[Research] Maliput

[Agustin Alba Chicar]

We need to define if we can work with Maliput as if it is Manifold. The main guidelines are:

1. Graph structure or something similar to get an in memory representation
2. Use as a library

[Agustin Alba Chicar]

This PR contains relevant information --> https://github.com/RobotLocomotion/drake/pull/5185

[Agustin Alba Chicar]

In the automotive example, this shows how to create a Dragway from Maliput API.

[Agustin Alba Chicar]

I believe this is the exact method --> https://github.com/RobotLocomotion/drake/blob/master/drake/automotive/maliput/monolane/loader.cc#L227

This method is the equivalent to manifold::rndf:RNDF

Btw, Maliput road network structure has two implementations. One for a dragway and the other for monolane.

[Agustin Alba Chicar]

For the purpose of a car that follows an specific path, we can take the approach of TrajectoryCar.

We can see how to create a car of this type here.

[Agustin Alba Chicar]

I have started a project --> https://github.com/ekumenlabs/drake/tree/maliput_sample/drake/examples/maliput_sample to investigate the API and try generate a simple program that loads a monolane file and then prints all the items on it.

Next step is to get all the positions of a lane and print them.

[Agustin Alba Chicar]

Updated repository with LanePositions and GeoPosition conversion. Also added rotations at each control point of the others.

There are other which are BranchPoints, LaneEndSets and LaneEnds that are available at the RoadGeometry level. This values are realated by the following:

• A BranchPoint is a junction o a start point.
• A LaneEndSet is a set of LaneEnds.
• A LaneEnd is a wrapper of a tuple given by a Lane and a point. The point could be the beginning or the ending of the lane.

[Agustin Alba Chicar]

From the above reseach we got the following:

• Maliput + Monolane implementation can be used as a library.
• It loads an in memory representation of the road. However, it is not represented as a Graph so we need to wrap it to provide path-finding or other similar algorithms.
• We can get geometric information from Maliput's implementations and adapt to them. Also, we can take our custom resolution in terms of road definition.