Move third-party code in LibCarla to a third-party folder

LibCarla/cmake/CMakeLists.txt

@@ -10,8 +10,10 @@ message(STATUS "Build release: ${LIBCARLA_BUILD_RELEASE}")
 message(STATUS "Build test:    ${LIBCARLA_BUILD_TEST}")
 
 set(libcarla_source_path "${PROJECT_SOURCE_DIR}/../source")
+set(libcarla_source_thirdparty_path "${libcarla_source_path}/third-party")
 
 include_directories(${libcarla_source_path})
+include_directories(${libcarla_source_thirdparty_path})
 
 if (CARLA_VERSION)
   configure_file(${libcarla_source_path}/carla/Version.h.in ${libcarla_source_path}/carla/Version.h)

LibCarla/cmake/client/CMakeLists.txt

@@ -72,12 +72,11 @@ file(GLOB libcarla_carla_opendrive_parser_sources
 set(libcarla_sources "${libcarla_sources};${libcarla_carla_opendrive_parser_sources}")
 install(FILES ${libcarla_carla_opendrive_parser_sources} DESTINATION include/carla/opendrive/parser)
 
-file(GLOB libcarla_carla_opendrive_parser_pugixml_sources
-    "${libcarla_source_path}/carla/opendrive/parser/pugixml/*.cpp"
-    "${libcarla_source_path}/carla/opendrive/parser/pugixml/*.hpp"
-    "${libcarla_source_path}/carla/opendrive/parser/pugixml/*.h")
-set(libcarla_sources "${libcarla_sources};${libcarla_carla_opendrive_parser_pugixml_sources}")
-install(FILES ${libcarla_carla_opendrive_parser_pugixml_sources} DESTINATION include/carla/opendrive/parser/pugixml)
+file(GLOB libcarla_pugixml_sources
+    "${libcarla_source_thirdparty_path}/pugixml/*.cpp"
+    "${libcarla_source_thirdparty_path}/pugixml/*.hpp"
+    "${libcarla_source_thirdparty_path}/pugixml/*.h")
+set(libcarla_sources "${libcarla_sources};${libcarla_pugixml_sources}")
 
 file(GLOB libcarla_carla_pointcloud_sources
     "${libcarla_source_path}/carla/pointcloud/*.cpp"
@@ -101,11 +100,10 @@ file(GLOB libcarla_carla_road_element_sources
 set(libcarla_sources "${libcarla_sources};${libcarla_carla_road_element_sources}")
 install(FILES ${libcarla_carla_road_element_sources} DESTINATION include/carla/road/element)
 
-file(GLOB libcarla_carla_road_element_cephes_sources
-    "${libcarla_source_path}/carla/road/element/cephes/*.cpp"
-    "${libcarla_source_path}/carla/road/element/cephes/*.h")
-set(libcarla_sources "${libcarla_sources};${libcarla_carla_road_element_cephes_sources}")
-install(FILES ${libcarla_carla_road_element_cephes_sources} DESTINATION include/carla/road/element/cephes)
+file(GLOB libcarla_carla_cephes_sources
+    "${libcarla_source_thirdparty_path}/cephes/*.cpp"
+    "${libcarla_source_thirdparty_path}/cephes/*.h")
+set(libcarla_sources "${libcarla_sources};${libcarla_carla_cephes_sources}")
 
 file(GLOB libcarla_carla_road_general_sources
     "${libcarla_source_path}/carla/road/general/*.cpp"
@@ -174,7 +172,7 @@ set(libcarla_sources "${libcarla_sources};${libcarla_carla_streaming_low_level_s
 install(FILES ${libcarla_carla_streaming_low_level_sources} DESTINATION include/carla/streaming/low_level)
 
 file(GLOB libcarla_moodycamel_sources
-    "${libcarla_source_path}/moodycamel/*.h")
+    "${libcarla_source_thirdparty_path}/moodycamel/*.h")
 set(libcarla_sources "${libcarla_sources};${libcarla_moodycamel_sources}")
 install(FILES ${libcarla_moodycamel_sources} DESTINATION include/moodycamel)
 

LibCarla/cmake/server/CMakeLists.txt

@@ -26,9 +26,6 @@ install(FILES ${libcarla_carla_opendrive} DESTINATION include/carla/opendrive)
 file(GLOB libcarla_carla_opendrive_parser "${libcarla_source_path}/carla/opendrive/parser/*.h")
 install(FILES ${libcarla_carla_opendrive_parser} DESTINATION include/carla/opendrive/parser)
 
-file(GLOB libcarla_carla_opendrive_parser_pugixml "${libcarla_source_path}/carla/opendrive/parser/pugixml/*.hpp")
-install(FILES ${libcarla_carla_opendrive_parser_pugixml} DESTINATION include/carla/opendrive/parser/pugixml)
-
 file(GLOB libcarla_carla_profiler_headers "${libcarla_source_path}/carla/profiler/*.h")
 install(FILES ${libcarla_carla_profiler_headers} DESTINATION include/carla/profiler)
 
@@ -38,9 +35,6 @@ install(FILES ${libcarla_carla_road_headers} DESTINATION include/carla/road)
 file(GLOB libcarla_carla_road_element_headers "${libcarla_source_path}/carla/road/element/*.h")
 install(FILES ${libcarla_carla_road_element_headers} DESTINATION include/carla/road/element)
 
-file(GLOB libcarla_carla_road_element_cephes_headers "${libcarla_source_path}/carla/road/element/cephes/*.h")
-install(FILES ${libcarla_carla_road_element_cephes_headers} DESTINATION include/carla/road/element/cephes)
-
 file(GLOB libcarla_carla_road_general_headers "${libcarla_source_path}/carla/road/general/*.h")
 install(FILES ${libcarla_carla_road_general_headers} DESTINATION include/carla/road/general)
 
@@ -96,14 +90,10 @@ file(GLOB libcarla_server_sources
     "${libcarla_source_path}/carla/opendrive/*.h"
     "${libcarla_source_path}/carla/opendrive/parser/*.cpp"
     "${libcarla_source_path}/carla/opendrive/parser/*.h"
-    "${libcarla_source_path}/carla/opendrive/parser/pugixml/*.cpp"
-    "${libcarla_source_path}/carla/opendrive/parser/pugixml/*.hpp"
     "${libcarla_source_path}/carla/road/*.cpp"
     "${libcarla_source_path}/carla/road/*.h"
     "${libcarla_source_path}/carla/road/element/*.cpp"
     "${libcarla_source_path}/carla/road/element/*.h"
-    "${libcarla_source_path}/carla/road/element/cephes/*.cpp"
-    "${libcarla_source_path}/carla/road/element/cephes/*.h"
     "${libcarla_source_path}/carla/road/general/*.cpp"
     "${libcarla_source_path}/carla/road/general/*.h"
     "${libcarla_source_path}/carla/road/object/*.cpp"
@@ -120,7 +110,13 @@ file(GLOB libcarla_server_sources
     "${libcarla_source_path}/carla/streaming/detail/*.h"
     "${libcarla_source_path}/carla/streaming/detail/tcp/*.cpp"
     "${libcarla_source_path}/carla/streaming/detail/tcp/*.h"
-    "${libcarla_source_path}/carla/streaming/low_level/*.h")
+    "${libcarla_source_path}/carla/streaming/low_level/*.h"
+    "${libcarla_source_thirdparty_path}/cephes/*.cpp"
+    "${libcarla_source_thirdparty_path}/cephes/*.h"
+    "${libcarla_source_thirdparty_path}/moodycamel/*.cpp"
+    "${libcarla_source_thirdparty_path}/moodycamel/*.h"
+    "${libcarla_source_thirdparty_path}/pugixml/*.cpp"
+    "${libcarla_source_thirdparty_path}/pugixml/*.hpp")
 
 # ==============================================================================
 # Create targets for debug and release in the same build type.

LibCarla/source/carla/opendrive/OpenDriveParser.cpp

@@ -16,9 +16,10 @@
 #include "carla/opendrive/parser/RoadParser.h"
 #include "carla/opendrive/parser/SignalParser.h"
 #include "carla/opendrive/parser/TrafficGroupParser.h"
-#include "carla/opendrive/parser/pugixml/pugixml.hpp"
 #include "carla/road/MapBuilder.h"
 
+#include <pugixml/pugixml.hpp>
+
 namespace carla {
 namespace opendrive {
 

LibCarla/source/carla/opendrive/parser/GeoReferenceParser.cpp

@@ -9,9 +9,10 @@
 #include "carla/Logging.h"
 #include "carla/StringUtil.h"
 #include "carla/geom/GeoLocation.h"
-#include "carla/opendrive/parser/pugixml/pugixml.hpp"
 #include "carla/road/MapBuilder.h"
 
+#include <pugixml/pugixml.hpp>
+
 #include <limits>
 #include <string>
 #include <vector>

LibCarla/source/carla/opendrive/parser/GeometryParser.cpp

@@ -6,10 +6,10 @@
 
 #include "carla/opendrive/parser/GeometryParser.h"
 
-#include "carla/opendrive/parser/pugixml/pugixml.hpp"
-
 #include "carla/road/MapBuilder.h"
 
+#include <pugixml/pugixml.hpp>
+
 namespace carla {
 namespace opendrive {
 namespace parser {

LibCarla/source/carla/opendrive/parser/JunctionParser.cpp

@@ -6,10 +6,10 @@
 
 #include "carla/opendrive/parser/JunctionParser.h"
 
-#include "carla/opendrive/parser/pugixml/pugixml.hpp"
-
 #include "carla/road/MapBuilder.h"
 
+#include <pugixml/pugixml.hpp>
+
 namespace carla {
 namespace opendrive {
 namespace parser {

LibCarla/source/carla/opendrive/parser/LaneParser.cpp

@@ -6,10 +6,10 @@
 
 #include "carla/opendrive/parser/LaneParser.h"
 
-#include "carla/opendrive/parser/pugixml/pugixml.hpp"
-
 #include "carla/road/MapBuilder.h"
 
+#include <pugixml/pugixml.hpp>
+
 namespace carla {
 namespace opendrive {
 namespace parser {

LibCarla/source/carla/opendrive/parser/ObjectParser.cpp

@@ -6,10 +6,10 @@
 
 #include "carla/opendrive/parser/ObjectParser.h"
 
-#include "carla/opendrive/parser/pugixml/pugixml.hpp"
-
 #include "carla/road/MapBuilder.h"
 
+#include <pugixml/pugixml.hpp>
+
 namespace carla {
 namespace opendrive {
 namespace parser {

LibCarla/source/carla/opendrive/parser/ProfilesParser.cpp

@@ -6,10 +6,10 @@
 
 #include "carla/opendrive/parser/ProfilesParser.h"
 
-#include "carla/opendrive/parser/pugixml/pugixml.hpp"
-
 #include "carla/road/MapBuilder.h"
 
+#include <pugixml/pugixml.hpp>
+
 namespace carla {
 namespace opendrive {
 namespace parser {

LibCarla/source/carla/opendrive/parser/RoadParser.cpp

@@ -8,10 +8,11 @@
 
 #include "carla/Logging.h"
 #include "carla/StringUtil.h"
-#include "carla/opendrive/parser/pugixml/pugixml.hpp"
 #include "carla/road/MapBuilder.h"
 #include "carla/road/RoadTypes.h"
 
+#include <pugixml/pugixml.hpp>
+
 namespace carla {
 namespace opendrive {
 namespace parser {

LibCarla/source/carla/opendrive/parser/SignalParser.cpp

@@ -6,10 +6,10 @@
 
 #include "carla/opendrive/parser/SignalParser.h"
 
-#include "carla/opendrive/parser/pugixml/pugixml.hpp"
-
 #include "carla/road/MapBuilder.h"
 
+#include <pugixml/pugixml.hpp>
+
 namespace carla {
 namespace opendrive {
 namespace parser {

LibCarla/source/carla/opendrive/parser/TrafficGroupParser.cpp

@@ -6,10 +6,10 @@
 
 #include "carla/opendrive/parser/TrafficGroupParser.h"
 
-#include "carla/opendrive/parser/pugixml/pugixml.hpp"
-
 #include "carla/road/MapBuilder.h"
 
+#include <pugixml/pugixml.hpp>
+
 namespace carla {
 namespace opendrive {
 namespace parser {

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

@@ -0,0 +1,85 @@
+// Copyright (c) 2019 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/element/Geometry.h"
+
+#include "carla/Debug.h"
+#include "carla/Exception.h"
+#include "carla/geom/Location.h"
+#include "carla/geom/Math.h"
+
+#include <cephes/fresnel.h>
+
+#include <cmath>
+#include <stdexcept>
+
+namespace carla {
+namespace road {
+namespace element {
+
+  void DirectedPoint::ApplyLateralOffset(float lateral_offset) {
+    /// @todo Z axis??
+    auto normal_x =  std::sin(static_cast<float>(tangent));
+    auto normal_y = -std::cos(static_cast<float>(tangent));
+    location.x += lateral_offset * normal_x;
+    location.y += lateral_offset * normal_y;
+  }
+
+  DirectedPoint GeometryLine::PosFromDist(double dist) const {
+    DEBUG_ASSERT(_length > 0.0);
+    dist = geom::Math::Clamp(dist, 0.0, _length);
+    DirectedPoint p(_start_position, _heading);
+    p.location.x += static_cast<float>(dist * std::cos(p.tangent));
+    p.location.y += static_cast<float>(dist * std::sin(p.tangent));
+    return p;
+  }
+
+  DirectedPoint GeometryArc::PosFromDist(double dist) const {
+    dist = geom::Math::Clamp(dist, 0.0, _length);
+    DEBUG_ASSERT(_length > 0.0);
+    DEBUG_ASSERT(std::fabs(_curvature) > 1e-15);
+    const double radius = 1.0 / _curvature;
+    constexpr double pi_half = geom::Math::Pi<double>() / 2.0;
+    DirectedPoint p(_start_position, _heading);
+    p.location.x += static_cast<float>(radius * std::cos(p.tangent + pi_half));
+    p.location.y += static_cast<float>(radius * std::sin(p.tangent + pi_half));
+    p.tangent += dist * _curvature;
+    p.location.x -= static_cast<float>(radius * std::cos(p.tangent + pi_half));
+    p.location.y -= static_cast<float>(radius * std::sin(p.tangent + pi_half));
+    return p;
+  }
+
+  DirectedPoint GeometrySpiral::PosFromDist(double dist) const {
+    // not working yet with negative values
+    dist = geom::Math::Clamp(dist, 0.0, _length);
+    DEBUG_ASSERT(_length > 0.0);
+    DEBUG_ASSERT(std::fabs(_curve_end) > 1e-15);
+    const double radius = 1.0 / _curve_end;
+    const double extra_norm = 1.0 / std::sqrt(geom::Math::Pi<double>() / 2.0);
+    const double norm = 1.0 / std::sqrt(2.0 * radius * _length);
+    const double length = dist * norm;
+    double S, C;
+    fresnl(length * extra_norm, &S, &C);
+    S /= (norm * extra_norm);
+    C /= (norm * extra_norm);
+    DirectedPoint p(_start_position, _heading);
+    const double cos_a = std::cos(p.tangent);
+    const double sin_a = std::sin(p.tangent);
+    p.location.x += static_cast<float>(C * cos_a - S * sin_a);
+    p.location.y += static_cast<float>(S * cos_a + C * sin_a);
+    p.tangent += length * length;
+
+    return p;
+  }
+
+  /// @todo
+  std::pair<float, float> GeometrySpiral::DistanceTo(const geom::Location &) const {
+    throw_exception(std::runtime_error("not implemented"));
+  }
+
+} // namespace element
+} // namespace road
+} // namespace carla

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

@@ -6,14 +6,8 @@
 
 #pragma once
 
-#include "carla/Debug.h"
-#include "carla/Exception.h"
 #include "carla/geom/Location.h"
 #include "carla/geom/Math.h"
-#include "carla/road/element/cephes/fresnel.h"
-
-#include <cmath>
-#include <stdexcept>
 
 namespace carla {
 namespace road {
@@ -41,13 +35,7 @@ namespace element {
     double tangent = 0.0; // [radians]
     double pitch = 0.0;   // [radians]
 
-    void ApplyLateralOffset(float lateral_offset) {
-      /// @todo Z axis??
-      auto normal_x =  std::sin(static_cast<float>(tangent));
-      auto normal_y = -std::cos(static_cast<float>(tangent));
-      location.x += lateral_offset * normal_x;
-      location.y += lateral_offset * normal_y;
-    }
+    void ApplyLateralOffset(float lateral_offset);
 
     friend bool operator==(const DirectedPoint &lhs, const DirectedPoint &rhs) {
       return (lhs.location == rhs.location) && (lhs.tangent == rhs.tangent);
@@ -116,14 +104,7 @@ namespace element {
         const geom::Location &start_pos)
       : Geometry(GeometryType::LINE, start_offset, length, heading, start_pos) {}
 
-    DirectedPoint PosFromDist(double dist) const override {
-      DEBUG_ASSERT(_length > 0.0);
-      dist = geom::Math::Clamp(dist, 0.0, _length);
-      DirectedPoint p(_start_position, _heading);
-      p.location.x += static_cast<float>(dist * std::cos(p.tangent));
-      p.location.y += static_cast<float>(dist * std::sin(p.tangent));
-      return p;
-    }
+    DirectedPoint PosFromDist(double dist) const override;
 
     /// Returns a pair containing:
     /// - @b first:  distance to the nearest point in this line from the
@@ -152,20 +133,7 @@ namespace element {
       : Geometry(GeometryType::ARC, start_offset, length, heading, start_pos),
         _curvature(curv) {}
 
-    DirectedPoint PosFromDist(double dist) const override {
-      dist = geom::Math::Clamp(dist, 0.0, _length);
-      DEBUG_ASSERT(_length > 0.0);
-      DEBUG_ASSERT(std::fabs(_curvature) > 1e-15);
-      const double radius = 1.0 / _curvature;
-      constexpr double pi_half = geom::Math::Pi<double>() / 2.0;
-      DirectedPoint p(_start_position, _heading);
-      p.location.x += static_cast<float>(radius * std::cos(p.tangent + pi_half));
-      p.location.y += static_cast<float>(radius * std::sin(p.tangent + pi_half));
-      p.tangent += dist * _curvature;
-      p.location.x -= static_cast<float>(radius * std::cos(p.tangent + pi_half));
-      p.location.y -= static_cast<float>(radius * std::sin(p.tangent + pi_half));
-      return p;
-    }
+    DirectedPoint PosFromDist(double dist) const override;
 
     /// Returns a pair containing:
     /// - @b first:  distance to the nearest point in this arc from the
@@ -212,33 +180,9 @@ namespace element {
       return _curve_end;
     }
 
-    DirectedPoint PosFromDist(double dist) const override {
-      // not working yet with negative values
-      dist = geom::Math::Clamp(dist, 0.0, _length);
-      DEBUG_ASSERT(_length > 0.0);
-      DEBUG_ASSERT(std::fabs(_curve_end) > 1e-15);
-      const double radius = 1.0 / _curve_end;
-      const double extra_norm = 1.0 / std::sqrt(geom::Math::Pi<double>() / 2.0);
-      const double norm = 1.0 / std::sqrt(2.0 * radius * _length);
-      const double length = dist * norm;
-      double S, C;
-      fresnl(length * extra_norm, &S, &C);
-      S /= (norm * extra_norm);
-      C /= (norm * extra_norm);
-      DirectedPoint p(_start_position, _heading);
-      const double cos_a = std::cos(p.tangent);
-      const double sin_a = std::sin(p.tangent);
-      p.location.x += static_cast<float>(C * cos_a - S * sin_a);
-      p.location.y += static_cast<float>(S * cos_a + C * sin_a);
-      p.tangent += length * length;
+    DirectedPoint PosFromDist(double dist) const override;
 
-      return p;
-    }
-
-    /// @todo
-    std::pair<float, float> DistanceTo(const geom::Location &) const override {
-      throw_exception(std::runtime_error("not implemented"));
-    }
+    std::pair<float, float> DistanceTo(const geom::Location &) const override;
 
   private:
 

LibCarla/source/test/client/test_opendrive.cpp

@@ -13,13 +13,14 @@
 #include <carla/geom/Location.h>
 #include <carla/geom/Math.h>
 #include <carla/opendrive/OpenDriveParser.h>
-#include <carla/opendrive/parser/pugixml/pugixml.hpp>
 #include <carla/road/MapBuilder.h>
 #include <carla/road/element/RoadInfoElevation.h>
 #include <carla/road/element/RoadInfoGeometry.h>
 #include <carla/road/element/RoadInfoMarkRecord.h>
 #include <carla/road/element/RoadInfoVisitor.h>
 
+#include <pugixml/pugixml.hpp>
+
 #include <fstream>
 #include <string>