Add basic lane information

LibCarla/source/carla/opendrive/OpenDrive.cpp

@@ -69,6 +69,19 @@ namespace opendrive {
     // Transforma data for the MapBuilder
     for (road_data_t::iterator it = roadData.begin(); it != roadData.end(); ++it) {
       carla::road::RoadSegmentDefinition roadSegment(it->first);
+      carla::road::element::RoadInfoLane *roadInfoLanes = roadSegment.MakeInfo<carla::road::element::RoadInfoLane>();
+
+      std::vector<carla::opendrive::types::Lane> &lanesLeft = it->second->lane_sections.left;
+      for(size_t i = 0; i < lanesLeft.size(); ++i)
+      {
+        roadInfoLanes->addLaneInfo(lanesLeft[i].attributes.id, lanesLeft[i].lane_width[0].width, lanesLeft[i].attributes.type);
+      }
+
+      std::vector<carla::opendrive::types::Lane> &lanesRight = it->second->lane_sections.right;
+      for(size_t i = 0; i < lanesRight.size(); ++i)
+      {
+        roadInfoLanes->addLaneInfo(lanesRight[i].attributes.id, lanesRight[i].lane_width[0].width, lanesRight[i].attributes.type);
+      }
 
       if (it->second->road_link.successor != nullptr) {
         if (it->second->road_link.successor->element_type == "junction") {

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

@@ -6,7 +6,10 @@
 
 #pragma once
 
-#include "carla/road/element/RoadSegment.h"
+#include "RoadSegment.h"
+#include <string>
+#include <vector>
+#include <map>
 
 namespace carla {
 namespace road {
@@ -22,6 +25,73 @@ namespace element {
     double d = 0; // [meters]
   };
 
+  class LaneInfo
+  {
+    public:
+      int _id;
+      double _width;
+
+      std::string _type;
+      std::vector<int> _successor;
+      std::vector<int> _predecessor;
+
+      LaneInfo() :
+        _id(0), _width(0.0) {}
+
+      LaneInfo(int id, double width, const std::string &type) :
+        _id(id), _width(width), _type(type) {}
+  };
+
+  class RoadInfoLane : public RoadInfo {
+  private:
+    using lane_t = std::map<int, LaneInfo>;
+    lane_t  _lanes;
+
+  public:
+
+    enum class which_lane_e : int {
+      Left,
+      Right,
+      Both
+    };
+
+    inline void addLaneInfo(int id, double width, const std::string &type) {
+      _lanes[id] = LaneInfo(id, width, type);
+    }
+
+    inline int size() {
+      return (int) _lanes.size();
+    }
+
+    std::vector<int> getLanesIDs(which_lane_e whichLanes = which_lane_e::Both) {
+      std::vector<int> lanesId;
+
+      for(lane_t::iterator it = _lanes.begin(); it != _lanes.end(); ++it) {
+        switch(whichLanes) {
+          case which_lane_e::Both: {
+            lanesId.push_back(it->first);
+          } break;
+
+          case which_lane_e::Left: {
+            if(it->first > 0) {
+              lanesId.push_back(it->first);
+            }
+          } break;
+
+          case which_lane_e::Right: {
+            if(it->first < 0) {
+              lanesId.push_back(it->first);
+            }
+          } break;
+        }
+      }
+    }
+
+    const LaneInfo *getLane(int id) {
+      lane_t::iterator it = _lanes.find(id);
+      return it == _lanes.end() ? nullptr : &it->second;
+    }
+  };
 } // namespace element
 } // namespace road
 } // namespace carla

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/OpenDriveActor.cpp

@@ -57,7 +57,7 @@ void AOpenDriveActor::BeginPlay()
             processed.Add(id);
         }
 
-        std::vector<carla::road::id_type> successorIds = map.GetRoad(id)->GetSuccessorsIds();
+        /*std::vector<carla::road::id_type> successorIds = map.GetRoad(id)->GetSuccessorsIds();
         if (successorIds.size())
         {
             ARoutePlanner *routePlaner = GetWorld()->SpawnActor<ARoutePlanner>();
@@ -68,6 +68,18 @@ void AOpenDriveActor::BeginPlay()
                 processed.Add(successorID);
             }
         }
+
+        std::vector<carla::road::id_type> predecessorIds = map.GetRoad(id)->GetPredecessorsIds();
+        if (predecessorIds.size())
+        {
+            ARoutePlanner *routePlaner = GetWorld()->SpawnActor<ARoutePlanner>();
+
+            for (auto &&predeccesorID : predecessorIds)
+            {
+                fnc_generate_points(map.GetRoad(predeccesorID), routePlaner);
+                processed.Add(predeccesorID);
+            }
+        }*/
     }
 }