50 lines
1.3 KiB
C
50 lines
1.3 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/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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/// The lane offset record defines a lateral shift of the lane reference
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/// line(which is usually identical to the road reference line). This may be
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/// used for an easy implementation of a (local)lateralshift of the lanes
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/// relative to the road’s referenceline. Especially the modeling of
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/// inner-city layouts or "2+1" cross-country road layouts can be facilitated
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/// considerably by this feature.
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class RoadInfoLaneOffset final : public RoadInfo {
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public:
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RoadInfoLaneOffset(
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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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_offset(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 _offset;
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}
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private:
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const geom::CubicPolynomial _offset;
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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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