Improve junctions joint with lanes

[Agustin Alba Chicar]

This is to solve this situation:

[Agustin Alba Chicar]

There is some bibliography to tackle this issue. We also can include a proof of concept of markers capabilities.

[Agustin Alba Chicar]

After some research and study of the junctions, at least the ones present in Darpa example, there are three cases of junctions:

• Both entry and exit waypoints are extreme roads waypoints
• Exclusively an exit or an entry are extreme road waypoints
• Both entry and exit waypoints are not extreme waypoints

This might be reduced, but I prefer to get a first iteration over the junction generation and see if we can improve it then.

[Agustin Alba Chicar]

Some improvements:

[Agustin Alba Chicar]

Bug here with two junctions between two segments.

[Javier Iván Choclin]

Added new classes interfaces. refs #25

→ <<cset 3e17bc80a830>>

[Javier Iván Choclin]

Added functions to the creators for the lane terminations and junction classes. refs #25

→ <<cset 1a491b6786d0>>

[Javier Iván Choclin]

Added function to get all the exits from a section. refs #25

→ <<cset 976c81abcf71>>

[Javier Iván Choclin]

Utility methods to get the poses of the waypoints of the entry and exit points. refs #25

→ <<cset c5abcc7334be>>

[Javier Iván Choclin]

Created junctions. Need to test. refs #25

→ <<cset 15751ab0900f>>

[Javier Iván Choclin]

Improved visualization. refs #25

→ <<cset 55ebe95aaf6e>>

[Javier Iván Choclin]

Changed from triangle fan to triangle list. refs #25

→ <<cset a58a59d81c53>>

[Javier Iván Choclin]

Almost there with first polygons. refs #25

→ <<cset 2476c62c4770>>

[Javier Iván Choclin]

Almost there with polygons. refs #25

→ <<cset c46752934100>>

[Javier Iván Choclin]

First iteration in junctions. refs #25

→ <<cset 2e8a8a23926a>>

[Javier Iván Choclin]

Removed junction limitation that makes two junctions between the same segments bug. refs #25

→ <<cset e87a493c7745>>

[Javier Iván Choclin]

Some docs inclusion. refs #25

→ <<cset 305e64a56cb8>>

[Javier Iván Choclin]

Added docs to rndf_gazebo_plugin file. refs #25

→ <<cset ad7e03024a70>>

[Javier Iván Choclin]

Removed distances constraint. refs #25

→ <<cset 0a7819e9406b>>

[Javier Iván Choclin]

Rebase from master. refs #25

→ <<cset ee31312f2747>>

[Javier Iván Choclin]

Added new classes interfaces. refs #25

→ <<cset 301ddf3174e6>>

[Javier Iván Choclin]

Added functions to the creators for the lane terminations and junction classes. refs #25

→ <<cset 462c0168bbf0>>

[Javier Iván Choclin]

Improved visualization. refs #25

→ <<cset 082702d97136>>

[Javier Iván Choclin]

First iteration in junctions. refs #25

→ <<cset f55c0091ec5a>>