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[roadmngr] Added hintRoad param to XYZH2TrackPos #280

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[roadmngr] Added hintRoad param to XYZH2TrackPos #280

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5 changes: 3 additions & 2 deletions EnvironmentSimulator/Modules/RoadManager/RoadManager.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -6136,7 +6136,7 @@ typedef struct
PointStruct* osi_point; // osi point reference
} XYZHVertex;

Position::ReturnCode Position::XYZH2TrackPos(double x3, double y3, double z3, double h3, bool connectedOnly, int roadId, bool check_overlapping_roads)
Position::ReturnCode Position::XYZH2TrackPos(double x3, double y3, double z3, double h3, bool connectedOnly, int roadId, bool check_overlapping_roads, int hintRoad)
{
// Overall method:
// 1. Iterate over all roads, looking at OSI points of each lane sections center line (lane 0)
Expand Down Expand Up @@ -6462,7 +6462,8 @@ Position::ReturnCode Position::XYZH2TrackPos(double x3, double y3, double z3, do
}
if (weightedDist < closestPointDist + SMALL_NUMBER)
{
bool directlyConnectedCandidate = false;
bool isHintRoad = hintRoad == road->GetId();
bool directlyConnectedCandidate = isHintRoad;

if (directlyConnected && closestPointDirectlyConnected)
{
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3 changes: 2 additions & 1 deletion EnvironmentSimulator/Modules/RoadManager/RoadManager.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1879,9 +1879,10 @@ namespace roadmanager
@param conenctedOnly If true only roads that can be reached from current position will be considered, if false all roads will be considered
@param roadId If != -1 only this road will be considered else all roads will be searched
@param check_overlapping_roads If true all roads ovlerapping the position will be registered (with some performance penalty)
@param hintRoad If != -1, this road will be prioritized when the position changes road (useful for junctions)
@return Non zero return value indicates error of some kind
*/
ReturnCode XYZH2TrackPos(double x, double y, double z, double h, bool connectedOnly = false, int roadId = -1, bool check_overlapping_roads = false);
ReturnCode XYZH2TrackPos(double x, double y, double z, double h, bool connectedOnly = false, int roadId = -1, bool check_overlapping_roads = false, int hintRoad = -1);

int TeleportTo(Position* pos);

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