#include <MapBuilder.h>

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, const bool is_rht)

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	AddRoadLateralShape (Road *road, const double s, const double a, const double b, const double c, const double d, const double t)

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)

element::RoadInfoStencil *	AddStencil (Road *road, const StencilId stencil_id, const double s, const double t, const std::string name, const std::string orientation, const std::string type, const double zOffset, const double heading, const double length, const double width, const double pitch, const double roll)

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

std::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, const bool is_rht)

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	SetGeoProjection (const geom::GeoProjection &geo_projection)

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.

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

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

geom::Transform	ComputeStencilTransform (std::unique_ptr< Stencil > &stencil, MapData &data)

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

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

void	DebugRoadConnections ()
	Debug the built connections through the terminal.

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

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

std::vector< std::pair< RoadId, const Lane * > >	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).

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

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

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

void	SolveStencilReferencesAndTransforms ()
	Solves the stencil references in the road.

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.

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

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

std::unordered_map< StencilId, std::unique_ptr< Stencil > >	_temp_stencil_container

std::vector< element::RoadInfoStencil * >	_temp_stencil_reference_container

Detailed Description

Definition at line 22 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 632 of file MapBuilder.cpp.

References _map_data, DEBUG_ASSERT, carla::road::Junction::GetConnections(), and carla::road::MapData::GetJunction().

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

◆ AddDependencyToSignal()

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

Definition at line 361 of file MapBuilder.cpp.

References _temp_signal_container.

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

◆ AddJunction()

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

Definition at line 628 of file MapBuilder.cpp.

References _map_data, and carla::road::MapData::GetJunctions().

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

◆ AddJunctionController()

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

Definition at line 651 of file MapBuilder.cpp.

References carla::road::Junction::_controllers, _map_data, DEBUG_ASSERT, and carla::road::MapData::GetJunction().

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

◆ AddLaneLink()

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

Definition at line 642 of file MapBuilder.cpp.

References _map_data, carla::road::Junction::Connection::AddLaneLink(), DEBUG_ASSERT, carla::road::Junction::GetConnection(), and carla::road::MapData::GetJunction().

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

◆ 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,
		const bool	is_rht
	)

Definition at line 413 of file MapBuilder.cpp.

References _map_data, carla::road::MapData::_roads, road, and road_id.

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

◆ 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 77 of file MapBuilder.cpp.

References _temp_road_info_container, DEBUG_ASSERT, elevation, and road.

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

◆ 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 513 of file MapBuilder.cpp.

References _temp_road_info_container, DEBUG_ASSERT, road, x, and y.

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

◆ 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 473 of file MapBuilder.cpp.

References _temp_road_info_container, DEBUG_ASSERT, road, x, and y.

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

◆ 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 585 of file MapBuilder.cpp.

References _temp_road_info_container, DEBUG_ASSERT, road, x, and y.

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

◆ 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 558 of file MapBuilder.cpp.

References _temp_road_info_container, DEBUG_ASSERT, road, x, and y.

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

◆ 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 534 of file MapBuilder.cpp.

References _temp_road_info_container, DEBUG_ASSERT, road, x, and y.

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

◆ AddRoadLateralShape()

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

Definition at line 89 of file MapBuilder.cpp.

References _temp_road_info_container, DEBUG_ASSERT, and road.

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

◆ 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 102 of file MapBuilder.cpp.

References _temp_road_info_container, DEBUG_ASSERT, and road.

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

◆ AddRoadSection() [1/2]

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

Definition at line 440 of file MapBuilder.cpp.

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

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

◆ 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 450 of file MapBuilder.cpp.

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

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

◆ 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 255 of file MapBuilder.cpp.

References _temp_signal_container, AddSignalReference(), and road.

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

◆ 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 299 of file MapBuilder.cpp.

References _temp_signal_container, carla::geom::Math::ToDegrees(), x, y, and z.

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

◆ 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 316 of file MapBuilder.cpp.

References _temp_signal_container, and road_id.

◆ 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 335 of file MapBuilder.cpp.

References _temp_road_info_container, _temp_signal_reference_container, carla::geom::Math::Clamp(), RELEASE_ASSERT, and road.

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

◆ AddStencil()

element::RoadInfoStencil * carla::road::MapBuilder::AddStencil	(	Road *	road,
		const StencilId	stencil_id,
		const double	s,
		const double	t,
		const std::string	name,
		const std::string	orientation,
		const std::string	type,
		const double	zOffset,
		const double	heading,
		const double	length,
		const double	width,
		const double	pitch,
		const double	roll
	)

Definition at line 369 of file MapBuilder.cpp.

References _temp_road_info_container, _temp_stencil_container, _temp_stencil_reference_container, carla::geom::Math::Clamp(), heading, RELEASE_ASSERT, and road.

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

◆ AddValidityToSignalReference()

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

Definition at line 354 of file MapBuilder.cpp.

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

Referenced by carla::opendrive::parser::AddValidity(), and GenerateDefaultValiditiesForSignalReferences().

◆ Build()

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

Definition at line 40 of file MapBuilder.cpp.

References _map_data, _temp_lane_info_container, _temp_road_info_container, CheckSignalsOnRoads(), ComputeJunctionRoadConflicts(), CreateJunctionBoundingBoxes(), CreatePointersBetweenRoadSegments(), DEBUG_ASSERT, RemoveZeroLaneValiditySignalReferences(), SolveControllerAndJuntionReferences(), SolveSignalReferencesAndTransforms(), and SolveStencilReferencesAndTransforms().

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

◆ CheckSignalsOnRoads()

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

private

Checks signals overlapping driving lanes and emits a warning.

Definition at line 1165 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::GetLane(), carla::road::Map::GetLaneType(), carla::road::Map::GetLaneWidth(), carla::road::Map::GetLeft(), carla::road::Map::GetRight(), GetRoad(), carla::road::Road::IsRHT(), carla::log_debug(), carla::road::Lane::None, and carla::road::Lane::Shoulder.

Referenced by Build().

◆ ComputeJunctionRoadConflicts()

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

private

Compute the conflicts of the roads (intersecting roads)

Definition at line 1060 of file MapBuilder.cpp.

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

Referenced by Build().

◆ ComputeSignalTransform()

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

private

Definition at line 879 of file MapBuilder.cpp.

References carla::road::element::DirectedPoint::ApplyLateralOffset(), carla::road::Road::GetDirectedPointInNoLaneOffset(), carla::road::MapData::GetRoad(), point, and carla::geom::Math::ToDegrees().

Referenced by SolveSignalReferencesAndTransforms().

◆ ComputeStencilTransform()

geom::Transform carla::road::MapBuilder::ComputeStencilTransform	(	std::unique_ptr< Stencil > &	stencil,
		MapData &	data
	)

private

Definition at line 891 of file MapBuilder.cpp.

References carla::road::element::DirectedPoint::ApplyLateralOffset(), carla::road::Road::GetDirectedPointInNoLaneOffset(), carla::road::MapData::GetRoad(), point, and carla::geom::Math::ToDegrees().

Referenced by SolveStencilReferencesAndTransforms().

◆ 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 1032 of file MapBuilder.cpp.

References carla::road::MapData::_controllers, _map_data, carla::road::MapData::_signals, and DEBUG_ASSERT.

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

◆ CreateJunctionBoundingBoxes()

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

private

Create the bounding boxes of each junction.

Definition at line 964 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(), junction, and carla::geom::Transform::location.

Referenced by Build().

◆ CreateLaneAccess()

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

Definition at line 121 of file MapBuilder.cpp.

References _temp_lane_info_container, and DEBUG_ASSERT.

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

◆ 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 129 of file MapBuilder.cpp.

References _temp_lane_info_container, and DEBUG_ASSERT.

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

◆ CreateLaneHeight()

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

Definition at line 140 of file MapBuilder.cpp.

References _temp_lane_info_container, and DEBUG_ASSERT.

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

◆ CreateLaneMaterial()

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

Definition at line 149 of file MapBuilder.cpp.

References _temp_lane_info_container, and DEBUG_ASSERT.

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

◆ CreateLaneRule()

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

Definition at line 160 of file MapBuilder.cpp.

References _temp_lane_info_container, and DEBUG_ASSERT.

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

◆ CreateLaneSpeed()

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

Definition at line 245 of file MapBuilder.cpp.

References _temp_lane_info_container, and DEBUG_ASSERT.

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

◆ 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 168 of file MapBuilder.cpp.

References _temp_lane_info_container, and DEBUG_ASSERT.

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

◆ 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 180 of file MapBuilder.cpp.

References _temp_lane_info_container, and DEBUG_ASSERT.

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

◆ CreatePointersBetweenRoadSegments()

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

private

Create the pointers between RoadSegments based on the ids.

Definition at line 808 of file MapBuilder.cpp.

References _map_data, carla::road::MapData::_roads, DEBUG_ASSERT, GetLaneNext(), and road.

Referenced by Build().

◆ 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,
		const bool	is_rht
	)

Definition at line 191 of file MapBuilder.cpp.

References _temp_lane_info_container, DEBUG_ASSERT, and carla::StringUtil::ToLower().

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

◆ 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 224 of file MapBuilder.cpp.

References _temp_lane_info_container, and DEBUG_ASSERT.

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

◆ 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 492 of file MapBuilder.cpp.

References _temp_road_info_container, DEBUG_ASSERT, and road.

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

◆ 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 502 of file MapBuilder.cpp.

References _temp_road_info_container, DEBUG_ASSERT, and road.

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

◆ DebugRoadConnections()

void carla::road::MapBuilder::DebugRoadConnections ( void )

private

Debug the built connections through the terminal.

Definition at line 863 of file MapBuilder.cpp.

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

◆ GenerateDefaultValiditiesForSignalReferences()

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

private

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

Definition at line 1067 of file MapBuilder.cpp.

References _temp_signal_reference_container, AddValidityToSignalReference(), carla::road::Both, GetRoad(), carla::road::Negative, carla::road::Positive, and road.

Referenced by SolveSignalReferencesAndTransforms().

◆ GetEdgeLanePointer()

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

private

Return the pointer to a lane object.

Definition at line 671 of file MapBuilder.cpp.

References _map_data, carla::road::MapData::ContainsRoad(), DEBUG_ASSERT, carla::road::LaneSection::GetLane(), carla::road::MapData::GetRoad(), road, and road_id.

Referenced by GetLaneNext().

◆ GetJunctionLanes()

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

private

Definition at line 768 of file MapBuilder.cpp.

References _map_data, carla::road::MapData::GetJunction(), GetRoad(), junction, and road_id.

Referenced by GetLaneNext().

◆ GetLane()

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

Definition at line 658 of file MapBuilder.cpp.

References _map_data, carla::road::Road::GetLaneByDistance(), carla::road::MapData::GetRoad(), and road_id.

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

◆ 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).

Todo:: : Find a better way to change from 'const Lane*' to 'Lane*' and use opt.second

Definition at line 701 of file MapBuilder.cpp.

References _map_data, carla::road::MapData::ContainsRoad(), DEBUG_ASSERT, carla::road::LaneSection::GetDistance(), GetEdgeLanePointer(), GetJunctionLanes(), carla::road::LaneSection::GetLane(), carla::road::Lane::GetPredecessor(), carla::road::MapData::GetRoad(), carla::road::Lane::GetSuccessor(), carla::road::Lane::IsPositiveDirection(), road, and road_id.

Referenced by CreatePointersBetweenRoadSegments().

◆ GetRoad()

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

Definition at line 665 of file MapBuilder.cpp.

References _map_data, carla::road::MapData::GetRoad(), and road_id.

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

◆ 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 1134 of file MapBuilder.cpp.

References _temp_road_info_container, _temp_signal_reference_container, GetRoad(), and road_id.

Referenced by Build().

◆ SetGeoProjection()

void carla::road::MapBuilder::SetGeoProjection ( const geom::GeoProjection & geo_projection )

inline

Definition at line 394 of file MapBuilder.h.

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

◆ SetGeoReference()

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

inline

Definition at line 390 of file MapBuilder.h.

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

◆ 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 945 of file MapBuilder.cpp.

References carla::road::MapData::_controllers, carla::road::MapData::_junctions, _map_data, carla::road::MapData::_signals, and junction.

Referenced by Build().

◆ SolveSignalReferencesAndTransforms()

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

private

Solves the signal references in the road.

Definition at line 903 of file MapBuilder.cpp.

References _map_data, carla::road::MapData::_signals, _temp_signal_container, _temp_signal_reference_container, ComputeSignalTransform(), GenerateDefaultValiditiesForSignalReferences(), and carla::road::SignalType::IsTrafficLight().

Referenced by Build().

◆ SolveStencilReferencesAndTransforms()

void carla::road::MapBuilder::SolveStencilReferencesAndTransforms ( )

private

Solves the stencil references in the road.

Definition at line 927 of file MapBuilder.cpp.

References _map_data, carla::road::MapData::_stencils, _temp_stencil_container, _temp_stencil_reference_container, and ComputeStencilTransform().

Referenced by Build().

Member Data Documentation

◆ _map_data

MapData carla::road::MapBuilder::_map_data

private

◆ _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 458 of file MapBuilder.h.

Referenced by Build(), CreateLaneAccess(), CreateLaneBorder(), CreateLaneHeight(), CreateLaneMaterial(), CreateLaneRule(), CreateLaneSpeed(), CreateLaneVisibility(), CreateLaneWidth(), CreateRoadMark(), and CreateRoadMarkTypeLine().

◆ _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 455 of file MapBuilder.h.

Referenced by AddRoadElevationProfile(), AddRoadGeometryArc(), AddRoadGeometryLine(), AddRoadGeometryParamPoly3(), AddRoadGeometryPoly3(), AddRoadGeometrySpiral(), AddRoadLateralShape(), AddRoadObjectCrosswalk(), AddSignalReference(), AddStencil(), Build(), CreateRoadSpeed(), CreateSectionOffset(), and RemoveZeroLaneValiditySignalReferences().

◆ _temp_signal_container

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

private

Definition at line 461 of file MapBuilder.h.

Referenced by AddDependencyToSignal(), AddSignal(), AddSignalPositionInertial(), AddSignalPositionRoad(), and SolveSignalReferencesAndTransforms().

◆ _temp_signal_reference_container

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

private

Definition at line 463 of file MapBuilder.h.

Referenced by AddSignalReference(), GenerateDefaultValiditiesForSignalReferences(), RemoveZeroLaneValiditySignalReferences(), and SolveSignalReferencesAndTransforms().

◆ _temp_stencil_container

std::unordered_map<StencilId, std::unique_ptr<Stencil> > carla::road::MapBuilder::_temp_stencil_container

private

Definition at line 466 of file MapBuilder.h.

Referenced by AddStencil(), and SolveStencilReferencesAndTransforms().

◆ _temp_stencil_reference_container

std::vector<element::RoadInfoStencil*> carla::road::MapBuilder::_temp_stencil_reference_container

private

Definition at line 468 of file MapBuilder.h.

Referenced by AddStencil(), and SolveStencilReferencesAndTransforms().

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()

◆ AddRoadLateralShape()

◆ AddRoadObjectCrosswalk()

◆ AddRoadSection() [1/2]

◆ AddRoadSection() [2/2]

◆ AddRoadSectionLane()

◆ AddSignal()

◆ AddSignalPositionInertial()

◆ AddSignalPositionRoad()

◆ AddSignalReference()

◆ AddStencil()

◆ AddValidityToSignalReference()

◆ Build()

◆ CheckSignalsOnRoads()

◆ ComputeJunctionRoadConflicts()

◆ ComputeSignalTransform()

◆ ComputeStencilTransform()

◆ CreateController()

◆ CreateJunctionBoundingBoxes()

◆ CreateLaneAccess()

◆ CreateLaneBorder()

◆ CreateLaneHeight()

◆ CreateLaneMaterial()

◆ CreateLaneRule()

◆ CreateLaneSpeed()

◆ CreateLaneVisibility()

◆ CreateLaneWidth()

◆ CreatePointersBetweenRoadSegments()

◆ CreateRoadMark()

◆ CreateRoadMarkTypeLine()

◆ CreateRoadSpeed()

◆ CreateSectionOffset()

◆ DebugRoadConnections()

◆ GenerateDefaultValiditiesForSignalReferences()

◆ GetEdgeLanePointer()

◆ GetJunctionLanes()

◆ GetLane()

◆ GetLaneNext()

◆ GetRoad()

◆ RemoveZeroLaneValiditySignalReferences()

◆ SetGeoProjection()

◆ SetGeoReference()

◆ SetRoadLaneLink()

◆ SolveControllerAndJuntionReferences()

◆ SolveSignalReferencesAndTransforms()

◆ SolveStencilReferencesAndTransforms()

Member Data Documentation

◆ _map_data

◆ _temp_lane_info_container

◆ _temp_road_info_container

◆ _temp_signal_container

◆ _temp_signal_reference_container

◆ _temp_stencil_container

◆ _temp_stencil_reference_container