Split lane based on adjacent lanes in RNDF for Maliput

[Agustin Alba Chicar]

Based on #137, we need to split the lanes into multiple pieces and group them into segments.

Parent issue #115

[Agustin Alba Chicar]

From issue #129, we get the following behavior with multilanes:

or

We need to get something like:

In all cases, the blue dots are RNDF waypoints, the arrows are the logical connections and the gray rectangles are the built lanes for Maliput.

[Agustin Alba Chicar]

The following set of images show the tests cases for 2-lanes roads. The aim of them is to illustrate different cases where waypoints are aligned on the r direction of the road (in Maliput terms) and no extra control point should be added. Also, we include some cases where some are aligned and some others not. Further generalization may be needed but this is a base starting point to have as a minimum coverage.

As for reference, we can find in the pictures the following:

• Blue dots: these are waypoints in the RNDF format.
• Arrows: these are logical connections in the RNDF format.
• Red lines: these are just lines in the r direction in Maliput that show if the waypoints are aligned or not.
• Red dots: are new control points on the path of the lane set as cuts of the original path to let the RNDF lanes be cut into smaller Maliput lanes and grouped into Maliput segments.

So these are the cases:

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[Agustin Alba Chicar]

For N-Lane cases, I have added the following:

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[Agustin Alba Chicar]

Code has been merged to this branch. Commit hash: 63df8072df03e8b2bab3e2d112a7ecad0cd4218f