Eclipse SUMO - Simulation of Urban MObility
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NWWriter_OpenDrive.h
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1/****************************************************************************/
2// Eclipse SUMO, Simulation of Urban MObility; see https://eclipse.dev/sumo
3// Copyright (C) 2001-2024 German Aerospace Center (DLR) and others.
4// This program and the accompanying materials are made available under the
5// terms of the Eclipse Public License 2.0 which is available at
6// https://www.eclipse.org/legal/epl-2.0/
7// This Source Code may also be made available under the following Secondary
8// Licenses when the conditions for such availability set forth in the Eclipse
9// Public License 2.0 are satisfied: GNU General Public License, version 2
10// or later which is available at
11// https://www.gnu.org/licenses/old-licenses/gpl-2.0-standalone.html
12// SPDX-License-Identifier: EPL-2.0 OR GPL-2.0-or-later
13/****************************************************************************/
18// Exporter writing networks using the openDRIVE format
19/****************************************************************************/
20#pragma once
21#include <config.h>
22
25#include <netbuild/NBEdge.h>
26
27
28// ===========================================================================
29// class declarations
30// ===========================================================================
31class NBNetBuilder;
32class NBEdge;
33class OptionsCont;
34class PositionVector;
35class OutputDevice;
37class ShapeContainer;
38class PointOfInterest;
39class SUMOPolygon;
40
41
42// ===========================================================================
43// class definitions
44// ===========================================================================
51public:
57 static void writeNetwork(const OptionsCont& oc, NBNetBuilder& nb);
58
59protected:
61 typedef std::map<std::string, std::pair<std::set<int>, std::set<LinkDirection> > > SignalLanes;
62
64 static std::string getDividerType(const NBEdge* e);
65
67 static void writeNormalEdge(OutputDevice& device, const NBEdge* e,
68 int edgeID, int fromNodeID, int toNodeID,
69 const bool origNames,
70 const double straightThresh,
71 const ShapeContainer& shc,
72 SignalLanes& signalLanes,
73 const std::vector<std::string>& crossings);
74
76 static int writeInternalEdge(OutputDevice& device, OutputDevice& junctionDevice,
77 const NBEdge* inEdge, int nodeID,
78 int edgeID, int inEdgeID, int outEdgeID,
79 int connectionID,
80 const std::vector<NBEdge::Connection>& parallel,
81 const bool isOuterEdge,
82 const double straightThresh,
83 const std::string& centerMark,
84 SignalLanes& signalLanes);
85
86 static void addPedestrianConnection(const NBEdge* inEdge, const NBEdge* outEdge, std::vector<NBEdge::Connection>& parallel);
87
89 static double writeGeomLines(const PositionVector& shape, OutputDevice& device, OutputDevice& elevationDevice, double offset = 0);
90
91 /* @brief write geometry as sequence of lines and bezier curves
92 *
93 * @param[in] straightThresh angular changes below threshold are considered to be straight and no curve will be fitted between the segments
94 * @param[out] length Return the total length of the reference line
95 */
96 static bool writeGeomSmooth(const PositionVector& shape, double speed, OutputDevice& device, OutputDevice& elevationDevice, double straightThresh, double& length);
97
99 static double writeGeomPP3(OutputDevice& device,
100 OutputDevice& elevationDevice,
101 PositionVector init,
102 double length,
103 double offset = 0);
104
105 static void writeElevationProfile(const PositionVector& shape, OutputDevice& device, const OutputDevice_String& elevationDevice);
106
107 static void writeEmptyCenterLane(OutputDevice& device, const std::string& mark, double markWidth);
108 static int getID(const std::string& origID, StringBijection<int>& map, int& lastID);
109
110 static std::string getLaneType(SVCPermissions permissions);
111
113 static PositionVector getInnerLaneBorder(const NBEdge* edge, int laneIndex = -1, double widthOffset = 0);
115 static PositionVector getOuterLaneBorder(const NBEdge* edge, int laneIndex = -1);
116
118 static void checkLaneGeometries(const NBEdge* e);
119
121 static void writeRoadObjects(OutputDevice& device, const NBEdge* e, const ShapeContainer& shc, const std::vector<std::string>& crossings);
122
124 static void writeSignals(OutputDevice& device, const NBEdge* e, double length, SignalLanes& signalLanes, const ShapeContainer& shc);
125
127 static int s2x(int sumoIndex, int numLanes);
128
130 static void mapmatchRoadObjects(const ShapeContainer& shc, const NBEdgeCont& ec);
131
132 static void writeRoadObjectPOI(OutputDevice& device, const NBEdge* e, const PositionVector& roadShape, const PointOfInterest* poi);
133
134 static void writeRoadObjectPoly(OutputDevice& device, const NBEdge* e, const PositionVector& roadShape, const SUMOPolygon* p);
135
136 struct TrafficSign {
137 std::string country;
138 std::string type;
139 std::string subtype;
140 std::string value;
141 };
142
143 static std::vector<TrafficSign> parseTrafficSign(const std::string& trafficSign, PointOfInterest* poi);
144 static TrafficSign parseTrafficSignId(const std::string& trafficSign);
145
146 // @brief return road postion in s,t coordinates
147 static double getRoadSideOffset(const NBEdge* e);
148
149
150protected:
152 static bool lefthand;
153
154 /* @brief whether a the lanes in a lefthand network shall be written to the
155 * left of the reference line (positive indices)
156 * This style is not support by some older programs.
157 * */
158 static bool LHLL;
159
160 // lefthand but lanes written as right lanes
161 static bool LHRL;
162
163};
long long int SVCPermissions
bitset where each bit declares whether a certain SVC may use this edge/lane
Storage for edges, including some functionality operating on multiple edges.
Definition NBEdgeCont.h:59
The representation of a single edge during network building.
Definition NBEdge.h:92
Instance responsible for building networks.
Exporter writing networks using the openDRIVE format.
static PositionVector getInnerLaneBorder(const NBEdge *edge, int laneIndex=-1, double widthOffset=0)
get the lane border that is closer to the reference line (center line of the edge)
static void writeRoadObjectPOI(OutputDevice &device, const NBEdge *e, const PositionVector &roadShape, const PointOfInterest *poi)
static void mapmatchRoadObjects(const ShapeContainer &shc, const NBEdgeCont &ec)
map pois and polygons to the closes edge
static void addPedestrianConnection(const NBEdge *inEdge, const NBEdge *outEdge, std::vector< NBEdge::Connection > &parallel)
static void writeNormalEdge(OutputDevice &device, const NBEdge *e, int edgeID, int fromNodeID, int toNodeID, const bool origNames, const double straightThresh, const ShapeContainer &shc, SignalLanes &signalLanes, const std::vector< std::string > &crossings)
write normal edge to device
static void checkLaneGeometries(const NBEdge *e)
check if the lane geometries are compatible with OpenDRIVE assumptions (colinear stop line)
static std::vector< TrafficSign > parseTrafficSign(const std::string &trafficSign, PointOfInterest *poi)
std::map< std::string, std::pair< std::set< int >, std::set< LinkDirection > > > SignalLanes
signalID -> (lanes, dirs)
static double getRoadSideOffset(const NBEdge *e)
static void writeEmptyCenterLane(OutputDevice &device, const std::string &mark, double markWidth)
static void writeSignals(OutputDevice &device, const NBEdge *e, double length, SignalLanes &signalLanes, const ShapeContainer &shc)
write signal record for traffic light
static void writeRoadObjects(OutputDevice &device, const NBEdge *e, const ShapeContainer &shc, const std::vector< std::string > &crossings)
write road objects referenced as edge parameters
static bool lefthand
whether a lefthand network is being written
static void writeRoadObjectPoly(OutputDevice &device, const NBEdge *e, const PositionVector &roadShape, const SUMOPolygon *p)
static void writeElevationProfile(const PositionVector &shape, OutputDevice &device, const OutputDevice_String &elevationDevice)
static std::string getDividerType(const NBEdge *e)
retrieve divider type
static std::string getLaneType(SVCPermissions permissions)
static bool writeGeomSmooth(const PositionVector &shape, double speed, OutputDevice &device, OutputDevice &elevationDevice, double straightThresh, double &length)
static int s2x(int sumoIndex, int numLanes)
convert sumo lane index to xodr lane index
static void writeNetwork(const OptionsCont &oc, NBNetBuilder &nb)
Writes the network into a openDRIVE-file.
static int getID(const std::string &origID, StringBijection< int > &map, int &lastID)
static double writeGeomPP3(OutputDevice &device, OutputDevice &elevationDevice, PositionVector init, double length, double offset=0)
write geometry as a single bezier curve (paramPoly3)
static int writeInternalEdge(OutputDevice &device, OutputDevice &junctionDevice, const NBEdge *inEdge, int nodeID, int edgeID, int inEdgeID, int outEdgeID, int connectionID, const std::vector< NBEdge::Connection > &parallel, const bool isOuterEdge, const double straightThresh, const std::string &centerMark, SignalLanes &signalLanes)
write internal edge to device, return next connectionID
static TrafficSign parseTrafficSignId(const std::string &trafficSign)
static PositionVector getOuterLaneBorder(const NBEdge *edge, int laneIndex=-1)
get the lane border that is further away from the reference line (center line of the edge)
static double writeGeomLines(const PositionVector &shape, OutputDevice &device, OutputDevice &elevationDevice, double offset=0)
write geometry as sequence of lines (sumo style)
A storage for options typed value containers)
Definition OptionsCont.h:89
An output device that encapsulates an ofstream.
Static storage of an output device and its base (abstract) implementation.
A point-of-interest.
A list of positions.
Storage for geometrical objects.