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include/MapInterface.hpp

@@ -3,87 +3,80 @@
 
 #include <string>
 #include <vector>
+#include <map>
 
 namespace jf {
-enum class LaneType {
-    NotInvestigated = 0,         // 未调查
-    NormalLane = 1,              // 普通车道
-    EnterLane = 2,               // 入口车道
-    ExitLane = 3,                // 出口车道
-    ConnectLane = 4,             // 连接车道
-    EmergencyLane = 5,           // 应急车道
-    StopLane = 6,                // 停车道
-    EmergencyStopLane = 7,       // 紧急停车道
-    AcceleratingLane = 8,        // 加速车道
-    DeceleratingLane = 9,        // 减速车道
-    HazardLane = 10,             // 避险车道
-    JunctionLane = 11,           // 路口车道
-    TollStationLane = 12,        // 收费站车道
-    CheckpointLane = 13,         // 检查站车道
-    UTurnLane = 14,              // 掉头车道
-    BusLane = 15,                // 公交车道
-    TidalLane = 16,              // 潮汐(可变) 车道
-    LocomotiveLane = 17,         // 机车车道
-    LocomotiveParkingArea = 18,  // 机车停车区
-    HOVHighLoadLane = 19,        // HOV 高承载车道
-    NonMotorizedLane = 30,       // 非机动车道
-    Sidewalk = 40,               // 人行道
-    Ohters = 99,                 // 其它车道
-};
+    enum class LaneType {
+        NotInvestigated = 0,         // 未调查
+        NormalLane = 1,              // 普通车道
+        EnterLane = 2,               // 入口车道
+        ExitLane = 3,                // 出口车道
+        ConnectLane = 4,             // 连接车道
+        EmergencyLane = 5,           // 应急车道
+        StopLane = 6,                // 停车道
+        EmergencyStopLane = 7,       // 紧急停车道
+        AcceleratingLane = 8,        // 加速车道
+        DeceleratingLane = 9,        // 减速车道
+        HazardLane = 10,             // 避险车道
+        JunctionLane = 11,           // 路口车道
+        TollStationLane = 12,        // 收费站车道
+        CheckpointLane = 13,         // 检查站车道
+        UTurnLane = 14,              // 掉头车道
+        BusLane = 15,                // 公交车道
+        TidalLane = 16,              // 潮汐(可变) 车道
+        LocomotiveLane = 17,         // 机车车道
+        LocomotiveParkingArea = 18,  // 机车停车区
+        HOVHighLoadLane = 19,        // HOV 高承载车道
+        NonMotorizedLane = 30,       // 非机动车道
+        Sidewalk = 40,               // 人行道
+        Ohters = 99,                 // 其它车道
+    };
 
-enum class EdgeCrossType {
-    NotInvestigated = 0,  // 未调查
-    Unable = 1,           // 无法跨越
-    BidirecAble = 2,      // 双方向跨越
-    LeftAble = 3,         // 向左跨越
-    RightAble = 4,        // 向右跨越
-};
+    enum class EdgeCrossType {
+        NotInvestigated = 0,  // 未调查
+        Unable = 1,           // 无法跨越
+        BidirecAble = 2,      // 双方向跨越
+        LeftAble = 3,         // 向左跨越
+        RightAble = 4,        // 向右跨越
+    };
 
-/**
- * @brief 84坐标系中的点
- *
- */
-struct Point {
-    Point() : dLon(0), dLat(0), dAlt(0) {};
-    Point(double inlon, double inlat, double alt);
-    Point(const Point& o);
-    Point(const std::vector<double>& d);
-    Point(const std::map<std::string, double>& m);
-
-    /**
-     * @brief 经度
-     *
-     */
-    double dLon;
-    /**
-     * @brief 维度
-     *
-     */
-    double dLat;
     /**
-     * @brief 高度
+     * @brief 84坐标系中的点
      *
      */
-    double dAlt;
+    struct Point {
+        Point() : dLon(0), dLat(0), dAlt(0) {};
+        Point(double inlon, double inlat, double alt) : dLon(inlon), dLat(inlat), dAlt(alt) {}
 
-    Point& operator=(const Point& o);
-    bool operator==(const Point& o) const { return dLon == o.dLon && dLat == o.dLat && dAlt == o.dAlt; }
-    bool operator!=(const Point& o) const { return !(*this == o); }
-    std::string to_string() const { return std::to_string(dLon) + ", " + std::to_string(dLat) + ", " + std::to_string(dAlt); }
-};
+        /**
+         * @brief 经度
+         *
+         */
+        double dLon;
+        /**
+         * @brief 维度
+         *
+         */
+        double dLat;
+        /**
+         * @brief 高度
+         *
+         */
+        double dAlt;
+    };
 
-class MapInterface {
-   public:
-    MapInterface(const std::string &strPrjPath, const std::string strCfgPath);
-    ~MapInterface();
+    class MapInterface {
+    public:
+        MapInterface(const std::string& strPrjPath, const std::string strCfgPath);
+        ~MapInterface();
 
-   public:
-    bool GetMapData(const Point &ptInLoc, double dCarAngle, int &nOutLaneCnt, int &nOutLaneNum, LaneType &nOutLaneType, EdgeCrossType &nOutLeftEdgeCrossType, EdgeCrossType &nOutRightEdgeCrossType, int &nOutSpeedLimit, double &dOutLaneAngle,
-                    Point &ptOutFoot);
-    bool GetMapData(const Point &ptInLoc, double dCarAngle, long &lOutRaodId, std::vector<long> &vctlOutPreRoadId, std::vector<long> &vctlOutNxtRoadId, int &nLaneCnt, int &nOutLaneNum, LaneType &nOutLaneType, EdgeCrossType &nOutLeftEdgeCrossType,
-                    EdgeCrossType &nOutRightEdgeCrossType, int &nOutSpeedLimit, double &dOutLaneAngle, Point &ptOutFoot);
+    public:
+        bool GetMapData(const Point& ptInLoc, double dCarAngle, int& nOutLaneCnt, int& nOutLaneNum, LaneType& nOutLaneType, EdgeCrossType& nOutLeftEdgeCrossType, EdgeCrossType& nOutRightEdgeCrossType, int& nOutSpeedLimit, double& dOutLaneAngle,
+            Point& ptOutFoot);
+        bool GetMapData(const Point& ptInLoc, double dCarAngle, long& lOutRaodId, std::vector<long>& vctlOutPreRoadId, std::vector<long>& vctlOutNxtRoadId, int& nLaneCnt, int& nOutLaneNum, LaneType& nOutLaneType, EdgeCrossType& nOutLeftEdgeCrossType,
+            EdgeCrossType& nOutRightEdgeCrossType, int& nOutSpeedLimit, double& dOutLaneAngle, Point& ptOutFoot);
 
-};
+    };
 }  // namespace jf
 
 #endif
\ No newline at end of file

main.cpp

@@ -4,15 +4,14 @@
 #include <vector>
 #include "MapInterface.hpp"
 
-using namespace OpenDrive;
 
 int main(int argc, char* argv[])
 {
-	printf("hello world\n");
+    printf("hello world\n");
 
     std::string dir = "";
     std::string cfg = "";
-    jf::MapInterface mapInstance(dir,cfg);
+    jf::MapInterface mapInstance(dir, cfg);
 
     int nLaneCnt = 0/*所在道路的车道总数*/, nOutLaneNum = 0;//当前所在位置的车道序号，从左至右，从1开始
     jf::LaneType nOutLaneType = jf::LaneType::NotInvestigated;//车道类型，看头文件枚举
@@ -21,15 +20,15 @@ int main(int argc, char* argv[])
     int nOutSpeedLimit = 0;//车道最高限速值，单位是千米每小时
     double dOutLaneAngle = 0.0;//所在车道，车应该的朝向角度，北为0，顺时针旋转360，0-360
 
-    const jf::Point ptInLoc = { objAll.obj.lon, objAll.obj.lat, 0.0 };
+    const jf::Point ptInLoc = { 106.474419689, 29.67213045, 0.0 };
     jf::Point ptOutFoot;//车道中心线做垂线的点
-    double dCarAngle = objAll.obj.heading;
+    double dCarAngle = 0;
     long lOutRaodId;
     std::vector<long> vctlOutPreRoadId;
     std::vector<long> vctlOutNxtRoadId;
 
     //ROS_INFO("begin call jfxmap");
-    bool result = m_OfflineMap->GetMapData(ptInLoc, dCarAngle, lOutRaodId, vctlOutPreRoadId, vctlOutNxtRoadId,
+    bool result = mapInstance.GetMapData(ptInLoc, dCarAngle, lOutRaodId, vctlOutPreRoadId, vctlOutNxtRoadId,
         nLaneCnt, nOutLaneNum, nOutLaneType,
         nOutLeftEdgeCrossType, nOutRightEdgeCrossType,
         nOutSpeedLimit, dOutLaneAngle, ptOutFoot);
@@ -137,5 +136,5 @@ int main(int argc, char* argv[])
 
     //}
 
-	return 0;
+    return 0;
 }
\ No newline at end of file