Used only one index to the global node vector in the COpendriveRoadNode class.

Added a referecne to the parent road segment in the COpendriveRoadNode class.
In the destructor, only the link starting at the current node are deleted to avoid double free.

include/opendrive_road_node.h

@@ -6,6 +6,7 @@
 #include "opendrive_lane.h"
 
 class COpendriveLane;
+class COpendriveRoadSegment;
 
 class COpendriveRoadNode
 {
@@ -18,20 +19,23 @@ class COpendriveRoadNode
     TOpendriveWorldPoint start_point;
     std::vector<COpendriveLane *> lanes;
     std::vector<COpendriveGeometry *> geometries;
-    std::vector<unsigned int> indexes;
+    COpendriveRoadSegment *parent_segment;
+    unsigned int index;
   protected:
     void load(const planView::geometry_type &geom_info,COpendriveLane *lane);
     void add_link(COpendriveRoadNode *node,opendrive_mark_t mark);
     void set_resolution(double res);
     void set_scale_factor(double scale);
-    void set_index(unsigned int lane_index,unsigned int index);
+    void set_index(unsigned int index);
+    void set_parent_segment(COpendriveRoadSegment *segment);
     void add_lane(const planView::geometry_type &geom_info,COpendriveLane *lane);
   public:
     COpendriveRoadNode();
     COpendriveRoadNode(const COpendriveRoadNode &object);
     double get_resolution(void) const;
     double get_scale_factor(void) const;
-    unsigned int get_index(unsigned int lane_index) const;
+    unsigned int get_index(void) const;
+    const COpendriveRoadSegment& get_parent_segment(void) const;
     TOpendriveWorldPoint get_start_pose(void) const;
     unsigned int get_num_links(void) const;
     const COpendriveLink &get_link(unsigned int index) const;

src/opendrive_road_node.cpp

@@ -11,7 +11,8 @@ COpendriveRoadNode::COpendriveRoadNode()
   this->start_point.heading=0.0;
   this->lanes.clear();
   this->geometries.clear();
-  this->indexes.clear();
+  this->index=-1;
+  this->parent_segment=NULL;
 }
 
 COpendriveRoadNode::COpendriveRoadNode(const COpendriveRoadNode &object)
@@ -35,7 +36,8 @@ COpendriveRoadNode::COpendriveRoadNode(const COpendriveRoadNode &object)
     new_link=new COpendriveLink(*object.links[i]);
     this->links.push_back(new_link);
   }
-  this->indexes=object.indexes;
+  this->index=object.index;
+  this->parent_segment=object.parent_segment;
 }
 
 void COpendriveRoadNode::add_link(COpendriveRoadNode *node,opendrive_mark_t mark)
@@ -72,12 +74,14 @@ void COpendriveRoadNode::set_scale_factor(double scale)
     this->links[i]->set_scale_factor(scale);
 }
 
-void COpendriveRoadNode::set_index(unsigned int lane_index,unsigned int index)
+void COpendriveRoadNode::set_index(unsigned int index)
 {
-  if(lane_index>=0 && lane_index<this->lanes.size())
-    this->indexes[lane_index]=index;
-  else
-    throw CException(_HERE_,"Invalid lane index");
+  this->index=index;
+}
+
+void COpendriveRoadNode::set_parent_segment(COpendriveRoadSegment *segment)
+{
+  this->parent_segment=segment;
 }
 
 void COpendriveRoadNode::add_lane(const planView::geometry_type &geom_info,COpendriveLane *lane)
@@ -99,7 +103,6 @@ void COpendriveRoadNode::add_lane(const planView::geometry_type &geom_info,COpen
   geometry->load(geom_info);
   this->geometries.push_back(geometry);
   this->lanes.push_back(lane);
-  this->indexes.resize(this->lanes.size());
 }
 
 void COpendriveRoadNode::load(const planView::geometry_type &geom_info,COpendriveLane *lane)
@@ -158,7 +161,6 @@ void COpendriveRoadNode::load(const planView::geometry_type &geom_info,COpendriv
   this->links.clear();
   this->lanes.clear();
   this->lanes.push_back(lane);
-  this->indexes.resize(1);
 }
 
 double COpendriveRoadNode::get_resolution(void) const
@@ -171,12 +173,14 @@ double COpendriveRoadNode::get_scale_factor(void) const
   return this->scale_factor;
 }
 
-unsigned int COpendriveRoadNode::get_index(unsigned int lane_index) const
+unsigned int COpendriveRoadNode::get_index(void) const
 {
-  if(lane_index>=0 && lane_index<this->indexes.size())
-    return this->indexes[lane_index];
-  else
-    throw CException(_HERE_,"Invalid lane index");
+ return this->index;
+}
+
+const COpendriveRoadSegment &COpendriveRoadNode::get_parent_segment(void) const
+{
+  return *this->parent_segment;
 }
 
 TOpendriveWorldPoint COpendriveRoadNode::get_start_pose(void) const
@@ -254,12 +258,12 @@ void COpendriveRoadNode::operator=(const COpendriveRoadNode &object)
     new_link=new COpendriveLink(*object.links[i]);
     this->links.push_back(new_link);
   }
-  this->indexes=object.indexes;
+  this->index=object.index;
 }
 
 std::ostream& operator<<(std::ostream& out, COpendriveRoadNode &node)
 {
-//  out << "      parent lane: " << node.lane->get_id() << std::endl;
+  out << "    Node: " << node.get_index() << std::endl;
   out << "      start point: x: " << node.start_point.x << " y: " << node.start_point.y << " heading: " << node.start_point.heading << std::endl;
   out << "      Number of parent lanes: " << node.lanes.size() << std::endl;
   for(unsigned int i=0;i<node.lanes.size();i++)
@@ -293,8 +297,11 @@ COpendriveRoadNode::~COpendriveRoadNode()
   this->geometries.clear();
   for(unsigned int i=0;i<this->links.size();i++)
   {
-    delete this->links[i];
-    this->links[i]=NULL;
+    if(this->links[i]->prev==this)
+    {
+      delete this->links[i];
+      this->links[i]=NULL;
+    }
   }
   this->links.clear();
 }