#include <MapBuilder.h>

carla::road::MapBuilder 的协作图:

Public 成员函数
void	AddConnection (const JuncId junction_id, const ConId connection_id, const RoadId incoming_road, const RoadId connecting_road)

void	AddDependencyToSignal (const SignId signal_id, const std::string dependency_id, const std::string dependency_type)

void	AddJunction (const JuncId id, const std::string name)

void	AddJunctionController (const JuncId junction_id, std::set< ContId > &&controllers)

void	AddLaneLink (const JuncId junction_id, const ConId connection_id, const LaneId from, const LaneId to)

carla::road::Road *	AddRoad (const RoadId road_id, const std::string name, const double length, const JuncId junction_id, const RoadId predecessor, const RoadId successor)

void	AddRoadElevationProfile (Road *road, const double s, const double a, const double b, const double c, const double d)

void	AddRoadGeometryArc (carla::road::Road *road, const double s, const double x, const double y, const double hdg, const double length, const double curvature)

void	AddRoadGeometryLine (carla::road::Road *road, const double s, const double x, const double y, const double hdg, const double length)

void	AddRoadGeometryParamPoly3 (carla::road::Road *road, const double s, const double x, const double y, const double hdg, const double length, const double aU, const double bU, const double cU, const double dU, const double aV, const double bV, const double cV, const double dV, const std::string p_range)

void	AddRoadGeometryPoly3 (carla::road::Road *road, const double s, const double x, const double y, const double hdg, const double length, const double a, const double b, const double c, const double d)

void	AddRoadGeometrySpiral (carla::road::Road *road, const double s, const double x, const double y, const double hdg, const double length, const double curvStart, const double curvEnd)

void	AddRoadObjectCrosswalk (Road *road, const std::string name, const double s, const double t, const double zOffset, const double hdg, const double pitch, const double roll, const std::string orientation, const double width, const double length, const std::vector< road::element::CrosswalkPoint > points)

carla::road::LaneSection *	AddRoadSection (carla::road::Road *road, const SectionId id, const double s)

void	AddRoadSection (const RoadId road_id, const SectionId section_index, const double s, const double a, const double b, const double c, const double d)

carla::road::Lane *	AddRoadSectionLane (carla::road::LaneSection *section, const LaneId lane_id, const uint32_t lane_type, const bool lane_level, const LaneId predecessor, const LaneId successor)

element::RoadInfoSignal *	AddSignal (Road *road, const SignId signal_id, const double s, const double t, const std::string name, const std::string dynamic, const std::string orientation, const double zOffset, const std::string country, const std::string type, const std::string subtype, const double value, const std::string unit, const double height, const double width, const std::string text, const double hOffset, const double pitch, const double roll)

void	AddSignalPositionInertial (const SignId signal_id, const double x, const double y, const double z, const double hdg, const double pitch, const double roll)

void	AddSignalPositionRoad (const SignId signal_id, const RoadId road_id, const double s, const double t, const double zOffset, const double hOffset, const double pitch, const double roll)

element::RoadInfoSignal *	AddSignalReference (Road *road, const SignId signal_id, const double s_position, const double t_position, const std::string signal_reference_orientation)

void	AddValidityToSignalReference (element::RoadInfoSignal *signal_reference, const LaneId from_lane, const LaneId to_lane)

boost::optional< Map >	Build ()

void	CreateController (const ContId controller_id, const std::string controller_name, const uint32_t controller_sequence, const std::set< road::SignId > &&signals)

void	CreateLaneAccess (Lane *lane, const double s, const std::string restriction)

void	CreateLaneBorder (Lane *lane, const double s, const double a, const double b, const double c, const double d)

void	CreateLaneHeight (Lane *lane, const double s, const double inner, const double outer)

void	CreateLaneMaterial (Lane *lane, const double s, const std::string surface, const double friction, const double roughness)

void	CreateLaneRule (Lane *lane, const double s, const std::string value)

void	CreateLaneSpeed (Lane *lane, const double s, const double max, const std::string unit)

void	CreateLaneVisibility (Lane *lane, const double s, const double forward, const double back, const double left, const double right)

void	CreateLaneWidth (Lane *lane, const double s, const double a, const double b, const double c, const double d)

void	CreateRoadMark (Lane *lane, const int road_mark_id, const double s, const std::string type, const std::string weight, const std::string color, const std::string material, const double width, const std::string lane_change, const double height, const std::string type_name, const double type_width)

void	CreateRoadMarkTypeLine (Lane *lane, const int road_mark_id, const double length, const double space, const double tOffset, const double s, const std::string rule, const double width)

void	CreateRoadSpeed (Road *road, const double s, const std::string type, const double max, const std::string unit)

void	CreateSectionOffset (Road *road, const double s, const double a, const double b, const double c, const double d)

Lane *	GetLane (const RoadId road_id, const LaneId lane_id, const double s)

Road *	GetRoad (const RoadId road_id)

void	SetGeoReference (const geom::GeoLocation &geo_reference)

void	SetRoadLaneLink (const RoadId road_id, const SectionId section_index, const LaneId lane_id, const Lane::LaneType lane_type, const bool lane_level, const LaneId predecessor, const LaneId successor)

Private 成员函数
void	CheckSignalsOnRoads (Map &map)
	Checks signals overlapping driving lanes and emits a warning

void	ComputeJunctionRoadConflicts (Map &map)
	Compute the conflicts of the roads (intersecting roads)

geom::Transform	ComputeSignalTransform (std::unique_ptr< Signal > &signal, MapData &data)

void	CreateJunctionBoundingBoxes (Map &map)
	Create the bounding boxes of each junction

void	CreatePointersBetweenRoadSegments ()
	Create the pointers between RoadSegments based on the ids.

void	GenerateDefaultValiditiesForSignalReferences ()
	Generates a default validity field for signal references with missing validity record in OpenDRIVE

Lane *	GetEdgeLanePointer (RoadId road_id, bool from_start, LaneId lane_id)
	Return the pointer to a lane object.

std::vector< std::pair< RoadId, LaneId > >	GetJunctionLanes (JuncId junction_id, RoadId road_id, LaneId lane_id)

std::vector< Lane * >	GetLaneNext (RoadId road_id, SectionId section_id, LaneId lane_id)
	Return a list of pointers to all lanes from a lane (using road and junction info).

void	RemoveZeroLaneValiditySignalReferences ()
	Removes signal references with lane validity equal to [0,0] as they have no effect on any road

void	SolveControllerAndJuntionReferences ()
	Solve the references between Controllers and Juntions

void	SolveSignalReferencesAndTransforms ()
	Solves the signal references in the road

Private 属性
MapData	_map_data

std::unordered_map< Lane *, std::vector< std::unique_ptr< element::RoadInfo > > >	_temp_lane_info_container

std::unordered_map< Road *, std::vector< std::unique_ptr< element::RoadInfo > > >	_temp_road_info_container
	Map to temporary store all the road and lane infos until the map is built, so they can be added all together.

std::unordered_map< SignId, std::unique_ptr< Signal > >	_temp_signal_container

std::vector< element::RoadInfoSignal * >	_temp_signal_reference_container

详细描述

在文件 MapBuilder.h 第 20 行定义.

成员函数说明

◆ AddConnection()

void carla::road::MapBuilder::AddConnection	(	const JuncId	junction_id,
		const ConId	connection_id,
		const RoadId	incoming_road,
		const RoadId	connecting_road )

在文件 MapBuilder.cpp 第 570 行定义.

引用了 _map_data, DEBUG_ASSERT, carla::road::Junction::GetConnections() , 以及 carla::road::MapData::GetJunction().

被这些函数引用 carla::opendrive::parser::JunctionParser::Parse().

函数调用图:

这是这个函数的调用关系图:

◆ AddDependencyToSignal()

void carla::road::MapBuilder::AddDependencyToSignal	(	const SignId	signal_id,
		const std::string	dependency_id,
		const std::string	dependency_type )

在文件 MapBuilder.cpp 第 344 行定义.

引用了 _temp_signal_container.

被这些函数引用 carla::opendrive::parser::SignalParser::Parse().

这是这个函数的调用关系图:

◆ AddJunction()

void carla::road::MapBuilder::AddJunction	(	const JuncId	id,
		const std::string	name )

在文件 MapBuilder.cpp 第 566 行定义.

引用了 _map_data , 以及 carla::road::MapData::GetJunctions().

被这些函数引用 carla::opendrive::parser::JunctionParser::Parse().

函数调用图:

这是这个函数的调用关系图:

◆ AddJunctionController()

void carla::road::MapBuilder::AddJunctionController	(	const JuncId	junction_id,
		std::set< ContId > &&	controllers )

在文件 MapBuilder.cpp 第 589 行定义.

引用了 carla::road::Junction::_controllers, _map_data, DEBUG_ASSERT , 以及 carla::road::MapData::GetJunction().

被这些函数引用 carla::opendrive::parser::JunctionParser::Parse().

函数调用图:

这是这个函数的调用关系图:

◆ AddLaneLink()

void carla::road::MapBuilder::AddLaneLink	(	const JuncId	junction_id,
		const ConId	connection_id,
		const LaneId	from,
		const LaneId	to )

在文件 MapBuilder.cpp 第 580 行定义.

引用了 _map_data, carla::road::Junction::Connection::AddLaneLink(), DEBUG_ASSERT, carla::road::Junction::GetConnection() , 以及 carla::road::MapData::GetJunction().

被这些函数引用 carla::opendrive::parser::JunctionParser::Parse().

函数调用图:

这是这个函数的调用关系图:

◆ AddRoad()

carla::road::Road * carla::road::MapBuilder::AddRoad	(	const RoadId	road_id,
		const std::string	name,
		const double	length,
		const JuncId	junction_id,
		const RoadId	predecessor,
		const RoadId	successor )

在文件 MapBuilder.cpp 第 353 行定义.

引用了 _map_data, carla::road::Road::_map_data , 以及 carla::road::MapData::_roads.

被这些函数引用 carla::opendrive::parser::RoadParser::Parse().

这是这个函数的调用关系图:

◆ AddRoadElevationProfile()

void carla::road::MapBuilder::AddRoadElevationProfile	(	Road *	road,
		const double	s,
		const double	a,
		const double	b,
		const double	c,
		const double	d )

在文件 MapBuilder.cpp 第 74 行定义.

引用了 _temp_road_info_container , 以及 DEBUG_ASSERT.

被这些函数引用 carla::opendrive::parser::ProfilesParser::Parse().

这是这个函数的调用关系图:

◆ AddRoadGeometryArc()

void carla::road::MapBuilder::AddRoadGeometryArc	(	carla::road::Road *	road,
		const double	s,
		const double	x,
		const double	y,
		const double	hdg,
		const double	length,
		const double	curvature )

在文件 MapBuilder.cpp 第 451 行定义.

引用了 _temp_road_info_container , 以及 DEBUG_ASSERT.

被这些函数引用 carla::opendrive::parser::GeometryParser::Parse().

这是这个函数的调用关系图:

◆ AddRoadGeometryLine()

void carla::road::MapBuilder::AddRoadGeometryLine	(	carla::road::Road *	road,
		const double	s,
		const double	x,
		const double	y,
		const double	hdg,
		const double	length )

在文件 MapBuilder.cpp 第 411 行定义.

引用了 _temp_road_info_container , 以及 DEBUG_ASSERT.

被这些函数引用 carla::opendrive::parser::GeometryParser::Parse().

这是这个函数的调用关系图:

◆ AddRoadGeometryParamPoly3()

void carla::road::MapBuilder::AddRoadGeometryParamPoly3	(	carla::road::Road *	road,
		const double	s,
		const double	x,
		const double	y,
		const double	hdg,
		const double	length,
		const double	aU,
		const double	bU,
		const double	cU,
		const double	dU,
		const double	aV,
		const double	bV,
		const double	cV,
		const double	dV,
		const std::string	p_range )

在文件 MapBuilder.cpp 第 523 行定义.

引用了 _temp_road_info_container , 以及 DEBUG_ASSERT.

被这些函数引用 carla::opendrive::parser::GeometryParser::Parse().

这是这个函数的调用关系图:

◆ AddRoadGeometryPoly3()

void carla::road::MapBuilder::AddRoadGeometryPoly3	(	carla::road::Road *	road,
		const double	s,
		const double	x,
		const double	y,
		const double	hdg,
		const double	length,
		const double	a,
		const double	b,
		const double	c,
		const double	d )

在文件 MapBuilder.cpp 第 496 行定义.

引用了 _temp_road_info_container , 以及 DEBUG_ASSERT.

被这些函数引用 carla::opendrive::parser::GeometryParser::Parse().

这是这个函数的调用关系图:

◆ AddRoadGeometrySpiral()

void carla::road::MapBuilder::AddRoadGeometrySpiral	(	carla::road::Road *	road,
		const double	s,
		const double	x,
		const double	y,
		const double	hdg,
		const double	length,
		const double	curvStart,
		const double	curvEnd )

在文件 MapBuilder.cpp 第 472 行定义.

引用了 _temp_road_info_container , 以及 DEBUG_ASSERT.

被这些函数引用 carla::opendrive::parser::GeometryParser::Parse().

这是这个函数的调用关系图:

◆ AddRoadObjectCrosswalk()

void carla::road::MapBuilder::AddRoadObjectCrosswalk	(	Road *	road,
		const std::string	name,
		const double	s,
		const double	t,
		const double	zOffset,
		const double	hdg,
		const double	pitch,
		const double	roll,
		const std::string	orientation,
		const double	width,
		const double	length,
		const std::vector< road::element::CrosswalkPoint >	points )

在文件 MapBuilder.cpp 第 86 行定义.

引用了 _temp_road_info_container , 以及 DEBUG_ASSERT.

被这些函数引用 carla::opendrive::parser::ObjectParser::Parse().

这是这个函数的调用关系图:

◆ AddRoadSection() [1/2]

carla::road::LaneSection * carla::road::MapBuilder::AddRoadSection	(	carla::road::Road *	road,
		const SectionId	id,
		const double	s )

在文件 MapBuilder.cpp 第 378 行定义.

引用了 carla::road::Road::_lane_sections, carla::road::LaneSection::_road, DEBUG_ASSERT , 以及 carla::road::LaneSectionMap::Emplace().

被这些函数引用 carla::opendrive::parser::RoadParser::Parse().

函数调用图:

这是这个函数的调用关系图:

◆ AddRoadSection() [2/2]

void carla::road::MapBuilder::AddRoadSection	(	const RoadId	road_id,
		const SectionId	section_index,
		const double	s,
		const double	a,
		const double	b,
		const double	c,
		const double	d )

◆ AddRoadSectionLane()

carla::road::Lane * carla::road::MapBuilder::AddRoadSectionLane	(	carla::road::LaneSection *	section,
		const LaneId	lane_id,
		const uint32_t	lane_type,
		const bool	lane_level,
		const LaneId	predecessor,
		const LaneId	successor )

在文件 MapBuilder.cpp 第 388 行定义.

引用了 carla::road::LaneSection::_lanes , 以及 DEBUG_ASSERT.

被这些函数引用 carla::opendrive::parser::RoadParser::Parse().

这是这个函数的调用关系图:

◆ AddSignal()

element::RoadInfoSignal * carla::road::MapBuilder::AddSignal	(	Road *	road,
		const SignId	signal_id,
		const double	s,
		const double	t,
		const std::string	name,
		const std::string	dynamic,
		const std::string	orientation,
		const double	zOffset,
		const std::string	country,
		const std::string	type,
		const std::string	subtype,
		const double	value,
		const std::string	unit,
		const double	height,
		const double	width,
		const std::string	text,
		const double	hOffset,
		const double	pitch,
		const double	roll )

在文件 MapBuilder.cpp 第 238 行定义.

引用了 _temp_signal_container, AddSignalReference() , 以及 carla::road::Road::GetId().

被这些函数引用 carla::opendrive::parser::ObjectParser::Parse() , 以及 carla::opendrive::parser::SignalParser::Parse().

函数调用图:

这是这个函数的调用关系图:

◆ AddSignalPositionInertial()

void carla::road::MapBuilder::AddSignalPositionInertial	(	const SignId	signal_id,
		const double	x,
		const double	y,
		const double	z,
		const double	hdg,
		const double	pitch,
		const double	roll )

在文件 MapBuilder.cpp 第 282 行定义.

引用了 _temp_signal_container , 以及 carla::geom::Math::ToDegrees().

被这些函数引用 carla::opendrive::parser::SignalParser::Parse().

函数调用图:

这是这个函数的调用关系图:

◆ AddSignalPositionRoad()

void carla::road::MapBuilder::AddSignalPositionRoad	(	const SignId	signal_id,
		const RoadId	road_id,
		const double	s,
		const double	t,
		const double	zOffset,
		const double	hOffset,
		const double	pitch,
		const double	roll )

在文件 MapBuilder.cpp 第 299 行定义.

引用了 _temp_signal_container.

◆ AddSignalReference()

element::RoadInfoSignal * carla::road::MapBuilder::AddSignalReference	(	Road *	road,
		const SignId	signal_id,
		const double	s_position,
		const double	t_position,
		const std::string	signal_reference_orientation )

在文件 MapBuilder.cpp 第 318 行定义.

引用了 _temp_road_info_container, _temp_signal_reference_container, carla::geom::Math::Clamp(), carla::road::Road::GetId(), carla::road::Road::GetLength() , 以及 RELEASE_ASSERT.

被这些函数引用 AddSignal() , 以及 carla::opendrive::parser::SignalParser::Parse().

函数调用图:

这是这个函数的调用关系图:

◆ AddValidityToSignalReference()

void carla::road::MapBuilder::AddValidityToSignalReference	(	element::RoadInfoSignal *	signal_reference,
		const LaneId	from_lane,
		const LaneId	to_lane )

在文件 MapBuilder.cpp 第 337 行定义.

引用了 carla::road::element::RoadInfoSignal::_validities.

被这些函数引用 carla::opendrive::parser::AddValidity() , 以及 GenerateDefaultValiditiesForSignalReferences().

这是这个函数的调用关系图:

◆ Build()

boost::optional< Map > carla::road::MapBuilder::Build ( )

在文件 MapBuilder.cpp 第 38 行定义.

引用了 _map_data, _temp_lane_info_container, _temp_road_info_container, CheckSignalsOnRoads(), ComputeJunctionRoadConflicts(), CreateJunctionBoundingBoxes(), CreatePointersBetweenRoadSegments(), DEBUG_ASSERT, RemoveZeroLaneValiditySignalReferences(), SolveControllerAndJuntionReferences() , 以及 SolveSignalReferencesAndTransforms().

被这些函数引用 carla::opendrive::OpenDriveParser::Load().

函数调用图:

这是这个函数的调用关系图:

◆ CheckSignalsOnRoads()

void carla::road::MapBuilder::CheckSignalsOnRoads ( Map & map )

private

Checks signals overlapping driving lanes and emits a warning

在文件 MapBuilder.cpp 第 1044 行定义.

引用了 carla::road::Map::_data, carla::road::MapData::_signals, carla::road::Map::ComputeTransform(), carla::road::Lane::Driving, carla::road::Map::GetClosestWaypointOnRoad(), carla::road::Map::GetLaneType(), carla::road::Map::GetLaneWidth(), carla::road::Map::GetLeft(), carla::road::Map::GetRight(), carla::log_debug(), carla::road::Lane::None , 以及 carla::road::Lane::Shoulder.

被这些函数引用 Build().

函数调用图:

这是这个函数的调用关系图:

◆ ComputeJunctionRoadConflicts()

void carla::road::MapBuilder::ComputeJunctionRoadConflicts ( Map & map )

private

Compute the conflicts of the roads (intersecting roads)

在文件 MapBuilder.cpp 第 939 行定义.

引用了 carla::road::Map::_data, carla::road::Map::ComputeJunctionConflicts() , 以及 carla::road::MapData::GetJunctions().

被这些函数引用 Build().

函数调用图:

这是这个函数的调用关系图:

◆ ComputeSignalTransform()

geom::Transform carla::road::MapBuilder::ComputeSignalTransform	(	std::unique_ptr< Signal > &	signal,
		MapData &	data )

private

在文件 MapBuilder.cpp 第 788 行定义.

引用了 carla::road::element::DirectedPoint::ApplyLateralOffset(), carla::road::Road::GetDirectedPointInNoLaneOffset(), carla::road::MapData::GetRoad(), carla::road::element::DirectedPoint::location, carla::road::element::DirectedPoint::tangent, carla::geom::Math::ToDegrees(), carla::geom::Vector3D::y , 以及 carla::geom::Vector3D::z.

被这些函数引用 SolveSignalReferencesAndTransforms().

函数调用图:

这是这个函数的调用关系图:

◆ CreateController()

void carla::road::MapBuilder::CreateController	(	const ContId	controller_id,
		const std::string	controller_name,
		const uint32_t	controller_sequence,
		const std::set< road::SignId > &&	signals )

在文件 MapBuilder.cpp 第 911 行定义.

引用了 carla::road::MapData::_controllers, _map_data, carla::road::MapData::_signals , 以及 DEBUG_ASSERT.

被这些函数引用 carla::opendrive::parser::ControllerParser::Parse().

这是这个函数的调用关系图:

◆ CreateJunctionBoundingBoxes()

void carla::road::MapBuilder::CreateJunctionBoundingBoxes ( Map & map )

private

Create the bounding boxes of each junction

在文件 MapBuilder.cpp 第 843 行定义.

引用了 carla::road::Map::_data, carla::road::Lane::Any, carla::road::Map::ComputeTransform(), carla::road::Map::GetJunction(), carla::road::MapData::GetJunctions(), carla::road::Map::GetJunctionWaypoints(), carla::road::Map::GetNext() , 以及 carla::geom::Transform::location.

被这些函数引用 Build().

函数调用图:

这是这个函数的调用关系图:

◆ CreateLaneAccess()

void carla::road::MapBuilder::CreateLaneAccess	(	Lane *	lane,
		const double	s,
		const std::string	restriction )

在文件 MapBuilder.cpp 第 105 行定义.

引用了 _temp_lane_info_container , 以及 DEBUG_ASSERT.

被这些函数引用 carla::opendrive::parser::ParseLanes().

这是这个函数的调用关系图:

◆ CreateLaneBorder()

void carla::road::MapBuilder::CreateLaneBorder	(	Lane *	lane,
		const double	s,
		const double	a,
		const double	b,
		const double	c,
		const double	d )

在文件 MapBuilder.cpp 第 113 行定义.

引用了 _temp_lane_info_container , 以及 DEBUG_ASSERT.

被这些函数引用 carla::opendrive::parser::ParseLanes().

这是这个函数的调用关系图:

◆ CreateLaneHeight()

void carla::road::MapBuilder::CreateLaneHeight	(	Lane *	lane,
		const double	s,
		const double	inner,
		const double	outer )

在文件 MapBuilder.cpp 第 124 行定义.

引用了 _temp_lane_info_container , 以及 DEBUG_ASSERT.

被这些函数引用 carla::opendrive::parser::ParseLanes().

这是这个函数的调用关系图:

◆ CreateLaneMaterial()

void carla::road::MapBuilder::CreateLaneMaterial	(	Lane *	lane,
		const double	s,
		const std::string	surface,
		const double	friction,
		const double	roughness )

在文件 MapBuilder.cpp 第 133 行定义.

引用了 _temp_lane_info_container , 以及 DEBUG_ASSERT.

被这些函数引用 carla::opendrive::parser::ParseLanes().

这是这个函数的调用关系图:

◆ CreateLaneRule()

void carla::road::MapBuilder::CreateLaneRule	(	Lane *	lane,
		const double	s,
		const std::string	value )

在文件 MapBuilder.cpp 第 144 行定义.

引用了 _temp_lane_info_container , 以及 DEBUG_ASSERT.

被这些函数引用 carla::opendrive::parser::ParseLanes().

这是这个函数的调用关系图:

◆ CreateLaneSpeed()

void carla::road::MapBuilder::CreateLaneSpeed	(	Lane *	lane,
		const double	s,
		const double	max,
		const std::string	unit )

在文件 MapBuilder.cpp 第 228 行定义.

引用了 _temp_lane_info_container , 以及 DEBUG_ASSERT.

被这些函数引用 carla::opendrive::parser::ParseLanes().

这是这个函数的调用关系图:

◆ CreateLaneVisibility()

void carla::road::MapBuilder::CreateLaneVisibility	(	Lane *	lane,
		const double	s,
		const double	forward,
		const double	back,
		const double	left,
		const double	right )

在文件 MapBuilder.cpp 第 152 行定义.

引用了 _temp_lane_info_container , 以及 DEBUG_ASSERT.

被这些函数引用 carla::opendrive::parser::ParseLanes().

这是这个函数的调用关系图:

◆ CreateLaneWidth()

void carla::road::MapBuilder::CreateLaneWidth	(	Lane *	lane,
		const double	s,
		const double	a,
		const double	b,
		const double	c,
		const double	d )

在文件 MapBuilder.cpp 第 164 行定义.

引用了 _temp_lane_info_container , 以及 DEBUG_ASSERT.

被这些函数引用 carla::opendrive::parser::ParseLanes().

这是这个函数的调用关系图:

◆ CreatePointersBetweenRoadSegments()

void carla::road::MapBuilder::CreatePointersBetweenRoadSegments ( void )

private

Create the pointers between RoadSegments based on the ids.

在文件 MapBuilder.cpp 第 734 行定义.

引用了 _map_data, carla::road::MapData::_roads, DEBUG_ASSERT , 以及 GetLaneNext().

被这些函数引用 Build().

函数调用图:

这是这个函数的调用关系图:

◆ CreateRoadMark()

void carla::road::MapBuilder::CreateRoadMark	(	Lane *	lane,
		const int	road_mark_id,
		const double	s,
		const std::string	type,
		const std::string	weight,
		const std::string	color,
		const std::string	material,
		const double	width,
		const std::string	lane_change,
		const double	height,
		const std::string	type_name,
		const double	type_width )

在文件 MapBuilder.cpp 第 175 行定义.

引用了 _temp_lane_info_container, DEBUG_ASSERT , 以及 carla::StringUtil::ToLower().

被这些函数引用 carla::opendrive::parser::ParseLanes().

函数调用图:

这是这个函数的调用关系图:

◆ CreateRoadMarkTypeLine()

void carla::road::MapBuilder::CreateRoadMarkTypeLine	(	Lane *	lane,
		const int	road_mark_id,
		const double	length,
		const double	space,
		const double	tOffset,
		const double	s,
		const std::string	rule,
		const double	width )

在文件 MapBuilder.cpp 第 207 行定义.

引用了 _temp_lane_info_container , 以及 DEBUG_ASSERT.

被这些函数引用 carla::opendrive::parser::ParseLanes().

这是这个函数的调用关系图:

◆ CreateRoadSpeed()

void carla::road::MapBuilder::CreateRoadSpeed	(	Road *	road,
		const double	s,
		const std::string	type,
		const double	max,
		const std::string	unit )

在文件 MapBuilder.cpp 第 430 行定义.

引用了 _temp_road_info_container , 以及 DEBUG_ASSERT.

被这些函数引用 carla::opendrive::parser::RoadParser::Parse().

这是这个函数的调用关系图:

◆ CreateSectionOffset()

void carla::road::MapBuilder::CreateSectionOffset	(	Road *	road,
		const double	s,
		const double	a,
		const double	b,
		const double	c,
		const double	d )

在文件 MapBuilder.cpp 第 440 行定义.

引用了 _temp_road_info_container , 以及 DEBUG_ASSERT.

被这些函数引用 carla::opendrive::parser::RoadParser::Parse().

这是这个函数的调用关系图:

◆ GenerateDefaultValiditiesForSignalReferences()

void carla::road::MapBuilder::GenerateDefaultValiditiesForSignalReferences ( )

private

Generates a default validity field for signal references with missing validity record in OpenDRIVE

在文件 MapBuilder.cpp 第 946 行定义.

引用了 _temp_signal_reference_container, AddValidityToSignalReference(), carla::road::Both, carla::road::Road::GetLanesByDistance(), GetRoad(), carla::road::Negative , 以及 carla::road::Positive.

被这些函数引用 SolveSignalReferencesAndTransforms().

函数调用图:

这是这个函数的调用关系图:

◆ GetEdgeLanePointer()

Lane * carla::road::MapBuilder::GetEdgeLanePointer	(	RoadId	road_id,
		bool	from_start,
		LaneId	lane_id )

private

Return the pointer to a lane object.

在文件 MapBuilder.cpp 第 609 行定义.

引用了 _map_data, carla::road::MapData::ContainsRoad(), DEBUG_ASSERT, carla::road::Road::GetEndSection(), carla::road::LaneSection::GetLane(), carla::road::MapData::GetRoad() , 以及 carla::road::Road::GetStartSection().

被这些函数引用 GetLaneNext().

函数调用图:

这是这个函数的调用关系图:

◆ GetJunctionLanes()

std::vector< std::pair< RoadId, LaneId > > carla::road::MapBuilder::GetJunctionLanes	(	JuncId	junction_id,
		RoadId	road_id,
		LaneId	lane_id )

private

在文件 MapBuilder.cpp 第 697 行定义.

引用了 carla::road::Junction::_connections, _map_data , 以及 carla::road::MapData::GetJunction().

被这些函数引用 GetLaneNext().

函数调用图:

这是这个函数的调用关系图:

◆ GetLane()

Lane * carla::road::MapBuilder::GetLane	(	const RoadId	road_id,
		const LaneId	lane_id,
		const double	s )

在文件 MapBuilder.cpp 第 596 行定义.

引用了 _map_data, carla::road::Road::GetLaneByDistance() , 以及 carla::road::MapData::GetRoad().

被这些函数引用 carla::opendrive::parser::ParseLanes().

函数调用图:

这是这个函数的调用关系图:

◆ GetLaneNext()

std::vector< Lane * > carla::road::MapBuilder::GetLaneNext	(	RoadId	road_id,
		SectionId	section_id,
		LaneId	lane_id )

private

Return a list of pointers to all lanes from a lane (using road and junction info).

待办事项: Is it correct to use a road id as section id? (NS: I just added this cast to avoid compiler warnings).

在文件 MapBuilder.cpp 第 631 行定义.

引用了 carla::road::Road::_lane_sections, _map_data, carla::road::MapData::ContainsRoad(), DEBUG_ASSERT, carla::road::LaneSectionMap::GetById(), carla::road::LaneSection::GetDistance(), GetEdgeLanePointer(), GetJunctionLanes(), carla::road::LaneSection::GetLane(), carla::road::Road::GetNextLane(), carla::road::Lane::GetPredecessor(), carla::road::Road::GetPredecessor(), carla::road::Road::GetPrevLane(), carla::road::MapData::GetRoad(), carla::road::Lane::GetSuccessor() , 以及 carla::road::Road::GetSuccessor().

被这些函数引用 CreatePointersBetweenRoadSegments().

函数调用图:

这是这个函数的调用关系图:

◆ GetRoad()

Road * carla::road::MapBuilder::GetRoad ( const RoadId road_id )

在文件 MapBuilder.cpp 第 603 行定义.

引用了 _map_data , 以及 carla::road::MapData::GetRoad().

被这些函数引用 GenerateDefaultValiditiesForSignalReferences(), carla::opendrive::parser::GeometryParser::Parse(), carla::opendrive::parser::ObjectParser::Parse(), carla::opendrive::parser::ProfilesParser::Parse(), carla::opendrive::parser::SignalParser::Parse() , 以及 RemoveZeroLaneValiditySignalReferences().

函数调用图:

这是这个函数的调用关系图:

◆ RemoveZeroLaneValiditySignalReferences()

void carla::road::MapBuilder::RemoveZeroLaneValiditySignalReferences ( )

private

Removes signal references with lane validity equal to [0,0] as they have no effect on any road

在文件 MapBuilder.cpp 第 1013 行定义.

引用了 _temp_road_info_container, _temp_signal_reference_container , 以及 GetRoad().

被这些函数引用 Build().

函数调用图:

这是这个函数的调用关系图:

◆ SetGeoReference()

void carla::road::MapBuilder::SetGeoReference ( const geom::GeoLocation & geo_reference )

inline

在文件 MapBuilder.h 第 361 行定义.

引用了 carla::road::MapData::_geo_reference , 以及 _map_data.

被这些函数引用 carla::opendrive::parser::GeoReferenceParser::Parse().

这是这个函数的调用关系图:

◆ SetRoadLaneLink()

void carla::road::MapBuilder::SetRoadLaneLink	(	const RoadId	road_id,
		const SectionId	section_index,
		const LaneId	lane_id,
		const Lane::LaneType	lane_type,
		const bool	lane_level,
		const LaneId	predecessor,
		const LaneId	successor )

◆ SolveControllerAndJuntionReferences()

void carla::road::MapBuilder::SolveControllerAndJuntionReferences ( )

private

Solve the references between Controllers and Juntions

在文件 MapBuilder.cpp 第 824 行定义.

引用了 carla::road::MapData::_controllers, carla::road::MapData::_junctions, _map_data , 以及 carla::road::MapData::_signals.

被这些函数引用 Build().

这是这个函数的调用关系图:

◆ SolveSignalReferencesAndTransforms()

void carla::road::MapBuilder::SolveSignalReferencesAndTransforms ( )

private

Solves the signal references in the road

在文件 MapBuilder.cpp 第 800 行定义.

引用了 _map_data, carla::road::MapData::_signals, _temp_signal_container, _temp_signal_reference_container, ComputeSignalTransform(), GenerateDefaultValiditiesForSignalReferences() , 以及 carla::road::SignalType::IsTrafficLight().

被这些函数引用 Build().

函数调用图:

这是这个函数的调用关系图:

类成员变量说明

◆ _map_data

MapData carla::road::MapBuilder::_map_data

private

在文件 MapBuilder.h 第 367 行定义.

被这些函数引用 AddConnection(), AddJunction(), AddJunctionController(), AddLaneLink(), AddRoad(), Build(), CreateController(), CreatePointersBetweenRoadSegments(), GetEdgeLanePointer(), GetJunctionLanes(), GetLane(), GetLaneNext(), GetRoad(), SetGeoReference(), SolveControllerAndJuntionReferences() , 以及 SolveSignalReferencesAndTransforms().

◆ _temp_lane_info_container

std::unordered_map<Lane *, std::vector<std::unique_ptr<element::RoadInfo> > > carla::road::MapBuilder::_temp_lane_info_container

private

在文件 MapBuilder.h 第 417 行定义.

被这些函数引用 Build(), CreateLaneAccess(), CreateLaneBorder(), CreateLaneHeight(), CreateLaneMaterial(), CreateLaneRule(), CreateLaneSpeed(), CreateLaneVisibility(), CreateLaneWidth(), CreateRoadMark() , 以及 CreateRoadMarkTypeLine().

◆ _temp_road_info_container

std::unordered_map<Road *, std::vector<std::unique_ptr<element::RoadInfo> > > carla::road::MapBuilder::_temp_road_info_container

private

Map to temporary store all the road and lane infos until the map is built, so they can be added all together.

在文件 MapBuilder.h 第 414 行定义.

被这些函数引用 AddRoadElevationProfile(), AddRoadGeometryArc(), AddRoadGeometryLine(), AddRoadGeometryParamPoly3(), AddRoadGeometryPoly3(), AddRoadGeometrySpiral(), AddRoadObjectCrosswalk(), AddSignalReference(), Build(), CreateRoadSpeed(), CreateSectionOffset() , 以及 RemoveZeroLaneValiditySignalReferences().

◆ _temp_signal_container

std::unordered_map<SignId, std::unique_ptr<Signal> > carla::road::MapBuilder::_temp_signal_container

private

在文件 MapBuilder.h 第 420 行定义.

被这些函数引用 AddDependencyToSignal(), AddSignal(), AddSignalPositionInertial(), AddSignalPositionRoad() , 以及 SolveSignalReferencesAndTransforms().

◆ _temp_signal_reference_container

std::vector<element::RoadInfoSignal*> carla::road::MapBuilder::_temp_signal_reference_container

private

在文件 MapBuilder.h 第 422 行定义.

被这些函数引用 AddSignalReference(), GenerateDefaultValiditiesForSignalReferences(), RemoveZeroLaneValiditySignalReferences() , 以及 SolveSignalReferencesAndTransforms().

该类的文档由以下文件生成:

Public 成员函数

Private 成员函数

Private 属性

详细描述

成员函数说明

◆ AddConnection()

◆ AddDependencyToSignal()

◆ AddJunction()

◆ AddJunctionController()

◆ AddLaneLink()

◆ AddRoad()

◆ AddRoadElevationProfile()

◆ AddRoadGeometryArc()

◆ AddRoadGeometryLine()

◆ AddRoadGeometryParamPoly3()

◆ AddRoadGeometryPoly3()

◆ AddRoadGeometrySpiral()

◆ AddRoadObjectCrosswalk()

◆ AddRoadSection() [1/2]

◆ AddRoadSection() [2/2]

◆ AddRoadSectionLane()

◆ AddSignal()

◆ AddSignalPositionInertial()

◆ AddSignalPositionRoad()

◆ AddSignalReference()

◆ AddValidityToSignalReference()

◆ Build()

◆ CheckSignalsOnRoads()

◆ ComputeJunctionRoadConflicts()

◆ ComputeSignalTransform()

◆ CreateController()

◆ CreateJunctionBoundingBoxes()

◆ CreateLaneAccess()

◆ CreateLaneBorder()

◆ CreateLaneHeight()

◆ CreateLaneMaterial()

◆ CreateLaneRule()

◆ CreateLaneSpeed()

◆ CreateLaneVisibility()

◆ CreateLaneWidth()

◆ CreatePointersBetweenRoadSegments()

◆ CreateRoadMark()

◆ CreateRoadMarkTypeLine()

◆ CreateRoadSpeed()

◆ CreateSectionOffset()

◆ GenerateDefaultValiditiesForSignalReferences()

◆ GetEdgeLanePointer()

◆ GetJunctionLanes()

◆ GetLane()

◆ GetLaneNext()

◆ GetRoad()

◆ RemoveZeroLaneValiditySignalReferences()

◆ SetGeoReference()

◆ SetRoadLaneLink()

◆ SolveControllerAndJuntionReferences()

◆ SolveSignalReferencesAndTransforms()

类成员变量说明

◆ _map_data

◆ _temp_lane_info_container

◆ _temp_road_info_container

◆ _temp_signal_container

◆ _temp_signal_reference_container