Adapted to read some useful information

include/open_drive_format.h

@@ -2,6 +2,13 @@
 #define _OPEN_DRIVE_FORMAT_H
 
 #include <string>
+#include <vector>
+
+typedef struct
+{
+  int id; ///< Projection polynomial of radially symmetric model.
+}Road_struct;
+
 
 class COpenDriveFormat
 {
@@ -9,6 +16,8 @@ class COpenDriveFormat
     COpenDriveFormat();
     void load(std::string &filename);
     ~COpenDriveFormat();
+   private:
+    std::vector<Road_struct> road_vect;
 };
 
 #endif

src/open_drive_format.cpp

@@ -5,6 +5,8 @@
 #include <sys/types.h>
 #include <sys/stat.h>
 #include <unistd.h>
+#include <iostream> 
+#include <sstream> 
 
 #ifdef _HAVE_XSD
 // #include "xml/OpenDRIVE_1.1.hxx"
@@ -27,8 +29,49 @@ void COpenDriveFormat::load(std::string &filename)
     try{
       std::auto_ptr<OpenDRIVE> open_drive(OpenDRIVE_(filename.c_str(), xml_schema::flags::dont_validate));
 
-      // for (OpenDRIVE::road_iterator road_it (open_drive->road().begin()); road_it != open_drive->road().end(); ++road_it)
-      //   std::cout << "Road id = " /*<< road_it->id()*/ << std::endl;
+      for (OpenDRIVE::road_iterator road_it(open_drive->road().begin()); road_it != open_drive->road().end(); ++road_it)
+      {
+        // Road_struct r;
+        // std::stringstream ss(road_it->id().get());
+        // ss >> r.id;
+        // r.id = road_it->id().get();
+        // this->road_vect.push_back(r);
+
+        std::cout << "Road id = " << road_it->id().get() << std::endl;
+        if (road_it->lane_link().present())
+        {
+          if (road_it->lane_link().get().predecessor().present())
+          {
+            std::cout << "  predecessor: type: " << (road_it->lane_link().get().predecessor().get().elementType().present() ? road_it->lane_link().get().predecessor().get().elementType().get() : "");
+            std::cout << "; id = " << (road_it->lane_link().get().predecessor().get().elementId().present() ? road_it->lane_link().get().predecessor().get().elementId().get() : "");
+            std::cout << "; contact point: " << (road_it->lane_link().get().predecessor().get().contactPoint().present() ? road_it->lane_link().get().predecessor().get().contactPoint().get() : "") << std::endl;
+          }
+          if (road_it->lane_link().get().successor().present())
+          {
+            std::cout << "  successor type: " << (road_it->lane_link().get().successor().get().elementType().present() ? road_it->lane_link().get().successor().get().elementType().get() : "");
+            std::cout << "; id = " << (road_it->lane_link().get().successor().get().elementId().present() ? road_it->lane_link().get().successor().get().elementId().get() : "");
+            std::cout << "; contact point: " << (road_it->lane_link().get().successor().get().contactPoint().present() ? road_it->lane_link().get().successor().get().contactPoint().get() : "") << std::endl;
+          }
+        }
+        if (road_it->signals().present())
+        {
+          for (signals::signal_iterator signal_it(road_it->signals().get().signal().begin()); signal_it != road_it->signals().get().signal().end(); ++signal_it)
+          {
+            std::cout << "  Signal id: " << (signal_it->id().present() ? signal_it->id().get() : "") << std::endl;
+            std::cout << "    Pose: s = " << (double)(signal_it->s().present() ? signal_it->s().get() : 0.0);
+            std::cout << "; t = " << (double)(signal_it->t().present() ? signal_it->t().get() : 0.0);
+            std::cout << "; heading = " << (double)(signal_it->hOffset().present() ? signal_it->hOffset().get() : 0.0) << std::endl;
+            std::cout << "    Orientation = " << (signal_it->orientation().present() ? signal_it->orientation().get() : "") << std::endl;
+            std::cout << "    Type: country: " << (signal_it->country().present() ? signal_it->country().get() : "");
+            std::cout << "; type: " << (signal_it->type().present() ? signal_it->type().get() : "");
+            std::cout << "; subtype: " << (signal_it->subtype().present() ? signal_it->subtype().get() : "") << std::endl;
+            std::cout << "    Value: " << (double)(signal_it->value().present() ? signal_it->value().get() : 0.0);
+            std::cout << " " << (signal_it->unit().present() ? signal_it->unit().get() : "");
+            std::cout << "; text: " << (signal_it->text().present() ? signal_it->text().get() : "") << std::endl;
+
+          }
+        }
+      }
       // road->header()
       std::cout << "Done." << std::endl;
     }catch (const xml_schema::exception& e){