Pushes Xodr S continuity check to builder #185
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francocipollone
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Oct 18, 2021
| @@ -389,11 +389,6 @@ std::unique_ptr<const maliput::api::RoadGeometry> RoadGeometryBuilder::operator( | |||
| i, rg_config_.linear_tolerance, rg_config_.angular_tolerance, rg_config_.scale_length, e.what()); | |||
| } | |||
| Reset(linear_tolerances[i + 1], angular_tolerances[i + 1], scale_lengths[i + 1]); | |||
| // @{ TODO(#12): It goes against dependency injection. Should use a provider instead. | |||
| maliput::log()->trace("Rebuilding the DBManager"); | |||
| manager_ = xodr::LoadDataBaseFromFile(rg_config_.opendrive_file, | |||
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This lane can't be removed because when the DoBuild() method is called, the manager_ instance is moved to RoadGeometry and in the next iteration the manager_ pointer is invalid.
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I will downgrade the PR to draft as I need to take a deeper look in order to avoid re-parsing the xodr in each iteration and the solution doesn't seem to be trivial. |
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Addresses #183
Summary
The verification of the xodr s continuity was located at a parser level. Consecuences:
RoadGeometryBuilderclass is dependency-injected with a DBManager instance, however, in order to be able to include this verification the builder is overriding the DBManager in each iteration which goes against the pattern. See.This PR moves the verification from the parser to the builder.
Comments for the reviewers
Reviewing the PR commit by commit is recommended.