Opendrive lib

include/adc_circuit.h

-#ifndef _ADC_CIRCUIT_H
-#define _ADC_CIRCUIT_H
-
-#include <string>
-#include <vector>
-#include "adc_road.h"
-#include <vector>
-
-
-#ifdef _HAVE_XSD
-#include "../src/xml/OpenDRIVE_1.4H.hxx"
-#endif
-
-#define SIGNS_LAUNCH_FILE "spawn_signs.launch"
-#define OBJECTS_LAUNCH_FILE "spawn_objects.launch"
-
-/**
- * \class CAdcCircuit
- *
- * \brief Class to store all the useful information of a OpenDrive circuit.
- *
- * It has access to each road information.
- *
- */
-class CAdcCircuit
-{
-  private:
-    std::vector<CAdcRoad*> roads;///< Variable to store an access each road data.
-    double road_scale;///< The scale of the road to divide by the objects and signals poses.
-
-    /**
-     * \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.
-     *  
-     */
-    CAdcCircuit();
-
-    /**
-     * \brief Default destructor.
-     *
-     * It deletes each road geometry pointer.
-     *  
-     */
-    ~CAdcCircuit();
-
-    /**
-     * \brief Function to print each road info.
-     *
-     * It calls CAdcRoad::debug function of each road.
-     *
-     */
-    void debug(void);
-
-    /**
-     * \brief Function to calculate the world pose of each sign and object.
-     *
-     * It calls CAdcRoad::calculate_signals_pose and CAdcRoad::calculate_objects_pose function of each road.
-     *
-     * \param debug Boolean to print all the information stored on each signal nad object at 
-     * the end of the function.
-     */
-    void calculate_world_poses(bool debug = false);
-
-    /**
-     * \brief Function to get all the signs presents on circuit.
-     *
-     * It calls CAdcRoad::get_signals function of each road.
-     *
-     * \param signals Variable to store the information.
-     */
-    void get_signals(std::vector<CAdcSignals*> &signals);
-
-    /**
-     * \brief Function to generate a .launch to spwan all
-     * the recognized signs and another for the objects.
-     *
-     * First it saves the header of the file. Secondly it
-     * calls CAdcRoad::append_signs_spwan. Finally, it saves
-     * the end of the launch file.
-     *
-     * It follows the same steps to generate the objects launch file
-     * calling CAdcRoad::append_objects_spwan.
-     *
-     * \param dir The route to the output launch directory with the base name for both launch files.
-     *
-     * \throws CException If the output file can't be opened.
-     */
-    void generate_spawn_launch_files(std::string &dir);
-
-    /**
-     * \brief Function to load the .xodr info.
-     *
-     * \param open_drive The objects generated with XSD.
-     *
-     */
-    void load(std::unique_ptr<OpenDRIVE> &open_drive);
-
-    /**
-     * \brief Function to set road_Scale.
-     *
-     * \param road_scale The scale of the road to divide by the objects and signals poses.
-     *
-     */
-    void set_road_scale(double road_scale=1.0);
-};
-
-#endif