From 6e240acaf8039c45c1f8d7a6cf92a1266e0abe1d Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Thu, 17 Dec 2020 18:33:33 +0100
Subject: [PATCH] Fused the next and previous road segments to a single vector
(connecting roads).
---
include/opendrive_road_segment.h | 9 ++--
src/opendrive_road_segment.cpp | 88 +++++++++++---------------------
2 files changed, 34 insertions(+), 63 deletions(-)
diff --git a/include/opendrive_road_segment.h b/include/opendrive_road_segment.h
index 712f1ee..fd83131 100644
--- a/include/opendrive_road_segment.h
+++ b/include/opendrive_road_segment.h
@@ -23,8 +23,7 @@ class COpendriveRoadSegment
int num_left_lanes;
std::vector<COpendriveSignal *> signals;
std::vector<COpendriveObject *> objects;
- std::vector<COpendriveRoadSegment *> next;
- std::vector<COpendriveRoadSegment *> prev;
+ std::vector<COpendriveRoadSegment *> connecting;
std::string name;
unsigned int id;
protected:
@@ -51,10 +50,8 @@ class COpendriveRoadSegment
const COpendriveSignal &get_signal(unsigned int index) const;
unsigned int get_num_obstacles(void) const;
const COpendriveObject &get_object(unsigned int index) const;
- unsigned int get_num_previous(void) const;
- const COpendriveRoadSegment &get_previous(unsigned int index) const;
- unsigned int get_num_next(void) const;
- const COpendriveRoadSegment &get_next(unsigned int index) const;
+ unsigned int get_num_connecting(void) const;
+ const COpendriveRoadSegment &get_connecting(unsigned int index) const;
void operator=(const COpendriveRoadSegment &object);
friend std::ostream& operator<<(std::ostream& out, COpendriveRoadSegment &segment);
~COpendriveRoadSegment();
diff --git a/src/opendrive_road_segment.cpp b/src/opendrive_road_segment.cpp
index 9fc73a2..8f64af0 100644
--- a/src/opendrive_road_segment.cpp
+++ b/src/opendrive_road_segment.cpp
@@ -10,8 +10,7 @@ COpendriveRoadSegment::COpendriveRoadSegment()
this->num_right_lanes=0;
this->signals.clear();
this->objects.clear();
- this->next.clear();
- this->prev.clear();
+ this->connecting.clear();
this->min_road_length=DEFAULT_MIN_ROAD_LENGTH;
this->resolution=DEFAULT_RESOLUTION;
this->scale_factor=DEFAULT_SCALE_FACTOR;
@@ -44,12 +43,9 @@ COpendriveRoadSegment::COpendriveRoadSegment(const COpendriveRoadSegment &object
new_object=new COpendriveObject(*object.objects[i]);
this->objects.push_back(new_object);
}
- this->next.resize(object.next.size());
- for(unsigned int i=0;i<object.next.size();i++)
- this->next[i]=object.next[i];
- this->next.resize(object.prev.size());
- for(unsigned int i=0;i<object.prev.size();i++)
- this->prev[i]=object.prev[i];
+ this->connecting.resize(object.connecting.size());
+ for(unsigned int i=0;i<object.connecting.size();i++)
+ this->connecting[i]=object.connecting[i];
this->resolution=object.resolution;
this->scale_factor=object.scale_factor;
this->min_road_length=object.min_road_length;
@@ -77,8 +73,7 @@ void COpendriveRoadSegment::free(void)
this->objects[i]=NULL;
}
this->objects.clear();
- this->next.clear();
- this->prev.clear();
+ this->connecting.clear();
}
void COpendriveRoadSegment::set_resolution(double res)
@@ -108,10 +103,8 @@ void COpendriveRoadSegment::set_min_road_length(double length)
void COpendriveRoadSegment::update_references(std::map<COpendriveRoadSegment *,COpendriveRoadSegment *> refs)
{
- for(unsigned int i=0;i<this->next.size();i++)
- this->next[i]=refs[this->next[i]];
- for(unsigned int i=0;i<this->prev.size();i++)
- this->prev[i]=refs[this->prev[i]];
+ for(unsigned int i=0;i<this->connecting.size();i++)
+ this->connecting[i]=refs[this->connecting[i]];
for(unsigned int i=0;i<this->lanes.size();i++)
this->lanes[i]->update_references(refs);
@@ -271,14 +264,14 @@ void COpendriveRoadSegment::link_neightbour_lanes(lanes::laneSection_type &lane_
void COpendriveRoadSegment::link_segment(COpendriveRoadSegment &segment)
{
- for(unsigned int i=0;i<this->next.size();i++)
- if(this->next[i]->get_id()==segment.get_id())// the segment is already included
+ for(unsigned int i=0;i<this->connecting.size();i++)
+ if(this->connecting[i]->get_id()==segment.get_id())// the segment is already included
return;
- for(unsigned int i=0;i<segment.prev.size();i++)
- if(segment.prev[i]->get_id()==this->id)
+ for(unsigned int i=0;i<segment.connecting.size();i++)
+ if(segment.connecting[i]->get_id()==this->id)
return;
- this->next.push_back(&segment);
- segment.prev.push_back(this);
+ this->connecting.push_back(&segment);
+ segment.connecting.push_back(this);
// link lanes
for(int i=-this->num_right_lanes;i<0;i++)
{
@@ -314,14 +307,14 @@ void COpendriveRoadSegment::link_segment(COpendriveRoadSegment &segment)
void COpendriveRoadSegment::link_segment(COpendriveRoadSegment &segment,int from, int to)
{
- for(unsigned int i=0;i<this->next.size();i++)
- if(this->next[i]->get_id()==segment.get_id())// the segment is already included
+ for(unsigned int i=0;i<this->connecting.size();i++)
+ if(this->connecting[i]->get_id()==segment.get_id())// the segment is already included
return;
- for(unsigned int i=0;i<segment.prev.size();i++)
- if(segment.prev[i]->get_id()==this->id)
+ for(unsigned int i=0;i<segment.connecting.size();i++)
+ if(segment.connecting[i]->get_id()==this->id)
return;
- this->next.push_back(&segment);
- segment.prev.push_back(this);
+ this->connecting.push_back(&segment);
+ segment.connecting.push_back(this);
// link lanes
if(this->lanes.find(from)!=this->lanes.end() && segment.lanes.find(to)!=segment.lanes.end())
this->lanes[from]->link_lane(segment.lanes[to],OD_MARK_NONE);
@@ -433,30 +426,17 @@ const COpendriveObject &COpendriveRoadSegment::get_object(unsigned int index) co
throw CException(_HERE_,"Invalid object index");
}
-unsigned int COpendriveRoadSegment::get_num_previous(void) const
+unsigned int COpendriveRoadSegment::get_num_connecting(void) const
{
- return this->prev.size();
+ return this->connecting.size();
}
-const COpendriveRoadSegment &COpendriveRoadSegment::get_previous(unsigned int index) const
+const COpendriveRoadSegment &COpendriveRoadSegment::get_connecting(unsigned int index) const
{
- if(index>=0 && index<this->prev.size())
- return *this->prev[index];
+ if(index>=0 && index<this->connecting.size())
+ return *this->connecting[index];
else
- throw CException(_HERE_,"Invalid previous segment index");
-}
-
-unsigned int COpendriveRoadSegment::get_num_next(void) const
-{
- return this->next.size();
-}
-
-const COpendriveRoadSegment &COpendriveRoadSegment::get_next(unsigned int index) const
-{
- if(index>=0 && index<this->next.size())
- return *this->next[index];
- else
- throw CException(_HERE_,"Invalid next segment index");
+ throw CException(_HERE_,"Invalid connecting segment index");
}
void COpendriveRoadSegment::operator=(const COpendriveRoadSegment &object)
@@ -484,12 +464,9 @@ void COpendriveRoadSegment::operator=(const COpendriveRoadSegment &object)
new_object=new COpendriveObject(*object.objects[i]);
this->objects.push_back(new_object);
}
- this->next.resize(object.next.size());
- for(unsigned int i=0;i<object.next.size();i++)
- this->next[i]=object.next[i];
- this->next.resize(object.prev.size());
- for(unsigned int i=0;i<object.prev.size();i++)
- this->prev[i]=object.prev[i];
+ this->connecting.resize(object.connecting.size());
+ for(unsigned int i=0;i<object.connecting.size();i++)
+ this->connecting[i]=object.connecting[i];
this->resolution=object.resolution;
this->scale_factor=object.scale_factor;
this->min_road_length=object.min_road_length;
@@ -498,12 +475,9 @@ void COpendriveRoadSegment::operator=(const COpendriveRoadSegment &object)
std::ostream& operator<<(std::ostream& out, COpendriveRoadSegment &segment)
{
out << "Road " << segment.get_name() << " (" << segment.get_id() << ")" << std::endl;
- out << " Previous road segments: " << segment.prev.size() << std::endl;
- for(unsigned int i=0;i<segment.prev.size();i++)
- out << " " << segment.prev[i]->get_name() << std::endl;
- out << " Next road segments: " << segment.next.size() << std::endl;
- for(unsigned int i=0;i<segment.next.size();i++)
- out << " " << segment.next[i]->get_name() << std::endl;
+ out << " Connecting road segments: " << segment.connecting.size() << std::endl;
+ for(unsigned int i=0;i<segment.connecting.size();i++)
+ out << " " << segment.connecting[i]->get_name() << std::endl;
out << " Number of right lanes: " << segment.num_right_lanes << std::endl;
for(int i=-1;i>=-segment.num_right_lanes;i--)
out << *segment.lanes[i];
--
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