New MapBuilder structure

LibCarla/source/carla/road/MapBuilder.h

@@ -6,16 +6,91 @@
 
 #pragma once
 
-namespace carla {
-namespace road {
+#include "carla/geom/Location.h"
+#include "carla/road/Map.h"
 
-    class MapBuilder {
-    public:
+#include <map>
+#include <vector>
 
+namespace carla
+{
+namespace road
+{
 
+using id_type = size_t;
 
+// Geometry ////////////////////////////////////////////////////////////
 
-    };
+enum class GeometryType : unsigned int
+{
+  LINE,
+  ARC,
+  SPIRAL
+};
+
+struct Geometry
+{
+  GeometryType type;   // geometry type
+  double length = 1.0; // length of the road section [meters]
+
+  double start_position_offset = 0.0; // s-offset [meters]
+  double heading = 0.0;               // start orientation [radians]
+
+  geom::Location start_position; // [meters]
+
+protected:
+  Geometry(GeometryType type) : type(type) {}
+};
+
+struct GeometryLine : public Geometry
+{
+  GeometryLine() : Geometry(GeometryType::LINE) {}
+};
+
+struct GeometryArc : public Geometry
+{
+  double curvature = 0.0;
+  GeometryArc() : Geometry(GeometryType::ARC) {}
+};
+
+struct GeometrySpiral : public Geometry
+{
+  double curve_start = 0.0;
+  double curve_end = 0.0;
+  GeometrySpiral() : Geometry(GeometryType::SPIRAL) {}
+};
+
+// Roads //////////////////////////////////////////////////////////////
+
+struct RoadInfo
+{
+  // distance from RoadSegment origin to where
+  // the informations starts affecting
+  double d = 0; // [meters]
+};
+
+struct SpeedLimit : public RoadInfo
+{
+  double value = 0; // [meters/second]
+};
+
+struct RoadSegment
+{
+  id_type id = -1;
+  std::vector<id_type> predecessor_id;
+  std::vector<id_type> successor_id;
+  std::vector<Geometry> geom;
+  std::multimap<double, RoadInfo> info;
+};
+
+class MapBuilder
+{
+public:
+  bool AddRoadSegment(const RoadSegment &seg) {}
+
+private:
+  Map map;
+};
 
 } // namespace road
-} // namespace carla
+} // namespace  carla