diff --git a/include/adc_geometries.h b/include/adc_geometries.h
index f417953cd7a5b953f007d52ecf0f1e5287160115..da81a0ea4a1d05734e1e428baea2addb8ca46fa2 100644
--- a/include/adc_geometries.h
+++ b/include/adc_geometries.h
@@ -52,6 +52,14 @@ class CAdcGeometry
*/
CAdcGeometry();
+ /**
+ * \brief Copy constructor.
+ *
+ * \param geometry The objecto to copy.
+ *
+ */
+ CAdcGeometry(const CAdcGeometry &geometry);
+
/**
* \brief Class constructor.
*
@@ -74,6 +82,12 @@ class CAdcGeometry
*/
virtual ~CAdcGeometry();
+ /**
+ * \brief assign operator = overload
+ *
+ */
+ void operator = (const CAdcGeometry &geometry);
+
/**
* \brief Function to transform from track coordenatos to world coordenates.
*
@@ -162,6 +176,14 @@ class CAdcGeoLine: public CAdcGeometry
*/
CAdcGeoLine();
+ /**
+ * \brief Copy constructor.
+ *
+ * \param line The objecto to copy.
+ *
+ */
+ CAdcGeoLine(const CAdcGeoLine &line);
+
/**
* \brief Class constructor with the common geometry parameters.
*
@@ -183,6 +205,12 @@ class CAdcGeoLine: public CAdcGeometry
*
*/
~CAdcGeoLine();
+
+ /**
+ * \brief assign operator = overload
+ *
+ */
+ void operator = (const CAdcGeoLine &line);
};
@@ -236,6 +264,14 @@ class CAdcGeoSpiral: public CAdcGeometry
*/
CAdcGeoSpiral();
+ /**
+ * \brief Copy constructor.
+ *
+ * \param spiral The objecto to copy.
+ *
+ */
+ CAdcGeoSpiral(const CAdcGeoSpiral &spiral);
+
/**
* \brief Class constructor with the common geometry parameters.
*
@@ -278,6 +314,12 @@ class CAdcGeoSpiral: public CAdcGeometry
*/
~CAdcGeoSpiral();
+ /**
+ * \brief assign operator = overload
+ *
+ */
+ void operator = (const CAdcGeoSpiral &spiral);
+
/**
* \brief Fu nction to seet the specific geometry parameters.
*
@@ -337,6 +379,14 @@ class CAdcGeoArc: public CAdcGeometry
*/
CAdcGeoArc();
+ /**
+ * \brief Copy constructor.
+ *
+ * \param arc The objecto to copy.
+ *
+ */
+ CAdcGeoArc(const CAdcGeoArc &arc);
+
/**
* \brief Class constructor with the common geometry parameters.
*
@@ -376,6 +426,12 @@ class CAdcGeoArc: public CAdcGeometry
*/
~CAdcGeoArc();
+ /**
+ * \brief assign operator = overload
+ *
+ */
+ void operator = (const CAdcGeoArc &arc);
+
/**
* \brief Fu nction to seet the specific geometry parameters.
*
@@ -449,6 +505,13 @@ class CAdcGeoPoly3: public CAdcGeometry
*/
CAdcGeoPoly3();
+ /**
+ * \brief Copy constructor.
+ *
+ * \param poly3 The objecto to copy.
+ *
+ */
+ CAdcGeoPoly3(const CAdcGeoPoly3 &poly3);
/**
* \brief Class constructor with the common geometry parameters.
*
@@ -488,6 +551,12 @@ class CAdcGeoPoly3: public CAdcGeometry
*/
~CAdcGeoPoly3();
+ /**
+ * \brief assign operator = overload
+ *
+ */
+ void operator = (const CAdcGeoPoly3 &poly3);
+
/**
* \brief Fu nction to seet the specific geometry parameters.
*
@@ -547,6 +616,14 @@ class CAdcGeoParamPoly3: public CAdcGeometry
*/
CAdcGeoParamPoly3();
+ /**
+ * \brief Copy constructor.
+ *
+ * \param parampoly3 The objecto to copy.
+ *
+ */
+ CAdcGeoParamPoly3(const CAdcGeoParamPoly3 ¶mpoly3);
+
/**
* \brief Class constructor with the common geometry parameters.
*
@@ -591,6 +668,12 @@ class CAdcGeoParamPoly3: public CAdcGeometry
*/
~CAdcGeoParamPoly3();
+ /**
+ * \brief assign operator = overload
+ *
+ */
+ void operator = (const CAdcGeoParamPoly3 ¶mpoly3);
+
/**
* \brief Fu nction to seet the specific geometry parameters.
*
diff --git a/include/adc_road.h b/include/adc_road.h
index 2cb53c684fc23bb05e789632cd153532924ca534..15d3be031fee6615f1b80d56e72a4db075e742e5 100644
--- a/include/adc_road.h
+++ b/include/adc_road.h
@@ -31,6 +31,12 @@ class CAdcRoad
*/
CAdcRoad();
+ /**
+ * \brief Copy constructor.
+ *
+ */
+ CAdcRoad(const CAdcRoad &road);
+
/**
* \brief Default constructor.
*
@@ -49,6 +55,12 @@ class CAdcRoad
*/
~CAdcRoad();
+ /**
+ * \brief assign operator = overload
+ *
+ */
+ void operator = (const CAdcRoad &road);
+
/**
* \brief Function to clear geometries.
*
diff --git a/include/adc_signals.h b/include/adc_signals.h
index ad7161ae35efde05128d4088e603fe4d67f1d085..12147c4ede0c220014c583118cddd5f6f9966701 100644
--- a/include/adc_signals.h
+++ b/include/adc_signals.h
@@ -87,6 +87,14 @@ class CAdcSignals
*/
CAdcSignals();
+ /**
+ * \brief Default constructor.
+ *
+ * It calls CAdcSignals::set_urdf_map function.
+ *
+ */
+ CAdcSignals(const CAdcSignals &signal);
+
/**
* \brief Class constructor.
*
@@ -119,6 +127,12 @@ class CAdcSignals
*/
~CAdcSignals();
+ /**
+ * \brief assign operator = overload
+ *
+ */
+ void operator = (const CAdcSignals &signal);
+
/**
* \brief Function to get signal's id.
*
diff --git a/src/adc_geometries.cpp b/src/adc_geometries.cpp
index f4256cef8c5367058c3949a37cc5b3602334bf2e..c6e5219c9c4b187a99c880d7ee1a33ab37af4aee 100644
--- a/src/adc_geometries.cpp
+++ b/src/adc_geometries.cpp
@@ -12,14 +12,15 @@ CAdcGeometry::CAdcGeometry()
this->heading = 0.0;
}
-CAdcGeometry::~CAdcGeometry()
+CAdcGeometry::CAdcGeometry(const CAdcGeometry &geometry)
{
- this->min_s = 0.0;
- this->max_s = 0.0;
- this->x = 0.0;
- this->y = 0.0;
- this->heading = 0.0;
+ this->min_s = geometry.min_s;
+ this->max_s = geometry.max_s;
+ this->x = geometry.x;
+ this->y = geometry.y;
+ this->heading = geometry.heading;
}
+
CAdcGeometry::CAdcGeometry(double min_s, double max_s, double x, double y, double heading)
{
this->min_s = min_s;
@@ -29,6 +30,24 @@ CAdcGeometry::CAdcGeometry(double min_s, double max_s, double x, double y, doubl
this->heading = heading;
}
+CAdcGeometry::~CAdcGeometry()
+{
+ this->min_s = 0.0;
+ this->max_s = 0.0;
+ this->x = 0.0;
+ this->y = 0.0;
+ this->heading = 0.0;
+}
+
+void CAdcGeometry::operator = (const CAdcGeometry &geometry)
+{
+ this->min_s = geometry.min_s;
+ this->max_s = geometry.max_s;
+ this->x = geometry.x;
+ this->y = geometry.y;
+ this->heading = geometry.heading;
+}
+
bool CAdcGeometry::get_world_pose(double s, double t, double heading, double &x, double &y, double &yaw)
{
double local_u, local_v, local_yaw;
@@ -63,7 +82,8 @@ CAdcGeoLine::CAdcGeoLine()
}
-CAdcGeoLine::~CAdcGeoLine()
+CAdcGeoLine::CAdcGeoLine(const CAdcGeoLine &line):
+CAdcGeometry(line)
{
}
@@ -74,6 +94,16 @@ CAdcGeometry(min_s, max_s, x, y, heading)
}
+CAdcGeoLine::~CAdcGeoLine()
+{
+
+}
+
+void CAdcGeoLine::operator = (const CAdcGeoLine &line)
+{
+ CAdcGeometry::operator = (line);
+}
+
bool CAdcGeoLine::get_local_pose(double s, double t, double heading, double &u, double &v, double &yaw)
{
u = s - this->min_s;
@@ -95,10 +125,11 @@ CAdcGeoSpiral::CAdcGeoSpiral()
this->curv_end = 0.0;
}
-CAdcGeoSpiral::~CAdcGeoSpiral()
+CAdcGeoSpiral::CAdcGeoSpiral(const CAdcGeoSpiral &spiral):
+CAdcGeometry(spiral)
{
- this->curv_start = 0.0;
- this->curv_end = 0.0;
+ this->curv_start = spiral.curv_start;
+ this->curv_end = spiral.curv_end;
}
CAdcGeoSpiral::CAdcGeoSpiral(double min_s, double max_s, double x, double y, double heading):
@@ -114,6 +145,19 @@ CAdcGeometry(min_s, max_s, x, y, heading)
this->curv_end = curv_end;
}
+CAdcGeoSpiral::~CAdcGeoSpiral()
+{
+ this->curv_start = 0.0;
+ this->curv_end = 0.0;
+}
+
+void CAdcGeoSpiral::operator = (const CAdcGeoSpiral &spiral)
+{
+ CAdcGeometry::operator = (spiral);
+ this->curv_start = spiral.curv_start;
+ this->curv_end = spiral.curv_end;
+}
+
void CAdcGeoSpiral::set_params(double curv_start, double curv_end)
{
this->curv_start = curv_start;
@@ -141,9 +185,10 @@ CAdcGeoArc::CAdcGeoArc()
this->curvature = 0.0;
}
-CAdcGeoArc::~CAdcGeoArc()
+CAdcGeoArc::CAdcGeoArc(const CAdcGeoArc &arc):
+CAdcGeometry(arc)
{
- this->curvature = 0.0;
+ this->curvature = arc.curvature;
}
CAdcGeoArc::CAdcGeoArc(double min_s, double max_s, double x, double y, double heading):
@@ -158,6 +203,17 @@ CAdcGeometry(min_s, max_s, x, y, heading)
this->curvature = curvature;
}
+CAdcGeoArc::~CAdcGeoArc()
+{
+ this->curvature = 0.0;
+}
+
+void CAdcGeoArc::operator = (const CAdcGeoArc &arc)
+{
+ CAdcGeometry::operator = (arc);
+ this->curvature = arc.curvature;
+}
+
void CAdcGeoArc::set_params(double curvature)
{
this->curvature = curvature;
@@ -189,12 +245,13 @@ CAdcGeoPoly3::CAdcGeoPoly3()
this->param.d = 0.0;
}
-CAdcGeoPoly3::~CAdcGeoPoly3()
+CAdcGeoPoly3::CAdcGeoPoly3(const CAdcGeoPoly3 &poly3):
+CAdcGeometry(poly3)
{
- this->param.a = 0.0;
- this->param.b = 0.0;
- this->param.c = 0.0;
- this->param.d = 0.0;
+ this->param.a = poly3.param.a;
+ this->param.b = poly3.param.b;
+ this->param.c = poly3.param.c;
+ this->param.d = poly3.param.d;
}
CAdcGeoPoly3::CAdcGeoPoly3(double min_s, double max_s, double x, double y, double heading):
@@ -212,6 +269,23 @@ CAdcGeometry(min_s, max_s, x, y, heading)
this->param.d = param.d;
}
+CAdcGeoPoly3::~CAdcGeoPoly3()
+{
+ this->param.a = 0.0;
+ this->param.b = 0.0;
+ this->param.c = 0.0;
+ this->param.d = 0.0;
+}
+
+void CAdcGeoPoly3::operator = (const CAdcGeoPoly3 &poly3)
+{
+ CAdcGeometry::operator = (poly3);
+ this->param.a = poly3.param.a;
+ this->param.b = poly3.param.b;
+ this->param.c = poly3.param.c;
+ this->param.d = poly3.param.d;
+}
+
void CAdcGeoPoly3::set_params(Adc_poly3_param param)
{
this->param.a = param.a;
@@ -249,17 +323,18 @@ CAdcGeoParamPoly3::CAdcGeoParamPoly3()
this->normalized = true;
}
-CAdcGeoParamPoly3::~CAdcGeoParamPoly3()
+CAdcGeoParamPoly3::CAdcGeoParamPoly3(const CAdcGeoParamPoly3 ¶mpoly3):
+CAdcGeometry(parampoly3)
{
- this->u_param.a = 0.0;
- this->u_param.b = 0.0;
- this->u_param.c = 0.0;
- this->u_param.d = 0.0;
- this->v_param.a = 0.0;
- this->v_param.b = 0.0;
- this->v_param.c = 0.0;
- this->v_param.d = 0.0;
- this->normalized = true;
+ this->u_param.a = parampoly3.u_param.a;
+ this->u_param.b = parampoly3.u_param.b;
+ this->u_param.c = parampoly3.u_param.c;
+ this->u_param.d = parampoly3.u_param.d;
+ this->v_param.a = parampoly3.v_param.a;
+ this->v_param.b = parampoly3.v_param.b;
+ this->v_param.c = parampoly3.v_param.c;
+ this->v_param.d = parampoly3.v_param.d;
+ this->normalized = parampoly3.normalized;
}
CAdcGeoParamPoly3::CAdcGeoParamPoly3(double min_s, double max_s, double x, double y, double heading):
@@ -282,6 +357,33 @@ CAdcGeometry(min_s, max_s, x, y, heading)
this->normalized = normalized;
}
+CAdcGeoParamPoly3::~CAdcGeoParamPoly3()
+{
+ this->u_param.a = 0.0;
+ this->u_param.b = 0.0;
+ this->u_param.c = 0.0;
+ this->u_param.d = 0.0;
+ this->v_param.a = 0.0;
+ this->v_param.b = 0.0;
+ this->v_param.c = 0.0;
+ this->v_param.d = 0.0;
+ this->normalized = true;
+}
+
+void CAdcGeoParamPoly3::operator = (const CAdcGeoParamPoly3 ¶mpoly3)
+{
+ CAdcGeometry::operator = (parampoly3);
+ this->u_param.a = parampoly3.u_param.a;
+ this->u_param.b = parampoly3.u_param.b;
+ this->u_param.c = parampoly3.u_param.c;
+ this->u_param.d = parampoly3.u_param.d;
+ this->v_param.a = parampoly3.v_param.a;
+ this->v_param.b = parampoly3.v_param.b;
+ this->v_param.c = parampoly3.v_param.c;
+ this->v_param.d = parampoly3.v_param.d;
+ this->normalized = parampoly3.normalized;
+}
+
void CAdcGeoParamPoly3::set_params(Adc_poly3_param u_param, Adc_poly3_param v_param, bool normalized)
{
this->u_param.a = u_param.a;
diff --git a/src/adc_road.cpp b/src/adc_road.cpp
index cf5d4d10ebcf0fd431121daa143fc8762ff42708..d9a8610f0be2ebfa1ef3cb17fe63b13483030c24 100644
--- a/src/adc_road.cpp
+++ b/src/adc_road.cpp
@@ -16,6 +16,15 @@ CAdcRoad::CAdcRoad(int id, double length, std::string name)
this->name = name;
}
+CAdcRoad::CAdcRoad(const CAdcRoad &road)
+{
+ this->id = road.id;
+ this->length = road.length;
+ this->name = road.name;
+ this->signals = road.signals;
+ this->geometries = road.geometries;
+}
+
CAdcRoad::~CAdcRoad()
{
// std::cout << "road destructor " << this->id << std::endl;
@@ -26,6 +35,15 @@ CAdcRoad::~CAdcRoad()
clear_signals();
}
+void CAdcRoad::operator = (const CAdcRoad &road)
+{
+ this->id = road.id;
+ this->length = road.length;
+ this->name = road.name;
+ this->signals = road.signals;
+ this->geometries = road.geometries;
+}
+
void CAdcRoad::clear_geometries(void)
{
// for (unsigned int i = 0; i < this->geometries.size(); i++)
diff --git a/src/adc_signals.cpp b/src/adc_signals.cpp
index c61f8e9a639087dac325513a93f0d39440a5f543..932e81dd3cfd86a31016f74d86a938468ebb7277 100644
--- a/src/adc_signals.cpp
+++ b/src/adc_signals.cpp
@@ -38,6 +38,21 @@ CAdcSignals::~CAdcSignals()
this->text = "";
}
+CAdcSignals::CAdcSignals(const CAdcSignals & signal)
+{
+ this->id = signal.id;
+ this->s = signal.s;
+ this->t = signal.t;
+ this->heading = signal.heading;
+ this->type = signal.type;
+ this->sub_type = signal.sub_type;
+ this->value = signal.value;
+ this->text = signal.text;
+ this->world_x = signal.world_x;
+ this->world_y = signal.world_y;
+ this->world_yaw = signal.world_yaw;
+}
+
CAdcSignals::CAdcSignals(int id, double s, double t, double heading, std::string type, std::string sub_type, int value, std::string text, bool reverse)
{
this->id = id;
@@ -53,6 +68,22 @@ CAdcSignals::CAdcSignals(int id, double s, double t, double heading, std::string
this->world_yaw = 0;
set_urdf_map();
}
+
+void CAdcSignals::operator = (const CAdcSignals &signal)
+{
+ this->id = signal.id;
+ this->s = signal.s;
+ this->t = signal.t;
+ this->heading = signal.heading;
+ this->type = signal.type;
+ this->sub_type = signal.sub_type;
+ this->value = signal.value;
+ this->text = signal.text;
+ this->world_x = signal.world_x;
+ this->world_y = signal.world_y;
+ this->world_yaw = signal.world_yaw;
+}
+
void CAdcSignals::set_urdf_map(void)
{
if (urdf_map.size() == 0)