Refactor MapData

LibCarla/source/carla/road/MapData.cpp

@@ -1,38 +0,0 @@
-// 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/MapData.h"
-
-using namespace carla::road::element;
-
-namespace carla {
-namespace road {
-
-  bool MapData::ExistId(id_type id) const {
-    return _elements.count(id);
-  }
-
-  const RoadSegment *MapData::GetRoad(id_type id) const {
-    if (ExistId(id)) {
-      return _elements.find(id)->second.get();
-    }
-    return nullptr;
-  }
-
-  std::vector<id_type> MapData::GetAllIds() const {
-    std::vector<id_type> result;
-    for (auto &&e : _elements) {
-      result.emplace_back(e.first);
-    }
-    return result;
-  }
-
-  uint32_t MapData::GetRoadCount() const {
-    return _elements.size();
-  }
-
-} // namespace road
-} // namespace carla

LibCarla/source/carla/road/MapData.h

@@ -6,16 +6,17 @@
 
 #pragma once
 
+#include "carla/Iterator.h"
+#include "carla/ListView.h"
 #include "carla/NonCopyable.h"
 #include "carla/road/element/RoadSegment.h"
 
-#include <map>
+#include <boost/iterator/transform_iterator.hpp>
+
+#include <unordered_map>
 
 namespace carla {
 namespace road {
-namespace element {
-  class Waypoint;
-}
 
   struct lane_junction_t {
     std::string contact_point = "start";
@@ -32,35 +33,48 @@ namespace element {
     : private MovableNonCopyable {
   public:
 
-    bool ExistId(element::id_type id) const;
-
-    const element::RoadSegment *GetRoad(element::id_type id) const;
-
-    std::vector<element::id_type> GetAllIds() const;
-
-    uint32_t GetRoadCount() const;
-
-    const element::RoadSegment &NearestRoad(const geom::Location &loc);
-
-    void SetJunctionInformation(const std::vector<lane_junction_t> &junctionInfo) {
-      _junction_information = junctionInfo;
+    const element::RoadSegment *GetRoad(element::id_type id) const {
+      auto it = _elements.find(id);
+      return it != _elements.end() ? it->second.get() : nullptr;
     }
 
-    std::vector<lane_junction_t> GetJunctionInformation() const {
+    auto GetAllIds() const {
+      return MakeListView(
+          iterator::make_map_keys_iterator(_elements.begin()),
+          iterator::make_map_keys_iterator(_elements.end()));
+    }
+
+    size_t GetRoadCount() const {
+      return _elements.size();
+    }
+
+    const std::vector<lane_junction_t> &GetJunctionInformation() const {
       return _junction_information;
     }
 
+    auto GetRoadSegments() const {
+      using const_ref = const element::RoadSegment &;
+      auto get = [](auto &pair) -> const_ref { return *pair.second; };
+      return MakeListView(
+          boost::make_transform_iterator(_elements.begin(), get),
+          boost::make_transform_iterator(_elements.end(), get));
+    }
+
   private:
 
     friend class MapBuilder;
-    friend class Map;
-    friend element::Waypoint;
 
     MapData() = default;
 
+    void SetJunctionInformation(const std::vector<lane_junction_t> &junctionInfo) {
+      _junction_information = junctionInfo;
+    }
+
     std::vector<lane_junction_t> _junction_information;
 
-    std::map<element::id_type, std::unique_ptr<element::RoadSegment>> _elements;
+    std::unordered_map<
+        element::id_type,
+        std::unique_ptr<element::RoadSegment>> _elements;
   };
 
 } // namespace road

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

@@ -6,6 +6,7 @@
 
 #pragma once
 
+#include "carla/NonCopyable.h"
 #include "carla/geom/Location.h"
 #include "carla/road/element/RoadInfo.h"
 #include "carla/road/element/Types.h"
@@ -22,7 +23,7 @@ namespace road {
 
 namespace element {
 
-  class RoadSegment {
+  class RoadSegment : private NonCopyable {
   public:
 
     RoadSegment(id_type id) : _id(id) {}

LibCarla/source/carla/road/element/Waypoint.cpp

@@ -43,14 +43,13 @@ namespace element {
   Waypoint::Waypoint(SharedPtr<const Map> m, const geom::Location &loc)
     : _map(m) {
     DEBUG_ASSERT(_map != nullptr);
-
     // max_nearests represents the max nearests roads
     // where we will search for nearests lanes
     constexpr int max_nearests = 10;
     // in case that map has less than max_nearests lanes,
     // we will use the maximum lanes
-    const int max_nearest_allowed = _map->GetData()._elements.size()  <
-        max_nearests ? _map->GetData()._elements.size() : max_nearests;
+    const int max_nearest_allowed = _map->GetData().GetRoadCount()  <
+        max_nearests ? _map->GetData().GetRoadCount() : max_nearests;
 
     double nearest_dist[max_nearests];
     std::fill(nearest_dist, nearest_dist + max_nearest_allowed,
@@ -63,8 +62,8 @@ namespace element {
     std::fill(dists, dists + max_nearest_allowed, 0.0);
 
 
-    for (auto &&r : _map->GetData()._elements) {
-      auto current_dist = r.second->GetNearestPoint(loc);
+    for (auto &&r : _map->GetData().GetRoadSegments()) {
+      auto current_dist = r.GetNearestPoint(loc);
 
       // search for nearests points
       for (int i = 0; i < max_nearest_allowed; ++i) {
@@ -76,7 +75,7 @@ namespace element {
             dists[j] = dists[j - 1];
           }
           nearest_dist[i] = current_dist.second;
-          ids[i] = r.first;
+          ids[i] = r.GetId();
           dists[i] = current_dist.first;
 
           break;

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

@@ -62,7 +62,8 @@ void AOpenDriveActor::BuildRoutes()
     ///////////////////////////////////////////////////////////////////////////
     // NOTE(Andrei): Build the roads that are not junctions
 
-    std::vector<carla::road::element::id_type> roadIDs = map.GetAllIds();
+    auto RoadIDsView = map.GetAllIds();
+    std::vector<carla::road::element::id_type> roadIDs(RoadIDsView.begin(), RoadIDsView.end());
     std::sort(roadIDs.begin(), roadIDs.end());
 
     for (auto &&id : roadIDs)