├── .gitignore
├── README.md
└── VectorMap2Opendrive
    ├── BaseData.cs
    ├── CSVFileManager.cs
    ├── DataFile.cs
    ├── OpenDRIVE_1_4H.cs
    ├── OpenDrive.cs
    ├── OpenDrive
        ├── OpenDRIVE_1.4H.xsd
        └── output.xodr
    ├── Program.cs
    ├── Properties
        └── AssemblyInfo.cs
    ├── UnityEngine.dll
    ├── UnityEngine.dll.mdb
    ├── VM_DtLane.cs
    ├── VM_Lane.cs
    ├── VM_Node.cs
    ├── VM_Point.cs
    ├── VectorMap
        ├── dtlane.csv
        ├── lane.csv
        ├── node.csv
        └── point.csv
    ├── VectorMap2Opendrive.csproj
    ├── VectorMap2Opendrive.sln
    └── app.config


/.gitignore:
--------------------------------------------------------------------------------
1 | /VectorMap2Opendrive/.vs/
2 | /VectorMap2Opendrive/bin/
3 | /VectorMap2Opendrive/obj/
4 | 
5 | 


--------------------------------------------------------------------------------
/README.md:
--------------------------------------------------------------------------------
 1 | # VectorMap2Opendrive
 2 | Convert Autoware vector map to Opendrive format.
 3 | 
 4 | This is a demo project about converting vector map to opendrive. So far it only supports 'dtlane', 'lane', 'point' and 'node' and uses 'Planeline' (Base on OpenDRIVE_1.4H.xsd) to generate opendrive. (Thus the opendrive file size is quite big.)
 5 | 
 6 | #### **How to use it**:
 7 | 1.  Copy 'dtlane.csv' 'lane.csv' 'point.csv' and 'node.csv' into 'VectorMap' folder.
 8 | 2.  Open VectorMap2Opendrive.sln with VS2017.
 9 | 3.  Compile solution and run it, then new opendrive file will be generated and locate in 'OpenDrive' folder.
10 | 4.  OpenDRIVE_1.4H.cs is auto-generated by xsd.exe based on OpenDRIVE_1.4H.xsd


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/VectorMap2Opendrive/BaseData.cs:
--------------------------------------------------------------------------------
 1 | using System;
 2 | using System.Collections.Generic;
 3 | using System.Text;
 4 | 
 5 | 
 6 | namespace VectorMap2Opendrive
 7 | {
 8 |     // Base Data
 9 |     public abstract class BaseData
10 |     {
11 |         public int m_ID;    // the first line is always ID.
12 |         public abstract void LoadData(int nRowIndex, DataFile file);
13 |     }
14 | 
15 | 
16 |     // Data Manager
17 |     public abstract class BaseDataManager
18 |     {
19 |         protected   Dictionary<int, BaseData>       m_DataMap;
20 |         protected   int                             m_RowNum;
21 | 
22 |         public BaseDataManager()
23 |         {
24 |             m_DataMap = new Dictionary<int, BaseData>(64);
25 |         }
26 | 
27 | 
28 |         public void LoadData( string fileName, DataFile.LoadFile loadDelegate )
29 |         {
30 |             DataFile datafile = new DataFile();
31 |             if ( datafile.LoadData(fileName, loadDelegate ) == false )
32 |             {               
33 |                 StringBuilder sb = new StringBuilder(256);
34 |                 sb.AppendFormat("Loading File Error: {0}", fileName);
35 |                 throw new System.Exception(sb.ToString());
36 |             }
37 | 
38 |             m_RowNum = datafile.getRowNum();
39 | 
40 |             for (int i = 0; i < m_RowNum; i++)
41 |             {
42 |                 BaseData item = NewItem();
43 |                 datafile.SeekTowList(i);
44 |                 try
45 |                 {
46 |                     item.LoadData(i, datafile);
47 |                     m_DataMap[item.m_ID] = item;
48 |                 }
49 |                 catch (System.Exception)
50 |                 {
51 |                     StringBuilder sb = new StringBuilder(256);
52 |                     sb.AppendFormat("Load {0} Error: row={1}", fileName, i);
53 |                     throw new System.Exception(sb.ToString());
54 |                 }
55 |             }
56 | 
57 |             _OnLoadComplete();
58 | 
59 |         }
60 | 
61 |         protected virtual void _OnLoadComplete()
62 |         {
63 |         }
64 | 
65 |         protected abstract BaseData NewItem();
66 | 
67 |         public virtual void DoDestroy()
68 |         {
69 | 
70 |         }
71 |     }
72 | }
73 | 


--------------------------------------------------------------------------------
/VectorMap2Opendrive/CSVFileManager.cs:
--------------------------------------------------------------------------------
 1 | using System;
 2 | using System.Collections.Generic;
 3 | using System.Text;
 4 | 
 5 | namespace VectorMap2Opendrive
 6 | {
 7 |     public class CSVFileManager<T>  :   BaseDataManager where T : BaseData, new()
 8 |     {
 9 |         private static CSVFileManager<T> s_Instance;
10 | 
11 |         public static CSVFileManager<T> Instance()
12 |         {
13 |             if (s_Instance == null)
14 | 
15 |                 s_Instance = new CSVFileManager<T>();
16 | 
17 |             return s_Instance;
18 |         }
19 | 
20 | 
21 | 
22 |         protected override BaseData NewItem()
23 |         {
24 |             return new T();
25 |         }
26 | 
27 | 
28 | 
29 |         public T GetstItem(int nID)
30 |         {
31 | 
32 |             if (m_DataMap.ContainsKey(nID))
33 | 
34 |                 return (T)m_DataMap[nID];            
35 |             return null;
36 |         }
37 | 
38 | 
39 | 
40 |         public int GetstItemCount()
41 |         {
42 |             return m_DataMap.Count;
43 |         }
44 | 
45 | 
46 | 
47 |         public T GetstItemByIndex(int index, out int key)
48 |         {
49 |             int i = 0;
50 |             foreach (KeyValuePair<int, BaseData> pair in m_DataMap)
51 |             {
52 |                 if (i == index)
53 |                 {
54 |                     key = pair.Key;
55 |                     return (T)pair.Value;
56 |                 }
57 |                 i++;
58 |             }
59 |             // wrong index
60 |             key = -1;
61 |             return null;
62 |         }
63 | 
64 | 
65 |         public T GetstItemByID( int id )
66 |         {
67 |             if ( m_DataMap.ContainsKey(id) )
68 |             {
69 |                 return (T)m_DataMap[id];
70 |             }
71 | 
72 |             return null;
73 |         }
74 | 
75 | 
76 | 
77 |         public void Push(T item)
78 |         {
79 |             if (item != null)
80 |                 m_DataMap[item.m_ID] = item;
81 |         }
82 | 
83 | 
84 | 
85 |         public void ClearUp()
86 |         {
87 |             s_Instance = null;
88 |         }
89 |     }
90 | }
91 | 


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/VectorMap2Opendrive/DataFile.cs:
--------------------------------------------------------------------------------
  1 | using System;
  2 | using System.Collections.Generic;
  3 | using System.Collections;
  4 | using System.Text;
  5 | 
  6 | namespace VectorMap2Opendrive
  7 | {
  8 |     public class DataFile
  9 |     {
 10 |         public delegate string LoadFile(string fileName);
 11 | 
 12 |         ArrayList m_DataTypeArray;    // first line, data type array
 13 |         ArrayList m_DataList;         // all data
 14 |         ArrayList m_RowListNow;       // current row
 15 | 
 16 | 
 17 |         public DataFile()
 18 |         {
 19 |             m_DataTypeArray = new ArrayList(16);
 20 |             m_DataList = new ArrayList(16);
 21 |         }
 22 | 
 23 | 
 24 |         // Load and parse data from string buffer
 25 |         public bool LoadData(string fileName, LoadFile loadDelegate )
 26 |         {
 27 |             string text = loadDelegate(fileName);
 28 | 
 29 |             if (text == string.Empty || text == "")
 30 |                 return false;
 31 | 
 32 |             text = text.Trim();
 33 |             int index = 0;
 34 |             int line = 0;
 35 |             int end = 0;
 36 |             string tempstr = string.Empty;
 37 | 
 38 |             while (end > -1)
 39 |             {
 40 |                 end = text.IndexOf("\r\n", index);
 41 |                 if (end == -1)
 42 |                 {
 43 |                     tempstr = text.Substring(index, text.Length - index);
 44 |                 }
 45 |                 else
 46 |                 {
 47 |                     tempstr = text.Substring(index, end - index);
 48 |                 }
 49 | 
 50 |                 ParseStr(tempstr, line);
 51 |                 line++;
 52 | 
 53 |                 index = end + 1;
 54 |             }
 55 |             return true;
 56 |         }
 57 | 
 58 | 
 59 |         // Parse line content
 60 |         void ParseStr(string str, int line)
 61 |         {
 62 |             int index = 0;
 63 |             int end = 0;
 64 |             int dataNum = 0;
 65 | 
 66 |             if (line == 0)  // load data type
 67 |             {
 68 |                 while (end > -1)
 69 |                 {
 70 |                     end = str.IndexOf(",", index);
 71 |                     string tempStr = string.Empty;
 72 |                     if (end > -1)
 73 |                     {
 74 |                         tempStr = str.Substring(index, end - index);
 75 |                     }
 76 |                     else
 77 |                     {
 78 |                         tempStr = str.Substring(index, str.Length - index);
 79 |                     }
 80 |                     index = end + 1;
 81 | 
 82 |                     m_DataTypeArray.Add(tempStr);
 83 |                 }
 84 |             }
 85 |             else if (line > 0)  // load table data, skip line 2, because line 2 are attributes' name and only for designer.
 86 |             {
 87 |                 ArrayList mRowDataList = new ArrayList(16);  
 88 |                 m_DataList.Add(mRowDataList);
 89 |                 dataNum = 0;
 90 |                 while (dataNum < m_DataTypeArray.Count)
 91 |                 {
 92 |                     end = str.IndexOf(",", index);
 93 |                     string tempStr = string.Empty;
 94 |                     if (end > -1)
 95 |                     {
 96 |                         tempStr = str.Substring(index, end - index);
 97 |                     }
 98 |                     else
 99 |                     {
100 |                         if (index < str.Length)
101 |                         {
102 |                             tempStr = str.Substring(index, str.Length - index);
103 |                         }
104 |                         else
105 |                         {
106 |                             tempStr = string.Empty;
107 |                         }
108 |                         end = str.Length - 1;
109 |                     }
110 |                     index = end + 1;
111 | 
112 |                     dataNum++;
113 | 
114 |                     mRowDataList.Add(tempStr);
115 |                 }
116 |             }
117 |         }
118 | 
119 | 
120 |         public int getRowNum()
121 |         {
122 |             return m_DataList.Count;
123 |         }
124 | 
125 | 
126 |         public void SeekTowList( int col )
127 |         {
128 |             if (col < m_DataList.Count)
129 |             {
130 |                 m_RowListNow = (ArrayList)m_DataList[col];
131 |             }
132 |         }
133 | 
134 | 
135 | 
136 |         public string getString(int col)
137 |         {
138 |             if (col >= m_DataTypeArray.Count)
139 |                 return null;
140 | 
141 |             return (string)m_RowListNow[col];
142 |         }
143 |     }
144 | }
145 | 


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/VectorMap2Opendrive/OpenDrive.cs:
--------------------------------------------------------------------------------
  1 | using System;
  2 | using System.Collections.Generic;
  3 | using System.Text;
  4 | using System.Xml.Serialization;
  5 | using System.IO;
  6 | 
  7 | namespace VectorMap2Opendrive
  8 | {
  9 |     public class PolynomCurve
 10 |     {
 11 |         public double start;
 12 |         public double a, b, c, d;
 13 |     }
 14 | 
 15 |     public class ODLane
 16 |     {
 17 |         public int id;
 18 |         public string type;
 19 |         public string level;
 20 |         public string predecessor;
 21 |         public string successor;
 22 |         public List<PolynomCurve> widths;
 23 |     }
 24 | 
 25 |     public class ODLaneSection
 26 |     {
 27 |         public double start;
 28 |         public ODLane center;
 29 |         public List<ODLane> lefts;
 30 |         public List<ODLane> rights;
 31 |     }
 32 | 
 33 |     public class PlaneLine
 34 |     {
 35 |         public double start;
 36 |         public double length;
 37 |         public double xs;
 38 |         public double ys;
 39 |         public double hdg;
 40 |     }
 41 | 
 42 |     public class ODRoad
 43 |     {
 44 |         public string name;
 45 |         public double length;
 46 |         public string id;
 47 |         public string junctionId;
 48 |         public string predecessor;
 49 |         public string successor;
 50 |         public List<PlaneLine> lineGeometries;
 51 |         public List<PolynomCurve> elevations;
 52 |         public List<ODLaneSection> laneSections;
 53 |     }
 54 | 
 55 | 
 56 |     public class OpenDrive
 57 |     {
 58 |         public List<ODRoad> roads;
 59 | 
 60 |         public void SaveToXML(string path)
 61 |         {
 62 |             var data = new OpenDRIVE { };
 63 |             
 64 |             data.header = new OpenDRIVEHeader();
 65 |             data.header.revMajor = 1;
 66 |             data.header.revMajorSpecified = true;
 67 |             data.header.revMinor = 4;
 68 |             data.header.revMinorSpecified = true;
 69 | 
 70 |             data.road = new OpenDRIVERoad[roads.Count];
 71 |             for (int i = 0; i < roads.Count; ++i )
 72 |             {
 73 |                 data.road[i] = new OpenDRIVERoad();
 74 |                 data.road[i].id = roads[i].id.ToString();
 75 |                 data.road[i].name = roads[i].name;
 76 |                 data.road[i].length = roads[i].length;
 77 |                 data.road[i].lengthSpecified = true;
 78 |                 data.road[i].junction = roads[i].junctionId;
 79 |                 data.road[i].link = new OpenDRIVERoadLink();
 80 |                 data.road[i].type = new OpenDRIVERoadType[1];
 81 |                 data.road[i].type[0] = new OpenDRIVERoadType();
 82 |                 data.road[i].type[0].s = 0;
 83 |                 data.road[i].type[0].sSpecified = true;
 84 |                 data.road[i].type[0].type = roadType.unknown;
 85 |                 data.road[i].type[0].typeSpecified = true;
 86 | 
 87 |                 // plan view
 88 |                 int planCount = roads[i].lineGeometries.Count;
 89 |                 data.road[i].planView = new OpenDRIVERoadGeometry[planCount];
 90 |                 for( int planIndex = 0; planIndex < planCount; ++planIndex )
 91 |                 {
 92 |                     data.road[i].planView[planIndex] = new OpenDRIVERoadGeometry();
 93 |                     data.road[i].planView[planIndex].s = roads[i].lineGeometries[planIndex].start;
 94 |                     data.road[i].planView[planIndex].sSpecified = true;
 95 |                     data.road[i].planView[planIndex].x = roads[i].lineGeometries[planIndex].xs;
 96 |                     data.road[i].planView[planIndex].xSpecified = true;
 97 |                     data.road[i].planView[planIndex].y = roads[i].lineGeometries[planIndex].ys;
 98 |                     data.road[i].planView[planIndex].ySpecified = true;
 99 |                     data.road[i].planView[planIndex].hdg = roads[i].lineGeometries[planIndex].hdg;
100 |                     data.road[i].planView[planIndex].hdgSpecified = true;
101 |                     data.road[i].planView[planIndex].length = roads[i].lineGeometries[planIndex].length;
102 |                     data.road[i].planView[planIndex].lengthSpecified = true;
103 |                     data.road[i].planView[planIndex].Items = new OpenDRIVERoadGeometryLine[1];
104 |                     data.road[i].planView[planIndex].Items[0] = new OpenDRIVERoadGeometryLine();
105 |                 }
106 | 
107 |                 // elevation
108 |                 int eleCount = roads[i].elevations.Count;
109 |                 data.road[i].elevationProfile = new OpenDRIVERoadElevationProfile();
110 |                 data.road[i].elevationProfile.elevation = new OpenDRIVERoadElevationProfileElevation[eleCount];
111 |                 for ( int eleIndex = 0; eleIndex < eleCount; ++eleIndex )
112 |                 {
113 |                     data.road[i].elevationProfile.elevation[eleIndex] = new OpenDRIVERoadElevationProfileElevation();
114 |                     data.road[i].elevationProfile.elevation[eleIndex].s = roads[i].elevations[eleIndex].start;
115 |                     data.road[i].elevationProfile.elevation[eleIndex].sSpecified = true;
116 |                     data.road[i].elevationProfile.elevation[eleIndex].a = roads[i].elevations[eleIndex].a;
117 |                     data.road[i].elevationProfile.elevation[eleIndex].aSpecified = true;
118 |                     data.road[i].elevationProfile.elevation[eleIndex].b = roads[i].elevations[eleIndex].b;
119 |                     data.road[i].elevationProfile.elevation[eleIndex].bSpecified = true;
120 |                     data.road[i].elevationProfile.elevation[eleIndex].c = roads[i].elevations[eleIndex].c;
121 |                     data.road[i].elevationProfile.elevation[eleIndex].cSpecified = true;
122 |                     data.road[i].elevationProfile.elevation[eleIndex].d = roads[i].elevations[eleIndex].d;
123 |                     data.road[i].elevationProfile.elevation[eleIndex].dSpecified = true;
124 |                 }
125 | 
126 | 
127 |                 // lane
128 |                 data.road[i].lanes = new OpenDRIVERoadLanes();
129 |                 int laneCount = roads[i].laneSections.Count;
130 |                 data.road[i].lanes.laneSection = new OpenDRIVERoadLanesLaneSection[laneCount];
131 |                 for ( int laneIndex = 0; laneIndex < laneCount; ++laneIndex)
132 |                 {
133 |                     data.road[i].lanes.laneSection[laneIndex] = new OpenDRIVERoadLanesLaneSection();
134 |                     data.road[i].lanes.laneSection[laneIndex].s = roads[i].laneSections[laneIndex].start;
135 |                     data.road[i].lanes.laneSection[laneIndex].sSpecified = true;
136 | 
137 |                     // center 
138 |                     data.road[i].lanes.laneSection[laneIndex].center = new OpenDRIVERoadLanesLaneSectionCenter();
139 |                     data.road[i].lanes.laneSection[laneIndex].center.lane = new centerLane();
140 |                     data.road[i].lanes.laneSection[laneIndex].center.lane.id = roads[i].laneSections[laneIndex].center.id;
141 |                     data.road[i].lanes.laneSection[laneIndex].center.lane.idSpecified = true;
142 |                     data.road[i].lanes.laneSection[laneIndex].center.lane.type = laneType.none;
143 |                     data.road[i].lanes.laneSection[laneIndex].center.lane.typeSpecified = true;
144 |                     data.road[i].lanes.laneSection[laneIndex].center.lane.level = singleSide.@false;
145 |                     data.road[i].lanes.laneSection[laneIndex].center.lane.levelSpecified = true;
146 |                     data.road[i].lanes.laneSection[laneIndex].center.lane.link = new centerLaneLink();
147 |                     data.road[i].lanes.laneSection[laneIndex].center.lane.link.predecessor = new centerLaneLinkPredecessor();
148 |                     data.road[i].lanes.laneSection[laneIndex].center.lane.link.predecessor.id = -1;
149 |                     data.road[i].lanes.laneSection[laneIndex].center.lane.link.predecessor.idSpecified = true;
150 | 
151 |                     // right
152 |                     data.road[i].lanes.laneSection[laneIndex].right = new OpenDRIVERoadLanesLaneSectionRight();
153 |                     int rlaneCount = roads[i].laneSections[laneIndex].rights.Count;
154 |                     data.road[i].lanes.laneSection[laneIndex].right.lane = new lane[rlaneCount];
155 |                     for( int rIndex = 0; rIndex < rlaneCount; ++ rIndex )
156 |                     {
157 |                         data.road[i].lanes.laneSection[laneIndex].right.lane[rIndex] = new lane();
158 |                         data.road[i].lanes.laneSection[laneIndex].right.lane[rIndex].id = roads[i].laneSections[laneIndex].rights[rIndex].id;
159 |                         data.road[i].lanes.laneSection[laneIndex].right.lane[rIndex].idSpecified = true;
160 |                         data.road[i].lanes.laneSection[laneIndex].right.lane[rIndex].type = laneType.driving;
161 |                         data.road[i].lanes.laneSection[laneIndex].right.lane[rIndex].typeSpecified = true;
162 |                         data.road[i].lanes.laneSection[laneIndex].right.lane[rIndex].level = singleSide.@false;
163 |                         data.road[i].lanes.laneSection[laneIndex].right.lane[rIndex].levelSpecified = true;
164 |                         data.road[i].lanes.laneSection[laneIndex].right.lane[rIndex].link = new laneLink();
165 |                         data.road[i].lanes.laneSection[laneIndex].right.lane[rIndex].link.predecessor = new laneLinkPredecessor();
166 |                         data.road[i].lanes.laneSection[laneIndex].right.lane[rIndex].link.predecessor.id = -1;
167 |                         data.road[i].lanes.laneSection[laneIndex].right.lane[rIndex].link.predecessor.idSpecified = true;
168 |                         // width
169 |                         int widthCount = roads[i].laneSections[laneIndex].rights[rIndex].widths.Count;
170 |                         data.road[i].lanes.laneSection[laneIndex].right.lane[rIndex].Items = new laneWidth[widthCount];
171 |                         for( int wIndex = 0; wIndex < widthCount; ++wIndex )
172 |                         {
173 |                             laneWidth lw = new laneWidth();
174 |                             lw.sOffset = roads[i].laneSections[laneIndex].rights[rIndex].widths[wIndex].start;
175 |                             lw.sOffsetSpecified = true;
176 |                             lw.a = roads[i].laneSections[laneIndex].rights[rIndex].widths[wIndex].a;
177 |                             lw.aSpecified = true;
178 |                             lw.b = roads[i].laneSections[laneIndex].rights[rIndex].widths[wIndex].b;
179 |                             lw.bSpecified = true;
180 |                             lw.c = roads[i].laneSections[laneIndex].rights[rIndex].widths[wIndex].c;
181 |                             lw.cSpecified = true;
182 |                             lw.d = roads[i].laneSections[laneIndex].rights[rIndex].widths[wIndex].d;
183 |                             lw.dSpecified = true;
184 | 
185 |                             data.road[i].lanes.laneSection[laneIndex].right.lane[rIndex].Items[wIndex] = lw;
186 |                         }
187 |                     }
188 |                 }
189 |             }
190 | 
191 |             var serializer = new XmlSerializer(typeof(OpenDRIVE));
192 | 
193 |             using (var stream = new StreamWriter(path))
194 |                 serializer.Serialize(stream, data);
195 |         }
196 |     }
197 | }
198 | 


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/VectorMap2Opendrive/OpenDrive/OpenDRIVE_1.4H.xsd:
--------------------------------------------------------------------------------
   1 | <?xml version="1.0" encoding="ISO-8859-1"?>
   2 | <xsd:schema xmlns:xsd="http://www.w3.org/2001/XMLSchema">
   3 | <xsd:annotation>
   4 | <xsd:documentation> XML Schema Definition for OpenDRIVE XML files - Rev. 1.4H, excluding SET records, (c)2015 by VIRES Simulationstechnologie GmbH, Germany </xsd:documentation>
   5 | </xsd:annotation>
   6 | <xsd:element name="OpenDRIVE">
   7 | <xsd:complexType>
   8 | <xsd:sequence>
   9 | <xsd:element name="header">
  10 | <xsd:complexType>
  11 | <xsd:sequence>
  12 | <xsd:element name="geoReference" maxOccurs="1" minOccurs="0" type="xsd:string"/>
  13 | <xsd:element name="userData" maxOccurs="unbounded" minOccurs="0" type="userData"/>
  14 | <xsd:element name="include" maxOccurs="unbounded" minOccurs="0" type="include"/>
  15 | </xsd:sequence>
  16 | <xsd:attribute name="revMajor" type="xsd:unsignedShort"/>
  17 | <xsd:attribute name="revMinor" type="xsd:unsignedShort"/>
  18 | <xsd:attribute name="name" type="xsd:string"/>
  19 | <xsd:attribute name="version" type="xsd:float"/>
  20 | <xsd:attribute name="date" type="xsd:string"/>
  21 | <xsd:attribute name="north" type="xsd:double"/>
  22 | <xsd:attribute name="south" type="xsd:double"/>
  23 | <xsd:attribute name="east" type="xsd:double"/>
  24 | <xsd:attribute name="west" type="xsd:double"/>
  25 | <xsd:attribute name="vendor" type="xsd:string"/>
  26 | </xsd:complexType>
  27 | </xsd:element>
  28 | <xsd:element name="road" maxOccurs="unbounded">
  29 | <xsd:complexType>
  30 | <xsd:sequence>
  31 | <xsd:element name="link" maxOccurs="1" minOccurs="0">
  32 | <xsd:complexType>
  33 | <xsd:sequence>
  34 | <xsd:element name="predecessor" maxOccurs="1" minOccurs="0">
  35 | <xsd:complexType>
  36 | <xsd:attribute name="elementType" type="elementType"/>
  37 | <xsd:attribute name="elementId" type="xsd:string"/>
  38 | <xsd:attribute name="contactPoint" type="contactPoint"/>
  39 | </xsd:complexType>
  40 | </xsd:element>
  41 | <xsd:element name="successor" maxOccurs="1" minOccurs="0">
  42 | <xsd:complexType>
  43 | <xsd:attribute name="elementType" type="elementType"/>
  44 | <xsd:attribute name="elementId" type="xsd:string"/>
  45 | <xsd:attribute name="contactPoint" type="contactPoint"/>
  46 | </xsd:complexType>
  47 | </xsd:element>
  48 | <xsd:element name="neighbor" maxOccurs="2" minOccurs="0">
  49 | <xsd:complexType>
  50 | <xsd:attribute name="side" type="side"/>
  51 | <xsd:attribute name="elementId" type="xsd:string"/>
  52 | <xsd:attribute name="direction" type="direction"/>
  53 | </xsd:complexType>
  54 | </xsd:element>
  55 | <xsd:element name="userData" maxOccurs="unbounded" minOccurs="0" type="userData"/>
  56 | <xsd:element name="include" maxOccurs="unbounded" minOccurs="0" type="include"/>
  57 | </xsd:sequence>
  58 | </xsd:complexType>
  59 | </xsd:element>
  60 | <xsd:element name="type" maxOccurs="unbounded" minOccurs="0">
  61 | <xsd:complexType>
  62 | <xsd:sequence>
  63 | <xsd:element name="speed" maxOccurs="1" minOccurs="0">
  64 | <xsd:complexType>
  65 | <xsd:attribute name="max" type="max"/>
  66 | <xsd:attribute name="unit" type="unit"/>
  67 | </xsd:complexType>
  68 | </xsd:element>
  69 | <xsd:element name="userData" maxOccurs="unbounded" minOccurs="0" type="userData"/>
  70 | <xsd:element name="include" maxOccurs="unbounded" minOccurs="0" type="include"/>
  71 | </xsd:sequence>
  72 | <xsd:attribute name="s" type="xsd:double"/>
  73 | <xsd:attribute name="type" type="roadType"/>
  74 | </xsd:complexType>
  75 | </xsd:element>
  76 | <xsd:element name="planView" maxOccurs="1">
  77 | <xsd:complexType>
  78 | <xsd:sequence>
  79 | <xsd:element name="geometry" maxOccurs="unbounded">
  80 | <xsd:complexType>
  81 | <xsd:choice>
  82 | <xsd:element name="line">
  83 | <xsd:complexType>
  84 | <xsd:sequence>
  85 | <xsd:element name="userData" maxOccurs="unbounded" minOccurs="0" type="userData"/>
  86 | <xsd:element name="include" maxOccurs="unbounded" minOccurs="0" type="include"/>
  87 | </xsd:sequence>
  88 | </xsd:complexType>
  89 | </xsd:element>
  90 | <xsd:element name="spiral">
  91 | <xsd:complexType>
  92 | <xsd:sequence>
  93 | <xsd:element name="userData" maxOccurs="unbounded" minOccurs="0" type="userData"/>
  94 | <xsd:element name="include" maxOccurs="unbounded" minOccurs="0" type="include"/>
  95 | </xsd:sequence>
  96 | <xsd:attribute name="curvStart" type="xsd:double"/>
  97 | <xsd:attribute name="curvEnd" type="xsd:double"/>
  98 | </xsd:complexType>
  99 | </xsd:element>
 100 | <xsd:element name="arc">
 101 | <xsd:complexType>
 102 | <xsd:sequence>
 103 | <xsd:element name="userData" maxOccurs="unbounded" minOccurs="0" type="userData"/>
 104 | <xsd:element name="include" maxOccurs="unbounded" minOccurs="0" type="include"/>
 105 | </xsd:sequence>
 106 | <xsd:attribute name="curvature" type="xsd:double"/>
 107 | </xsd:complexType>
 108 | </xsd:element>
 109 | <xsd:element name="poly3">
 110 | <xsd:complexType>
 111 | <xsd:sequence>
 112 | <xsd:element name="userData" maxOccurs="unbounded" minOccurs="0" type="userData"/>
 113 | <xsd:element name="include" maxOccurs="unbounded" minOccurs="0" type="include"/>
 114 | </xsd:sequence>
 115 | <xsd:attribute name="a" type="xsd:double"/>
 116 | <xsd:attribute name="b" type="xsd:double"/>
 117 | <xsd:attribute name="c" type="xsd:double"/>
 118 | <xsd:attribute name="d" type="xsd:double"/>
 119 | </xsd:complexType>
 120 | </xsd:element>
 121 | <xsd:element name="paramPoly3">
 122 | <xsd:complexType>
 123 | <xsd:sequence>
 124 | <xsd:element name="userData" maxOccurs="unbounded" minOccurs="0" type="userData"/>
 125 | <xsd:element name="include" maxOccurs="unbounded" minOccurs="0" type="include"/>
 126 | </xsd:sequence>
 127 | <xsd:attribute name="aU" type="xsd:double"/>
 128 | <xsd:attribute name="bU" type="xsd:double"/>
 129 | <xsd:attribute name="cU" type="xsd:double"/>
 130 | <xsd:attribute name="dU" type="xsd:double"/>
 131 | <xsd:attribute name="aV" type="xsd:double"/>
 132 | <xsd:attribute name="bV" type="xsd:double"/>
 133 | <xsd:attribute name="cV" type="xsd:double"/>
 134 | <xsd:attribute name="dV" type="xsd:double"/>
 135 | <xsd:attribute name="pRange" type="pRange"/>
 136 | </xsd:complexType>
 137 | </xsd:element>
 138 | <xsd:element name="userData" maxOccurs="unbounded" minOccurs="0" type="userData"/>
 139 | <xsd:element name="include" maxOccurs="unbounded" minOccurs="0" type="include"/>
 140 | </xsd:choice>
 141 | <xsd:attribute name="s" type="xsd:double"/>
 142 | <xsd:attribute name="x" type="xsd:double"/>
 143 | <xsd:attribute name="y" type="xsd:double"/>
 144 | <xsd:attribute name="hdg" type="xsd:double"/>
 145 | <xsd:attribute name="length" type="xsd:double"/>
 146 | </xsd:complexType>
 147 | </xsd:element>
 148 | </xsd:sequence>
 149 | </xsd:complexType>
 150 | </xsd:element>
 151 | <!-- end planView -->
 152 | <xsd:element name="elevationProfile" maxOccurs="1" minOccurs="0">
 153 | <xsd:complexType>
 154 | <xsd:sequence>
 155 | <xsd:element name="elevation" maxOccurs="unbounded" minOccurs="1">
 156 | <xsd:complexType>
 157 | <xsd:sequence>
 158 | <xsd:element name="userData" maxOccurs="unbounded" minOccurs="0" type="userData"/>
 159 | <xsd:element name="include" maxOccurs="unbounded" minOccurs="0" type="include"/>
 160 | </xsd:sequence>
 161 | <xsd:attribute name="s" type="xsd:double"/>
 162 | <xsd:attribute name="a" type="xsd:double"/>
 163 | <xsd:attribute name="b" type="xsd:double"/>
 164 | <xsd:attribute name="c" type="xsd:double"/>
 165 | <xsd:attribute name="d" type="xsd:double"/>
 166 | </xsd:complexType>
 167 | </xsd:element>
 168 | <xsd:element name="userData" maxOccurs="unbounded" minOccurs="0" type="userData"/>
 169 | <xsd:element name="include" maxOccurs="unbounded" minOccurs="0" type="include"/>
 170 | </xsd:sequence>
 171 | </xsd:complexType>
 172 | </xsd:element>
 173 | <xsd:element name="lateralProfile" maxOccurs="1" minOccurs="0">
 174 | <xsd:complexType>
 175 | <xsd:sequence>
 176 | <xsd:element name="superelevation" maxOccurs="unbounded" minOccurs="0">
 177 | <xsd:complexType>
 178 | <xsd:sequence>
 179 | <xsd:element name="userData" maxOccurs="unbounded" minOccurs="0" type="userData"/>
 180 | <xsd:element name="include" maxOccurs="unbounded" minOccurs="0" type="include"/>
 181 | </xsd:sequence>
 182 | <xsd:attribute name="s" type="xsd:double"/>
 183 | <xsd:attribute name="a" type="xsd:double"/>
 184 | <xsd:attribute name="b" type="xsd:double"/>
 185 | <xsd:attribute name="c" type="xsd:double"/>
 186 | <xsd:attribute name="d" type="xsd:double"/>
 187 | </xsd:complexType>
 188 | </xsd:element>
 189 | <xsd:element name="crossfall" maxOccurs="unbounded" minOccurs="0">
 190 | <xsd:complexType>
 191 | <xsd:sequence>
 192 | <xsd:element name="userData" maxOccurs="unbounded" minOccurs="0" type="userData"/>
 193 | <xsd:element name="include" maxOccurs="unbounded" minOccurs="0" type="include"/>
 194 | </xsd:sequence>
 195 | <xsd:attribute name="side" type="crossfallSide"/>
 196 | <xsd:attribute name="s" type="xsd:double"/>
 197 | <xsd:attribute name="a" type="xsd:double"/>
 198 | <xsd:attribute name="b" type="xsd:double"/>
 199 | <xsd:attribute name="c" type="xsd:double"/>
 200 | <xsd:attribute name="d" type="xsd:double"/>
 201 | </xsd:complexType>
 202 | </xsd:element>
 203 | <xsd:element name="shape" maxOccurs="unbounded" minOccurs="0">
 204 | <xsd:complexType>
 205 | <xsd:sequence>
 206 | <xsd:element name="userData" maxOccurs="unbounded" minOccurs="0" type="userData"/>
 207 | <xsd:element name="include" maxOccurs="unbounded" minOccurs="0" type="include"/>
 208 | </xsd:sequence>
 209 | <xsd:attribute name="s" type="xsd:double"/>
 210 | <xsd:attribute name="t" type="xsd:double"/>
 211 | <xsd:attribute name="a" type="xsd:double"/>
 212 | <xsd:attribute name="b" type="xsd:double"/>
 213 | <xsd:attribute name="c" type="xsd:double"/>
 214 | <xsd:attribute name="d" type="xsd:double"/>
 215 | </xsd:complexType>
 216 | </xsd:element>
 217 | <xsd:element name="userData" maxOccurs="unbounded" minOccurs="0" type="userData"/>
 218 | <xsd:element name="include" maxOccurs="unbounded" minOccurs="0" type="include"/>
 219 | </xsd:sequence>
 220 | </xsd:complexType>
 221 | </xsd:element>
 222 | <xsd:element name="lanes" maxOccurs="1">
 223 | <xsd:complexType>
 224 | <xsd:sequence>
 225 | <xsd:element name="laneOffset" maxOccurs="unbounded" minOccurs="0">
 226 | <xsd:complexType>
 227 | <xsd:sequence>
 228 | <xsd:element name="userData" maxOccurs="unbounded" minOccurs="0" type="userData"/>
 229 | <xsd:element name="include" maxOccurs="unbounded" minOccurs="0" type="include"/>
 230 | </xsd:sequence>
 231 | <xsd:attribute name="s" type="xsd:double"/>
 232 | <xsd:attribute name="a" type="xsd:double"/>
 233 | <xsd:attribute name="b" type="xsd:double"/>
 234 | <xsd:attribute name="c" type="xsd:double"/>
 235 | <xsd:attribute name="d" type="xsd:double"/>
 236 | </xsd:complexType>
 237 | </xsd:element>
 238 | <!-- end laneOffset -->
 239 | <xsd:element name="laneSection" maxOccurs="unbounded">
 240 | <xsd:complexType>
 241 | <xsd:sequence>
 242 | <xsd:element name="left" maxOccurs="1" minOccurs="0">
 243 | <xsd:complexType>
 244 | <xsd:sequence>
 245 | <xsd:element name="lane" maxOccurs="unbounded" type="lane"/>
 246 | <xsd:element name="userData" maxOccurs="unbounded" minOccurs="0" type="userData"/>
 247 | <xsd:element name="include" maxOccurs="unbounded" minOccurs="0" type="include"/>
 248 | </xsd:sequence>
 249 | </xsd:complexType>
 250 | </xsd:element>
 251 | <xsd:element name="center" maxOccurs="1" minOccurs="1">
 252 | <xsd:complexType>
 253 | <xsd:sequence>
 254 | <xsd:element name="lane" maxOccurs="1" minOccurs="0" type="centerLane"/>
 255 | <xsd:element name="userData" maxOccurs="unbounded" minOccurs="0" type="userData"/>
 256 | <xsd:element name="include" maxOccurs="unbounded" minOccurs="0" type="include"/>
 257 | </xsd:sequence>
 258 | </xsd:complexType>
 259 | </xsd:element>
 260 | <xsd:element name="right" maxOccurs="1" minOccurs="0">
 261 | <xsd:complexType>
 262 | <xsd:sequence>
 263 | <xsd:element name="lane" maxOccurs="unbounded" type="lane"/>
 264 | <xsd:element name="userData" maxOccurs="unbounded" minOccurs="0" type="userData"/>
 265 | <xsd:element name="include" maxOccurs="unbounded" minOccurs="0" type="include"/>
 266 | </xsd:sequence>
 267 | </xsd:complexType>
 268 | </xsd:element>
 269 | <xsd:element name="userData" maxOccurs="unbounded" minOccurs="0" type="userData"/>
 270 | <xsd:element name="include" maxOccurs="unbounded" minOccurs="0" type="include"/>
 271 | </xsd:sequence>
 272 | <xsd:attribute name="s" type="xsd:double"/>
 273 | <xsd:attribute name="singleSide" type="singleSide"/>
 274 | </xsd:complexType>
 275 | </xsd:element>
 276 | <!-- end laneSection -->
 277 | </xsd:sequence>
 278 | </xsd:complexType>
 279 | </xsd:element>
 280 | <!-- end lanes -->
 281 | <xsd:element name="objects" maxOccurs="1" minOccurs="0">
 282 | <xsd:complexType>
 283 | <xsd:sequence>
 284 | <xsd:element name="object" maxOccurs="unbounded" minOccurs="0">
 285 | <xsd:complexType>
 286 | <xsd:sequence>
 287 | <xsd:element name="repeat" maxOccurs="unbounded" minOccurs="0">
 288 | <xsd:complexType>
 289 | <xsd:sequence>
 290 | <xsd:element name="userData" maxOccurs="unbounded" minOccurs="0" type="userData"/>
 291 | <xsd:element name="include" maxOccurs="unbounded" minOccurs="0" type="include"/>
 292 | </xsd:sequence>
 293 | <xsd:attribute name="s" type="xsd:double"/>
 294 | <xsd:attribute name="length" type="xsd:double"/>
 295 | <xsd:attribute name="distance" type="xsd:double"/>
 296 | <xsd:attribute name="tStart" type="xsd:double"/>
 297 | <xsd:attribute name="tEnd" type="xsd:double"/>
 298 | <xsd:attribute name="widthStart" type="xsd:double"/>
 299 | <xsd:attribute name="widthEnd" type="xsd:double"/>
 300 | <xsd:attribute name="heightStart" type="xsd:double"/>
 301 | <xsd:attribute name="heightEnd" type="xsd:double"/>
 302 | <xsd:attribute name="zOffsetStart" type="xsd:double"/>
 303 | <xsd:attribute name="zOffsetEnd" type="xsd:double"/>
 304 | </xsd:complexType>
 305 | </xsd:element>
 306 | <xsd:element name="outline" maxOccurs="1" minOccurs="0">
 307 | <xsd:complexType>
 308 | <xsd:sequence>
 309 | <xsd:choice>
 310 | <xsd:element name="cornerRoad" maxOccurs="unbounded" minOccurs="0">
 311 | <xsd:complexType>
 312 | <xsd:sequence>
 313 | <xsd:element name="userData" maxOccurs="unbounded" minOccurs="0" type="userData"/>
 314 | <xsd:element name="include" maxOccurs="unbounded" minOccurs="0" type="include"/>
 315 | </xsd:sequence>
 316 | <xsd:attribute name="s" type="xsd:double"/>
 317 | <xsd:attribute name="t" type="xsd:double"/>
 318 | <xsd:attribute name="dz" type="xsd:double"/>
 319 | <xsd:attribute name="height" type="xsd:double"/>
 320 | </xsd:complexType>
 321 | </xsd:element>
 322 | <xsd:element name="cornerLocal" maxOccurs="unbounded" minOccurs="0">
 323 | <xsd:complexType>
 324 | <xsd:sequence>
 325 | <xsd:element name="userData" maxOccurs="unbounded" minOccurs="0" type="userData"/>
 326 | <xsd:element name="include" maxOccurs="unbounded" minOccurs="0" type="include"/>
 327 | </xsd:sequence>
 328 | <xsd:attribute name="u" type="xsd:double"/>
 329 | <xsd:attribute name="v" type="xsd:double"/>
 330 | <xsd:attribute name="z" type="xsd:double"/>
 331 | <xsd:attribute name="height" type="xsd:double"/>
 332 | </xsd:complexType>
 333 | </xsd:element>
 334 | <xsd:element name="userData" maxOccurs="unbounded" minOccurs="0" type="userData"/>
 335 | <xsd:element name="include" maxOccurs="unbounded" minOccurs="0" type="include"/>
 336 | </xsd:choice>
 337 | </xsd:sequence>
 338 | </xsd:complexType>
 339 | </xsd:element>
 340 | <xsd:element name="material" maxOccurs="1" minOccurs="0">
 341 | <xsd:complexType>
 342 | <xsd:sequence>
 343 | <xsd:element name="userData" maxOccurs="unbounded" minOccurs="0" type="userData"/>
 344 | <xsd:element name="include" maxOccurs="unbounded" minOccurs="0" type="include"/>
 345 | </xsd:sequence>
 346 | <xsd:attribute name="surface" type="xsd:string"/>
 347 | <xsd:attribute name="friction" type="xsd:double"/>
 348 | <xsd:attribute name="roughness" type="xsd:double"/>
 349 | </xsd:complexType>
 350 | </xsd:element>
 351 | <xsd:element name="validity" maxOccurs="unbounded" minOccurs="0" type="laneValidity"/>
 352 | <xsd:element name="parkingSpace" maxOccurs="1" minOccurs="0" type="parkingSpace"/>
 353 | <xsd:element name="userData" maxOccurs="unbounded" minOccurs="0" type="userData"/>
 354 | <xsd:element name="include" maxOccurs="unbounded" minOccurs="0" type="include"/>
 355 | </xsd:sequence>
 356 | <xsd:attribute name="type" type="xsd:string"/>
 357 | <xsd:attribute name="name" type="xsd:string"/>
 358 | <xsd:attribute name="id" type="xsd:string"/>
 359 | <xsd:attribute name="s" type="xsd:double"/>
 360 | <xsd:attribute name="t" type="xsd:double"/>
 361 | <xsd:attribute name="zOffset" type="xsd:double"/>
 362 | <xsd:attribute name="validLength" type="xsd:double"/>
 363 | <xsd:attribute name="orientation" type="orientation"/>
 364 | <xsd:attribute name="length" type="xsd:double"/>
 365 | <xsd:attribute name="width" type="xsd:double"/>
 366 | <xsd:attribute name="radius" type="xsd:double"/>
 367 | <xsd:attribute name="height" type="xsd:double"/>
 368 | <xsd:attribute name="hdg" type="xsd:double"/>
 369 | <xsd:attribute name="pitch" type="xsd:double"/>
 370 | <xsd:attribute name="roll" type="xsd:double"/>
 371 | </xsd:complexType>
 372 | </xsd:element>
 373 | <xsd:element name="objectReference" maxOccurs="unbounded" minOccurs="0">
 374 | <xsd:complexType>
 375 | <xsd:sequence>
 376 | <xsd:element name="validity" maxOccurs="unbounded" minOccurs="0" type="laneValidity"/>
 377 | <xsd:element name="userData" maxOccurs="unbounded" minOccurs="0" type="userData"/>
 378 | <xsd:element name="include" maxOccurs="unbounded" minOccurs="0" type="include"/>
 379 | </xsd:sequence>
 380 | <xsd:attribute name="s" type="xsd:double"/>
 381 | <xsd:attribute name="t" type="xsd:double"/>
 382 | <xsd:attribute name="id" type="xsd:string"/>
 383 | <xsd:attribute name="zOffset" type="xsd:double"/>
 384 | <xsd:attribute name="validLength" type="xsd:double"/>
 385 | <xsd:attribute name="orientation" type="orientation"/>
 386 | </xsd:complexType>
 387 | </xsd:element>
 388 | <xsd:element name="tunnel" maxOccurs="unbounded" minOccurs="0">
 389 | <xsd:complexType>
 390 | <xsd:sequence>
 391 | <xsd:element name="validity" maxOccurs="unbounded" minOccurs="0" type="laneValidity"/>
 392 | <xsd:element name="userData" maxOccurs="unbounded" minOccurs="0" type="userData"/>
 393 | <xsd:element name="include" maxOccurs="unbounded" minOccurs="0" type="include"/>
 394 | </xsd:sequence>
 395 | <xsd:attribute name="s" type="xsd:double"/>
 396 | <xsd:attribute name="length" type="xsd:double"/>
 397 | <xsd:attribute name="name" type="xsd:string"/>
 398 | <xsd:attribute name="id" type="xsd:string"/>
 399 | <xsd:attribute name="type" type="tunnelType"/>
 400 | <xsd:attribute name="lighting" type="xsd:double"/>
 401 | <xsd:attribute name="daylight" type="xsd:double"/>
 402 | </xsd:complexType>
 403 | </xsd:element>
 404 | <xsd:element name="bridge" maxOccurs="unbounded" minOccurs="0">
 405 | <xsd:complexType>
 406 | <xsd:sequence>
 407 | <xsd:element name="validity" maxOccurs="unbounded" minOccurs="0" type="laneValidity"/>
 408 | <xsd:element name="userData" maxOccurs="unbounded" minOccurs="0" type="userData"/>
 409 | <xsd:element name="include" maxOccurs="unbounded" minOccurs="0" type="include"/>
 410 | </xsd:sequence>
 411 | <xsd:attribute name="s" type="xsd:double"/>
 412 | <xsd:attribute name="length" type="xsd:double"/>
 413 | <xsd:attribute name="name" type="xsd:string"/>
 414 | <xsd:attribute name="id" type="xsd:string"/>
 415 | <xsd:attribute name="type" type="bridgeType"/>
 416 | </xsd:complexType>
 417 | </xsd:element>
 418 | <xsd:element name="userData" maxOccurs="unbounded" minOccurs="0" type="userData"/>
 419 | <xsd:element name="include" maxOccurs="unbounded" minOccurs="0" type="include"/>
 420 | </xsd:sequence>
 421 | </xsd:complexType>
 422 | </xsd:element>
 423 | <!-- end objects -->
 424 | <xsd:element name="signals" maxOccurs="1" minOccurs="0">
 425 | <xsd:complexType>
 426 | <xsd:sequence>
 427 | <xsd:element name="signal" maxOccurs="unbounded" minOccurs="0">
 428 | <xsd:complexType>
 429 | <xsd:sequence>
 430 | <xsd:element name="validity" maxOccurs="unbounded" minOccurs="0" type="laneValidity"/>
 431 | <xsd:element name="dependency" maxOccurs="unbounded" minOccurs="0">
 432 | <xsd:complexType>
 433 | <xsd:sequence>
 434 | <xsd:element name="userData" maxOccurs="unbounded" minOccurs="0" type="userData"/>
 435 | <xsd:element name="include" maxOccurs="unbounded" minOccurs="0" type="include"/>
 436 | </xsd:sequence>
 437 | <xsd:attribute name="id" type="xsd:string"/>
 438 | <xsd:attribute name="type" type="xsd:string"/>
 439 | </xsd:complexType>
 440 | </xsd:element>
 441 | <xsd:element name="userData" maxOccurs="unbounded" minOccurs="0" type="userData"/>
 442 | <xsd:element name="include" maxOccurs="unbounded" minOccurs="0" type="include"/>
 443 | </xsd:sequence>
 444 | <xsd:attribute name="s" type="xsd:double"/>
 445 | <xsd:attribute name="t" type="xsd:double"/>
 446 | <xsd:attribute name="id" type="xsd:string"/>
 447 | <xsd:attribute name="name" type="xsd:string"/>
 448 | <xsd:attribute name="dynamic" type="dynamic"/>
 449 | <xsd:attribute name="orientation" type="orientation"/>
 450 | <xsd:attribute name="zOffset" type="xsd:double"/>
 451 | <xsd:attribute name="country" type="xsd:string"/>
 452 | <xsd:attribute name="type" type="xsd:string"/>
 453 | <xsd:attribute name="subtype" type="xsd:string"/>
 454 | <xsd:attribute name="value" type="xsd:double"/>
 455 | <xsd:attribute name="unit" type="unit"/>
 456 | <xsd:attribute name="height" type="xsd:double"/>
 457 | <xsd:attribute name="width" type="xsd:double"/>
 458 | <xsd:attribute name="text" type="xsd:string"/>
 459 | <xsd:attribute name="hOffset" type="xsd:double"/>
 460 | <xsd:attribute name="pitch" type="xsd:double"/>
 461 | <xsd:attribute name="roll" type="xsd:double"/>
 462 | </xsd:complexType>
 463 | </xsd:element>
 464 | <!-- end signal -->
 465 | <xsd:element name="signalReference" maxOccurs="unbounded" minOccurs="0">
 466 | <xsd:complexType>
 467 | <xsd:sequence>
 468 | <xsd:element name="validity" maxOccurs="unbounded" minOccurs="0" type="laneValidity"/>
 469 | <xsd:element name="userData" maxOccurs="unbounded" minOccurs="0" type="userData"/>
 470 | <xsd:element name="include" maxOccurs="unbounded" minOccurs="0" type="include"/>
 471 | </xsd:sequence>
 472 | <xsd:attribute name="s" type="xsd:double"/>
 473 | <xsd:attribute name="t" type="xsd:double"/>
 474 | <xsd:attribute name="id" type="xsd:string"/>
 475 | <xsd:attribute name="orientation" type="orientation"/>
 476 | </xsd:complexType>
 477 | </xsd:element>
 478 | <!-- end signal reference -->
 479 | <xsd:element name="userData" maxOccurs="unbounded" minOccurs="0" type="userData"/>
 480 | <xsd:element name="include" maxOccurs="unbounded" minOccurs="0" type="include"/>
 481 | </xsd:sequence>
 482 | </xsd:complexType>
 483 | </xsd:element>
 484 | <!-- end signals -->
 485 | <xsd:element name="surface" maxOccurs="1" minOccurs="0">
 486 | <xsd:complexType>
 487 | <xsd:sequence>
 488 | <xsd:element name="CRG" maxOccurs="unbounded" minOccurs="0">
 489 | <xsd:complexType>
 490 | <xsd:sequence>
 491 | <xsd:element name="userData" maxOccurs="unbounded" minOccurs="0" type="userData"/>
 492 | <xsd:element name="include" maxOccurs="unbounded" minOccurs="0" type="include"/>
 493 | </xsd:sequence>
 494 | <xsd:attribute name="file" type="xsd:string"/>
 495 | <xsd:attribute name="sStart" type="xsd:double"/>
 496 | <xsd:attribute name="sEnd" type="xsd:double"/>
 497 | <xsd:attribute name="orientation" type="surfaceOrientation"/>
 498 | <xsd:attribute name="mode" type="mode"/>
 499 | <xsd:attribute name="purpose" type="purpose"/>
 500 | <xsd:attribute name="sOffset" type="xsd:double"/>
 501 | <xsd:attribute name="tOffset" type="xsd:double"/>
 502 | <xsd:attribute name="zOffset" type="xsd:double"/>
 503 | <xsd:attribute name="zScale" type="xsd:double"/>
 504 | <xsd:attribute name="hOffset" type="xsd:double"/>
 505 | </xsd:complexType>
 506 | </xsd:element>
 507 | <!-- end CRG -->
 508 | <xsd:element name="userData" maxOccurs="unbounded" minOccurs="0" type="userData"/>
 509 | <xsd:element name="include" maxOccurs="unbounded" minOccurs="0" type="include"/>
 510 | </xsd:sequence>
 511 | </xsd:complexType>
 512 | </xsd:element>
 513 | <!-- end surface -->
 514 | <xsd:element name="railroad" maxOccurs="1" minOccurs="0">
 515 | <xsd:complexType>
 516 | <xsd:sequence>
 517 | <xsd:element name="switch" maxOccurs="unbounded" minOccurs="0">
 518 | <xsd:complexType>
 519 | <xsd:sequence>
 520 | <xsd:element name="mainTrack" maxOccurs="1">
 521 | <xsd:complexType>
 522 | <xsd:attribute name="id" type="xsd:string"/>
 523 | <xsd:attribute name="s" type="xsd:double"/>
 524 | <xsd:attribute name="dir" type="dir"/>
 525 | </xsd:complexType>
 526 | </xsd:element>
 527 | <!-- end mainTrack -->
 528 | <xsd:element name="sideTrack" maxOccurs="1">
 529 | <xsd:complexType>
 530 | <xsd:attribute name="id" type="xsd:string"/>
 531 | <xsd:attribute name="s" type="xsd:double"/>
 532 | <xsd:attribute name="dir" type="dir"/>
 533 | </xsd:complexType>
 534 | </xsd:element>
 535 | <!-- end sideTrack -->
 536 | <xsd:element name="partner" maxOccurs="1" minOccurs="0">
 537 | <xsd:complexType>
 538 | <xsd:attribute name="name" type="xsd:string"/>
 539 | <xsd:attribute name="id" type="xsd:string"/>
 540 | </xsd:complexType>
 541 | </xsd:element>
 542 | <!-- end partner -->
 543 | <xsd:element name="userData" maxOccurs="unbounded" minOccurs="0" type="userData"/>
 544 | <xsd:element name="include" maxOccurs="unbounded" minOccurs="0" type="include"/>
 545 | </xsd:sequence>
 546 | <xsd:attribute name="name" type="xsd:string"/>
 547 | <xsd:attribute name="id" type="xsd:string"/>
 548 | <xsd:attribute name="position" type="position"/>
 549 | </xsd:complexType>
 550 | </xsd:element>
 551 | <!-- end switch -->
 552 | <xsd:element name="userData" maxOccurs="unbounded" minOccurs="0" type="userData"/>
 553 | <xsd:element name="include" maxOccurs="unbounded" minOccurs="0" type="include"/>
 554 | </xsd:sequence>
 555 | </xsd:complexType>
 556 | </xsd:element>
 557 | <!-- end railroad -->
 558 | <xsd:element name="userData" maxOccurs="unbounded" minOccurs="0" type="userData"/>
 559 | <xsd:element name="include" maxOccurs="unbounded" minOccurs="0" type="include"/>
 560 | </xsd:sequence>
 561 | <xsd:attribute name="name" type="xsd:string"/>
 562 | <xsd:attribute name="length" type="xsd:double"/>
 563 | <xsd:attribute name="id" type="xsd:string"/>
 564 | <xsd:attribute name="junction" type="xsd:string"/>
 565 | </xsd:complexType>
 566 | <!-- end road -->
 567 | </xsd:element>
 568 | <xsd:element name="controller" maxOccurs="unbounded" minOccurs="0">
 569 | <xsd:complexType>
 570 | <xsd:sequence>
 571 | <xsd:element name="control" maxOccurs="unbounded">
 572 | <xsd:complexType>
 573 | <xsd:sequence>
 574 | <xsd:element name="userData" maxOccurs="unbounded" minOccurs="0" type="userData"/>
 575 | <xsd:element name="include" maxOccurs="unbounded" minOccurs="0" type="include"/>
 576 | </xsd:sequence>
 577 | <xsd:attribute name="signalId" type="xsd:string"/>
 578 | <xsd:attribute name="type" type="xsd:string"/>
 579 | </xsd:complexType>
 580 | </xsd:element>
 581 | <xsd:element name="userData" maxOccurs="unbounded" minOccurs="0" type="userData"/>
 582 | <xsd:element name="include" maxOccurs="unbounded" minOccurs="0" type="include"/>
 583 | </xsd:sequence>
 584 | <xsd:attribute name="id" type="xsd:string"/>
 585 | <xsd:attribute name="name" type="xsd:string"/>
 586 | <xsd:attribute name="sequence" type="xsd:int"/>
 587 | </xsd:complexType>
 588 | </xsd:element>
 589 | <!-- end controller -->
 590 | <xsd:element name="junction" maxOccurs="unbounded" minOccurs="0">
 591 | <xsd:complexType>
 592 | <xsd:sequence>
 593 | <xsd:element name="connection" maxOccurs="unbounded">
 594 | <xsd:complexType>
 595 | <xsd:sequence>
 596 | <xsd:element name="laneLink" maxOccurs="unbounded" minOccurs="0">
 597 | <xsd:complexType>
 598 | <xsd:sequence>
 599 | <xsd:element name="userData" maxOccurs="unbounded" minOccurs="0" type="userData"/>
 600 | <xsd:element name="include" maxOccurs="unbounded" minOccurs="0" type="include"/>
 601 | </xsd:sequence>
 602 | <xsd:attribute name="from" type="xsd:int"/>
 603 | <xsd:attribute name="to" type="xsd:int"/>
 604 | </xsd:complexType>
 605 | </xsd:element>
 606 | <xsd:element name="userData" maxOccurs="unbounded" minOccurs="0" type="userData"/>
 607 | <xsd:element name="include" maxOccurs="unbounded" minOccurs="0" type="include"/>
 608 | </xsd:sequence>
 609 | <xsd:attribute name="id" type="xsd:string"/>
 610 | <xsd:attribute name="incomingRoad" type="xsd:string"/>
 611 | <xsd:attribute name="connectingRoad" type="xsd:string"/>
 612 | <xsd:attribute name="contactPoint" type="contactPoint"/>
 613 | </xsd:complexType>
 614 | </xsd:element>
 615 | <xsd:element name="priority" maxOccurs="unbounded" minOccurs="0">
 616 | <xsd:complexType>
 617 | <xsd:sequence>
 618 | <xsd:element name="userData" maxOccurs="unbounded" minOccurs="0" type="userData"/>
 619 | <xsd:element name="include" maxOccurs="unbounded" minOccurs="0" type="include"/>
 620 | </xsd:sequence>
 621 | <xsd:attribute name="high" type="xsd:string"/>
 622 | <xsd:attribute name="low" type="xsd:string"/>
 623 | </xsd:complexType>
 624 | </xsd:element>
 625 | <xsd:element name="controller" maxOccurs="unbounded" minOccurs="0">
 626 | <xsd:complexType>
 627 | <xsd:sequence>
 628 | <xsd:element name="userData" maxOccurs="unbounded" minOccurs="0" type="userData"/>
 629 | <xsd:element name="include" maxOccurs="unbounded" minOccurs="0" type="include"/>
 630 | </xsd:sequence>
 631 | <xsd:attribute name="id" type="xsd:string"/>
 632 | <xsd:attribute name="type" type="xsd:string"/>
 633 | <xsd:attribute name="sequence" type="xsd:int"/>
 634 | </xsd:complexType>
 635 | </xsd:element>
 636 | <xsd:element name="userData" maxOccurs="unbounded" minOccurs="0" type="userData"/>
 637 | <xsd:element name="include" maxOccurs="unbounded" minOccurs="0" type="include"/>
 638 | </xsd:sequence>
 639 | <xsd:attribute name="name" type="xsd:string"/>
 640 | <xsd:attribute name="id" type="xsd:string"/>
 641 | </xsd:complexType>
 642 | </xsd:element>
 643 | <!-- end junction -->
 644 | <xsd:element name="junctionGroup" maxOccurs="unbounded" minOccurs="0">
 645 | <xsd:complexType>
 646 | <xsd:sequence>
 647 | <xsd:element name="junctionReference" maxOccurs="unbounded">
 648 | <xsd:complexType>
 649 | <xsd:attribute name="junction" type="xsd:string"/>
 650 | </xsd:complexType>
 651 | </xsd:element>
 652 | <xsd:element name="userData" maxOccurs="unbounded" minOccurs="0" type="userData"/>
 653 | <xsd:element name="include" maxOccurs="unbounded" minOccurs="0" type="include"/>
 654 | </xsd:sequence>
 655 | <xsd:attribute name="name" type="xsd:string"/>
 656 | <xsd:attribute name="id" type="xsd:string"/>
 657 | <xsd:attribute name="type" type="junctionGroupType"/>
 658 | </xsd:complexType>
 659 | </xsd:element>
 660 | <!-- end junctionGroup -->
 661 | <xsd:element name="station" maxOccurs="unbounded" minOccurs="0">
 662 | <xsd:complexType>
 663 | <xsd:sequence>
 664 | <xsd:element name="platform" maxOccurs="unbounded" minOccurs="1">
 665 | <xsd:complexType>
 666 | <xsd:sequence>
 667 | <xsd:element name="segment" maxOccurs="unbounded" minOccurs="1">
 668 | <xsd:complexType>
 669 | <xsd:sequence>
 670 | <xsd:element name="userData" maxOccurs="unbounded" minOccurs="0" type="userData"/>
 671 | <xsd:element name="include" maxOccurs="unbounded" minOccurs="0" type="include"/>
 672 | </xsd:sequence>
 673 | <xsd:attribute name="roadId" type="xsd:string"/>
 674 | <xsd:attribute name="sStart" type="xsd:double"/>
 675 | <xsd:attribute name="sEnd" type="xsd:double"/>
 676 | <xsd:attribute name="side" type="side"/>
 677 | </xsd:complexType>
 678 | </xsd:element>
 679 | </xsd:sequence>
 680 | <xsd:attribute name="name" type="xsd:string"/>
 681 | <xsd:attribute name="id" type="xsd:string"/>
 682 | </xsd:complexType>
 683 | </xsd:element>
 684 | <xsd:element name="userData" maxOccurs="unbounded" minOccurs="0" type="userData"/>
 685 | <xsd:element name="include" maxOccurs="unbounded" minOccurs="0" type="include"/>
 686 | </xsd:sequence>
 687 | <xsd:attribute name="name" type="xsd:string"/>
 688 | <xsd:attribute name="id" type="xsd:string"/>
 689 | <xsd:attribute name="type" type="stationType"/>
 690 | </xsd:complexType>
 691 | </xsd:element>
 692 | <!-- end station -->
 693 | </xsd:sequence>
 694 | </xsd:complexType>
 695 | </xsd:element>
 696 | <!-- enumerations for road->link->Predecessor/successor->elementType -->
 697 | <xsd:simpleType name="elementType">
 698 | <xsd:restriction base="xsd:string">
 699 | <xsd:enumeration value="road"/>
 700 | <xsd:enumeration value="junction"/>
 701 | </xsd:restriction>
 702 | </xsd:simpleType>
 703 | <!-- enumerations for road->type->speed->max -->
 704 | <xsd:simpleType name="max">
 705 | <xsd:union>
 706 | <xsd:simpleType>
 707 | <xsd:restriction base="xsd:string">
 708 | <xsd:enumeration value="no limit"/>
 709 | <xsd:enumeration value="undefined"/>
 710 | </xsd:restriction>
 711 | </xsd:simpleType>
 712 | <xsd:simpleType>
 713 | <xsd:restriction base="xsd:integer">
 714 | <xsd:minInclusive value="0"/>
 715 | </xsd:restriction>
 716 | </xsd:simpleType>
 717 | </xsd:union>
 718 | </xsd:simpleType>
 719 | <!-- enumerations for road->link->Predecessor/successor->contactPoint -->
 720 | <!-- enumerations for junction->connection->contactPoint -->
 721 | <xsd:simpleType name="contactPoint">
 722 | <xsd:restriction base="xsd:string">
 723 | <xsd:enumeration value="start"/>
 724 | <xsd:enumeration value="end"/>
 725 | </xsd:restriction>
 726 | </xsd:simpleType>
 727 | <!-- enumerations for road->link->neighbor->side -->
 728 | <!-- enumerations for openDRIVE->station->platform->segment->side -->
 729 | <xsd:simpleType name="side">
 730 | <xsd:restriction base="xsd:string">
 731 | <xsd:enumeration value="left"/>
 732 | <xsd:enumeration value="right"/>
 733 | </xsd:restriction>
 734 | </xsd:simpleType>
 735 | <!-- enumerations for road->link->neighbor->direction-->
 736 | <xsd:simpleType name="direction">
 737 | <xsd:restriction base="xsd:string">
 738 | <xsd:enumeration value="same"/>
 739 | <xsd:enumeration value="opposite"/>
 740 | </xsd:restriction>
 741 | </xsd:simpleType>
 742 | <!-- enumerations for road->type-->
 743 | <xsd:simpleType name="roadType">
 744 | <xsd:restriction base="xsd:string">
 745 | <xsd:enumeration value="unknown"/>
 746 | <xsd:enumeration value="rural"/>
 747 | <xsd:enumeration value="motorway"/>
 748 | <xsd:enumeration value="town"/>
 749 | <xsd:enumeration value="lowSpeed"/>
 750 | <xsd:enumeration value="pedestrian"/>
 751 | <xsd:enumeration value="bicycle"/>
 752 | </xsd:restriction>
 753 | </xsd:simpleType>
 754 | <!-- enumerations for road->type->speed->unit-->
 755 | <!-- enumerations for lane->speed->unit-->
 756 | <!-- enumerations for signals->signal->unit-->
 757 | <xsd:simpleType name="unit">
 758 | <xsd:restriction base="xsd:string">
 759 | <xsd:enumeration value="m"/>
 760 | <xsd:enumeration value="km"/>
 761 | <xsd:enumeration value="ft"/>
 762 | <xsd:enumeration value="mile"/>
 763 | <xsd:enumeration value="m/s"/>
 764 | <xsd:enumeration value="mph"/>
 765 | <xsd:enumeration value="km/h"/>
 766 | <xsd:enumeration value="kg"/>
 767 | <xsd:enumeration value="t"/>
 768 | <xsd:enumeration value="%"/>
 769 | </xsd:restriction>
 770 | </xsd:simpleType>
 771 | <!-- enumerations for planView->geometry->paramPoly3->pRange-->
 772 | <xsd:simpleType name="pRange">
 773 | <xsd:restriction base="xsd:string">
 774 | <xsd:enumeration value="arcLength"/>
 775 | <xsd:enumeration value="normalized"/>
 776 | </xsd:restriction>
 777 | </xsd:simpleType>
 778 | <!-- enumerations for lateralProfile->crossFall->side -->
 779 | <xsd:simpleType name="crossfallSide">
 780 | <xsd:restriction base="xsd:string">
 781 | <xsd:enumeration value="left"/>
 782 | <xsd:enumeration value="right"/>
 783 | <xsd:enumeration value="both"/>
 784 | </xsd:restriction>
 785 | </xsd:simpleType>
 786 | <!-- enumerations for lanes->laneSection->singleSide -->
 787 | <!-- enumerations for lane->level -->
 788 | <!-- enumerations for centerLane->level -->
 789 | <xsd:simpleType name="singleSide">
 790 | <xsd:restriction base="xsd:string">
 791 | <xsd:enumeration value="true"/>
 792 | <xsd:enumeration value="false"/>
 793 | </xsd:restriction>
 794 | </xsd:simpleType>
 795 | <!-- enumerations for lane->type -->
 796 | <!-- enumerations for centerLane->type -->
 797 | <xsd:simpleType name="laneType">
 798 | <xsd:restriction base="xsd:string">
 799 | <xsd:enumeration value="none"/>
 800 | <xsd:enumeration value="driving"/>
 801 | <xsd:enumeration value="stop"/>
 802 | <xsd:enumeration value="shoulder"/>
 803 | <xsd:enumeration value="biking"/>
 804 | <xsd:enumeration value="sidewalk"/>
 805 | <xsd:enumeration value="border"/>
 806 | <xsd:enumeration value="restricted"/>
 807 | <xsd:enumeration value="parking"/>
 808 | <xsd:enumeration value="bidirectional"/>
 809 | <xsd:enumeration value="median"/>
 810 | <xsd:enumeration value="special1"/>
 811 | <xsd:enumeration value="special2"/>
 812 | <xsd:enumeration value="special3"/>
 813 | <xsd:enumeration value="roadWorks"/>
 814 | <xsd:enumeration value="tram"/>
 815 | <xsd:enumeration value="rail"/>
 816 | <xsd:enumeration value="entry"/>
 817 | <xsd:enumeration value="exit"/>
 818 | <xsd:enumeration value="offRamp"/>
 819 | <xsd:enumeration value="onRamp"/>
 820 | </xsd:restriction>
 821 | </xsd:simpleType>
 822 | <!-- enumerations for lane->roadMark->type -->
 823 | <!-- enumerations for parkingSpace->marking->type -->
 824 | <!-- enumerations for centerLane->roadMark->type -->
 825 | <xsd:simpleType name="roadmarkType">
 826 | <xsd:restriction base="xsd:string">
 827 | <xsd:enumeration value="none"/>
 828 | <xsd:enumeration value="solid"/>
 829 | <xsd:enumeration value="broken"/>
 830 | <xsd:enumeration value="solid solid"/>
 831 | <xsd:enumeration value="solid broken"/>
 832 | <xsd:enumeration value="broken solid"/>
 833 | <xsd:enumeration value="broken broken"/>
 834 | <xsd:enumeration value="botts dots"/>
 835 | <xsd:enumeration value="grass"/>
 836 | <xsd:enumeration value="curb"/>
 837 | </xsd:restriction>
 838 | </xsd:simpleType>
 839 | <!-- enumerations for lane->roadMark->weight -->
 840 | <!-- enumerations for centerLane->roadMark->weight -->
 841 | <xsd:simpleType name="weight">
 842 | <xsd:restriction base="xsd:string">
 843 | <xsd:enumeration value="standard"/>
 844 | <xsd:enumeration value="bold"/>
 845 | </xsd:restriction>
 846 | </xsd:simpleType>
 847 | <!-- enumerations for lane->roadMark->color -->
 848 | <!-- enumerations for parkingSpace->marking->color -->
 849 | <!-- enumerations for centerLane->roadMark->weight -->
 850 | <xsd:simpleType name="color">
 851 | <xsd:restriction base="xsd:string">
 852 | <xsd:enumeration value="standard"/>
 853 | <xsd:enumeration value="blue"/>
 854 | <xsd:enumeration value="green"/>
 855 | <xsd:enumeration value="red"/>
 856 | <xsd:enumeration value="white"/>
 857 | <xsd:enumeration value="yellow"/>
 858 | </xsd:restriction>
 859 | </xsd:simpleType>
 860 | <!-- enumerations for lane->access->restriction -->
 861 | <xsd:simpleType name="restriction">
 862 | <xsd:restriction base="xsd:string">
 863 | <xsd:enumeration value="simulator"/>
 864 | <xsd:enumeration value="autonomous traffic"/>
 865 | <xsd:enumeration value="pedestrian"/>
 866 | <xsd:enumeration value="none"/>
 867 | </xsd:restriction>
 868 | </xsd:simpleType>
 869 | <!-- enumerations for lane->roadMark->laneChange -->
 870 | <!-- enumerations for centerLane->roadMark->weight -->
 871 | <xsd:simpleType name="laneChange">
 872 | <xsd:restriction base="xsd:string">
 873 | <xsd:enumeration value="increase"/>
 874 | <xsd:enumeration value="decrease"/>
 875 | <xsd:enumeration value="both"/>
 876 | <xsd:enumeration value="none"/>
 877 | </xsd:restriction>
 878 | </xsd:simpleType>
 879 | <!-- enumerations for lane->roadMark->type->line->rule -->
 880 | <!-- enumerations for centerLane->roadMark->type->line->rule -->
 881 | <xsd:simpleType name="rule">
 882 | <xsd:restriction base="xsd:string">
 883 | <xsd:enumeration value="no passing"/>
 884 | <xsd:enumeration value="caution"/>
 885 | <xsd:enumeration value="none"/>
 886 | </xsd:restriction>
 887 | </xsd:simpleType>
 888 | <!-- enumerations for objects->object->orientation -->
 889 | <!-- enumerations for objects->objectReference->orientation -->
 890 | <!-- enumerations for signals->signal->orientation -->
 891 | <!-- enumerations for signals->signalReference->orientation -->
 892 | <xsd:simpleType name="orientation">
 893 | <xsd:restriction base="xsd:string">
 894 | <xsd:enumeration value="+"/>
 895 | <xsd:enumeration value="-"/>
 896 | <xsd:enumeration value="none"/>
 897 | </xsd:restriction>
 898 | </xsd:simpleType>
 899 | <!-- enumerations for objects->tunnel->type -->
 900 | <xsd:simpleType name="tunnelType">
 901 | <xsd:restriction base="xsd:string">
 902 | <xsd:enumeration value="standard"/>
 903 | <xsd:enumeration value="underpass"/>
 904 | </xsd:restriction>
 905 | </xsd:simpleType>
 906 | <!-- enumerations for objects->bridge->type -->
 907 | <xsd:simpleType name="bridgeType">
 908 | <xsd:restriction base="xsd:string">
 909 | <xsd:enumeration value="concrete"/>
 910 | <xsd:enumeration value="steel"/>
 911 | <xsd:enumeration value="brick"/>
 912 | <xsd:enumeration value="wood"/>
 913 | </xsd:restriction>
 914 | </xsd:simpleType>
 915 | <!-- enumerations for parkingSpace->access -->
 916 | <xsd:simpleType name="access">
 917 | <xsd:restriction base="xsd:string">
 918 | <xsd:enumeration value="all"/>
 919 | <xsd:enumeration value="car"/>
 920 | <xsd:enumeration value="women"/>
 921 | <xsd:enumeration value="handicapped"/>
 922 | <xsd:enumeration value="bus"/>
 923 | <xsd:enumeration value="truck"/>
 924 | <xsd:enumeration value="electric"/>
 925 | <xsd:enumeration value="residents"/>
 926 | </xsd:restriction>
 927 | </xsd:simpleType>
 928 | <!-- enumerations for parkingSpace->marking->side -->
 929 | <xsd:simpleType name="parkingSpacemarkingSide">
 930 | <xsd:restriction base="xsd:string">
 931 | <xsd:enumeration value="front"/>
 932 | <xsd:enumeration value="rear"/>
 933 | <xsd:enumeration value="left"/>
 934 | <xsd:enumeration value="right"/>
 935 | </xsd:restriction>
 936 | </xsd:simpleType>
 937 | <!-- enumerations for signals->signal->dynamic -->
 938 | <xsd:simpleType name="dynamic">
 939 | <xsd:restriction base="xsd:string">
 940 | <xsd:enumeration value="yes"/>
 941 | <xsd:enumeration value="no"/>
 942 | </xsd:restriction>
 943 | </xsd:simpleType>
 944 | <!-- enumerations for surface->CRG->orientation -->
 945 | <xsd:simpleType name="surfaceOrientation">
 946 | <xsd:restriction base="xsd:string">
 947 | <xsd:enumeration value="same"/>
 948 | <xsd:enumeration value="opposite"/>
 949 | </xsd:restriction>
 950 | </xsd:simpleType>
 951 | <!-- enumerations for surface->CRG->mode -->
 952 | <xsd:simpleType name="mode">
 953 | <xsd:restriction base="xsd:string">
 954 | <xsd:enumeration value="attached"/>
 955 | <xsd:enumeration value="attached0"/>
 956 | <xsd:enumeration value="genuine"/>
 957 | </xsd:restriction>
 958 | </xsd:simpleType>
 959 | <!-- enumerations for surface->CRG->purpose -->
 960 | <xsd:simpleType name="purpose">
 961 | <xsd:restriction base="xsd:string">
 962 | <xsd:enumeration value="elevation"/>
 963 | <xsd:enumeration value="friction"/>
 964 | </xsd:restriction>
 965 | </xsd:simpleType>
 966 | <!-- enumerations for railRoad->switch->position -->
 967 | <xsd:simpleType name="position">
 968 | <xsd:restriction base="xsd:string">
 969 | <xsd:enumeration value="dynamic"/>
 970 | <xsd:enumeration value="straight"/>
 971 | <xsd:enumeration value="turn"/>
 972 | </xsd:restriction>
 973 | </xsd:simpleType>
 974 | <!-- enumerations for railRoad->switch->mainTrack->dir-->
 975 | <!-- enumerations for railRoad->switch->sideTrack->dir-->
 976 | <xsd:simpleType name="dir">
 977 | <xsd:restriction base="xsd:string">
 978 | <xsd:enumeration value="+"/>
 979 | <xsd:enumeration value="-"/>
 980 | </xsd:restriction>
 981 | </xsd:simpleType>
 982 | <!-- enumerations for openDRIVE->junctionGroup->type-->
 983 | <xsd:simpleType name="junctionGroupType">
 984 | <xsd:restriction base="xsd:string">
 985 | <xsd:enumeration value="roundabout"/>
 986 | <xsd:enumeration value="unknown"/>
 987 | </xsd:restriction>
 988 | </xsd:simpleType>
 989 | <!-- enumerations for openDRIVE->station->type-->
 990 | <xsd:simpleType name="stationType">
 991 | <xsd:restriction base="xsd:string">
 992 | <xsd:enumeration value="small"/>
 993 | <xsd:enumeration value="medium"/>
 994 | <xsd:enumeration value="large"/>
 995 | </xsd:restriction>
 996 | </xsd:simpleType>
 997 | <xsd:complexType name="userData" mixed="true">
 998 | <xsd:sequence>
 999 | <xsd:any maxOccurs="unbounded" minOccurs="0" processContents="skip"/>
1000 | </xsd:sequence>
1001 | <xsd:attribute name="code" type="xsd:string"/>
1002 | <xsd:attribute name="value" type="xsd:string"/>
1003 | </xsd:complexType>
1004 | <xsd:complexType name="include">
1005 | <xsd:attribute name="file" type="xsd:string"/>
1006 | </xsd:complexType>
1007 | <xsd:complexType name="laneValidity">
1008 | <xsd:sequence>
1009 | <xsd:element name="userData" maxOccurs="unbounded" minOccurs="0" type="userData"/>
1010 | <xsd:element name="include" maxOccurs="unbounded" minOccurs="0" type="include"/>
1011 | </xsd:sequence>
1012 | <xsd:attribute name="fromLane" type="xsd:int"/>
1013 | <xsd:attribute name="toLane" type="xsd:int"/>
1014 | </xsd:complexType>
1015 | <xsd:complexType name="parkingSpace">
1016 | <xsd:sequence>
1017 | <xsd:element name="marking" maxOccurs="4" minOccurs="0">
1018 | <xsd:complexType>
1019 | <xsd:attribute name="side" type="parkingSpacemarkingSide"/>
1020 | <xsd:attribute name="type" type="roadmarkType"/>
1021 | <xsd:attribute name="width" type="xsd:double"/>
1022 | <xsd:attribute name="color" type="color"/>
1023 | </xsd:complexType>
1024 | </xsd:element>
1025 | <xsd:element name="userData" maxOccurs="unbounded" minOccurs="0" type="userData"/>
1026 | <xsd:element name="include" maxOccurs="unbounded" minOccurs="0" type="include"/>
1027 | </xsd:sequence>
1028 | <xsd:attribute name="access" type="access"/>
1029 | <xsd:attribute name="restrictions" type="xsd:string"/>
1030 | </xsd:complexType>
1031 | <xsd:complexType name="lane">
1032 | <xsd:sequence>
1033 | <xsd:element name="link" maxOccurs="1" minOccurs="0">
1034 | <xsd:complexType>
1035 | <xsd:sequence>
1036 | <xsd:element name="predecessor" maxOccurs="1" minOccurs="0">
1037 | <xsd:complexType>
1038 | <xsd:attribute name="id" type="xsd:int"/>
1039 | </xsd:complexType>
1040 | </xsd:element>
1041 | <xsd:element name="successor" maxOccurs="1" minOccurs="0">
1042 | <xsd:complexType>
1043 | <xsd:attribute name="id" type="xsd:int"/>
1044 | </xsd:complexType>
1045 | </xsd:element>
1046 | <xsd:element name="userData" maxOccurs="unbounded" minOccurs="0" type="userData"/>
1047 | <xsd:element name="include" maxOccurs="unbounded" minOccurs="0" type="include"/>
1048 | </xsd:sequence>
1049 | </xsd:complexType>
1050 | </xsd:element>
1051 | <xsd:choice>
1052 | <xsd:element name="width" maxOccurs="unbounded">
1053 | <xsd:complexType>
1054 | <xsd:sequence>
1055 | <xsd:element name="userData" maxOccurs="unbounded" minOccurs="0" type="userData"/>
1056 | <xsd:element name="include" maxOccurs="unbounded" minOccurs="0" type="include"/>
1057 | </xsd:sequence>
1058 | <xsd:attribute name="sOffset" type="xsd:double"/>
1059 | <xsd:attribute name="a" type="xsd:double"/>
1060 | <xsd:attribute name="b" type="xsd:double"/>
1061 | <xsd:attribute name="c" type="xsd:double"/>
1062 | <xsd:attribute name="d" type="xsd:double"/>
1063 | </xsd:complexType>
1064 | </xsd:element>
1065 | <xsd:element name="border" maxOccurs="unbounded" minOccurs="1">
1066 | <xsd:complexType>
1067 | <xsd:sequence>
1068 | <xsd:element name="userData" maxOccurs="unbounded" minOccurs="0" type="userData"/>
1069 | <xsd:element name="include" maxOccurs="unbounded" minOccurs="0" type="include"/>
1070 | </xsd:sequence>
1071 | <xsd:attribute name="sOffset" type="xsd:double"/>
1072 | <xsd:attribute name="a" type="xsd:double"/>
1073 | <xsd:attribute name="b" type="xsd:double"/>
1074 | <xsd:attribute name="c" type="xsd:double"/>
1075 | <xsd:attribute name="d" type="xsd:double"/>
1076 | </xsd:complexType>
1077 | </xsd:element>
1078 | </xsd:choice>
1079 | <xsd:element name="roadMark" maxOccurs="unbounded" minOccurs="0">
1080 | <xsd:complexType>
1081 | <xsd:sequence>
1082 | <xsd:element name="type" maxOccurs="1" minOccurs="0">
1083 | <xsd:complexType>
1084 | <xsd:sequence>
1085 | <xsd:element name="line" maxOccurs="unbounded" minOccurs="1">
1086 | <xsd:complexType>
1087 | <xsd:attribute name="length" type="xsd:double"/>
1088 | <xsd:attribute name="space" type="xsd:double"/>
1089 | <xsd:attribute name="tOffset" type="xsd:double"/>
1090 | <xsd:attribute name="sOffset" type="xsd:double"/>
1091 | <xsd:attribute name="rule" type="rule"/>
1092 | <xsd:attribute name="width" type="xsd:double"/>
1093 | </xsd:complexType>
1094 | </xsd:element>
1095 | </xsd:sequence>
1096 | <xsd:attribute name="name" type="xsd:string"/>
1097 | <xsd:attribute name="width" type="xsd:double"/>
1098 | </xsd:complexType>
1099 | </xsd:element>
1100 | <xsd:element name="userData" maxOccurs="unbounded" minOccurs="0" type="userData"/>
1101 | <xsd:element name="include" maxOccurs="unbounded" minOccurs="0" type="include"/>
1102 | </xsd:sequence>
1103 | <xsd:attribute name="sOffset" type="xsd:double"/>
1104 | <xsd:attribute name="type" type="roadmarkType"/>
1105 | <xsd:attribute name="weight" type="weight"/>
1106 | <xsd:attribute name="color" type="color"/>
1107 | <xsd:attribute name="material" type="xsd:string"/>
1108 | <xsd:attribute name="width" type="xsd:double"/>
1109 | <xsd:attribute name="laneChange" type="laneChange"/>
1110 | <xsd:attribute name="height" type="xsd:double"/>
1111 | </xsd:complexType>
1112 | </xsd:element>
1113 | <xsd:element name="material" maxOccurs="unbounded" minOccurs="0">
1114 | <xsd:complexType>
1115 | <xsd:sequence>
1116 | <xsd:element name="userData" maxOccurs="unbounded" minOccurs="0" type="userData"/>
1117 | <xsd:element name="include" maxOccurs="unbounded" minOccurs="0" type="include"/>
1118 | </xsd:sequence>
1119 | <xsd:attribute name="sOffset" type="xsd:double"/>
1120 | <xsd:attribute name="surface" type="xsd:string"/>
1121 | <xsd:attribute name="friction" type="xsd:double"/>
1122 | <xsd:attribute name="roughness" type="xsd:double"/>
1123 | </xsd:complexType>
1124 | </xsd:element>
1125 | <xsd:element name="visibility" maxOccurs="unbounded" minOccurs="0">
1126 | <xsd:complexType>
1127 | <xsd:sequence>
1128 | <xsd:element name="userData" maxOccurs="unbounded" minOccurs="0" type="userData"/>
1129 | <xsd:element name="include" maxOccurs="unbounded" minOccurs="0" type="include"/>
1130 | </xsd:sequence>
1131 | <xsd:attribute name="sOffset" type="xsd:double"/>
1132 | <xsd:attribute name="forward" type="xsd:double"/>
1133 | <xsd:attribute name="back" type="xsd:double"/>
1134 | <xsd:attribute name="left" type="xsd:double"/>
1135 | <xsd:attribute name="right" type="xsd:double"/>
1136 | </xsd:complexType>
1137 | </xsd:element>
1138 | <xsd:element name="speed" maxOccurs="unbounded" minOccurs="0">
1139 | <xsd:complexType>
1140 | <xsd:sequence>
1141 | <xsd:element name="userData" maxOccurs="unbounded" minOccurs="0" type="userData"/>
1142 | <xsd:element name="include" maxOccurs="unbounded" minOccurs="0" type="include"/>
1143 | </xsd:sequence>
1144 | <xsd:attribute name="sOffset" type="xsd:double"/>
1145 | <xsd:attribute name="max" type="xsd:double"/>
1146 | <xsd:attribute name="unit" type="unit"/>
1147 | </xsd:complexType>
1148 | </xsd:element>
1149 | <xsd:element name="access" maxOccurs="unbounded" minOccurs="0">
1150 | <xsd:complexType>
1151 | <xsd:sequence>
1152 | <xsd:element name="userData" maxOccurs="unbounded" minOccurs="0" type="userData"/>
1153 | <xsd:element name="include" maxOccurs="unbounded" minOccurs="0" type="include"/>
1154 | </xsd:sequence>
1155 | <xsd:attribute name="sOffset" type="xsd:double"/>
1156 | <xsd:attribute name="restriction" type="restriction"/>
1157 | </xsd:complexType>
1158 | </xsd:element>
1159 | <xsd:element name="height" maxOccurs="unbounded" minOccurs="0">
1160 | <xsd:complexType>
1161 | <xsd:sequence>
1162 | <xsd:element name="userData" maxOccurs="unbounded" minOccurs="0" type="userData"/>
1163 | <xsd:element name="include" maxOccurs="unbounded" minOccurs="0" type="include"/>
1164 | </xsd:sequence>
1165 | <xsd:attribute name="sOffset" type="xsd:double"/>
1166 | <xsd:attribute name="inner" type="xsd:double"/>
1167 | <xsd:attribute name="outer" type="xsd:double"/>
1168 | </xsd:complexType>
1169 | </xsd:element>
1170 | <xsd:element name="rule" maxOccurs="unbounded" minOccurs="0">
1171 | <xsd:complexType>
1172 | <xsd:sequence>
1173 | <xsd:element name="userData" maxOccurs="unbounded" minOccurs="0" type="userData"/>
1174 | <xsd:element name="include" maxOccurs="unbounded" minOccurs="0" type="include"/>
1175 | </xsd:sequence>
1176 | <xsd:attribute name="sOffset" type="xsd:double"/>
1177 | <xsd:attribute name="value" type="xsd:string"/>
1178 | </xsd:complexType>
1179 | </xsd:element>
1180 | <xsd:element name="userData" maxOccurs="unbounded" minOccurs="0" type="userData"/>
1181 | <xsd:element name="include" maxOccurs="unbounded" minOccurs="0" type="include"/>
1182 | </xsd:sequence>
1183 | <xsd:attribute name="id" type="xsd:int"/>
1184 | <xsd:attribute name="type" type="laneType"/>
1185 | <xsd:attribute name="level" type="singleSide"/>
1186 | </xsd:complexType>
1187 | <xsd:complexType name="centerLane">
1188 | <xsd:sequence>
1189 | <xsd:element name="link" maxOccurs="1" minOccurs="0">
1190 | <xsd:complexType>
1191 | <xsd:sequence>
1192 | <xsd:element name="predecessor" maxOccurs="1" minOccurs="0">
1193 | <xsd:complexType>
1194 | <xsd:attribute name="id" type="xsd:int"/>
1195 | </xsd:complexType>
1196 | </xsd:element>
1197 | <xsd:element name="successor" maxOccurs="1" minOccurs="0">
1198 | <xsd:complexType>
1199 | <xsd:attribute name="id" type="xsd:int"/>
1200 | </xsd:complexType>
1201 | </xsd:element>
1202 | <xsd:element name="userData" maxOccurs="unbounded" minOccurs="0" type="userData"/>
1203 | <xsd:element name="include" maxOccurs="unbounded" minOccurs="0" type="include"/>
1204 | </xsd:sequence>
1205 | </xsd:complexType>
1206 | </xsd:element>
1207 | <xsd:element name="roadMark" maxOccurs="unbounded" minOccurs="0">
1208 | <xsd:complexType>
1209 | <xsd:sequence>
1210 | <xsd:element name="type" maxOccurs="1" minOccurs="0">
1211 | <xsd:complexType>
1212 | <xsd:sequence>
1213 | <xsd:element name="line" maxOccurs="unbounded" minOccurs="1">
1214 | <xsd:complexType>
1215 | <xsd:attribute name="length" type="xsd:double"/>
1216 | <xsd:attribute name="space" type="xsd:double"/>
1217 | <xsd:attribute name="tOffset" type="xsd:double"/>
1218 | <xsd:attribute name="sOffset" type="xsd:double"/>
1219 | <xsd:attribute name="rule" type="rule"/>
1220 | <xsd:attribute name="width" type="xsd:double"/>
1221 | </xsd:complexType>
1222 | </xsd:element>
1223 | </xsd:sequence>
1224 | <xsd:attribute name="name" type="xsd:string"/>
1225 | <xsd:attribute name="width" type="xsd:double"/>
1226 | </xsd:complexType>
1227 | </xsd:element>
1228 | <xsd:element name="userData" maxOccurs="unbounded" minOccurs="0" type="userData"/>
1229 | <xsd:element name="include" maxOccurs="unbounded" minOccurs="0" type="include"/>
1230 | </xsd:sequence>
1231 | <xsd:attribute name="sOffset" type="xsd:double"/>
1232 | <xsd:attribute name="type" type="roadmarkType"/>
1233 | <xsd:attribute name="weight" type="weight"/>
1234 | <xsd:attribute name="color" type="color"/>
1235 | <xsd:attribute name="material" type="xsd:string"/>
1236 | <xsd:attribute name="width" type="xsd:double"/>
1237 | <xsd:attribute name="laneChange" type="laneChange"/>
1238 | <xsd:attribute name="height" type="xsd:double"/>
1239 | </xsd:complexType>
1240 | </xsd:element>
1241 | <xsd:element name="userData" maxOccurs="unbounded" minOccurs="0" type="userData"/>
1242 | <xsd:element name="include" maxOccurs="unbounded" minOccurs="0" type="include"/>
1243 | </xsd:sequence>
1244 | <xsd:attribute name="id" type="xsd:int"/>
1245 | <xsd:attribute name="type" type="laneType"/>
1246 | <xsd:attribute name="level" type="singleSide"/>
1247 | </xsd:complexType>
1248 | </xsd:schema>


--------------------------------------------------------------------------------
/VectorMap2Opendrive/Program.cs:
--------------------------------------------------------------------------------
  1 | using System;
  2 | using System.Collections.Generic;
  3 | using System.Text;
  4 | using System.IO;
  5 | using UnityEngine;
  6 | 
  7 | namespace VectorMap2Opendrive
  8 | {
  9 |     class Program
 10 |     {
 11 |         static void Main(string[] args)
 12 |         {
 13 |             LoadManager.LoadCSV();
 14 | 
 15 |             int roadCount = LoadManager.GetRoadCount();
 16 |             OpenDrive opDrive = new OpenDrive();
 17 |             opDrive.roads = new List<ODRoad>(roadCount);
 18 | 
 19 |             int gldir = -1; // -1 means running on left
 20 | 
 21 |             int DIDIndex = 0;
 22 |             for ( int i = 0; i < roadCount; ++i )
 23 |             {
 24 |                 ODRoad road = new ODRoad();
 25 |                 road.name = i.ToString();
 26 |                 road.id = i.ToString();
 27 |                 road.junctionId = "-1";
 28 |                 road.predecessor = "-1";
 29 |                 road.successor = "-1";
 30 |                 road.length = 0;
 31 |                 road.lineGeometries = new List<PlaneLine>();
 32 |                 road.elevations = new List<PolynomCurve>();
 33 |                 road.laneSections = new List<ODLaneSection>();
 34 | 
 35 |                 int key = 0;
 36 |                 VM_DtLane nextdtLane = CSVFileManager<VM_DtLane>.Instance().GetstItemByIndex(DIDIndex+1, out key);
 37 |                 float start = 0;
 38 | 
 39 |                 while ( nextdtLane != null && nextdtLane.Dist != 0 )
 40 |                 {
 41 |                     VM_DtLane dtlane = CSVFileManager<VM_DtLane>.Instance().GetstItemByIndex(DIDIndex, out key);
 42 |                     VM_Point P = CSVFileManager<VM_Point>.Instance().GetstItemByID(dtlane.PID);
 43 |                     VM_Point nextP = CSVFileManager<VM_Point>.Instance().GetstItemByID(nextdtLane.PID);
 44 |                     Vector3 vP = new Vector3((float)P.Ly, 0, (float)P.Bx);
 45 |                     Vector3 vNextP = new Vector3((float)nextP.Ly, 0, (float)nextP.Bx);
 46 |                     Vector3 dir = (vNextP - vP).normalized;
 47 |                     Vector3 Zdir = Vector3.Cross(dir, Vector3.up) * gldir;
 48 |                     float offset = gldir == -1 ? dtlane.RW : dtlane.LW;
 49 |                     float nextOffset = gldir == -1 ? nextdtLane.RW : nextdtLane.LW;
 50 | 
 51 |                     Vector3 road_center_start = vP + Zdir * offset;
 52 |                     Vector3 road_center_end = vNextP + Zdir * nextOffset;
 53 | 
 54 |                     float secLength = Vector3.Distance(road_center_start, road_center_end);
 55 |                     float hdg = Mathf.Atan2((road_center_end.z - road_center_start.z) , (road_center_end.x - road_center_start.x));
 56 |                     road.length += secLength;
 57 | 
 58 |                     // plan geo
 59 |                     PlaneLine planView = new PlaneLine();
 60 |                     planView.start = start;
 61 |                     planView.xs = road_center_start.x;
 62 |                     planView.ys = road_center_start.z;
 63 |                     planView.hdg = hdg;
 64 |                     planView.length = secLength;
 65 |                     road.lineGeometries.Add(planView);
 66 | 
 67 |                     // elevation
 68 |                     PolynomCurve ele = new PolynomCurve();
 69 |                     ele.start = start;
 70 |                     ele.a = (float)P.H;
 71 |                     ele.b = (nextP.H - P.H) / secLength;
 72 |                     ele.c = 0;
 73 |                     ele.d = 0;
 74 |                     road.elevations.Add(ele);
 75 | 
 76 |                     // lanes
 77 |                     ODLaneSection laneSection = new ODLaneSection();
 78 |                     laneSection.start = start;
 79 |                     
 80 |                     ODLane center = new ODLane();
 81 |                     center.id = 0;
 82 | 
 83 |                     center.predecessor = "-1";
 84 |                     center.successor = "-1";
 85 |                     laneSection.center = center;
 86 | 
 87 |                     laneSection.rights = new List<ODLane>();
 88 |                     ODLane sideLane = new ODLane();
 89 |                     sideLane.id = -1; //right;
 90 |                     sideLane.type = "driving";
 91 |                     sideLane.level = "0";
 92 |                     sideLane.predecessor = "-1";
 93 |                     sideLane.successor = "-1";
 94 |                     sideLane.widths = new List<PolynomCurve>();
 95 |                     PolynomCurve width = new PolynomCurve();
 96 |                     width.start = 0;
 97 |                     width.a = dtlane.LW + dtlane.RW;
 98 |                     width.b = ((nextdtLane.LW + nextdtLane.RW) - width.a) / secLength;
 99 |                     width.c = 0;
100 |                     width.d = 0;
101 |                     sideLane.widths.Add(width);
102 |                     laneSection.rights.Add(sideLane);
103 | 
104 |                     road.laneSections.Add(laneSection);
105 | 
106 |                     start += secLength;
107 | 
108 |                     ++DIDIndex;
109 |                     nextdtLane = CSVFileManager<VM_DtLane>.Instance().GetstItemByIndex(DIDIndex + 1, out key);
110 |                 }
111 | 
112 |                 opDrive.roads.Add(road);
113 |                 ++DIDIndex;
114 |             }
115 |             string path = Directory.GetCurrentDirectory();
116 |             opDrive.SaveToXML(path + "/../../OpenDrive/output.xodr");
117 |             LoadManager.CleanUp();
118 |         }
119 |     }
120 | 
121 | 
122 |     public class LoadManager
123 |     {
124 |         public static string LoadDataFile(string fileName)
125 |         {
126 |             StreamReader reader = new StreamReader(fileName);
127 |             string text = reader.ReadToEnd();
128 |             reader.Close();
129 |             return text;
130 |         }
131 | 
132 |         public static void LoadCSV()
133 |         {
134 |             string path = Directory.GetCurrentDirectory();
135 |             CSVFileManager<VM_DtLane>.Instance().LoadData(path + "/../../VectorMap/dtLane.csv", LoadDataFile);
136 |             CSVFileManager<VM_Lane>.Instance().LoadData(path + "/../../VectorMap/Lane.csv", LoadDataFile);
137 |             CSVFileManager<VM_Point>.Instance().LoadData(path + "/../../VectorMap/point.csv", LoadDataFile);
138 |             CSVFileManager<VM_Node>.Instance().LoadData(path + "/../../VectorMap/node.csv", LoadDataFile);
139 |         }
140 | 
141 |         public static void CleanUp()
142 |         {
143 |             CSVFileManager<VM_DtLane>.Instance().ClearUp();
144 |             CSVFileManager<VM_Lane>.Instance().ClearUp();
145 |             CSVFileManager<VM_Point>.Instance().ClearUp();
146 |             CSVFileManager<VM_Node>.Instance().ClearUp();
147 |         }
148 | 
149 |         public static int GetRoadCount()
150 |         {
151 |             int ret = 0;
152 |             int dtLaneCount = CSVFileManager<VM_DtLane>.Instance().GetstItemCount();
153 |             for ( int i = 0; i < dtLaneCount; ++i )
154 |             {
155 |                 int key = -1;
156 |                 VM_DtLane dtlane = CSVFileManager<VM_DtLane>.Instance().GetstItemByIndex(i, out key);
157 |                 if (dtlane != null )
158 |                 {
159 |                     if (dtlane.Dist == 0)
160 |                         ++ret;
161 |                 }
162 |             }
163 |             return ret;
164 |         }
165 |     }
166 | }
167 | 


--------------------------------------------------------------------------------
/VectorMap2Opendrive/Properties/AssemblyInfo.cs:
--------------------------------------------------------------------------------
 1 | using System.Reflection;
 2 | using System.Runtime.CompilerServices;
 3 | using System.Runtime.InteropServices;
 4 | 
 5 | // General Information about an assembly is controlled through the following
 6 | // set of attributes. Change these attribute values to modify the information
 7 | // associated with an assembly.
 8 | [assembly: AssemblyTitle("VectorMap2Opendrive")]
 9 | [assembly: AssemblyDescription("")]
10 | [assembly: AssemblyConfiguration("")]
11 | [assembly: AssemblyCompany("")]
12 | [assembly: AssemblyProduct("VectorMap2Opendrive")]
13 | [assembly: AssemblyCopyright("Copyright ©  2019")]
14 | [assembly: AssemblyTrademark("")]
15 | [assembly: AssemblyCulture("")]
16 | 
17 | // Setting ComVisible to false makes the types in this assembly not visible
18 | // to COM components.  If you need to access a type in this assembly from
19 | // COM, set the ComVisible attribute to true on that type.
20 | [assembly: ComVisible(false)]
21 | 
22 | // The following GUID is for the ID of the typelib if this project is exposed to COM
23 | [assembly: Guid("a5b4c1f5-9d4a-4fdc-bbc1-876125f964d8")]
24 | 
25 | // Version information for an assembly consists of the following four values:
26 | //
27 | //      Major Version
28 | //      Minor Version
29 | //      Build Number
30 | //      Revision
31 | //
32 | // You can specify all the values or you can default the Build and Revision Numbers
33 | // by using the '*' as shown below:
34 | // [assembly: AssemblyVersion("1.0.*")]
35 | [assembly: AssemblyVersion("1.0.0.0")]
36 | [assembly: AssemblyFileVersion("1.0.0.0")]
37 | 


--------------------------------------------------------------------------------
/VectorMap2Opendrive/UnityEngine.dll:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/monkeykane/VectorMap2Opendrive/304bfed736d95b511da2c83fa133f90789f603c2/VectorMap2Opendrive/UnityEngine.dll


--------------------------------------------------------------------------------
/VectorMap2Opendrive/UnityEngine.dll.mdb:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/monkeykane/VectorMap2Opendrive/304bfed736d95b511da2c83fa133f90789f603c2/VectorMap2Opendrive/UnityEngine.dll.mdb


--------------------------------------------------------------------------------
/VectorMap2Opendrive/VM_DtLane.cs:
--------------------------------------------------------------------------------
 1 | using System;
 2 | using System.Collections.Generic;
 3 | using System.Text;
 4 | 
 5 | namespace VectorMap2Opendrive
 6 | {
 7 |     public class VM_DtLane  :   BaseData
 8 |     {
 9 |         public float Dist;
10 |         public int PID;
11 |         public float Dir;
12 |         public float Apara;
13 |         public float r;
14 |         public float slope;
15 |         public float cant;
16 |         public float LW;
17 |         public float RW;
18 | 
19 |         public override void LoadData(int nRowIndex, DataFile file)
20 |         {
21 |             int readIndex = 0;
22 |             m_ID = int.Parse(file.getString(readIndex)); readIndex++;
23 |             Dist = float.Parse(file.getString(readIndex)); readIndex++;
24 |             PID = int.Parse(file.getString(readIndex)); readIndex++;
25 |             Dir = float.Parse(file.getString(readIndex)); readIndex++;
26 |             Apara = float.Parse(file.getString(readIndex)); readIndex++;
27 |             r = float.Parse(file.getString(readIndex)); readIndex++;
28 |             slope = float.Parse(file.getString(readIndex)); readIndex++;
29 |             cant = float.Parse(file.getString(readIndex)); readIndex++;
30 |             LW = float.Parse(file.getString(readIndex)); readIndex++;
31 |             RW = float.Parse(file.getString(readIndex)); readIndex++;
32 |         }
33 |     }
34 | }
35 | 


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/VectorMap2Opendrive/VM_Lane.cs:
--------------------------------------------------------------------------------
 1 | using System;
 2 | using System.Collections.Generic;
 3 | using System.Text;
 4 | 
 5 | namespace VectorMap2Opendrive
 6 | {
 7 |     public class VM_Lane    :   BaseData
 8 |     {
 9 |         public int DID;
10 |         public int BLID;
11 |         public int FLID;
12 |         public int BNID;
13 |         public int FNID;
14 |         public int JCT;
15 |         public int BLID2;
16 |         public int BLID3;
17 |         public int BLID4;
18 |         public int FLID2;
19 |         public int FLID3;
20 |         public int FLID4;
21 |         public int ClossID;
22 |         public float Span;
23 |         public int LCnt;
24 |         public int Lno;
25 |         public int LaneType;
26 |         public float LimitVel;
27 |         public float RefVel;
28 |         public int RoadSecID;
29 |         public int LaneChgFG;
30 | 
31 |         public override void LoadData(int nRowIndex, DataFile file)
32 |         {
33 |             int readIndex = 0;
34 |             m_ID = int.Parse(file.getString(readIndex)); readIndex++;
35 |             DID = int.Parse(file.getString(readIndex)); readIndex++;
36 |             BLID = int.Parse(file.getString(readIndex)); readIndex++;
37 |             FLID = int.Parse(file.getString(readIndex)); readIndex++;
38 |             BNID = int.Parse(file.getString(readIndex)); readIndex++;
39 |             FNID = int.Parse(file.getString(readIndex)); readIndex++;
40 |             JCT = int.Parse(file.getString(readIndex)); readIndex++;
41 |             BLID2 = int.Parse(file.getString(readIndex)); readIndex++;
42 |             BLID3 = int.Parse(file.getString(readIndex)); readIndex++;
43 |             BLID4 = int.Parse(file.getString(readIndex)); readIndex++;
44 |             FLID2 = int.Parse(file.getString(readIndex)); readIndex++;
45 |             FLID3 = int.Parse(file.getString(readIndex)); readIndex++;
46 |             FLID4 = int.Parse(file.getString(readIndex)); readIndex++;
47 |             ClossID = int.Parse(file.getString(readIndex)); readIndex++;
48 |             Span = float.Parse(file.getString(readIndex)); readIndex++;
49 |             LCnt = int.Parse(file.getString(readIndex)); readIndex++;
50 |             Lno = int.Parse(file.getString(readIndex)); readIndex++;
51 |             LaneType = int.Parse(file.getString(readIndex)); readIndex++;
52 |             LimitVel = float.Parse(file.getString(readIndex)); readIndex++;
53 |             RefVel = float.Parse(file.getString(readIndex)); readIndex++;
54 |             RoadSecID = int.Parse(file.getString(readIndex)); readIndex++;
55 |             LaneChgFG = int.Parse(file.getString(readIndex)); readIndex++;
56 | 
57 |         }
58 |     }
59 | }
60 | 


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/VectorMap2Opendrive/VM_Node.cs:
--------------------------------------------------------------------------------
 1 | using System;
 2 | using System.Collections.Generic;
 3 | using System.Text;
 4 | 
 5 | namespace VectorMap2Opendrive
 6 | {
 7 |     public class VM_Node : BaseData
 8 |     {
 9 |         public int PID;
10 | 
11 |         public override void LoadData(int nRowIndex, DataFile file)
12 |         {
13 |             int readIndex = 0;
14 |             m_ID = int.Parse(file.getString(readIndex)); readIndex++;
15 |             PID = int.Parse(file.getString(readIndex)); readIndex++;
16 |         }
17 |     }
18 | }
19 | 


--------------------------------------------------------------------------------
/VectorMap2Opendrive/VM_Point.cs:
--------------------------------------------------------------------------------
 1 | using System;
 2 | using System.Collections.Generic;
 3 | using System.Text;
 4 | 
 5 | namespace VectorMap2Opendrive
 6 | {
 7 |     public class VM_Point   :   BaseData
 8 |     {
 9 |         public double B;
10 |         public double L;
11 |         public double H;
12 |         public double Bx;
13 |         public double Ly;
14 |         public int ReF;
15 |         public int MCODE1;
16 |         public int MCODE2;
17 |         public int MCODE3;
18 | 
19 |         public override void LoadData(int nRowIndex, DataFile file)
20 |         {
21 |             int readIndex = 0;
22 |             m_ID = int.Parse(file.getString(readIndex)); readIndex++;
23 |             B = double.Parse(file.getString(readIndex)); readIndex++;
24 |             L = double.Parse(file.getString(readIndex)); readIndex++;
25 |             H = double.Parse(file.getString(readIndex)); readIndex++;
26 |             Bx = double.Parse(file.getString(readIndex)); readIndex++;
27 |             Ly = double.Parse(file.getString(readIndex)); readIndex++;
28 |             ReF = int.Parse(file.getString(readIndex)); readIndex++;
29 |             MCODE1 = int.Parse(file.getString(readIndex)); readIndex++;
30 |             MCODE2 = int.Parse(file.getString(readIndex)); readIndex++;
31 |             MCODE3 = int.Parse(file.getString(readIndex)); readIndex++;
32 |         }
33 |     }
34 | }
35 | 


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/VectorMap2Opendrive/VectorMap2Opendrive.csproj:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" encoding="utf-8"?>
 2 | <Project ToolsVersion="15.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
 3 |   <Import Project="$(MSBuildExtensionsPath)\$(MSBuildToolsVersion)\Microsoft.Common.props" Condition="Exists('$(MSBuildExtensionsPath)\$(MSBuildToolsVersion)\Microsoft.Common.props')" />
 4 |   <PropertyGroup>
 5 |     <Configuration Condition=" '$(Configuration)' == '' ">Debug</Configuration>
 6 |     <Platform Condition=" '$(Platform)' == '' ">AnyCPU</Platform>
 7 |     <ProjectGuid>{A5B4C1F5-9D4A-4FDC-BBC1-876125F964D8}</ProjectGuid>
 8 |     <OutputType>Exe</OutputType>
 9 |     <RootNamespace>VectorMap2Opendrive</RootNamespace>
10 |     <AssemblyName>VectorMap2Opendrive</AssemblyName>
11 |     <TargetFrameworkVersion>v3.5</TargetFrameworkVersion>
12 |     <FileAlignment>512</FileAlignment>
13 |     <Deterministic>true</Deterministic>
14 |     <TargetFrameworkProfile />
15 |   </PropertyGroup>
16 |   <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Debug|AnyCPU' ">
17 |     <PlatformTarget>AnyCPU</PlatformTarget>
18 |     <DebugSymbols>true</DebugSymbols>
19 |     <DebugType>full</DebugType>
20 |     <Optimize>false</Optimize>
21 |     <OutputPath>bin\Debug\</OutputPath>
22 |     <DefineConstants>DEBUG;TRACE</DefineConstants>
23 |     <ErrorReport>prompt</ErrorReport>
24 |     <WarningLevel>4</WarningLevel>
25 |   </PropertyGroup>
26 |   <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Release|AnyCPU' ">
27 |     <PlatformTarget>AnyCPU</PlatformTarget>
28 |     <DebugType>pdbonly</DebugType>
29 |     <Optimize>true</Optimize>
30 |     <OutputPath>bin\Release\</OutputPath>
31 |     <DefineConstants>TRACE</DefineConstants>
32 |     <ErrorReport>prompt</ErrorReport>
33 |     <WarningLevel>4</WarningLevel>
34 |   </PropertyGroup>
35 |   <ItemGroup>
36 |     <Reference Include="System" />
37 |     <Reference Include="System.Data" />
38 |     <Reference Include="System.Xml" />
39 |     <Reference Include="UnityEngine">
40 |       <HintPath>.\UnityEngine.dll</HintPath>
41 |     </Reference>
42 |   </ItemGroup>
43 |   <ItemGroup>
44 |     <Compile Include="BaseData.cs" />
45 |     <Compile Include="CSVFileManager.cs" />
46 |     <Compile Include="DataFile.cs" />
47 |     <Compile Include="OpenDrive.cs" />
48 |     <Compile Include="OpenDRIVE_1_4H.cs" />
49 |     <Compile Include="Program.cs" />
50 |     <Compile Include="Properties\AssemblyInfo.cs" />
51 |     <Compile Include="VM_DtLane.cs" />
52 |     <Compile Include="VM_Lane.cs" />
53 |     <Compile Include="VM_Node.cs" />
54 |     <Compile Include="VM_Point.cs" />
55 |   </ItemGroup>
56 |   <ItemGroup>
57 |     <None Include="app.config" />
58 |   </ItemGroup>
59 |   <Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
60 | </Project>


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/VectorMap2Opendrive/VectorMap2Opendrive.sln:
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 1 | 
 2 | Microsoft Visual Studio Solution File, Format Version 12.00
 3 | # Visual Studio 15
 4 | VisualStudioVersion = 15.0.28307.645
 5 | MinimumVisualStudioVersion = 10.0.40219.1
 6 | Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "VectorMap2Opendrive", "VectorMap2Opendrive.csproj", "{A5B4C1F5-9D4A-4FDC-BBC1-876125F964D8}"
 7 | EndProject
 8 | Global
 9 | 	GlobalSection(SolutionConfigurationPlatforms) = preSolution
10 | 		Debug|Any CPU = Debug|Any CPU
11 | 		Release|Any CPU = Release|Any CPU
12 | 	EndGlobalSection
13 | 	GlobalSection(ProjectConfigurationPlatforms) = postSolution
14 | 		{A5B4C1F5-9D4A-4FDC-BBC1-876125F964D8}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
15 | 		{A5B4C1F5-9D4A-4FDC-BBC1-876125F964D8}.Debug|Any CPU.Build.0 = Debug|Any CPU
16 | 		{A5B4C1F5-9D4A-4FDC-BBC1-876125F964D8}.Release|Any CPU.ActiveCfg = Release|Any CPU
17 | 		{A5B4C1F5-9D4A-4FDC-BBC1-876125F964D8}.Release|Any CPU.Build.0 = Release|Any CPU
18 | 	EndGlobalSection
19 | 	GlobalSection(SolutionProperties) = preSolution
20 | 		HideSolutionNode = FALSE
21 | 	EndGlobalSection
22 | 	GlobalSection(ExtensibilityGlobals) = postSolution
23 | 		SolutionGuid = {6B1D4DDD-8939-418D-98AF-E99A263E7AAD}
24 | 	EndGlobalSection
25 | EndGlobal
26 | 


--------------------------------------------------------------------------------
/VectorMap2Opendrive/app.config:
--------------------------------------------------------------------------------
1 | <?xml version="1.0" encoding="utf-8"?>
2 | <configuration>
3 | <startup><supportedRuntime version="v2.0.50727"/></startup></configuration>
4 | 


--------------------------------------------------------------------------------