rndf_lane_filter.H

Go to the documentation of this file.

// Copyright (C) 2007 University of Louisiana at Lafayette
// Authors: Suresh Golconda

#ifndef CAJUN_RNDF_LANE_FILETER_H
#define CAJUN_RNDF_LANE_FILETER_H

#include "world_state.H"
#include "rndf.H"

namespace cajun
{
class rndf_lane_filter_t
{
private:
        world_state_t *m_ws;
        rndf_t const *m_rndf;

public:
        rndf_lane_filter_t (world_state_t *ws_, rndf_t const *rndf_):
                m_ws (ws_), m_rndf (rndf_) { }
        void smoothen_all_lane_segs ();
private:
        bool smoothen_beg_lane_seg (rndf_lane_data_t &lane_data,
                                    rndf_lane_data_t const &prev_lane_seg);
        bool smoothen_end_lane_seg (rndf_lane_data_t &lane_data,
                                    rndf_lane_data_t const &next_lane_seg);
        void smoothen_lane_seg (unsigned start_sid_, unsigned start_lid_,
                                unsigned start_wid_, unsigned end_sid_,
                                unsigned end_lid_, unsigned end_wid_);
};
};



#endif

---