From c05e7658c07de8f2bafa33e17eaee8d4d092bb7e Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Thu, 31 Dec 2020 17:44:56 +0100
Subject: [PATCH] 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 | 8 ++++----
src/opendrive_arc.cpp | 26 +++++++++++---------------
2 files changed, 15 insertions(+), 19 deletions(-)
diff --git a/include/opendrive_arc.h b/include/opendrive_arc.h
index 94ee22b..644278e 100644
--- a/include/opendrive_arc.h
+++ b/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();
};
diff --git a/src/opendrive_arc.cpp b/src/opendrive_arc.cpp
index c08a1e6..2610e34 100644
--- a/src/opendrive_arc.cpp
+++ b/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)
--
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