Kickoff research on maliput API

[Andrés Fortier]

In order to prepare to integrate RNDF parser in Drake we should research on maliput API. As a first step, try to create a new maliput implementation that constructs a single street from (0,0) to (100, 100)

[Michel Hidalgo]

@andres_fortier such road can be achieved through proper parameterization of the existing dragway implementation. Do you want to:

• Parameterize dragway?
• Simplify dragway implementation?
• Or try to rewrite it from scratch as an exercise?

[Andrés Fortier]

Write the minimum piece of code that achieves that. I guess it would be a mix of your points 2 and 3. Aside from having it working, it is important that we understand how/why it works, as we will later need to do more complex things.

[Michel Hidalgo]

Out of simplifying dragway implementation, I developed a prototype, oneway implementation. Both driveable and lane bounds are the same, and it lacks lane shoulders. The automotive demo was also adapted to make use of this implementation (for visualization purposes mainly).

To test it, the procedure is as follows:

1. Fetch the oneway branch from our drake fork.

2. While at the repo root, build the automotive demo with Bazel.

   bazel build drake/automotive:demo

3. While at the repo root, run the automotive demo with proper params.

   bazel run drake/automotive:demo -- -num_dragway_lanes 1

A short video of the results is available here.

[Andrés Fortier]

@nkoenig just FYI, this is the first maliput API implementation I told you about today (and the video :)).