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_curvature() function).
Solved a bug: the min_s parameter is not needed to compute the local coordinates.

include/opendrive_arc.h

@@ -5,19 +5,19 @@
 
 class COpendriveArc : public COpendriveGeometry
 {
+  friend class COpendriveRoadNode;
   private:
     double curvature;
   protected:
+    COpendriveArc();
+    COpendriveArc(const COpendriveArc &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:
-    COpendriveArc();
-    COpendriveArc(double min_s, double max_s, double x, double y, double heading, double curvature);
-    COpendriveArc(const COpendriveArc &object);
     virtual COpendriveGeometry *clone(void);
-    double get_curvature(void);
+    virtual void get_curvature(double &start,double &end);
     void operator=(const COpendriveArc &object);
     ~COpendriveArc();
 };

src/opendrive_arc.cpp

@@ -6,11 +6,6 @@ COpendriveArc::COpendriveArc()
   this->curvature=0.0;
 }
 
-COpendriveArc::COpendriveArc(double min_s, double max_s, double x, double y, double heading, double curvature) : COpendriveGeometry(min_s,max_s,x,y,heading)
-{
-  this->curvature=curvature;
-}
-
 COpendriveArc::COpendriveArc(const COpendriveArc &object) : COpendriveGeometry(object)
 {
   this->curvature=object.curvature;
@@ -19,21 +14,21 @@ COpendriveArc::COpendriveArc(const COpendriveArc &object) : COpendriveGeometry(o
 bool COpendriveArc::transform_local_pose(TOpendriveTrackPoint &track,TOpendriveLocalPoint &local) const
 {
   double alpha;
-  bool pos_arc;
-
-  alpha = std::fabs((track.s-this->min_s/this->scale_factor)*this->curvature*this->scale_factor);
-  pos_arc = (this->curvature < 0.0 ? false : true);
-  local.u = std::sin(alpha)/(this->curvature*this->scale_factor) - track.t*std::sin(alpha)*(pos_arc ? 1 : -1);
-  local.v = (1 - std::cos(alpha))*(pos_arc ? 1 : -1)/(this->curvature*this->scale_factor) + track.t*std::cos(alpha);
-  local.heading = normalize_angle(track.heading + alpha*(pos_arc ? 1 : -1));
 
+  alpha = track.s*this->curvature*this->scale_factor;
+  local.u = std::sin(alpha)/(this->curvature*this->scale_factor) - track.t*std::sin(alpha);
+  local.v = (1 - std::cos(alpha))/(this->curvature*this->scale_factor) + track.t*std::cos(alpha);
+  local.heading = normalize_angle(track.heading + alpha);
   return true;
 }
 
 void COpendriveArc::print(std::ostream &out)
 {
+  double start_curvature,end_curvature;
+
   COpendriveGeometry::print(out);
-  out << "          curvature = " << this->get_curvature() << std::endl;
+  this->get_curvature(start_curvature,end_curvature);
+  out << "          curvature = " << start_curvature << std::endl;
 }
 
 std::string COpendriveArc::get_name(void)
@@ -53,9 +48,10 @@ COpendriveGeometry *COpendriveArc::clone(void)
   return new_arc;
 }
 
-double COpendriveArc::get_curvature(void)
+void COpendriveArc::get_curvature(double &start,double &end)
 {
-  return this->curvature*this->scale_factor;
+  start=this->curvature*this->scale_factor;
+  end=this->curvature*this->scale_factor;
 }
 
 void COpendriveArc::operator=(const COpendriveArc &object)