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Commit e494945b authored by Sergi Hernandez's avatar Sergi Hernandez
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Changes to allow the creation junction roads with any angle (except for values close to 180º).

parent 92a4cd24
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......@@ -16,7 +16,7 @@ unsigned int create_junction_road(RoadTree *road_tree, OpenDrive *open_drive,uns
GeometryBlock *geometry,new_geometry;
Eigen::Matrix2d A;
Eigen::Vector2d b,sol;
double curvature,length,start_length,end_length,angle;
double radius,curvature,length,start_length,end_length,angle;
LaneSection *lane_section,new_lane_section(0.0);
double lane_start_width;
double s,start_x,start_y,start_heading,original_start_heading;
......@@ -198,31 +198,33 @@ unsigned int create_junction_road(RoadTree *road_tree, OpenDrive *open_drive,uns
sol=A.inverse()*b;
if(fabs(sol(0))>fabs(sol(1)))
{
curvature=1.0/fabs(sol(1));
angle=end_heading-start_heading;
if(angle>3.14158)
angle-=2.0*3.14158;
else if(angle<-3.14158)
angle+=2.0*3.14158;
radius=fabs(sol(1))*tan((3.14159-fabs(angle))/2.0);
curvature=1.0/radius;
if(angle<0.0)
curvature*=-1.0;
length=fabs(angle)*fabs(sol(1));
start_length=fabs(sol(0))-fabs(sol(1))*tan(fabs(angle)/2.0);
end_length=fabs(sol(1))*(1-tan(fabs(angle)/2.0));
length=fabs(angle)*radius;
start_length=fabs(sol(0))-fabs(sol(1));
end_length=0.0;
}
else
{
curvature=1.0/fabs(sol(0));
angle=end_heading-start_heading;
if(angle>3.14158)
angle-=2.0*3.14158;
else if(angle<-3.14158)
angle+=2.0*3.14158;
radius=fabs(sol(0))*tan((3.14159-fabs(angle))/2.0);
curvature=1.0/radius;
if(angle<0.0)
curvature*=-1.0;
length=fabs(angle)*fabs(sol(0));
start_length=fabs(sol(0))*(1-tan(fabs(angle)/2.0));
end_length=fabs(sol(1))-fabs(sol(0))*tan(fabs(angle)/2.0);
length=fabs(angle)*radius;
start_length=0.0;
end_length=fabs(sol(1))-fabs(sol(0));
}
// add geometry
s=0;
......
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