Merge branch 'master' into feature/integrate_rss_3.0.0

CHANGELOG.md

@@ -11,6 +11,8 @@
   * Upgraded to AD RSS v3.0.0 supporting complex road layouts and i.e. intersections
   * Added examples of sumo co-simulation for Town01, Town04 and Town05
   * Added ptv vissim and carla co-simulation
+  * API extensions:
+    - Added new methods to `Map`: `get_all_landmarks`, `get_all_landmarks_from_id` and `get_all_landmarks_of_type`
 
 ## CARLA 0.9.8
 

Docs/python_api.md

@@ -1012,6 +1012,24 @@ Converts a given `location`, a point in the simulation, to a [carla.GeoLocation]
     - **Parameters:**
         - `location` (_[carla.Location](#carla.Location)_)  
     - **Return:** _[carla.GeoLocation](#carla.GeoLocation)_  
+- <a name="carla.Map.get_all_landmarks"></a>**<font color="#7fb800">get_all_landmarks</font>**(<font color="#00a6ed">**self**</font>)  
+Returns all the landmarks in the map. Landmarks retrieved using this method have a __null__ waypoint.  
+    - **Return:** _list([carla.Landmark](#carla.Landmark))_  
+- <a name="carla.Map.get_all_landmarks_from_id"></a>**<font color="#7fb800">get_all_landmarks_from_id</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**opendrive_id**</font>)  
+Returns the landmarks with a certain OpenDRIVE ID. Landmarks retrieved using this method have a __null__ waypoint.  
+    - **Parameters:**
+        - `opendrive_id` (_string_) – The OpenDRIVE ID of the landmarks.  
+    - **Return:** _list([carla.Landmark](#carla.Landmark))_  
+- <a name="carla.Map.get_all_landmarks_of_type"></a>**<font color="#7fb800">get_all_landmarks_of_type</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**type**</font>)  
+Returns the landmarks of a specific type. Landmarks retrieved using this method have a __null__ waypoint.  
+    - **Parameters:**
+        - `type` (_string_) – The type of the landmarks.  
+    - **Return:** _list([carla.Landmark](#carla.Landmark))_  
+- <a name="carla.Map.get_landmark_group"></a>**<font color="#7fb800">get_landmark_group</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**landmark**</font>)  
+Returns the landmarks in the same group as the specified landmark (including itself). Returns an empty list if the landmark does not belong to any group.  
+    - **Parameters:**
+        - `landmark` (_[carla.Landmark](#carla.Landmark)_) – A landmark that belongs to the group.  
+    - **Return:** _list([carla.Landmark](#carla.Landmark))_  
 - <a name="carla.Map.get_spawn_points"></a>**<font color="#7fb800">get_spawn_points</font>**(<font color="#00a6ed">**self**</font>)  
 Returns a list of recommendations made by the creators of the map to be used as spawning points for the vehicles. The list includes [carla.Transform](#carla.Transform) objects with certain location and orientation. Said locations are slightly on-air in order to avoid Z-collisions, so vehicles fall for a bit before starting their way.  
     - **Return:** _list([carla.Transform](#carla.Transform))_  
@@ -1027,10 +1045,10 @@ Returns a waypoint that can be located in an exact location or translated to the
         - `lane_type` (_[carla.LaneType](#carla.LaneType)_) – Limits the search for nearest lane to one or various lane types that can be flagged.  
     - **Return:** _[carla.Waypoint](#carla.Waypoint)_  
 - <a name="carla.Map.get_waypoint_xodr"></a>**<font color="#7fb800">get_waypoint_xodr</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**road_id**</font>, <font color="#00a6ed">**lane_id**</font>, <font color="#00a6ed">**s**</font>)  
-Get a waypoint if all the parameters passed are correct, otherwise return None.  
+Returns a waypoint if all the parameters passed are correct. Otherwise, returns __None__.  
     - **Parameters:**
-        - `road_id` (_int_) – Id of the road from where getting the waypoint.  
-        - `lane_id` (_int_) – Id of the lane to get the waypoint.  
+        - `road_id` (_int_) – ID of the road to get the waypoint.  
+        - `lane_id` (_int_) – ID of the lane to get the waypoint.  
         - `s` (_float_) – Specify the length from the road start.  
     - **Return:** _[carla.Waypoint](#carla.Waypoint)_  
 
@@ -1783,6 +1801,9 @@ Returns a list of waypoints from this to the start of the lane separated by a ce
     - **Parameters:**
         - `distance` (_float_) – The approximate distance between waypoints.  
     - **Return:** _list([carla.Waypoint](#carla.Waypoint))_  
+- <a name="carla.Waypoint.get_junction"></a>**<font color="#7fb800">get_junction</font>**(<font color="#00a6ed">**self**</font>)  
+If the waypoint belongs to a junction this function returns the asociated junction object. Otherwise returns null.  
+    - **Return:** _[carla.Junction](#carla.Junction)_  
 - <a name="carla.Waypoint.get_landmarks"></a>**<font color="#7fb800">get_landmarks</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**distance**</font>, <font color="#00a6ed">**stop_at_junction**=False</font>)  
 Returns a list of landmarks in the road from the current waypoint until the specified distance.  
     - **Parameters:**

LibCarla/source/carla/client/Landmark.h

@@ -31,7 +31,7 @@ namespace client {
     }
 
     road::RoadId GetRoadId() const {
-      return _signal->GetSignal()->GetRoadId();
+      return _signal->GetRoadId();
     }
 
     double GetDistance() const {
@@ -117,6 +117,7 @@ namespace client {
   private:
 
     friend Waypoint;
+    friend Map;
 
     Landmark(
         SharedPtr<Waypoint> waypoint,

LibCarla/source/carla/client/Map.cpp

@@ -132,5 +132,54 @@ namespace client {
     return result;
   }
 
+  std::vector<SharedPtr<Landmark>> Map::GetAllLandmarks() const {
+    std::vector<SharedPtr<Landmark>> result;
+    auto signal_references = _map.GetAllSignalReferences();
+    for(auto* signal_reference : signal_references) {
+      result.emplace_back(
+          new Landmark(nullptr, signal_reference, 0));
+    }
+    return result;
+  }
+
+  std::vector<SharedPtr<Landmark>> Map::GetLandmarksFromId(std::string id) const {
+    std::vector<SharedPtr<Landmark>> result;
+    auto signal_references = _map.GetAllSignalReferences();
+    for(auto* signal_reference : signal_references) {
+      if(signal_reference->GetSignalId() == id) {
+        result.emplace_back(
+            new Landmark(nullptr, signal_reference, 0));
+      }
+    }
+    return result;
+  }
+
+  std::vector<SharedPtr<Landmark>> Map::GetAllLandmarksOfType(std::string type) const {
+    std::vector<SharedPtr<Landmark>> result;
+    auto signal_references = _map.GetAllSignalReferences();
+    for(auto* signal_reference : signal_references) {
+      if(signal_reference->GetSignal()->GetType() == type) {
+        result.emplace_back(
+            new Landmark(nullptr, signal_reference, 0));
+      }
+    }
+    return result;
+  }
+
+  std::vector<SharedPtr<Landmark>>
+      Map::GetLandmarkGroup(const Landmark &landmark) const {
+    std::vector<SharedPtr<Landmark>> result;
+    auto &controllers = landmark._signal->GetSignal()->GetControllers();
+    for (auto& controller_id : controllers) {
+      const auto &controller = _map.GetControllers().at(controller_id);
+      for(auto& signal_id : controller->GetSignals()) {
+        auto& signal = _map.GetSignals().at(signal_id);
+        auto new_landmarks = GetLandmarksFromId(signal->GetSignalId());
+        result.insert(result.end(), new_landmarks.begin(), new_landmarks.end());
+      }
+    }
+    return result;
+  }
+
 } // namespace client
 } // namespace carla

LibCarla/source/carla/client/Map.h

@@ -13,6 +13,7 @@
 #include "carla/road/Map.h"
 #include "carla/road/RoadTypes.h"
 #include "carla/rpc/MapInfo.h"
+#include "Landmark.h"
 
 #include <string>
 
@@ -81,6 +82,18 @@ namespace client {
     std::vector<std::pair<SharedPtr<Waypoint>, SharedPtr<Waypoint>>> GetJunctionWaypoints(
         road::JuncId id, road::Lane::LaneType type) const;
 
+    /// Returns all the larndmarks in the map
+    std::vector<SharedPtr<Landmark>> GetAllLandmarks() const;
+
+    /// Returns all the larndmarks in the map with a specific OpenDRIVE id
+    std::vector<SharedPtr<Landmark>> GetLandmarksFromId(std::string id) const;
+
+    /// Returns all the landmarks in the map of a specific type
+    std::vector<SharedPtr<Landmark>> GetAllLandmarksOfType(std::string type) const;
+
+    /// Returns all the landmarks in the same group including this one
+    std::vector<SharedPtr<Landmark>> GetLandmarkGroup(const Landmark &landmark) const;
+
   private:
 
     const rpc::MapInfo _description;

LibCarla/source/carla/road/Map.cpp

@@ -475,6 +475,19 @@ namespace road {
     return result;
   }
 
+  std::vector<const element::RoadInfoSignal*>
+      Map::GetAllSignalReferences() const {
+    std::vector<const element::RoadInfoSignal*> result;
+    for (const auto& road_pair : _data.GetRoads()) {
+      const auto &road = road_pair.second;
+      auto road_infos = road.GetInfos<element::RoadInfoSignal>();
+      for(const auto* road_info : road_infos) {
+        result.push_back(road_info);
+      }
+    }
+    return result;
+  }
+
   std::vector<LaneMarking> Map::CalculateCrossedLanes(
       const geom::Location &origin,
       const geom::Location &destination) const {

LibCarla/source/carla/road/Map.h

@@ -99,6 +99,10 @@ namespace road {
     std::vector<SignalSearchData> GetSignalsInDistance(
         Waypoint waypoint, double distance, bool stop_at_junction = false) const;
 
+    /// Return all RoadInfoSignal in the map
+    std::vector<const element::RoadInfoSignal*>
+        GetAllSignalReferences() const;
+
     /// ========================================================================
     /// -- Waypoint generation -------------------------------------------------
     /// ========================================================================

PythonAPI/carla/source/libcarla/Map.cpp

@@ -166,6 +166,10 @@ void export_map() {
     .def("to_opendrive", CALL_RETURNING_COPY(cc::Map, GetOpenDrive))
     .def("save_to_disk", &SaveOpenDriveToDisk, (arg("path")=""))
     .def("get_crosswalks", CALL_RETURNING_LIST(cc::Map, GetAllCrosswalkZones))
+    .def("get_all_landmarks", CALL_RETURNING_LIST(cc::Map, GetAllLandmarks))
+    .def("get_all_landmarks_from_id", CALL_RETURNING_LIST_1(cc::Map, GetLandmarksFromId, std::string), (args("opendrive_id")))
+    .def("get_all_landmarks_of_type", CALL_RETURNING_LIST_1(cc::Map, GetAllLandmarksOfType, std::string), (args("type")))
+    .def("get_landmark_group", CALL_RETURNING_LIST_1(cc::Map, GetLandmarkGroup, cc::Landmark), args("landmark"))
     .def(self_ns::str(self_ns::self))
   ;
 
@@ -201,7 +205,7 @@ void export_map() {
     .def("previous_until_lane_start", CALL_RETURNING_LIST_1(cc::Waypoint, GetPreviousUntilLaneStart, double), (args("distance", "stop_at_junction")))
     .def("get_right_lane", &cc::Waypoint::GetRight)
     .def("get_left_lane", &cc::Waypoint::GetLeft)
-    .def("get_junction", &cc::Waypoint::GetJunction, (args("lane_type")))
+    .def("get_junction", &cc::Waypoint::GetJunction)
     .def("get_landmarks", CALL_RETURNING_LIST_2(cc::Waypoint, GetAllLandmakrsInDistance, double, bool), (arg("distance"), arg("stop_at_junction")=false))
     .def("get_landmarks_of_type", CALL_RETURNING_LIST_3(cc::Waypoint, GetLandmakrsOfTypeInDistance, double, std::string, bool), (arg("distance"), arg("type"), arg("stop_at_junction")=false))
     .def(self_ns::str(self_ns::self))

PythonAPI/docs/map.yml

@@ -183,6 +183,41 @@
       doc: >
         Converts a given `location`, a point in the simulation, to a carla.GeoLocation, which represents world coordinates. The geographical location of the map is defined inside OpenDRIVE within the tag <b><georeference></b>.
     # --------------------------------------
+    - def_name: get_all_landmarks
+      doc: >
+        Returns all the landmarks in the map. Landmarks retrieved using this method have a __null__ waypoint.
+      return: list(carla.Landmark)
+    # --------------------------------------
+    - def_name: get_all_landmarks_from_id
+      doc: >
+        Returns the landmarks with a certain OpenDRIVE ID. Landmarks retrieved using this method have a __null__ waypoint.
+      params:
+      - param_name: opendrive_id
+        type: string
+        doc: >
+          The OpenDRIVE ID of the landmarks.
+      return: list(carla.Landmark)
+    # --------------------------------------
+    - def_name: get_all_landmarks_of_type
+      doc: >
+        Returns the landmarks of a specific type. Landmarks retrieved using this method have a __null__ waypoint.
+      params:
+      - param_name: type
+        type: string
+        doc: >
+          The type of the landmarks.
+      return: list(carla.Landmark)
+    # --------------------------------------
+    - def_name: get_landmark_group
+      doc: >
+        Returns the landmarks in the same group as the specified landmark (including itself). Returns an empty list if the landmark does not belong to any group.
+      params:
+      - param_name: landmark
+        type: carla.Landmark
+        doc: >
+          A landmark that belongs to the group.
+      return: list(carla.Landmark)
+    # --------------------------------------
     - def_name: get_spawn_points
       return: list(carla.Transform)
       doc: >
@@ -216,20 +251,20 @@
     # --------------------------------------
     - def_name: get_waypoint_xodr
       doc: >
-        Get a waypoint if all the parameters passed are correct, otherwise return None
+        Returns a waypoint if all the parameters passed are correct. Otherwise, returns __None__.
       params:
       - param_name: road_id
         type: int
         doc: >
-          Id of the road from where getting the waypoint
+          ID of the road to get the waypoint.
       - param_name: lane_id
         type: int
         doc: >
-          Id of the lane to get the waypoint.
+          ID of the lane to get the waypoint.
       - param_name: s
         type: float
         doc: >
-          Specify the length from the road start
+          Specify the length from the road start.
       return: carla.Waypoint
     # --------------------------------------
     - def_name: __str__
@@ -359,6 +394,11 @@
       doc: >
         Returns a list of waypoints from this to the start of the lane separated by a certain `distance`.
     # --------------------------------------
+    - def_name: get_junction
+      return: carla.Junction
+      doc: >
+        If the waypoint belongs to a junction this function returns the asociated junction object. Otherwise returns null.
+    # --------------------------------------
     - def_name: get_landmarks
       params:
       - param_name: distance