#include <Map.h>

类 carla::road::Map 继承关系图:

carla::road::Map 的协作图:

类
struct	SignalSearchData
	Data structure for the signal search 更多...

Public 类型
using	Waypoint = element::Waypoint

Public 成员函数
std::vector< element::LaneMarking >	CalculateCrossedLanes (const geom::Location &origin, const geom::Location &destination) const

std::unordered_map< road::RoadId, std::unordered_set< road::RoadId > >	ComputeJunctionConflicts (JuncId id) const

geom::Transform	ComputeTransform (Waypoint waypoint) const

std::vector< JuncId >	FilterJunctionsByPosition (const geom::Vector3D &minpos, const geom::Vector3D &maxpos) const

std::vector< RoadId >	FilterRoadsByPosition (const geom::Vector3D &minpos, const geom::Vector3D &maxpos) const

std::vector< std::unique_ptr< geom::Mesh > >	GenerateChunkedMesh (const rpc::OpendriveGenerationParameters &params) const

void	GenerateJunctions (const carla::geom::MeshFactory &mesh_factory, const rpc::OpendriveGenerationParameters &params, const geom::Vector3D &minpos, const geom::Vector3D &maxpos, std::map< road::Lane::LaneType, std::vector< std::unique_ptr< geom::Mesh > > > *juntion_out_mesh_list) const

std::vector< std::unique_ptr< geom::Mesh > >	GenerateLineMarkings (const rpc::OpendriveGenerationParameters &params, const geom::Vector3D &minpos, const geom::Vector3D &maxpos, std::vector< std::string > &outinfo) const
	Buids a list of meshes related with LineMarkings

geom::Mesh	GenerateMesh (const double distance, const float extra_width=0.6f, const bool smooth_junctions=true) const
	Buids a mesh based on the OpenDRIVE

std::map< road::Lane::LaneType, std::vector< std::unique_ptr< geom::Mesh > > >	GenerateOrderedChunkedMeshInLocations (const rpc::OpendriveGenerationParameters &params, const geom::Vector3D &minpos, const geom::Vector3D &maxpos) const

std::map< road::Lane::LaneType, std::vector< std::unique_ptr< geom::Mesh > > >	GenerateRoadsMultithreaded (const carla::geom::MeshFactory &mesh_factory, const std::vector< RoadId > &RoadsID, const size_t index, const size_t number_of_roads_per_thread) const

void	GenerateSingleJunction (const carla::geom::MeshFactory &mesh_factory, const JuncId Id, std::map< road::Lane::LaneType, std::vector< std::unique_ptr< geom::Mesh > > > *junction_out_mesh_list) const

std::vector< std::pair< Waypoint, Waypoint > >	GenerateTopology () const
	Generate the minimum set of waypoints that define the topology of map.

geom::Mesh	GenerateWalls (const double distance, const float wall_height) const

std::vector< Waypoint >	GenerateWaypoints (double approx_distance) const
	Generate all the waypoints in map separated by approx_distance.

std::vector< Waypoint >	GenerateWaypointsInRoad (RoadId road_id, Lane::LaneType lane_type=Lane::LaneType::Driving) const
	Generate waypoints at the entry of each lane of the specified road

std::vector< Waypoint >	GenerateWaypointsOnRoadEntries (Lane::LaneType lane_type=Lane::LaneType::Driving) const
	Generate waypoints on each lane at the start of each road

geom::Mesh	GetAllCrosswalkMesh () const
	Buids a mesh of all crosswalks based on the OpenDRIVE

std::vector< geom::Location >	GetAllCrosswalkZones () const
	Returns a list of locations defining 2d areas, when a location is repeated an area is finished

std::vector< const element::RoadInfoSignal * >	GetAllSignalReferences () const
	Return all RoadInfoSignal in the map

boost::optional< element::Waypoint >	GetClosestWaypointOnRoad (const geom::Location &location, int32_t lane_type=static_cast< int32_t >(Lane::LaneType::Driving)) const
	========================================================================

const std::unordered_map< ContId, std::unique_ptr< Controller > > &	GetControllers () const

const geom::GeoLocation &	GetGeoReference () const
	========================================================================

Junction *	GetJunction (JuncId id)

const Junction *	GetJunction (JuncId id) const

JuncId	GetJunctionId (RoadId road_id) const

std::vector< carla::geom::BoundingBox >	GetJunctionsBoundingBoxes () const

std::vector< std::pair< Waypoint, Waypoint > >	GetJunctionWaypoints (JuncId id, Lane::LaneType lane_type) const
	Generate waypoints of the junction

const Lane &	GetLane (Waypoint waypoint) const
	========================================================================

Lane::LaneType	GetLaneType (Waypoint waypoint) const

double	GetLaneWidth (Waypoint waypoint) const

boost::optional< Waypoint >	GetLeft (Waypoint waypoint) const
	Return a waypoint at the lane of waypoint's left lane.

std::pair< const element::RoadInfoMarkRecord , const element::RoadInfoMarkRecord >	GetMarkRecord (Waypoint waypoint) const

std::vector< Waypoint >	GetNext (Waypoint waypoint, double distance) const
	Return the list of waypoints at distance such that a vehicle at waypoint could drive to.

std::vector< Waypoint >	GetPredecessors (Waypoint waypoint) const

std::vector< Waypoint >	GetPrevious (Waypoint waypoint, double distance) const
	Return the list of waypoints at distance in the reversed direction that a vehicle at waypoint could drive to.

boost::optional< Waypoint >	GetRight (Waypoint waypoint) const
	Return a waypoint at the lane of waypoint's right lane.

const std::unordered_map< SignId, std::unique_ptr< Signal > > &	GetSignals () const

std::vector< SignalSearchData >	GetSignalsInDistance (Waypoint waypoint, double distance, bool stop_at_junction=false) const
	Searches signals from an initial waypoint until the defined distance.

std::vector< Waypoint >	GetSuccessors (Waypoint waypoint) const
	========================================================================

std::vector< std::pair< geom::Transform, std::string > >	GetTreesTransform (const geom::Vector3D &minpos, const geom::Vector3D &maxpos, float distancebetweentrees, float distancefromdrivinglineborder, float s_offset=0) const

boost::optional< element::Waypoint >	GetWaypoint (const geom::Location &location, int32_t lane_type=static_cast< int32_t >(Lane::LaneType::Driving)) const

boost::optional< element::Waypoint >	GetWaypoint (RoadId road_id, LaneId lane_id, float s) const

float	GetZPosInDeformation (float posx, float posy) const

bool	IsJunction (RoadId road_id) const

	Map (MapData m)
	========================================================================

std::unique_ptr< geom::Mesh >	SDFToMesh (const road::Junction &jinput, const std::vector< geom::Vector3D > &sdfinput, int grid_cells_per_dim) const

Private 类型
using	Rtree = geom::SegmentCloudRtree<Waypoint>

Private 成员函数
void	AddElementToRtree (std::vector< Rtree::TreeElement > &rtree_elements, geom::Transform &current_transform, geom::Transform &next_transform, Waypoint &current_waypoint, Waypoint &next_waypoint)
	Helper Functions for constructing the rtree element list

void	AddElementToRtreeAndUpdateTransforms (std::vector< Rtree::TreeElement > &rtree_elements, geom::Transform &current_transform, Waypoint &current_waypoint, Waypoint &next_waypoint)

void	CreateRtree ()

Private 成员函数继承自 carla::MovableNonCopyable
	MovableNonCopyable ()=default

	MovableNonCopyable (const MovableNonCopyable &)=delete

	MovableNonCopyable (MovableNonCopyable &&)=default

MovableNonCopyable &	operator= (const MovableNonCopyable &)=delete

MovableNonCopyable &	operator= (MovableNonCopyable &&)=default

Private 属性
MapData	_data

Rtree	_rtree

friend	MapBuilder

详细描述

在文件 road/Map.h 第 29 行定义.

成员类型定义说明

◆ Rtree

using carla::road::Map::Rtree = geom::SegmentCloudRtree<Waypoint>

private

在文件 road/Map.h 第 209 行定义.

◆ Waypoint

using carla::road::Map::Waypoint = element::Waypoint

在文件 road/Map.h 第 32 行定义.

构造及析构函数说明

◆ Map()

carla::road::Map::Map ( MapData m )

inline

========================================================================

– Constructor ------------------------------------------------------—

在文件 road/Map.h 第 38 行定义.

引用了 CreateRtree().

函数调用图:

成员函数说明

◆ AddElementToRtree()

void carla::road::Map::AddElementToRtree	(	std::vector< Rtree::TreeElement > &	rtree_elements,
		geom::Transform &	current_transform,
		geom::Transform &	next_transform,
		Waypoint &	current_waypoint,
		Waypoint &	next_waypoint )

private

Helper Functions for constructing the rtree element list

在文件 road/Map.cpp 第 844 行定义.

引用了 carla::geom::Transform::location, carla::geom::Vector3D::x, carla::geom::Vector3D::y , 以及 carla::geom::Vector3D::z.

被这些函数引用 AddElementToRtreeAndUpdateTransforms() , 以及 CreateRtree().

这是这个函数的调用关系图:

◆ AddElementToRtreeAndUpdateTransforms()

void carla::road::Map::AddElementToRtreeAndUpdateTransforms	(	std::vector< Rtree::TreeElement > &	rtree_elements,
		geom::Transform &	current_transform,
		Waypoint &	current_waypoint,
		Waypoint &	next_waypoint )

private

在文件 road/Map.cpp 第 865 行定义.

引用了 AddElementToRtree() , 以及 ComputeTransform().

被这些函数引用 CreateRtree().

函数调用图:

这是这个函数的调用关系图:

◆ CalculateCrossedLanes()

std::vector< LaneMarking > carla::road::Map::CalculateCrossedLanes	(	const geom::Location &	origin,
		const geom::Location &	destination ) const

在文件 road/Map.cpp 第 449 行定义.

引用了 carla::road::element::LaneCrossingCalculator::Calculate().

函数调用图:

◆ ComputeJunctionConflicts()

std::unordered_map< road::RoadId, std::unordered_set< road::RoadId > > carla::road::Map::ComputeJunctionConflicts ( JuncId id ) const

在文件 road/Map.cpp 第 764 行定义.

引用了 _data, _rtree, carla::geom::BoundingBox::extent, carla::road::Junction::GetBoundingBox(), carla::geom::SegmentCloudRtree< T, Dimension >::GetIntersections(), GetJunction(), carla::road::Road::GetJunctionId(), carla::road::MapData::GetRoad() , 以及 carla::geom::BoundingBox::location.

被这些函数引用 carla::road::MapBuilder::ComputeJunctionRoadConflicts().

函数调用图:

这是这个函数的调用关系图:

◆ ComputeTransform()

geom::Transform carla::road::Map::ComputeTransform ( Waypoint waypoint ) const

在文件 road/Map.cpp 第 273 行定义.

引用了 carla::road::Lane::ComputeTransform(), GetLane() , 以及 carla::road::element::Waypoint::s.

被这些函数引用 AddElementToRtreeAndUpdateTransforms(), carla::road::element::LaneCrossingCalculator::Calculate(), carla::road::MapBuilder::CheckSignalsOnRoads(), carla::road::MapBuilder::CreateJunctionBoundingBoxes(), CreateRtree(), GenerateSingleJunction(), GetAllCrosswalkZones(), GetWaypoint() , 以及 SDFToMesh().

函数调用图:

这是这个函数的调用关系图:

◆ CreateRtree()

void carla::road::Map::CreateRtree ( )

private

在文件 road/Map.cpp 第 887 行定义.

引用了 _data, _rtree, AddElementToRtree(), AddElementToRtreeAndUpdateTransforms(), carla::road::Lane::Any, ComputeTransform(), carla::road::ForEachLane(), carla::geom::Transform::GetForwardVector(), GetLane(), GetNext(), carla::road::GetRemainingLength(), carla::road::MapData::GetRoads(), carla::geom::Math::GetVectorAngle(), carla::geom::SegmentCloudRtree< T, Dimension >::InsertElements(), carla::road::Lane::IsStraight() , 以及 RELEASE_ASSERT.

被这些函数引用 Map().

函数调用图:

这是这个函数的调用关系图:

◆ FilterJunctionsByPosition()

std::vector< JuncId > carla::road::Map::FilterJunctionsByPosition	(	const geom::Vector3D &	minpos,
		const geom::Vector3D &	maxpos ) const

在文件 road/Map.cpp 第 1415 行定义.

引用了 _data, carla::road::MapData::GetJunctions(), carla::geom::Vector3D::x , 以及 carla::geom::Vector3D::y.

被这些函数引用 GenerateJunctions().

函数调用图:

这是这个函数的调用关系图:

◆ FilterRoadsByPosition()

std::vector< RoadId > carla::road::Map::FilterRoadsByPosition	(	const geom::Vector3D &	minpos,
		const geom::Vector3D &	maxpos ) const

在文件 road/Map.cpp 第 1432 行定义.

引用了 _data, carla::road::Lane::ComputeTransform(), carla::road::Lane::GetDistance(), carla::road::MapData::GetRoads(), carla::geom::Transform::location, carla::geom::Vector3D::x , 以及 carla::geom::Vector3D::y.

被这些函数引用 GenerateLineMarkings(), GenerateOrderedChunkedMeshInLocations() , 以及 GetTreesTransform().

函数调用图:

这是这个函数的调用关系图:

◆ GenerateChunkedMesh()

std::vector< std::unique_ptr< geom::Mesh > > carla::road::Map::GenerateChunkedMesh ( const rpc::OpendriveGenerationParameters & params ) const

在文件 road/Map.cpp 第 1053 行定义.

引用了 _data, carla::geom::MeshFactory::Generate(), carla::geom::MeshFactory::GenerateAllWithMaxLen(), carla::road::MapData::GetJunctions(), carla::road::MapData::GetRoads(), carla::rpc::OpendriveGenerationParameters::max_road_length, carla::geom::MeshFactory::MergeAndSmooth(), carla::road::Lane::Sidewalk , 以及 carla::rpc::OpendriveGenerationParameters::smooth_junctions.

函数调用图:

◆ GenerateJunctions()

void carla::road::Map::GenerateJunctions	(	const carla::geom::MeshFactory &	mesh_factory,
		const rpc::OpendriveGenerationParameters &	params,
		const geom::Vector3D &	minpos,
		const geom::Vector3D &	maxpos,
		std::map< road::Lane::LaneType, std::vector< std::unique_ptr< geom::Mesh > > > *	juntion_out_mesh_list ) const

在文件 road/Map.cpp 第 1352 行定义.

引用了 FilterJunctionsByPosition() , 以及 GenerateSingleJunction().

被这些函数引用 GenerateOrderedChunkedMeshInLocations().

函数调用图:

这是这个函数的调用关系图:

◆ GenerateLineMarkings()

std::vector< std::unique_ptr< geom::Mesh > > carla::road::Map::GenerateLineMarkings	(	const rpc::OpendriveGenerationParameters &	params,
		const geom::Vector3D &	minpos,
		const geom::Vector3D &	maxpos,
		std::vector< std::string > &	outinfo ) const

Buids a list of meshes related with LineMarkings

在文件 road/Map.cpp 第 1294 行定义.

引用了 _data, FilterRoadsByPosition(), carla::geom::MeshFactory::GenerateLaneMarkForRoad() , 以及 carla::road::MapData::GetRoads().

函数调用图:

◆ GenerateMesh()

geom::Mesh carla::road::Map::GenerateMesh	(	const double	distance,
		const float	extra_width = 0.6f,
		const bool	smooth_junctions = true ) const

Buids a mesh based on the OpenDRIVE

在文件 road/Map.cpp 第 1005 行定义.

引用了 _data, carla::geom::MeshFactory::RoadParameters::extra_lane_width, carla::geom::MeshFactory::Generate(), carla::road::MapData::GetJunctions(), carla::road::MapData::GetRoads(), carla::geom::MeshFactory::MergeAndSmooth(), RELEASE_ASSERT, carla::geom::MeshFactory::RoadParameters::resolution , 以及 carla::geom::MeshFactory::road_param.

函数调用图:

◆ GenerateOrderedChunkedMeshInLocations()

std::map< road::Lane::LaneType, std::vector< std::unique_ptr< geom::Mesh > > > carla::road::Map::GenerateOrderedChunkedMeshInLocations	(	const rpc::OpendriveGenerationParameters &	params,
		const geom::Vector3D &	minpos,
		const geom::Vector3D &	maxpos ) const

在文件 road/Map.cpp 第 1138 行定义.

引用了 FilterRoadsByPosition(), GenerateJunctions() , 以及 GenerateRoadsMultithreaded().

函数调用图:

◆ GenerateRoadsMultithreaded()

std::map< road::Lane::LaneType, std::vector< std::unique_ptr< geom::Mesh > > > carla::road::Map::GenerateRoadsMultithreaded	(	const carla::geom::MeshFactory &	mesh_factory,
		const std::vector< RoadId > &	RoadsID,
		const size_t	index,
		const size_t	number_of_roads_per_thread ) const

在文件 road/Map.cpp 第 1332 行定义.

引用了 _data, carla::geom::MeshFactory::GenerateAllOrderedWithMaxLen() , 以及 carla::road::MapData::GetRoads().

被这些函数引用 GenerateOrderedChunkedMeshInLocations().

函数调用图:

这是这个函数的调用关系图:

◆ GenerateSingleJunction()

void carla::road::Map::GenerateSingleJunction	(	const carla::geom::MeshFactory &	mesh_factory,
		const JuncId	Id,
		std::map< road::Lane::LaneType, std::vector< std::unique_ptr< geom::Mesh > > > *	junction_out_mesh_list ) const

在文件 road/Map.cpp 第 1530 行定义.

引用了 _data, ComputeTransform(), carla::road::Lane::Driving, carla::geom::MeshFactory::GenerateSidewalk(), carla::geom::MeshFactory::GenerateTesselated(), carla::road::MapData::GetJunctions(), carla::road::MapData::GetRoads(), GetWaypoint(), carla::geom::Transform::location, SDFToMesh() , 以及 carla::road::Lane::Sidewalk.

被这些函数引用 GenerateJunctions().

函数调用图:

这是这个函数的调用关系图:

◆ GenerateTopology()

std::vector< std::pair< Waypoint, Waypoint > > carla::road::Map::GenerateTopology ( ) const

Generate the minimum set of waypoints that define the topology of map.

The waypoints are placed at the entrance of each lane.

在文件 road/Map.cpp 第 724 行定义.

引用了 _data, carla::road::ForEachDrivableLane(), carla::road::GetDistanceAtEndOfLane(), GetLane(), carla::road::MapData::GetRoads(), GetSuccessors() , 以及 GetWaypoint().

函数调用图:

◆ GenerateWalls()

geom::Mesh carla::road::Map::GenerateWalls	(	const double	distance,
		const float	wall_height ) const

◆ GenerateWaypoints()

std::vector< Waypoint > carla::road::Map::GenerateWaypoints ( double approx_distance ) const

Generate all the waypoints in map separated by approx_distance.

在文件 road/Map.cpp 第 648 行定义.

引用了 _data, carla::road::EPSILON, carla::road::ForEachDrivableLaneAt(), carla::road::MapData::GetRoads() , 以及 RELEASE_ASSERT.

函数调用图:

◆ GenerateWaypointsInRoad()

std::vector< Waypoint > carla::road::Map::GenerateWaypointsInRoad	(	RoadId	road_id,
		Lane::LaneType	lane_type = Lane::LaneType::Driving ) const

Generate waypoints at the entry of each lane of the specified road

在文件 road/Map.cpp 第 692 行定义.

引用了 _data , 以及 carla::road::MapData::GetRoads().

函数调用图:

◆ GenerateWaypointsOnRoadEntries()

std::vector< Waypoint > carla::road::Map::GenerateWaypointsOnRoadEntries ( Lane::LaneType lane_type = Lane::LaneType::Driving ) const

Generate waypoints on each lane at the start of each road

在文件 road/Map.cpp 第 662 行定义.

引用了 _data , 以及 carla::road::MapData::GetRoads().

函数调用图:

◆ GetAllCrosswalkMesh()

geom::Mesh carla::road::Map::GetAllCrosswalkMesh ( ) const

Buids a mesh of all crosswalks based on the OpenDRIVE

在文件 road/Map.cpp 第 1257 行定义.

引用了 carla::geom::Mesh::AddMaterial(), carla::geom::Mesh::AddTriangleFan(), carla::geom::Mesh::EndMaterial() , 以及 GetAllCrosswalkZones().

函数调用图:

◆ GetAllCrosswalkZones()

std::vector< geom::Location > carla::road::Map::GetAllCrosswalkZones ( ) const

Returns a list of locations defining 2d areas, when a location is repeated an area is finished

在文件 road/Map.cpp 第 455 行定义.

引用了 _data, ComputeTransform(), carla::road::MapData::GetRoads(), carla::road::element::Waypoint::lane_id, carla::geom::Transform::location, carla::road::element::Waypoint::road_id, carla::geom::Transform::rotation, carla::road::element::Waypoint::s, carla::road::element::Waypoint::section_id, carla::geom::Transform::TransformPoint(), carla::geom::Vector3D::x , 以及 carla::geom::Rotation::yaw.

被这些函数引用 GetAllCrosswalkMesh().

函数调用图:

这是这个函数的调用关系图:

◆ GetAllSignalReferences()

std::vector< const element::RoadInfoSignal * > carla::road::Map::GetAllSignalReferences ( ) const

Return all RoadInfoSignal in the map

在文件 road/Map.cpp 第 437 行定义.

引用了 _data , 以及 carla::road::MapData::GetRoads().

函数调用图:

◆ GetClosestWaypointOnRoad()

boost::optional< Waypoint > carla::road::Map::GetClosestWaypointOnRoad	(	const geom::Location &	location,
		int32_t	lane_type = static_cast<int32_t>(Lane::LaneType::Driving) ) const

========================================================================

– Geometry ---------------------------------------------------------—

在文件 road/Map.cpp 第 165 行定义.

引用了 _rtree, carla::geom::Math::DistanceSegmentToPoint(), carla::geom::SegmentCloudRtree< T, Dimension >::GetNearestNeighboursWithFilter(), GetNext(), carla::road::element::Waypoint::lane_id, carla::road::element::Waypoint::s, carla::geom::Vector3D::x, carla::geom::Vector3D::y , 以及 carla::geom::Vector3D::z.

被这些函数引用 carla::road::element::LaneCrossingCalculator::Calculate(), carla::road::MapBuilder::CheckSignalsOnRoads(), GetWaypoint() , 以及 SDFToMesh().

函数调用图:

这是这个函数的调用关系图:

◆ GetControllers()

const std::unordered_map< ContId, std::unique_ptr< Controller > > & carla::road::Map::GetControllers ( ) const

inline

在文件 road/Map.h 第 192 行定义.

引用了 _data , 以及 carla::road::MapData::GetControllers().

函数调用图:

◆ GetGeoReference()

const geom::GeoLocation & carla::road::Map::GetGeoReference ( ) const

inline

========================================================================

– Georeference -----------------------------------------------------—

在文件 road/Map.h 第 46 行定义.

引用了 _data , 以及 carla::road::MapData::GetGeoReference().

函数调用图:

◆ GetJunction() [1/2]

Junction * carla::road::Map::GetJunction ( JuncId id )

在文件 road/Map.cpp 第 997 行定义.

引用了 _data , 以及 carla::road::MapData::GetJunction().

被这些函数引用 ComputeJunctionConflicts(), carla::road::MapBuilder::CreateJunctionBoundingBoxes() , 以及 GetJunctionWaypoints().

函数调用图:

这是这个函数的调用关系图:

◆ GetJunction() [2/2]

const Junction * carla::road::Map::GetJunction ( JuncId id ) const

在文件 road/Map.cpp 第 1001 行定义.

引用了 _data , 以及 carla::road::MapData::GetJunction().

函数调用图:

◆ GetJunctionId()

JuncId carla::road::Map::GetJunctionId ( RoadId road_id ) const

在文件 road/Map.cpp 第 298 行定义.

引用了 _data, carla::road::Road::GetJunctionId() , 以及 carla::road::MapData::GetRoad().

函数调用图:

◆ GetJunctionsBoundingBoxes()

std::vector< carla::geom::BoundingBox > carla::road::Map::GetJunctionsBoundingBoxes ( ) const

在文件 road/Map.cpp 第 1314 行定义.

引用了 _data, carla::geom::BoundingBox::extent , 以及 carla::road::MapData::GetJunctions().

函数调用图:

◆ GetJunctionWaypoints()

std::vector< std::pair< Waypoint, Waypoint > > carla::road::Map::GetJunctionWaypoints	(	JuncId	id,
		Lane::LaneType	lane_type ) const

Generate waypoints of the junction

在文件 road/Map.cpp 第 747 行定义.

引用了 _data, carla::road::ForEachLane(), carla::road::Junction::GetConnections(), carla::road::GetDistanceAtEndOfLane(), GetJunction(), GetLane(), carla::road::MapData::GetRoad() , 以及 carla::road::element::Waypoint::s.

被这些函数引用 carla::road::MapBuilder::CreateJunctionBoundingBoxes().

函数调用图:

这是这个函数的调用关系图:

◆ GetLane()

const Lane & carla::road::Map::GetLane ( Waypoint waypoint ) const

========================================================================

– Road information -------------------------------------------------—

在文件 road/Map.cpp 第 834 行定义.

引用了 _data, carla::road::Road::GetLaneById(), carla::road::MapData::GetRoad(), carla::road::element::Waypoint::lane_id, carla::road::element::Waypoint::road_id , 以及 carla::road::element::Waypoint::section_id.

被这些函数引用 ComputeTransform(), CreateRtree(), GenerateTopology(), GetJunctionWaypoints(), GetLaneType(), GetLaneWidth(), GetMarkRecord(), GetNext(), GetPredecessors(), GetPrevious(), GetSignalsInDistance(), GetSuccessors() , 以及 GetWaypoint().

函数调用图:

这是这个函数的调用关系图:

◆ GetLaneType()

Lane::LaneType carla::road::Map::GetLaneType ( Waypoint waypoint ) const

在文件 road/Map.cpp 第 281 行定义.

引用了 GetLane() , 以及 carla::road::Lane::GetType().

被这些函数引用 carla::road::MapBuilder::CheckSignalsOnRoads().

函数调用图:

这是这个函数的调用关系图:

◆ GetLaneWidth()

double carla::road::Map::GetLaneWidth ( Waypoint waypoint ) const

在文件 road/Map.cpp 第 285 行定义.

引用了 GetLane(), RELEASE_ASSERT , 以及 carla::road::element::Waypoint::s.

被这些函数引用 carla::road::MapBuilder::CheckSignalsOnRoads() , 以及 SDFToMesh().

函数调用图:

这是这个函数的调用关系图:

◆ GetLeft()

boost::optional< Waypoint > carla::road::Map::GetLeft ( Waypoint waypoint ) const

Return a waypoint at the lane of waypoint's left lane.

在文件 road/Map.cpp 第 636 行定义.

引用了 _data, carla::road::IsLanePresent(), carla::road::element::Waypoint::lane_id , 以及 RELEASE_ASSERT.

被这些函数引用 carla::road::MapBuilder::CheckSignalsOnRoads().

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这是这个函数的调用关系图:

◆ GetMarkRecord()

std::pair< const RoadInfoMarkRecord *, const RoadInfoMarkRecord * > carla::road::Map::GetMarkRecord ( Waypoint waypoint ) const

在文件 road/Map.cpp 第 307 行定义.

引用了 GetLane(), carla::road::element::Waypoint::lane_id, RELEASE_ASSERT, carla::road::element::Waypoint::s , 以及 carla::road::element::Waypoint::section_id.

被这些函数引用 carla::road::element::CrossingAtSameSection().

函数调用图:

这是这个函数的调用关系图:

◆ GetNext()

std::vector< Waypoint > carla::road::Map::GetNext	(	Waypoint	waypoint,
		double	distance ) const

Return the list of waypoints at distance such that a vehicle at waypoint could drive to.

在文件 road/Map.cpp 第 554 行定义.

引用了 carla::road::ConcatVectors(), DEBUG_ASSERT, carla::road::EPSILON, GetLane(), GetNext(), GetSuccessors(), carla::road::element::Waypoint::lane_id, RELEASE_ASSERT, carla::road::element::Waypoint::road_id, carla::road::element::Waypoint::s , 以及 carla::road::element::Waypoint::section_id.

被这些函数引用 carla::road::MapBuilder::CreateJunctionBoundingBoxes(), CreateRtree(), GetClosestWaypointOnRoad(), GetNext() , 以及 GetSignalsInDistance().

函数调用图:

这是这个函数的调用关系图:

◆ GetPredecessors()

std::vector< Waypoint > carla::road::Map::GetPredecessors ( Waypoint waypoint ) const

在文件 road/Map.cpp 第 536 行定义.

引用了 carla::road::GetDistanceAtEndOfLane(), GetLane(), carla::road::Lane::GetPreviousLanes() , 以及 RELEASE_ASSERT.

被这些函数引用 GetPrevious().

函数调用图:

这是这个函数的调用关系图:

◆ GetPrevious()

std::vector< Waypoint > carla::road::Map::GetPrevious	(	Waypoint	waypoint,
		double	distance ) const

Return the list of waypoints at distance in the reversed direction that a vehicle at waypoint could drive to.

在文件 road/Map.cpp 第 590 行定义.

引用了 carla::road::ConcatVectors(), DEBUG_ASSERT, carla::road::EPSILON, GetLane(), GetPredecessors(), GetPrevious(), carla::road::element::Waypoint::lane_id, RELEASE_ASSERT, carla::road::element::Waypoint::road_id, carla::road::element::Waypoint::s , 以及 carla::road::element::Waypoint::section_id.

被这些函数引用 GetPrevious().

函数调用图:

这是这个函数的调用关系图:

◆ GetRight()

boost::optional< Waypoint > carla::road::Map::GetRight ( Waypoint waypoint ) const

Return a waypoint at the lane of waypoint's right lane.

在文件 road/Map.cpp 第 626 行定义.

引用了 _data, carla::road::IsLanePresent(), carla::road::element::Waypoint::lane_id , 以及 RELEASE_ASSERT.

被这些函数引用 carla::road::MapBuilder::CheckSignalsOnRoads().

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这是这个函数的调用关系图:

◆ GetSignals()

const std::unordered_map< SignId, std::unique_ptr< Signal > > & carla::road::Map::GetSignals ( ) const

inline

在文件 road/Map.h 第 188 行定义.

引用了 _data , 以及 carla::road::MapData::GetSignals().

函数调用图:

◆ GetSignalsInDistance()

std::vector< Map::SignalSearchData > carla::road::Map::GetSignalsInDistance	(	Waypoint	waypoint,
		double	distance,
		bool	stop_at_junction = false ) const

Searches signals from an initial waypoint until the defined distance.

在文件 road/Map.cpp 第 330 行定义.

引用了 _data, carla::road::ConcatVectors(), DEBUG_ASSERT, carla::road::Road::GetInfosInRange(), GetLane(), GetNext(), carla::road::MapData::GetRoad(), GetSignalsInDistance(), GetSuccessors(), carla::road::Road::IsJunction(), carla::road::element::Waypoint::lane_id, carla::road::element::Waypoint::road_id , 以及 carla::road::element::Waypoint::s.

被这些函数引用 GetSignalsInDistance().

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这是这个函数的调用关系图:

◆ GetSuccessors()

std::vector< Waypoint > carla::road::Map::GetSuccessors ( Waypoint waypoint ) const

========================================================================

– Waypoint generation ----------------------------------------------—

Return the list of waypoints placed at the entrance of each drivable successor lane; i.e., the list of each waypoint in the next road segment that a vehicle could drive from waypoint.

在文件 road/Map.cpp 第 518 行定义.

引用了 carla::road::GetDistanceAtStartOfLane(), GetLane(), carla::road::Lane::GetNextLanes() , 以及 RELEASE_ASSERT.

被这些函数引用 GenerateTopology(), GetNext() , 以及 GetSignalsInDistance().

函数调用图:

这是这个函数的调用关系图:

◆ GetTreesTransform()

std::vector< std::pair< geom::Transform, std::string > > carla::road::Map::GetTreesTransform	(	const geom::Vector3D &	minpos,
		const geom::Vector3D &	maxpos,
		float	distancebetweentrees,
		float	distancefromdrivinglineborder,
		float	s_offset = 0 ) const

在文件 road/Map.cpp 第 1207 行定义.

引用了 _data, carla::road::Lane::ComputeTransform(), carla::road::Lane::Driving, FilterRoadsByPosition(), carla::road::Lane::GetCornerPositions(), carla::road::Lane::GetDistance(), carla::road::Lane::GetInfo(), carla::road::MapData::GetRoads(), carla::road::element::RoadInfoSpeed::GetType(), carla::road::Lane::GetWidth(), carla::geom::Vector3D::MakeUnitVector() , 以及 carla::geom::Transform::rotation.

函数调用图:

◆ GetWaypoint() [1/2]

boost::optional< Waypoint > carla::road::Map::GetWaypoint	(	const geom::Location &	location,
		int32_t	lane_type = static_cast<int32_t>(Lane::LaneType::Driving) ) const

在文件 road/Map.cpp 第 212 行定义.

引用了 ComputeTransform(), carla::geom::Math::Distance2D(), carla::geom::CubicPolynomial::Evaluate(), GetClosestWaypointOnRoad(), carla::road::Lane::GetInfo(), GetLane(), carla::road::element::RoadInfoLaneWidth::GetPolynomial() , 以及 carla::geom::Transform::location.

被这些函数引用 GenerateSingleJunction(), GenerateTopology(), carla::road::element::IsOffRoad() , 以及 SDFToMesh().

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这是这个函数的调用关系图:

◆ GetWaypoint() [2/2]

boost::optional< Waypoint > carla::road::Map::GetWaypoint	(	RoadId	road_id,
		LaneId	lane_id,
		float	s ) const

在文件 road/Map.cpp 第 233 行定义.

引用了 _data, carla::road::MapData::ContainsRoad(), carla::road::Road::GetLaneSectionsAt(), carla::road::Road::GetLength(), carla::road::MapData::GetRoad(), carla::road::element::Waypoint::lane_id, carla::road::element::Waypoint::road_id, carla::road::element::Waypoint::s , 以及 carla::road::element::Waypoint::section_id.

函数调用图:

◆ GetZPosInDeformation()

float carla::road::Map::GetZPosInDeformation	(	float	posx,
		float	posy ) const

inline

在文件 road/Map.cpp 第 1326 行定义.

引用了 carla::geom::deformation::GetBumpDeformation() , 以及 carla::geom::deformation::GetZPosInDeformation().

函数调用图:

◆ IsJunction()

bool carla::road::Map::IsJunction ( RoadId road_id ) const

在文件 road/Map.cpp 第 302 行定义.

引用了 _data, carla::road::MapData::GetRoad() , 以及 carla::road::Road::IsJunction().

被这些函数引用 carla::road::element::LaneCrossingCalculator::Calculate().

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这是这个函数的调用关系图:

◆ SDFToMesh()

std::unique_ptr< geom::Mesh > carla::road::Map::SDFToMesh	(	const road::Junction &	jinput,
		const std::vector< geom::Vector3D > &	sdfinput,
		int	grid_cells_per_dim ) const

在文件 road/Map.cpp 第 1453 行定义.

引用了 carla::geom::Mesh::AddIndex(), carla::geom::Mesh::AddVertex(), ComputeTransform(), carla::geom::BoundingBox::extent, carla::road::Junction::GetBoundingBox(), GetClosestWaypointOnRoad(), carla::road::Junction::GetId(), GetLaneWidth(), carla::geom::Mesh::GetVertices(), GetWaypoint(), carla::geom::Vector3D::Length(), carla::geom::BoundingBox::location, carla::geom::Transform::location, carla::geom::Vector3D::MakeUnitVector(), MeshReconstruction::MarchCube(), MeshReconstruction::Rect3::min, carla::geom::BoundingBox::rotation, MeshReconstruction::Rect3::size, carla::geom::Vector3D::x, carla::geom::Vector3D::y , 以及 carla::geom::Vector3D::z.

被这些函数引用 GenerateSingleJunction().

函数调用图:

这是这个函数的调用关系图:

类成员变量说明

◆ _data

MapData carla::road::Map::_data

private

在文件 road/Map.h 第 207 行定义.

被这些函数引用 carla::road::MapBuilder::CheckSignalsOnRoads(), ComputeJunctionConflicts(), carla::road::MapBuilder::ComputeJunctionRoadConflicts(), carla::road::MapBuilder::CreateJunctionBoundingBoxes(), CreateRtree(), FilterJunctionsByPosition(), FilterRoadsByPosition(), GenerateChunkedMesh(), GenerateLineMarkings(), GenerateMesh(), GenerateRoadsMultithreaded(), GenerateSingleJunction(), GenerateTopology(), GenerateWaypoints(), GenerateWaypointsInRoad(), GenerateWaypointsOnRoadEntries(), GetAllCrosswalkZones(), GetAllSignalReferences(), GetControllers(), GetGeoReference(), GetJunction(), GetJunction(), GetJunctionId(), GetJunctionsBoundingBoxes(), GetJunctionWaypoints(), GetLane(), GetLeft(), GetRight(), GetSignals(), GetSignalsInDistance(), GetTreesTransform(), GetWaypoint() , 以及 IsJunction().

◆ _rtree

Rtree carla::road::Map::_rtree

private

在文件 road/Map.h 第 210 行定义.

被这些函数引用 ComputeJunctionConflicts(), CreateRtree() , 以及 GetClosestWaypointOnRoad().

◆ MapBuilder

friend carla::road::Map::MapBuilder

private

在文件 road/Map.h 第 206 行定义.

该类的文档由以下文件生成:

类

Public 类型

Public 成员函数

Private 类型

Private 成员函数

Private 属性

详细描述

成员类型定义说明

◆ Rtree

◆ Waypoint

构造及析构函数说明

◆ Map()

– Constructor ------------------------------------------------------—

成员函数说明

◆ AddElementToRtree()

◆ AddElementToRtreeAndUpdateTransforms()

◆ CalculateCrossedLanes()

◆ ComputeJunctionConflicts()

◆ ComputeTransform()

◆ CreateRtree()

◆ FilterJunctionsByPosition()

◆ FilterRoadsByPosition()

◆ GenerateChunkedMesh()

◆ GenerateJunctions()

◆ GenerateLineMarkings()

◆ GenerateMesh()

◆ GenerateOrderedChunkedMeshInLocations()

◆ GenerateRoadsMultithreaded()

◆ GenerateSingleJunction()

◆ GenerateTopology()

◆ GenerateWalls()

◆ GenerateWaypoints()

◆ GenerateWaypointsInRoad()

◆ GenerateWaypointsOnRoadEntries()

◆ GetAllCrosswalkMesh()

◆ GetAllCrosswalkZones()

◆ GetAllSignalReferences()

◆ GetClosestWaypointOnRoad()

– Geometry ---------------------------------------------------------—

◆ GetControllers()

◆ GetGeoReference()

– Georeference -----------------------------------------------------—

◆ GetJunction() [1/2]

◆ GetJunction() [2/2]

◆ GetJunctionId()

◆ GetJunctionsBoundingBoxes()

◆ GetJunctionWaypoints()

◆ GetLane()

– Road information -------------------------------------------------—

◆ GetLaneType()

◆ GetLaneWidth()

◆ GetLeft()

◆ GetMarkRecord()

◆ GetNext()

◆ GetPredecessors()

◆ GetPrevious()

◆ GetRight()

◆ GetSignals()

◆ GetSignalsInDistance()

◆ GetSuccessors()

– Waypoint generation ----------------------------------------------—

◆ GetTreesTransform()

◆ GetWaypoint() [1/2]

◆ GetWaypoint() [2/2]

◆ GetZPosInDeformation()

◆ IsJunction()

◆ SDFToMesh()

类成员变量说明

◆ _data

◆ _rtree

◆ MapBuilder