diff --git a/include/adc_circuit.h b/include/adc_circuit.h
index d343e5db0c72345ba41ed3172cd8546da6bd251b..20f9ff560b83f9bf712319d812032b05cf54b0d1 100644
--- a/include/adc_circuit.h
+++ b/include/adc_circuit.h
@@ -7,6 +7,10 @@
#include <vector>
+#ifdef _HAVE_XSD
+#include "../src/xml/OpenDRIVE_1.4H.hxx"
+#endif
+
/**
* \class CAdcCircuit
*
@@ -20,6 +24,20 @@ class CAdcCircuit
private:
std::vector<CAdcRoad*> roads;///< Variable to store an access each road data.
+ /**
+ * \brief Function to add a road.
+ *
+ * \param road The road to add.
+ *
+ */
+ inline void add_road(CAdcRoad* &road);
+
+ /**
+ * \brief Function to clear roads.
+ *
+ */
+ inline void clear_roads(void);
+
public:
/**
* \brief Default constructor.
@@ -35,20 +53,6 @@ class CAdcCircuit
*/
~CAdcCircuit();
- /**
- * \brief Function to clear roads.
- *
- */
- void clear_roads(void);
-
- /**
- * \brief Function to add a road.
- *
- * \param road The road to add.
- *
- */
- void add_road(CAdcRoad* &road);
-
/**
* \brief Function to print each road info.
*
@@ -89,6 +93,14 @@ class CAdcCircuit
* \throws CException If the output file can't be opened.
*/
void generate_spwan_launch_file(std::string &filename);
+
+ /**
+ * \brief Function to load the .xodr info.
+ *
+ * \param open_drive The objects generated with XSD.
+ *
+ */
+ void load(std::auto_ptr<OpenDRIVE> &open_drive);
};
#endif
\ No newline at end of file
diff --git a/include/adc_geometries.h b/include/adc_geometries.h
index 15c66192fb43bfef9ace5f336f6378eafd7ff126..7fcc89f1028ccd2d6f022d3dc68a8f2e0f53b3b9 100644
--- a/include/adc_geometries.h
+++ b/include/adc_geometries.h
@@ -1,6 +1,10 @@
#ifndef _ADC_GEOMETRIES_H
#define _ADC_GEOMETRIES_H
+#ifdef _HAVE_XSD
+#include "../src/xml/OpenDRIVE_1.4H.hxx"
+#endif
+
/**
* \class CAdcGeometry
*
@@ -45,6 +49,14 @@ class CAdcGeometry
*/
virtual bool get_local_pose(double s, double t, double heading, double &u, double &v, double &yaw) = 0;
+ /**
+ * \brief Function to load the .xodr geometry specific info.
+ *
+ * \param geometry_info The objects generated with XSD.
+ *
+ */
+ virtual void load_param(std::auto_ptr<planView::geometry_type> &geometry_info) = 0;
+
public:
/**
* \brief Default constructor.
@@ -133,6 +145,30 @@ class CAdcGeometry
*
*/
void debug(void);
+
+ /**
+ * \brief Function to load the .xodr info.
+ *
+ * \param geometry_info The objects generated with XSD.
+ *
+ */
+ void load(std::auto_ptr<planView::geometry_type> &geometry_info);
+
+ /**
+ * \brief Function to set the common geometry parameters.
+ *
+ * \param min_s Geometry's min_s.
+ *
+ * \param max_s Geometry's max_s.
+ *
+ * \param x Geometry's origin x coordenate.
+ *
+ * \param y Geometry's origin y coordenate.
+ *
+ * \param heading Geometry's origins heading.
+ *
+ */
+ // set_base_paremeters(double min_s, double max_s, double x, double y, double heading);
};
@@ -225,6 +261,14 @@ class CAdcGeoLine: public CAdcGeometry
*
*/
CAdcGeometry* clone() const;
+
+ /**
+ * \brief Function to load the .xodr info.
+ *
+ * \param geometry_info The objects generated with XSD.
+ *
+ */
+ void load_param(std::auto_ptr<planView::geometry_type> &geometry_info);
};
@@ -351,7 +395,15 @@ class CAdcGeoSpiral: public CAdcGeometry
*
*/
void set_params(double curv_start, double curv_end);
-};
+
+ /**
+ * \brief Function to load the .xodr info.
+ *
+ * \param geometry_info The objects generated with XSD.
+ *
+ */
+ void load_param(std::auto_ptr<planView::geometry_type> &geometry_info);
+ };
/**
@@ -469,6 +521,14 @@ class CAdcGeoArc: public CAdcGeometry
*
*/
void set_params(double curvature);
+
+ /**
+ * \brief Function to load the .xodr info.
+ *
+ * \param geometry_info The objects generated with XSD.
+ *
+ */
+ void load_param(std::auto_ptr<planView::geometry_type> &geometry_info);
};
@@ -602,6 +662,14 @@ class CAdcGeoPoly3: public CAdcGeometry
*
*/
void set_params(Adc_poly3_param param);
+
+ /**
+ * \brief Function to load the .xodr info.
+ *
+ * \param geometry_info The objects generated with XSD.
+ *
+ */
+ void load_param(std::auto_ptr<planView::geometry_type> &geometry_info);
};
@@ -731,5 +799,13 @@ class CAdcGeoParamPoly3: public CAdcGeometry
*
*/
void set_params(Adc_poly3_param u_param, Adc_poly3_param v_param, bool normalized = true);
+
+ /**
+ * \brief Function to load the .xodr info.
+ *
+ * \param geometry_info The objects generated with XSD.
+ *
+ */
+ void load_param(std::auto_ptr<planView::geometry_type> &geometry_info);
};
#endif
\ No newline at end of file
diff --git a/include/adc_road.h b/include/adc_road.h
index 9c1dc9a79dae728f96dcbaa4e9b5657a5fca4f20..a69d0aa0c28e278f5c6732e606502bc1ae441e2c 100644
--- a/include/adc_road.h
+++ b/include/adc_road.h
@@ -6,7 +6,9 @@
#include "adc_geometries.h"
#include "adc_signals.h"
-
+#ifdef _HAVE_XSD
+#include "../src/xml/OpenDRIVE_1.4H.hxx"
+#endif
/**
* \class CAdcRoad
*
@@ -24,6 +26,34 @@ class CAdcRoad
std::vector<CAdcGeometry*> geometries;///< Road's geometries.
std::vector<CAdcSignals*> signals; ///< Road's signals.
+ /**
+ * \brief Function to clear geometries.
+ *
+ */
+ inline void clear_geometries(void);
+
+ /**
+ * \brief Function to add a geometry.
+ *
+ * \param geometry The road's geometry to add.
+ *
+ */
+ inline void add_geometry(CAdcGeometry* geometry);
+
+ /**
+ * \brief Function to clear signals.
+ *
+ */
+ inline void clear_signals(void);
+
+ /**
+ * \brief Function to add a sign.
+ *
+ * \param sign The road's sign to add.
+ *
+ */
+ inline void add_signal(CAdcSignals* sign);
+
public:
/**
* \brief Default constructor.
@@ -61,34 +91,6 @@ class CAdcRoad
*/
void operator = (const CAdcRoad &road);
- /**
- * \brief Function to clear geometries.
- *
- */
- void clear_geometries(void);
-
- /**
- * \brief Function to add a geometry.
- *
- * \param geometry The road's geometry to add.
- *
- */
- void add_geometry(CAdcGeometry* geometry);
-
- /**
- * \brief Function to clear signals.
- *
- */
- void clear_signals(void);
-
- /**
- * \brief Function to add a sign.
- *
- * \param sign The road's sign to add.
- *
- */
- void add_signal(CAdcSignals* sign);
-
/**
* \brief Function to set road's id.
*
@@ -157,6 +159,14 @@ class CAdcRoad
*
*/
void append_signs_spawn(std::string &filename);
+
+ /**
+ * \brief Function to load the .xodr info.
+ *
+ * \param road_info The objects generated with XSD.
+ *
+ */
+ void load(std::auto_ptr<OpenDRIVE::road_type> &road_info);
};
#endif
diff --git a/include/adc_signals.h b/include/adc_signals.h
index 12147c4ede0c220014c583118cddd5f6f9966701..fdfeeaa5970f31c00ea0f042b606f717e7923146 100644
--- a/include/adc_signals.h
+++ b/include/adc_signals.h
@@ -3,22 +3,26 @@
#include <string>
#include <map>
+#ifdef _HAVE_XSD
+#include "../src/xml/OpenDRIVE_1.4H.hxx"
+#endif
+
#define UNMARKEDINTERSECTION_TYPE "102"
#define UNMARKEDINTERSECTION_MARKER "alvar0"
#define STOPANDGIVEWAY_TYPE "206"
#define STOPANDGIVEWAY_MARKER "alvar1"
-#define PARKINGAREA_TYPE "???"
+#define PARKINGAREA_TYPE "314"
#define PARKINGAREA_MARKER "alvar2"
-#define HAVEWAY_TYPE "???"
+#define HAVEWAY_TYPE "301"
#define HAVEWAY_MARKER "alvar3"
#define AHEADONLY_TYPE "209"
#define AHEADONLY_SUB_TYPE "30"
#define AHEADONLY_MARKER "alvar4"
#define GIVEWAY_TYPE "205"
#define GIVEWAY_MARKER "alvar5"
-#define PEDESTRIANCROSSING_TYPE "???"
+#define PEDESTRIANCROSSING_TYPE "350"
#define PEDESTRIANCROSSING_MARKER "alvar6"
-#define ROUNDABOUT_TYPE "???"
+#define ROUNDABOUT_TYPE "215"
#define ROUNDABOUT_MARKER "alvar7"
#define NOOVERTAKING_TYPE "276"
#define NOOVERTAKING_MARKER "alvar8"
@@ -194,6 +198,14 @@ class CAdcSignals
*
*/
void append_sign_spawn(std::string &filename);
+
+ /**
+ * \brief Function to load the .xodr info.
+ *
+ * \param signal_info The objects generated with XSD.
+ *
+ */
+ void load(std::auto_ptr<signals::signal_type> &signal_info);
};
#endif
diff --git a/src/adc_circuit.cpp b/src/adc_circuit.cpp
index d2466e00b383b3371aa53cd562254752d5ca9f7e..e3c5366f8ddfb0065dc9050bcda6ec5c63c70678 100644
--- a/src/adc_circuit.cpp
+++ b/src/adc_circuit.cpp
@@ -75,5 +75,16 @@ void CAdcCircuit::generate_spwan_launch_file(std::string &filename)
throw CException(_HERE_,"CAdcCircuit::generate_spwan_launch_file -> The output file can't be open");
out_file << oss.str() << std::endl;
out_file.close();
-
+}
+
+void CAdcCircuit::load(std::auto_ptr<OpenDRIVE> &open_drive)
+{
+ ////////////////// Access road atributes
+ for (OpenDRIVE::road_iterator road_it(open_drive->road().begin()); road_it != open_drive->road().end(); ++road_it)
+ {
+ CAdcRoad *road = new CAdcRoad();
+ std::auto_ptr<OpenDRIVE::road_type> road_info(new OpenDRIVE::road_type(*road_it));
+ road->load(road_info);
+ add_road(road);
+ }
}
\ No newline at end of file
diff --git a/src/adc_geometries.cpp b/src/adc_geometries.cpp
index c209e688840dce8587503f6efdb79484758d5350..a0bfa9c90c880d3a7ace1c0e96abc5bf6097a981 100644
--- a/src/adc_geometries.cpp
+++ b/src/adc_geometries.cpp
@@ -75,6 +75,25 @@ void CAdcGeometry::debug(void)
debug_param();
}
+void CAdcGeometry::load(std::auto_ptr<planView::geometry_type> &geometry_info)
+{
+ this->min_s = (geometry_info->s().present() ? geometry_info->s().get() : 0.0);
+ this->max_s = min_s + (geometry_info->length().present() ? geometry_info->length().get() : 0.0);
+ this->x = (geometry_info->x().present() ? geometry_info->x().get() : 0.0);
+ this->y = (geometry_info->y().present() ? geometry_info->y().get() : 0.0);
+ this->heading = (geometry_info->hdg().present() ? geometry_info->hdg().get() : 0.0);
+ load_param(geometry_info);
+}
+
+// CAdcGeometry::set_base_paremeters(double min_s, double max_s, double x, double y, double heading)
+// {
+// this->min_s = min_s;
+// this->max_s = max_s;
+// this->x = x;
+// this->y = y;
+// this->heading = heading;
+// }
+
///////////////////// CAdcGeoLine /////////////////////
CAdcGeoLine::CAdcGeoLine()
@@ -122,6 +141,11 @@ void CAdcGeoLine::debug_param(void)
}
+void CAdcGeoLine::load_param(std::auto_ptr<planView::geometry_type> &geometry_info)
+{
+
+}
+
///////////////////// CAdcGeoSpiral /////////////////////
CAdcGeoSpiral::CAdcGeoSpiral()
@@ -188,6 +212,12 @@ void CAdcGeoSpiral::debug_param(void)
std::cout << " params: start_curvature = " << this->curv_start << ", end_curvature = " << this->curv_end << std::endl;
}
+void CAdcGeoSpiral::load_param(std::auto_ptr<planView::geometry_type> &geometry_info)
+{
+ this->curv_start = (geometry_info->spiral().get().curvStart().present() ? geometry_info->spiral().get().curvStart().get() : 0.0);
+ this->curv_end = (geometry_info->spiral().get().curvEnd().present() ? geometry_info->spiral().get().curvEnd().get() : 0.0);
+}
+
///////////////////// CAdcGeoArc /////////////////////
CAdcGeoArc::CAdcGeoArc()
@@ -250,6 +280,11 @@ void CAdcGeoArc::debug_param(void)
std::cout << " params: curvature = " << this->curvature << std::endl;
}
+void CAdcGeoArc::load_param(std::auto_ptr<planView::geometry_type> &geometry_info)
+{
+ this->curvature = (geometry_info->arc().get().curvature().present() ? geometry_info->arc().get().curvature().get() : 0.0);
+}
+
///////////////////// CAdcGeoPoly3 /////////////////////
CAdcGeoPoly3::CAdcGeoPoly3()
@@ -327,6 +362,14 @@ void CAdcGeoPoly3::debug_param(void)
{
std::cout << " params: a = " << this->param.a << ", b = " << this->param.b << ", c = " << this->param.c << ", d = " << this->param.d << std::endl;
}
+
+void CAdcGeoPoly3::load_param(std::auto_ptr<planView::geometry_type> &geometry_info)
+{
+ this->param.a = (geometry_info->poly3().get().a().present() ? geometry_info->poly3().get().a().get() : 0.0);
+ this->param.b = (geometry_info->poly3().get().b().present() ? geometry_info->poly3().get().b().get() : 0.0);
+ this->param.c = (geometry_info->poly3().get().c().present() ? geometry_info->poly3().get().c().get() : 0.0);
+ this->param.d = (geometry_info->poly3().get().d().present() ? geometry_info->poly3().get().d().get() : 0.0);
+}
///////////////////// CAdcGeoParamPoly3 /////////////////////
@@ -442,3 +485,17 @@ void CAdcGeoParamPoly3::debug_param(void)
std::cout << " V params: a = " << this->v_param.a << ", b = " << this->v_param.b << ", c = " << this->v_param.c << ", d = " << this->v_param.d << std::endl;
}
+void CAdcGeoParamPoly3::load_param(std::auto_ptr<planView::geometry_type> &geometry_info)
+{
+ this->u_param.a = (geometry_info->paramPoly3().get().aU().present() ? geometry_info->paramPoly3().get().aU().get() : 0.0);
+ this->u_param.b = (geometry_info->paramPoly3().get().bU().present() ? geometry_info->paramPoly3().get().bU().get() : 0.0);
+ this->u_param.c = (geometry_info->paramPoly3().get().cU().present() ? geometry_info->paramPoly3().get().cU().get() : 0.0);
+ this->u_param.d = (geometry_info->paramPoly3().get().dU().present() ? geometry_info->paramPoly3().get().dU().get() : 0.0);
+ this->v_param.a = (geometry_info->paramPoly3().get().aV().present() ? geometry_info->paramPoly3().get().aV().get() : 0.0);
+ this->v_param.b = (geometry_info->paramPoly3().get().bV().present() ? geometry_info->paramPoly3().get().bV().get() : 0.0);
+ this->v_param.c = (geometry_info->paramPoly3().get().cV().present() ? geometry_info->paramPoly3().get().cV().get() : 0.0);
+ this->v_param.d = (geometry_info->paramPoly3().get().dV().present() ? geometry_info->paramPoly3().get().dV().get() : 0.0);
+ this->normalized = true;
+ if (geometry_info->paramPoly3().get().pRange().present() && geometry_info->paramPoly3().get().pRange().get() == pRange::arcLength)
+ this->normalized = false;
+}
diff --git a/src/adc_road.cpp b/src/adc_road.cpp
index db5ba8eb0d746c25a28b90dd19cd6c29a1efcbd8..ab008abc39a9cc00e659439059d03377716aa13e 100644
--- a/src/adc_road.cpp
+++ b/src/adc_road.cpp
@@ -137,4 +137,64 @@ void CAdcRoad::append_signs_spawn(std::string &filename)
{
for (unsigned int i = 0; i < this->signals.size(); i++)
this->signals[i]->append_sign_spawn(filename);
+}
+
+void CAdcRoad::load(std::auto_ptr<OpenDRIVE::road_type> &road_info)
+{
+ std::stringstream ss(road_info->id().get());
+ ss >> this->id;
+ this->length = road_info->length().get();
+ this->name = road_info->name().get();
+
+ //////////////// Geometry atributes
+ for (planView::geometry_iterator geo_it(road_info->planView().geometry().begin()); geo_it != road_info->planView().geometry().end(); ++geo_it)
+ {
+ if (geo_it->line().present())
+ {
+ CAdcGeoLine *line = new CAdcGeoLine();
+ std::auto_ptr<planView::geometry_type> geo_info(new planView::geometry_type(*geo_it));
+ line->load(geo_info);
+ add_geometry(line);
+ }
+ else if (geo_it->spiral().present())
+ {
+ CAdcGeoSpiral *spi = new CAdcGeoSpiral();
+ std::auto_ptr<planView::geometry_type> geo_info(new planView::geometry_type(*geo_it));
+ spi->load(geo_info);
+ add_geometry(spi);
+ }
+ else if (geo_it->arc().present())
+ {
+ CAdcGeoArc *arc = new CAdcGeoArc();
+ std::auto_ptr<planView::geometry_type> geo_info(new planView::geometry_type(*geo_it));
+ arc->load(geo_info);
+ add_geometry(arc);
+ }
+ else if (geo_it->poly3().present())
+ {
+ CAdcGeoPoly3 *poly3 = new CAdcGeoPoly3();
+ std::auto_ptr<planView::geometry_type> geo_info(new planView::geometry_type(*geo_it));
+ poly3->load(geo_info);
+ add_geometry(poly3);
+ }
+ else if (geo_it->paramPoly3().present())
+ {
+ CAdcGeoParamPoly3 *parampoly3 = new CAdcGeoParamPoly3();
+ std::auto_ptr<planView::geometry_type> geo_info(new planView::geometry_type(*geo_it));
+ parampoly3->load(geo_info);
+ add_geometry(parampoly3);
+ }
+ }
+
+ ////////// Signals atributes
+ if (road_info->signals().present())
+ {
+ for (signals::signal_iterator signal_it(road_info->signals().get().signal().begin()); signal_it != road_info->signals().get().signal().end(); ++signal_it)
+ {
+ CAdcSignals *sign = new CAdcSignals();
+ std::auto_ptr<signals::signal_type> signal_info(new signals::signal_type(*signal_it));
+ sign->load(signal_info);
+ add_signal(sign);
+ }
+ }
}
\ No newline at end of file
diff --git a/src/adc_signals.cpp b/src/adc_signals.cpp
index 932e81dd3cfd86a31016f74d86a938468ebb7277..8752130553686084c208c00c821819f14bc7167f 100644
--- a/src/adc_signals.cpp
+++ b/src/adc_signals.cpp
@@ -217,5 +217,21 @@ void CAdcSignals::append_sign_spawn(std::string &filename)
throw CException(_HERE_,"CAdcCircuit::generate_spwan_launch_file -> The output file can't be open");
out_file << oss.str() << std::endl;
out_file.close();
+}
+void CAdcSignals::load(std::auto_ptr<signals::signal_type> &signal_info)
+{
+ std::stringstream ss(signal_info->id().get());
+ ss >> this->id;
+ this->s = (signal_info->s().present() ? signal_info->s().get() : 0.0);
+ this->t = (signal_info->t().present() ? signal_info->t().get() : 0.0);
+ this->heading = (signal_info->hOffset().present() ? signal_info->hOffset().get() : 0.0);
+ this->type = (signal_info->type().present() ? signal_info->type().get() : "");
+ this->sub_type = (signal_info->subtype().present() ? signal_info->subtype().get() : "");
+ this->value = (signal_info->value().present() ? signal_info->value().get() : 0.0);
+ this->text = (signal_info->text().present() ? signal_info->text().get() : "");
+ bool reverse = false;
+ if (signal_info->orientation().present() && signal_info->orientation().get() == orientation::cxx_1)
+ reverse = true;
+ this->heading += (reverse ? M_PI : 0.0);
}
\ No newline at end of file
diff --git a/src/examples/open_drive_format_test.cpp b/src/examples/open_drive_format_test.cpp
index 2cde0f8196cdab07f7f806f715a5c329654e4ae0..546f1756b7d9774474e20bc1b3aef1e3414780cc 100644
--- a/src/examples/open_drive_format_test.cpp
+++ b/src/examples/open_drive_format_test.cpp
@@ -13,7 +13,7 @@ int main(int argc, char *argv[])
try
{
open_drive_format.load(xml_file, false);
- open_drive_format.calculate_signals_pose(false);
+ open_drive_format.calculate_signals_pose(true);
std::vector<CAdcSignals*> signals;
// open_drive_format.get_signals(signals);
diff --git a/src/open_drive_format.cpp b/src/open_drive_format.cpp
index 5d37629ce91ee3e62dabef4397639d35726bfc00..eb9a4f77d4df19d38fe7fe7a73839c666776a55d 100644
--- a/src/open_drive_format.cpp
+++ b/src/open_drive_format.cpp
@@ -31,98 +31,7 @@ void COpenDriveFormat::load(std::string &filename, bool debug)
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 = new CAdcRoad(road_id, road_length, name);
-
- ///////////////////// link atributes
-
- //////////////// Geometry atributes
- for (planView::geometry_iterator geo_it(road_it->planView().geometry().begin()); geo_it != road_it->planView().geometry().end(); ++geo_it)
- {
- double min_s = (geo_it->s().present() ? geo_it->s().get() : 0.0);
- double max_s = min_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())
- {
- CAdcGeoLine *line = new CAdcGeoLine(min_s, max_s, x, y, heading);
- road->add_geometry(line);
- }
- else if (geo_it->spiral().present())
- {
- 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 = new CAdcGeoSpiral(min_s, max_s, x, y, heading, curv_start, curv_end);
- road->add_geometry(spi);
- }
- else if (geo_it->arc().present())
- {
- double curvature = (geo_it->arc().get().curvature().present() ? geo_it->arc().get().curvature().get() : 0.0);
- CAdcGeoArc *arc = new CAdcGeoArc(min_s, max_s, x, y, heading, curvature);
- road->add_geometry(arc);
- }
- else if (geo_it->poly3().present())
- {
- 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 = new CAdcGeoPoly3(min_s, max_s, x, y, heading, param);
- road->add_geometry(poly3);
- }
- else if (geo_it->paramPoly3().present())
- {
- 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 = new CAdcGeoParamPoly3(min_s, max_s, x, y, heading, u_param, v_param, normalized);
- road->add_geometry(parampoly3);
- }
- }
-
- ////////// 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::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 = new CAdcSignals(id, s, t, heading, type, sub_type, value, text, reverse);
- road->add_signal(sign);
- }
- }
- this->adc_circuit.add_road(road);
- }
+ this->adc_circuit.load(open_drive);
std::cout << "Loading .xodr info done." << std::endl;
if (debug)