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Changed LaneType enum from unsigned to signed type

This commit is contained in:
Axel 2020-10-20 12:48:39 +02:00 committed by bernat
parent 59e171a285
commit 530f56e78b
6 changed files with 15 additions and 26 deletions
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2
LibCarla/source/carla/client/Map.cpp
View File

@ -41,7 +41,7 @@ namespace client {
SharedPtr<Waypoint> Map::GetWaypoint(
const geom::Location &location,
bool project_to_road,
uint32_t lane_type) const {
int32_t lane_type) const {
boost::optional<road::element::Waypoint> waypoint;
if (project_to_road) {
waypoint = _map.GetClosestWaypointOnRoad(location, lane_type);

2
LibCarla/source/carla/client/Map.h
View File

@ -54,7 +54,7 @@ namespace client {
SharedPtr<Waypoint> GetWaypoint(
const geom::Location &location,
bool project_to_road = true,
uint32_t lane_type = static_cast<uint32_t>(road::Lane::LaneType::Driving)) const;
int32_t lane_type = static_cast<uint32_t>(road::Lane::LaneType::Driving)) const;
SharedPtr<Waypoint> GetWaypointXODR(
carla::road::RoadId road_id,

4
LibCarla/source/carla/road/Lane.h
View File

@ -26,7 +26,7 @@ namespace road {
public:
/// Can be used as flags
enum class LaneType : uint32_t {
enum class LaneType : int32_t {
None = 0x1,
Driving = 0x1 << 1,
Stop = 0x1 << 2,
@ -48,7 +48,7 @@ namespace road {
Exit = 0x1 << 18,
OffRamp = 0x1 << 19,
OnRamp = 0x1 << 20,
Any = 0xFFFFFFFE
Any = -2 // 0xFFFFFFFE
};
public:

16
LibCarla/source/carla/road/Map.cpp
View File

@ -96,7 +96,7 @@ namespace road {
if (lane.GetId() == 0) {
continue;
}
if ((static_cast<uint32_t>(lane.GetType()) & static_cast<uint32_t>(lane_type)) > 0) {
if ((static_cast<int32_t>(lane.GetType()) & static_cast<int32_t>(lane_type)) > 0) {
std::forward<FuncT>(func)(Waypoint{
road_id,
lane_section.GetId(),
@ -155,12 +155,12 @@ namespace road {
boost::optional<Waypoint> Map::GetClosestWaypointOnRoad(
const geom::Location &pos,
uint32_t lane_type) const {
int32_t lane_type) const {
std::vector<Rtree::TreeElement> query_result =
_rtree.GetNearestNeighboursWithFilter(Rtree::BPoint(pos.x, pos.y, pos.z),
[&](Rtree::TreeElement const &element) {
const Lane &lane = GetLane(element.second.first);
return (lane_type & static_cast<uint32_t>(lane.GetType())) > 0;
return (lane_type & static_cast<int32_t>(lane.GetType())) > 0;
});
if (query_result.size() == 0) {
@ -202,7 +202,7 @@ namespace road {
boost::optional<Waypoint> Map::GetWaypoint(
const geom::Location &pos,
uint32_t lane_type) const {
int32_t lane_type) const {
boost::optional<Waypoint> w = GetClosestWaypointOnRoad(pos, lane_type);
if (!w.has_value()) {
@ -609,7 +609,7 @@ namespace road {
for (const auto &lane : lane_section.GetLanes()) {
// add only the right (negative) lanes
if (lane.first < 0 &&
static_cast<uint32_t>(lane.second.GetType()) & static_cast<uint32_t>(lane_type)) {
static_cast<int32_t>(lane.second.GetType()) & static_cast<int32_t>(lane_type)) {
result.emplace_back(Waypoint{ road.GetId(), lane_section.GetId(), lane.second.GetId(), 0.0 });
}
}
@ -620,7 +620,7 @@ namespace road {
for (const auto &lane : lane_section.GetLanes()) {
// add only the left (positive) lanes
if (lane.first > 0 &&
static_cast<uint32_t>(lane.second.GetType()) & static_cast<uint32_t>(lane_type)) {
static_cast<int32_t>(lane.second.GetType()) & static_cast<int32_t>(lane_type)) {
result.emplace_back(
Waypoint{ road.GetId(), lane_section.GetId(), lane.second.GetId(), road_len });
}
@ -641,7 +641,7 @@ namespace road {
for (const auto &lane : lane_section.GetLanes()) {
// add only the right (negative) lanes
if (lane.first < 0 &&
static_cast<uint32_t>(lane.second.GetType()) & static_cast<uint32_t>(lane_type)) {
static_cast<int32_t>(lane.second.GetType()) & static_cast<int32_t>(lane_type)) {
result.emplace_back(Waypoint{ road.GetId(), lane_section.GetId(), lane.second.GetId(), 0.0 });
}
}
@ -652,7 +652,7 @@ namespace road {
for (const auto &lane : lane_section.GetLanes()) {
// add only the left (positive) lanes
if (lane.first > 0 &&
static_cast<uint32_t>(lane.second.GetType()) & static_cast<uint32_t>(lane_type)) {
static_cast<int32_t>(lane.second.GetType()) & static_cast<int32_t>(lane_type)) {
result.emplace_back(
Waypoint{ road.GetId(), lane_section.GetId(), lane.second.GetId(), road_len });
}

4
LibCarla/source/carla/road/Map.h
View File

@ -51,11 +51,11 @@ namespace road {
boost::optional<element::Waypoint> GetClosestWaypointOnRoad(
const geom::Location &location,
uint32_t lane_type = static_cast<uint32_t>(Lane::LaneType::Driving)) const;
int32_t lane_type = static_cast<int32_t>(Lane::LaneType::Driving)) const;
boost::optional<element::Waypoint> GetWaypoint(
const geom::Location &location,
uint32_t lane_type = static_cast<uint32_t>(Lane::LaneType::Driving)) const;
int32_t lane_type = static_cast<int32_t>(Lane::LaneType::Driving)) const;
boost::optional<element::Waypoint> GetWaypoint(
RoadId road_id,

13
PythonAPI/carla/source/libcarla/Map.cpp
View File

@ -78,17 +78,6 @@ static carla::geom::GeoLocation ToGeolocation(
return self.GetGeoReference().Transform(location);
}
// interface with carla::client::Map::GetWaypoint
// windows compiler requires the explicit conversion from int32_t to uint32_t
// which is not possible in python side
static carla::SharedPtr<carla::client::Waypoint> GetWaypoint(
const carla::client::Map &self,
const carla::geom::Location &location,
bool project_to_road,
int32_t lane_type) {
return self.GetWaypoint(location, project_to_road, static_cast<uint32_t>(lane_type));
}
void export_map() {
using namespace boost::python;
namespace cc = carla::client;
@ -169,7 +158,7 @@ void export_map() {
.def(init<std::string, std::string>((arg("name"), arg("xodr_content"))))
.add_property("name", CALL_RETURNING_COPY(cc::Map, GetName))
.def("get_spawn_points", CALL_RETURNING_LIST(cc::Map, GetRecommendedSpawnPoints))
.def("get_waypoint", &GetWaypoint, (arg("location"), arg("project_to_road")=true, arg("lane_type")=static_cast<int32_t>(cr::Lane::LaneType::Driving)))
.def("get_waypoint", &cc::Map::GetWaypoint, (arg("location"), arg("project_to_road")=true, arg("lane_type")=cr::Lane::LaneType::Driving))
.def("get_waypoint_xodr", &cc::Map::GetWaypointXODR, (arg("road_id"), arg("lane_id"), arg("s")))
.def("get_topology", &GetTopology)
.def("generate_waypoints", CALL_RETURNING_LIST_1(cc::Map, GenerateWaypoints, double), (args("distance")))