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Commit 9e1608bc authored by oscar's avatar oscar
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src/SDK/include/Connection.h
View file @ 9e1608bc
#pragma once
#include"cstring"
#include"string"
#include"unordered_map"
using namespace std;
......@@ -21,7 +22,7 @@ namespace OpenDrive
void SetLaneLinkFromTo(const char* laneLinkFrom, const char* laneLinkTo);
string GetLaneLinkFrom(const char* laneLinkTo) const;
string GetLaneLinkTo(const char* laneLinkFrom) const;
bool IsLinkTo(const char* laneLinkFrom) const;
~Connection();
private:
......
src/SDK/include/DataDefines.h
View file @ 9e1608bc
#pragma once
#include "vector"
#include"cstring"
#include"string"
#include"glm/glm.hpp"
using namespace std;
......@@ -242,8 +243,8 @@ namespace OpenDrive
double _s = 0.0;
double _t = 0.0;
double _zOFF = 0.0;
double _x = 0.0;//相对于车的x坐标;
double _y = 0.0;//相对于车的y坐标;
double _x = 0.0;//����ڳ���x����;
double _y = 0.0;//����ڳ���y����;
};
struct LaneRelation
......@@ -271,9 +272,9 @@ namespace OpenDrive
/////////////////////////////////////////////////////
///////////////////车道规划;
///////////////////�����滮;
/////////////////////////////////////////////////////
//路径规划中待扩展道路节点的ID、总距离_length、路径点序列_roadSeq等属性
//·���滮�д���չ��·�ڵ��ID���ܾ���_length��·��������_roadSeq������
struct RoadNode
{
char * _id = NULL;
......@@ -282,7 +283,7 @@ namespace OpenDrive
std::vector <char *> _roadSeq;
double _duration = 0;
};
//路径规划中_length为待扩展道路节点到起点的总距离，通过此属性对待扩展道路节点进行排序
//·���滮��_lengthΪ����չ��·�ڵ㵽�����ܾ��룬ͨ�������ԶԴ���չ��·�ڵ��������
struct compare
{
bool operator()(const RoadNode& a, const RoadNode& b) const
......@@ -291,7 +292,7 @@ namespace OpenDrive
}
};
//车道节点
//�����ڵ�
struct LaneNode
{
char * _id = NULL;
......@@ -299,8 +300,9 @@ namespace OpenDrive
char * _section = NULL;
double _x = 0.0;
double _y = 0.0;
double _z = 0.0;
};
//车道级规划中的搜索节点
//�������滮�е������ڵ�
struct SearchNode
{
char * _id = NULL;
......@@ -309,6 +311,7 @@ namespace OpenDrive
double _length = 0.0;
double _x = 0.0;
double _y = 0.0;
double _z = 0.0;
int _count = 0;
int _sectionnum = 0;
int _roadnum = 0;
......@@ -347,13 +350,98 @@ namespace OpenDrive
double x = 0.0;
double y = 0.0;
double z = 0.0;
double pith = 0.0;
double pitch = 0.0;
double roll = 0.0;
double yaw = 0.0;
};
enum ObjType
{
trafficlinemarking,
mark,
pole,
tree,
arrow,
};
enum ObjSubType
{
none,
leftTurn,
straight,
rightTurn,
Uturn,
leftMerge,
rightMerge,
straightleftTurn,//12
leftrightTurn,//13
leftTurnUturn,//14
straightrightTurn,//23
straightUturn,//24
straightleftrightTurn,//123
straightleftTurnUturn,//124
straightrightTurnUturn,//234
straightleftrightTurnUturn,//1234
waitingzoneline,//5.待转区线
Intersectionguideline, //6.路口导向线
//7.导向车道线
//8.禁止停车
//9.渐变段标线
//10.接近障碍物标线
//11.铁路平交道口标线
zebracrossing, //12.人行横道线
//13.车距确认线
stopline, //14.停止线
yeildline, //15.让行线
decelerationline, //16.减速标线
horizontal2Light,
vertical2Light,
horizontal3Light,
vertical3Light,
oneLight,
noneSign,
warningSign,
prohibitionSign,
indicationSign,
guideSign,
tourismAreaSign,
roadOperationSign,
noticeSign,
auxiliarySign,
noneRoad_Side,
curb,
ditch,
ditchWall,
naturalBoundary,
cementPier,
protectiveScreening,
soundproofWall,
hillSide,
wall,
GeneralNewJerseySafetyBarrier,
singleTubeNewJerseySafetyBarrier,
multiTubeNewJerseySafetyBarrier,
corrugatedBarrier,
soxhletBarrier,
beamColumnBarrier,
meshBarrier,
tubularMovableBarrier,
};
......
src/SDK/include/Function.h
View file @ 9e1608bc
#pragma once
#include"vector"
#include"cstring"
#include"string"
#include <sstream>
#include <iostream>
#include <limits>
#include <locale>
#include <windows.h>
#include"string"
#include"DataDefines.h"
#include"Elevation.h"
......@@ -15,8 +15,8 @@ namespace OpenDrive
{
void QuickSort(vector<int> &vecData);
void QuickSort(vector<float> &vecData);
void QuickSort(vector<glm::dvec3> &vecData);//快速排序;
void QuickSort(vector<int> &vecData, int flag);//flag 0, 从小到大，1，从大到小。
void QuickSort(vector<glm::dvec3> &vecData);//��������;
void QuickSort(vector<int> &vecData, int flag);//flag 0, ��С����1���Ӵ�С��
void QuickSort(vector<int> &vecData, vector<string> &vecLaneID);
void QuickSort(vector<double> &vecData, vector<string> &vecSection);
string DoubleToString(const double &value);
......@@ -33,6 +33,6 @@ namespace OpenDrive
glm::dvec2 CalJointBetween(const glm::dvec2 &p0, const double &t0, const glm::dvec2 &p1, const double &t1);
double GetDirectionRad(const glm::dvec2 &vline1);
//bool IsInSidePolygon(const glm::vec2 &point, const vector<glm::dvec2> &vecData);
string TCHAR2STRING(TCHAR* str);
}
src/SDK/include/Geometry.h
View file @ 9e1608bc
......@@ -61,12 +61,6 @@ namespace OpenDrive
double GetCurvatureFromArc(const double &s);
double GetCurvatureFromSprial(const double &s);
double GetCurvatureFromPoly3(const double &s);
const double GetRoadGeoCoordinateHdgFromLine(const double &s)const;
const double GetRoadGeoCoordinateHdgFromArc(const double &s)const;
const double GetRoadGeoCoordinateHdgFromSpiral(const double &s)const;
const double GetRoadGeoCoordinateHdgFromPloy3(const double &s)const;
//const vector<TurningAttr> GetLaneTurningAttributesFromPloy3(const double & initPosition, const double &lastPosition, double &position, const int &flag)const;
~Geometry();
public:
......
src/SDK/include/Grid.h
View file @ 9e1608bc
#pragma once
#include"cstring"
#include"string"
#include"set"
using namespace std;
namespace OpenDrive
......
src/SDK/include/Junction.h
View file @ 9e1608bc
#pragma once
#include"cstring"
#include"string"
#include"Connection.h"
#include"map"
......
src/SDK/include/Lane.h
View file @ 9e1608bc
......@@ -28,9 +28,9 @@ namespace OpenDrive
void SetType(const char* type);
void SetLaneReferenceData(const vector<GeoCoordinatePoint>& vecLaneRefernceData);
void SetLaneBoundaryData(const vector<GeoCoordinatePoint>& vecLaneRefernceData);
const vector<GeoCoordinatePoint>* GetlaneBoundaryData() const;
void SetLaneWidth(LaneWidth *width);
const vector<LaneWidth>* GetLaneWidth() const;
const double GetLaneWidthValue() const;
void SetLink(LaneLink* link);
void SetRoadMark(LaneRoadMark *roadMark);
const LaneRoadMark* GetLaneRoadMark() const;
......@@ -50,7 +50,7 @@ namespace OpenDrive
const UserData* GetUserData() const;
~Lane();
private:
public:
string _id;
double _s = 0.0;
Height *_height;
......
src/SDK/include/LaneSection.h
View file @ 9e1608bc
......@@ -38,14 +38,13 @@ namespace OpenDrive
const NearestDistance GetNeartestRoadandLaneAttributes(const char* laneID, const double &s, const double &t) const;
const NearestRoadMark GetNeartestLaneRoadMark(const char* laneID) const;
void CalBoundaryData(const char* laneID);
const vector<GeoCoordinatePoint>* GetlaneBoundaryData(const char* laneID) const;
const vector<GeoCoordinatePoint>* GetLaneBoundaryData(const char* laneID) const;
const double GetLaneSpeed(const char* laneID) const;
const vector<PosXY>* GetLeftLinePosFromLane(const char* laneID) const;
const vector<PosXY>* GetRightLinePosFromLane(const char* laneID) const;
GeoCoordinatePoint* GetLanePositionBySectionID(const char* laneID) const;
const char* GetLaneTypeString(const char* laneID) const;
~LaneSection();
private:
map<string, Lane*>* _mapLane;
......
src/SDK/include/NavinfoGISCoord.h
View file @ 9e1608bc
#pragma once
#include <math.h>
#include"glm/glm.hpp"
namespace OpenDrive
#include"map"
#include"string"
using namespace std;
class NavinfoGISCoord
{
class NavinfoGISCoord
{
public:
static NavinfoGISCoord* GetInstance();
glm::dvec2 LatLonToUTM(const double &lon, const double &lat, const char* name);
glm::dvec2 XYToLatLonUTM(double x, double y, bool southhemi, const char* name);
glm::dvec2 XYToLatLonUTM(double x, double y, bool southhemi);
double UTMCentralMeridian(const double &zone);
glm::dvec2 MapLatLonToXY(const double &phi, const double &lambda, const double &lambda0);
glm::dvec2 MapXYToLatLon(double x, double y, double lambda0);
double ArcLengthOfMeridian(const double &phi);
double FootpointLatitude(double y);
//{
// double y_, alpha_, beta_, gamma_, delta_, epsilon_, n;
// double result;
// /* Precalculate n (Eq. 10.18) */
// n = (sm_a - sm_b) / (sm_a + sm_b);
// /* Precalculate alpha_ (Eq. 10.22) */
// /* (Same as alpha in Eq. 10.17) */
// alpha_ = ((sm_a + sm_b) / 2.0) * (1 + (pow(n, 2.0) / 4) + (pow(n, 4.0) / 64));
// /* Precalculate y_ (Eq. 10.23) */
// y_ = y / alpha_;
// /* Precalculate beta_ (Eq. 10.22) */
// beta_ = (3.0 * n / 2.0) + (-27.0 * pow(n, 3.0) / 32.0) + (269.0 * pow(n, 5.0) / 512.0);
// /* Precalculate gamma_ (Eq. 10.22) */
// gamma_ = (21.0 * pow(n, 2.0) / 16.0) + (-55.0 * pow(n, 4.0) / 32.0);
// /* Precalculate delta_ (Eq. 10.22) */
// delta_ = (151.0 * pow(n, 3.0) / 96.0) + (-417.0 * pow(n, 5.0) / 128.0);
// /* Precalculate epsilon_ (Eq. 10.22) */
// epsilon_ = (1097.0 * pow(n, 4.0) / 512.0);
// /* Now calculate the sum of the series (Eq. 10.21) */
// result = y_ + (beta_ * sin(2.0 * y_)) + (gamma_ * sin(4.0 * y_)) + (delta_ * sin(6.0 * y_)) + (epsilon_ * sin(8.0 * y_));
// return result;
//}
private:
NavinfoGISCoord();
~NavinfoGISCoord();
private:
const double pi = M_PI;
public:
static NavinfoGISCoord* GetInstance();
glm::dvec2 LatLonToTM(const double &lon, const double &lat, const char* name);
glm::dvec2 XYToLatLonTM(double x, double y, bool southhemi, const char* name);
//glm::dvec2 XYToLatLonTM(double x, double y, bool southhemi);
double TMCentralMeridian(const double &zone);
const double sm_a = 6378137.0;
const double sm_b = 6356752.3142;
const double TMScaleFactor = 1.0;
double _zone = 0.0;
private:
static NavinfoGISCoord *_instance;
};
}
glm::dvec2 LatLonToUTM(const double &lon, const double &lat, const char* name);
glm::dvec2 XYToLatLonUTM(double x, double y, bool southhemi, const char* name);
//glm::dvec2 XYToLatLonUTM(double x, double y, bool southhemi);
double UTMCentralMeridian(const double &zone);
glm::dvec2 MapLatLonToXY(const double &phi, const double &lambda, const double &lambda0);
glm::dvec2 MapXYToLatLon(double x, double y, double lambda0);
double ArcLengthOfMeridian(const double &phi);
double FootpointLatitude(double y);
//{
// double y_, alpha_, beta_, gamma_, delta_, epsilon_, n;
// double result;
// /* Precalculate n (Eq. 10.18) */
// n = (sm_a - sm_b) / (sm_a + sm_b);
// /* Precalculate alpha_ (Eq. 10.22) */
// /* (Same as alpha in Eq. 10.17) */
// alpha_ = ((sm_a + sm_b) / 2.0) * (1 + (pow(n, 2.0) / 4) + (pow(n, 4.0) / 64));
// /* Precalculate y_ (Eq. 10.23) */
// y_ = y / alpha_;
// /* Precalculate beta_ (Eq. 10.22) */
// beta_ = (3.0 * n / 2.0) + (-27.0 * pow(n, 3.0) / 32.0) + (269.0 * pow(n, 5.0) / 512.0);
// /* Precalculate gamma_ (Eq. 10.22) */
// gamma_ = (21.0 * pow(n, 2.0) / 16.0) + (-55.0 * pow(n, 4.0) / 32.0);
// /* Precalculate delta_ (Eq. 10.22) */
// delta_ = (151.0 * pow(n, 3.0) / 96.0) + (-417.0 * pow(n, 5.0) / 128.0);
// /* Precalculate epsilon_ (Eq. 10.22) */
// epsilon_ = (1097.0 * pow(n, 4.0) / 512.0);
// /* Now calculate the sum of the series (Eq. 10.21) */
// result = y_ + (beta_ * sin(2.0 * y_)) + (gamma_ * sin(4.0 * y_)) + (delta_ * sin(6.0 * y_)) + (epsilon_ * sin(8.0 * y_));
// return result;
//}
private:
NavinfoGISCoord();
~NavinfoGISCoord();
private:
const double pi = M_PI;
const double sm_a = 6378137.0;
const double sm_b = 6356752.3142;
const double TMScaleFactor = 1.0;
const double UTMScaleFactor = 0.99960000000000000;
map<string, double> *_mapUTMZone;
map<string, double> *_mapTMZone;
map<string, glm::dvec2> *_mapUTMDiff;
map<string, glm::dvec2> *_mapTMDiff;
private:
static NavinfoGISCoord *_instance;
};
src/SDK/include/Object.h
View file @ 9e1608bc
......@@ -2,7 +2,7 @@
#include"vector"
#include"glm/glm.hpp"
#include"DataDefines.h"
#include"function.h"
#include"Function.h"
#include"RepeatObj.h"
using namespace std;
namespace OpenDrive
......@@ -13,17 +13,30 @@ namespace OpenDrive
Object();
Object(const Object & obj3d);
Object& operator =(const Object & obj);
void SetLocationRoadID(const char* name);
const char* GetLocationRoadID() const;
void SetLogicRoadID(const char* name);
const char* GetLogicRoadID() const;
void SetID(const char* name);
const char* GetID() const;
void SetName(const char* name);
const char* GetName() const;
void SetType(const char* type);
const char* GetType() const;
void SetSubType(const ObjSubType &subtype);
const ObjSubType GetSubType() const;
void SetSValue(double &value);
const double GetSValue() const;
void SetTValue(double &value);
const double GetTValue() const;
void PushbackData(glm::dvec3 vec);
vector<glm::dvec3>* GetCoords();
void PushbackData(const PosXY &vec);
vector<PosXY>* GetCoords();
void SetLengthValue(double &value);
const double GetLengthValue() const;
void SetWidthValue(double &value);
const double GetWidthValue() const;
......@@ -37,17 +50,20 @@ namespace OpenDrive
~Object();
private:
string _locationRoadID;
string _logicRoadID;
string _id;
string _name;
string _type;
ObjSubType _subtype;
double _s;
double _t;
double _width;
double _height;
double _zOffset;
vector<glm::dvec3> *_vecCoords;
double _length;
vector<PosXY> *_vecCoords;
RepeatObj *_repeatObj;
//<repeat s = "2.73406954883456" length = "79.566455604047" distance = "15" tStart = "-13.3226013033395" tEnd = "-13.3226013033395" widthStart = "5.7990000000000004e+00" widthEnd = "5.7990000000000004e+00" heightStart = "6.6230000000000002e+00" heightEnd = "6.6230000000000002e+00" zOffsetStart = "-3.8850000000000007e-01" zOffsetEnd = "-3.8850000000000007e-01" / >
};
}
......
src/SDK/include/OdrManager.h
View file @ 9e1608bc
This diff is collapsed.
src/SDK/include/RepeatObj.h
View file @ 9e1608bc
......@@ -2,7 +2,7 @@
#include"vector"
#include"glm/glm.hpp"
#include"DataDefines.h"
#include"function.h"
#include"Function.h"
using namespace std;
namespace OpenDrive
{
......
src/SDK/include/Road.h
View file @ 9e1608bc
......@@ -14,7 +14,6 @@
#include"LaneOffset.h"
#include "Object.h"
#include <string>
#include <io.h>
#include <stdlib.h>
#include <iostream>
#include <fstream>
......@@ -44,7 +43,7 @@ namespace OpenDrive
const char* GetSucRoad() const;
const char* GetPreRoad() const;
void PushbackLaneSection(LaneSection *laneSection);
LaneSection* GetSection(const char* sectionID);
LaneSection* GetLaneSection(const char* sectionID);
void PushbackData(Geometry *geo);
void PushElevation(Elevation *ele);
void PushLaneOffSet(LaneOffset *laneOffset);
......@@ -69,6 +68,7 @@ namespace OpenDrive
const vector<string> GetLeftLaneIDS(const char* sectionID, const char* laneID)const;
const vector<string> GetRightLaneIDS(const char* sectionID, const char* laneID)const;
const vector<string> GetAllDrivingLaneIDS(const char* sectionID) const;
const vector<string> GetAllLaneIDS(const char* sectionID) const;
const vector<string> GetAllSectionIDS() const;
const vector<RoadWidth> GetSectionWidthofRoad(const char* sectionID) const;
const vector<Position> GetLanePosiontAndDircetions(const char* sectionID, const char* laneID) const;
......@@ -76,6 +76,7 @@ namespace OpenDrive
const NearestDistance GetNeartestRoadandLaneAttributes(const char* sectionID, const char* laneID, const double &s, const double &t) const;
const NearestRoadMark GetNeartestLaneRoadMark(const char* sectionID, const char* laneID) const;
OdrInfo GetNearest(const double & longitude, const double &latitude,double &distance);
const bool GetNearestZValue(const double & longitude, const double &latitude, double &distance, double &zValue);
bool IsNearestRoad(const double & x, const double &y, const double &distance);
vector<GeoCoordinatePoint> GetDataFromLine(const double &s, const double &sReal, const double &x, const double &y, const double &hdg, const double &length);
vector<GeoCoordinatePoint> GetDataFromArc(const double &s, const double &sReal, const double &x, const double &y, const double &hdg, const double &length, const double &curvature);
......@@ -100,18 +101,11 @@ namespace OpenDrive
vector<GeoCoordinatePoint>* GetRightBoundartData();
vector<GeoCoordinatePoint>* GetReferenceData();
vector<Object*>* GetObjectData();
void GenerateLaneShp();
void GenerateObjShp();
void GenerateSingalObjShp();
void part(string _str, vector<int> &_num, vector<char> &_op);
GeoCoordinatePoint* GetLanePositionBySectionID(const char* sectionID, const char* laneID) const;
string GetJunction();
const char* GetLaneTypeString(const char* sectionID, const char* laneID) const;
double GetHdg(const double &s);
double GetElevation(const double &s);
const double GetWidthValue() const;
~Road();
private:
vector<LaneSection*> *_vecLanSections;
......
src/SDK/include/glm/out/build/x64-Debug/.cmake/api/v1/query/client-MicrosoftVS/query.json deleted 100644 → 0
View file @ 6fcf5e5d
{"requests":[{"kind":"cache","version":2},{"kind":"cmakeFiles","version":1},{"kind":"codemodel","version":2},{"kind":"toolchains","version":1}]}
\ No newline at end of file
src/SDK/include/glm/out/build/x64-Debug/.cmake/api/v1/reply/codemodel-v2-895dbd8431002fa115e9.json deleted 100644 → 0
View file @ 6fcf5e5d
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src/SDK/include/glm/out/build/x64-Debug/.cmake/api/v1/reply/index-2022-03-21T03-21-11-0338.json deleted 100644 → 0
View file @ 6fcf5e5d
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