Provides a way to execute the DistanceRouter via maliput_query and inspect Routes.

[agalbachicar]

🎉 New feature

Goes hand in hand with: maliput/maliput#619

Summary

Extends maliput_query so it can execute the DistanceRouter and evaluate Route results.

Test it

Try the following in your console once the workspace has been properly built and sourced:

$ maliput_query --maliput_backend=malidrive --xodr_file_path=TShapeRoad.xodr \
> FindRoutes 1_0_1 1 4_0_1 10 true 1000 1000
[INFO] Loading road network using malidrive backend implementation...

[INFO] RoadNetwork loaded successfully.

The Routes from (lane: 1_0_1, lane_pos: (s = 1, r = 0, h = 0)) to (lane: 4_0_1, lane_pos: (s = 1, r = 0, h = 0)) are: 
        - Route(phases: [Phase(index: 0, lane_s_range_tolerance: 0.05, start_positions: [(lane: 1_0_1, lane_pos: (s = 1, r = 0, h = 0)), ], end_positions: [(lane: 1_0_1, lane_pos: (s = 0, r = 0, h = 0)), ], lane_s_ranges: [Range(lane_id: 1_0_1, s_range:[1, 0]), ]), Phase(index: 1, lane_s_range_tolerance: 0.05, start_positions: [(lane: 4_0_1, lane_pos: (s = 8, r = 0, h = 0)), ], end_positions: [(lane: 4_0_1, lane_pos: (s = 1, r = 0, h = 0)), ], lane_s_ranges: [Range(lane_id: 4_0_1, s_range:[8, 1]), ]), ])

Checklist

• Signed all commits for DCO
• Added tests
• Added example and/or tutorial
• Updated documentation (as needed)
• Updated migration guide (as needed)
• Consider updating Python bindings (if it affects the public API)

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

[agalbachicar]

FYI @francocipollone , no need to review yet.

[agalbachicar]

It's ready for review @francocipollone

[francocipollone]

LGTM