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Fix previous lane id

This commit is contained in:
iFuSiiOnzZ 2018-11-09 16:22:36 +01:00
parent fe476e8b2b
commit a08e7db963
1 changed files with 19 additions and 9 deletions
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28
LibCarla/source/carla/opendrive/OpenDrive.cpp
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@ -68,20 +68,30 @@ namespace opendrive {
}
// HACK(Andrei):
static int fnc_get_first_driving_line(opendrive::types::RoadInformation *roadInfo) {
static int fnc_get_first_driving_line(opendrive::types::RoadInformation *roadInfo, int id = 0) {
if(roadInfo == nullptr) {
printf("In function %s(%d) roadInfo is NULL\n", __FUNCTION__, __LINE__);
return 0;
}
for(auto itSec = roadInfo->lanes.lane_sections.rbegin(); itSec != roadInfo->lanes.lane_sections.rend() - 1; ++itSec) {
for(auto itLane = itSec->left.begin(); itLane != itSec->left.end(); ++itLane) {
if(itLane->attributes.type == "driving" && itLane->attributes.id == id) {
id = itLane->link ? itLane->link->predecessor_id : 0;
break;
}
}
}
/*
for(auto &&lane : roadInfo->lanes.lane_sections[0].left) {
if(lane.attributes.type == "driving") {
return lane.attributes.id;
}
}
*/
printf("In function %s(%d) no left ID found\n", __FUNCTION__, __LINE__);
return 0;
return id;
}
SharedPtr<road::Map> OpenDrive::Load(const std::string &file, XmlInputType inputType, std::string *out_error) {
@ -153,11 +163,11 @@ namespace opendrive {
itTest.second = itLanes.link->successor_id;
}
}
for(auto &&itTest : leftLanesGoToPredecessor) {
/*for(auto &&itTest : leftLanesGoToPredecessor) {
if(itTest.second == itLanes.attributes.id && itLanes.link) {
itTest.second = itLanes.link->predecessor_id;
}
}
}*/
}
}
@ -168,11 +178,11 @@ namespace opendrive {
itTest.second = itLanes.link->successor_id;
}
}
for(auto &&itTest : rightLanesGoToPredecessor) {
/*for(auto &&itTest : rightLanesGoToPredecessor) {
if(itTest.second == itLanes.attributes.id && itLanes.link) {
itTest.second = itLanes.link->predecessor_id;
}
}
}*/
}
}
}
@ -210,7 +220,7 @@ namespace opendrive {
}
if(is_end) {
to_lane = fnc_get_first_driving_line(roadData[options[i].connection_road]);
to_lane = fnc_get_first_driving_line(roadData[options[i].connection_road], to_lane);
}
roadSegment.AddNextLaneInfo(options[i].from_lane[j], to_lane, options[i].connection_road);
@ -253,7 +263,7 @@ namespace opendrive {
}
if(is_end) {
to_lane = fnc_get_first_driving_line(roadData[options[i].connection_road]);
to_lane = fnc_get_first_driving_line(roadData[options[i].connection_road], to_lane);
}
roadSegment.AddPrevLaneInfo(options[i].from_lane[j], to_lane, options[i].connection_road);