123 lines
3.3 KiB
C++
123 lines
3.3 KiB
C++
// 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/Memory.h"
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#include "carla/NonCopyable.h"
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#include "carla/geom/Transform.h"
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#include "carla/road/element/LaneMarking.h"
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#include "carla/road/element/RoadInfoMarkRecord.h"
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#include "carla/road/element/Waypoint.h"
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#include "carla/road/Lane.h"
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#include "carla/road/RoadTypes.h"
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#include <boost/optional.hpp>
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namespace carla {
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namespace client {
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class Map;
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class Junction;
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class Landmark;
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class Waypoint
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: public EnableSharedFromThis<Waypoint>,
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private NonCopyable {
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public:
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~Waypoint();
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/// Returns an unique Id identifying this waypoint.
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///
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/// The Id takes into account OpenDrive's road Id, lane Id, and s distance
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/// on its road segment up to half-centimetre precision.
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uint64_t GetId() const {
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return std::hash<road::element::Waypoint>()(_waypoint);
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}
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auto GetRoadId() const {
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return _waypoint.road_id;
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}
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auto GetSectionId() const {
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return _waypoint.section_id;
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}
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auto GetLaneId() const {
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return _waypoint.lane_id;
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}
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auto GetDistance() const {
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return _waypoint.s;
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}
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const geom::Transform &GetTransform() const {
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return _transform;
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}
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road::JuncId GetJunctionId() const;
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bool IsJunction() const;
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SharedPtr<Junction> GetJunction() const;
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double GetLaneWidth() const;
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road::Lane::LaneType GetType() const;
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std::vector<SharedPtr<Waypoint>> GetNext(double distance) const;
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std::vector<SharedPtr<Waypoint>> GetPrevious(double distance) const;
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/// Returns a list of waypoints separated by distance from the current waypoint
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/// to the end of the lane
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std::vector<SharedPtr<Waypoint>> GetNextUntilLaneEnd(double distance) const;
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/// Returns a list of waypoints separated by distance from the current waypoint
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/// to the start of the lane
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std::vector<SharedPtr<Waypoint>> GetPreviousUntilLaneStart(double distance) const;
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SharedPtr<Waypoint> GetRight() const;
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SharedPtr<Waypoint> GetLeft() const;
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boost::optional<road::element::LaneMarking> GetRightLaneMarking() const;
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boost::optional<road::element::LaneMarking> GetLeftLaneMarking() const;
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road::element::LaneMarking::LaneChange GetLaneChange() const;
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/// Returns a list of landmarks from the current position to a certain distance
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std::vector<SharedPtr<Landmark>> GetAllLandmarksInDistance(
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double distance, bool stop_at_junction = false) const;
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/// Returns a list of landmarks from the current position to a certain distance
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/// Filters by specified type
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std::vector<SharedPtr<Landmark>> GetLandmarksOfTypeInDistance(
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double distance, std::string filter_type, bool stop_at_junction = false) const;
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private:
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friend class Map;
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Waypoint(SharedPtr<const Map> parent, road::element::Waypoint waypoint);
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SharedPtr<const Map> _parent;
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road::element::Waypoint _waypoint;
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geom::Transform _transform;
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// Mark record right and left respectively.
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std::pair<
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const road::element::RoadInfoMarkRecord *,
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const road::element::RoadInfoMarkRecord *> _mark_record;
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};
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} // namespace client
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} // namespace carla
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