Added an example to import an Open Street Map file.

src/examples/CMakeLists.txt

@@ -3,21 +3,6 @@ ADD_EXECUTABLE(dijkstra_test dijkstra_test.cpp)
 # link necessary libraries
 TARGET_LINK_LIBRARIES(dijkstra_test ${PROJECT_NAME})
 
-# create an example application
-#ADD_EXECUTABLE(opendrive_test opendrive_test.cpp)
-# link necessary libraries
-#TARGET_LINK_LIBRARIES(opendrive_test ${PROJECT_NAME})
-
-# create an example application
-#ADD_EXECUTABLE(opendrive_build_road_test opendrive_build_road_test.cpp)
-# link necessary libraries
-#TARGET_LINK_LIBRARIES(opendrive_build_road_test ${PROJECT_NAME})
-
-# create an example application
-#ADD_EXECUTABLE(osm_test osm_test.cpp)
-# link necessary libraries
-#TARGET_LINK_LIBRARIES(osm_test ${PROJECT_NAME})
-
 # create an example application
 ADD_EXECUTABLE(build_from_scratch_test build_from_scratch_test.cpp)
 # link necessary libraries
@@ -27,3 +12,8 @@ TARGET_LINK_LIBRARIES(build_from_scratch_test ${PROJECT_NAME})
 ADD_EXECUTABLE(opendrive_import_test opendrive_import_test.cpp)
 # link necessary libraries
 TARGET_LINK_LIBRARIES(opendrive_import_test ${PROJECT_NAME})
+
+# create an example application
+ADD_EXECUTABLE(osm_import_test osm_import_test.cpp)
+# link necessary libraries
+TARGET_LINK_LIBRARIES(osm_import_test ${PROJECT_NAME})

src/examples/osm_import_test.cpp

+#include "road_map.h"
+#include "exceptions.h"
+
+#include <iostream>
+
+//const std::string osm_file="/home/shernand/Downloads/test_osm.osm";
+const std::string osm_file="/home/shernand/Downloads/test_osm2.osm";
+
+int main(int argc, char *argv[])
+{
+  try{
+    CRoadMap map,new_map;
+    Eigen::MatrixXi connectivity;
+    std::vector<unsigned int> id_map,new_path,old_path;    
+    std::vector<double> x,y,heading;
+ 
+    map.load_osm(osm_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(22);
+//    old_path.push_back(10);
+    new_path=map.get_path_sub_roadmap(old_path,new_map);
+
+    new_map.get_segment_connectivity(connectivity,id_map);
+    for(unsigned int i=0;i<id_map.size();i++)
+      std::cout << i << " -> " << id_map[i] << " ";
+    std::cout << std::endl;
+    std::cout << "Initial connectivity:" << std::endl;
+    std::cout << connectivity << std::endl;
+  }
+  catch (CException &e)
+  {
+    std::cout << "[Exception caught] : " << e.what() << std::endl;
+  }
+  return 0;
+}

src/road_map.cpp

@@ -4,6 +4,8 @@
 #include "opendrive/opendrive_road_segment.h"
 #include "opendrive/opendrive_junction.h"
 
+#include "osm/osm_map.h"
+
 #include <sys/types.h>
 #include <sys/stat.h>
 #include <chrono>
@@ -372,6 +374,14 @@ void CRoadMap::save_opendrive(const std::string &filename)
   }
 }
 
+void CRoadMap::load_osm(const std::string &filename)
+{
+  COSMMap road_map;
+
+  road_map.load(filename);
+  road_map.convert(*this);
+}
+
 void CRoadMap::set_resolution(double resolution)
 {
   this->resolution=resolution;