RNDF.cc
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00001 //Tarun Nimmagadda
00002 //The University of Texas, Austin
00003 
00004 //This file defines the RNDF structure as specified by the DARPA
00005 //specification.  It parses the RNDF file into the RNDF data structure
00006 
00007 #include <cstdio>
00008 #include <iostream>
00009 #include <fstream>
00010 #include <string>
00011 #include <cstdlib>
00012 #include <art/conversions.h>
00013 #include <art_msgs/ArtVehicle.h>
00014 #include <art/epsilon.h>
00015 #include <art_map/RNDF.h>
00016 
00017 #define DEFAULT_LANE_WIDTH (art_msgs::ArtVehicle::width+1)
00018 #define DEFAULT_SPOT_WIDTH (art_msgs::ArtVehicle::width+1)
00019 #define DEFAULT_LANE_SPEED mph2mps(30)
00020 
00021 enum RNDF_PARSE_STATE {COMMENT, GENERAL, SEGMENTS, LANES,
00022                        ZONES, PERIMETER, PARKING_SPOT, UNKNOWN};
00023 
00024 enum MDF_PARSE_STATE {MDF_COMMENT, MDF_GENERAL, MDF_CHECKPOINTS,
00025                       MDF_SPEEDLIMITS, MDF_UNKNOWN};
00026 
00027 template <class T>
00028 void change_state(T& previous_state, T& current_state, const T new_state){
00029   previous_state = current_state;
00030   current_state = new_state;
00031 };
00032 
00033 
00034 RNDF::RNDF(std::string rndfname, bool verbose)
00035 {
00036   number_of_segments = number_of_zones = -1;
00037   is_valid=true;
00038   
00039   std::ifstream rndf_file;
00040   rndf_file.open(rndfname.c_str());
00041   if (!rndf_file)
00042     {
00043       ROS_ERROR_STREAM("Error opening RNDF \"" << rndfname << "\"");
00044       is_valid = false;
00045       return;
00046     }
00047   
00048   //Parser State
00049   line_number = 0;
00050   RNDF_PARSE_STATE state = UNKNOWN, previous_state = UNKNOWN;
00051 
00052   Segment temp_segment;
00053   Lane temp_lane;
00054   Zone temp_zone;
00055   Perimeter temp_perimeter;
00056   Spot temp_spot;
00057   //Clear temp variables
00058   temp_segment.clear();
00059   temp_lane.clear();
00060   temp_zone.clear();
00061   temp_perimeter.clear();
00062   temp_spot.clear();
00063 
00064 
00065 
00066   std::string lineread;
00067   while(getline(rndf_file, lineread)) // Read line by line
00068     {
00069       line_number++;
00070       uint real_characters=0;
00071 
00072       for (uint ind=0; ind < lineread.length(); ind++)
00073         if (lineread[ind] != '\r' &&
00074             lineread[ind] != '\t' &&
00075             lineread[ind] != ' ')
00076           real_characters++;
00077       
00078       //Blank lines
00079       if (real_characters == 0) {
00080         if (verbose)
00081           printf("%d: Blank Line\n",line_number);
00082         continue;
00083       }
00084       
00085       std::string token;
00086       char token_char [lineread.size()+1];
00087       char temp_char [lineread.size()+1];
00088 
00089       //Read in one line
00090       sscanf(lineread.c_str(), "%s", token_char);
00091       token.assign(token_char);
00092 
00093       //      printf("Token: |%s|\n", token.c_str());
00094 
00095       if (state != COMMENT){
00096         if (token.compare("RNDF_name") == 0)
00097           change_state(previous_state, state, GENERAL);
00098         else if (token.compare("segment") == 0)
00099           change_state(previous_state, state, SEGMENTS);
00100         else if (token.compare("lane") == 0)
00101           change_state(previous_state, state, LANES);
00102         else if (token.compare("zone") == 0)
00103           change_state(previous_state, state, ZONES);
00104         else if (token.compare("perimeter") == 0)
00105           change_state(previous_state, state, PERIMETER);
00106         else if (token.compare("spot") == 0)
00107           change_state(previous_state, state, PARKING_SPOT);
00108         else if (token.find("/*") != std::string::npos)
00109           change_state(previous_state, state, COMMENT);
00110       }
00111 
00112       bool valid=true;
00113       switch (state){
00114       case COMMENT:
00115         if (verbose)
00116           printf("%d: COMMENT: %s\n", line_number, lineread.c_str());
00117         if (lineread.find("*/") != std::string::npos)
00118           state = previous_state;
00119         break;
00120       case GENERAL:
00121         //RNDF_NAME
00122         if (token.compare("RNDF_name") == 0)
00123           filename =
00124             parse_string(lineread, std::string("RNDF_name"),
00125                          line_number, valid, verbose);
00126         //NUM_SEGMENTS
00127         else if (token.compare("num_segments") == 0){
00128           number_of_segments =
00129             parse_integer(lineread, std::string("num_segments"),
00130                           line_number, valid, verbose);
00131           if (number_of_segments <= 0) valid = false;
00132         }
00133         //NUM_ZONES
00134         else if (token.compare("num_zones") == 0){
00135           number_of_zones =
00136             parse_integer(lineread, std::string("num_zones"),
00137                           line_number, valid, verbose);
00138           if (number_of_zones < 0) valid = false;
00139         }
00140         //FORMAT_VERSION
00141         else if (token.compare("format_version") == 0)
00142           format_version =
00143             parse_string(lineread, std::string("format_version"),
00144                          line_number, valid, verbose);
00145         //CREATION_DATE
00146         else if (token.compare("creation_date") == 0)
00147           creation_date =
00148             parse_string(lineread, std::string("creation_date"),
00149                          line_number, valid, verbose);
00150         //END_FILE
00151         else if (token.compare("end_file") == 0){
00152           if (!isvalid())
00153             valid = false;
00154           else if (verbose)
00155             printf("%d: RNDF file has finished parsing\n", line_number);
00156         }
00157         //printf("Token: |%s|\n", token.c_str());
00158         else {
00159           printf("%d: Unexpected token\n", line_number);
00160           valid=false;
00161         }
00162         break;
00163       case SEGMENTS:
00164         //SEGMENT
00165         if(token.compare("segment") == 0){
00166           temp_segment.segment_id =
00167             parse_integer(lineread, std::string("segment"),
00168                           line_number, valid, verbose);
00169           if (temp_segment.segment_id <= 0) valid = false;
00170         }
00171         //NUM_LANES
00172         else if(token.compare("num_lanes") == 0){
00173           temp_segment.number_of_lanes =
00174             parse_integer(lineread, std::string("num_lanes"),
00175                           line_number, valid, verbose);
00176           if (temp_segment.number_of_lanes <= 0) valid = false;
00177         }
00178         //SEGMENT_NAME
00179         else if(token.compare("segment_name") == 0)
00180           temp_segment.segment_name =
00181             parse_string(lineread, std::string("segment_name"),
00182                          line_number, valid, verbose);
00183         //END_SEGMENT
00184         else if(token.compare("end_segment") == 0){
00185           if (!temp_segment.isvalid())
00186             valid = false;
00187           else{
00188             segments.push_back(temp_segment);
00189             if (verbose)
00190               printf("%d: segment has ended\n", line_number);
00191             change_state(previous_state, state, GENERAL);
00192             temp_segment.clear();
00193           }
00194         }
00195         else{
00196           printf("%d: Unexpected token\n", line_number);
00197           valid=false;
00198         }
00199         break;
00200       case LANES:
00201         //LANE
00202         if(token.compare("lane") == 0){
00203           sprintf(temp_char, "lane %d.%%d", temp_segment.segment_id);
00204           if (sscanf(lineread.c_str(), temp_char, &temp_lane.lane_id) == 1){
00205             if (verbose)
00206               printf("%d: Lane number is %d\n",
00207                      line_number, temp_lane.lane_id);
00208           }
00209           else valid=false;
00210           if (temp_lane.lane_id <= 0) valid = false;
00211         }
00212         //NUM_WAYPOINTS
00213         else if(token.compare("num_waypoints") == 0){
00214           temp_lane.number_of_waypoints =
00215             parse_integer(lineread, std::string("num_waypoints"),
00216                           line_number, valid, verbose);
00217           if (temp_lane.number_of_waypoints <= 0) valid = false;
00218         }
00219         //LANE_WIDTH
00220         else if(token.compare("lane_width") == 0){
00221           temp_lane.lane_width =
00222             parse_integer(lineread, std::string("lane_width"),
00223                           line_number, valid, verbose);
00224           if (temp_lane.lane_width <= 0) valid = false;
00225         }
00226         //LEFT_BOUNDARY
00227         else if(token.compare("left_boundary") == 0){
00228           temp_lane.left_boundary =
00229             parse_boundary(lineread, valid);
00230           if (verbose)
00231             printf("%d: left boundary type is %d\n",
00232                    line_number, temp_lane.left_boundary);
00233         }
00234         //RIGHT_BOUNDARY
00235         else if(token.compare("right_boundary") == 0){
00236           temp_lane.right_boundary =
00237             parse_boundary(lineread, valid);
00238           if (verbose)
00239             printf("%d: right boundary type is %d\n",
00240                    line_number, temp_lane.right_boundary);
00241         }
00242         //CHECKPOINT
00243         else if(token.compare("checkpoint") == 0){
00244           Checkpoint checkpoint(lineread, temp_segment.segment_id,
00245                                 temp_lane.lane_id, line_number, valid, verbose);
00246           temp_lane.checkpoints.push_back(checkpoint);
00247         }
00248         //STOP
00249         else if(token.compare("stop") == 0){
00250           Stop stop(lineread, temp_segment.segment_id,
00251                     temp_lane.lane_id, line_number, valid, verbose);
00252           temp_lane.stops.push_back(stop);
00253         }
00254         //EXIT
00255         else if(token.compare("exit") == 0){
00256           Exit exit(lineread, temp_segment.segment_id,
00257                     temp_lane.lane_id, line_number, valid, verbose);
00258           temp_lane.exits.push_back(exit);
00259         }
00260         //END_LANE
00261         else if(token.compare("end_lane") == 0){
00262           if(temp_lane.number_of_waypoints != (int)temp_lane.waypoints.size())
00263             printf("Number of waypoints in lane does not match num_waypoints\n");
00264           if (!temp_lane.isvalid())
00265             valid = false;
00266           else{
00267             temp_segment.lanes.push_back(temp_lane);
00268             if (verbose)
00269               printf("%d: lane has ended\n", line_number);
00270             change_state(previous_state, state, SEGMENTS);
00271             temp_lane.clear();
00272           }
00273         }
00274         
00275         //NO TOKEN
00276         else{
00277           //WAYPOINT
00278           sprintf(temp_char, "%d.%d.", temp_segment.segment_id,
00279                   temp_lane.lane_id);
00280           if(token.find(temp_char) != std::string::npos ){
00281             LL_Waypoint wp(lineread, temp_segment.segment_id,
00282                            temp_lane.lane_id, line_number, valid, verbose);
00283             temp_lane.waypoints.push_back(wp);
00284           }
00285           else{
00286             printf("%d: Unexpected token\n", line_number);
00287             valid=false;
00288           }
00289         }
00290         break;
00291       case ZONES:
00292         //ZONE
00293         if(token.compare("zone") == 0){
00294           temp_zone.zone_id =
00295             parse_integer(lineread, std::string("zone"),
00296                           line_number, valid, verbose);
00297           if (temp_zone.zone_id <= 0) valid = false;
00298         
00299         }
00300         //NUM_SPOTS
00301         else if(token.compare("num_spots") == 0){
00302           temp_zone.number_of_parking_spots =
00303             parse_integer(lineread, std::string("num_spots"),
00304                           line_number, valid, verbose);
00305           if (temp_zone.number_of_parking_spots < 0) valid = false;     
00306         }
00307         //ZONE_NAME
00308         else if(token.compare("zone_name") == 0)
00309           temp_zone.zone_name =
00310             parse_string(lineread, std::string("zone_name"),
00311                          line_number, valid, verbose);
00312         //END_ZONE
00313         else if(token.compare("end_zone") == 0){
00314           if(!temp_zone.isvalid())
00315             valid = false;
00316           else{
00317             zones.push_back(temp_zone);
00318             if (verbose)
00319               printf("%d: zone has ended\n", line_number);
00320             change_state(previous_state, state, GENERAL);
00321             temp_zone.clear();
00322           }
00323         }
00324         else {
00325           printf("%d: Unexpected token\n", line_number);
00326           valid=false;
00327         }       
00328         break;
00329       case PERIMETER:
00330         //PERIMETER
00331         if(token.compare("perimeter") == 0){
00332           sprintf(temp_char,"perimeter %d.%%d" , temp_zone.zone_id);
00333           if (sscanf(lineread.c_str(), temp_char,
00334                      &temp_perimeter.perimeter_id) == 1){
00335             if (verbose)
00336               printf("%d: Perimeter id is %d\n",
00337                      line_number, temp_perimeter.perimeter_id);
00338           }
00339           else valid=false;
00340           if (temp_perimeter.perimeter_id != 0)
00341             valid = false;
00342         }
00343         //NUM_PERIMETER_POINTS
00344         else if(token.compare("num_perimeterpoints") == 0){
00345           temp_perimeter.number_of_perimeterpoints =
00346             parse_integer(lineread, std::string("num_perimeterpoints"),
00347                           line_number, valid, verbose);
00348           if (temp_perimeter.number_of_perimeterpoints <= 0)
00349             valid = false;
00350         }
00351         //EXIT
00352         else if(token.compare("exit") == 0){
00353           Exit exit(lineread, temp_zone.zone_id, 0, line_number, valid,
00354                     verbose);
00355           temp_perimeter.exits_from_perimeter.push_back(exit);
00356         }
00357         //END_PERIMETER
00358         else if(token.compare("end_perimeter") == 0){
00359           if(!temp_perimeter.isvalid())
00360             valid = false;
00361           else{
00362             temp_zone.perimeter = temp_perimeter;
00363             if (verbose)
00364               printf("%d: perimeter has ended\n", line_number);
00365             change_state(previous_state, state, ZONES);
00366             temp_perimeter.clear();
00367           }
00368         }
00369         else{
00370           //WAYPOINT
00371           sprintf(temp_char, "%d.%d.", temp_zone.zone_id, 0);
00372           if(token.find(temp_char) != std::string::npos ){
00373             LL_Waypoint wp(lineread, temp_zone.zone_id, 0, line_number,
00374                            valid, verbose);
00375             temp_perimeter.perimeterpoints.push_back(wp);
00376           }
00377           else valid=false;
00378         }
00379         break;
00380       case PARKING_SPOT:
00381         //SPOT
00382         if(token.compare("spot") == 0){
00383           sprintf(temp_char,"spot %d.%%d" , temp_zone.zone_id);
00384           if (sscanf(lineread.c_str(), temp_char, &temp_spot.spot_id) == 1){
00385             if (verbose)
00386               printf("%d: Spot id is %d\n", line_number, temp_spot.spot_id);
00387           }
00388           else valid=false;
00389           if (temp_spot.spot_id <= 0) valid = false;
00390         }
00391         //SPOT_WIDTH
00392         else if(token.compare("spot_width") == 0){
00393           temp_spot.spot_width =
00394             parse_integer(lineread, std::string("spot_width"),
00395                           line_number, valid, verbose);
00396           if (temp_spot.spot_width <= 0) valid = false; 
00397         }
00398         //CHECKPOINT
00399         else if(token.compare("checkpoint") == 0)
00400           temp_spot.checkpoint = Checkpoint(lineread, temp_zone.zone_id,
00401                                             temp_spot.spot_id,
00402                                             line_number, valid, verbose);
00403         //END_SPOT
00404         else if(token.compare("end_spot") == 0){
00405           if(!temp_spot.isvalid())
00406             valid = false;
00407           else{
00408             temp_zone.spots.push_back(temp_spot);
00409             if (verbose)
00410               printf("%d: spot has ended\n", line_number);
00411             change_state(previous_state, state, ZONES);
00412             temp_spot.clear();
00413           }
00414         }
00415         else{
00416           //WAYPOINT
00417           sprintf(temp_char, "%d.%d.", temp_zone.zone_id, temp_spot.spot_id);
00418           if(token.find(temp_char) != std::string::npos ){
00419             LL_Waypoint wp(lineread, temp_zone.zone_id,
00420                            temp_spot.spot_id, line_number, valid, verbose);
00421             temp_spot.waypoints.push_back(wp);
00422           }
00423           else{
00424             printf("%d: Unexpected token\n", line_number);
00425             valid=false;
00426           }
00427         }
00428         break;
00429       case UNKNOWN:
00430         printf("%d: Unexpected token\n", line_number);
00431         valid=false;
00432       }
00433       if (!valid) {
00434         is_valid=false;
00435         print_error_message(line_number, token);
00436         return;
00437       }
00438     }
00439   prep_graph();
00440   if (verbose) printf("Parser Finishes\n");
00441 }
00442 
00443 MDF::MDF(std::string mdfname, bool verbose)
00444 {
00445   verbose=verbose;
00446 
00447   is_valid=true;
00448 
00449   if (verbose) printf("MDF Parser Begins\n");
00450 
00451   std::ifstream mdf_file;
00452   mdf_file.open(mdfname.c_str());
00453   if (!mdf_file){
00454     printf("Error in opening MDF file\n");
00455     is_valid=false;
00456     return;
00457   }
00458 
00459   //Parser State
00460   line_number = 0;
00461   MDF_PARSE_STATE state = MDF_UNKNOWN, previous_state = MDF_UNKNOWN;
00462 
00463   std::string lineread;
00464   while(getline(mdf_file, lineread) ) // Read line by line
00465     {
00466 
00467       line_number++;
00468 
00469       uint real_characters=0;
00470 
00471       for (uint ind=0; ind < lineread.length(); ind++)
00472         if (lineread[ind] != '\r' &&
00473             lineread[ind] != '\t' &&
00474             lineread[ind] != ' ')
00475           real_characters++;
00476  
00477 
00478       //Blank lines
00479       if (real_characters == 0) {
00480         if (verbose)
00481           printf("%d: Blank Line\n",line_number);
00482         continue;
00483       }
00484 
00485       std::string token;
00486       char token_char [lineread.size()+1];
00487       // char temp_char [lineread.size()+1];
00488 
00489       //Read in one line
00490       sscanf(lineread.c_str(), "%s", token_char);
00491       token.assign(token_char);
00492 
00493 
00494       if (state != MDF_COMMENT){
00495         if (token.compare("MDF_name") == 0)
00496           change_state(previous_state, state, MDF_GENERAL);
00497         else if (token.compare(0, 11, "checkpoints") == 0)
00498           change_state(previous_state, state, MDF_CHECKPOINTS);
00499         else if (token.compare(0, 12, "speed_limits") == 0)
00500           change_state(previous_state, state, MDF_SPEEDLIMITS);
00501         else if (token.find("/*") != std::string::npos)
00502           change_state(previous_state, state, MDF_COMMENT);
00503       }
00504 
00505       bool valid=true;
00506       switch (state){
00507       case MDF_COMMENT:
00508         if (verbose)
00509           printf("%d: COMMENT: %s\n", line_number, lineread.c_str());
00510         if (lineread.find("*/") != std::string::npos)
00511           state = previous_state;
00512         break;
00513       case MDF_GENERAL:
00514         if (token.compare("MDF_name") == 0)
00515           filename =
00516             parse_string(lineread, std::string("MDF_name"),
00517                          line_number, valid, verbose);
00518         else if (token.compare("RNDF") == 0)
00519           RNDF_name =
00520             parse_string(lineread, std::string("RNDF"),
00521                          line_number, valid, verbose);
00522         else if (token.compare("format_version") == 0)
00523           format_version =
00524             parse_string(lineread, std::string("format_version"),
00525                          line_number, valid, verbose);
00526         else if (token.compare("creation_date") == 0)
00527           creation_date =
00528             parse_string(lineread, std::string("creation_date"),
00529                          line_number, valid, verbose);
00530         else if (token.compare("end_file") == 0){
00531           if (!isvalid()){
00532             printf("%d: MDF Properties are not valid\n", line_number);  
00533             valid = false;
00534           }
00535           if (verbose)
00536             printf("%d: MDF file has finished parsing\n", line_number);
00537         }
00538         else{
00539           printf("%d: Unexpected token\n", line_number);
00540           valid=false;
00541         }
00542         break;
00543       case MDF_SPEEDLIMITS:
00544         if(token.compare(0, 12, "speed_limits") == 0){
00545           if (verbose)
00546             printf("%d: Speed Limits\n", line_number);
00547         }
00548         else if(token.compare(0, 16, "num_speed_limits") == 0){
00549           number_of_speedlimits =
00550             parse_integer(lineread, std::string("num_speed_limits"),
00551                           line_number, valid, verbose);
00552           if (number_of_speedlimits <= 0) valid = false;
00553         }
00554         else if(token.compare("end_speed_limits") == 0){
00555           if (number_of_speedlimits != (int) speed_limits.size())
00556             printf("Number of Speed Limits do not match num_speedlimits\n");
00557           else if (verbose)
00558             printf("%d: End of Speed Limits\n", line_number);
00559           change_state(previous_state, state, MDF_GENERAL);
00560         }
00561         else{
00562           Speed_Limit speedlimit(lineread, line_number, valid, verbose);
00563           if (valid) speed_limits.push_back(speedlimit);
00564           else {
00565             printf("%d: Unexpected token\n", line_number);
00566             valid = false;
00567           }
00568         }
00569         break;
00570       case MDF_CHECKPOINTS:
00571         if(token.compare(0, 11, "checkpoints") == 0){
00572           if (verbose)
00573             printf("%d: Checkpoints\n", line_number);
00574         }
00575         else if(token.compare("num_checkpoints") == 0){
00576           number_of_checkpoints =
00577             parse_integer(lineread, std::string("num_checkpoints"),
00578                           line_number, valid, verbose);
00579           if (number_of_checkpoints <= 0) valid = false;
00580         }
00581         else if(token.compare("end_checkpoints") == 0){
00582           if (number_of_checkpoints != (int) checkpoint_ids.size())
00583             printf("Number of Checkpoints do not match num_checkpoints\n");
00584           else if (verbose)
00585             printf("%d: Checkpoints have ended\n", line_number);
00586           change_state(previous_state, state, MDF_GENERAL);
00587         }
00588         //NO TOKEN
00589         else{
00590           //CHECKPOINT
00591           int checkpoint_id =
00592             parse_integer(lineread, line_number, valid, verbose);
00593           if (valid) checkpoint_ids.push_back(checkpoint_id);
00594           else {
00595             printf("%d: Unexpected token\n", line_number);
00596             valid = false;
00597           }
00598           if (checkpoint_id <= 0) valid = false;        
00599         }
00600         break;
00601       case MDF_UNKNOWN:
00602         printf("%d: COULD NOT PARSE: %s\n", line_number, lineread.c_str());
00603         valid = false;
00604       }
00605       if (!valid) {
00606         is_valid=false;
00607         print_error_message(line_number, token);
00608         return;
00609       }
00610     }
00611 
00612   if (verbose) printf("MDF Parser Finishes\n");
00613 
00614 }
00615 
00616 Lane_marking RNDF::parse_boundary(std::string line, bool& valid){
00617   Lane_marking boundary_type = UNDEFINED;
00618   char temp_char [line.size()+1];
00619   if (!sscanf(line.c_str(), "%*s %s", temp_char) == 1)
00620     valid = false;
00621   if (strcmp(temp_char, "double_yellow") == 0)
00622     boundary_type = DOUBLE_YELLOW;
00623   else if (strcmp(temp_char, "solid_yellow") == 0)
00624     boundary_type = SOLID_YELLOW;
00625   else if (strcmp(temp_char, "solid_white") == 0)
00626     boundary_type = SOLID_WHITE;
00627   else if (strcmp(temp_char, "broken_white") == 0)
00628     boundary_type = BROKEN_WHITE;
00629   else
00630     valid=false;
00631   return boundary_type;
00632 
00633 };
00634 
00635 Checkpoint::Checkpoint(std::string line, int x, int y,
00636                        int line_number, bool& valid, bool verbose) {
00637   char temp_char [line.size()+1];
00638   sprintf(temp_char,"checkpoint %d.%d.%%d %%d" ,x, y);
00639   if (sscanf(line.c_str(), temp_char, &waypoint_id, &checkpoint_id) == 2 &&
00640       isvalid()){
00641     if (verbose){ 
00642       printf("%d: ", line_number);
00643       print();
00644     }
00645   }
00646   else{
00647     //    clear();
00648     valid=false;
00649   }
00650 };
00651 
00652 LL_Waypoint::LL_Waypoint(std::string line, int x, int y,
00653                          int line_number, bool& valid, bool verbose) {
00654 
00655   char temp_char [line.size()+1];
00656   sprintf(temp_char, "%d.%d.%%d %%lf %%lf", x, y);
00657   if(sscanf(line.c_str(), temp_char, &waypoint_id, &ll.latitude, &ll.longitude) == 3 && isvalid()){
00658     if (verbose) {
00659       printf("%d: ", line_number);
00660       print();
00661     }
00662   }
00663   else{
00664     //    clear();
00665     valid=false;
00666   }
00667 };
00668 
00669 
00670 
00671 Exit::Exit(std::string line, int x, int y, int line_number, bool& valid,
00672            bool verbose) {
00673 
00674   char temp_char [line.size()+1];
00675   sprintf(temp_char,"exit %d.%d.%%d %%d.%%d.%%d", x, y);
00676   start_point.segment_id = x;
00677   start_point.lane_id = y;
00678   if (sscanf(line.c_str(), temp_char, &start_point.waypoint_id,
00679              &end_point.segment_id, &end_point.lane_id,
00680              &end_point.waypoint_id) == 4  && isvalid()){
00681     if (verbose){
00682       printf("%d: ", line_number);
00683       print();
00684     }
00685   }
00686   else{
00687     //    clear();
00688     //    start_point.segment_id = x;
00689     //    start_point.lane_id = y;
00690     valid=false;
00691   }
00692 };
00693 
00694 Speed_Limit::Speed_Limit(std::string line, int line_number, bool& valid,
00695                          bool verbose){
00696   if (sscanf(line.c_str(), "%d %d %d", &id, &min_speed, &max_speed) == 3 && isvalid()){
00697     if (verbose){
00698       printf("%d: ", line_number);
00699       print();
00700     }
00701   }
00702   else{
00703     //    clear();
00704     valid=false;
00705   }
00706 };
00707 
00708 Stop::Stop(std::string line, int x, int y,
00709            int line_number, bool& valid, bool verbose){
00710   //  clear()
00711   char temp_char [line.size()+1];
00712   sprintf(temp_char,"stop %d.%d.%%d" , x, y);
00713   if (sscanf(line.c_str(), temp_char, &waypoint_id) == 1 && isvalid()){
00714     if (verbose)
00715       printf("%d: Stop at Waypoint %d\n",
00716              line_number, waypoint_id);
00717   }
00718   else{
00719     //    clear();
00720     valid=false;
00721   }
00722 };
00723 
00724 
00725 std::string parse_string(std::string line, std::string token,
00726                          int line_number, bool& valid, bool verbose){
00727   char temp_char [line.size()+1];
00728   temp_char[0]='\0';
00729   if (sscanf(line.c_str(), "%*s %s", temp_char)){
00730     if (verbose)
00731       printf("%d: %s is %s\n", line_number, token.c_str(), temp_char);
00732   }
00733   else
00734     valid=false;
00735 
00736   return std::string(temp_char);
00737 };
00738 
00739 //WITH STRING TOKEN
00740 int parse_integer(std::string line, std::string token,
00741                   int line_number, bool& valid, bool verbose){
00742   int integer = INT_MIN;
00743   if (sscanf(line.c_str(), "%*s %d", &integer) == 1){
00744     if (verbose)
00745       printf("%d: %s is %d\n", line_number, token.c_str(), integer);
00746   }
00747   else
00748     valid=false;
00749 
00750   if (integer == INT_MIN) valid = false;
00751   return integer;
00752 };
00753 
00754 //WITHOUT TOKEN
00755 int parse_integer(std::string line, int line_number, bool& valid,
00756                   bool verbose){
00757   int integer = INT_MIN;
00758   if (sscanf(line.c_str(), "%d", &integer) == 1){
00759     if (verbose)
00760       printf("%d: %d\n", line_number, integer);
00761   }
00762   else
00763     valid=false;
00764   if (integer == INT_MIN) valid = false;
00765   return integer;
00766 };
00767 
00768 void Lane::clear(){
00769   waypoints.clear();
00770   checkpoints.clear();
00771   stops.clear();
00772   exits.clear();
00773   left_boundary = right_boundary = UNDEFINED;
00774   lane_id = number_of_waypoints = INT_MIN;
00775   lane_width = 0;
00776 };
00777 
00778 void Segment::clear(){
00779   lanes.clear();
00780   segment_name = std::string("default");
00781   segment_id = number_of_lanes = INT_MIN;
00782 };
00783 
00784 void Zone::clear(){
00785   zone_id = number_of_parking_spots = INT_MIN;
00786   zone_name = std::string("default");
00787   perimeter.clear();
00788   spots.clear();
00789 };
00790 
00791 void Spot::clear(){
00792   spot_id = INT_MIN;
00793   spot_width = 0;
00794   checkpoint.clear();
00795   waypoints.clear();
00796 };
00797 
00798 void Perimeter::clear(){
00799   perimeter_id = number_of_perimeterpoints = INT_MIN;
00800   exits_from_perimeter.clear();
00801   perimeterpoints.clear();
00802 
00803 };
00804 
00805 void RNDF::print(){
00806 
00807   if (!is_valid) {
00808     printf("RNDF not valid\n");
00809     return;
00810   }
00811 
00812   printf("RNDF name is %s\n", filename.c_str());
00813   printf("Number of segments is %d\n", number_of_segments);
00814   printf("Number of zones is %d\n", number_of_zones);
00815   printf("format version is %s\n", format_version.c_str());
00816   printf("creation date is %s\n", creation_date.c_str());
00817   print_vector(segments);
00818   print_vector(zones);
00819 };
00820 
00821 void MDF::print(){
00822 
00823   if (!is_valid) {
00824     printf("MDF not valid\n");
00825     return;
00826   }
00827 
00828   printf("MDF name is %s\n", filename.c_str());
00829   printf("RNDF name is %s\n", RNDF_name.c_str());
00830   printf("format version is %s\n", format_version.c_str());
00831   printf("creation date is %s\n", creation_date.c_str());
00832   printf("Number of checkpoints is %d\n", number_of_checkpoints);
00833   std::vector<int>::iterator i;
00834   for(i = checkpoint_ids.begin(); i != checkpoint_ids.end(); i++)
00835     printf("Checkpoint id: %d\n", *i);
00836 
00837   printf("Number of speedlimits is %d\n", number_of_speedlimits);
00838   print_vector(speed_limits);
00839 };
00840 
00841 void Segment::print(){
00842 
00843   printf("Segment number is %d\n", segment_id);
00844   printf("Number of Lanes in Segment %d\n", number_of_lanes);
00845   printf("segment name is %s\n", segment_name.c_str());
00846   print_vector(lanes);
00847 };
00848 
00849 void Lane::print(){
00850 
00851   printf("Lane number is %d\n", lane_id);
00852   printf("Number of Waypoints in lane %d\n", number_of_waypoints);
00853   printf("Width of lane %d\n", lane_width);
00854   printf("left boundary type is %d\n", left_boundary);
00855   printf("right boundary type is %d\n", right_boundary);
00856   print_vector(checkpoints);
00857   print_vector(stops);
00858   print_vector(exits);
00859   print_vector(waypoints);
00860 };
00861 
00862 void Exit::print(){
00863 
00864   printf("Exit from ");
00865   start_point.print();
00866 
00867   printf(" to ");
00868   end_point.print();
00869 
00870   printf("\n");
00871 };
00872 
00873 void Spot::print(){
00874 
00875   printf("Spot id is %d\n", spot_id);
00876   printf("Spot width is %d\n", spot_width);
00877   printf("Spot Checkpoint is: ");
00878   checkpoint.print();
00879   printf("Spot - First waypoint: ");
00880   waypoints[0].print_without_newline();
00881   printf(",Second waypoint: ");
00882   waypoints[1].print_without_newline();
00883   printf("\n");
00884 };
00885 
00886 void Zone::print(){
00887 
00888   printf("Zone number is %d\n", zone_id);
00889   printf("Number of parking spots is %d\n",
00890          number_of_parking_spots); //integer >= 0
00891   printf("Zone name is %s\n", zone_name.c_str()); //Designate the
00892   //zone, such as
00893   //"North_Parking_Lot"
00894   perimeter.print();
00895   print_vector(spots);
00896 };
00897 
00898 void Perimeter::print(){
00899 
00900   printf("Perimeter id is %d\n", perimeter_id); //integer ALWAYS 0
00901 
00902   printf("Number of perimeter points is %d\n", number_of_perimeterpoints);
00903   print_vector(exits_from_perimeter);
00904   print_vector(perimeterpoints);
00905 };
00906 
00907 void Speed_Limit::print(){
00908 
00909   printf("Speed Limit id: %d", id); //integer > 0
00910   printf(", min_speed is %d", min_speed); //integer >= 0
00911   printf(", max_speed is %d\n", max_speed); //integer >= 0
00912 }
00913 
00914 template <class T>
00915 void print_vector (std::vector<T> vec) {
00916   typename std::vector<T>::iterator i;
00917   for(i = vec.begin(); i != vec.end(); i++)
00918     i->print();
00919 };
00920 
00921 
00922 void RNDF::prep_graph(){
00923 
00924   int index = 0;
00925   std::vector<Segment>::iterator si;
00926   std::vector<Lane>::iterator li;
00927   std::vector<LL_Waypoint>::iterator wi;
00928   std::vector<Checkpoint>::iterator ci;
00929   std::vector<Stop>::iterator stops_i;
00930   std::vector<Exit>::iterator exits_i;
00931   std::vector<Zone>::iterator zones_i;
00932   std::vector<Spot>::iterator spots_i;
00933   std::vector<Perimeter_Point>::iterator peri_i;
00934   std::vector<WayPointNode>::iterator wpni;
00935   std::vector<ElementID>::iterator eid_i;
00936 
00937   //-----VERTICES-------
00938   for(si = segments.begin(); si != segments.end(); si++){
00939     for(li = si->lanes.begin(); li != si->lanes.end(); li++){
00940       for(wi = li->waypoints.begin(); wi != li->waypoints.end(); wi++){
00941         WayPointNode wpn;
00942         wpn.ll = wi->ll;
00943         if (li->lane_width == 0)
00944           wpn.lane_width = DEFAULT_LANE_WIDTH;
00945         else wpn.lane_width = feet2meters(li->lane_width);
00946         wpn.id = ElementID(si->segment_id, li->lane_id, wi->waypoint_id);
00947         wpn.index = index;
00948         index++;
00949         id_map[wpn.id] = (wpn);
00950       }
00951     }
00952   }
00953   
00954   for(zones_i = zones.begin(); zones_i != zones.end(); zones_i++){
00955     for(spots_i = zones_i->spots.begin();
00956         spots_i != zones_i->spots.end(); spots_i++){
00957       for(wi = spots_i->waypoints.begin();
00958           wi != spots_i->waypoints.end(); wi++){
00959         WayPointNode wpn;
00960         wpn.ll = wi->ll;
00961         wpn.id = ElementID(zones_i->zone_id, spots_i->spot_id,
00962                            wi->waypoint_id);
00963         if (spots_i->checkpoint.waypoint_id == wi->waypoint_id){
00964           wpn.is_goal = true;
00965           wpn.checkpoint_id = spots_i->checkpoint.checkpoint_id;
00966         }
00967         else wpn.is_goal = false;
00968         wpn.is_spot = true;
00969         if (spots_i->spot_width == 0)
00970           wpn.lane_width = DEFAULT_SPOT_WIDTH;
00971         else wpn.lane_width = feet2meters(spots_i->spot_width);
00972         wpn.is_stop = wpn.is_exit = wpn.is_entry = false;
00973         wpn.index = index;
00974         index++;
00975         id_map[wpn.id] = (wpn);
00976       }
00977     }
00978   }
00979   
00980 
00981   for(zones_i = zones.begin(); zones_i != zones.end(); zones_i++){
00982     for(peri_i = zones_i->perimeter.perimeterpoints.begin();
00983         peri_i != zones_i->perimeter.perimeterpoints.end(); peri_i++){
00984       WayPointNode wpn;
00985       wpn.ll = peri_i->ll;
00986       wpn.id = ElementID(zones_i->zone_id, zones_i->perimeter.perimeter_id,
00987                          peri_i->waypoint_id);
00988       wpn.is_perimeter = true;
00989       wpn.lane_width = DEFAULT_LANE_WIDTH;
00990       wpn.is_stop = wpn.is_exit = wpn.is_entry = false;
00991       wpn.index = index;
00992       index++;
00993       id_map[wpn.id] = (wpn);
00994     }
00995   }
00996 
00997   for(zones_i = zones.begin(); zones_i != zones.end(); zones_i++){
00998     for(exits_i = zones_i->perimeter.exits_from_perimeter.begin();
00999         exits_i != zones_i->perimeter.exits_from_perimeter.end(); exits_i++){
01000       ElementID id_start (exits_i->start_point.segment_id,
01001                           exits_i->start_point.lane_id,
01002                           exits_i->start_point.waypoint_id);
01003       ElementID id_end (exits_i->end_point.segment_id,
01004                         exits_i->end_point.lane_id,
01005                         exits_i->end_point.waypoint_id);
01006       if (id_map.find(id_start) == id_map.end() ||
01007           id_map.find(id_end) == id_map.end()) {
01008         exit_error(*exits_i);
01009         is_valid=false;
01010         return;
01011       }
01012       id_map[id_start].is_exit = true;
01013       id_map[id_end].is_entry = true;
01014     }
01015   }
01016 
01017   for(si = segments.begin(); si != segments.end(); si++){
01018     for(li = si->lanes.begin(); li != si->lanes.end(); li++){
01019       for(ci = li->checkpoints.begin(); ci != li->checkpoints.end(); ci++){
01020         ElementID id (si->segment_id, li->lane_id, ci->waypoint_id);
01021         if (id_map.find(id) == id_map.end()) {
01022           checkpoint_error(si->segment_id, li->lane_id, ci->waypoint_id);
01023           is_valid=false;
01024           return;
01025         }
01026         id_map[id].checkpoint_id = ci->checkpoint_id;
01027         id_map[id].is_goal = false;
01028       }
01029       for(stops_i = li->stops.begin(); stops_i != li->stops.end(); stops_i++){
01030         ElementID id (si->segment_id, li->lane_id, stops_i->waypoint_id);
01031         if (id_map.find(id) == id_map.end()) {
01032           stop_error(si->segment_id, li->lane_id, stops_i->waypoint_id);
01033           is_valid=false;
01034           return;
01035         }
01036         id_map[id].is_stop = true;
01037       }
01038       for(exits_i = li->exits.begin(); exits_i != li->exits.end(); exits_i++){
01039         ElementID id_start (exits_i->start_point.segment_id,
01040                             exits_i->start_point.lane_id,
01041                             exits_i->start_point.waypoint_id);
01042         ElementID id_end (exits_i->end_point.segment_id,
01043                           exits_i->end_point.lane_id,
01044                           exits_i->end_point.waypoint_id);
01045         if (id_map.find(id_start) == id_map.end() || id_map.find(id_end) ==
01046             id_map.end()) {
01047           exit_error(*exits_i);
01048           is_valid=false;
01049           return;
01050         }
01051         id_map[id_start].is_exit = true;
01052         id_map[id_end].is_entry = true;
01053       }
01054     }
01055   }
01056 
01057   //-----EDGES-------
01058   //-----LANES
01059   for(si = segments.begin(); si != segments.end(); si++){
01060     for(li = si->lanes.begin(); li != si->lanes.end(); li++){
01061       for(wi = li->waypoints.begin(); wi != li->waypoints.end() -1; wi++){
01062         ElementID id_start (si->segment_id, li->lane_id, wi->waypoint_id);
01063         ElementID id_end (si->segment_id, li->lane_id, (wi+1)->waypoint_id);
01064         if (id_map.find(id_start) == id_map.end() ||
01065             id_map.find(id_end) == id_map.end()) {
01066           exit_error(*exits_i);
01067           is_valid=false;
01068           return;
01069         }
01070         edges.push_back( WayPointEdge(id_map[id_start], id_map[id_end],
01071                                       li->left_boundary,
01072                                       li->right_boundary, false));
01073       }
01074     }
01075   }
01076   //-----EXITS
01077   for(si = segments.begin(); si != segments.end(); si++){
01078     for(li = si->lanes.begin(); li != si->lanes.end(); li++){
01079       for(exits_i = li->exits.begin(); exits_i != li->exits.end(); exits_i++){
01080         ElementID id_start (exits_i->start_point.segment_id,
01081                             exits_i->start_point.lane_id,
01082                             exits_i->start_point.waypoint_id);
01083         ElementID id_end (exits_i->end_point.segment_id,
01084                           exits_i->end_point.lane_id,
01085                           exits_i->end_point.waypoint_id);
01086         if (id_map.find(id_start) == id_map.end() ||
01087             id_map.find(id_end) == id_map.end()) {
01088           exit_error(*exits_i);
01089           is_valid=false;
01090           return;
01091         }
01092         if (id_start.seg==id_end.seg &&
01093             id_start.lane==id_end.lane &&
01094             id_start.pt+1==id_end.pt)
01095           for (uint i=0; i<edges.size(); i++)
01096             {
01097               if (edges.at(i).startnode_index==id_map[id_start].index &&
01098                   edges.at(i).endnode_index==id_map[id_end].index)
01099                 {
01100                   edges.at(i).is_exit=true;
01101                   break;
01102                 }
01103             }
01104         else
01105           edges.push_back(WayPointEdge(id_map[id_start], id_map[id_end],
01106                                        li->left_boundary,
01107                                        li->right_boundary, true));
01108       }
01109     }
01110   }
01111   
01112   //-----ZONES
01113   std::vector<ElementID> zone_exits;
01114   for(zones_i = zones.begin(); zones_i != zones.end(); zones_i++){
01115     for(exits_i = zones_i->perimeter.exits_from_perimeter.begin();
01116         exits_i != zones_i->perimeter.exits_from_perimeter.end(); exits_i++){
01117       ElementID id_start (exits_i->start_point.segment_id,
01118                           exits_i->start_point.lane_id,
01119                           exits_i->start_point.waypoint_id);
01120       ElementID id_end (exits_i->end_point.segment_id,
01121                         exits_i->end_point.lane_id,
01122                         exits_i->end_point.waypoint_id);
01123       if (id_map.find(id_start) == id_map.end() ||
01124           id_map.find(id_end) == id_map.end()) {
01125         exit_error(*exits_i);
01126         is_valid=false;
01127         return;
01128       }
01129       edges.push_back( WayPointEdge(id_map[id_start], id_map[id_end],
01130                                     UNDEFINED, UNDEFINED, true));
01131       zone_exits.push_back(id_map[id_start].id);
01132     }
01133   }
01134   
01135   
01136   //HANDLING EDGES FROM ZONE START TO ZONE END
01137   id_to_waypoint_map::iterator node_itr, node_itr2;
01138   for(node_itr = id_map.begin(); node_itr != id_map.end(); node_itr++){
01139     //If the node is an entry
01140     if (node_itr->second.is_entry && node_itr->second.is_perimeter) {
01141       for(node_itr2 = id_map.begin(); node_itr2 != id_map.end(); node_itr2++){
01142         if (node_itr2->second.id!=node_itr->second.id && node_itr2->second.is_perimeter &&
01143             node_itr2->second.is_exit)
01144           //Check if they are in the same zone
01145           if(node_itr2->second.id.seg == node_itr->second.id.seg &&
01146              node_itr2->second.id.pt != node_itr->second.id.pt) {
01147             edges.push_back(WayPointEdge(node_itr->second, node_itr2->second,
01148                                          UNDEFINED, UNDEFINED, false));
01149           }
01150       }
01151     }
01152   }
01153   for(node_itr = id_map.begin(); node_itr != id_map.end(); node_itr++){
01154     if (node_itr->second.is_exit || node_itr->second.is_entry)
01155       for(node_itr2 = id_map.begin(); node_itr2 != id_map.end(); node_itr2++){
01156         if (node_itr2->second.id != node_itr->second.id)
01157           if (node_itr2->second.is_spot)
01158             if ((node_itr->second.id.seg == 
01159                  node_itr2->second.id.seg) &&
01160                 (node_itr2->second.id.pt==1))
01161               {
01162                 if (node_itr->second.is_exit)
01163                   edges.push_back( WayPointEdge(node_itr2->second, node_itr->second,
01164                                                 UNDEFINED, UNDEFINED, false));
01165                 if (node_itr->second.is_entry)
01166                   edges.push_back
01167                     (WayPointEdge(node_itr->second, node_itr2->second,
01168                                   UNDEFINED, UNDEFINED, false));
01169               }
01170       } 
01171   }
01172   
01173   for(node_itr = id_map.begin(); node_itr != id_map.end(); node_itr++){
01174     //If the node is an entry
01175     if (node_itr->second.is_spot)
01176       for(node_itr2 = id_map.begin(); node_itr2 != id_map.end(); node_itr2++){
01177         if (node_itr2->second.id != node_itr->second.id)
01178           if (node_itr2->second.is_spot) {
01179             if ((node_itr->second.id.seg==
01180                  node_itr2->second.id.seg) &&
01181                 (node_itr->second.id.lane==
01182                  node_itr2->second.id.lane) &&
01183                 (node_itr->second.id.pt==1) &&
01184                 (node_itr2->second.id.pt==2))
01185               {
01186                 edges.push_back( WayPointEdge(node_itr->second, node_itr2->second,
01187                                               UNDEFINED, UNDEFINED, false));
01188                 edges.push_back( WayPointEdge(node_itr2->second, node_itr->second,
01189                                               UNDEFINED, UNDEFINED, false));
01190               }
01191             if ((node_itr->second.id.seg==
01192                  node_itr2->second.id.seg) &&
01193                 (node_itr->second.id.lane!=
01194                  node_itr2->second.id.lane) &&
01195                 (node_itr->second.id.pt==1) &&
01196                 (node_itr2->second.id.pt==1))
01197               {
01198                 edges.push_back( WayPointEdge(node_itr->second, node_itr2->second,
01199                                               UNDEFINED, UNDEFINED, false));
01200                 edges.push_back( WayPointEdge(node_itr2->second, node_itr->second,
01201                                               UNDEFINED, UNDEFINED, false));
01202               }
01203           }
01204       }
01205   }
01206 }
01207 
01213 void RNDF::populate_graph(Graph& graph)
01214 {
01215   graph.nodes_size = id_map.size();
01216   graph.nodes = new WayPointNode[graph.nodes_size];
01217   id_to_waypoint_map::iterator node_itr;
01218   for(node_itr = id_map.begin(); node_itr != id_map.end(); node_itr++){
01219     graph.nodes[(node_itr->second).index] = (node_itr->second);
01220   }
01221 
01222   graph.edges_size = edges.size();
01223   graph.edges = edges;
01224   /*
01225     std::vector<WayPointEdge>::iterator edge_itr;
01226   int edge_index = 0;
01227   for(edge_itr = edges.begin(); edge_itr != edges.end(); edge_itr++){
01228     graph.edges[edge_index] = (*edge_itr);
01229     edge_index++;
01230   }
01231   */
01232 }
01233 
01234 
01235 //ISSUE: What should the SpeedLimits of Exits be
01236 bool MDF::add_speed_limits(Graph& graph){
01237   std::vector<Speed_Limit>::iterator itr;
01238   int num_speed_limits = (int)speed_limits.size();
01239   int matches = 0;
01240   Speed_Limit matched, current;
01241 
01242   for (uint i = 0; i < graph.edges_size; i++){
01243     graph.edges[i].speed_min = 0.0;
01244     graph.edges[i].speed_max = DEFAULT_LANE_SPEED;
01245   }
01246   
01247   for(itr = speed_limits.begin(); itr != speed_limits.end(); itr++){
01248     current = *itr;
01249     for (uint i = 0; i < graph.edges_size; i++){
01250       int index = graph.edges[i].startnode_index;
01251       //      assert(index < graph.nodes_size);
01252 
01253       if(graph.nodes[index].id.seg == itr->id){
01254         if (itr->min_speed < Epsilon::speed)
01255           graph.edges[i].speed_min = 0.0;
01256         else
01257           graph.edges[i].speed_min = mph2mps(itr->min_speed);
01258 
01259         if (itr->max_speed < Epsilon::speed)
01260           graph.edges[i].speed_max = fmax(graph.edges[i].speed_min,
01261                                           DEFAULT_LANE_SPEED);
01262         else
01263           graph.edges[i].speed_max = fmax(graph.edges[i].speed_min,
01264                                           mph2mps(itr->max_speed));
01265         
01266         if (!(matched == current)){
01267           matches++;
01268           matched = current;
01269         }
01270       }
01271     }
01272   }
01273 
01274 #if 0
01275   for (uint i = 0; i < graph.edges_size; i++){
01276     std::cerr << graph.nodes[graph.edges[i].startnode_index].id.seg
01277               <<" "<<graph.edges[i].speed_min<<" "
01278               <<graph.edges[i].speed_max<<std::endl;
01279   }
01280 #endif
01281 
01282   if (matches == num_speed_limits)
01283     return true;
01284   else{
01285     //printf("[%d] != [%d]\n", matches, num_speed_limits);
01286     return false;
01287   }
01288 }
01289 
01290 void exit_error(Exit& ex){
01291 
01292   printf("ERROR: In Exit from %d.%d.%d to %d.%d.%d.",
01293          ex.start_point.segment_id, ex.start_point.lane_id,
01294          ex.start_point.waypoint_id,
01295          ex.end_point.segment_id, ex.end_point.lane_id,
01296          ex.end_point.waypoint_id);
01297   printf("  One of the WayPoints is not defined.\n");
01298 }
01299 
01300 void stop_error(int seg, int lane, int way){
01301 
01302   printf("ERROR: In Stop %d.%d.%d - The WayPoint is not defined\n",
01303          seg, lane, way);
01304 }
01305 
01306 void checkpoint_error(int seg, int lane, int way){
01307 
01308   printf("ERROR: In Checkpoint %d.%d.%d - The WayPoint is not defined\n",
01309          seg, lane, way);
01310 }
01311 
01312 void print_error_message(int line_number, std::string token){
01313   printf("%d: Invalid %s\n", line_number, token.c_str());
01314 }
01315 
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art_map
Author(s): David Li, Patrick Beeson, Bartley Gillen, Tarun Nimmagadda, Mickey Ristroph, Michael Quinlan, Jack O'Quin
autogenerated on Tue Sep 24 2013 10:41:51