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adding road elevation funcs in map builder and changed double to float

This commit is contained in:
Manish 2019-03-19 16:11:19 +01:00
parent e3987ca546
commit 27f274b9cd
4 changed files with 167 additions and 145 deletions
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31
LibCarla/source/carla/opendrive/parser/ProfilesParser.cpp
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@ -14,10 +14,8 @@ namespace carla {
namespace opendrive {
namespace parser {
using RoadId = int;
struct ElevationProfile {
RoadId road_id { -1 };
carla::road::Road* road { nullptr };
float s { 0.0 };
float a { 0.0 };
float b { 0.0 };
@ -34,7 +32,7 @@ namespace parser {
};
struct LateralProfile {
RoadId road_id { -1 };
carla::road::Road* road { nullptr };
float s { 0.0 };
float a { 0.0 };
float b { 0.0 };
@ -62,7 +60,8 @@ namespace parser {
ElevationProfile elev;
// get road id
elev.road_id = node_road.attribute("id").as_int();
road::RoadId road_id = node_road.attribute("id").as_int();
elev.road = map_builder.GetRoad(road_id);
// get common properties
elev.s = node_elevation.attribute("s").as_float();
@ -83,7 +82,8 @@ namespace parser {
LateralProfile lateral;
// get road id
lateral.road_id = node_road.attribute("id").as_int();
road::RoadId road_id = node_road.attribute("id").as_int();
lateral.road = map_builder.GetRoad(road_id);
// get common properties
lateral.s = node.attribute("s").as_float();
@ -108,16 +108,17 @@ namespace parser {
// map_builder calls
for (auto const pro : elevation_profile) {
map_builder.AddRoadElevationProfile(pro.road_id, pro.s, pro.a, pro.b, pro.c, pro.d);
}
for (auto const pro : lateral_profile) {
if (pro.type == "superelevation")
map_builder.AddRoadLateralSuperelevation(pro.road_id, pro.s, pro.a, pro.b, pro.c, pro.d);
else if (pro.type == "crossfall")
map_builder.AddRoadLateralCrossfall(pro.road_id, pro.s, pro.a, pro.b, pro.c, pro.d, pro.cross.side);
else if (pro.type == "shape")
map_builder.AddRoadLateralShape(pro.road_id, pro.s, pro.a, pro.b, pro.c, pro.d, pro.shape.t);
map_builder.AddRoadElevationProfile(pro.road, pro.s, pro.a, pro.b, pro.c, pro.d);
}
/// @todo: RoadInfo classes must be created to fit this information
// for (auto const pro : lateral_profile) {
// if (pro.type == "superelevation")
// map_builder.AddRoadLateralSuperElevation(pro.road, pro.s, pro.a, pro.b, pro.c, pro.d);
// else if (pro.type == "crossfall")
// map_builder.AddRoadLateralCrossfall(pro.road, pro.s, pro.a, pro.b, pro.c, pro.d, pro.cross.side);
// else if (pro.type == "shape")
// map_builder.AddRoadLateralShape(pro.road, pro.s, pro.a, pro.b, pro.c, pro.d, pro.shape.t);
// }
}
} // namespace parser

10
LibCarla/source/carla/opendrive/parser/RoadParser.cpp
View File

@ -7,6 +7,7 @@
#include "carla/opendrive/parser/RoadParser.h"
#include "carla/opendrive/parser/pugixml/pugixml.hpp"
#include "carla/road/MapBuilder.h"
#include "carla/road/RoadTypes.h"
#include "carla/Logging.h"
#include <deque>
@ -14,8 +15,9 @@ namespace carla {
namespace opendrive {
namespace parser {
using RoadId = int;
using LaneId = int;
using RoadId = road::RoadId;
using LaneId = road::LaneId;
using JuncId = road::JuncId;
struct Polynomial {
float s;
@ -47,7 +49,7 @@ namespace parser {
RoadId id;
std::string name;
float length;
RoadId junction_id;
JuncId junction_id;
RoadId predecessor;
RoadId successor;
std::vector<RoadTypeSpeed> speed;
@ -61,7 +63,7 @@ namespace parser {
std::vector<Road> roads;
for (pugi::xml_node node_road : xml.child("OpenDRIVE").children("road")) {
Road road { 0, "", 0.0, -1, -1, -1, {}, {} };
Road road { 0, "", 0.0, -1, 0, 0, {}, {} };
// attributes
road.id = node_road.attribute("id").as_int();

117
LibCarla/source/carla/road/MapBuilder.cpp
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@ -44,16 +44,35 @@ namespace road {
}
// called from profiles parser
void AddRoadElevationProfile(
const int32_t /*road_id*/,
const double s,
const double a,
const double b,
const double c,
const double d) {
auto elevation = std::unique_ptr<RoadInfoElevation>(new RoadInfoElevation(s, a, b, c, d));
void MapBuilder::AddRoadElevationProfile(
const Road* road,
const float s,
const float a,
const float b,
const float c,
const float d) {
auto elevation = std::make_unique<RoadInfoElevation>(s, a, b, c, d);
_temp_road_info_container[road].emplace_back(std::move(elevation));
}
// void MapBuilder::AddRoadLateralSuperElevation(
// const Road* road,
// const float s,
// const float a,
// const float b,
// const float c,
// const float d) {}
// void MapBuilder::AddRoadLateralCrossfall(
// const Road* road,
// const float s,
// const float a,
// const float b,
// const float c,
// const float d,
// const std::string side) {}
// called from lane parser
void MapBuilder::CreateLaneAccess(
const Lane *lane,
@ -229,7 +248,7 @@ namespace road {
void MapBuilder::AddRoad(
const uint32_t road_id,
const std::string name,
const double length,
const float length,
const int32_t junction_id,
const int32_t predecessor,
const int32_t successor) {
@ -309,11 +328,11 @@ namespace road {
void MapBuilder::AddRoadGeometryLine(
carla::road::Road *road,
const double s,
const double x,
const double y,
const double hdg,
const double length) {
const float s,
const float x,
const float y,
const float hdg,
const float length) {
auto line_geometry = std::make_unique<GeometryLine>(s,
length,
@ -326,12 +345,12 @@ namespace road {
void MapBuilder::AddRoadGeometryArc(
carla::road::Road *road,
const double s,
const double x,
const double y,
const double hdg,
const double length,
const double curvature) {
const float s,
const float x,
const float y,
const float hdg,
const float length,
const float curvature) {
auto arc_geometry = std::make_unique<GeometryArc>(s,
length,
@ -345,41 +364,41 @@ namespace road {
void MapBuilder::AddRoadGeometrySpiral(
carla::road::Road * /*road*/,
const double /*s*/,
const double /*x*/,
const double /*y*/,
const double /*hdg*/,
const double /*length*/,
const double /*curvStart*/,
const double /*curvEnd*/) {}
const float /*s*/,
const float /*x*/,
const float /*y*/,
const float /*hdg*/,
const float /*length*/,
const float /*curvStart*/,
const float /*curvEnd*/) {}
void MapBuilder::AddRoadGeometryPoly3(
carla::road::Road * /*road*/,
const double /*s*/,
const double /*x*/,
const double /*y*/,
const double /*hdg*/,
const double /*length*/,
const double /*a*/,
const double /*b*/,
const double /*c*/,
const double /*d*/) {}
const float /*s*/,
const float /*x*/,
const float /*y*/,
const float /*hdg*/,
const float /*length*/,
const float /*a*/,
const float /*b*/,
const float /*c*/,
const float /*d*/) {}
void MapBuilder::AddRoadGeometryParamPoly3(
carla::road::Road * /*road*/,
const double /*s*/,
const double /*x*/,
const double /*y*/,
const double /*hdg*/,
const double /*length*/,
const double /*aU*/,
const double /*bU*/,
const double /*cU*/,
const double /*dU*/,
const double /*aV*/,
const double /*bV*/,
const double /*cV*/,
const double /*dV*/,
const float /*s*/,
const float /*x*/,
const float /*y*/,
const float /*hdg*/,
const float /*length*/,
const float /*aU*/,
const float /*bU*/,
const float /*cU*/,
const float /*dU*/,
const float /*aV*/,
const float /*bV*/,
const float /*cV*/,
const float /*dV*/,
const std::string /*p_range*/) {}
void MapBuilder::AddJunction(const int32_t id, const std::string name) {

154
LibCarla/source/carla/road/MapBuilder.h
View File

@ -24,7 +24,7 @@ namespace road {
void AddRoad(
const uint32_t road_id,
const std::string name,
const double length,
const float length,
const int32_t junction_id,
const int32_t predecessor,
const int32_t successor);
@ -44,102 +44,102 @@ namespace road {
void SetRoadTypeSpeed(
const uint32_t road_id,
const double s,
const float s,
const std::string type,
const double max,
const float max,
const std::string unit);
// called from geometry parser
void AddRoadGeometryLine(
carla::road::Road *road,
const double s,
const double x,
const double y,
const double hdg,
const double length);
const float s,
const float x,
const float y,
const float hdg,
const float length);
void AddRoadGeometryArc(
carla::road::Road *road,
const double s,
const double x,
const double y,
const double hdg,
const double length,
const double curvature);
const float s,
const float x,
const float y,
const float hdg,
const float length,
const float curvature);
void AddRoadGeometrySpiral(
carla::road::Road *road,
const double s,
const double x,
const double y,
const double hdg,
const double length,
const double curvStart,
const double curvEnd);
const float s,
const float x,
const float y,
const float hdg,
const float length,
const float curvStart,
const float curvEnd);
void AddRoadGeometryPoly3(
carla::road::Road *road,
const double s,
const double x,
const double y,
const double hdg,
const double length,
const double a,
const double b,
const double c,
const double d);
const float s,
const float x,
const float y,
const float hdg,
const float length,
const float a,
const float b,
const float c,
const float d);
void AddRoadGeometryParamPoly3(
carla::road::Road *road,
const double s,
const double x,
const double y,
const double hdg,
const double length,
const double aU,
const double bU,
const double cU,
const double dU,
const double aV,
const double bV,
const double cV,
const double dV,
const float s,
const float x,
const float y,
const float hdg,
const float length,
const float aU,
const float bU,
const float cU,
const float dU,
const float aV,
const float bV,
const float cV,
const float dV,
const std::string p_range);
// called from profiles parser
void AddRoadElevationProfile(
const int32_t road_id,
const double s,
const double a,
const double b,
const double c,
const double d);
const Road* road,
const float s,
const float a,
const float b,
const float c,
const float d);
void AddRoadLateralSuperelevation(
const int32_t road_id,
const double s,
const double a,
const double b,
const double c,
const double d);
// void AddRoadLateralSuperElevation(
// const Road* road,
// const float s,
// const float a,
// const float b,
// const float c,
// const float d);
void AddRoadLateralCrossfall(
const int32_t road_id,
const double s,
const double a,
const double b,
const double c,
const double d,
const std::string side);
// void AddRoadLateralCrossfall(
// const Road* road,
// const float s,
// const float a,
// const float b,
// const float c,
// const float d,
// const std::string side);
void AddRoadLateralShape(
const int32_t road_id,
const double s,
const double a,
const double b,
const double c,
const double d,
const double t);
// void AddRoadLateralShape(
// const Road* road,
// const float s,
// const float a,
// const float b,
// const float c,
// const float d,
// const float t);
// Signal methods
void AddSignal(
@ -187,11 +187,11 @@ namespace road {
void AddRoadSection(
const uint32_t road_id,
const uint32_t section_index,
const double s,
const double a,
const double b,
const double c,
const double d);
const float s,
const float a,
const float b,
const float c,
const float d);
void SetRoadLaneLink(
const uint32_t road_id,