LaneSection.h

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// Copyright (c) 2020 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/CubicPolynomial.h"
#include "carla/NonCopyable.h"
#include "carla/road/Lane.h"
#include "carla/road/RoadElementSet.h"
#include "carla/road/RoadTypes.h"
 
#include <map>
#include <vector>
 
namespace carla {
namespace road {
 
  class Road;
  class MapBuilder;
 
  class LaneSection : private MovableNonCopyable {
  public:
 
    explicit LaneSection(SectionId id, double s) : _id(id), _s(s) {}
 
    double GetDistance() const;
 
    double GetLength() const;
 
    Road *GetRoad() const;
 
    Lane *GetLane(const LaneId id);
 
    const Lane *GetLane(const LaneId id) const;
 
    bool ContainsLane(LaneId id) const {
      return (_lanes.find(id) != _lanes.end());
    }
 
    SectionId GetId() const;
 
    std::map<LaneId, Lane> &GetLanes();
 
    const std::map<LaneId, Lane> &GetLanes() const;
 
    std::vector<Lane *> GetLanesOfType(Lane::LaneType type);
 
  private:
 
    friend MapBuilder;
 
    const SectionId _id = 0u;
 
    const double _s = 0.0;
 
    Road *_road = nullptr;
 
    std::map<LaneId, Lane> _lanes;
 
    geom::CubicPolynomial _lane_offset;
  };
 
} // road
} // carla