67 lines
1.6 KiB
C++
67 lines
1.6 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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#include "carla/road/LaneSection.h"
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#include "carla/road/Road.h"
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namespace carla {
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namespace road {
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double LaneSection::GetDistance() const {
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return _s;
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}
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double LaneSection::GetLength() const {
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const auto *road = GetRoad();
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DEBUG_ASSERT(road != nullptr);
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return road->UpperBound(_s) - _s;
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}
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Road *LaneSection::GetRoad() const {
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return _road;
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}
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SectionId LaneSection::GetId() const {
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return _id;
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}
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Lane *LaneSection::GetLane(const LaneId id) {
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auto search = _lanes.find(id);
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if (search != _lanes.end()) {
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return &search->second;
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}
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return nullptr;
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}
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const Lane *LaneSection::GetLane(const LaneId id) const {
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auto search = _lanes.find(id);
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if (search != _lanes.end()) {
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return &search->second;
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}
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return nullptr;
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}
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std::map<LaneId, Lane> &LaneSection::GetLanes() {
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return _lanes;
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}
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const std::map<LaneId, Lane> &LaneSection::GetLanes() const {
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return _lanes;
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}
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std::vector<Lane *> LaneSection::GetLanesOfType(Lane::LaneType lane_type) {
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std::vector<Lane *> drivable_lanes;
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for (auto &&lane : _lanes) {
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if ((static_cast<uint32_t>(lane.second.GetType()) & static_cast<uint32_t>(lane_type)) > 0) {
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drivable_lanes.emplace_back(&lane.second);
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}
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}
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return drivable_lanes;
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}
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} // namespace road
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} // namespace carla
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