68 lines
1.3 KiB
C
68 lines
1.3 KiB
C
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// Copyright (c) 2020 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/geom/CubicPolynomial.h"
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#include "carla/NonCopyable.h"
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#include "carla/road/Lane.h"
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#include "carla/road/RoadElementSet.h"
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#include "carla/road/RoadTypes.h"
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#include <map>
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#include <vector>
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namespace carla {
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namespace road {
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class Road;
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class MapBuilder;
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class LaneSection : private MovableNonCopyable {
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public:
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explicit LaneSection(SectionId id, double s) : _id(id), _s(s) {}
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double GetDistance() const;
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double GetLength() const;
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Road *GetRoad() const;
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Lane *GetLane(const LaneId id);
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const Lane *GetLane(const LaneId id) const;
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bool ContainsLane(LaneId id) const {
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return (_lanes.find(id) != _lanes.end());
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}
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SectionId GetId() const;
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std::map<LaneId, Lane> &GetLanes();
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const std::map<LaneId, Lane> &GetLanes() const;
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std::vector<Lane *> GetLanesOfType(Lane::LaneType type);
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private:
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friend MapBuilder;
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const SectionId _id = 0u;
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const double _s = 0.0;
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Road *_road = nullptr;
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std::map<LaneId, Lane> _lanes;
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geom::CubicPolynomial _lane_offset;
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};
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} // road
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} // carla
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