#include <MapBuilder.h>

Collaboration diagram for carla::road::MapBuilder:

Public Member Functions
void	AddConnection (const JuncId junction_id, const ConId connection_id, const RoadId incoming_road, const RoadId connecting_road)

void	AddDependencyToSignal (const SignId signal_id, const std::string dependency_id, const std::string dependency_type)

void	AddJunction (const JuncId id, const std::string name)

void	AddJunctionController (const JuncId junction_id, std::set< ContId > &&controllers)

void	AddLaneLink (const JuncId junction_id, const ConId connection_id, const LaneId from, const LaneId to)

carla::road::Road *	AddRoad (const RoadId road_id, const std::string name, const double length, const JuncId junction_id, const RoadId predecessor, const RoadId successor)

void	AddRoadElevationProfile (Road *road, const double s, const double a, const double b, const double c, const double d)

void	AddRoadGeometryArc (carla::road::Road *road, const double s, const double x, const double y, const double hdg, const double length, const double curvature)

void	AddRoadGeometryLine (carla::road::Road *road, const double s, const double x, const double y, const double hdg, const double length)

void	AddRoadGeometryParamPoly3 (carla::road::Road *road, const double s, const double x, const double y, const double hdg, const double length, const double aU, const double bU, const double cU, const double dU, const double aV, const double bV, const double cV, const double dV, const std::string p_range)

void	AddRoadGeometryPoly3 (carla::road::Road *road, const double s, const double x, const double y, const double hdg, const double length, const double a, const double b, const double c, const double d)

void	AddRoadGeometrySpiral (carla::road::Road *road, const double s, const double x, const double y, const double hdg, const double length, const double curvStart, const double curvEnd)

void	AddRoadObjectCrosswalk (Road *road, const std::string name, const double s, const double t, const double zOffset, const double hdg, const double pitch, const double roll, const std::string orientation, const double width, const double length, const std::vector< road::element::CrosswalkPoint > points)

carla::road::LaneSection *	AddRoadSection (carla::road::Road *road, const SectionId id, const double s)

void	AddRoadSection (const RoadId road_id, const SectionId section_index, const double s, const double a, const double b, const double c, const double d)

carla::road::Lane *	AddRoadSectionLane (carla::road::LaneSection *section, const LaneId lane_id, const uint32_t lane_type, const bool lane_level, const LaneId predecessor, const LaneId successor)

element::RoadInfoSignal *	AddSignal (Road *road, const SignId signal_id, const double s, const double t, const std::string name, const std::string dynamic, const std::string orientation, const double zOffset, const std::string country, const std::string type, const std::string subtype, const double value, const std::string unit, const double height, const double width, const std::string text, const double hOffset, const double pitch, const double roll)

void	AddSignalPositionInertial (const SignId signal_id, const double x, const double y, const double z, const double hdg, const double pitch, const double roll)

void	AddSignalPositionRoad (const SignId signal_id, const RoadId road_id, const double s, const double t, const double zOffset, const double hOffset, const double pitch, const double roll)

element::RoadInfoSignal *	AddSignalReference (Road *road, const SignId signal_id, const double s_position, const double t_position, const std::string signal_reference_orientation)

void	AddValidityToSignalReference (element::RoadInfoSignal *signal_reference, const LaneId from_lane, const LaneId to_lane)

boost::optional< Map >	Build ()

void	CreateController (const ContId controller_id, const std::string controller_name, const uint32_t controller_sequence, const std::set< road::SignId > &&signals)

void	CreateLaneAccess (Lane *lane, const double s, const std::string restriction)

void	CreateLaneBorder (Lane *lane, const double s, const double a, const double b, const double c, const double d)

void	CreateLaneHeight (Lane *lane, const double s, const double inner, const double outer)

void	CreateLaneMaterial (Lane *lane, const double s, const std::string surface, const double friction, const double roughness)

void	CreateLaneRule (Lane *lane, const double s, const std::string value)

void	CreateLaneSpeed (Lane *lane, const double s, const double max, const std::string unit)

void	CreateLaneVisibility (Lane *lane, const double s, const double forward, const double back, const double left, const double right)

void	CreateLaneWidth (Lane *lane, const double s, const double a, const double b, const double c, const double d)

void	CreateRoadMark (Lane *lane, const int road_mark_id, const double s, const std::string type, const std::string weight, const std::string color, const std::string material, const double width, const std::string lane_change, const double height, const std::string type_name, const double type_width)

void	CreateRoadMarkTypeLine (Lane *lane, const int road_mark_id, const double length, const double space, const double tOffset, const double s, const std::string rule, const double width)

void	CreateRoadSpeed (Road *road, const double s, const std::string type, const double max, const std::string unit)

void	CreateSectionOffset (Road *road, const double s, const double a, const double b, const double c, const double d)

Lane *	GetLane (const RoadId road_id, const LaneId lane_id, const double s)

Road *	GetRoad (const RoadId road_id)

void	SetGeoReference (const geom::GeoLocation &geo_reference)

void	SetRoadLaneLink (const RoadId road_id, const SectionId section_index, const LaneId lane_id, const Lane::LaneType lane_type, const bool lane_level, const LaneId predecessor, const LaneId successor)

Private Member Functions
void	CheckSignalsOnRoads (Map &map)
	Checks signals overlapping driving lanes and emits a warning. More...

void	ComputeJunctionRoadConflicts (Map &map)
	Compute the conflicts of the roads (intersecting roads) More...

geom::Transform	ComputeSignalTransform (std::unique_ptr< Signal > &signal, MapData &data)

void	CreateJunctionBoundingBoxes (Map &map)
	Create the bounding boxes of each junction. More...

void	CreatePointersBetweenRoadSegments ()
	Create the pointers between RoadSegments based on the ids. More...

void	GenerateDefaultValiditiesForSignalReferences ()
	Generates a default validity field for signal references with missing validity record in OpenDRIVE. More...

Lane *	GetEdgeLanePointer (RoadId road_id, bool from_start, LaneId lane_id)
	Return the pointer to a lane object. More...

std::vector< std::pair< RoadId, LaneId > >	GetJunctionLanes (JuncId junction_id, RoadId road_id, LaneId lane_id)

std::vector< Lane * >	GetLaneNext (RoadId road_id, SectionId section_id, LaneId lane_id)
	Return a list of pointers to all lanes from a lane (using road and junction info). More...

void	RemoveZeroLaneValiditySignalReferences ()
	Removes signal references with lane validity equal to [0,0] as they have no effect on any road. More...

void	SolveControllerAndJuntionReferences ()
	Solve the references between Controllers and Juntions. More...

void	SolveSignalReferencesAndTransforms ()
	Solves the signal references in the road. More...

Private Attributes
MapData	_map_data

std::unordered_map< Lane *, std::vector< std::unique_ptr< element::RoadInfo > > >	_temp_lane_info_container

std::unordered_map< Road *, std::vector< std::unique_ptr< element::RoadInfo > > >	_temp_road_info_container
	Map to temporary store all the road and lane infos until the map is built, so they can be added all together. More...

std::unordered_map< SignId, std::unique_ptr< Signal > >	_temp_signal_container

std::vector< element::RoadInfoSignal * >	_temp_signal_reference_container

Detailed Description

Definition at line 20 of file MapBuilder.h.

Member Function Documentation

◆ AddConnection()

void carla::road::MapBuilder::AddConnection	(	const JuncId	junction_id,
		const ConId	connection_id,
		const RoadId	incoming_road,
		const RoadId	connecting_road
	)

Definition at line 570 of file MapBuilder.cpp.

References DEBUG_ASSERT.

Referenced by carla::opendrive::parser::JunctionParser::Parse().

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◆ AddDependencyToSignal()

void carla::road::MapBuilder::AddDependencyToSignal	(	const SignId	signal_id,
		const std::string	dependency_id,
		const std::string	dependency_type
	)

Definition at line 344 of file MapBuilder.cpp.

Referenced by carla::opendrive::parser::SignalParser::Parse().

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◆ AddJunction()

void carla::road::MapBuilder::AddJunction	(	const JuncId	id,
		const std::string	name
	)

Definition at line 566 of file MapBuilder.cpp.

Referenced by carla::opendrive::parser::JunctionParser::Parse().

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◆ AddJunctionController()

void carla::road::MapBuilder::AddJunctionController	(	const JuncId	junction_id,
		std::set< ContId > &&	controllers
	)

Definition at line 589 of file MapBuilder.cpp.

References DEBUG_ASSERT.

Referenced by carla::opendrive::parser::JunctionParser::Parse().

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◆ AddLaneLink()

void carla::road::MapBuilder::AddLaneLink	(	const JuncId	junction_id,
		const ConId	connection_id,
		const LaneId	from,
		const LaneId	to
	)

Definition at line 580 of file MapBuilder.cpp.

References DEBUG_ASSERT.

Referenced by carla::opendrive::parser::JunctionParser::Parse().

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◆ AddRoad()

carla::road::Road * carla::road::MapBuilder::AddRoad	(	const RoadId	road_id,
		const std::string	name,
		const double	length,
		const JuncId	junction_id,
		const RoadId	predecessor,
		const RoadId	successor
	)

Definition at line 353 of file MapBuilder.cpp.

References carla::road::Road::_map_data.

Referenced by carla::opendrive::parser::RoadParser::Parse().

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◆ AddRoadElevationProfile()

void carla::road::MapBuilder::AddRoadElevationProfile	(	Road *	road,
		const double	s,
		const double	a,
		const double	b,
		const double	c,
		const double	d
	)

Definition at line 74 of file MapBuilder.cpp.

References DEBUG_ASSERT.

Referenced by carla::opendrive::parser::ProfilesParser::Parse().

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◆ AddRoadGeometryArc()

void carla::road::MapBuilder::AddRoadGeometryArc	(	carla::road::Road *	road,
		const double	s,
		const double	x,
		const double	y,
		const double	hdg,
		const double	length,
		const double	curvature
	)

Definition at line 451 of file MapBuilder.cpp.

References DEBUG_ASSERT.

Referenced by carla::opendrive::parser::GeometryParser::Parse().

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◆ AddRoadGeometryLine()

void carla::road::MapBuilder::AddRoadGeometryLine	(	carla::road::Road *	road,
		const double	s,
		const double	x,
		const double	y,
		const double	hdg,
		const double	length
	)

Definition at line 411 of file MapBuilder.cpp.

References DEBUG_ASSERT.

Referenced by carla::opendrive::parser::GeometryParser::Parse().

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◆ AddRoadGeometryParamPoly3()

void carla::road::MapBuilder::AddRoadGeometryParamPoly3	(	carla::road::Road *	road,
		const double	s,
		const double	x,
		const double	y,
		const double	hdg,
		const double	length,
		const double	aU,
		const double	bU,
		const double	cU,
		const double	dU,
		const double	aV,
		const double	bV,
		const double	cV,
		const double	dV,
		const std::string	p_range
	)

Definition at line 523 of file MapBuilder.cpp.

References DEBUG_ASSERT.

Referenced by carla::opendrive::parser::GeometryParser::Parse().

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◆ AddRoadGeometryPoly3()

void carla::road::MapBuilder::AddRoadGeometryPoly3	(	carla::road::Road *	road,
		const double	s,
		const double	x,
		const double	y,
		const double	hdg,
		const double	length,
		const double	a,
		const double	b,
		const double	c,
		const double	d
	)

Definition at line 496 of file MapBuilder.cpp.

References DEBUG_ASSERT.

Referenced by carla::opendrive::parser::GeometryParser::Parse().

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◆ AddRoadGeometrySpiral()

void carla::road::MapBuilder::AddRoadGeometrySpiral	(	carla::road::Road *	road,
		const double	s,
		const double	x,
		const double	y,
		const double	hdg,
		const double	length,
		const double	curvStart,
		const double	curvEnd
	)

Definition at line 472 of file MapBuilder.cpp.

References DEBUG_ASSERT.

Referenced by carla::opendrive::parser::GeometryParser::Parse().

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◆ AddRoadObjectCrosswalk()

void carla::road::MapBuilder::AddRoadObjectCrosswalk	(	Road *	road,
		const std::string	name,
		const double	s,
		const double	t,
		const double	zOffset,
		const double	hdg,
		const double	pitch,
		const double	roll,
		const std::string	orientation,
		const double	width,
		const double	length,
		const std::vector< road::element::CrosswalkPoint >	points
	)

Definition at line 86 of file MapBuilder.cpp.

References DEBUG_ASSERT.

Referenced by carla::opendrive::parser::ObjectParser::Parse().

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◆ AddRoadSection() [1/2]

carla::road::LaneSection * carla::road::MapBuilder::AddRoadSection	(	carla::road::Road *	road,
		const SectionId	id,
		const double	s
	)

Definition at line 378 of file MapBuilder.cpp.

References carla::road::Road::_lane_sections, carla::road::LaneSection::_road, DEBUG_ASSERT, and carla::road::LaneSectionMap::Emplace().

Referenced by carla::opendrive::parser::RoadParser::Parse().

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◆ AddRoadSection() [2/2]

void carla::road::MapBuilder::AddRoadSection	(	const RoadId	road_id,
		const SectionId	section_index,
		const double	s,
		const double	a,
		const double	b,
		const double	c,
		const double	d
	)

◆ AddRoadSectionLane()

carla::road::Lane * carla::road::MapBuilder::AddRoadSectionLane	(	carla::road::LaneSection *	section,
		const LaneId	lane_id,
		const uint32_t	lane_type,
		const bool	lane_level,
		const LaneId	predecessor,
		const LaneId	successor
	)

Definition at line 388 of file MapBuilder.cpp.

References carla::road::LaneSection::_lanes, and DEBUG_ASSERT.

Referenced by carla::opendrive::parser::RoadParser::Parse().

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◆ AddSignal()

element::RoadInfoSignal * carla::road::MapBuilder::AddSignal	(	Road *	road,
		const SignId	signal_id,
		const double	s,
		const double	t,
		const std::string	name,
		const std::string	dynamic,
		const std::string	orientation,
		const double	zOffset,
		const std::string	country,
		const std::string	type,
		const std::string	subtype,
		const double	value,
		const std::string	unit,
		const double	height,
		const double	width,
		const std::string	text,
		const double	hOffset,
		const double	pitch,
		const double	roll
	)

Definition at line 238 of file MapBuilder.cpp.

References carla::road::Road::GetId().

Referenced by carla::opendrive::parser::ObjectParser::Parse(), and carla::opendrive::parser::SignalParser::Parse().

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◆ AddSignalPositionInertial()

void carla::road::MapBuilder::AddSignalPositionInertial	(	const SignId	signal_id,
		const double	x,
		const double	y,
		const double	z,
		const double	hdg,
		const double	pitch,
		const double	roll
	)

Definition at line 282 of file MapBuilder.cpp.

References carla::geom::Math::ToDegrees().

Referenced by carla::opendrive::parser::SignalParser::Parse().

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◆ AddSignalPositionRoad()

void carla::road::MapBuilder::AddSignalPositionRoad	(	const SignId	signal_id,
		const RoadId	road_id,
		const double	s,
		const double	t,
		const double	zOffset,
		const double	hOffset,
		const double	pitch,
		const double	roll
	)

Definition at line 299 of file MapBuilder.cpp.

◆ AddSignalReference()

element::RoadInfoSignal * carla::road::MapBuilder::AddSignalReference	(	Road *	road,
		const SignId	signal_id,
		const double	s_position,
		const double	t_position,
		const std::string	signal_reference_orientation
	)

Definition at line 318 of file MapBuilder.cpp.

References carla::geom::Math::Clamp(), carla::road::Road::GetId(), carla::road::Road::GetLength(), and RELEASE_ASSERT.

Referenced by carla::opendrive::parser::SignalParser::Parse().

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◆ AddValidityToSignalReference()

void carla::road::MapBuilder::AddValidityToSignalReference	(	element::RoadInfoSignal *	signal_reference,
		const LaneId	from_lane,
		const LaneId	to_lane
	)

Definition at line 337 of file MapBuilder.cpp.

References carla::road::element::RoadInfoSignal::_validities.

Referenced by carla::opendrive::parser::AddValidity().

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◆ Build()

boost::optional< Map > carla::road::MapBuilder::Build ( )

Definition at line 38 of file MapBuilder.cpp.

References DEBUG_ASSERT.

Referenced by carla::opendrive::OpenDriveParser::Load().

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◆ CheckSignalsOnRoads()

void carla::road::MapBuilder::CheckSignalsOnRoads ( Map & map )

private

Checks signals overlapping driving lanes and emits a warning.

Definition at line 1044 of file MapBuilder.cpp.

References carla::road::Map::_data, carla::road::MapData::_signals, carla::road::Map::ComputeTransform(), carla::road::Lane::Driving, carla::road::Map::GetClosestWaypointOnRoad(), carla::road::Map::GetLaneType(), carla::road::Map::GetLaneWidth(), carla::road::Map::GetLeft(), carla::road::Map::GetRight(), carla::log_debug(), carla::road::Lane::None, and carla::road::Lane::Shoulder.

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◆ ComputeJunctionRoadConflicts()

void carla::road::MapBuilder::ComputeJunctionRoadConflicts ( Map & map )

private

Compute the conflicts of the roads (intersecting roads)

Definition at line 939 of file MapBuilder.cpp.

References carla::road::Map::_data, carla::road::Map::ComputeJunctionConflicts(), and carla::road::MapData::GetJunctions().

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◆ ComputeSignalTransform()

geom::Transform carla::road::MapBuilder::ComputeSignalTransform	(	std::unique_ptr< Signal > &	signal,
		MapData &	data
	)

private

Definition at line 788 of file MapBuilder.cpp.

References carla::road::element::DirectedPoint::ApplyLateralOffset(), carla::road::Road::GetDirectedPointInNoLaneOffset(), carla::road::MapData::GetRoad(), carla::road::element::DirectedPoint::location, carla::road::element::DirectedPoint::tangent, carla::geom::Math::ToDegrees(), carla::geom::Vector3D::y, and carla::geom::Vector3D::z.

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◆ CreateController()

void carla::road::MapBuilder::CreateController	(	const ContId	controller_id,
		const std::string	controller_name,
		const uint32_t	controller_sequence,
		const std::set< road::SignId > &&	signals
	)

Definition at line 911 of file MapBuilder.cpp.

References DEBUG_ASSERT.

Referenced by carla::opendrive::parser::ControllerParser::Parse().

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◆ CreateJunctionBoundingBoxes()

void carla::road::MapBuilder::CreateJunctionBoundingBoxes ( Map & map )

private

Create the bounding boxes of each junction.

Definition at line 843 of file MapBuilder.cpp.

References carla::road::Map::_data, carla::road::Lane::Any, carla::road::Map::ComputeTransform(), carla::road::Map::GetJunction(), carla::road::MapData::GetJunctions(), carla::road::Map::GetJunctionWaypoints(), carla::road::Map::GetNext(), and carla::geom::Transform::location.

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◆ CreateLaneAccess()

void carla::road::MapBuilder::CreateLaneAccess	(	Lane *	lane,
		const double	s,
		const std::string	restriction
	)

Definition at line 105 of file MapBuilder.cpp.

References DEBUG_ASSERT.

Referenced by carla::opendrive::parser::ParseLanes().

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◆ CreateLaneBorder()

void carla::road::MapBuilder::CreateLaneBorder	(	Lane *	lane,
		const double	s,
		const double	a,
		const double	b,
		const double	c,
		const double	d
	)

Definition at line 113 of file MapBuilder.cpp.

References DEBUG_ASSERT.

Referenced by carla::opendrive::parser::ParseLanes().

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◆ CreateLaneHeight()

void carla::road::MapBuilder::CreateLaneHeight	(	Lane *	lane,
		const double	s,
		const double	inner,
		const double	outer
	)

Definition at line 124 of file MapBuilder.cpp.

References DEBUG_ASSERT.

Referenced by carla::opendrive::parser::ParseLanes().

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◆ CreateLaneMaterial()

void carla::road::MapBuilder::CreateLaneMaterial	(	Lane *	lane,
		const double	s,
		const std::string	surface,
		const double	friction,
		const double	roughness
	)

Definition at line 133 of file MapBuilder.cpp.

References DEBUG_ASSERT.

Referenced by carla::opendrive::parser::ParseLanes().

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◆ CreateLaneRule()

void carla::road::MapBuilder::CreateLaneRule	(	Lane *	lane,
		const double	s,
		const std::string	value
	)

Definition at line 144 of file MapBuilder.cpp.

References DEBUG_ASSERT.

Referenced by carla::opendrive::parser::ParseLanes().

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◆ CreateLaneSpeed()

void carla::road::MapBuilder::CreateLaneSpeed	(	Lane *	lane,
		const double	s,
		const double	max,
		const std::string	unit
	)

Definition at line 228 of file MapBuilder.cpp.

References DEBUG_ASSERT.

Referenced by carla::opendrive::parser::ParseLanes().

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◆ CreateLaneVisibility()

void carla::road::MapBuilder::CreateLaneVisibility	(	Lane *	lane,
		const double	s,
		const double	forward,
		const double	back,
		const double	left,
		const double	right
	)

Definition at line 152 of file MapBuilder.cpp.

References DEBUG_ASSERT.

Referenced by carla::opendrive::parser::ParseLanes().

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◆ CreateLaneWidth()

void carla::road::MapBuilder::CreateLaneWidth	(	Lane *	lane,
		const double	s,
		const double	a,
		const double	b,
		const double	c,
		const double	d
	)

Definition at line 164 of file MapBuilder.cpp.

References DEBUG_ASSERT.

Referenced by carla::opendrive::parser::ParseLanes().

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◆ CreatePointersBetweenRoadSegments()

void carla::road::MapBuilder::CreatePointersBetweenRoadSegments ( void )

private

Create the pointers between RoadSegments based on the ids.

Definition at line 734 of file MapBuilder.cpp.

References DEBUG_ASSERT.

◆ CreateRoadMark()

void carla::road::MapBuilder::CreateRoadMark	(	Lane *	lane,
		const int	road_mark_id,
		const double	s,
		const std::string	type,
		const std::string	weight,
		const std::string	color,
		const std::string	material,
		const double	width,
		const std::string	lane_change,
		const double	height,
		const std::string	type_name,
		const double	type_width
	)

Definition at line 175 of file MapBuilder.cpp.

References carla::road::element::RoadInfoMarkRecord::Both, DEBUG_ASSERT, carla::road::element::RoadInfoMarkRecord::Decrease, carla::road::element::RoadInfoMarkRecord::Increase, carla::road::element::RoadInfoMarkRecord::None, and carla::StringUtil::ToLower().

Referenced by carla::opendrive::parser::ParseLanes().

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◆ CreateRoadMarkTypeLine()

void carla::road::MapBuilder::CreateRoadMarkTypeLine	(	Lane *	lane,
		const int	road_mark_id,
		const double	length,
		const double	space,
		const double	tOffset,
		const double	s,
		const std::string	rule,
		const double	width
	)

Definition at line 207 of file MapBuilder.cpp.

References DEBUG_ASSERT.

Referenced by carla::opendrive::parser::ParseLanes().

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◆ CreateRoadSpeed()

void carla::road::MapBuilder::CreateRoadSpeed	(	Road *	road,
		const double	s,
		const std::string	type,
		const double	max,
		const std::string	unit
	)

Definition at line 430 of file MapBuilder.cpp.

References DEBUG_ASSERT.

Referenced by carla::opendrive::parser::RoadParser::Parse().

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◆ CreateSectionOffset()

void carla::road::MapBuilder::CreateSectionOffset	(	Road *	road,
		const double	s,
		const double	a,
		const double	b,
		const double	c,
		const double	d
	)

Definition at line 440 of file MapBuilder.cpp.

References DEBUG_ASSERT.

Referenced by carla::opendrive::parser::RoadParser::Parse().

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◆ GenerateDefaultValiditiesForSignalReferences()

void carla::road::MapBuilder::GenerateDefaultValiditiesForSignalReferences ( )

private

Generates a default validity field for signal references with missing validity record in OpenDRIVE.

Definition at line 946 of file MapBuilder.cpp.

References carla::road::Both, carla::road::Road::GetLanesByDistance(), carla::road::Negative, and carla::road::Positive.

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◆ GetEdgeLanePointer()

Lane * carla::road::MapBuilder::GetEdgeLanePointer	(	RoadId	road_id,
		bool	from_start,
		LaneId	lane_id
	)

private

Return the pointer to a lane object.

Definition at line 609 of file MapBuilder.cpp.

References DEBUG_ASSERT, carla::road::Road::GetEndSection(), carla::road::LaneSection::GetLane(), and carla::road::Road::GetStartSection().

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◆ GetJunctionLanes()

std::vector< std::pair< RoadId, LaneId > > carla::road::MapBuilder::GetJunctionLanes	(	JuncId	junction_id,
		RoadId	road_id,
		LaneId	lane_id
	)

private

Definition at line 697 of file MapBuilder.cpp.

References carla::road::Junction::_connections.

◆ GetLane()

Lane * carla::road::MapBuilder::GetLane	(	const RoadId	road_id,
		const LaneId	lane_id,
		const double	s
	)

Definition at line 596 of file MapBuilder.cpp.

References carla::road::Road::GetLaneByDistance(), and carla::road::Lane::GetRoad().

Referenced by carla::opendrive::parser::ParseLanes().

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◆ GetLaneNext()

std::vector< Lane * > carla::road::MapBuilder::GetLaneNext	(	RoadId	road_id,
		SectionId	section_id,
		LaneId	lane_id
	)

private

Return a list of pointers to all lanes from a lane (using road and junction info).

Todo:: Is it correct to use a road id as section id? (NS: I just added this cast to avoid compiler warnings).

Definition at line 631 of file MapBuilder.cpp.

References carla::road::Road::_lane_sections, DEBUG_ASSERT, carla::road::LaneSectionMap::GetById(), carla::road::LaneSection::GetDistance(), carla::road::LaneSection::GetLane(), carla::road::Road::GetNextLane(), carla::road::Road::GetPredecessor(), carla::road::Lane::GetPredecessor(), carla::road::Road::GetPrevLane(), carla::road::Road::GetSuccessor(), and carla::road::Lane::GetSuccessor().

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◆ GetRoad()

Road * carla::road::MapBuilder::GetRoad ( const RoadId road_id )

Definition at line 603 of file MapBuilder.cpp.

Referenced by carla::opendrive::parser::GeometryParser::Parse(), carla::opendrive::parser::SignalParser::Parse(), carla::opendrive::parser::ProfilesParser::Parse(), and carla::opendrive::parser::ObjectParser::Parse().

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◆ RemoveZeroLaneValiditySignalReferences()

void carla::road::MapBuilder::RemoveZeroLaneValiditySignalReferences ( )

private

Removes signal references with lane validity equal to [0,0] as they have no effect on any road.

Definition at line 1013 of file MapBuilder.cpp.

◆ SetGeoReference()

void carla::road::MapBuilder::SetGeoReference ( const geom::GeoLocation & geo_reference )

inline

Definition at line 361 of file MapBuilder.h.

References carla::road::MapData::_geo_reference, and _map_data.

Referenced by carla::opendrive::parser::GeoReferenceParser::Parse().

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◆ SetRoadLaneLink()

void carla::road::MapBuilder::SetRoadLaneLink	(	const RoadId	road_id,
		const SectionId	section_index,
		const LaneId	lane_id,
		const Lane::LaneType	lane_type,
		const bool	lane_level,
		const LaneId	predecessor,
		const LaneId	successor
	)

◆ SolveControllerAndJuntionReferences()

void carla::road::MapBuilder::SolveControllerAndJuntionReferences ( )

private

Solve the references between Controllers and Juntions.

Definition at line 824 of file MapBuilder.cpp.

◆ SolveSignalReferencesAndTransforms()

void carla::road::MapBuilder::SolveSignalReferencesAndTransforms ( )

private

Solves the signal references in the road.

Definition at line 800 of file MapBuilder.cpp.

References carla::road::SignalType::IsTrafficLight().

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Member Data Documentation

◆ _map_data

MapData carla::road::MapBuilder::_map_data

private

Definition at line 367 of file MapBuilder.h.

Referenced by SetGeoReference().

◆ _temp_lane_info_container

std::unordered_map<Lane *, std::vector<std::unique_ptr<element::RoadInfo> > > carla::road::MapBuilder::_temp_lane_info_container

private

Definition at line 417 of file MapBuilder.h.

◆ _temp_road_info_container

std::unordered_map<Road *, std::vector<std::unique_ptr<element::RoadInfo> > > carla::road::MapBuilder::_temp_road_info_container

private

Map to temporary store all the road and lane infos until the map is built, so they can be added all together.

Definition at line 414 of file MapBuilder.h.

◆ _temp_signal_container

std::unordered_map<SignId, std::unique_ptr<Signal> > carla::road::MapBuilder::_temp_signal_container

private

Definition at line 420 of file MapBuilder.h.

◆ _temp_signal_reference_container

std::vector<element::RoadInfoSignal*> carla::road::MapBuilder::_temp_signal_reference_container

private

Definition at line 422 of file MapBuilder.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Member Function Documentation

◆ AddConnection()

◆ AddDependencyToSignal()

◆ AddJunction()

◆ AddJunctionController()

◆ AddLaneLink()

◆ AddRoad()

◆ AddRoadElevationProfile()

◆ AddRoadGeometryArc()

◆ AddRoadGeometryLine()

◆ AddRoadGeometryParamPoly3()

◆ AddRoadGeometryPoly3()

◆ AddRoadGeometrySpiral()

◆ AddRoadObjectCrosswalk()

◆ AddRoadSection() [1/2]

◆ AddRoadSection() [2/2]

◆ AddRoadSectionLane()

◆ AddSignal()

◆ AddSignalPositionInertial()

◆ AddSignalPositionRoad()

◆ AddSignalReference()

◆ AddValidityToSignalReference()

◆ Build()

◆ CheckSignalsOnRoads()

◆ ComputeJunctionRoadConflicts()

◆ ComputeSignalTransform()

◆ CreateController()

◆ CreateJunctionBoundingBoxes()

◆ CreateLaneAccess()

◆ CreateLaneBorder()

◆ CreateLaneHeight()

◆ CreateLaneMaterial()

◆ CreateLaneRule()

◆ CreateLaneSpeed()

◆ CreateLaneVisibility()

◆ CreateLaneWidth()

◆ CreatePointersBetweenRoadSegments()

◆ CreateRoadMark()

◆ CreateRoadMarkTypeLine()

◆ CreateRoadSpeed()

◆ CreateSectionOffset()

◆ GenerateDefaultValiditiesForSignalReferences()

◆ GetEdgeLanePointer()

◆ GetJunctionLanes()

◆ GetLane()

◆ GetLaneNext()

◆ GetRoad()

◆ RemoveZeroLaneValiditySignalReferences()

◆ SetGeoReference()

◆ SetRoadLaneLink()

◆ SolveControllerAndJuntionReferences()

◆ SolveSignalReferencesAndTransforms()

Member Data Documentation

◆ _map_data

◆ _temp_lane_info_container

◆ _temp_road_info_container

◆ _temp_signal_container

◆ _temp_signal_reference_container