diff --git a/include/opendrive_object.h b/include/opendrive_object.h
index 00ae2447ea8c9b9b985e7e6f5a28e2c4ec6448f5..816fae661baba4157b0cceb9b3afa08c3da463da 100644
--- a/include/opendrive_object.h
+++ b/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();
};
diff --git a/src/opendrive_object.cpp b/src/opendrive_object.cpp
index 9b6f71fb8e5a33faf949c97343a0efd1b76c6b28..28ac474e210a5838ca4ae8c78a60585e552fa924 100644
--- a/src/opendrive_object.cpp
+++ b/src/opendrive_object.cpp
@@ -1,18 +1,22 @@
#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;