109 lines
2.3 KiB
C
109 lines
2.3 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/geom/BoundingBox.h"
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#include "carla/NonCopyable.h"
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#include "carla/road/RoadTypes.h"
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#include <unordered_map>
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#include <unordered_set>
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#include <vector>
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#include <string>
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namespace carla {
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namespace road {
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class MapBuilder;
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class Junction : private MovableNonCopyable {
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public:
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struct LaneLink {
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LaneId from;
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LaneId to;
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};
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struct Connection {
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ConId id;
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RoadId incoming_road;
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RoadId connecting_road;
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std::vector<LaneLink> lane_links;
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void AddLaneLink(LaneId from, LaneId to) {
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lane_links.push_back(LaneLink{from, to});
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}
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Connection(ConId id, RoadId incoming_road, RoadId connecting_road)
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: id(id),
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incoming_road(incoming_road),
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connecting_road(connecting_road),
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lane_links() {}
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};
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Junction(const JuncId id, const std::string name)
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: _id(id),
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_name(name),
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_connections() {}
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JuncId GetId() const {
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return _id;
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}
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Connection *GetConnection(ConId id) {
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const auto search = _connections.find(id);
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if (search != _connections.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::unordered_map<ConId, Connection> &GetConnections() {
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return _connections;
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}
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std::unordered_map<ConId, Connection> GetConnections() const {
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return _connections;
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}
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carla::geom::BoundingBox GetBoundingBox() const{
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return _bounding_box;
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}
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bool RoadHasConflicts(RoadId road_id) const {
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return _road_conflicts.count(road_id) > 0;
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}
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const std::unordered_set<RoadId> & GetConflictsOfRoad(RoadId road_id) const {
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return _road_conflicts.at(road_id);
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}
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const std::set<ContId>& GetControllers() const {
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return _controllers;
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}
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private:
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friend MapBuilder;
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JuncId _id;
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std::string _name;
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std::unordered_map<ConId, Connection> _connections;
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std::set<ContId> _controllers;
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std::unordered_map<RoadId, std::unordered_set<RoadId>>
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_road_conflicts;
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carla::geom::BoundingBox _bounding_box;
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};
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} // road
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} // carla
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