MapData.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/geom/GeoLocation.h"
#include "carla/Iterator.h"
#include "carla/ListView.h"
#include "carla/NonCopyable.h"
#include "carla/road/Controller.h"
#include "carla/road/element/RoadInfo.h"
#include "carla/road/Junction.h"
#include "carla/road/Road.h"
#include "carla/road/RoadTypes.h"
#include "carla/road/Signal.h"
 
#include <boost/iterator/transform_iterator.hpp>
 
#include <unordered_map>
 
namespace carla {
namespace road {
 
  class Lane;
 
  class MapData : private MovableNonCopyable {
  public:
 
    const geom::GeoLocation &GetGeoReference() const {
      return _geo_reference;
    }
 
    std::unordered_map<RoadId, Road> &GetRoads();
 
    const std::unordered_map<RoadId, Road> &GetRoads() const {
      return _roads;
    }
 
    std::unordered_map<JuncId, Junction> &GetJunctions();
 
    const std::unordered_map<JuncId, Junction> &GetJunctions() const {
      return _junctions;
    }
 
    bool ContainsRoad(RoadId id) const {
      return (_roads.find(id) != _roads.end());
    }
 
    Road &GetRoad(const RoadId id);
 
    const Road &GetRoad(const RoadId id) const;
 
    Junction *GetJunction(JuncId id);
 
    const Junction *GetJunction(JuncId id) const;
 
    template <typename T>
    auto GetRoadInfo(const RoadId id, const double s) {
      return GetRoad(id).template GetInfo<T>(s);
    }
 
    template <typename T>
    auto GetLaneInfo(
        const RoadId road_id,
        const SectionId section_id,
        const LaneId lane_id,
        const double s) {
      return GetRoad(road_id).GetLaneById(section_id, lane_id).template GetInfo<T>(s);
    }
 
    size_t GetRoadCount() const {
      return _roads.size();
    }
 
    const std::unordered_map<SignId, std::unique_ptr<Signal>> &GetSignals() const {
      return _signals;
    }
 
    const std::unordered_map<ContId, std::unique_ptr<Controller>>& GetControllers() const {
      return _controllers;
    }
 
  private:
 
    friend class MapBuilder;
 
    MapData() = default;
 
    geom::GeoLocation _geo_reference;
 
    std::unordered_map<RoadId, Road> _roads;
 
    std::unordered_map<JuncId, Junction> _junctions;
 
    std::unordered_map<SignId, std::unique_ptr<Signal>> _signals;
 
    std::unordered_map<ContId, std::unique_ptr<Controller>> _controllers;
  };
 
} // namespace road
} // namespace carla