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Fix OpenDriveActor

This commit is contained in:
nsubiron 2019-03-29 18:34:13 +01:00
parent a66d7ee7ad
commit 6043d9ac84
1 changed files with 18 additions and 30 deletions
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48
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/OpenDriveActor.cpp
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@ -5,12 +5,9 @@
// For a copy, see <https://opensource.org/licenses/MIT>.
#include "Carla.h"
#include "Carla/OpenDriveActor.h"
#include "OpenDriveActor.h"
#include "Util/OpenDrive.h"
#include <carla/road/element/Types.h>
#include "Carla/Util/OpenDrive.h"
#include <compiler/disable-ue4-macros.h>
#include <carla/geom/Math.h>
@ -179,32 +176,23 @@ void AOpenDriveActor::BuildRoutes()
void AOpenDriveActor::BuildRoutes(FString MapName)
{
using CarlaMath = carla::geom::Math;
using IdType = carla::road::element::id_type;
using Waypoint = carla::road::element::Waypoint;
// using WaypointGen = carla::road::WaypointGenerator;
// using TrafficGroup = carla::opendrive::types::TrafficLightGroup;
// using TrafficLight = carla::opendrive::types::TrafficLight;
// using TrafficBoxComponent = carla::opendrive::types::BoxComponent;
// using TrafficSign = carla::opendrive::types::TrafficSign;
std::string ParseError;
// As the OpenDrive file has the same name as level, build the path to the
// xodr file using the lavel name and the game content directory.
const FString XodrContent = FOpenDrive::Load(MapName);
auto map_ptr = carla::opendrive::OpenDriveParser::Load(TCHAR_TO_UTF8(*XodrContent));
auto map = carla::opendrive::OpenDriveParser::Load(carla::rpc::FromFString(XodrContent));
if (ParseError.size())
if (!map.has_value())
{
UE_LOG(LogCarla, Error, TEXT("OpenDrive parsing error: '%s'."), *carla::rpc::ToFString(ParseError));
UE_LOG(LogCarla, Error, TEXT("Failed to parse OpenDrive file."));
return;
}
// List with waypoints, each one at the end of each lane of the map
const std::vector<std::pair<Waypoint, Waypoint>> Topology =
map_ptr->GenerateTopology();
map->GenerateTopology();
// Since we are going to iterate all the successors of all the lanes, we need
// a vector to store the already visited lanes. Lanes can be successors of
@ -221,7 +209,7 @@ void AOpenDriveActor::BuildRoutes(FString MapName)
for (auto &&Wp : WpLaneStartList)
{
std::vector<Waypoint> Successors = map_ptr->GetSuccessors(Wp);
std::vector<Waypoint> Successors = map->GetSuccessors(Wp);
// // The RoutePlanner will be created only if some route must be added to it
// // so no one will be created unnecessarily
@ -230,8 +218,8 @@ void AOpenDriveActor::BuildRoutes(FString MapName)
// // Fill the RoutePlanner with all the needed roads
for (auto &&Successor : Successors)
{
const IdType RoadId = Successor.road_id;
const int LaneId = Successor.lane_id;
const auto RoadId = Successor.road_id;
const auto LaneId = Successor.lane_id;
// // Create an identifier of the current lane
@ -246,7 +234,7 @@ void AOpenDriveActor::BuildRoutes(FString MapName)
// Add the identifier as visited
AlreadyVisited.emplace_back(Successor);
const double MaxDist = map_ptr->GetLane(Successor).GetLength();
const double MaxDist = map->GetLane(Successor).GetLength();
//const double MaxDist = 0; // workarround while changing the WaypointAPI
std::vector<Waypoint> Waypoints;
@ -258,15 +246,15 @@ void AOpenDriveActor::BuildRoutes(FString MapName)
double Dist = RoadAccuracy;
while (Dist < MaxDist) {
auto NewWaypointList = map_ptr->GetNext(Successor, Dist);
auto NewWaypointList = map->GetNext(Successor, Dist);
for(Waypoint distWP : NewWaypointList) {
Waypoints.emplace_back(distWP);
AlreadyVisited.emplace_back(distWP);
}
Dist += RoadAccuracy;
}
auto NewWaypointList = map_ptr->GetNext(Successor, MaxDist);
// if((map_ptr->IsJunction(Successor.road_id) && NewWaypointList.size()>1) || (!map_ptr->IsJunction(Successor.road_id) && NewWaypointList.size()==1))
auto NewWaypointList = map->GetNext(Successor, MaxDist);
// if((map->IsJunction(Successor.road_id) && NewWaypointList.size()>1) || (!map->IsJunction(Successor.road_id) && NewWaypointList.size()==1))
for(Waypoint distWP : NewWaypointList) {
Waypoints.emplace_back(NewWaypointList[0]);
}
@ -279,7 +267,7 @@ void AOpenDriveActor::BuildRoutes(FString MapName)
{
// Add the trigger height because the z position of the points does not
// influence on the driver AI and is easy to visualize in the editor
Positions.Add(map_ptr->ComputeTransform(Waypoints[i]).location +
Positions.Add(map->ComputeTransform(Waypoints[i]).location +
FVector(0.f, 0.f, TriggersHeight));
}
@ -287,12 +275,12 @@ void AOpenDriveActor::BuildRoutes(FString MapName)
if (RoutePlanner == nullptr )
{
RoutePlanner = GetWorld()->SpawnActor<ARoutePlanner>();
RoutePlanner->bIsIntersection = std::any_of(Successors.begin(), Successors.end(), [&map_ptr](auto w) {
return map_ptr->IsJunction(w.road_id);
RoutePlanner->bIsIntersection = std::any_of(Successors.begin(), Successors.end(), [&map](auto w) {
return map->IsJunction(w.road_id);
});
RoutePlanner->SetBoxExtent(FVector(70.f, 70.f, 50.f));
RoutePlanner->SetActorRotation(map_ptr->ComputeTransform(Successor).rotation);
RoutePlanner->SetActorLocation(map_ptr->ComputeTransform(Successor).location +
RoutePlanner->SetActorRotation(map->ComputeTransform(Successor).rotation);
RoutePlanner->SetActorLocation(map->ComputeTransform(Successor).location +
FVector(0.f, 0.f, TriggersHeight));
}