carla::road Namespace Reference

Namespaces
	element
	object

Classes
class	Controller
class	InformationSet
class	Junction
class	Lane
class	LaneSection
class	LaneSectionMap
struct	LaneValidity
class	Map
class	MapBuilder
class	MapData
class	Object
class	Road
class	RoadElementSet
	A set of elements ordered by its position on the road. More...
class	Signal
struct	SignalDependency
class	SignalType
	Using OpenDRIVE 1.5M (6.10 Country Codes) More...

Typedefs
using	ConId = uint32_t
using	ContId = std::string
using	JuncId = int32_t
using	LaneId = int32_t
using	ObjId = uint32_t
using	RoadId = uint32_t
using	SectionId = uint32_t
using	SignId = std::string

Enumerations
enum	SignalOrientation { Positive, Negative, Both }

Functions
template<typename T >
static std::pair< double, double >	ComputeTotalLaneWidth (const T container, const double s, const LaneId lane_id)
	Returns a pair containing first = width, second = tangent, for an specific Lane given an s and a iterator over lanes. More...
template<typename T >
static std::vector< T >	ConcatVectors (std::vector< T > dst, std::vector< T > src)
template<typename FuncT >
static void	ForEachDrivableLane (const Road &road, FuncT &&func)
	Return a waypoint for each drivable lane on each lane section of road. More...
template<typename FuncT >
static void	ForEachDrivableLaneAt (const Road &road, double distance, FuncT &&func)
	Return a waypoint for each drivable lane at distance on road. More...
template<typename FuncT >
static void	ForEachDrivableLaneImpl (RoadId road_id, const LaneSection &lane_section, double distance, FuncT &&func)
	Return a waypoint for each drivable lane on lane_section. More...
template<typename FuncT >
static void	ForEachLane (const Road &road, Lane::LaneType lane_type, FuncT &&func)
	Return a waypoint for each lane of the specified type on each lane section of road. More...
template<typename FuncT >
static void	ForEachLaneImpl (RoadId road_id, const LaneSection &lane_section, double distance, Lane::LaneType lane_type, FuncT &&func)
static double	GetDistanceAtEndOfLane (const Lane &lane)
static double	GetDistanceAtStartOfLane (const Lane &lane)
double	GetRemainingLength (const Lane &lane, double current_s)
static bool	IsLanePresent (const MapData &data, Waypoint waypoint)
	Assumes road_id and section_id are valid. More...

Variables
static constexpr double	EPSILON = 10.0 * std::numeric_limits<double>::epsilon()
	We use this epsilon to shift the waypoints away from the edges of the lane sections to avoid floating point precision errors. More...

Typedef Documentation

ConId

using carla::road::ConId = typedef uint32_t

Definition at line 27 of file RoadTypes.h.

ContId

using carla::road::ContId = typedef std::string

Definition at line 29 of file RoadTypes.h.

JuncId

using carla::road::JuncId = typedef int32_t

Definition at line 17 of file RoadTypes.h.

LaneId

using carla::road::LaneId = typedef int32_t

Definition at line 19 of file RoadTypes.h.

ObjId

using carla::road::ObjId = typedef uint32_t

Definition at line 23 of file RoadTypes.h.

RoadId

using carla::road::RoadId = typedef uint32_t

Definition at line 15 of file RoadTypes.h.

SectionId

using carla::road::SectionId = typedef uint32_t

Definition at line 21 of file RoadTypes.h.

SignId

using carla::road::SignId = typedef std::string

Definition at line 25 of file RoadTypes.h.

Enumeration Type Documentation

SignalOrientation

enum carla::road::SignalOrientation

Enumerator
Positive
Negative
Both

Definition at line 21 of file Signal.h.

Function Documentation

ComputeTotalLaneWidth()

template<typename T >

static std::pair<double, double> carla::road::ComputeTotalLaneWidth ( const T  container, const double  s, const LaneId  lane_id  )

static

Returns a pair containing first = width, second = tangent, for an specific Lane given an s and a iterator over lanes.

Definition at line 101 of file Lane.cpp.

References RELEASE_ASSERT.

Referenced by carla::road::Lane::ComputeTransform(), and carla::road::Lane::GetCornerPositions().

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ConcatVectors()

template<typename T >

static std::vector<T> carla::road::ConcatVectors ( std::vector< T >  dst, std::vector< T >  src  )

static

Definition at line 47 of file road/Map.cpp.

Referenced by carla::road::Map::GetNext(), carla::road::Map::GetPrevious(), and carla::road::Map::GetSignalsInDistance().

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ForEachDrivableLane()

template<typename FuncT >

static void carla::road::ForEachDrivableLane ( const Road &  road, FuncT &&  func  )

static

Return a waypoint for each drivable lane on each lane section of road.

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

References ForEachDrivableLaneImpl(), carla::road::Road::GetId(), and carla::road::Road::GetLaneSections().

Referenced by carla::road::Map::GenerateTopology().

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ForEachDrivableLaneAt()

template<typename FuncT >

static void carla::road::ForEachDrivableLaneAt ( const Road &  road, double  distance, FuncT &&  func  )

static

Return a waypoint for each drivable lane at distance on road.

Definition at line 145 of file road/Map.cpp.

References ForEachDrivableLaneImpl(), carla::road::Road::GetId(), and carla::road::Road::GetLaneSectionsAt().

Referenced by carla::road::Map::GenerateWaypoints().

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ForEachDrivableLaneImpl()

template<typename FuncT >

static void carla::road::ForEachDrivableLaneImpl ( RoadId  road_id, const LaneSection &  lane_section, double  distance, FuncT &&  func  )

static

Return a waypoint for each drivable lane on lane_section.

Definition at line 76 of file road/Map.cpp.

References carla::road::Lane::Driving, GetDistanceAtStartOfLane(), carla::road::LaneSection::GetId(), and carla::road::LaneSection::GetLanes().

Referenced by ForEachDrivableLane(), and ForEachDrivableLaneAt().

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ForEachLane()

template<typename FuncT >

static void carla::road::ForEachLane ( const Road &  road, Lane::LaneType  lane_type, FuncT &&  func  )

static

Return a waypoint for each lane of the specified type on each lane section of road.

Definition at line 132 of file road/Map.cpp.

References ForEachLaneImpl(), carla::road::Road::GetId(), and carla::road::Road::GetLaneSections().

Referenced by carla::road::Map::CreateRtree(), and carla::road::Map::GetJunctionWaypoints().

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ForEachLaneImpl()

template<typename FuncT >

static void carla::road::ForEachLaneImpl ( RoadId  road_id, const LaneSection &  lane_section, double  distance, Lane::LaneType  lane_type, FuncT &&  func  )

static

Definition at line 97 of file road/Map.cpp.

References GetDistanceAtStartOfLane(), carla::road::LaneSection::GetId(), and carla::road::LaneSection::GetLanes().

Referenced by ForEachLane().

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GetDistanceAtEndOfLane()

static double carla::road::GetDistanceAtEndOfLane ( const Lane &  lane )

static

Definition at line 66 of file road/Map.cpp.

References EPSILON, carla::road::Lane::GetDistance(), carla::road::Lane::GetId(), and carla::road::Lane::GetLength().

Referenced by carla::road::Map::GenerateTopology(), carla::road::Map::GetJunctionWaypoints(), and carla::road::Map::GetPredecessors().

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GetDistanceAtStartOfLane()

static double carla::road::GetDistanceAtStartOfLane ( const Lane &  lane )

static

Definition at line 58 of file road/Map.cpp.

References EPSILON, carla::road::Lane::GetDistance(), carla::road::Lane::GetId(), and carla::road::Lane::GetLength().

Referenced by ForEachDrivableLaneImpl(), ForEachLaneImpl(), and carla::road::Map::GetSuccessors().

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GetRemainingLength()

double carla::road::GetRemainingLength	(	const Lane &	lane,
		double	current_s
	)

Definition at line 879 of file road/Map.cpp.

References carla::road::Lane::GetDistance(), carla::road::Lane::GetId(), and carla::road::Lane::GetLength().

Referenced by carla::road::Map::CreateRtree().

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IsLanePresent()

static bool carla::road::IsLanePresent ( const MapData &  data, Waypoint  waypoint  )

static

Assumes road_id and section_id are valid.

Definition at line 156 of file road/Map.cpp.

References carla::road::LaneSection::ContainsLane(), carla::road::Road::GetLaneSectionById(), carla::road::MapData::GetRoad(), carla::road::element::Waypoint::lane_id, carla::road::element::Waypoint::road_id, and carla::road::element::Waypoint::section_id.

Referenced by carla::road::Map::GetLeft(), and carla::road::Map::GetRight().

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Variable Documentation

EPSILON

constexpr double carla::road::EPSILON = 10.0 * std::numeric_limits<double>::epsilon()

static

We use this epsilon to shift the waypoints away from the edges of the lane sections to avoid floating point precision errors.

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

Referenced by carla::traffic_manager::DeviationCrossProduct(), carla::traffic_manager::DeviationDotProduct(), carla::road::Map::GenerateWaypoints(), carla::traffic_manager::CollisionStage::GetBoundary(), GetDistanceAtEndOfLane(), GetDistanceAtStartOfLane(), carla::traffic_manager::CollisionStage::GetGeodesicBoundary(), carla::road::Map::GetNext(), carla::road::Map::GetPrevious(), carla::traffic_manager::CollisionStage::NegotiateCollision(), and carla::traffic_manager::MotionPlanStage::Update().