client/Waypoint.h

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