RNDF integration into Drake

[Agustin Alba Chicar]

Log the progress of the PR so as to track it.

[Agustin Alba Chicar]

First PR contains only the RoadGeometry implementation without tests Builder and Loader classes. --> https://github.com/RobotLocomotion/drake/pull/6198

A second PR will contain, probably the Builder.

A third PR, the Loader + sample maps.

This was sketched up with Stonier and Liang.

[Agustin Alba Chicar]

Child issues for firts PR:

• Issue #153
• Issue #154

[Agustin Alba Chicar]

Addressed comments of the second round of feature review. For the record, we should both compile with bazel and with cmake. When running cmake, I recommend calling it like:

#!

env CC=gcc-4.9 CXX=g++-4.9 FC=gfortran-4.9 cmake -DCMAKE_BUILD_TYPE:STRING=Debug -DUSE_INCLUDE_WHAT_YOU_USE:BOOL=ON -DUSE_LINK_WHAT_YOU_USE:BOOL=ON -DUSE_SANITIZER=Address  ..

You can use another option for USE_SANITIZER based on your needs. Nevertheless this may satisfy most of our needs. See this link for more details.

Something useful too, is to run clang-format . AFAIK it's not integrated into bazel / cmake / git-hook so it should be done manually. See this link for more details.

[Agustin Alba Chicar]

Moved to feature-review stage.

[Agustin Alba Chicar]

First PR was merged.

[Agustin Alba Chicar]

New PR with spline helpers: https://github.com/RobotLocomotion/drake/pull/6256

[Agustin Alba Chicar]

Received feedback on the last PR. Need to address changes for it.

[Agustin Alba Chicar]

Sent corrections to the first pass of reviews.

[Agustin Alba Chicar]

Sent corrections to the second pass of reviews.

[Agustin Alba Chicar]

After addressing third review, we need to move to the platform-review.

[Agustin Alba Chicar]

Second PR merged. Sent updates regarding spline comparison. Here is the summary of the research.

[Agustin Alba Chicar]

Start to code third PR.

Here it is: https://github.com/RobotLocomotion/drake/pull/6349

[Agustin Alba Chicar]

Adressed comments for third PR.

[Agustin Alba Chicar]

New comments have been addressed.

[Agustin Alba Chicar]

After a couple of comments, we moved on to pĺatform review stage.

[Agustin Alba Chicar]

A spin of has been created. We need to first create a refactor on Monolane and RNDF implementations of Maliput and promote them to Maliput so we reduce code duplicates.

PR: https://github.com/RobotLocomotion/drake/pull/6506

[Agustin Alba Chicar]

PR merged. Consequently I'm going to rebase code into https://github.com/RobotLocomotion/drake/pull/6349

[Agustin Alba Chicar]

New PR released. https://github.com/RobotLocomotion/drake/pull/6569

• Liang did a first pass and we addressed those comments. Doxygen documentation issue couldn't be resolved. We shared our tests with him so as to solve them with him.