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Commit 78444e7e authored by Sergi Hernandez's avatar Sergi Hernandez
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Updated the examples.

parent 4beec299
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1 merge request!2Solved a bug when creating a new geometry object: the sale factor is...
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src/examples/build_from_scratch_test.cpp
+ 24
− 18
View file @ 78444e7e
......@@ -14,7 +14,7 @@ int main(int argc, char *argv[])
std::vector<double> x,y,heading;
road0=new CRoad();
road0->set_num_lanes(1);
road0->set_num_lanes(2);
road0->set_lane_width(4.0);
road0->set_start_point(20.0,60.0,3.14159,0.0);
road0->add_segment(0.0,60.0,3.14159,0.0);
......@@ -23,7 +23,7 @@ int main(int argc, char *argv[])
road0->add_segment(0.0,0.0,0.0,0.0);
road0->add_segment(20.0,0.0,0.0,0.0);
road1=new CRoad();
road1->set_num_lanes(1);
road1->set_num_lanes(2);
road1->set_lane_width(4.0);
road1->set_start_point(20.0,0.0,3.14159,0.0);
road1->add_segment(0.0,0.0,3.14159,0.0);
......@@ -32,17 +32,17 @@ int main(int argc, char *argv[])
road1->add_segment(0.0,60.0,0.0,0.0);
road1->add_segment(20.0,60.0,0.0,0.0);
road2=new CRoad();
road2->set_num_lanes(1);
road2->set_num_lanes(2);
road2->set_lane_width(4.0);
road2->set_start_point(30.0,50.0,4.71238898,0.0);
road2->add_segment(30.0,10.0,4.71238898,0.0);
road3=new CRoad();
road3->set_num_lanes(1);
road3->set_num_lanes(2);
road3->set_lane_width(4.0);
road3->set_start_point(30.0,10.0,1.5707,0.0);
road3->add_segment(30.0,50.0,1.5707,0.0);
road4=new CRoad();
road4->set_num_lanes(1);
road4->set_num_lanes(2);
road4->set_lane_width(4.0);
road4->set_start_point(40.0,60.0,0.0,0.0);
road4->add_segment(60.0,60.0,0.0,0.0);
......@@ -51,7 +51,7 @@ int main(int argc, char *argv[])
road4->add_segment(60.0,0.0,3.14159,0.0);
road4->add_segment(40.0,0.0,3.14159,0.0);
road5=new CRoad();
road5->set_num_lanes(1);
road5->set_num_lanes(2);
road5->set_lane_width(4.0);
road5->set_start_point(40.0,0.0,0.0,0.0);
road5->add_segment(60.0,0.0,0.0,0.0);
......@@ -70,6 +70,10 @@ int main(int argc, char *argv[])
map.add_road(road4);
map.add_road(road5);
map.set_opposite_direction_roads_by_id(road0->get_id(),road1->get_id());
map.set_opposite_direction_roads_by_id(road2->get_id(),road3->get_id());
map.set_opposite_direction_roads_by_id(road4->get_id(),road5->get_id());
map.add_junction(junction0);
map.add_junction(junction1);
......@@ -80,17 +84,17 @@ int main(int argc, char *argv[])
junction0->add_outgoing_road(road2);
junction0->add_outgoing_road(road4);
junction0->link_roads_by_id(road1->get_id(),road2->get_id());
junction0->link_lanes_by_id(road1->get_id(),0,road2->get_id(),0);
junction0->link_same_lanes_by_id(road1->get_id(),road2->get_id());
junction0->link_roads_by_id(road1->get_id(),road4->get_id());
junction0->link_lanes_by_id(road1->get_id(),0,road4->get_id(),0);
junction0->link_same_lanes_by_id(road1->get_id(),road4->get_id());
junction0->link_roads_by_id(road3->get_id(),road0->get_id());
junction0->link_lanes_by_id(road3->get_id(),0,road0->get_id(),0);
junction0->link_same_lanes_by_id(road3->get_id(),road0->get_id());
junction0->link_roads_by_id(road3->get_id(),road4->get_id());
junction0->link_lanes_by_id(road3->get_id(),0,road4->get_id(),0);
junction0->link_same_lanes_by_id(road3->get_id(),road4->get_id());
junction0->link_roads_by_id(road5->get_id(),road0->get_id());
junction0->link_lanes_by_id(road5->get_id(),0,road0->get_id(),0);
junction0->link_same_lanes_by_id(road5->get_id(),road0->get_id());
junction0->link_roads_by_id(road5->get_id(),road2->get_id());
junction0->link_lanes_by_id(road5->get_id(),0,road2->get_id(),0);
junction0->link_same_lanes_by_id(road5->get_id(),road2->get_id());
junction1->add_incomming_road(road0);
junction1->add_incomming_road(road2);
......@@ -99,18 +103,20 @@ int main(int argc, char *argv[])
junction1->add_outgoing_road(road3);
junction1->add_outgoing_road(road5);
junction1->link_roads_by_id(road0->get_id(),road3->get_id());
junction1->link_lanes_by_id(road0->get_id(),0,road3->get_id(),0);
junction1->link_same_lanes_by_id(road0->get_id(),road3->get_id());
junction1->link_roads_by_id(road0->get_id(),road5->get_id());
junction1->link_lanes_by_id(road0->get_id(),0,road5->get_id(),0);
junction1->link_same_lanes_by_id(road0->get_id(),road5->get_id());
junction1->link_roads_by_id(road2->get_id(),road1->get_id());
junction1->link_lanes_by_id(road2->get_id(),0,road1->get_id(),0);
junction1->link_same_lanes_by_id(road2->get_id(),road1->get_id());
junction1->link_roads_by_id(road2->get_id(),road5->get_id());
junction1->link_lanes_by_id(road2->get_id(),0,road5->get_id(),0);
junction1->link_same_lanes_by_id(road2->get_id(),road5->get_id());
junction1->link_roads_by_id(road4->get_id(),road3->get_id());
junction1->link_lanes_by_id(road4->get_id(),0,road3->get_id(),0);
junction1->link_same_lanes_by_id(road4->get_id(),road3->get_id());
junction1->link_roads_by_id(road4->get_id(),road1->get_id());
junction1->link_lanes_by_id(road4->get_id(),0,road1->get_id(),0);
junction1->link_same_lanes_by_id(road4->get_id(),road1->get_id());
map.save_opendrive("test_road.xodr");
map.get_lane_geometry(x,y,heading);
for(unsigned int i=0;i<x.size();i++)
std::cout << x[i] << "," << y[i] << "," << heading[i] << std::endl;
......
src/examples/opendrive_import_test.cpp
+ 6
− 4
View file @ 78444e7e
......@@ -3,7 +3,8 @@
#include <iostream>
const std::string opendrive_file="/home/sergi/iri-lab/add_robot/add_ws/code/autonomous_driving_tools/src/xml/adc_road.xodr";
//const std::string opendrive_file="/home/sergi/iri-lab/add_robot/add_ws/code/autonomous_driving_tools/src/xml/adc_road.xodr";
const std::string opendrive_file="/home/sergi/iri-lab/add_robot/add_ws/code/autonomous_driving_tools/build/test_road.xodr";
int main(int argc, char *argv[])
{
......@@ -15,16 +16,17 @@ int main(int argc, char *argv[])
map.load_opendrive(opendrive_file);
map.get_lane_geometry(x,y,heading);
for(unsigned int i=0;i<x.size();i++)
std::cout << x[i] << "," << y[i] << "," << heading[i] << std::endl;
return 0;
old_path.push_back(3);
old_path.push_back(4);
// old_path.push_back(3);
// old_path.push_back(4);
old_path.push_back(22);
old_path.push_back(10);
// old_path.push_back(10);
new_path=map.get_path_sub_roadmap(old_path,new_map);
new_map.get_segment_connectivity(connectivity,id_map);
......
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