73 lines
1.7 KiB
C
73 lines
1.7 KiB
C
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// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
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// de Barcelona (UAB).
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//
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// This work is licensed under the terms of the MIT license.
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// For a copy, see <https://opensource.org/licenses/MIT>.
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#pragma once
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#include "carla/road/element/RoadInfo.h"
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namespace carla {
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namespace road {
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namespace element {
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/// Each lane within a road cross section may be provided with several entries
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/// defining the visibility in four directions relative to the lane’s
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/// direction. Each entry is valid until a new entry is defined. If multiple
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/// entries are defined, they must be listed in increasing order.
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///
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/// For left lanes (positive ID), the forward direction is oriented opposite
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/// to the track’s direction, for right lanes, the forward direction and the
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/// track’s direction are identical.
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class RoadInfoLaneVisibility final : public RoadInfo {
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public:
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RoadInfoLaneVisibility(
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double s, // start position relative to the position of the preceding
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// lane section
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double forward,
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double back,
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double left,
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double right)
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: RoadInfo(s),
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_forward(forward),
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_back(back),
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_left(left),
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_right(right) {}
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void AcceptVisitor(RoadInfoVisitor &v) final {
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v.Visit(*this);
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}
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double GetForward() const {
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return _forward;
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}
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double GetBack() const {
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return _back;
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}
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double GetLeft() const {
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return _left;
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}
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double GetRight() const {
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return _right;
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}
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private:
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const double _forward;
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const double _back;
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const double _left;
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const double _right;
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};
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} // namespace element
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} // namespace road
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} // namespace carla
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