LaneInvasionEvent.h

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// Copyright (c) 2026 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB).
//
// This work is licensed under the terms of the MIT license.
// For a copy, see <https://opensource.org/licenses/MIT>.
 
#pragma once
 
#include "carla/sensor/SensorData.h"
 
#include "carla/client/Actor.h"
#include "carla/road/element/LaneMarking.h"
#include "carla/rpc/ActorId.h"
 
#include <vector>
 
namespace carla {
namespace sensor {
namespace data {
 
  /// A change of lane event.
  class LaneInvasionEvent : public SensorData {
  public:
 
    using LaneMarking = road::element::LaneMarking;
 
    explicit LaneInvasionEvent(
        size_t frame,
        double timestamp,
        const rpc::Transform &sensor_transform,
        ActorId parent,
        std::vector<LaneMarking> crossed_lane_markings)
      : SensorData(frame, timestamp, sensor_transform),
        _parent(parent),
        _crossed_lane_markings(std::move(crossed_lane_markings)) {}
 
    /// Get "self" actor. Actor that invaded another lane.
    SharedPtr<client::Actor> GetActor() const;
 
    /// List of lane markings that have been crossed.
    const std::vector<LaneMarking> &GetCrossedLaneMarkings() const {
      return _crossed_lane_markings;
    }
 
  private:
 
    ActorId _parent;
 
    std::vector<LaneMarking> _crossed_lane_markings;
  };
 
} // namespace data
} // namespace sensor
} // namespace carla