OpenDriveMap.h

浏览该文件的文档.

// 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);
 
  /// Return whether this map has been initialized.
  UFUNCTION(BlueprintCallable)
  bool HasMap() const
  {
    return Map.IsSet();
  }
 
  /// Load this map with an OpenDrive (XODR) file.
  UFUNCTION(BlueprintCallable)
  bool Load(const FString &XODRContent);
 
  /// Given a location, return the closest point on the centre of a lane.
  UFUNCTION(BlueprintCallable)
  FWaypoint GetClosestWaypointOnRoad(FVector Location, bool &Success) const;
 
  /// Generate waypoints all over the map at an approximated distance.
  UFUNCTION(BlueprintCallable)
  TArray<FWaypoint> GenerateWaypoints(float ApproxDistance = 100.0f) const;
 
  /// Generate the minimum set of waypoints that define the topology of this
  /// map. The waypoints are placed at the entrance of each lane.
  UFUNCTION(BlueprintCallable)
  TArray<FWaypointConnection> GenerateTopology() const;
 
  /// Generate waypoints on each lane at the start of each road.
  UFUNCTION(BlueprintCallable)
  TArray<FWaypoint> GenerateWaypointsOnRoadEntries() const;
 
  /// Compute the location of a waypoint.
  UFUNCTION(BlueprintCallable)
  FVector ComputeLocation(FWaypoint Waypoint) const;
 
  /// Compute the locations of an array of waypoints.
  UFUNCTION(BlueprintCallable)
  TArray<FVector> ComputeLocations(const TArray<FWaypoint> &Waypoints) const;
 
  /// Compute the transform of a waypoint. The X-axis is directed towards the
  /// direction of the road at that waypoint.
  UFUNCTION(BlueprintCallable)
  FTransform ComputeTransform(FWaypoint Waypoint) const;
 
  /// Compute the transforms of an array of waypoints.
  UFUNCTION(BlueprintCallable)
  TArray<FTransform> ComputeTransforms(const TArray<FWaypoint> &Waypoints) const;
 
  /// Return the list of waypoints at a given distance such that a vehicle at
  /// waypoint could drive to.
  UFUNCTION(BlueprintCallable)
  TArray<FWaypoint> GetNext(FWaypoint Waypoint, float Distance = 100.0f) const;
 
private:
 
  TOptional<carla::road::Map> Map;
};