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Fixed bug filling the MapBuilder

This commit is contained in:
Marc 2018-10-16 14:32:32 +02:00
parent 7236bfc2fe
commit a018135b0f
1 changed files with 45 additions and 41 deletions
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86
LibCarla/source/carla/opendrive/OpenDrive.cpp
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@ -80,68 +80,72 @@ namespace opendrive {
} else { } else {
roadSegment.AddSuccessorID(it->second->road_link.successor->id); roadSegment.AddSuccessorID(it->second->road_link.successor->id);
} }
}
if (it->second->road_link.predecessor != nullptr) { if (it->second->road_link.predecessor != nullptr) {
if (it->second->road_link.predecessor->element_type == "junction") {
std::vector<lane_junction_t> &options = std::vector<lane_junction_t> &options =
junctionsData[it->second->road_link.predecessor->id][it->first]; junctionsData[it->second->road_link.predecessor->id][it->first];
for (size_t i = 0; i < options.size(); ++i) { for (size_t i = 0; i < options.size(); ++i) {
roadSegment.AddPredecessorID(options[i].connection_road); roadSegment.AddPredecessorID(options[i].connection_road);
} }
} else {
roadSegment.AddPredecessorID(it->second->road_link.predecessor->id);
} }
}
for (size_t i = 0; i < it->second->geometry_attributes.size(); ++i) { for (size_t i = 0; i < it->second->geometry_attributes.size(); ++i) {
geom::Location loc; geom::Location loc;
loc.x = it->second->geometry_attributes[i]->start_position_x; loc.x = it->second->geometry_attributes[i]->start_position_x;
loc.y = it->second->geometry_attributes[i]->start_position_y; loc.y = it->second->geometry_attributes[i]->start_position_y;
switch (it->second->geometry_attributes[i]->type) { switch (it->second->geometry_attributes[i]->type) {
case carla::opendrive::types::GeometryType::ARC: { case carla::opendrive::types::GeometryType::ARC: {
carla::opendrive::types::GeometryAttributesArc *arc = carla::opendrive::types::GeometryAttributesArc *arc =
(carla::opendrive::types::GeometryAttributesArc *) it->second->geometry_attributes[i].get(); (carla::opendrive::types::GeometryAttributesArc *) it->second->geometry_attributes[i].get();
roadSegment.MakeGeometry<carla::road::GeometryArc>(arc->start_position, roadSegment.MakeGeometry<carla::road::GeometryArc>(arc->start_position,
arc->length, arc->length,
arc->heading, arc->heading,
loc, loc,
arc->curvature); arc->curvature);
break; break;
} }
case carla::opendrive::types::GeometryType::LINE: { case carla::opendrive::types::GeometryType::LINE: {
carla::opendrive::types::GeometryAttributesLine *line = carla::opendrive::types::GeometryAttributesLine *line =
(carla::opendrive::types::GeometryAttributesLine *) it->second->geometry_attributes[i].get(); (carla::opendrive::types::GeometryAttributesLine *) it->second->geometry_attributes[i].get();
roadSegment.MakeGeometry<carla::road::GeometryLine>(line->start_position, roadSegment.MakeGeometry<carla::road::GeometryLine>(line->start_position,
line->length, line->length,
line->heading, line->heading,
loc); loc);
break; break;
} }
case carla::opendrive::types::GeometryType::SPIRAL: { case carla::opendrive::types::GeometryType::SPIRAL: {
carla::opendrive::types::GeometryAttributesSpiral *spiral = carla::opendrive::types::GeometryAttributesSpiral *spiral =
(carla::opendrive::types::GeometryAttributesSpiral *) it->second->geometry_attributes[i].get(); (carla::opendrive::types::GeometryAttributesSpiral *) it->second->geometry_attributes[i].get();
roadSegment.MakeGeometry<carla::road::GeometrySpiral>(spiral->start_position, roadSegment.MakeGeometry<carla::road::GeometrySpiral>(spiral->start_position,
spiral->length, spiral->length,
spiral->heading, spiral->heading,
loc, loc,
spiral->curve_start, spiral->curve_start,
spiral->curve_end); spiral->curve_end);
break; break;
} }
default: { default: {
break; break;
}
} }
} }
mapBuilder.AddRoadSegmentDefinition(roadSegment);
} }
mapBuilder.AddRoadSegmentDefinition(roadSegment);
} }
return mapBuilder.Build(); return mapBuilder.Build();