From 7123f53176e0714c144ab82be2a633891a03f6e7 Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Sat, 6 Feb 2021 20:29:40 +0100
Subject: [PATCH] Solved some minor bugs.
---
include/opendrive_lane.h | 2 +-
src/opendrive_lane.cpp | 8 ++++----
src/opendrive_link.cpp | 2 +-
src/opendrive_road.cpp | 3 ++-
src/opendrive_road_node.cpp | 2 +-
5 files changed, 9 insertions(+), 8 deletions(-)
diff --git a/include/opendrive_lane.h b/include/opendrive_lane.h
index 7142db8..f080f58 100644
--- a/include/opendrive_lane.h
+++ b/include/opendrive_lane.h
@@ -198,7 +198,7 @@ class COpendriveLane
*
* \return the road mark identifier at the right side of the lane.
*/
- opendrive_mark_t get_left_road_mark(void) const;
+ opendrive_mark_t get_right_road_mark(void) const;
/**
* \brief Returns the width of the lane
*
diff --git a/src/opendrive_lane.cpp b/src/opendrive_lane.cpp
index 0df2545..e4621b8 100644
--- a/src/opendrive_lane.cpp
+++ b/src/opendrive_lane.cpp
@@ -903,11 +903,11 @@ std::ostream& operator<<(std::ostream& out, COpendriveLane &lane)
out << " width: " << lane.get_width() << std::endl;
out << " speed: " << lane.get_speed() << std::endl;
out << " Previous lanes: " << std::endl;
- for(unsigned int i=0;i<previous.size();i++)
- out << " Lane " << this->previous[i]->id << " in road segment " << this->previous[i]->segment->get_name() << std::endl;
+ for(unsigned int i=0;i<lane.prev.size();i++)
+ out << " Lane " << lane.prev[i]->id << " in road segment " << lane.prev[i]->segment->get_name() << std::endl;
out << " Next lanes: " << std::endl;
- for(unsigned int i=0;i<next.size();i++)
- out << " Lane " << this->next[i]->id << " in road segment " << this->next[i]->segment->get_name() << std::endl;
+ for(unsigned int i=0;i<lane.next.size();i++)
+ out << " Lane " << lane.next[i]->id << " in road segment " << lane.next[i]->segment->get_name() << std::endl;
if(lane.segment!=NULL)
out << " Parent road segment: " << lane.segment->get_name() << std::endl;
else
diff --git a/src/opendrive_link.cpp b/src/opendrive_link.cpp
index 89ecede..4243d05 100644
--- a/src/opendrive_link.cpp
+++ b/src/opendrive_link.cpp
@@ -198,7 +198,7 @@ const COpendriveLane &COpendriveLink::get_parent_lane(void) const
}
}
-bool COpendriveLink::is_lane_link(void)
+bool COpendriveLink::is_lane_link(void) const
{
if(this->lane==NULL)
return false;
diff --git a/src/opendrive_road.cpp b/src/opendrive_road.cpp
index 486084a..e7d6236 100644
--- a/src/opendrive_road.cpp
+++ b/src/opendrive_road.cpp
@@ -837,6 +837,7 @@ std::vector<unsigned int> COpendriveRoad::get_sub_road(std::vector<unsigned int>
COpendriveLink *link;
std::vector<unsigned int> new_path_nodes;
unsigned int link_index;
+ double distance;
new_path_nodes.resize(path_nodes.size());
@@ -862,7 +863,7 @@ std::vector<unsigned int> COpendriveRoad::get_sub_road(std::vector<unsigned int>
}
// add the last segment
node=this->nodes[path_nodes[path_nodes.size()-1]];
- link_index=node->get_closest_link(end_pose);
+ link_index=node->get_closest_link_index(end_pose,distance);
if(link_index==(unsigned int)-1)
throw CException(_HERE_,"The provided path has unconnected nodes");
link=node->links[link_index];
diff --git a/src/opendrive_road_node.cpp b/src/opendrive_road_node.cpp
index 0a87c10..6551616 100644
--- a/src/opendrive_road_node.cpp
+++ b/src/opendrive_road_node.cpp
@@ -489,7 +489,7 @@ unsigned int COpendriveRoadNode::get_closest_link_index(TOpendriveWorldPose &pos
return closest_index;
}
-const CopendriveLink &COpendriveRoadNode::get_closest_link(TOpendriveWorldPose &pose,double &distance,bool only_lanes,double angle_tol)const
+const COpendriveLink &COpendriveRoadNode::get_closest_link(TOpendriveWorldPose &pose,double &distance,bool only_lanes,double angle_tol)const
{
unsigned int closest_index;
--
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