86 lines
2.4 KiB
C++
86 lines
2.4 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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#include "carla/client/DebugHelper.h"
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#include "carla/client/detail/Simulator.h"
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#include "carla/rpc/DebugShape.h"
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namespace carla {
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namespace client {
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using Shape = rpc::DebugShape;
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template <typename T>
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static void DrawShape(
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detail::EpisodeProxy &episode,
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const T &primitive,
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rpc::Color color,
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float life_time,
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bool persistent_lines) {
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const Shape shape{primitive, color, life_time, persistent_lines};
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episode.Lock()->DrawDebugShape(shape);
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}
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void DebugHelper::DrawPoint(
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const geom::Location &location,
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float size,
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sensor::data::Color color,
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float life_time,
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bool persistent_lines) {
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Shape::Point point{location, size};
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DrawShape(_episode, point, color, life_time, persistent_lines);
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}
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void DebugHelper::DrawLine(
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const geom::Location &begin,
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const geom::Location &end,
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float thickness,
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sensor::data::Color color,
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float life_time,
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bool persistent_lines) {
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Shape::Line line{begin, end, thickness};
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DrawShape(_episode, line, color, life_time, persistent_lines);
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}
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void DebugHelper::DrawArrow(
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const geom::Location &begin,
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const geom::Location &end,
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float thickness,
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float arrow_size,
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sensor::data::Color color,
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float life_time,
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bool persistent_lines) {
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Shape::Line line{begin, end, thickness};
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Shape::Arrow arrow{line, arrow_size};
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DrawShape(_episode, arrow, color, life_time, persistent_lines);
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}
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void DebugHelper::DrawBox(
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const geom::BoundingBox &box,
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const geom::Rotation &rotation,
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float thickness,
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sensor::data::Color color,
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float life_time,
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bool persistent_lines) {
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Shape::Box the_box{box, rotation, thickness};
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DrawShape(_episode, the_box, color, life_time, persistent_lines);
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}
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void DebugHelper::DrawString(
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const geom::Location &location,
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const std::string &text,
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bool draw_shadow,
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sensor::data::Color color,
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float life_time,
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bool persistent_lines) {
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Shape::String string{location, text, draw_shadow};
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DrawShape(_episode, string, color, life_time, persistent_lines);
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}
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} // namespace client
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} // namespace carla
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