Added a reference to the road segment thta the object belongs to.

Added the scale factor attribute. Used to scale teh pose of the object as well as its dimensions.
Added a function to get the pose of the object in world coordinates.

include/opendrive_object.h

@@ -2,6 +2,7 @@
 #define _OPENDRIVE_OBJECT_H
 
 #include "opendrive_common.h"
+#include "opendrive_road_segment.h"
 #ifdef _HAVE_XSD
 #include "../src/xml/OpenDRIVE_1.4H.hxx"
 #endif
@@ -37,22 +38,31 @@ typedef union
   TOpendrivePolygon polygon;
 }TOpendriveObject;
 
+class COpendriveRoadSegment;
+
 class COpendriveObject
 {
   friend class COpendriveRoadSegment;
   private:
+    COpendriveRoadSegment *segment;
     int id; ///< Object's id.
     TOpendriveTrackPoint pose;
     TOpendriveObject object;
     std::string type; ///< Object's OpenDrive type.
     std::string name; ///< Object's name.
     object_type_t object_type;
+    double scale_factor;
   protected:
-    void load(objects::object_type &object_info);
+    void load(objects::object_type &object_info,COpendriveRoadSegment *segment);
+    void update_references(std::map<COpendriveRoadSegment *,COpendriveRoadSegment *> &segment_refs);
+    void set_scale_factor(double scale);
   public:
     COpendriveObject();
     COpendriveObject(const COpendriveObject& object);
-    TOpendriveTrackPoint get_pose(void) const;
+    double get_scale_factor(void);
+    TOpendriveTrackPoint get_track_pose(void) const;
+    TOpendriveWorldPoint get_world_pose(void) const;
+    int get_id(void) const;
     std::string get_type(void) const;
     std::string get_name(void) const;
     bool is_box(void) const;
@@ -61,7 +71,6 @@ class COpendriveObject
     TOpendriveBox get_box_data(void) const;
     TOpendriveCylinder get_cylinder_data(void) const;
     TOpendrivePolygon get_polygon_data(void) const;
-    void operator=(const COpendriveObject &object);
     friend std::ostream& operator<<(std::ostream& out, COpendriveObject &object);
     ~COpendriveObject();
 };

src/opendrive_object.cpp

 #include "opendrive_object.h"
+#include "exceptions.h"
 #include <cmath>
 
 COpendriveObject::COpendriveObject()
 {
+  this->segment=NULL;
   this->pose.s=0.0;
   this->pose.t=0.0;
   this->pose.heading=0.0;
   this->type="";
   this->name="";
   this->object_type=OD_NONE;
+  this->scale_factor=DEFAULT_SCALE_FACTOR;
 }
 
 COpendriveObject::COpendriveObject(const COpendriveObject& object)
 {
+  this->segment=object.segment;
   this->pose.s=object.pose.s;
   this->pose.s=object.pose.t;
   this->pose.heading=object.pose.heading;
@@ -41,9 +45,10 @@ COpendriveObject::COpendriveObject(const COpendriveObject& object)
     case OD_NONE:
       break;
   }
+  this->scale_factor=object.scale_factor;
 }
 
-void COpendriveObject::load(objects::object_type &object_info)
+void COpendriveObject::load(objects::object_type &object_info,COpendriveRoadSegment *segment)
 {
   double u,v;
   unsigned int i;
@@ -100,11 +105,51 @@ void COpendriveObject::load(objects::object_type &object_info)
   }
   else
     this->object_type=OD_NONE;
+  this->segment=segment;
 }
 
-TOpendriveTrackPoint COpendriveObject::get_pose(void) const
+void COpendriveObject::update_references(std::map<COpendriveRoadSegment *,COpendriveRoadSegment *> &segment_refs)
 {
-  return this->pose;
+  this->segment=segment_refs[this->segment];
+}
+
+void COpendriveObject::set_scale_factor(double scale)
+{
+  this->scale_factor=scale;
+}
+
+double COpendriveObject::get_scale_factor(void)
+{
+  return this->scale_factor;
+}
+
+TOpendriveTrackPoint COpendriveObject::get_track_pose(void) const
+{
+  TOpendriveTrackPoint track;
+
+  track.s=this->pose.s/this->scale_factor;
+  track.t=this->pose.t/this->scale_factor;
+  track.heading=this->pose.heading;
+
+  return track;
+}
+
+TOpendriveWorldPoint COpendriveObject::get_world_pose(void) const
+{
+  TOpendriveWorldPoint world;
+
+  if(this->segment!=NULL)
+  {
+    world=segment->transform_to_world_point(this->get_track_pose());
+    return world;
+  }
+  else
+    throw CException(_HERE_,"Invalid parent segment reference");
+}
+
+int COpendriveObject::get_id(void) const
+{
+  return this->id;
 }
 
 std::string COpendriveObject::get_type(void) const
@@ -143,53 +188,45 @@ bool COpendriveObject::is_polygon(void) const
 
 TOpendriveBox COpendriveObject::get_box_data(void) const
 {
-  return this->object.box;
+  TOpendriveBox data;
+
+  data.length=this->object.box.length/this->scale_factor;
+  data.width=this->object.box.width/this->scale_factor;
+  data.height=this->object.box.height/this->scale_factor;
+
+  return data;
 }
 
 TOpendriveCylinder COpendriveObject::get_cylinder_data(void) const
 {
-  return this->object.cylinder;
+  TOpendriveCylinder data;
+
+  data.radius=this->object.cylinder.radius/this->scale_factor;
+  data.height=this->object.cylinder.height/this->scale_factor;
+
+  return data;
 }
 
 TOpendrivePolygon COpendriveObject::get_polygon_data(void) const
 {
-  return this->object.polygon;
-}
+  TOpendrivePolygon data;
 
-void COpendriveObject::operator=(const COpendriveObject &object)
-{
-  this->pose.s=object.pose.s;
-  this->pose.s=object.pose.t;
-  this->pose.heading=object.pose.heading;
-  this->type=object.type;
-  this->name=object.name;
-  this->object_type=object.object_type;
-  switch(this->object_type)
+  for(unsigned int i=0;i<this->object.polygon.num_vertices;i++)
   {
-    case OD_BOX:
-      this->object.box.length=object.object.box.length;
-      this->object.box.width=object.object.box.width;
-      this->object.box.height=object.object.box.height;
-      break;
-    case OD_CYLINDER:
-      this->object.cylinder.radius=object.object.cylinder.radius;
-      this->object.cylinder.height=object.object.cylinder.height;
-      break;
-    case OD_POLYGON:
-      for(unsigned int i=0;i<object.object.polygon.num_vertices;i++)
-      {
-        this->object.polygon.vertices[i]=object.object.polygon.vertices[i];
-        this->object.polygon.height[i]=object.object.polygon.height[i];
-      }
-      this->object.polygon.num_vertices=object.object.polygon.num_vertices;
-      break;
-    case OD_NONE:
-      break;
+    data.height[i]=this->object.polygon.height[i]/this->scale_factor;
+    data.vertices[i].s=this->object.polygon.vertices[i].s/this->scale_factor;
+    data.vertices[i].t=this->object.polygon.vertices[i].t/this->scale_factor;
+    data.vertices[i].heading=this->object.polygon.vertices[i].heading;
   }
+  return data;
 }
 
 std::ostream& operator<<(std::ostream& out, COpendriveObject &object)
 {
+  TOpendriveBox box_data;
+  TOpendriveCylinder cyl_data;
+  TOpendrivePolygon pol_data;
+
   out << "  Object id = " << object.id << std::endl;
   out << "    type = " << object.type << std::endl;
   out << "    name = " << object.name << std::endl;
@@ -197,20 +234,23 @@ std::ostream& operator<<(std::ostream& out, COpendriveObject &object)
   switch(object.object_type)
   {
     case OD_BOX:
+      box_data=object.get_box_data();
       out << "    box:" << std::endl;
-      out << "      length = " << object.object.box.length << std::endl;
-      out << "      width = " << object.object.box.width << std::endl;
-      out << "      height = " << object.object.box.height << std::endl;
+      out << "      length = " << box_data.length << std::endl;
+      out << "      width = " << box_data.width << std::endl;
+      out << "      height = " << box_data.height << std::endl;
       break;
     case OD_CYLINDER:
+      cyl_data=object.get_cylinder_data();
       out << "    cylinder:" << std::endl;
-      out << "      radius = " << object.object.cylinder.radius << std::endl;
-      out << "      height = " << object.object.cylinder.height << std::endl;
+      out << "      radius = " << cyl_data.radius << std::endl;
+      out << "      height = " << cyl_data.height << std::endl;
       break;
     case OD_POLYGON:
-      out << "    polygon: " << object.object.polygon.num_vertices << " vertices" << std::endl;
-      for (unsigned int i = 0; i < object.object.polygon.num_vertices; i++)
-        out << "      vertex " << i << ": s = " << object.object.polygon.vertices[i].s  << ", t = " << object.object.polygon.vertices[i].t << ", height: " << object.object.polygon.height[i] << std::endl;
+      pol_data=object.get_polygon_data();
+      out << "    polygon: " << pol_data.num_vertices << " vertices" << std::endl;
+      for (unsigned int i = 0; i < pol_data.num_vertices; i++)
+        out << "      vertex " << i << ": s = " << pol_data.vertices[i].s  << ", t = " << pol_data.vertices[i].t << ", height: " << pol_data.height[i] << std::endl;
       break;
     case OD_NONE:
       break;