Added funcitons to get a part of a segment and also clone it.

Added functions to create a copy of the segment and update its references.
Added a function to clean any invalid reference.

include/opendrive_road_segment.h

@@ -5,21 +5,21 @@
 #include "xml/OpenDRIVE_1.4H.hxx"
 #endif
 
+#include "opendrive_common.h"
 #include "opendrive_lane.h"
 #include "opendrive_signal.h"
 #include "opendrive_object.h"
 #include "opendrive_road.h"
-
-class COpendriveLane;
-class COpendriveRoad;
-class COpendriveSignal;
-class COpendriveObject;
+#include "opendrive_road_node.h"
 
 class COpendriveRoadSegment
 {
   friend class COpendriveRoad;
+  friend class COpendriveRoadNode;
+  friend class COpendriveLane;
   private:
     std::map<int,COpendriveLane *> lanes;
+    std::vector<COpendriveRoadNode *> nodes;
     COpendriveRoad *parent_road;
     double resolution;
     double scale_factor;
@@ -34,25 +34,41 @@ class COpendriveRoadSegment
     opendrive_mark_t center_mark;
   protected:
     COpendriveRoadSegment();
-    COpendriveRoadSegment(const COpendriveRoadSegment &object,std::map<COpendriveRoadNode *,COpendriveRoadNode *> &node_refs,COpendriveRoad *road_ref);
+    COpendriveRoadSegment(const COpendriveRoadSegment &object);
     void load(OpenDRIVE::road_type &road_info);
     void free(void);
     void set_resolution(double res);
     void set_scale_factor(double scale);
     void set_min_road_length(double length);
     void set_parent_road(COpendriveRoad *parent);
-    void update_references(std::map<COpendriveRoadSegment *,COpendriveRoadSegment *> &segment_refs);
+    void set_name(std::string &name);
+    void set_id(unsigned int id);
+    void set_center_mark(opendrive_mark_t mark);
+    bool updated(segment_up_ref_t &segment_refs);
+    void update_references(segment_up_ref_t &segment_refs,lane_up_ref_t &lane_refs,node_up_ref_t &node_refs);
+    void clean_references(segment_up_ref_t &segment_refs,lane_up_ref_t &lane_refs,node_up_ref_t &node_refs);
     void add_lanes(lanes::laneSection_type &lane_section);
+    void remove_lane(COpendriveLane *lane);
     void add_nodes(OpenDRIVE::road_type &road_info);
+    void add_node(COpendriveRoadNode *node);
+    void remove_node(COpendriveRoadNode *node);
+    bool has_node(COpendriveRoadNode *node);
+    int get_node_side(COpendriveRoadNode *node);
     void link_neightbour_lanes(lanes::laneSection_type &lane_section);
     void link_segment(COpendriveRoadSegment &segment);
     void link_segment(COpendriveRoadSegment &segment,int from,bool from_start, int to,bool to_start);
+    bool connects_to(COpendriveRoadSegment *segment);
+    bool connects_nodes(COpendriveRoadNode *node1,COpendriveRoadNode *node2);
+    COpendriveRoadSegment *get_sub_segment(node_up_ref_t &new_node_ref,lane_up_ref_t &new_lane_ref,int node_side,TOpendriveWorldPoint *start=NULL,TOpendriveWorldPoint *end=NULL);
+    COpendriveRoadSegment *clone(node_up_ref_t &new_node_ref,lane_up_ref_t &new_lane_ref);
   public:
     std::string get_name(void) const;
     unsigned int get_id(void) const;
     unsigned int get_num_right_lanes(void) const;
     unsigned int get_num_left_lanes(void) const;
     const COpendriveLane &get_lane(int index) const;
+    unsigned int get_num_nodes(void) const;
+    const COpendriveRoadNode &get_node(unsigned int index) const;
     const COpendriveRoad &get_parent_road(void) const;
     unsigned int get_num_signals(void) const;
     const COpendriveSignal &get_signal(unsigned int index) const;

src/opendrive_road_segment.cpp

 #include "opendrive_road_segment.h"
 #include "exceptions.h"
+#include <math.h>
 
 COpendriveRoadSegment::COpendriveRoadSegment()
 {
@@ -8,6 +9,7 @@ COpendriveRoadSegment::COpendriveRoadSegment()
   this->lanes.clear();
   this->num_left_lanes=0;
   this->num_right_lanes=0;
+  this->nodes.clear();
   this->signals.clear();
   this->objects.clear();
   this->connecting.clear();
@@ -16,27 +18,18 @@ COpendriveRoadSegment::COpendriveRoadSegment()
   this->scale_factor=DEFAULT_SCALE_FACTOR;
 }
 
-COpendriveRoadSegment::COpendriveRoadSegment(const COpendriveRoadSegment &object,std::map<COpendriveRoadNode *,COpendriveRoadNode *> &node_refs,COpendriveRoad *road_ref)
+COpendriveRoadSegment::COpendriveRoadSegment(const COpendriveRoadSegment &object)
 {
-  COpendriveLane *new_lane;
   COpendriveSignal *new_signal;
   COpendriveObject *new_object;
-  std::map<int,COpendriveLane *>::const_iterator lane_it;
-  std::map<COpendriveLane *,COpendriveLane *> new_refs;
 
   this->name=object.name;
   this->id=object.id;
-  this->lanes.clear();
-  for(lane_it=object.lanes.begin();lane_it!=object.lanes.end();++lane_it)
-  {
-    new_lane=new COpendriveLane(*lane_it->second,node_refs,this);
-    this->lanes[lane_it->first]=new_lane;
-    new_refs[lane_it->second]=new_lane;
-  }
-  for(lane_it=this->lanes.begin();lane_it!=this->lanes.end();++lane_it)
-    lane_it->second->update_references(new_refs);
-
-  this->parent_road=road_ref;
+  this->lanes=object.lanes;
+  this->num_right_lanes=object.num_right_lanes;
+  this->num_left_lanes=object.num_left_lanes;
+  this->nodes=object.nodes;
+  this->parent_road=object.parent_road;
   this->signals.clear();
   for(unsigned int i=0;i<object.signals.size();i++)
   {
@@ -49,21 +42,15 @@ COpendriveRoadSegment::COpendriveRoadSegment(const COpendriveRoadSegment &object
     new_object=new COpendriveObject(*object.objects[i]);
     this->objects.push_back(new_object);
   }
-  this->connecting.resize(object.connecting.size());
-  for(unsigned int i=0;i<object.connecting.size();i++)
-    this->connecting[i]=object.connecting[i];
+  this->connecting=object.connecting;
   this->resolution=object.resolution;
   this->scale_factor=object.scale_factor;
   this->min_road_length=object.min_road_length;
+  this->center_mark=object.center_mark;
 }
 
 void COpendriveRoadSegment::free(void)
 {
-  for(int i=-this->num_right_lanes;i<=this->num_left_lanes && i!=0;i++)
-  {
-    delete this->lanes[i];
-    this->lanes[i]=NULL;
-  }
   this->lanes.clear();
   this->num_left_lanes=0;
   this->num_right_lanes=0;
@@ -72,6 +59,7 @@ void COpendriveRoadSegment::free(void)
     delete this->signals[i];
     this->signals[i]=NULL;
   }
+  this->nodes.clear();
   this->signals.clear();
   for(unsigned int i=0;i<this->objects.size();i++)
   {
@@ -116,14 +104,112 @@ void COpendriveRoadSegment::set_parent_road(COpendriveRoad *parent)
   this->parent_road=parent;
 }
 
-void COpendriveRoadSegment::update_references(std::map<COpendriveRoadSegment *,COpendriveRoadSegment *> &segment_refs)
+void COpendriveRoadSegment::set_name(std::string &name)
 {
-  for(unsigned int i=0;i<this->connecting.size();i++)
-    this->connecting[i]=segment_refs[this->connecting[i]];
-  for(unsigned int i=0;i<this->signals.size();i++)
-    this->signals[i]->update_references(segment_refs);
-  for(unsigned int i=0;i<this->objects.size();i++)
-    this->objects[i]->update_references(segment_refs);
+  this->name=name;
+}
+
+void COpendriveRoadSegment::set_id(unsigned int id)
+{
+  this->id=id;
+}
+
+void COpendriveRoadSegment::set_center_mark(opendrive_mark_t mark)
+{
+  this->center_mark=mark;
+}
+
+bool COpendriveRoadSegment::updated(segment_up_ref_t &refs)
+{
+  segment_up_ref_t::iterator updated_it;
+
+  for(updated_it=refs.begin();updated_it!=refs.end();updated_it++)
+    if(updated_it->second==this)
+      return true;
+
+  return false;
+}
+
+void COpendriveRoadSegment::update_references(segment_up_ref_t &segment_refs,lane_up_ref_t &lane_refs,node_up_ref_t &node_refs)
+{
+  std::vector<COpendriveRoadSegment *>::iterator seg_it;
+  std::map<int,COpendriveLane *>::iterator lane_it;
+  std::vector<COpendriveRoadNode *>::iterator node_it;
+
+  if(this->updated(segment_refs))
+  {
+    for(lane_it=this->lanes.begin();lane_it!=this->lanes.end();lane_it++)
+    {
+      if(lane_refs.find((*lane_it).second)!=lane_refs.end())
+      {
+        lane_it->second=lane_refs[lane_it->second];
+        lane_it->second->update_references(segment_refs,lane_refs,node_refs);
+      }
+      else if(lane_it->second->updated(lane_refs))
+        lane_it->second->update_references(segment_refs,lane_refs,node_refs);
+    }
+    for(node_it=this->nodes.begin();node_it!=this->nodes.end();node_it++)
+      if(node_refs.find(*node_it)!=node_refs.end())
+        (*node_it)=node_refs[*node_it];
+    for(seg_it=this->connecting.begin();seg_it!=this->connecting.end();seg_it++)
+      if(segment_refs.find(*seg_it)!=segment_refs.end())
+        (*seg_it)=segment_refs[*seg_it];
+    for(unsigned int i=0;i<this->signals.size();i++)
+      this->signals[i]->update_references(segment_refs);
+    for(unsigned int i=0;i<this->objects.size();i++)
+      this->objects[i]->update_references(segment_refs);
+  }
+}
+
+void COpendriveRoadSegment::clean_references(segment_up_ref_t &segment_refs,lane_up_ref_t &lane_refs,node_up_ref_t &node_refs)
+{
+  std::vector<COpendriveRoadSegment *>::iterator seg_it;
+  std::map<int,COpendriveLane *>::iterator lane_it;
+  std::vector<COpendriveRoadNode *>::iterator node_it;
+
+  if(this->updated(segment_refs))
+  {
+    for(lane_it=this->lanes.begin();lane_it!=this->lanes.end();)
+    {
+      if(lane_refs.find((*lane_it).second)!=lane_refs.end())
+      {
+        lane_it->second=lane_refs[lane_it->second];
+        lane_it->second->clean_references(segment_refs,lane_refs,node_refs);
+        lane_it++;
+      }
+      else if(lane_it->second->updated(lane_refs))
+      {
+        lane_it->second->clean_references(segment_refs,lane_refs,node_refs);
+        lane_it++;
+      }
+      else
+        lane_it=this->lanes.erase(lane_it);
+    }
+    for(node_it=this->nodes.begin();node_it!=this->nodes.end();)
+    {
+      if(node_refs.find(*node_it)!=node_refs.end())
+      {
+        (*node_it)=node_refs[*node_it];
+        node_it++;
+      }
+      else if(!(*node_it)->updated(node_refs))
+        node_it=this->nodes.erase(node_it);
+      else
+        node_it++;
+    }
+    for(seg_it=this->connecting.begin();seg_it!=this->connecting.end();)
+    {
+      if(segment_refs.find(*seg_it)!=segment_refs.end())
+      {
+        (*seg_it)=segment_refs[*seg_it];
+        seg_it++;
+      }
+      else if(!(*seg_it)->updated(segment_refs))
+        seg_it=this->connecting.erase(seg_it);
+      else
+        seg_it++;
+    }
+  }
 }
 
 void COpendriveRoadSegment::add_lanes(lanes::laneSection_type &lane_section)
@@ -132,6 +218,7 @@ void COpendriveRoadSegment::add_lanes(lanes::laneSection_type &lane_section)
   left::lane_iterator l_lane_it;
   COpendriveLane *new_lane;
   std::stringstream text;
+  unsigned int lane_index;
 
   // right lanes
   if(lane_section.right().present())
@@ -144,6 +231,8 @@ void COpendriveRoadSegment::add_lanes(lanes::laneSection_type &lane_section)
         new_lane->set_scale_factor(this->scale_factor);
         new_lane->load(*r_lane_it,this);
         this->lanes[new_lane->get_id()]=new_lane;
+        lane_index=parent_road->add_lane(new_lane);
+        new_lane->set_index(lane_index);
         this->num_right_lanes++;
       }catch(CException &e){
         text << e.what() << " in road " << this->name;
@@ -162,6 +251,8 @@ void COpendriveRoadSegment::add_lanes(lanes::laneSection_type &lane_section)
         new_lane->set_scale_factor(this->scale_factor);
         new_lane->load(*l_lane_it,this);
         this->lanes[new_lane->get_id()]=new_lane;
+        lane_index=parent_road->add_lane(new_lane);
+        new_lane->set_index(lane_index);
         this->num_left_lanes++;
       }catch(CException &e){
         text << e.what() << " in road " << this->name;
@@ -171,6 +262,53 @@ void COpendriveRoadSegment::add_lanes(lanes::laneSection_type &lane_section)
   }
 }
 
+void COpendriveRoadSegment::remove_lane(COpendriveLane *lane)
+{
+  std::map<int,COpendriveLane *>::iterator lane_it;
+  std::vector<COpendriveLane *>::iterator other_lane_it;
+
+  for(lane_it=this->lanes.begin();lane_it!=this->lanes.end();)
+  {
+    if(lane_it->second==lane)
+    {
+      if(lane_it->first>0)
+        this->num_left_lanes--;
+      else
+        this->num_right_lanes--;
+      // remove associated nodes
+      for(unsigned int i=0;i<lane->nodes.size();i++)
+        this->remove_node(lane->nodes[i]);
+      // remove the reference from neightbour lanes
+      if(lane_it->second->left_lane!=NULL)
+        lane_it->second->left_lane->right_lane=NULL;
+      if(lane_it->second->right_lane!=NULL)
+        lane_it->second->right_lane->left_lane=NULL;
+      // remove the reference from next lanes
+      for(unsigned int i=0;i<lane_it->second->next.size();i++)
+        for(other_lane_it=lane_it->second->next[i]->prev.begin();other_lane_it!=lane_it->second->next[i]->prev.end();)
+        {
+          if((*other_lane_it)==lane)
+            other_lane_it=lane_it->second->next[i]->prev.erase(other_lane_it);
+          else
+            other_lane_it++;
+        }
+      // remove the reference from prev lanes
+      for(unsigned int i=0;i<lane_it->second->prev.size();i++)
+        for(other_lane_it=lane_it->second->prev[i]->next.begin();other_lane_it!=lane_it->second->prev[i]->next.end();)
+        {
+          if((*other_lane_it)==lane)
+            other_lane_it=lane_it->second->prev[i]->next.erase(other_lane_it);
+          else
+            other_lane_it++;
+        }
+      lane_it=this->lanes.erase(lane_it);
+      break;
+    }
+    else
+      lane_it++;
+  }
+}
+
 void COpendriveRoadSegment::add_nodes(OpenDRIVE::road_type &road_info)
 {
   std::map<int,COpendriveLane *>::const_iterator lane_it;
@@ -204,8 +342,9 @@ void COpendriveRoadSegment::add_nodes(OpenDRIVE::road_type &road_info)
           {
             index=this->parent_road->add_node(new_node);
             new_node->set_index(index);
-            new_node->set_parent_segment(this);
           }
+          new_node->add_parent_segment(this);
+          this->add_node(new_node);
           this->lanes[i]->add_node(new_node);
         }
         lane_offset-=this->lanes[i]->width;
@@ -235,8 +374,9 @@ void COpendriveRoadSegment::add_nodes(OpenDRIVE::road_type &road_info)
           {
             index=this->parent_road->add_node(new_node);
             new_node->set_index(index);
-            new_node->set_parent_segment(this);
           }
+          new_node->add_parent_segment(this);
+          this->add_node(new_node);
           this->lanes[i]->add_node(new_node);
         }
         lane_offset+=this->lanes[i]->width;
@@ -250,6 +390,56 @@ void COpendriveRoadSegment::add_nodes(OpenDRIVE::road_type &road_info)
   }
 }
 
+void COpendriveRoadSegment::add_node(COpendriveRoadNode *node)
+{
+  for(unsigned int i=0;i<this->nodes.size();i++)
+    if(this->nodes[i]==node)
+      return;
+  //add the node
+  this->nodes.push_back(node);
+}
+
+void COpendriveRoadSegment::remove_node(COpendriveRoadNode *node)
+{
+  std::vector<COpendriveRoadNode *>::iterator it;
+
+  for(it=this->nodes.begin();it!=this->nodes.end();)
+  {
+    if((*it)==node)
+    {
+      it=this->nodes.erase(it);
+      break;
+    }
+    else
+      it++;
+  }
+}
+
+bool COpendriveRoadSegment::has_node(COpendriveRoadNode *node)
+{
+  for(unsigned int i=0;i<this->nodes.size();i++)
+    if(this->nodes[i]==node)
+      return true;
+
+  return false;
+}
+
+int COpendriveRoadSegment::get_node_side(COpendriveRoadNode *node)
+{
+  std::map<int,COpendriveLane *>::iterator it;
+
+  if(this->has_node(node))
+  {
+    for(it=this->lanes.begin();it!=this->lanes.end();it++)
+      if(it->second->has_node(node))
+        return it->first;
+
+    return 0;
+  }
+  else
+    throw CException(_HERE_,"Road segment does not include the given node");
+}
+
 void COpendriveRoadSegment::link_neightbour_lanes(lanes::laneSection_type &lane_section)
 {
   center::lane_type center_lane;
@@ -260,30 +450,30 @@ void COpendriveRoadSegment::link_neightbour_lanes(lanes::laneSection_type &lane_
     if(center_lane.roadMark().size()>1)
       throw CException(_HERE_,"Only one road mark supported for lane");
     else if(center_lane.roadMark().size()==0)
-      this->center_mark=OD_MARK_NONE;
+      this->set_center_mark(OD_MARK_NONE);
     else if(center_lane.roadMark().size()==1)
     {
       if(center_lane.roadMark().begin()->type1().present())
       {
         if(center_lane.roadMark().begin()->type1().get()=="none")
-          this->center_mark=OD_MARK_NONE;
+          this->set_center_mark(OD_MARK_NONE);
         else if(center_lane.roadMark().begin()->type1().get()=="solid")
-          this->center_mark=OD_MARK_SOLID;
+          this->set_center_mark(OD_MARK_SOLID);
         else if(center_lane.roadMark().begin()->type1().get()=="broken")
-          this->center_mark=OD_MARK_BROKEN;
+          this->set_center_mark(OD_MARK_BROKEN);
         else if(center_lane.roadMark().begin()->type1().get()=="solid solid")
-          this->center_mark=OD_MARK_SOLID_SOLID;
+          this->set_center_mark(OD_MARK_SOLID_SOLID);
         else if(center_lane.roadMark().begin()->type1().get()=="solid broken")
-          this->center_mark=OD_MARK_SOLID_BROKEN;
+          this->set_center_mark(OD_MARK_SOLID_BROKEN);
         else if(center_lane.roadMark().begin()->type1().get()=="broken solid")
-          this->center_mark=OD_MARK_BROKEN_SOLID;
+          this->set_center_mark(OD_MARK_BROKEN_SOLID);
         else if(center_lane.roadMark().begin()->type1().get()=="broken broken")
-          this->center_mark=OD_MARK_BROKEN_BROKEN;
+          this->set_center_mark(OD_MARK_BROKEN_BROKEN);
         else
-          this->center_mark=OD_MARK_NONE;
+          this->set_center_mark(OD_MARK_NONE);
       }
       else
-        this->center_mark=OD_MARK_NONE;
+        this->set_center_mark(OD_MARK_NONE);
     }
   }
   for(int i=-this->num_right_lanes;i<0;i++)
@@ -300,14 +490,12 @@ void COpendriveRoadSegment::link_neightbour_lanes(lanes::laneSection_type &lane_
     else
       this->lanes[i]->right_mark=OD_MARK_NONE;
   }
-/*
-  if(this->lanes.find(1)!=this->lanes.end() && this->lanes.find(-1)!=this->lanes.end())
-  {
-    this->lanes[-1]->left_mark=center_mark;
-    this->lanes[1]->right_mark=center_mark;
-    this->lanes[-1]->link_neightbour_lane(this->lanes[1]);
-  }
-*/
+
+  if(this->lanes.find(1)!=this->lanes.end())
+    this->lanes[1]->right_mark=this->center_mark;
+  if(this->lanes.find(-1)!=this->lanes.end())
+    this->lanes[-1]->left_mark=this->center_mark;
+//  this->lanes[-1]->link_neightbour_lane(this->lanes[1]);
 }
 
 void COpendriveRoadSegment::link_segment(COpendriveRoadSegment &segment)
@@ -388,6 +576,79 @@ void COpendriveRoadSegment::link_segment(COpendriveRoadSegment &segment,int from
   }
 }
 
+bool COpendriveRoadSegment::connects_to(COpendriveRoadSegment* segment)
+{
+  for(unsigned int i=0;i<this->connecting.size();i++)
+    if(this->connecting[i]==segment)
+      return true;
+
+  return false;
+}
+
+bool COpendriveRoadSegment::connects_nodes(COpendriveRoadNode *node1,COpendriveRoadNode *node2)
+{
+  if(this->has_node(node1) && this->has_node(node2))
+    return true;
+  else
+    return false;
+}
+
+COpendriveRoadSegment *COpendriveRoadSegment::get_sub_segment(node_up_ref_t &new_node_ref,lane_up_ref_t &new_lane_ref,int node_side,TOpendriveWorldPoint *start,TOpendriveWorldPoint *end)
+{
+  std::map<int,COpendriveLane *>::iterator lane_it;
+  lane_up_ref_t::iterator lane_ref_it;
+  COpendriveLane *new_lane;
+  std::vector<COpendriveRoadSegment *>::iterator seg_it;
+  segment_up_ref_t new_segment_ref;
+  COpendriveRoadSegment *new_segment;
+  std::vector<COpendriveRoadNode *>::iterator node_it;
+  node_up_ref_t::iterator node_ref_it;
+  COpendriveRoadNode *new_node;
+
+  if(start==NULL && end==NULL)
+    return this->clone(new_node_ref,new_lane_ref);
+  new_segment=new COpendriveRoadSegment(*this);
+  new_segment_ref[this]=new_segment;
+  /* get the sublanes */
+  for(lane_it=new_segment->lanes.begin();lane_it!=new_segment->lanes.end();lane_it++)
+  {
+    if(node_side<0)
+      new_lane=lane_it->second->get_sub_lane(new_node_ref,new_lane_ref,&new_node,start,end);
+    else
+      new_lane=lane_it->second->get_sub_lane(new_node_ref,new_lane_ref,&new_node,end,start);
+    new_lane_ref[lane_it->second]=new_lane;
+    if(new_node!=NULL)
+      new_segment->add_node(new_node);
+  }
+  new_segment->update_references(new_segment_ref,new_lane_ref,new_node_ref);
+  // update signals and objects
+
+  return new_segment; 
+}
+
+COpendriveRoadSegment *COpendriveRoadSegment::clone(node_up_ref_t &new_node_ref,lane_up_ref_t &new_lane_ref)
+{
+  std::map<int,COpendriveLane *>::iterator lane_it;
+  lane_up_ref_t::iterator lane_ref_it;
+  COpendriveLane *new_lane;
+  segment_up_ref_t new_segment_ref;
+  COpendriveRoadSegment *new_segment;
+  std::vector<COpendriveRoadNode *>::iterator node_it;
+  node_up_ref_t::iterator node_ref_it;
+
+  new_segment=new COpendriveRoadSegment(*this);
+  new_segment_ref[this]=new_segment;
+  /* get the sublanes */
+  for(lane_it=new_segment->lanes.begin();lane_it!=new_segment->lanes.end();lane_it++)
+  {
+    new_lane=lane_it->second->clone(new_node_ref,new_lane_ref);
+    new_lane_ref[lane_it->second]=new_lane;
+  }
+  new_segment->update_references(new_segment_ref,new_lane_ref,new_node_ref);
+
+  return new_segment;
+}
+
 void COpendriveRoadSegment::load(OpenDRIVE::road_type &road_info)
 {
   std::map<int,COpendriveLane *>::const_iterator lane_it;
@@ -398,8 +659,8 @@ void COpendriveRoadSegment::load(OpenDRIVE::road_type &road_info)
   COpendriveObject *new_object;
 
   this->free();
-  this->name=road_info.name().get();
-  this->id=std::stoi(road_info.id().get());
+  this->set_name(road_info.name().get());
+  this->set_id(std::stoi(road_info.id().get()));
   // only one lane section is supported
   if(road_info.lanes().laneSection().size()<1)
     throw CException(_HERE_,"No lane sections defined for road "+road_info.id().get());
@@ -475,6 +736,19 @@ const COpendriveLane &COpendriveRoadSegment::get_lane(int index) const
   throw CException(_HERE_,"invalid lane index");
 }
 
+unsigned int COpendriveRoadSegment::get_num_nodes(void) const
+{
+  return this->nodes.size();
+}
+
+const COpendriveRoadNode &COpendriveRoadSegment::get_node(unsigned int index) const
+{
+  if(index>=0 && index<this->nodes.size())
+    return *this->nodes[index];
+  else
+    throw CException(_HERE_,"Invalid signal index");
+}
+
 const COpendriveRoad &COpendriveRoadSegment::get_parent_road(void) const