Starting waypoint's Python API

LibCarla/source/carla/client/Map.cpp

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+// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// de Barcelona (UAB).
+//
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#include "carla/road/Map.h"
+#include "carla/client/Map.h"
+#include "carla/opendrive/OpenDrive.h"
+
+namespace carla {
+namespace client {
+
+  Map::Map(std::string name, std::string open_drive)
+    : _name(std::move(name)),
+      _open_drive(std::move(open_drive)) {
+    _map = std::make_shared<road::Map>(opendrive::OpenDrive::Load(open_drive));
+  }
+
+  const std::string &Map::GetOpenDrive() const {
+    return _open_drive;
+  }
+
+  // @todo
+  /*detail::Waypoint Map::GetWaypoint(const geom::Location &loc) const {
+
+  }*/
+
+} // namespace client
+} // namespace carla

LibCarla/source/carla/client/Map.h

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+// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// de Barcelona (UAB).
+//
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+
+#include "carla/Memory.h"
+#include "carla/NonCopyable.h"
+#include "carla/client/detail/Waypoint.h"
+
+#include <string>
+
+namespace carla {
+namespace road {
+  class Map;
+}
+namespace client {
+
+  class Map
+    : public EnableSharedFromThis<Map>,
+      private NonCopyable {
+  private:
+
+  public:
+
+    Map(Map &&) = default;
+    Map &operator=(Map &&) = default;
+
+    const std::string &GetOpenDrive() const;
+
+    detail::Waypoint GetWaypoint(const geom::Location &) const;
+
+  private:
+
+    explicit Map(std::string name, std::string open_drive);
+
+    explicit Map(std::shared_ptr<road::Map> map) : _map(map) {}
+
+    std::string _name;
+
+    std::string _open_drive;
+
+    std::shared_ptr<road::Map> _map;
+  };
+
+} // namespace client
+} // namespace carla

LibCarla/source/carla/client/detail/Waypoint.cpp

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+// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// de Barcelona (UAB).
+//
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+
+#include "carla/client/detail/Waypoint.h"
+
+namespace carla {
+namespace client {
+namespace detail {
+
+  Waypoint::~Waypoint() = default; // to ensure we delete _map
+
+  // @todo
+  /*std::vector<Waypoint> Waypoint::NextWaypoints(double dist) {
+    std::vector<Waypoint> v;
+
+    return v;
+  }*/
+
+} // namespace detail
+} // namespace client
+} // namespace carla

LibCarla/source/carla/client/detail/Waypoint.h

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+// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// de Barcelona (UAB).
+//
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+
+#include "carla/Memory.h"
+#include "carla/geom/Location.h"
+
+namespace carla {
+namespace client {
+  class Map;
+namespace detail {
+
+  struct Info {
+    size_t _id;
+    double _speed_limit;
+    double _width;
+    double _heading;
+  };
+
+  class Waypoint {
+  public:
+
+    Waypoint()
+      : _pos(),
+        _heading(0.0) {}
+
+    Waypoint(const geom::Location &p)
+      : _pos(p),
+        _heading(0.0) {}
+
+    Waypoint(const geom::Location &p, double heading)
+      : _pos(p),
+        _heading(heading) {}
+
+    ~Waypoint();
+
+    std::vector<Waypoint> NextWaypoints(double dist);
+
+    const Info &GetInfo() {
+      return _info;
+    }
+
+  private:
+
+    geom::Location _pos;
+
+    double _heading;
+
+    Info _info;
+
+    SharedPtr<Map> _map;
+
+  };
+
+} // namespace detail
+} // namespace client
+} // namespace carla