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Commit d20f77c8 authored by Sergi Hernandez's avatar Sergi Hernandez
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Updated the opendrive example.

parent ba93d283
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1 merge request!2Solved a bug when creating a new geometry object: the sale factor is...
...@@ -12,7 +12,7 @@ int main(int argc, char *argv[]) ...@@ -12,7 +12,7 @@ int main(int argc, char *argv[])
std::vector<unsigned int> path; std::vector<unsigned int> path;
TOpendriveWorldPose end_pose,start_pose; TOpendriveWorldPose end_pose,start_pose;
double length=5.0; double length=5.0;
std::string xml_file="/home/shernand/iri-lab/adc_ws/code/autonomous_driving_tools/src/xml/add_road_full.xodr"; std::string xml_file="/home/sergi/iri-lab/adc_ws/code/autonomous_driving_tools/src/xml/add_road_full.xodr";
// std::string xml_file="/home/shernand/iri-lab/adc_ws/code/autonomous_driving_tools/src/xml/adc_road.xodr"; // std::string xml_file="/home/shernand/iri-lab/adc_ws/code/autonomous_driving_tools/src/xml/adc_road.xodr";
try try
...@@ -21,8 +21,8 @@ int main(int argc, char *argv[]) ...@@ -21,8 +21,8 @@ int main(int argc, char *argv[])
road.set_scale_factor(1.0); road.set_scale_factor(1.0);
road.set_min_road_length(0.1); road.set_min_road_length(0.1);
road.load(xml_file); road.load(xml_file);
// std::cout << road << std::endl;
/* /*
std::cout << road << std::endl;
for(unsigned int i=0;i<road.get_num_nodes();i++) for(unsigned int i=0;i<road.get_num_nodes();i++)
{ {
const COpendriveRoadNode &node=road.get_node(i); const COpendriveRoadNode &node=road.get_node(i);
...@@ -35,51 +35,11 @@ int main(int argc, char *argv[]) ...@@ -35,51 +35,11 @@ int main(int argc, char *argv[])
} }
} }
return 0; return 0;
*/ */
path.push_back(4);
start_pose.x=10.0;
start_pose.y=0.0;
start_pose.heading=0.0;
end_pose.x=100.0;
end_pose.y=0.0;
end_pose.heading=0.0;
road.get_sub_road(path,end_pose,new_road,false);
//std::cout << "road1" << std::endl;
//std::cout << new_road << std::endl;
/*
path.clear();
path.push_back(4);
path.push_back(6);
path.push_back(8);
path.push_back(150);
path.push_back(67);
path.push_back(69);
path.push_back(71);
start_pose.x=15.0;
start_pose.y=0.0;
start_pose.heading=0.0;
end_pose.x=18.5;
end_pose.y=22.0;
end_pose.heading=3.14159;
*/
/*
path.clear();
path.push_back(61);
path.push_back(63);
path.push_back(65);
path.push_back(153);
path.push_back(10);
path.push_back(12);
path.push_back(14);
end_pose.x=15.0;
end_pose.y=0.0;
end_pose.heading=3.14159;
start_pose.x=18.5;
start_pose.y=22.0;
start_pose.heading=0.0;
*/
/*
path.clear(); path.clear();
path.push_back(27);
path.push_back(29);
path.push_back(89);
path.push_back(0); path.push_back(0);
path.push_back(98); path.push_back(98);
path.push_back(100); path.push_back(100);
...@@ -87,22 +47,25 @@ int main(int argc, char *argv[]) ...@@ -87,22 +47,25 @@ int main(int argc, char *argv[])
path.push_back(17); path.push_back(17);
path.push_back(18); path.push_back(18);
path.push_back(133); path.push_back(133);
path.push_back(134); path.push_back(135);
path.push_back(59); path.push_back(58);
path.push_back(157); path.push_back(131);
path.push_back(158); path.push_back(24);
path.push_back(11); path.push_back(103);
path.push_back(13); path.push_back(3);
path.push_back(15); path.push_back(99);
end_pose.x=9.5; path.push_back(1);
end_pose.y=0.6; 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; end_pose.heading=3.14159;
start_pose.x=6.7; start_pose.x=0.0;
start_pose.y=2.3; start_pose.y=0.0;
start_pose.heading=1.5707; start_pose.heading=0.0;
road.get_sub_road(path,end_pose,new_road,false);
road.get_sub_road(path,end_pose,new_road);
*/
// std::cout << "road2" << std::endl; // std::cout << "road2" << std::endl;
// std::cout << new_road << std::endl; // std::cout << new_road << std::endl;
for(unsigned int i=0;i<new_road.get_num_nodes();i++) for(unsigned int i=0;i<new_road.get_num_nodes();i++)
......
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