#include <Map.h>

类 carla::road::Map 继承关系图:

carla::road::Map 的协作图:

类
struct	SignalSearchData
	数据结构用于信号搜索更多...

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

geom::Mesh	GenerateMesh (const double distance, const float extra_width=0.6f, const bool smooth_junctions=true) const
	基于 OpenDRIVE 构建网格

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
	生成定义 map 拓扑结构的最小路点集。路点放置在每个车道入口处。

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

std::vector< Waypoint >	GenerateWaypoints (double approx_distance) const
	在 map 中生成所有路点，路点之间相隔 approx_distance。

std::vector< Waypoint >	GenerateWaypointsInRoad (RoadId road_id, Lane::LaneType lane_type=Lane::LaneType::Driving) const
	在指定道路的每个车道入口处生成路点。

std::vector< Waypoint >	GenerateWaypointsOnRoadEntries (Lane::LaneType lane_type=Lane::LaneType::Driving) const
	在每个 lane 的入口处生成路点，默认是行驶车道类型。

geom::Mesh	GetAllCrosswalkMesh () const
	Buids a mesh of all crosswalks based on the OpenDRIVE // 基于OpenDRIVE构建所有人行横道的网格

std::vector< geom::Location >	GetAllCrosswalkZones () const
	返回定义二维区域的位置信息，重复位置表示一个区域结束

std::vector< const element::RoadInfoSignal * >	GetAllSignalReferences () const
	返回地图中的所有 RoadInfoSignal

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
	生成交叉口的路点。

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

Lane::LaneType	GetLaneType (Waypoint waypoint) const

double	GetLaneWidth (Waypoint waypoint) const

boost::optional< Waypoint >	GetLeft (Waypoint waypoint) const
	返回 waypoint 左侧车道的路点。

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

std::vector< Waypoint >	GetNext (Waypoint waypoint, double distance) const
	返回距离 waypoint distance 的路点列表，使得车辆可以驶向这些路点。

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

std::vector< Waypoint >	GetPrevious (Waypoint waypoint, double distance) const
	返回距离 waypoint distance 的路点列表，使得车辆可以反向驶向这些路点。

boost::optional< Waypoint >	GetRight (Waypoint waypoint) const
	返回 waypoint 右侧车道的路点。

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
	从初始路点搜索信号，直到定义的距离。

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)

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()

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

◆ AddElementToRtreeAndUpdateTransforms()

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

private

◆ CalculateCrossedLanes()

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

在文件 client/Map.cpp 第 127 行定义.

◆ ComputeJunctionConflicts()

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

◆ ComputeTransform()

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

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

这是这个函数的调用关系图:

◆ CreateRtree()

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

private

被这些函数引用 Map().

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

◆ FilterRoadsByPosition()

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

◆ GenerateChunkedMesh()

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

◆ 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

◆ 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

◆ GenerateMesh()

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

基于 OpenDRIVE 构建网格

◆ 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

◆ 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

◆ 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

◆ GenerateTopology()

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

生成定义 map 拓扑结构的最小路点集。路点放置在每个车道入口处。

◆ GenerateWalls()

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

◆ GenerateWaypoints()

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

在 map 中生成所有路点，路点之间相隔 approx_distance。

在文件 client/Map.cpp 第 113 行定义.

◆ GenerateWaypointsInRoad()

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

在指定道路的每个车道入口处生成路点。

◆ GenerateWaypointsOnRoadEntries()

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

在每个 lane 的入口处生成路点，默认是行驶车道类型。

◆ GetAllCrosswalkMesh()

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

Buids a mesh of all crosswalks based on the OpenDRIVE // 基于OpenDRIVE构建所有人行横道的网格

◆ GetAllCrosswalkZones()

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

返回定义二维区域的位置信息，重复位置表示一个区域结束

在文件 client/Map.cpp 第 139 行定义.

◆ GetAllSignalReferences()

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

返回地图中的所有 RoadInfoSignal

◆ GetClosestWaypointOnRoad()

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

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

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

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

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 & 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 )

◆ GetJunction() [2/2]

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

◆ GetJunctionId()

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

◆ GetJunctionsBoundingBoxes()

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

◆ GetJunctionWaypoints()

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

生成交叉口的路点。

在文件 client/Map.cpp 第 152 行定义.

◆ GetLane()

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

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

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

◆ GetLaneType()

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

◆ GetLaneWidth()

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

◆ GetLeft()

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

返回 waypoint 左侧车道的路点。

◆ GetMarkRecord()

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

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

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

返回距离 waypoint distance 的路点列表，使得车辆可以驶向这些路点。

◆ GetPredecessors()

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

◆ GetPrevious()

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

返回距离 waypoint distance 的路点列表，使得车辆可以反向驶向这些路点。

◆ GetRight()

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

返回 waypoint 右侧车道的路点。

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

从初始路点搜索信号，直到定义的距离。

◆ GetSuccessors()

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

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

– 路点生成 ----------------------------------------------------------—

返回每个可行驶后续车道入口处的路点列表；即从 waypoint 出发，车辆可以驶向的下一个路段的每个路点列表。

◆ 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

◆ GetWaypoint() [1/2]

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

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

这是这个函数的调用关系图:

◆ GetWaypoint() [2/2]

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

◆ GetZPosInDeformation()

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

inline

◆ IsJunction()

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

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

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

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 GetControllers(), GetGeoReference() , 以及 GetSignals().

◆ _rtree

Rtree carla::road::Map::_rtree

private

在文件 road/Map.h 第 210 行定义.

◆ 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()

– 路点生成 ----------------------------------------------------------—

◆ GetTreesTransform()

◆ GetWaypoint() [1/2]

◆ GetWaypoint() [2/2]

◆ GetZPosInDeformation()

◆ IsJunction()

◆ SDFToMesh()

类成员变量说明

◆ _data

◆ _rtree

◆ MapBuilder