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Commit c6282d32 authored by Sergi Hernandez's avatar Sergi Hernandez
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Removed some source files no longer needed.

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1 merge request!2Solved a bug when creating a new geometry object: the sale factor is...
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include/opendrive/opendrive_road.h deleted 100644 → 0
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− 467
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src/examples/opendrive_test.cpp deleted 100644 → 0
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#include "opendrive_road.h"
#include "exceptions.h"
#include <iostream>
#include <vector>
#include <limits>
int main(int argc, char *argv[])
{
// TOpendriveWorldPose closest_pose;
std::vector<double> x,y;
COpendriveRoad road,new_road,new_road2;
std::vector<unsigned int> path,new_path,new_path2;
TOpendriveWorldPose end_pose,start_pose;
double length=100.0;
// std::string xml_file="/home/shernand/Downloads/map.xodr";
// std::string xml_file="/home/shernand/Downloads/osm2xodr_old/output.xodr";
// std::string xml_file="/home/shernand/iri-lab/adc_ws/code/autonomous_driving_tools/src/xml/add.xodr";
std::string xml_file="/home/shernand/iri-lab/add_robot/add_ws/code/autonomous_driving_tools/build/new_road.xodr";
// std::string xml_file="/home/shernand/iri-lab/adc_ws/code/autonomous_driving_tools/src/xml/adc.xodr";
// std::string xml_file="/home/shernand/iri-lab/iri_team_ws/src/iri_adc_launch/data/adc/adc.xodr";
try
{
road.set_resolution(0.1);
road.set_scale_factor(1.0);
road.set_min_road_length(0.1);
road.load(xml_file);
// std::cout << road << std::endl;
// return 0;
/*
for(unsigned int i=0;i<road.get_num_nodes();i++)
{
const COpendriveRoadNode &node=road.get_node(i);
TOpendriveWorldPose pose=node.get_pose();
std::cout << pose.x << "," << pose.y << "," << pose.heading << std::endl;
}
return 0;
*/
for(unsigned int i=0;i<road.get_num_nodes();i++)
{
const COpendriveRoadNode &node=road.get_node(i);
for(unsigned int j=0;j<node.get_num_links();j++)
{
const COpendriveLink &link=node.get_link(j);
link.get_trajectory(x,y);
for(unsigned int k=0;k<x.size();k++)
std::cout << x[k] << "," << y[k] << std::endl;
}
}
return 0;
path.clear();
path.push_back(51);
path.push_back(34);
path.push_back(55);
path.push_back(0);
path.push_back(2);
path.push_back(4);
path.push_back(6);
path.push_back(47);
path.push_back(8);
path.push_back(49);
path.push_back(10);
path.push_back(12);
path.push_back(14);
path.push_back(16);
path.push_back(59);
path.push_back(18);
end_pose.x=60.2742;
end_pose.y=105.16;
end_pose.heading=3.14159;
start_pose.x=52.2;
start_pose.y=15.0;
start_pose.heading=0.0;
new_path=road.get_sub_road(path,end_pose,new_road);
new_path2=new_road.get_sub_road(start_pose,end_pose,length,new_road2,new_path,-1);
for(unsigned int i=0;i<new_road2.get_num_nodes();i++)
{
const COpendriveRoadNode &node=new_road2.get_node(i);
for(unsigned int j=0;j<node.get_num_links();j++)
{
const COpendriveLink &link=node.get_link(j);
link.get_trajectory(x,y);
for(unsigned int k=0;k<x.size();k++)
std::cout << x[k] << "," << y[k] << std::endl;
}
}
return 0;
/*
path.clear();
path.push_back(27);
path.push_back(29);
path.push_back(89);
path.push_back(0);
path.push_back(98);
path.push_back(100);
path.push_back(16);
path.push_back(17);
path.push_back(18);
path.push_back(133);
path.push_back(135);
path.push_back(58);
path.push_back(131);
path.push_back(24);
path.push_back(103);
path.push_back(3);
path.push_back(99);
path.push_back(1);
path.push_back(95);
path.push_back(96);
path.push_back(32);
path.push_back(33);
end_pose.x=0.0;
end_pose.y=0.0;
end_pose.heading=3.14159;
start_pose.x=0.0;
start_pose.y=0.0;
start_pose.heading=0.0;
road.get_sub_road(path,end_pose,new_road,false);
new_road.get_sub_road(start_pose,length,1.0,new_road2);
*/
// std::cout << "road2" << std::endl;
// std::cout << new_road << std::endl;
/*
for(unsigned int i=0;i<new_road2.get_num_nodes();i++)
{
const COpendriveRoadNode &node=new_road2.get_node(i);
for(unsigned int j=0;j<node.get_num_links();j++)
{
const COpendriveLink &link=node.get_link(j);
link.get_trajectory(x,y);
for(unsigned int k=0;k<x.size();k++)
std::cout << x[k] << "," << y[k] << std::endl;
}
}
return 0;
*/
// length=21.0;
// new_road.get_sub_road(start_pose,length,1.0,new_road2);
// std::cout << "road2" << std::endl;
// std::cout << new_road2 << std::endl;
/*
for(unsigned int i=0;i<new_road2.get_num_nodes();i++)
{
const COpendriveRoadNode &node=new_road2.get_node(i);
for(unsigned int j=0;j<node.get_num_links();j++)
{
const COpendriveLink &link=node.get_link(j);
link.get_trajectory(x,y);
for(unsigned int k=0;k<x.size();k++)
std::cout << x[k] << "," << y[k] << std::endl;
}
}
*/
/*
if(argc!=4)
{
std::cout << "Invalid number of parameters" << std::endl;
std::cout << argv[0] << " x y heading" << std::endl;
return -1;
}
end_pose.x=std::stod(argv[1]);
end_pose.y=std::stod(argv[2]);
end_pose.heading=std::stod(argv[3]);
length=road.get_closest_pose(end_pose,closest_pose);
std::cout << "closest pose to: " << x << "," << y << "," << heading << " -> " << closest_pose.x << "," << closest_pose.y << "," << closest_pose.heading << " at " << length << " m" << std::endl;
*/
/*
path.push_back(0);
start_pose.x=1.0;
start_pose.y=0.0;
start_pose.heading=0.0;
end_pose.x=2.0;
end_pose.y=0.0;
end_pose.heading=0.0;
road.get_sub_road(path,end_pose,new_road);
std::cout << "road1" << std::endl;
std::cout << new_road << std::endl;
*/
/*
path.clear();
path.push_back(0);
path.push_back(22);
path.push_back(2);
start_pose.x=1.0;
start_pose.y=0.0;
start_pose.heading=0.0;
end_pose.x=5.0;
end_pose.y=0.0;
end_pose.heading=0.0;
road.get_sub_road(path,end_pose,new_road);
std::cout << "road2" << std::endl;
std::cout << new_road << std::endl;
*/
path.clear();
path.push_back(0);
path.push_back(22);
path.push_back(2);
path.push_back(4);
path.push_back(6);
path.push_back(8);
path.push_back(10);
path.push_back(25);
path.push_back(21);
path.push_back(24);
path.push_back(1);
start_pose.x=1.0;
start_pose.y=-2.2;
start_pose.heading=0.0;
end_pose.x=0.0;
end_pose.y=2.2;
end_pose.heading=3.14159;
length=100.0;
new_path=road.get_sub_road(path,end_pose,new_road);
new_path=new_road.get_sub_road(start_pose,end_pose,length,new_road2,new_path);
// std::cout << "road3" << std::endl;
// std::cout << new_road << std::endl;
for(unsigned int i=0;i<new_road2.get_num_nodes();i++)
{
const COpendriveRoadNode &node=new_road2.get_node(i);
for(unsigned int j=0;j<node.get_num_links();j++)
{
const COpendriveLink &link=node.get_link(j);
link.get_trajectory(x,y);
for(unsigned int k=0;k<x.size();k++)
std::cout << x[k] << "," << y[k] << std::endl;
}
}
}
catch (CException &e)
{
std::cout << "[Exception caught] : " << e.what() << std::endl;
}
return 0;
}
src/examples/osm_test.cpp deleted 100644 → 0
+ 0
− 34
View file @ 78444e7e
#include "osm/osm_map.h"
#include "opendrive_road.h"
#include "exceptions.h"
#include <iostream>
#include <vector>
#include <limits>
const std::string filename="/home/shernand/Downloads/map.osm";
//const std::string filename="/home/shernand/Downloads/castelldefels.osm";
int main(int argc, char *argv[])
{
std::vector<double> x,y,heading,curvature;
try{
COSMMap map;
COpendriveRoad road;
map.load(filename);
map.convert_to_opendrive(road);
road.save("./new_road.xodr");
map.get_paths(x,y,heading,curvature);
for(unsigned int i=0;i<x.size();i++)
std::cout << x[i] << "," << y[i] << std::endl;
std::cout << map << std::endl;
}
catch (std::exception &e)
{
std::cout << "[Exception caught] : " << e.what() << std::endl;
}
return 0;
}
src/opendrive/opendrive_road.cpp deleted 100644 → 0
+ 0
− 1799
View file @ 78444e7e
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