diff --git a/include/adc_geometries.h b/include/adc_geometries.h
index da81a0ea4a1d05734e1e428baea2addb8ca46fa2..15c66192fb43bfef9ace5f336f6378eafd7ff126 100644
--- a/include/adc_geometries.h
+++ b/include/adc_geometries.h
@@ -88,6 +88,12 @@ class CAdcGeometry
*/
void operator = (const CAdcGeometry &geometry);
+ /**
+ * \brief Pure virtual function to clone pointers.
+ *
+ */
+ virtual CAdcGeometry* clone() const = 0;
+
/**
* \brief Function to transform from track coordenatos to world coordenates.
*
@@ -211,6 +217,14 @@ class CAdcGeoLine: public CAdcGeometry
*
*/
void operator = (const CAdcGeoLine &line);
+
+ /**
+ * \brief Function to clone pointers.
+ *
+ * \return A base class pointer to the object.
+ *
+ */
+ CAdcGeometry* clone() const;
};
@@ -320,6 +334,14 @@ class CAdcGeoSpiral: public CAdcGeometry
*/
void operator = (const CAdcGeoSpiral &spiral);
+ /**
+ * \brief Function to clone pointers.
+ *
+ * \return A base class pointer to the object.
+ *
+ */
+ CAdcGeometry* clone() const;
+
/**
* \brief Fu nction to seet the specific geometry parameters.
*
@@ -432,6 +454,14 @@ class CAdcGeoArc: public CAdcGeometry
*/
void operator = (const CAdcGeoArc &arc);
+ /**
+ * \brief Function to clone pointers.
+ *
+ * \return A base class pointer to the object.
+ *
+ */
+ CAdcGeometry* clone() const;
+
/**
* \brief Fu nction to seet the specific geometry parameters.
*
@@ -557,6 +587,14 @@ class CAdcGeoPoly3: public CAdcGeometry
*/
void operator = (const CAdcGeoPoly3 &poly3);
+ /**
+ * \brief Function to clone pointers.
+ *
+ * \return A base class pointer to the object.
+ *
+ */
+ CAdcGeometry* clone() const;
+
/**
* \brief Fu nction to seet the specific geometry parameters.
*
@@ -674,6 +712,14 @@ class CAdcGeoParamPoly3: public CAdcGeometry
*/
void operator = (const CAdcGeoParamPoly3 ¶mpoly3);
+ /**
+ * \brief Function to clone pointers.
+ *
+ * \return A base class pointer to the object.
+ *
+ */
+ CAdcGeometry* clone() const;
+
/**
* \brief Fu nction to seet the specific geometry parameters.
*
diff --git a/include/adc_road.h b/include/adc_road.h
index 15d3be031fee6615f1b80d56e72a4db075e742e5..74a2652e2dad38799feb254e297e351e59c2c313 100644
--- a/include/adc_road.h
+++ b/include/adc_road.h
@@ -75,12 +75,6 @@ class CAdcRoad
*/
void add_geometry(CAdcGeometry* geometry);
- /**
- * \brief Function to delete all geometry pointers.
- *
- */
- void delete_geometries(void);
-
/**
* \brief Function to clear signals.
*
diff --git a/src/adc_circuit.cpp b/src/adc_circuit.cpp
index d483a8801bbcb64fd95637a908c4743c7783fb1f..02054fcea5f0f5a7927f160cd910ba394332f024 100644
--- a/src/adc_circuit.cpp
+++ b/src/adc_circuit.cpp
@@ -11,8 +11,6 @@ CAdcCircuit::CAdcCircuit()
CAdcCircuit::~CAdcCircuit()
{
- for (unsigned int i = 0; i < this->roads.size(); i++)
- this->roads[i].delete_geometries();
clear_roads();
}
diff --git a/src/adc_geometries.cpp b/src/adc_geometries.cpp
index c6e5219c9c4b187a99c880d7ee1a33ab37af4aee..c209e688840dce8587503f6efdb79484758d5350 100644
--- a/src/adc_geometries.cpp
+++ b/src/adc_geometries.cpp
@@ -104,6 +104,11 @@ void CAdcGeoLine::operator = (const CAdcGeoLine &line)
CAdcGeometry::operator = (line);
}
+CAdcGeometry* CAdcGeoLine::clone() const
+{
+ return new CAdcGeoLine(*this);
+}
+
bool CAdcGeoLine::get_local_pose(double s, double t, double heading, double &u, double &v, double &yaw)
{
u = s - this->min_s;
@@ -158,6 +163,11 @@ void CAdcGeoSpiral::operator = (const CAdcGeoSpiral &spiral)
this->curv_end = spiral.curv_end;
}
+CAdcGeometry* CAdcGeoSpiral::clone() const
+{
+ return new CAdcGeoSpiral(*this);
+}
+
void CAdcGeoSpiral::set_params(double curv_start, double curv_end)
{
this->curv_start = curv_start;
@@ -214,6 +224,11 @@ void CAdcGeoArc::operator = (const CAdcGeoArc &arc)
this->curvature = arc.curvature;
}
+CAdcGeometry* CAdcGeoArc::clone() const
+{
+ return new CAdcGeoArc(*this);
+}
+
void CAdcGeoArc::set_params(double curvature)
{
this->curvature = curvature;
@@ -286,6 +301,11 @@ void CAdcGeoPoly3::operator = (const CAdcGeoPoly3 &poly3)
this->param.d = poly3.param.d;
}
+CAdcGeometry* CAdcGeoPoly3::clone() const
+{
+ return new CAdcGeoPoly3(*this);
+}
+
void CAdcGeoPoly3::set_params(Adc_poly3_param param)
{
this->param.a = param.a;
@@ -384,6 +404,11 @@ void CAdcGeoParamPoly3::operator = (const CAdcGeoParamPoly3 ¶mpoly3)
this->normalized = parampoly3.normalized;
}
+CAdcGeometry* CAdcGeoParamPoly3::clone() const
+{
+ return new CAdcGeoParamPoly3(*this);
+}
+
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 d9a8610f0be2ebfa1ef3cb17fe63b13483030c24..65639a1142e01b1db79632914db5491587e4fe10 100644
--- a/src/adc_road.cpp
+++ b/src/adc_road.cpp
@@ -21,13 +21,15 @@ CAdcRoad::CAdcRoad(const CAdcRoad &road)
this->id = road.id;
this->length = road.length;
this->name = road.name;
+ clear_signals();
this->signals = road.signals;
- this->geometries = road.geometries;
+ clear_geometries();
+ for (unsigned int i = 0; i < road.geometries.size(); i++)
+ this->geometries.push_back(road.geometries[i]->clone());
}
CAdcRoad::~CAdcRoad()
{
- // std::cout << "road destructor " << this->id << std::endl;
this->id = 0;
this->length = 0.0;
this->name = "";
@@ -45,13 +47,6 @@ void CAdcRoad::operator = (const CAdcRoad &road)
}
void CAdcRoad::clear_geometries(void)
-{
- // for (unsigned int i = 0; i < this->geometries.size(); i++)
- // delete this->geometries[i];
- std::vector<CAdcGeometry*>().swap(this->geometries);
-}
-
-void CAdcRoad::delete_geometries(void)
{
for (unsigned int i = 0; i < this->geometries.size(); i++)
delete this->geometries[i];
diff --git a/src/open_drive_format.cpp b/src/open_drive_format.cpp
index 40e2449af6d6717a334f79c16ef39d7cd1e54e36..2e28718ec5fc77e9d13fd578d15857077fc4dcfa 100644
--- a/src/open_drive_format.cpp
+++ b/src/open_drive_format.cpp
@@ -161,188 +161,3 @@ COpenDriveFormat::~COpenDriveFormat()
{
}
-// void COpenDriveFormat::load(std::string &filename)
-// {
-// struct stat buffer;
-
-// if(stat(filename.c_str(),&buffer)==0)
-// {
-// // try to open the specified file
-// try{
-// std::auto_ptr<OpenDRIVE> open_drive(OpenDRIVE_(filename.c_str(), xml_schema::flags::dont_validate));
-
-// ////////////////// Access road atributes
-// for (OpenDRIVE::road_iterator road_it(open_drive->road().begin()); road_it != open_drive->road().end(); ++road_it)
-// {
-// std::stringstream ss(road_it->id().get());
-// int road_id;
-// ss >> road_id;
-// double road_length = road_it->length().get();
-// std::string name = road_it->name().get();
-// CAdcRoad road(road_id, road_length, name);
-
-// std::cout << "Road: id = " << road_it->id().get();
-// std::cout << ", length = " << road_it->length().get();
-// std::cout << ", junction = " << road_it->junction().get() << std::endl;
-
-// ///////////////////// link atributes
-// 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;
-// }
-// }
-
-// //////////////// Geometry atributes
-// for (planView::geometry_iterator geo_it(road_it->planView().geometry().begin()); geo_it != road_it->planView().geometry().end(); ++geo_it)
-// {
-// std::cout << " Geometry: From s = " << (geo_it->s().present() ? geo_it->s().get() : 0.0);
-// std::cout << " to s = " << (geo_it->length().present() ? geo_it->length().get() : 0.0) << std::endl;
-// std::cout << " Origin pose: x = " << (geo_it->x().present() ? geo_it->x().get() : 0.0);
-// std::cout << "; y = " << (geo_it->y().present() ? geo_it->y().get() : 0.0);
-// std::cout << "; heading = " << (geo_it->hdg().present() ? geo_it->hdg().get() : 0.0) << std::endl;
-
-// double min_s = (geo_it->s().present() ? geo_it->s().get() : 0.0);
-// double max_s = (geo_it->length().present() ? geo_it->length().get() : 0.0);
-// double x = (geo_it->x().present() ? geo_it->x().get() : 0.0);
-// double y = (geo_it->y().present() ? geo_it->y().get() : 0.0);
-// double heading = (geo_it->hdg().present() ? geo_it->hdg().get() : 0.0);
-// if (geo_it->line().present())
-// {
-// std::cout << " type: Line" << std::endl;
-
-// CAdcGeoLine line(min_s, max_s, x, y, heading);
-// CAdcGeometry* geo;
-// geo = &line;
-// road.add_geometry(geo);
-// }
-// else if (geo_it->spiral().present())
-// {
-// std::cout << " type: Spiral-> curvStart = " << (geo_it->spiral().get().curvStart().present() ? geo_it->spiral().get().curvStart().get() : 0.0);
-// std::cout << ", curvEnd = " << (geo_it->spiral().get().curvEnd().present() ? geo_it->spiral().get().curvEnd().get() : 0.0) << std::endl;
-
-// double curv_start = (geo_it->spiral().get().curvStart().present() ? geo_it->spiral().get().curvStart().get() : 0.0);
-// double curv_end = (geo_it->spiral().get().curvEnd().present() ? geo_it->spiral().get().curvEnd().get() : 0.0);
-// CAdcGeoSpiral spi(min_s, max_s, x, y, heading, curv_start, curv_end);
-// CAdcGeometry* geo;
-// geo = &spi;
-// road.add_geometry(geo);
-// }
-// else if (geo_it->arc().present())
-// {
-// std::cout << " type: Arc-> curvature = " << (geo_it->arc().get().curvature().present() ? geo_it->arc().get().curvature().get() : 0.0) << std::endl;
-
-// double curvature = (geo_it->arc().get().curvature().present() ? geo_it->arc().get().curvature().get() : 0.0);
-// CAdcGeoArc arc(min_s, max_s, x, y, heading, curvature);
-// CAdcGeometry* geo;
-// geo = &arc;
-// road.add_geometry(geo);
-// }
-// else if (geo_it->poly3().present())
-// {
-// std::cout << " type: Poly3-> a = " << (geo_it->poly3().get().a().present() ? geo_it->poly3().get().a().get() : 0.0);
-// std::cout << ", b = " << (geo_it->poly3().get().b().present() ? geo_it->poly3().get().b().get() : 0.0);
-// std::cout << ", c = " << (geo_it->poly3().get().c().present() ? geo_it->poly3().get().c().get() : 0.0);
-// std::cout << ", d = " << (geo_it->poly3().get().d().present() ? geo_it->poly3().get().d().get() : 0.0) << std::endl;
-
-// Adc_poly3_param param;
-// param.a = (geo_it->poly3().get().a().present() ? geo_it->poly3().get().a().get() : 0.0);
-// param.b = (geo_it->poly3().get().b().present() ? geo_it->poly3().get().b().get() : 0.0);
-// param.c = (geo_it->poly3().get().c().present() ? geo_it->poly3().get().c().get() : 0.0);
-// param.d = (geo_it->poly3().get().d().present() ? geo_it->poly3().get().d().get() : 0.0);
-// CAdcGeoPoly3 poly3(min_s, max_s, x, y, heading, param);
-// CAdcGeometry* geo;
-// geo = &poly3;
-// road.add_geometry(geo);
-// }
-// else if (geo_it->paramPoly3().present())
-// {
-// std::cout << " type: ParamPoly3-> aU = " << (geo_it->paramPoly3().get().aU().present() ? geo_it->paramPoly3().get().aU().get() : 0.0);
-// std::cout << ", bU = " << (geo_it->paramPoly3().get().bU().present() ? geo_it->paramPoly3().get().bU().get() : 0.0);
-// std::cout << ", cU = " << (geo_it->paramPoly3().get().cU().present() ? geo_it->paramPoly3().get().cU().get() : 0.0);
-// std::cout << ", dU = " << (geo_it->paramPoly3().get().dU().present() ? geo_it->paramPoly3().get().dU().get() : 0.0) << std::endl;
-// std::cout << " -> aV = " << (geo_it->paramPoly3().get().aV().present() ? geo_it->paramPoly3().get().aV().get() : 0.0);
-// std::cout << ", bV = " << (geo_it->paramPoly3().get().bV().present() ? geo_it->paramPoly3().get().bV().get() : 0.0);
-// std::cout << ", cV = " << (geo_it->paramPoly3().get().cV().present() ? geo_it->paramPoly3().get().cV().get() : 0.0);
-// std::cout << ", dV = " << (geo_it->paramPoly3().get().dV().present() ? geo_it->paramPoly3().get().dV().get() : 0.0) << std::endl;
-// std::cout << " -> pRange = " << (geo_it->paramPoly3().get().pRange().present() ? geo_it->paramPoly3().get().pRange().get() : 0.0) << std::endl;
-
-// Adc_poly3_param u_param;
-// u_param.a = (geo_it->paramPoly3().get().aU().present() ? geo_it->paramPoly3().get().aU().get() : 0.0);
-// u_param.b = (geo_it->paramPoly3().get().bU().present() ? geo_it->paramPoly3().get().bU().get() : 0.0);
-// u_param.c = (geo_it->paramPoly3().get().cU().present() ? geo_it->paramPoly3().get().cU().get() : 0.0);
-// u_param.d = (geo_it->paramPoly3().get().dU().present() ? geo_it->paramPoly3().get().dU().get() : 0.0);
-// Adc_poly3_param v_param;
-// v_param.a = (geo_it->paramPoly3().get().aV().present() ? geo_it->paramPoly3().get().aV().get() : 0.0);
-// v_param.b = (geo_it->paramPoly3().get().bV().present() ? geo_it->paramPoly3().get().bV().get() : 0.0);
-// v_param.c = (geo_it->paramPoly3().get().cV().present() ? geo_it->paramPoly3().get().cV().get() : 0.0);
-// v_param.d = (geo_it->paramPoly3().get().dV().present() ? geo_it->paramPoly3().get().dV().get() : 0.0);
-// bool normalized = true;
-// if (geo_it->paramPoly3().get().pRange().present() && geo_it->paramPoly3().get().pRange().get() == pRange::arcLength)
-// normalized = false;
-// CAdcGeoParamPoly3 parampoly3(min_s, max_s, x, y, heading, u_param, v_param, normalized);
-// CAdcGeometry* geo;
-// geo = ¶mpoly3;
-// road.add_geometry(geo);
-// }
-// }
-
-// ////////// Signals atributes
-// 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;
-
-// std::stringstream sss(signal_it->id().get());
-// int id;
-// sss >> id;
-// double s = (signal_it->s().present() ? signal_it->s().get() : 0.0);
-// double t = (signal_it->t().present() ? signal_it->t().get() : 0.0);
-// double heading = (signal_it->hOffset().present() ? signal_it->hOffset().get() : 0.0);
-// std::string type = (signal_it->type().present() ? signal_it->type().get() : "");
-// std::string sub_type = (signal_it->subtype().present() ? signal_it->subtype().get() : "");
-// double value = (signal_it->value().present() ? signal_it->value().get() : 0.0);
-// std::string text = (signal_it->text().present() ? signal_it->text().get() : "");
-// bool reverse = false;
-// if (signal_it->orientation().present() && signal_it->orientation().get() == orientation::cxx_1)
-// reverse = true;
-// CAdcSignals sign(id, s, t, heading, type, sub_type, value, text, reverse);
-// road.add_signal(sign);
-// }
-// }
-// this->adc_circuit.add_road(road);
-// std::cout << std::endl;
-// }
-// std::cout << "Done." << std::endl;
-// }catch (const xml_schema::exception& e){
-// std::ostringstream os;
-// os << e;
-// /* handle exceptions */
-// throw CException(_HERE_,os.str());
-// }
-// }
-// else
-// throw CException(_HERE_,"The configuration file does not exist");
-// }
-
-