67 lines
1.6 KiB
C++
67 lines
1.6 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>.
|
|
|
|
#include "carla/road/LaneSection.h"
|
|
#include "carla/road/Road.h"
|
|
|
|
namespace carla {
|
|
namespace road {
|
|
|
|
double LaneSection::GetDistance() const {
|
|
return _s;
|
|
}
|
|
|
|
double LaneSection::GetLength() const {
|
|
const auto *road = GetRoad();
|
|
DEBUG_ASSERT(road != nullptr);
|
|
return road->UpperBound(_s) - _s;
|
|
}
|
|
|
|
Road *LaneSection::GetRoad() const {
|
|
return _road;
|
|
}
|
|
|
|
SectionId LaneSection::GetId() const {
|
|
return _id;
|
|
}
|
|
|
|
Lane *LaneSection::GetLane(const LaneId id) {
|
|
auto search = _lanes.find(id);
|
|
if (search != _lanes.end()) {
|
|
return &search->second;
|
|
}
|
|
return nullptr;
|
|
}
|
|
|
|
const Lane *LaneSection::GetLane(const LaneId id) const {
|
|
auto search = _lanes.find(id);
|
|
if (search != _lanes.end()) {
|
|
return &search->second;
|
|
}
|
|
return nullptr;
|
|
}
|
|
|
|
std::map<LaneId, Lane> &LaneSection::GetLanes() {
|
|
return _lanes;
|
|
}
|
|
|
|
const std::map<LaneId, Lane> &LaneSection::GetLanes() const {
|
|
return _lanes;
|
|
}
|
|
|
|
std::vector<Lane *> LaneSection::GetLanesOfType(Lane::LaneType lane_type) {
|
|
std::vector<Lane *> drivable_lanes;
|
|
for (auto &&lane : _lanes) {
|
|
if ((static_cast<uint32_t>(lane.second.GetType()) & static_cast<uint32_t>(lane_type)) > 0) {
|
|
drivable_lanes.emplace_back(&lane.second);
|
|
}
|
|
}
|
|
return drivable_lanes;
|
|
}
|
|
|
|
} // namespace road
|
|
} // namespace carla
|