确立导向车道

yy

2020-08-10 5b961ecfe0c04eb6ce493658b2131d5071380c73

确立导向车道

 lib/src/main/cpp/driver_test.h

@@ -141,7 +141,7 @@

// 一组平行的分道线
typedef struct {
    std::vector<lane_direct_t> lane_direct;         // 每一车道的运行方向
    std::vector<lane_direct_t> lane_direct;         // 一组导向线的配置
    std::vector<std::vector<segment_t>> lines;      // 每段域下的平行的一组线
} separate_t;


 lib/src/main/cpp/test_items2/road_exam.cpp

@@ -16,6 +16,7 @@
#include "stop_car.h"
#include "operate_gear.h"

#include <cmath>
#include <vector>
#include <list>
#include <map>
@@ -633,6 +634,18 @@
    return false;
}

static int GetGuideDirect(road_exam_map &RoadMap, PointF point, int roadIndex, int sepIndex, int laneNo)
{
    for (int i = 0; i < RoadMap.roads[roadIndex].separate[sepIndex].lane_direct.size(); ++i) {
        double d1 = CalcDistanceReference(point, RoadMap.roads[roadIndex].separate[sepIndex].lane_direct[i].start, RoadMap.roads[roadIndex].rightEdge);
        double d2 = CalcDistanceReference(point, RoadMap.roads[roadIndex].separate[sepIndex].lane_direct[i].end, RoadMap.roads[roadIndex].rightEdge);
        if (fabs(d1) < 1e-6 && d1 < 0.0 && d2 > 1e-6 && laneNo < RoadMap.roads[roadIndex].separate[sepIndex].lane_direct[i].direct.size()) {
            return RoadMap.roads[roadIndex].separate[sepIndex].lane_direct[i].direct[laneNo];
        }
    }
    return 0;
}

/********************************************
 * 计算某点在哪个车道
 * @param point