Moved the default and copy constructors as protected.

Removed the parameter constructor.
Implemented the function to get the start and end curvature.
Solved a bug: the min_s parameter is not needed to compute the local coordinates.

include/opendrive_param_poly3.h

@@ -13,20 +13,21 @@ typedef struct
 
 class COpendriveParamPoly3 : public COpendriveGeometry
 {
+  friend class COpendriveRoadNode;
   private:
     TOpendrivePoly3Params u;
     TOpendrivePoly3Params v;
     bool normalized;
   protected:
+    COpendriveParamPoly3();
+    COpendriveParamPoly3(const COpendriveParamPoly3 &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:
-    COpendriveParamPoly3();
-    COpendriveParamPoly3(double min_s, double max_s, double x, double y, double heading,TOpendrivePoly3Params &u,TOpendrivePoly3Params &v,bool normalized);
-    COpendriveParamPoly3(const COpendriveParamPoly3 &object);
     virtual COpendriveGeometry *clone(void);
+    virtual void get_curvature(double &start,double &end);
     TOpendrivePoly3Params get_u_params(void);
     TOpendrivePoly3Params get_v_params(void);
     bool is_normalized(void);

src/opendrive_param_poly3.cpp

@@ -14,19 +14,6 @@ COpendriveParamPoly3::COpendriveParamPoly3()
   this->normalized=true;
 }
 
-COpendriveParamPoly3::COpendriveParamPoly3(double min_s, double max_s, double x, double y, double heading,TOpendrivePoly3Params &u,TOpendrivePoly3Params &v,bool normalized) : COpendriveGeometry(min_s,max_s,x,y,heading)
-{
-  this->u.a=u.a;
-  this->u.b=u.b;
-  this->u.c=u.c;
-  this->u.d=u.d;
-  this->v.a=v.a;
-  this->v.b=v.b;
-  this->v.c=v.c;
-  this->v.d=v.d;
-  this->normalized=normalized;
-}
-
 COpendriveParamPoly3::COpendriveParamPoly3(const COpendriveParamPoly3 &object) : COpendriveGeometry(object)
 {
   this->u.a=object.u.a;
@@ -42,7 +29,7 @@ COpendriveParamPoly3::COpendriveParamPoly3(const COpendriveParamPoly3 &object) :
 
 bool COpendriveParamPoly3::transform_local_pose(TOpendriveTrackPoint &track,TOpendriveLocalPoint &local) const
 {
-  double p = (this->normalized ? (track.s - this->min_s)/(this->max_s - this->min_s): (track.s - this->min_s));
+  double p = (this->normalized ? track.s/((this->max_s - this->min_s)/this->scale_factor):track.s);
   double p2 = p*p;
   double p3 = p2*p;
   double du = this->u.b + 2*this->u.c*p + 3*this->u.d*p2;
@@ -93,6 +80,12 @@ COpendriveGeometry *COpendriveParamPoly3::clone(void)
   return new_poly;
 }
 
+void COpendriveParamPoly3::get_curvature(double &start,double &end)
+{
+  start=0.0;
+  end=0.0;
+}
+
 TOpendrivePoly3Params COpendriveParamPoly3::get_u_params(void)
 {
   return this->u;