Logical connections for RNDF lanes in maliput implementation

[Andrés Fortier]

Research on logical connections in road network intersections with splines in Drake (branch points). Expected byproduct is an example of two lanes defined by RNDF waypoints connected by an spline geometrically and with proper semantics in maliput API.

[Agustin Alba Chicar]

Based on the current implementation of Maliput a Lane can have only two start and end points. The start point receives traffic and the end gives the traffic to another lane. Besides, the connection between a start point and an end point of two lanes could be a lane itself. So given the following arrangement in RNDF:

1.1.1 ---- 1.1.2 ----- 1.1.3
              |
          2.1.2
              |
              |
          2.1.1

Where 2.1.2 is an exit waypoint that connects to 1.1.2 (entry waypoint).

It will produce the following set of Maliput lanes:

• L1: 1.1.1 to 1.1.2
• L2: 1.1.2 to 1.1.3
• L3: 2.1.1 to 2.1.2
• L4: 2.1.2 to 1.1.2

It will produce the following set of segments:

• S1 : L1 & L2
• S2: L3
• S3: L4

It will produce a junction with S1, S2 and S3. Something to keep in mind is that the junction may have segments with no intersections between each other.

[Agustin Alba Chicar]

From a cloned Monolane implementation to a RNDF, I have created (using the builder class) a T shape and two cars that drive over it. Some pics can be seen here:

From here we validate the point made on the other comment as we have produced the exact sequence of lanes.

[Agustin Alba Chicar]

Code can be seen here --> https://github.com/ekumenlabs/drake/blob/test/rndf_junctions/drake/automotive/automotive_demo.cc and https://github.com/ekumenlabs/drake/blob/test/rndf_junctions/drake/automotive/rndf_generator.cc

[Agustin Alba Chicar]

Here are some pictures of the same example but with only one car and all the roads are splines lanes. Line and arc lanes have been removed to keep the branch as simple as possible. Also some updates on the README and example running facilities have been introduced.

[Agustin Alba Chicar]

More complex situations with multiple lanes are going to be worked out in issue #115. The issue is concluded.