetInfos()

template<typename T >

std::vector< const T * > carla::road::Road::GetInfos ( ) const

inline

Definition at line 127 of file road/Road.h.

References _info, and carla::road::InformationSet::GetInfos().

◆ GetInfosInRange()

template<typename T >

std::vector< const T * > carla::road::Road::GetInfosInRange	(	const double	min_s,
		const double	max_s
	)		const

inline

Definition at line 132 of file road/Road.h.

References _info, and carla::road::InformationSet::GetInfos().

◆ GetJunctionId()

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

Definition at line 48 of file road/Road.cpp.

References _junction_id.

Referenced by carla::road::Map::ComputeJunctionConflicts(), carla::client::Road::GetJunctionId(), and carla::road::Map::GetJunctionId().

◆ GetLaneByDistance() [1/2]

Lane & carla::road::Road::GetLaneByDistance	(	double	s,
		LaneId	lane_id
	)

Definition at line 80 of file road/Road.cpp.

References GetLaneSectionsAt(), and carla::throw_exception().

Referenced by carla::road::MapBuilder::GetLane(), and GetLaneByDistance().

◆ GetLaneByDistance() [2/2]

const Lane & carla::road::Road::GetLaneByDistance	(	double	s,
		LaneId	lane_id
	)		const

Definition at line 90 of file road/Road.cpp.

References GetLaneByDistance().

◆ GetLaneById() [1/2]

Lane & carla::road::Road::GetLaneById	(	SectionId	section_id,
		LaneId	lane_id
	)

Definition at line 116 of file road/Road.cpp.

References carla::road::LaneSection::GetLanes(), and GetLaneSectionById().

Referenced by carla::client::Lane::GetLane(), carla::road::Map::GetLane(), GetLaneById(), and carla::road::MapData::GetLaneInfo().

◆ GetLaneById() [2/2]

const Lane & carla::road::Road::GetLaneById	(	SectionId	section_id,
		LaneId	lane_id
	)		const

Definition at line 120 of file road/Road.cpp.

References GetLaneById().

◆ GetLanesAt()

std::map< LaneId, const Lane * > carla::road::Road::GetLanesAt ( const double s ) const

Get all lanes at a given s.

Definition at line 373 of file road/Road.cpp.

References GetLaneSectionsAt().

Referenced by GetNearestLane().

◆ GetLanesByDistance() [1/2]

std::vector< Lane * > carla::road::Road::GetLanesByDistance ( double s )

Get all lanes from all lane sections in a specific s.

Definition at line 94 of file road/Road.cpp.

References GetLaneSectionsAt().

◆ GetLanesByDistance() [2/2]

std::vector< const Lane * > carla::road::Road::GetLanesByDistance ( double s ) const

Definition at line 105 of file road/Road.cpp.

References GetLaneSectionsAt().

◆ GetLaneSectionById() [1/2]

LaneSection & carla::road::Road::GetLaneSectionById ( SectionId id )

inline

Definition at line 172 of file road/Road.h.

References _lane_sections, and carla::road::LaneSectionMap::GetById().

Referenced by carla::client::LaneSection::ContainsLane(), GetLaneById(), carla::client::LaneSection::GetLanes(), and carla::road::IsLanePresent().

◆ GetLaneSectionById() [2/2]

const LaneSection & carla::road::Road::GetLaneSectionById ( SectionId id ) const

inline

Definition at line 176 of file road/Road.h.

References _lane_sections, and carla::road::LaneSectionMap::GetById().

◆ GetLaneSections()

auto carla::road::Road::GetLaneSections ( ) const

inline

Definition at line 136 of file road/Road.h.

References _lane_sections, and carla::iterator::make_map_values_const_iterator().

Referenced by carla::client::Road::GetSections().

◆ GetLaneSectionsAt() [1/2]

auto carla::road::Road::GetLaneSectionsAt ( const double s )

inline

Definition at line 158 of file road/Road.h.

References _lane_sections, GetLessEqualRange(), and carla::iterator::make_map_values_iterator().

Referenced by GetLaneByDistance(), GetLanesAt(), GetLanesByDistance(), and GetLanesByDistance().

◆ GetLaneSectionsAt() [2/2]

auto carla::road::Road::GetLaneSectionsAt ( const double s ) const

inline

Definition at line 165 of file road/Road.h.

References _lane_sections, GetLessEqualRange(), and carla::iterator::make_map_values_const_iterator().

◆ GetLateralShapeZ()

double carla::road::Road::GetLateralShapeZ	(	const double	s,
		const double	t
	)		const

Surface height offset from the <lateralProfile><shape> records at (s, t).

Returns 0 when the road has no shape records. Interpolates linearly between the two bracketing s-stations; within a station the record with the greatest t <= query t applies (clamped to the first record below its t range).

Definition at line 187 of file road/Road.cpp.

References _info, _length, carla::geom::Math::Clamp(), carla::road::element::RoadInfoLateralShape::Evaluate(), and carla::road::InformationSet::GetInfos().

◆ GetLength()

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

Definition at line 40 of file road/Road.cpp.

References _length.

Referenced by carla::client::Road::GetLength().

◆ GetLessEqualRange()

template<typename MultiMapT >

static auto carla::road::Road::GetLessEqualRange	(	MultiMapT &	map,
		double	s
	)

inlinestaticprivate

Definition at line 145 of file road/Road.h.

References first.

Referenced by GetLaneSectionsAt(), and GetLaneSectionsAt().

◆ GetMap()

const MapData * carla::road::Road::GetMap ( ) const

Definition at line 28 of file road/Road.cpp.

References _map_data.

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

◆ GetName()

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

Definition at line 36 of file road/Road.cpp.

References _name.

Referenced by carla::client::Road::GetName().

◆ GetNearestLane()

const std::pair< const Lane *, double > carla::road::Road::GetNearestLane	(	const double	s,
		const geom::Location &	loc,
		uint32_t	type = `static_cast<uint32_t>(Lane::LaneType::Any)`
	)		const

Returns a pointer to the nearest lane, given s relative to Road and a location.

Parameters

s	distance from the begining of the road to the point you want to calculate the distance
loc	point to calculate the distance

Definition at line 307 of file road/Road.cpp.

References carla::road::element::DirectedPoint::ApplyLateralOffset(), carla::geom::Math::Distance(), GetDirectedPointIn(), GetLanesAt(), and carla::road::element::DirectedPoint::location.

◆ GetNearestPoint()

const std::pair< double, double > carla::road::Road::GetNearestPoint ( const geom::Location & loc ) const

Returns a pair containing:

first: distance to the nearest point on the center in this road segment from the begining of it (s).
second: Euclidean distance from the nearest point in this road segment to p.
Parameters

loc point to calculate the distance

Definition at line 282 of file road/Road.cpp.

References _info, DEBUG_ASSERT, carla::road::InformationSet::GetInfos(), and last.

◆ GetNextLane()

Lane * carla::road::Road::GetNextLane	(	const double	s,
		const LaneId	lane_id
	)

Definition at line 125 of file road/Road.cpp.

References _lane_sections.

◆ GetNexts()

std::vector< Road * > carla::road::Road::GetNexts ( ) const

Definition at line 64 of file road/Road.cpp.

References _nexts.

Referenced by carla::client::Road::GetNextRoads().

◆ GetPredecessor()

RoadId carla::road::Road::GetPredecessor ( ) const

Definition at line 60 of file road/Road.cpp.

References _predecessor.

Referenced by carla::client::Road::GetPredecessorId().

◆ GetPrevLane()

Lane * carla::road::Road::GetPrevLane	(	const double	s,
		const LaneId	lane_id
	)

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

References _lane_sections.

◆ GetPrevs()

std::vector< Road * > carla::road::Road::GetPrevs ( ) const

Definition at line 68 of file road/Road.cpp.

References _prevs.

Referenced by carla::client::Road::GetPreviousRoads().

◆ GetStartSection()

LaneSection * carla::road::Road::GetStartSection ( LaneId id )

Get the start section (from road coordinates s) given a lane id.

Definition at line 160 of file road/Road.cpp.

References _lane_sections.

◆ GetSuccessor()

RoadId carla::road::Road::GetSuccessor ( ) const

Definition at line 56 of file road/Road.cpp.

References _successor.

Referenced by carla::client::Road::GetSuccessorId().

◆ IsJunction()

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

Definition at line 44 of file road/Road.cpp.

References _is_junction.

Referenced by carla::road::Map::GetSignalsInDistance(), carla::client::Road::IsJunction(), and carla::road::Map::IsJunction().

◆ IsRHT()

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

Definition at line 52 of file road/Road.cpp.

References _is_rht.

Referenced by carla::road::MapBuilder::CheckSignalsOnRoads(), carla::road::Map::GetLeft(), carla::client::Lane::GetLeftLane(), carla::road::Map::GetRight(), carla::client::Lane::GetRightLane(), and carla::client::Road::IsRHT().

◆ UpperBound()

double carla::road::Road::UpperBound ( double s ) const

inline

Return the upper bound "s", i.e., the end distance of the lane section at s (clamped at road's length).

Definition at line 182 of file road/Road.h.

References _lane_sections, and _length.

Member Data Documentation

◆ _id

RoadId carla::road::Road::_id { 0 }

private

Definition at line 196 of file road/Road.h.

Referenced by GetId().

◆ _info

InformationSet carla::road::Road::_info

private

Definition at line 214 of file road/Road.h.

Referenced by GetDirectedPointIn(), GetDirectedPointInNoLaneOffset(), GetInfo(), GetInfos(), GetInfosInRange(), GetLateralShapeZ(), and GetNearestPoint().

◆ _is_junction

bool carla::road::Road::_is_junction { false }

private

Definition at line 202 of file road/Road.h.

Referenced by IsJunction().

◆ _is_rht

bool carla::road::Road::_is_rht { true }

private

Definition at line 206 of file road/Road.h.

Referenced by IsRHT().

◆ _junction_id

JuncId carla::road::Road::_junction_id { -1 }

private

Definition at line 204 of file road/Road.h.

Referenced by GetJunctionId().

◆ _lane_sections

LaneSectionMap carla::road::Road::_lane_sections

private

Definition at line 208 of file road/Road.h.

Referenced by GetEndSection(), GetLaneSectionById(), GetLaneSectionById(), GetLaneSections(), GetLaneSectionsAt(), GetLaneSectionsAt(), GetNextLane(), GetPrevLane(), GetStartSection(), and UpperBound().

◆ _length

double carla::road::Road::_length { 0.0 }

private

Definition at line 200 of file road/Road.h.

Referenced by GetDirectedPointIn(), GetDirectedPointInNoLaneOffset(), GetLateralShapeZ(), GetLength(), and UpperBound().

◆ _map_data

MapData* carla::road::Road::_map_data { nullptr }

private

Definition at line 194 of file road/Road.h.

Referenced by GetMap().

◆ _name

std::string carla::road::Road::_name

private

Definition at line 198 of file road/Road.h.

Referenced by GetName().

◆ _nexts

std::vector<Road *> carla::road::Road::_nexts

private

Definition at line 216 of file road/Road.h.

Referenced by GetNexts().

◆ _predecessor

RoadId carla::road::Road::_predecessor { 0 }

private

Definition at line 212 of file road/Road.h.

Referenced by GetPredecessor().

◆ _prevs

std::vector<Road *> carla::road::Road::_prevs

private

Definition at line 218 of file road/Road.h.

Referenced by GetPrevs().

◆ _successor

RoadId carla::road::Road::_successor { 0 }

private

Definition at line 210 of file road/Road.h.

Referenced by GetSuccessor().

◆ MapBuilder

friend carla::road::Road::MapBuilder

private

Definition at line 192 of file road/Road.h.

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

Public Member Functions

Static Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Road()

Member Function Documentation

◆ GetDirectedPointIn()

◆ GetDirectedPointInNoLaneOffset()

◆ GetElevationOn()

◆ GetEndSection()

◆ GetId()

◆ GetInfo()

◆ GetInfos()

◆ GetInfosInRange()

◆ GetJunctionId()

◆ GetLaneByDistance() [1/2]

◆ GetLaneByDistance() [2/2]

◆ GetLaneById() [1/2]

◆ GetLaneById() [2/2]

◆ GetLanesAt()

◆ GetLanesByDistance() [1/2]

◆ GetLanesByDistance() [2/2]

◆ GetLaneSectionById() [1/2]

◆ GetLaneSectionById() [2/2]

◆ GetLaneSections()

◆ GetLaneSectionsAt() [1/2]

◆ GetLaneSectionsAt() [2/2]

◆ GetLateralShapeZ()

◆ GetLength()

◆ GetLessEqualRange()

◆ GetMap()

◆ GetName()

◆ GetNearestLane()

◆ GetNearestPoint()

◆ GetNextLane()

◆ GetNexts()

◆ GetPredecessor()

◆ GetPrevLane()

◆ GetPrevs()

◆ GetStartSection()

◆ GetSuccessor()

◆ IsJunction()

◆ IsRHT()

◆ UpperBound()

Member Data Documentation

◆ _id

◆ _info

◆ _is_junction

◆ _is_rht

◆ _junction_id

◆ _lane_sections

◆ _length

◆ _map_data

◆ _name

◆ _nexts

◆ _predecessor

◆ _prevs

◆ _successor

◆ MapBuilder