Implementation:CARLA simulator Carla InformationSet

Knowledge Sources	CARLA
Domains	Road Network, Simulation
Last Updated	2026-02-15 05:00 GMT

Overview

The InformationSet class provides typed access to heterogeneous road information records (e.g., lane width, elevation, geometry) stored in a distance-ordered collection.

Description

carla::road::InformationSet is a MovableNonCopyable wrapper around a RoadElementSet<unique_ptr<element::RoadInfo>>. It provides three template methods for retrieving typed road information:

• GetInfos<T>() -- returns all records of type T from the entire set, iterating with a RoadInfoIterator that filters by dynamic type
• GetInfo<T>(s) -- returns the single most relevant record of type T at distance s, using a reverse subset query to find the record with the largest distance less than or equal to s
• GetInfos<T>(min_s, max_s) -- returns all records of type T within a distance range, handling both forward (min < max) and reverse (min > max) ordering

The underlying RoadInfoIterator performs dynamic type filtering using dynamic_cast, allowing the set to store mixed RoadInfo subclasses (width, elevation, geometry, lane offset, speed, etc.) in a single sorted container.

Usage

This class is used internally by Road and Lane to store and retrieve their associated road information records. It is a core part of the road data model's type-safe heterogeneous information storage.

Code Reference

Source Location

• Repository: CARLA
• File: LibCarla/source/carla/road/InformationSet.h

Signature

class InformationSet : private MovableNonCopyable {
public:
  InformationSet() = default;
  InformationSet(std::vector<std::unique_ptr<element::RoadInfo>> &&vec);

  template <typename T>
  std::vector<const T *> GetInfos() const;

  template <typename T>
  const T *GetInfo(const double s) const;

  template <typename T>
  std::vector<const T *> GetInfos(const double min_s, const double max_s) const;
};

Import

#include "carla/road/InformationSet.h"

I/O Contract

Input	Type	Description
double | Distance along road for point query
double | Distance range for range query
Template type | Subclass of element::RoadInfo to filter by

Output	Type	Description
const T * | Pointer to the matching record, or nullptr
std::vector<const T *> | All matching records of type T

Usage Examples

// Get lane width at a specific s on a lane
const auto *width_info = info_set.GetInfo<element::RoadInfoLaneWidth>(25.0);
if (width_info) {
  double width = width_info->GetPolynomial().Evaluate(25.0);
}

// Get all elevation records
auto elevations = info_set.GetInfos<element::RoadInfoElevation>();

Related Pages

• Environment:CARLA_simulator_Carla_Simulation_Runtime