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This commit is contained in:
Marc Garcia Puig 2019-03-22 20:54:30 +01:00
parent fa9828aced
commit 9e3f69a00e
5 changed files with 28 additions and 5 deletions
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3
LibCarla/source/carla/road/Lane.h
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@ -10,6 +10,7 @@
#include "carla/road/RoadTypes.h"
#include <vector>
#include <iostream>
#include <memory>
namespace carla {
@ -50,6 +51,8 @@ namespace road {
if (_lane_section != nullptr) {
return _info.GetInfo<T>(s - GetDistance());
}
std::cout << "[DEBUG] info is null!" << std::endl;
return nullptr;
}

17
LibCarla/source/carla/road/Map.cpp
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@ -174,9 +174,15 @@ namespace road {
}
}
// Make sure 0.0 < waipoint.s < Road's lenght
const auto road_len = _data.GetRoad(waypoint.road_id).GetLength();
waypoint.s = geom::Math::clamp<float>(waypoint.s, 0.0, road_len);
const auto &road = _data.GetRoad(waypoint.road_id);
// Make sure 0.0 < waipoint.s < Road's length
waypoint.s = geom::Math::clamp<float>(waypoint.s, 0.0, road.GetLength());
auto &lane = road.GetLaneByDistance(waypoint.s, waypoint.lane_id);
const auto lane_section_id = lane.GetLaneSection()->GetId();
waypoint.section_id = lane_section_id;
return waypoint;
}
@ -289,6 +295,11 @@ namespace road {
Map::GetMarkRecord(const Waypoint waypoint) const {
const auto s = waypoint.s;
std::cout << "[DEBUG] GetMarkRecord: road_id: " << waypoint.road_id << std::endl;
std::cout << "[DEBUG] GetMarkRecord: section_id: " << waypoint.section_id << std::endl;
std::cout << "[DEBUG] GetMarkRecord: lane_id: " << waypoint.lane_id << std::endl;
std::cout << "[DEBUG] GetMarkRecord: s: " << waypoint.s << std::endl << std::endl;
const auto &current_lane = GetLane(waypoint);
THROW_INVALID_INPUT_ASSERT(s <= current_lane.GetRoad()->GetLength());

1
LibCarla/source/carla/road/MapBuilder.cpp
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@ -43,6 +43,7 @@ namespace road {
}
for (auto &&info : _temp_lane_info_container) {
if (info.first->GetRoad()->GetId() == 65 && info.first->GetId() == -1) {std::cout << "[DEBUG] " << std::hex << info.first << std::dec << std::endl;}
info.first->_info = InformationSet(std::move(info.second));
}

10
LibCarla/source/carla/road/Road.cpp
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@ -79,6 +79,9 @@ namespace road {
}
Lane &Road::GetLaneById(SectionId section_id, LaneId lane_id) {
std::cout << "[DEBUG] at() road_id: " << GetId() << std::endl;
std::cout << "[DEBUG] at() section_id: " << section_id << std::endl;
std::cout << "[DEBUG] at() lane_id: " << lane_id << std::endl << std::endl;
return GetLaneSectionById(section_id).GetLanes().at(lane_id);
}
@ -235,8 +238,15 @@ namespace road {
// dp_lane_zero.location.y *= -1;
DirectedPoint current_dp = dp_lane_zero;
std::cout << "[DEBUG] GetNearestLane (road_id " << GetId() << ")" << std::endl;
for (const auto &lane : right_lanes) {
std::cout << "[DEBUG] lane_id " << std::hex << (uint64_t)lane.second << std::endl;
std::cout << "[DEBUG] lane_id " << std::dec << lane.first << std::endl;
std::cout << "[DEBUG] s " << s << std::endl;
const auto lane_width_info = lane.second->GetInfo<RoadInfoLaneWidth>(s);
std::cout << "[DEBUG] lane_id " << std::hex << lane_width_info << std::dec << std::endl;
const auto half_width = lane_width_info->GetPolynomial().Evaluate(s) / 2.0f;
current_dp.ApplyLateralOffset(half_width);
const auto current_dist = geom::Math::Distance(current_dp.location, loc);

2
LibCarla/source/carla/road/Road.h
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@ -58,8 +58,6 @@ namespace road {
RoadId GetPredecessor() const;
Lane *GetLane(const LaneId id, const float s);
Lane &GetLaneById(SectionId section_id, LaneId lane_id);
const Lane &GetLaneById(SectionId section_id, LaneId lane_id) const;