#include <Lane.h>

Inheritance diagram for carla::road::Lane:

Collaboration diagram for carla::road::Lane:

Public Types
enum	LaneType : int32_t { LaneType::None = 0x1, LaneType::Driving = 0x1 << 1, LaneType::Stop = 0x1 << 2, LaneType::Shoulder = 0x1 << 3, LaneType::Biking = 0x1 << 4, LaneType::Sidewalk = 0x1 << 5, LaneType::Border = 0x1 << 6, LaneType::Restricted = 0x1 << 7, LaneType::Parking = 0x1 << 8, LaneType::Bidirectional = 0x1 << 9, LaneType::Median = 0x1 << 10, LaneType::Special1 = 0x1 << 11, LaneType::Special2 = 0x1 << 12, LaneType::Special3 = 0x1 << 13, LaneType::RoadWorks = 0x1 << 14, LaneType::Tram = 0x1 << 15, LaneType::Rail = 0x1 << 16, LaneType::Entry = 0x1 << 17, LaneType::Exit = 0x1 << 18, LaneType::OffRamp = 0x1 << 19, LaneType::OnRamp = 0x1 << 20, LaneType::Any = -2 }
	Can be used as flags. More...

Public Member Functions
geom::Transform	ComputeTransform (const double s) const

std::pair< geom::Vector3D, geom::Vector3D >	GetCornerPositions (const double s, const float extra_width=0.f) const
	Computes the location of the edges given a s. More...

double	GetDistance () const

LaneId	GetId () const

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

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

const LaneSection *	GetLaneSection () const

double	GetLength () const

bool	GetLevel () const

const std::vector< Lane * > &	GetNextLanes () const

LaneId	GetPredecessor () const

const std::vector< Lane * > &	GetPreviousLanes () const

Road *	GetRoad () const

LaneId	GetSuccessor () const

LaneType	GetType () const

double	GetWidth (const double s) const
	Returns the total lane width given a s. More...

bool	IsStraight () const
	Checks whether the geometry is straight or not. More...

	Lane ()=default

	Lane (LaneSection *lane_section, LaneId id, std::vector< std::unique_ptr< element::RoadInfo >> &&info)

Private Attributes
LaneId	_id = 0

InformationSet	_info

LaneSection *	_lane_section = nullptr

bool	_level = false

std::vector< Lane * >	_next_lanes

LaneId	_predecessor = 0

std::vector< Lane * >	_prev_lanes

LaneId	_successor = 0

LaneType	_type = LaneType::None

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 25 of file Lane.h.

Member Enumeration Documentation

◆ LaneType

enum carla::road::Lane::LaneType : int32_t

strong

Can be used as flags.

Enumerator
None
Driving
Stop
Shoulder
Biking
Sidewalk
Border
Restricted
Parking
Bidirectional
Median
Special1
Special2
Special3
RoadWorks
Tram
Rail
Entry
Exit
OffRamp
OnRamp
Any

Definition at line 29 of file Lane.h.

Constructor & Destructor Documentation

◆ Lane() [1/2]

carla::road::Lane::Lane ( )

default

◆ Lane() [2/2]

carla::road::Lane::Lane	(	LaneSection *	lane_section,
		LaneId	id,
		std::vector< std::unique_ptr< element::RoadInfo >> &&	info
	)

inline

Definition at line 58 of file Lane.h.

References DEBUG_ASSERT, GetId(), GetLaneSection(), GetLevel(), GetRoad(), and GetType().

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Member Function Documentation

◆ ComputeTransform()

geom::Transform carla::road::Lane::ComputeTransform ( const double s ) const

Definition at line 131 of file Lane.cpp.

References carla::road::element::DirectedPoint::ApplyLateralOffset(), carla::road::ComputeTotalLaneWidth(), DEBUG_ASSERT, carla::road::Road::GetDirectedPointIn(), GetId(), carla::road::Road::GetInfo(), GetLaneSection(), GetLength(), GetRoad(), carla::road::element::DirectedPoint::location, carla::MakeListView(), carla::geom::Rotation::pitch, carla::road::element::DirectedPoint::pitch, RELEASE_ASSERT, carla::road::element::DirectedPoint::tangent, carla::geom::Math::ToDegrees(), carla::geom::Vector3D::y, and carla::geom::Rotation::yaw.

Referenced by carla::road::Map::FilterRoadsByPosition(), GetPredecessor(), and carla::road::Map::GetTreesTransform().

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◆ GetCornerPositions()

std::pair< geom::Vector3D, geom::Vector3D > carla::road::Lane::GetCornerPositions	(	const double	s,
		const float	extra_width = `0.f`
	)		const

Computes the location of the edges given a s.

: use the OpenDRIVE 5.3.7.2.1.1.9 Lane Height Record

Definition at line 206 of file Lane.cpp.

References carla::road::element::DirectedPoint::ApplyLateralOffset(), carla::road::ComputeTotalLaneWidth(), DEBUG_ASSERT, Driving, carla::road::Road::GetDirectedPointIn(), GetId(), GetLaneSection(), GetRoad(), GetType(), GetWidth(), carla::road::Road::IsJunction(), carla::road::element::DirectedPoint::location, carla::MakeListView(), RELEASE_ASSERT, Sidewalk, carla::geom::Vector3D::y, and carla::geom::Vector3D::z.

Referenced by carla::geom::MeshFactory::Generate(), carla::geom::MeshFactory::GenerateLaneMarksForCenterLine(), carla::geom::MeshFactory::GenerateLaneMarksForNotCenterLine(), carla::geom::MeshFactory::GenerateLeftWall(), carla::geom::MeshFactory::GenerateRightWall(), carla::geom::MeshFactory::GenerateSidewalk(), carla::geom::MeshFactory::GenerateTesselated(), GetPredecessor(), and carla::road::Map::GetTreesTransform().

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◆ GetDistance()

double carla::road::Lane::GetDistance ( ) const

Definition at line 46 of file Lane.cpp.

References _lane_section, DEBUG_ASSERT, and carla::road::LaneSection::GetDistance().

Referenced by carla::road::Map::FilterRoadsByPosition(), carla::geom::MeshFactory::Generate(), carla::geom::MeshFactory::GenerateLeftWall(), carla::geom::MeshFactory::GenerateRightWall(), carla::geom::MeshFactory::GenerateSidewalk(), carla::geom::MeshFactory::GenerateTesselated(), get_total_road_marks(), carla::road::GetDistanceAtEndOfLane(), carla::road::GetDistanceAtStartOfLane(), GetLength(), GetPredecessor(), carla::road::GetRemainingLength(), carla::road::Map::GetTreesTransform(), and IsStraight().

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◆ GetId()

LaneId carla::road::Lane::GetId ( ) const

Definition at line 34 of file Lane.cpp.

References _id.

Referenced by ComputeTransform(), carla::geom::MeshFactory::Generate(), carla::geom::MeshFactory::GenerateLeftWall(), carla::geom::MeshFactory::GenerateRightWall(), carla::geom::MeshFactory::GenerateSidewalk(), carla::geom::MeshFactory::GenerateTesselated(), GetCornerPositions(), carla::road::GetDistanceAtEndOfLane(), carla::road::GetDistanceAtStartOfLane(), carla::road::GetRemainingLength(), Lane(), and carla::opendrive::parser::ParseLanes().

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◆ GetInfo()

template<typename T >

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

inline

Definition at line 79 of file Lane.h.

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

Referenced by carla::geom::MeshFactory::GenerateLaneMarksForCenterLine(), carla::geom::MeshFactory::GenerateLaneMarksForNotCenterLine(), get_total_road_marks(), and carla::road::Map::GetTreesTransform().

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◆ GetInfos()

template<typename T >

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

inline

Definition at line 85 of file Lane.h.

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

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◆ GetLaneSection()

const LaneSection * carla::road::Lane::GetLaneSection ( ) const

Definition at line 25 of file Lane.cpp.

References _lane_section.

Referenced by ComputeTransform(), GetCornerPositions(), and Lane().

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◆ GetLength()

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

Definition at line 51 of file Lane.cpp.

References DEBUG_ASSERT, GetDistance(), and GetRoad().

Referenced by ComputeTransform(), carla::geom::MeshFactory::Generate(), carla::geom::MeshFactory::GenerateLeftWall(), carla::geom::MeshFactory::GenerateRightWall(), carla::geom::MeshFactory::GenerateSidewalk(), carla::geom::MeshFactory::GenerateTesselated(), carla::road::GetDistanceAtEndOfLane(), carla::road::GetDistanceAtStartOfLane(), GetPredecessor(), carla::road::GetRemainingLength(), GetWidth(), and IsStraight().

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◆ GetLevel()

bool carla::road::Lane::GetLevel ( ) const

Definition at line 42 of file Lane.cpp.

References _level.

Referenced by Lane().

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◆ GetNextLanes()

const std::vector<Lane *>& carla::road::Lane::GetNextLanes ( ) const

inline

Definition at line 90 of file Lane.h.

References _next_lanes.

◆ GetPredecessor()

LaneId carla::road::Lane::GetPredecessor ( ) const

inline

Definition at line 102 of file Lane.h.

References _predecessor, ComputeTransform(), GetCornerPositions(), GetDistance(), GetLength(), GetWidth(), and IsStraight().

Referenced by carla::road::MapBuilder::GetLaneNext().

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◆ GetPreviousLanes()

const std::vector<Lane *>& carla::road::Lane::GetPreviousLanes ( ) const

inline

Definition at line 94 of file Lane.h.

References _prev_lanes.

◆ GetRoad()

Road * carla::road::Lane::GetRoad ( ) const

Definition at line 29 of file Lane.cpp.

References _lane_section, DEBUG_ASSERT, and carla::road::LaneSection::GetRoad().

Referenced by ComputeTransform(), GetCornerPositions(), carla::road::Map::GetLane(), carla::road::MapBuilder::GetLane(), GetLength(), GetWidth(), IsStraight(), Lane(), and carla::opendrive::parser::ParseLanes().

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◆ GetSuccessor()

LaneId carla::road::Lane::GetSuccessor ( ) const

inline

Definition at line 98 of file Lane.h.

References _successor.

Referenced by carla::road::MapBuilder::GetLaneNext().

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◆ GetType()

Lane::LaneType carla::road::Lane::GetType ( ) const

Definition at line 38 of file Lane.cpp.

References _type.

Referenced by carla::geom::MeshFactory::Generate(), carla::geom::MeshFactory::GenerateLeftWall(), carla::geom::MeshFactory::GenerateRightWall(), carla::geom::MeshFactory::GenerateSidewalk(), carla::geom::MeshFactory::GenerateTesselated(), GetCornerPositions(), and Lane().

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◆ GetWidth()

double carla::road::Lane::GetWidth ( const double s ) const

Returns the total lane width given a s.

Definition at line 58 of file Lane.cpp.

References GetLength(), GetRoad(), and RELEASE_ASSERT.

Referenced by GetCornerPositions(), GetPredecessor(), and carla::road::Map::GetTreesTransform().

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◆ IsStraight()

bool carla::road::Lane::IsStraight ( ) const

Checks whether the geometry is straight or not.

Definition at line 67 of file Lane.cpp.

References DEBUG_ASSERT, GetDistance(), carla::road::Road::GetInfo(), carla::road::Road::GetInfos(), GetLength(), GetRoad(), carla::road::element::LINE, and RELEASE_ASSERT.

Referenced by carla::road::Map::CreateRtree(), carla::geom::MeshFactory::Generate(), carla::geom::MeshFactory::GenerateLeftWall(), carla::geom::MeshFactory::GenerateRightWall(), and GetPredecessor().

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Member Data Documentation

◆ _id

LaneId carla::road::Lane::_id = 0

private

Definition at line 128 of file Lane.h.

Referenced by GetId().

◆ _info

InformationSet carla::road::Lane::_info

private

Definition at line 130 of file Lane.h.

Referenced by GetInfo(), and GetInfos().

◆ _lane_section

LaneSection* carla::road::Lane::_lane_section = nullptr

private

Definition at line 126 of file Lane.h.

Referenced by GetDistance(), GetInfo(), GetInfos(), GetLaneSection(), and GetRoad().

◆ _level

bool carla::road::Lane::_level = false

private

Definition at line 134 of file Lane.h.

Referenced by GetLevel().

◆ _next_lanes

std::vector<Lane *> carla::road::Lane::_next_lanes

private

Definition at line 140 of file Lane.h.

Referenced by GetNextLanes().

◆ _predecessor

LaneId carla::road::Lane::_predecessor = 0

private

Definition at line 138 of file Lane.h.

Referenced by GetPredecessor().

◆ _prev_lanes

std::vector<Lane *> carla::road::Lane::_prev_lanes

private

Definition at line 142 of file Lane.h.

Referenced by GetPreviousLanes().

◆ _successor

LaneId carla::road::Lane::_successor = 0

private

Definition at line 136 of file Lane.h.

Referenced by GetSuccessor().

◆ _type

LaneType carla::road::Lane::_type = LaneType::None

private

Definition at line 132 of file Lane.h.

Referenced by GetType().

◆ MapBuilder

friend carla::road::Lane::MapBuilder

private

Definition at line 124 of file Lane.h.

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

Public Types

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ LaneType

Constructor & Destructor Documentation

◆ Lane() [1/2]

◆ Lane() [2/2]

Member Function Documentation

◆ ComputeTransform()

◆ GetCornerPositions()

◆ GetDistance()

◆ GetId()

◆ GetInfo()

◆ GetInfos()

◆ GetLaneSection()

◆ GetLength()

◆ GetLevel()

◆ GetNextLanes()

◆ GetPredecessor()

◆ GetPreviousLanes()

◆ GetRoad()

◆ GetSuccessor()

◆ GetType()

◆ GetWidth()

◆ IsStraight()

Member Data Documentation

◆ _id

◆ _info

◆ _lane_section

◆ _level

◆ _next_lanes

◆ _predecessor

◆ _prev_lanes

◆ _successor

◆ _type

◆ MapBuilder