OpenDriveMap.h

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// Copyright (c) 2019 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 <compiler/disable-ue4-macros.h>
#include <carla/road/Map.h>
#include <compiler/enable-ue4-macros.h>
 
#include "OpenDriveMap.generated.h"
 
USTRUCT(BlueprintType)
struct CARLA_API FWaypoint
{
  GENERATED_BODY()
 
  carla::road::element::Waypoint Waypoint;
};
 
USTRUCT(BlueprintType)
struct CARLA_API FWaypointConnection
{
  GENERATED_BODY()
 
  UPROPERTY(BlueprintReadWrite)
  FWaypoint Start;
 
  UPROPERTY(BlueprintReadWrite)
  FWaypoint End;
};
 
/// 将 CARLA OpenDrive API 公开给蓝图的辅助类。
UCLASS(BlueprintType, Blueprintable)
class CARLA_API UOpenDriveMap : public UObject
{
  GENERATED_BODY()
 
public:
 
  UOpenDriveMap(const FObjectInitializer &ObjectInitializer);
 
  /// 返回此映射是否已初始化。
  UFUNCTION(BlueprintCallable)
  bool HasMap() const
  {
    return Map.IsSet();
  }
 
  /// 使用OpenDrive（XODR）文件加载此映射。
  UFUNCTION(BlueprintCallable)
  bool Load(const FString &XODRContent);
 
  /// 给定一个位置，返回车道中心最近的点。
  UFUNCTION(BlueprintCallable)
  FWaypoint GetClosestWaypointOnRoad(FVector Location, bool &Success) const;
 
  /// 在地图上以近似距离生成航路点。
  UFUNCTION(BlueprintCallable)
  TArray<FWaypoint> GenerateWaypoints(float ApproxDistance = 100.0f) const;
 
  /// 生成定义此拓扑的最小航路点集地图。航点位于每条车道的入口处。
  UFUNCTION(BlueprintCallable)
  TArray<FWaypointConnection> GenerateTopology() const;
 
  /// 在每条道路的起点，在每条车道上生成航点。
  UFUNCTION(BlueprintCallable)
  TArray<FWaypoint> GenerateWaypointsOnRoadEntries() const;
 
  /// 计算航点的位置。
  UFUNCTION(BlueprintCallable)
  FVector ComputeLocation(FWaypoint Waypoint) const;
 
  /// 计算航点数组的位置。
  UFUNCTION(BlueprintCallable)
  TArray<FVector> ComputeLocations(const TArray<FWaypoint> &Waypoints) const;
 
  /// 计算航点的变换。x轴指向该航点的道路方向。
  UFUNCTION(BlueprintCallable)
  FTransform ComputeTransform(FWaypoint Waypoint) const;
 
  /// 计算航点数组的变换。
  UFUNCTION(BlueprintCallable)
  TArray<FTransform> ComputeTransforms(const TArray<FWaypoint> &Waypoints) const;
 
  /// 返回给定距离上的航点列表，以便位于航点的车辆可以行驶得到。
  UFUNCTION(BlueprintCallable)
  TArray<FWaypoint> GetNext(FWaypoint Waypoint, float Distance = 100.0f) const;
 
private:
 
  TOptional<carla::road::Map> Map;
};