Easily accessible C++ object structure of OpenDRIVE automatically generated from the OpenDRIVE XSD schema. Currently only OpenDRIVE 1.4 is supported.

• CodeSynthesis XSD
• Xerces-C++

For an exemplary build on a fresh Ubuntu Linux 20.04 x64 (gcc 9.3.0) we first install the dependencies:

sudo apt install xsdcxx
sudo apt install libxerces-c-dev

With CMake as plattform-independent build tool xodr can be configured for various native build environments. For our Ubuntu environment with Make:

cd xodr
mkdir build
cd build
cmake ..

To build the project afterwards run

make

If everything went fine, you will find the resulting library in the lib/ folder of the project root.

For convenience the underlying OpenDRIVE schema is provided in schema/ but can be obtained for free from ASAM in recent and previous versions. The C++ class structure was generated with CodeSynthesis XSD and can be automatically re-generated using the XML data binding tool xsd. The code used in xodr was generated with xsd version 4.0.0 as follows:

xsd cxx-tree --hxx-suffix .h --cxx-suffix .cpp --reserved-name access=parkingSpace_access --reserved-name link=lane_link schema/OpenDRIVE_1.4H.xsd

Due to XSD's FLOSS Exception the generated code is includable in various Free/Libre and Open Source Software projects, see XSD Licence.