client/Map.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/road/element/LaneMarking.h"
#include "carla/road/Lane.h"
#include "carla/road/Map.h"
#include "carla/road/RoadTypes.h"
#include "carla/rpc/MapInfo.h"
#include "Landmark.h"
 
#include <string>
 
namespace carla {
namespace geom { class GeoLocation; }
namespace client {
 
  class Waypoint;
  class Junction;
 
  class Map
    : public EnableSharedFromThis<Map>,
      private NonCopyable {
  public:
 
    explicit Map(rpc::MapInfo description, std::string xodr_content);
 
    explicit Map(std::string name, std::string xodr_content);
 
    ~Map();
 
    const std::string &GetName() const {
      return _description.name;
    }
 
    const road::Map &GetMap() const {
      return _map;
    }
 
    const std::string &GetOpenDrive() const {
      return open_drive_file;
    }
 
    const std::vector<geom::Transform> &GetRecommendedSpawnPoints() const {
      return _description.recommended_spawn_points;
    }
 
    SharedPtr<Waypoint> GetWaypoint(
        const geom::Location &location,
        bool project_to_road = true,
        int32_t lane_type = static_cast<uint32_t>(road::Lane::LaneType::Driving)) const;
 
    SharedPtr<Waypoint> GetWaypointXODR(
      carla::road::RoadId road_id,
      carla::road::LaneId lane_id,
      float s) const;
 
    using TopologyList = std::vector<std::pair<SharedPtr<Waypoint>, SharedPtr<Waypoint>>>;
 
    TopologyList GetTopology() const;
 
    std::vector<SharedPtr<Waypoint>> GenerateWaypoints(double distance) const;
 
    std::vector<road::element::LaneMarking> CalculateCrossedLanes(
        const geom::Location &origin,
        const geom::Location &destination) const;
 
    const geom::GeoLocation &GetGeoReference() const;
 
    std::vector<geom::Location> GetAllCrosswalkZones() const;
 
    SharedPtr<Junction> GetJunction(const Waypoint &waypoint) const;
 
    /// Returns a pair of waypoints (start and end) for each lane in the
    /// junction
    std::vector<std::pair<SharedPtr<Waypoint>, SharedPtr<Waypoint>>> GetJunctionWaypoints(
        road::JuncId id, road::Lane::LaneType type) const;
 
    /// Returns all the larndmarks in the map
    std::vector<SharedPtr<Landmark>> GetAllLandmarks() const;
 
    /// Returns all the larndmarks in the map with a specific OpenDRIVE id
    std::vector<SharedPtr<Landmark>> GetLandmarksFromId(std::string id) const;
 
    /// Returns all the landmarks in the map of a specific type
    std::vector<SharedPtr<Landmark>> GetAllLandmarksOfType(std::string type) const;
 
    /// Returns all the landmarks in the same group including this one
    std::vector<SharedPtr<Landmark>> GetLandmarkGroup(const Landmark &landmark) const;
 
    /// Cooks InMemoryMap used by the traffic manager
    void CookInMemoryMap(const std::string& path) const;
 
  private:
 
    std::string open_drive_file;
 
    const rpc::MapInfo _description;
 
    const road::Map _map;
  };
 
} // namespace client
} // namespace carla