From 9d76978f93880861bbc9cbf6dad42a803b3a3871 Mon Sep 17 00:00:00 2001
From: Axel1092 <axellopez92@outlook.com>
Date: Thu, 9 Apr 2020 11:09:08 +0200
Subject: [PATCH] Fixed get_all_landmarks functions returning invalid landmarks
 when using world.get_map().get_all_landmarks().

---
 LibCarla/source/carla/client/Landmark.h   | 4 ++++
 LibCarla/source/carla/client/Map.cpp      | 6 +++---
 LibCarla/source/carla/client/Waypoint.cpp | 4 ++--
 3 files changed, 9 insertions(+), 5 deletions(-)

diff --git a/LibCarla/source/carla/client/Landmark.h b/LibCarla/source/carla/client/Landmark.h
index fc3f6ef06..61c511d67 100644
--- a/LibCarla/source/carla/client/Landmark.h
+++ b/LibCarla/source/carla/client/Landmark.h
@@ -121,15 +121,19 @@ namespace client {
 
     Landmark(
         SharedPtr<Waypoint> waypoint,
+        SharedPtr<const Map> parent,
         const road::element::RoadInfoSignal* signal,
         double distance_from_search = 0)
       : _waypoint(waypoint),
+        _parent(parent),
         _signal(signal),
         _distance_from_search(distance_from_search) {}
 
     /// waypoint where the signal is affecting
     SharedPtr<Waypoint> _waypoint;
 
+    SharedPtr<const Map> _parent;
+
     const road::element::RoadInfoSignal* _signal;
 
     double _distance_from_search;
diff --git a/LibCarla/source/carla/client/Map.cpp b/LibCarla/source/carla/client/Map.cpp
index 865016cbd..88dd691b6 100644
--- a/LibCarla/source/carla/client/Map.cpp
+++ b/LibCarla/source/carla/client/Map.cpp
@@ -137,7 +137,7 @@ namespace client {
     auto signal_references = _map.GetAllSignalReferences();
     for(auto* signal_reference : signal_references) {
       result.emplace_back(
-          new Landmark(nullptr, signal_reference, 0));
+          new Landmark(nullptr, shared_from_this(), signal_reference, 0));
     }
     return result;
   }
@@ -148,7 +148,7 @@ namespace client {
     for(auto* signal_reference : signal_references) {
       if(signal_reference->GetSignalId() == id) {
         result.emplace_back(
-            new Landmark(nullptr, signal_reference, 0));
+            new Landmark(nullptr, shared_from_this(), signal_reference, 0));
       }
     }
     return result;
@@ -160,7 +160,7 @@ namespace client {
     for(auto* signal_reference : signal_references) {
       if(signal_reference->GetSignal()->GetType() == type) {
         result.emplace_back(
-            new Landmark(nullptr, signal_reference, 0));
+            new Landmark(nullptr, shared_from_this(), signal_reference, 0));
       }
     }
     return result;
diff --git a/LibCarla/source/carla/client/Waypoint.cpp b/LibCarla/source/carla/client/Waypoint.cpp
index 5c44b338f..0dcfdfb4a 100644
--- a/LibCarla/source/carla/client/Waypoint.cpp
+++ b/LibCarla/source/carla/client/Waypoint.cpp
@@ -220,7 +220,7 @@ namespace client {
       added_signals.insert(signal_data.signal);
       auto waypoint = SharedPtr<Waypoint>(new Waypoint(_parent, signal_data.waypoint));
       result.emplace_back(
-          new Landmark(waypoint, signal_data.signal, signal_data.accumulated_s));
+          new Landmark(waypoint, _parent, signal_data.signal, signal_data.accumulated_s));
     }
     return result;
   }
@@ -238,7 +238,7 @@ namespace client {
         }
         auto waypoint = SharedPtr<Waypoint>(new Waypoint(_parent, signal_data.waypoint));
         result.emplace_back(
-            new Landmark(waypoint, signal_data.signal, signal_data.accumulated_s));
+            new Landmark(waypoint, _parent, signal_data.signal, signal_data.accumulated_s));
       }
     }
     return result;