Adding and modifying structs for lane and road parsing

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

@@ -0,0 +1,82 @@
+// 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>.
+
+#pragma once
+
+#include "carla/road/element/RoadInfo.h"
+
+namespace carla {
+namespace road {
+namespace element {
+
+  class RoadElevationInfo : public RoadInfo {
+  public:
+
+    void AcceptVisitor(RoadInfoVisitor &v) final {
+      v.Visit(*this);
+    }
+
+    RoadElevationInfo(
+        double d,
+        double start_position,
+        double elevation, // a
+        double slope, // b
+        double vertical_curvature,
+        double curvature_change)
+      : RoadInfo(d),
+        _start_position(start_position),
+        _elevation(elevation),
+        _slope(slope),
+        _vertical_curvature(vertical_curvature),
+        _curvature_change(curvature_change) {}
+
+    double Evaluate(const double dist, double *out_tan) const {
+      const double t = dist - _start_position;
+      const double pos = _elevation +
+          _slope * t +
+          _vertical_curvature * t * t +
+          _curvature_change * t * t * t;
+
+      if (out_tan) {
+        *out_tan = _slope + t *
+            (2 * _vertical_curvature + t * 3 * _curvature_change);
+      }
+
+      return pos;
+    }
+
+    double GetStartPosition() const {
+      return _start_position;
+    }
+
+    double GetElevation() const {
+      return _elevation;
+    }
+
+    double GetSlope() const {
+      return _slope;
+    }
+
+    double GetVerticalCurvature() const {
+      return _vertical_curvature;
+    }
+
+    double GetCurvatureChange() const {
+      return _curvature_change;
+    }
+
+  private:
+
+    double _start_position;      // (S) start position(s - offset)[meters]
+    double _elevation;           // (A) elevation [meters]
+    double _slope;               // (B)
+    double _vertical_curvature;  // (C)
+    double _curvature_change;    // (D)
+  };
+
+} // namespace element
+} // namespace road
+} // namespace carla

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

@@ -51,6 +51,7 @@ namespace element {
     void SetJunctionId(int junctionId) {
       _junction_id = junctionId;
     }
+
     int GetJunctionId() const {
       return _junction_id;
     }
@@ -71,84 +72,7 @@ namespace element {
     }
   };
 
-  class RoadElevationInfo : public RoadInfo {
-  public:
 
-    void AcceptVisitor(RoadInfoVisitor &v) final {
-      v.Visit(*this);
-    }
-
-    RoadElevationInfo(double d,
-        double start_position,
-        double elevation,
-        double slope,
-        double vertical_curvature,
-        double curvature_change)
-      : RoadInfo(d),
-        _start_position(start_position),
-        _elevation(elevation),
-        _slope(slope),
-        _vertical_curvature(vertical_curvature),
-        _curvature_change(curvature_change) {}
-
-    double Evaluate(const double dist, double *out_tan) const {
-      const double t = dist - _start_position;
-      const double pos = _elevation +
-          _slope * t +
-          _vertical_curvature * t * t +
-          _curvature_change * t * t * t;
-
-      if (out_tan) {
-        *out_tan = _slope + t *
-            (2 * _vertical_curvature + t * 3 * _curvature_change);
-      }
-
-      return pos;
-    }
-
-    double GetStartPosition() const {
-      return _start_position;
-    }
-
-    double GetElevation() const {
-      return _elevation;
-    }
-
-    double GetSlope() const {
-      return _slope;
-    }
-
-    double GetVerticalCurvature() const {
-      return _vertical_curvature;
-    }
-
-    double GetCurvatureChange() const {
-      return _curvature_change;
-    }
-
-  private:
-
-    double _start_position;      // (S) start position(s - offset)[meters]
-    double _elevation;           // (A) elevation [meters]
-    double _slope;               // (B)
-    double _vertical_curvature;  // (C)
-    double _curvature_change;    // (D)
-  };
-
-  class RoadInfoVelocity : public RoadInfo {
-  public:
-
-    void AcceptVisitor(RoadInfoVisitor &v) override final {
-      v.Visit(*this);
-    }
-
-    RoadInfoVelocity(double vel) : velocity(vel) {}
-    RoadInfoVelocity(double d, double vel)
-      : RoadInfo(d),
-        velocity(vel) {}
-
-    double velocity = 0;
-  };
 
   class LaneInfo {
   public:

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

@@ -33,23 +33,14 @@ namespace element {
         double c,
         double d)
       : RoadInfo(s),
-        _lane_id(lane_id),
         _width(a, b, c, d, s) {}
 
-    int GetLaneId() const {
-      return _lane_id;
-    }
-
     const geom::CubicPolynomial &GetPolynomial() const {
       return _width;
     }
 
   private:
 
-    using signed_id = int;
-
-    signed_id _lane_id = 0;
-
     geom::CubicPolynomial _width;
 
   };

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

@@ -34,9 +34,8 @@ namespace element {
       Both     = 0x03  //11
     };
 
-    RoadInfoMarkRecord(double d, int lane_id)
+    RoadInfoMarkRecord(double d)
       : RoadInfo(d),
-        _lane_id(lane_id),
         _type(""),
         _weight(""),
         _color("white"),
@@ -47,7 +46,6 @@ namespace element {
 
     RoadInfoMarkRecord(
         double d,
-        int lane_id,
         std::string type,
         std::string weight,
         std::string color,
@@ -56,7 +54,6 @@ namespace element {
         LaneChange lane_change,
         double height)
       : RoadInfo(d),
-        _lane_id(lane_id),
         _type(type),
         _weight(weight),
         _color(color),
@@ -65,10 +62,6 @@ namespace element {
         _lane_change(lane_change),
         _height(height) {}
 
-    int GetLaneId() const {
-      return _lane_id;
-    }
-
     const std::string &GetType() const {
       return _type;
     }
@@ -99,10 +92,6 @@ namespace element {
 
   private:
 
-    using signed_id = int;
-
-    signed_id _lane_id = 0;
-
     std::string _type;       // Type of the road mark
     std::string _weight;     // Weight of the road mark
     std::string _color;      // Color of the road mark
@@ -112,7 +101,7 @@ namespace element {
     LaneChange _lane_change; // Allow a lane change in the indicated direction
                              // taking into account that lanes are numbered in
                              // ascending order from right to left. If the
-                             // attributeis missing, “both” is assumedto be
+                             // attributeis missing, “both” is assumed to be
                              // valid.
     double _height;          // Physical distance of top edge of road mark from
                              // reference plane of the lane

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

@@ -0,0 +1,39 @@
+// 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>.
+
+#pragma once
+
+#include "carla/road/element/RoadInfo.h"
+
+namespace carla {
+namespace road {
+namespace element {
+
+  class RoadInfoVelocity : public RoadInfo {
+
+  public:
+
+    void AcceptVisitor(RoadInfoVisitor &v) override final {
+      v.Visit(*this);
+    }
+
+    RoadInfoVelocity(double vel) : velocity(vel) {}
+    RoadInfoVelocity(double d, double vel)
+      : RoadInfo(d),
+        velocity(vel) {}
+
+    double GetVelocity() {
+      return velocity;
+    }
+
+  private:
+
+    double velocity;
+  };
+
+} // namespace element
+} // namespace road
+} // namespace carla