Add more attributes to waypoints

Docs/python_api.md

@@ -181,6 +181,10 @@
 ## `carla.Waypoint`
 
 - `transform`
+- `is_intersection`
+- `lane_width`
+- `road_id`
+- `lane_id`
 - `next(distance)`
 
 ## `carla.WeatherParameters`

LibCarla/source/carla/client/Waypoint.h

@@ -26,6 +26,14 @@ namespace client {
       return _transform;
     }
 
+    bool IsIntersection() const {
+      return _waypoint.IsIntersection();
+    }
+
+    double GetLaneWidth() const {
+      return _waypoint.GetLaneWidth();
+    }
+
     road::element::id_type GetRoadId() const {
       return _waypoint.GetRoadId();
     }

LibCarla/source/carla/road/WaypointGenerator.cpp

@@ -48,13 +48,11 @@ namespace road {
     auto &map = waypoint._map;
     const auto this_lane_id = waypoint.GetLaneId();
     const auto this_road_id = waypoint.GetRoadId();
-    const auto *this_road = map->GetData().GetRoad(this_road_id);
-    DEBUG_ASSERT(this_road != nullptr);
 
     const auto &next_lanes =
         this_lane_id < 0 ?
-            this_road->GetNextLane(this_lane_id) :
+            waypoint.GetRoadSegment().GetNextLane(this_lane_id) :
-            this_road->GetPrevLane(this_lane_id);
+            waypoint.GetRoadSegment().GetPrevLane(this_lane_id);
 
     if (next_lanes.empty()) {
       log_error("lane id =", this_lane_id, " road id=", this_road_id, ": missing next lanes");
@@ -80,15 +78,13 @@ namespace road {
     auto &map = waypoint._map;
     const auto this_lane_id = waypoint.GetLaneId();
     const auto this_road_id = waypoint.GetRoadId();
-    const auto *this_road = map->GetData().GetRoad(this_road_id);
-    DEBUG_ASSERT(this_road != nullptr);
 
     double distance_on_next_segment;
 
     if (this_lane_id < 0) {
       // road goes forward.
       const auto total_distance = waypoint._dist + distance;
-      const auto road_length = this_road->GetLength();
+      const auto road_length = waypoint.GetRoadSegment().GetLength();
       if (total_distance <= road_length) {
         return { Waypoint(map, this_road_id, this_lane_id, total_distance) };
       }

LibCarla/source/carla/road/element/RoadInfo.h

@@ -35,6 +35,7 @@ namespace element {
   private:
 
     int _junction_id = -1;
+
     /// A vector of pairs where the first double represents the
     /// offset from the begining of the road and the second represents the
     /// lateral offest of the lane
@@ -53,6 +54,10 @@ namespace element {
       return _junction_id;
     }
 
+    bool IsJunction() const {
+      return _junction_id >= 0;
+    }
+
     void SetLanesOffset(double offset, double laneOffset) {
       _lanes_offset.emplace_back(std::pair<double, double>(offset, laneOffset));
     }

LibCarla/source/carla/road/element/Waypoint.cpp

@@ -111,6 +111,23 @@ namespace element {
     return RoadInfoList(_map->GetData().GetRoad(_road_id)->GetInfos(_dist));
   }
 
+  const RoadSegment &Waypoint::GetRoadSegment() const {
+    const auto *road_segment = _map->GetData().GetRoad(_road_id);
+    DEBUG_ASSERT(road_segment != nullptr);
+    return *road_segment;
+  }
+
+  bool Waypoint::IsIntersection() const {
+    const auto *info = GetRoadSegment().GetInfo<RoadGeneralInfo>(_dist);
+    return info != nullptr ? info->IsJunction() : false;
+  }
+
+  double Waypoint::GetLaneWidth() const {
+    const auto *info = GetRoadSegment().GetInfo<RoadInfoLane>(_dist);
+    const auto *lane_info = info != nullptr ? info->getLane(_lane_id) : nullptr;
+    return lane_info != nullptr ? lane_info->_width : 0.0;
+  }
+
 } // namespace element
 } // namespace road
 } // namespace carla

LibCarla/source/carla/road/element/Waypoint.h

@@ -19,6 +19,8 @@ namespace road {
 
 namespace element {
 
+  class RoadSegment;
+
   class Waypoint {
   public:
 
@@ -36,6 +38,12 @@ namespace element {
 
     RoadInfoList GetRoadInfo() const;
 
+    const RoadSegment &GetRoadSegment() const;
+
+    bool IsIntersection() const;
+
+    double GetLaneWidth() const;
+
   private:
 
     friend carla::road::Map;

PythonAPI/source/libcarla/Map.cpp

@@ -65,6 +65,8 @@ void export_map() {
 
   class_<cc::Waypoint, boost::noncopyable, boost::shared_ptr<cc::Waypoint>>("Waypoint", no_init)
     .add_property("transform", CALL_RETURNING_COPY(cc::Waypoint, GetTransform))
+    .add_property("is_intersection", &cc::Waypoint::IsIntersection)
+    .add_property("lane_width", &cc::Waypoint::GetLaneWidth)
     .add_property("road_id", &cc::Waypoint::GetRoadId)
     .add_property("lane_id", &cc::Waypoint::GetLaneId)
     .def("next", CALL_RETURNING_LIST_1(cc::Waypoint, Next, double), (args("distance")))