50 lines
1.3 KiB
C++
50 lines
1.3 KiB
C++
// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
|
||
// de Barcelona (UAB).
|
||
//
|
||
// This work is licensed under the terms of the MIT license.
|
||
// For a copy, see <https://opensource.org/licenses/MIT>.
|
||
|
||
#pragma once
|
||
|
||
#include "carla/road/element/RoadInfo.h"
|
||
#include "carla/geom/CubicPolynomial.h"
|
||
|
||
namespace carla {
|
||
namespace road {
|
||
namespace element {
|
||
|
||
/// The lane offset record defines a lateral shift of the lane reference
|
||
/// line(which is usually identical to the road reference line). This may be
|
||
/// used for an easy implementation of a (local)lateralshift of the lanes
|
||
/// relative to the road’s referenceline. Especially the modeling of
|
||
/// inner-city layouts or "2+1" cross-country road layouts can be facilitated
|
||
/// considerably by this feature.
|
||
class RoadInfoLaneOffset final : public RoadInfo {
|
||
public:
|
||
|
||
RoadInfoLaneOffset(
|
||
double s,
|
||
double a,
|
||
double b,
|
||
double c,
|
||
double d)
|
||
: RoadInfo(s),
|
||
_offset(a, b, c, d, s) {}
|
||
|
||
void AcceptVisitor(RoadInfoVisitor &v) final {
|
||
v.Visit(*this);
|
||
}
|
||
|
||
const geom::CubicPolynomial &GetPolynomial() const {
|
||
return _offset;
|
||
}
|
||
|
||
private:
|
||
|
||
const geom::CubicPolynomial _offset;
|
||
};
|
||
|
||
} // namespace element
|
||
} // namespace road
|
||
} // namespace carla
|