From 78f61fa8af48f2a4c98f5e3aba6f9c1c199dd512 Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Thu, 31 Dec 2020 17:47:14 +0100
Subject: [PATCH] Moved the default and copy constructors as protected. Removed
the parameter constructor. Implemented the function to get the start and end
curvature (removed the get_start_curvature() and get_end_curvature()
functions). Solved a bug: the min_s parameter is not needed to compute the
local coordinates.
---
include/opendrive_spiral.h | 9 ++++-----
src/opendrive_spiral.cpp | 21 +++++++--------------
2 files changed, 11 insertions(+), 19 deletions(-)
diff --git a/include/opendrive_spiral.h b/include/opendrive_spiral.h
index a97e3bb..73624a0 100644
--- a/include/opendrive_spiral.h
+++ b/include/opendrive_spiral.h
@@ -5,21 +5,20 @@
class COpendriveSpiral : public COpendriveGeometry
{
+ friend class COpendriveRoadNode;
private:
double start_curvature;
double end_curvature;
protected:
+ COpendriveSpiral();
+ COpendriveSpiral(const COpendriveSpiral &object);
virtual bool transform_local_pose(TOpendriveTrackPoint &track,TOpendriveLocalPoint &local) const;
virtual void print(std::ostream &out);
virtual void load_params(const planView::geometry_type &geometry_info);
virtual std::string get_name(void);
public:
- COpendriveSpiral();
- COpendriveSpiral(double min_s, double max_s, double x, double y, double heading,double start_curv,double end_curv);
- COpendriveSpiral(const COpendriveSpiral &object);
virtual COpendriveGeometry *clone(void);
- double get_start_curvature(void);
- double get_end_curvature(void);
+ virtual void get_curvature(double &start,double &end);
void operator=(const COpendriveSpiral &object);
~COpendriveSpiral();
};
diff --git a/src/opendrive_spiral.cpp b/src/opendrive_spiral.cpp
index 6880f91..d11ac2b 100644
--- a/src/opendrive_spiral.cpp
+++ b/src/opendrive_spiral.cpp
@@ -6,12 +6,6 @@ COpendriveSpiral::COpendriveSpiral()
this->end_curvature=0.0;
}
-COpendriveSpiral::COpendriveSpiral(double min_s, double max_s, double x, double y, double heading,double start_curv,double end_curv) : COpendriveGeometry(min_s,max_s,x,y,heading)
-{
- this->start_curvature=start_curv;
- this->end_curvature=end_curv;
-}
-
COpendriveSpiral::COpendriveSpiral(const COpendriveSpiral &object) : COpendriveGeometry(object)
{
this->start_curvature=object.start_curvature;
@@ -25,8 +19,11 @@ bool COpendriveSpiral::transform_local_pose(TOpendriveTrackPoint &track,TOpendri
void COpendriveSpiral::print(std::ostream &out)
{
+ double start_curvature,end_curvature;
+
COpendriveGeometry::print(out);
- out << " start_curvature = " << this->get_start_curvature() << ", end_curvature = " << this->get_end_curvature() << std::endl;
+ this->get_curvature(start_curvature,end_curvature);
+ out << " start_curvature = " << start_curvature << ", end_curvature = " << end_curvature << std::endl;
}
void COpendriveSpiral::load_params(const planView::geometry_type &geometry_info)
@@ -47,14 +44,10 @@ COpendriveGeometry *COpendriveSpiral::clone(void)
return new_spiral;
}
-double COpendriveSpiral::get_start_curvature(void)
-{
- return this->start_curvature*this->scale_factor;
-}
-
-double COpendriveSpiral::get_end_curvature(void)
+void COpendriveSpiral::get_curvature(double &start,double &end)
{
- return this->end_curvature*this->scale_factor;
+ start=this->start_curvature*this->scale_factor;
+ end=this->end_curvature*this->scale_factor;
}
void COpendriveSpiral::operator=(const COpendriveSpiral &object)
--
GitLab