Method Load

LibCarla/source/carla/sumonetwork/SumoNetwork.cpp:73–158

}

SumoNetwork SumoNetwork::Load(const std::string& file) {
  std::ifstream ifs;
  ifs.open(file, std::ios::in);
  std::ostringstream ss;
  ss << ifs.rdbuf();
  ifs.close();

  pugi::xml_document xml;
  xml.load_string(ss.str().c_str());

  SumoNetwork sumo_network;
  
  pugi::xml_node net_node = xml.child("net");
 
  pugi::xml_node location_node = net_node.child("location");
  sumo_network._offset = parse_coordinates(location_node.attribute("netOffset").value());

  std::pair<geom::Vector2D, geom::Vector2D> bounds = parse_bounds(location_node.attribute("convBoundary").value());
  sumo_network._bounds_min = bounds.first;
  sumo_network._bounds_max = bounds.second;
  
  // origBoundary: LonLat -> (parse_bounds swaps) -> LatLon
  std::pair<geom::Vector2D, geom::Vector2D> originalBounds = parse_bounds(location_node.attribute("origBoundary").value());
  sumo_network._original_bounds_min = originalBounds.first;
  sumo_network._original_bounds_max = originalBounds.second;

  for (pugi::xml_node edge_node : net_node.children("edge")) {
    Edge edge;
    edge.id = edge_node.attribute("id").value();
    edge.from = edge_node.attribute("from").value();
    edge.to = edge_node.attribute("to").value();
    edge.priority = edge_node.attribute("priority").as_int();
    std::string function = edge_node.attribute("function").value();
    if (function == "internal") edge.function = Function::Internal;
    else if (function == "connector") edge.function = Function::Connector;
    else if (function == "crossing") edge.function = Function::Crossing;
    else if (function == "walkingarea") edge.function = Function::WalkingArea;
    else edge.function = Function::Normal;

    // Temp vector required because order of lanes read do not necessarily match
    // order of their indexes.
    std::vector<Lane> lanes_temp;
    for (pugi::xml_node lane_node : edge_node.children("lane")) {
      Lane lane;
      lane.id = lane_node.attribute("id").value();
      lane.index = lane_node.attribute("index").as_uint();
      lane.speed = lane_node.attribute("speed").as_float();
      lane.length = lane_node.attribute("length").as_float();
      lane.shape = parse_shape_list(lane_node.attribute("shape").value());
      lanes_temp.emplace_back(std::move(lane));
    }
    edge.lanes.resize(lanes_temp.size());
    // TODO: Check if sorting passes or there are invalid instances, e.g. indexes
    // that exceed the bounds of the number of lanes.
    for (size_t i = 0; i < lanes_temp.size(); i++) {
      edge.lanes[lanes_temp[i].index] = std::move(lanes_temp[i]);
    }