Add new routing graph for road shoulder

[HansRobo]

Description

Abstract

• add new traffic rule germanRoadShoulderPassableVehicleRules
• add new routing graph for VEHICLE_WITH_ROAD_SHOULDER
• stop giving special treatment to shoulder_lanelet
  • delete HDMapUtils::getPreviousShoulderLaneletIds
  • delete HDMapUtils::getNextShoulderLaneletIds
• add routing graph type argument
  • HDMapUtils::getPreviousLaneletIds
  • HDMapUtils::getNextLaneletIds
  • HDMapUtils::getRoute

Background

To get NPCs to work properly around the road shoulder, you need to create a routing graph that includes the road shoulder.

Details

routingWithRoadShoulder test

testing routing from 34693 to 34615 without lane changes.
(This case where you must go through road shoulder)

• with default routing graph(VEHICLE): no route
• with new routing graph(VEHICLE_WITH_ROAD_SHOULDER): has route

References

Destructive Changes

Although there have been some additions to function arguments, all of this has been carefully implemented to ensure backward compatibility.

Known Limitations

[github-actions]

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[sonarcloud]

Quality Gate passed

Issues
0 New issues
5 Accepted issues

Measures
0 Security Hotspots
55.8% Coverage on New Code
0.0% Duplication on New Code

See analysis details on SonarQube Cloud