51 lines
1.4 KiB
C
51 lines
1.4 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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#include "carla/geom/CubicPolynomial.h"
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namespace carla {
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namespace road {
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namespace element {
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/// Instead of describing lanes by their width entries and, thus, invariably
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/// depending on influences of inner lanes on outer lanes, it might be more
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/// convenient to just describe the outer border of each lane independent of
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/// any inner lanes’ parameters. Especially in cases where road data is
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/// derived from measurements, this type of definition will provide a more
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/// convenient method without the need to tesselate road sections into too
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/// many parts. Note. Lane borders and widths are mutually exclusive.
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class RoadInfoLaneBorder final : public RoadInfo {
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public:
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RoadInfoLaneBorder(
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double s,
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double a,
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double b,
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double c,
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double d)
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: RoadInfo(s),
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_border(a, b, c, d, s) {}
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void AcceptVisitor(RoadInfoVisitor &v) final {
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v.Visit(*this);
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}
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const geom::CubicPolynomial &GetPolynomial() const {
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return _border;
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}
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private:
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const geom::CubicPolynomial _border;
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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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