RNDF.h
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00001 /* -*- mode: C++ -*- */
00002 /*
00003  *  Copyright (C) 2007 Tarun Nimmagadda, Patrick Beeson
00004  *  Copyright (C) 2010 Jack O'Quin
00005  *
00006  *  License: Modified BSD Software License Agreement
00007  * 
00008  *  $Id: RNDF.h 345 2010-08-05 18:35:46Z jack.oquin $
00009  */
00010 
00019 #ifndef __RNDF_h__
00020 #define __RNDF_h__
00021 
00022 #include <vector>
00023 #include <string>
00024 #include <iterator>
00025 #include <map>
00026 
00027 #include <art_map/Graph.h>
00028 
00029 template <class T>
00030 void print_vector (std::vector<T> vec);
00031 
00032 //<waypoint>
00033 class LL_Waypoint {
00034  public:
00035   int waypoint_id; //integer > 0
00036   LatLong ll;
00037   //double latitude; //6 decimal digits
00038   //double longitude; //6 decimal digits
00039   
00040   //METHODS
00041   LL_Waypoint(std::string line, int x, int y, int line_number, bool& valid,
00042               bool verbose);
00043   bool isvalid(){return(waypoint_id > 0);};
00044   void clear(){ waypoint_id = -1; ll.latitude = ll.longitude = -1.0;};
00045   void print(){print_without_newline(); printf("\n");};
00046   void print_without_newline(){
00047     printf("Waypoint %d, Latitude: %f, Longitude: %f", 
00048            waypoint_id, ll.latitude, ll.longitude);
00049   };
00050 };
00051 
00052 typedef LL_Waypoint Perimeter_Point;
00053 
00054 //<checkpoint>
00055 class Checkpoint {
00056  public:
00057   int checkpoint_id; //integer > 0
00058   int waypoint_id;   //integer > 0
00059 
00060   //METHODS
00061   Checkpoint(){};
00062   //Returns a parsed checkpoint from 'line' with waypoint id 'x.y.z' 
00063   Checkpoint (std::string line, int x, int y, int line_number, bool& valid,
00064               bool verbose);
00065   bool isvalid(){return (waypoint_id > 0 && checkpoint_id > 0 );};
00066   void clear(){ waypoint_id = checkpoint_id = -1;}; 
00067   void print(){
00068     printf("Checkpoint Number %d is at Waypoint %d\n", 
00069            checkpoint_id, waypoint_id);
00070   };
00071 };
00072 
00073 class Unique_id{
00074  public:
00075   int waypoint_id;
00076   int lane_id;
00077   int segment_id;
00078  
00079   //METHODS
00080   bool isvalid(){return (waypoint_id > 0 && lane_id >= 0 && segment_id > 0);};
00081   void clear();
00082   void print(){printf("%d.%d.%d", segment_id, lane_id, waypoint_id);};
00083 };
00084 //<exit>
00085 class Exit {
00086  public:
00087   Unique_id start_point;
00088   Unique_id end_point;
00089   Exit(std::string line, int x, int y, int line_number, bool& valid, 
00090        bool verbose);
00091   bool isvalid(){    return (start_point.isvalid() && end_point.isvalid());};
00092   void clear(){start_point.waypoint_id = end_point.waypoint_id
00093       = end_point.lane_id = end_point.segment_id = -1;};
00094   void print();
00095 };
00096 
00097 /*
00098   typedef Exit Exit_To_Perimeter;
00099   typedef Exit Exit_From_Perimeter;
00100 */
00101 /*
00102   class Exit_To_Perimeter{
00103   int exit_waypoint;
00104   int entry_perimeterpoint;
00105   };
00106 
00107   class Exit_From_Perimeter{
00108   int exit_perimeterpoint;
00109   int entry_waypoint;
00110   };
00111 */
00112 
00113 //<stop>
00114 class Stop{
00115  public:
00116   int waypoint_id;
00117   bool isvalid(){return (waypoint_id > 0);};
00118   void clear(){waypoint_id = -1;};
00119   void print(){printf("Stop at Waypoint %d\n", waypoint_id);}; 
00120   //Returns a parsed stop from 'line' with waypoint id 'x.y.z' 
00121   Stop (std::string line, int x, int y, int line_number, bool& valid, bool verbose);
00122 };
00123 
00124 //<lane>
00125 class Lane{
00126  public:
00127   int lane_id; //integer > 0
00128   int number_of_waypoints; //integer > 0
00129   std::vector<LL_Waypoint> waypoints; //List of waypoints
00130   //<optional lane header>
00131   int lane_width; //integer >= 0 (OPTIONAL)
00132   Lane_marking left_boundary;
00133   Lane_marking right_boundary;
00134   std::vector<Checkpoint> checkpoints;
00135   std::vector<Stop> stops;
00136   std::vector<Exit> exits;
00137  
00138   //METHODS
00139   bool isvalid(){return (lane_id > 0 && number_of_waypoints > 0 
00140                          && lane_width >= 0
00141                          && number_of_waypoints == (int)waypoints.size());};
00142   void clear();
00143   void print();
00144 };
00145 
00146 //<segment>
00147 class Segment{
00148  public:
00149   int segment_id; // integer > 0
00150   int number_of_lanes; // integer > 0
00151   //<optional segment header>
00152   std::string segment_name; // such as "Wisconsin_Ave"
00153   std::vector<Lane> lanes; // List of Lanes
00154  
00155   //METHODS
00156   bool isvalid(){return (segment_id > 0 && number_of_lanes > 0
00157                          && number_of_lanes == (int)lanes.size());};
00158   void clear();
00159   void print();
00160 };
00161  
00162 //<perimeter>
00163 class Perimeter{
00164  public:
00165   int perimeter_id; //integer = 0 :(ALWAYS '0', because
00166   //there is only one perimeter per zone
00167   int number_of_perimeterpoints; //integer > 0
00168   //<optional perimeter header>
00169   std::vector<Exit> exits_from_perimeter;
00170   std::vector<Perimeter_Point> perimeterpoints;
00171 
00172   //METHODS
00173   bool isvalid(){return (perimeter_id == 0 && number_of_perimeterpoints > 0
00174                          && number_of_perimeterpoints == (int)perimeterpoints.size());};
00175   void clear();
00176   void print();
00177 };
00178 
00179 //Parking Spots
00180 class Spot{
00181  public:
00182   int spot_id;   //integer > 0
00183   //<optional spot header>
00184   int spot_width; //integer > 0
00185   Checkpoint checkpoint;
00186   std::vector<LL_Waypoint> waypoints;
00187 
00188   //METHODS
00189   bool isvalid(){return (spot_id > 0 && spot_width >= 0);};
00190   void clear();
00191   void print();
00192 };
00193 
00194 
00195 //<zone>
00196 class Zone{
00197  public:
00198   int zone_id; //integer > 0
00199   int number_of_parking_spots; //integer >= 0
00200   //<optional zone header>
00201   std::string zone_name; //Designate the zone, such as "North_Parking_Lot"
00202   //<perimeter>
00203   Perimeter perimeter;
00204   std::vector<Spot> spots;
00205 
00206   //METHODS
00207   bool isvalid(){return(zone_id > 0 && number_of_parking_spots >= 0 
00208                         && number_of_parking_spots == (int)spots.size());};
00209   void clear();
00210   void print();
00211 };
00212 
00213 //<speed_limit>
00214 class Speed_Limit {
00215  public:
00216   int id; //either a segment or a zone id
00217   int min_speed; // integer >= 0 in mph
00218   int max_speed; // integer >= 0 in mph
00219 
00220   bool isvalid(){return(id > 0 && min_speed >= 0 && max_speed >= 0);};
00221   void clear(){id = min_speed = max_speed = -1;};
00222   void print(); 
00223 
00224   Speed_Limit(std::string line, int line_number, bool& valid, bool verbose);
00225   Speed_Limit(){clear();};
00226   //~Speed_Limit();
00227   bool operator==(const Speed_Limit &that)
00228   {
00229     return (this->id == that.id
00230             && this->min_speed == that.min_speed
00231             && this->max_speed == that.max_speed);
00232   }
00233 
00234 };
00235 
00236 class RNDF {
00237  public:
00238   //ELEMENTS
00239   std::string filename; //filename
00240   int number_of_segments; //number of segments (integer > 0)
00241   int number_of_zones; //number of zones (integer >= 0)
00242 
00243   //<optional file header>
00244   std::string format_version;
00245   std::string creation_date;
00246 
00247   std::vector<Segment> segments;
00248   std::vector<Zone> zones;
00249 
00250   //METHODS
00251   RNDF(std::string rndfname, bool verbose=false);
00252   ~RNDF() {};
00253 
00254   void populate_graph(Graph& graph);
00255   void print();
00256 
00257   bool is_valid;
00258 
00259  private:
00260   bool isvalid(){return(number_of_segments > 0 && number_of_zones >= 0
00261                         && number_of_segments == (int) segments.size()
00262                         && number_of_zones == (int) zones.size());};
00263   struct id_comparator {
00264     bool operator()(const ElementID e1, const ElementID e2) const {
00265       if (e1.seg != e2.seg)
00266         return e1.seg < e2.seg;
00267       else if (e1.lane != e2.lane)
00268         return e1.lane < e2.lane;
00269       else return e1.pt < e2.pt;
00270     }
00271   };
00272   typedef std::map<ElementID, WayPointNode, id_comparator> id_to_waypoint_map;
00273     
00274   id_to_waypoint_map id_map;
00275 
00276   std::vector<WayPointEdge> edges;
00277 
00278   void prep_graph();
00279 
00280   int line_number;
00281   Lane_marking parse_boundary(std::string line, bool& valid);
00282 };
00283 
00284 class MDF {
00285  public: 
00286   std::string filename; //MDF name
00287   std::string RNDF_name; //RNDF name
00288 
00289   //<optional file header>
00290   std::string format_version;
00291   std::string creation_date;
00292 
00293   //checkpoints
00294   int number_of_checkpoints; //integer > 0
00295   std::vector<int> checkpoint_ids;
00296   //speed limits
00297   int number_of_speedlimits; //integer > 0
00298   std::vector<Speed_Limit> speed_limits;
00299 
00300   void print();
00301   bool add_speed_limits(Graph& graph);
00302   MDF(std::string mdfname, bool verbose=false);
00303   ~MDF(){};
00304 
00305   bool is_valid;
00306  private:
00307 
00308   int line_number;
00309   Speed_Limit parse_speedlimits(std::string line); 
00310   bool isvalid(){return (number_of_checkpoints > 0 && number_of_speedlimits > 0
00311                          && number_of_checkpoints == (int) checkpoint_ids.size()
00312                          && number_of_speedlimits == (int) speed_limits.size());};
00313 };
00314 
00315 //Global Functions
00316 std::string parse_string(std::string line, std::string token, 
00317                          int line_number, bool& valid, bool verbose);
00318 int parse_integer(std::string line, std::string token, 
00319                   int line_number, bool& valid, bool verbose);
00320 int parse_integer(std::string line, int line_number, bool& valid, bool verbose);
00321 
00322 void checkpoint_error(int seg, int lane, int way);
00323 void stop_error(int seg, int lane, int way);
00324 void exit_error(Exit& exit);
00325 void print_error_message(int line_number, std::string token);
00326 
00327 #endif
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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