提交更新

include/MapInterface.hpp

@@ -3,9 +3,10 @@
 
 #include <string>
 #include <vector>
+#include <map>
 
 namespace jf {
-enum class LaneType {
+    enum class LaneType {
         NotInvestigated = 0,         // 未调查
         NormalLane = 1,              // 普通车道
         EnterLane = 2,               // 入口车道
@@ -29,26 +30,23 @@ enum class LaneType {
         NonMotorizedLane = 30,       // 非机动车道
         Sidewalk = 40,               // 人行道
         Ohters = 99,                 // 其它车道
-};
+    };
 
-enum class EdgeCrossType {
+    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 {
+    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);
+        Point(double inlon, double inlat, double alt) : dLon(inlon), dLat(inlat), dAlt(alt) {}
 
         /**
          * @brief 经度
@@ -65,25 +63,20 @@ struct Point {
          *
          */
         double dAlt;
+    };
 
-    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); }
-};
-
-class MapInterface {
+    class MapInterface {
     public:
-    MapInterface(const std::string &strPrjPath, const std::string strCfgPath);
+        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);
+        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

@@ -4,7 +4,6 @@
 #include <vector>
 #include "MapInterface.hpp"
 
-using namespace OpenDrive;
 
 int main(int argc, char* argv[])
 {
@@ -12,7 +11,7 @@ int main(int argc, char* argv[])
 
     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);