https://github.com/sisl/opendrivemanagerlite.jl
A Julie package interface to OdrManagerLite, by Vires, for coordinate conversions and utilities in OpenDRIVE maps
https://github.com/sisl/opendrivemanagerlite.jl
Last synced: 9 months ago
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A Julie package interface to OdrManagerLite, by Vires, for coordinate conversions and utilities in OpenDRIVE maps
- Host: GitHub
- URL: https://github.com/sisl/opendrivemanagerlite.jl
- Owner: sisl
- License: other
- Created: 2015-07-29T19:30:59.000Z (almost 11 years ago)
- Default Branch: master
- Last Pushed: 2015-08-12T20:40:18.000Z (almost 11 years ago)
- Last Synced: 2024-10-31T07:42:56.644Z (over 1 year ago)
- Language: Julia
- Size: 750 KB
- Stars: 4
- Watchers: 74
- Forks: 2
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE.md
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README
# OpenDriveManagerLite
A Julie package interface to OdrManagerLite, by Vires, for coordinate conversions in OpenDRIVE maps.
[](https://travis-ci.org/sisl/OpenDriveManagerLite.jl)
[](https://coveralls.io/github/sisl/OpenDriveManagerLite.jl?branch=master)
## Installation
```julia
Pkg.clone("https://github.com/sisl/OpenDriveManagerLite.jl.git")
Pkg.build("OpenDriveManagerLite")
```
## Coordinate Frames
The components of each coordinate frame and how to create new instances of each frame.
Inertial (AbstractCoord)
```Julia
type CoordIm <: AbstractCoord
x::Cdouble
y::Cdouble
z::Cdouble
h::Cdouble
p::Cdouble
r::Cdouble
Coord()=new()
Coord(x::Real, y::Real, z::Real, h::Real=0.0, p::Real=0.0, r::Real=0.0) =
new(x, y, z, h, p, r)
end
```
Track (AbstractTrackCoord)
```Julia
type TrackCoordIm <: AbstractTrackCoord
trackid::Cint # id of the corresponding track
s::Cdouble # distance along the track
t::Cdouble # distance perpendicular to the track
z::Cdouble # height
h::Cdouble # heading [rad]
p::Cdouble # pitch [rad]
r::Cdouble # roll [rad]
TrackCoord() = new() # create one without setting any values
TrackCoord(trackid::Integer, s::Real, t::Real, z::Real=0.0, h::Real=0.0, p::Real=0.0, r::Real=0.0) =
new(trackid, s, t, z, h, p, r)
end
```
Lane (AbstractLaneCoord)
```Julia
type LaneCoordIm <: AbstractLaneCoord
trackid::Cint # id of the corresponding track
s::Cdouble # distance along the track
t::Cdouble # distance perpendicular to the track
z::Cdouble # height
h::Cdouble # heading [rad]
p::Cdouble # pitch [rad]
r::Cdouble
laneid::Cint
offset::Cdouble
LaneCoord() = new() # create one without setting any values
LaneCoord(trackid::Integer, s::Real, t::Real, z::Real = 0.0, h::Real=0.0, p::Real=0.0, r::Real=0.0, laneid::Real=1,
offset::Real=0.0 ) =
new(trackid, s, t, z, h, p, r, laneid, offset)
end
```
Foot (AbstractCoord). `footpoint` coordinates are inertial coordinates of the lane closest to the vehicle.
```Julia
type CoordIm <: AbstractCoord
x::Cdouble
y::Cdouble
z::Cdouble
h::Cdouble
p::Cdouble
r::Cdouble
Coord()=new()
Coord(x::Real, y::Real, z::Real, h::Real=0.0, p::Real=0.0, r::Real=0.0) =
new(x, y, z, h, p, r)
end
```
## Transformations
Create an instance of `OdrManagerLite`, load an XML file, and then initialize a position:
```julia
mgr = OdrManagerLite()
@assert(loadfile(mgr, "myfile.xml"))
pos = create_position(mgr)
activate_position(mgr, pos)
```
Given any coordinate, one can set the inertal `OdrManagerLite` position and then transform it to the other three forms.
Convert a track coordinate to an inertial coordinate:
```julia
set_trackpos(mgr, 0, 1.0, 2.0)
set_trackpos(mgr::OdrManagerLite, value::AbstractTrackCoord)
track2inertial(mgr)
pos = get_inertialpos(mgr)
```
Convert an inertial coordinate to a track coordinate:
```julia
set_inertialpos(mgr::OdrManagerLite, x::Real, y::Real, z::Real)
inertial2track(mgr)
pos = get_trackpos(mgr)
```
Convert a lane coordinate to an inertial coordinate:
```julia
set_lanepos(mgr::OdrManagerLite, value::AbstractLaneCoord)
lane2inertial(mgr)
pos = get_inertialpos(mgr)
```
Convert an inertial coordinate to a lane coordinate:
```julia
set_inertialpos(mgr::OdrManagerLite, x::Real, y::Real, z::Real)
inertial2lane(mgr)
pos = get_lanepos(mgr)
```
Copy a foot point into the inertial position. `get_footpoint` returns foot point inertial (real-world) co-ordinate. A position must be activate to using `footpoint`.
```julia
footpoint2inertial(mgr)
get_footpoint(mgr)
```
For further documentation, see OpenDRIVE Manager Manual
[OpenDRIVE Manager](http://www.vires.com/docs/OdrMgrUserManualRevI.pdf)