diff --git a/data/sample_parking/landmarks.txt b/data/sample_parking/landmarks.txt
index a95dd4740046afdc183e710e965d8e479d7a853d..fff102418810beccb30828933c66986cb4a62e39 100644
--- a/data/sample_parking/landmarks.txt
+++ b/data/sample_parking/landmarks.txt
@@ -1,43 +1,3 @@
-101.000000 1.223837 0.973837 -0.785398 2
-102.000000 1.276163 0.973837 0.785398 2
-103.000000 -0.026163 2.526163 -2.356194 2
-104.000000 -0.026163 2.473837 -0.785398 2
-105.000000 -0.026163 5.526163 -2.356194 2
-106.000000 -0.026163 5.473837 -0.785398 2
-107.000000 1.276163 7.026163 2.356194 2
-108.000000 1.223837 7.026163 -2.356194 2
-109.000000 2.526163 5.473837 0.785398 2
-110.000000 2.526163 5.526163 2.356194 2
-111.000000 2.526163 2.473837 0.785398 2
-112.000000 2.526163 2.526163 2.356194 2
-113.000000 5.723837 0.973837 -0.785398 2
-114.000000 5.776163 0.973837 0.785398 2
-115.000000 4.473837 2.526163 -2.356194 2
-116.000000 4.473837 2.473837 -0.785398 2
-117.000000 5.776163 4.026163 2.356194 2
-118.000000 5.723837 4.026163 -2.356194 2
-119.000000 7.026163 2.473837 0.785398 2
-120.000000 7.026163 2.526163 2.356194 2
-121.000000 5.776163 -0.923837 2.356194 2
-122.000000 5.723837 -0.923837 -2.356194 2
-123.000000 3.526163 -0.923837 2.356194 2
-124.000000 3.473837 -0.923837 -2.356194 2
-125.000000 1.276163 -0.923837 2.356194 2
-126.000000 1.223837 -0.923837 -2.356194 2
-127.000000 -1.923837 2.473837 0.785403 2
-128.000000 -1.923837 2.526163 2.356200 2
-129.000000 -1.923837 5.473837 0.785403 2
-130.000000 -1.923837 5.526163 2.356200 2
-131.000000 1.223837 8.923837 -0.785393 2
-132.000000 1.276163 8.923837 0.785403 2
-133.000000 3.473837 8.923837 -0.785393 2
-134.000000 3.526163 8.923837 0.785403 2
-135.000000 5.723837 8.923837 -0.785393 2
-136.000000 5.776163 8.923837 0.785403 2
-137.000000 8.923837 5.526163 -2.356194 2
-138.000000 8.923837 5.473837 -0.785398 2
-139.000000 8.923837 2.526163 -2.356194 2
-140.000000 8.923837 2.473837 -0.785398 2
201.000000 2.600000 -0.800000 -1.570796 3
1001.000000 0.000000 -0.600000 -1.570796 0
1031.000000 8.600000 1.500000 0.000000 0
@@ -46,8 +6,8 @@
1081.000000 -1.600000 6.500000 -3.141587 0
1082.000000 -0.400000 1.500000 -0.000000 0
1101.000000 4.100000 4.200000 0.000000 0
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+1102.000000 4.100000 7.000000 0.000000 1
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1104.000000 4.100000 1.500000 0.000000 0
1105.000000 2.900000 6.500000 -3.141593 0
1106.000000 4.100000 5.800000 -3.141593 0
diff --git a/data/sample_parking/sample_parking.xodr b/data/sample_parking/sample_parking.xodr
index 6166182fc173b823fc2697adc303175294164e24..e05b1fd7c22917f25c2a8e704545c68fea2d96ed 100644
--- a/data/sample_parking/sample_parking.xodr
+++ b/data/sample_parking/sample_parking.xodr
@@ -65,8 +65,6 @@
</objects>
<signals>
<signal s="0.0000000000000000e+00" t="-6.0000000000000000e+00" id="1001" name="parking0_1" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="314" subtype="-1" value="0.0000000000000000e+00" />
- <signal s="1.2500000000000000e+01" t="1.0000000000000000e+01" id="101" name="locsign1" dynamic="no" orientation="+" zOffset="0.0000000000000000e+00" country="DEU" type="1000" subtype="-1" value="0.0000000000000000e+00" />
- <signal s="1.2500000000000000e+01" t="-9.5000000000000000e+00" id="113" name="locsign13" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="1000" subtype="-1" value="0.0000000000000000e+00" />
</signals>
</road>
<road name="road1" length="2.5000000000000000e+01" id="1" junction="-1">
@@ -109,10 +107,7 @@
</laneSection>
</lanes>
<objects />
- <signals>
- <signal s="1.2500000000000000e+01" t="1.0000000000000000e+01" id="107" name="locsign7" dynamic="no" orientation="+" zOffset="0.0000000000000000e+00" country="DEU" type="1000" subtype="-1" value="0.0000000000000000e+00" />
- <signal s="1.2500000000000000e+01" t="-9.5000000000000000e+00" id="111" name="locsign11" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="1000" subtype="-1" value="0.0000000000000000e+00" />
- </signals>
+ <signals />
</road>
<road name="road2" length="1.5707963270000000e+01" id="2" junction="-1">
<link>
@@ -227,9 +222,6 @@
<signal s="5.0000000000000000e+00" t="-6.0000000000000000e+00" id="1031" name="max50_3_1" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="274" subtype="-1" value="5.0000000000000000e+01" />
<signal s="5.6000000000000000e+01" t="6.0000000000000000e+00" id="1032" name="parking_3_1" dynamic="no" orientation="+" zOffset="0.0000000000000000e+00" country="DEU" type="314" subtype="-1" value="5.0000000000000000e+01" />
<signal s="3.0000000000000000e+01" t="6.0000000000000000e+00" id="1033" name="parking_3_2" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="314" subtype="-1" value="5.0000000000000000e+01" />
- <signal s="1.5000000000000000e+01" t="1.0000000000000000e+01" id="110" name="locsign10" dynamic="no" orientation="+" zOffset="0.0000000000000000e+00" country="DEU" type="1000" subtype="-1" value="5.0000000000000000e+01" />
- <signal s="1.5000000000000000e+01" t="-9.5000000000000000e+00" id="120" name="locsign20" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="1000" subtype="-1" value="5.0000000000000000e+01" />
- <signal s="4.5000000000000000e+01" t="-9.5000000000000000e+00" id="119" name="locsign19" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="1000" subtype="-1" value="5.0000000000000000e+01" />
</signals>
</road>
<road name="road4" length="1.5707963270000000e+01" id="4" junction="-1">
@@ -320,10 +312,7 @@
</laneSection>
</lanes>
<objects />
- <signals>
- <signal s="1.2500000000000000e+01" t="4.0000000000000000e+01" id="109" name="locsign9" dynamic="no" orientation="+" zOffset="0.0000000000000000e+00" country="DEU" type="1000" subtype="-1" value="0.0000000000000000e+00" />
- <signal s="1.2500000000000000e+01" t="-9.5000000000000000e+00" id="118" name="locsign18" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="1000" subtype="-1" value="0.0000000000000000e+00" />
- </signals>
+ <signals />
</road>
<road name="road6" length="2.5000000000000000e+01" id="6" junction="-1">
<link>
@@ -365,10 +354,7 @@
</laneSection>
</lanes>
<objects />
- <signals>
- <signal s="1.2500000000000000e+01" t="1.0000000000000000e+01" id="104" name="locsign4" dynamic="no" orientation="+" zOffset="0.0000000000000000e+00" country="DEU" type="1000" subtype="-1" value="0.0000000000000000e+00" />
- <signal s="1.2500000000000000e+01" t="-9.5000000000000000e+00" id="116" name="locsign16" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="1000" subtype="-1" value="0.0000000000000000e+00" />
- </signals>
+ <signals />
</road>
<road name="road7" length="1.5707963270000000e+01" id="7" junction="-1">
<link>
@@ -463,10 +449,6 @@
<signals>
<signal s="5.0000000000000000e+00" t="-6.0000000000000000e+00" id="1081" name="max50_8_1" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="274" subtype="-1" value="5.0000000000000000e+01" />
<signal s="5.5000000000000000e+01" t="6.0000000000000000e+00" id="1082" name="max50_7_2" dynamic="no" orientation="+" zOffset="0.0000000000000000e+00" country="DEU" type="274" subtype="-1" value="5.0000000000000000e+01" />
- <signal s="1.5000000000000000e+01" t="1.0000000000000000e+01" id="103" name="locsign3" dynamic="no" orientation="+" zOffset="0.0000000000000000e+00" country="DEU" type="1000" subtype="-1" value="0.0000000000000000e+00" />
- <signal s="1.5000000000000000e+01" t="-9.5000000000000000e+00" id="115" name="locsign15" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="1000" subtype="-1" value="0.0000000000000000e+00" />
- <signal s="4.5000000000000000e+01" t="-9.5000000000000000e+00" id="114" name="locsign14" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="1000" subtype="-1" value="0.0000000000000000e+00" />
- <signal s="4.5000000000000000e+01" t="1.0000000000000000e+01" id="102" name="locsign2" dynamic="no" orientation="+" zOffset="0.0000000000000000e+00" country="DEU" type="1000" subtype="-1" value="0.0000000000000000e+00" />
</signals>
</road>
<road name="road9" length="1.5707963270000000e+01" id="9" junction="-1">
@@ -581,14 +563,11 @@
</objects>
<signals>
<signal s="3.2000000000000000e+01" t="-6.0000000000000000e+00" id="1101" name="parking_10_1" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="314" subtype="-1" value="0.0000000000000000e+00" />
- <signal s="6.0000000000000000e+01" t="-6.0000000000000000e+00" id="1102" name="giveway_10_1" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="205" subtype="-1" value="0.0000000000000000e+00" />
- <signal s="0.0000000000000000e+00" t="6.0000000000000000e+00" id="1103" name="giveway_10_2" dynamic="no" orientation="+" zOffset="0.0000000000000000e+00" country="DEU" type="205" subtype="-1" value="0.0000000000000000e+00" />
+ <signal s="6.0000000000000000e+01" t="-6.0000000000000000e+00" id="1102" name="semaphore_10_1" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="1000001" subtype="-1" value="0.0000000000000000e+00" />
+ <signal s="0.0000000000000000e+00" t="6.0000000000000000e+00" id="1103" name="semaphore_10_2" dynamic="no" orientation="+" zOffset="0.0000000000000000e+00" country="DEU" type="1000001" subtype="-1" value="0.0000000000000000e+00" />
<signal s="5.0000000000000000e+00" t="-6.0000000000000000e+00" id="1104" name="max50_10_1" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="274" subtype="-1" value="5.0000000000000000e+01" />
<signal s="5.5000000000000000e+01" t="6.0000000000000000e+00" id="1105" name="max50_10_2" dynamic="no" orientation="+" zOffset="0.0000000000000000e+00" country="DEU" type="274" subtype="-1" value="5.0000000000000000e+01" />
<signal s="4.8000000000000000e+01" t="-6.0000000000000000e+00" id="1106" name="parking_10_2" dynamic="no" orientation="+" zOffset="0.0000000000000000e+00" country="DEU" type="314" subtype="-1" value="5.0000000000000000e+01" />
- <signal s="1.5000000000000000e+01" t="1.0000000000000000e+01" id="106" name="locsign6" dynamic="no" orientation="+" zOffset="0.0000000000000000e+00" country="DEU" type="1000" subtype="-1" value="0.0000000000000000e+00" />
- <signal s="1.5000000000000000e+01" t="-1.0000000000000000e+01" id="108" name="locsign8" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="1000" subtype="-1" value="0.0000000000000000e+00" />
- <signal s="4.5000000000000000e+01" t="1.0000000000000000e+01" id="105" name="locsign5" dynamic="no" orientation="+" zOffset="0.0000000000000000e+00" country="DEU" type="1000" subtype="-1" value="0.0000000000000000e+00" />
</signals>
</road>
<road name="juntion_0_-1_1_-1" length="2.0000000000000000e+01" id="1000" junction="1">
@@ -627,7 +606,6 @@
<signals>
<signal s="1.0000000000000000e+00" t="-6.0000000000000000e+00" id="1111" name="parking_11_1" dynamic="no" orientation="+" zOffset="0.0000000000000000e+00" country="DEU" type="314" subtype="-1" value="0.0000000000000000e+00" />
<signal s="1.0000000000000000e+00" t="-8.0000000000000000e+00" id="201" name="globlocsign1" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="1001" subtype="-1" value="0.0000000000000000e+00" />
- <signal s="1.0000000000000000e+01" t="-9.5000000000000000e+00" id="112" name="locsign12" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="1000" subtype="-1" value="0.0000000000000000e+00" />
</signals>
</road>
<road name="juntion_1_1_0_1" length="2.0000000000000000e+01" id="1001" junction="1">
@@ -861,9 +839,7 @@
<objects>
<object s="1.0000000000000000e+01" t="-1.2000000000000000e+01" id="perimeter2" name="perimeter2" dynamic="no" orientation="none" zOffset="2.5000000000000000e+00" validLength="0.0000000000000000e+00" type="building" hdg="0.0000000000000000e+00" pitch="0.0000000000000000e+00" roll="0.0000000000000000e+00" length="5.0000000000000000e+00" width="1.2000000000000000e+02" height="5.0000000000000000e+00" />
</objects>
- <signals>
- <signal s="1.0000000000000000e+01" t="-9.5000000000000000e+00" id="117" name="locsign17" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="1000" subtype="-1" value="0.0000000000000000e+00" />
- </signals>
+ <signals />
</road>
<road name="juntion_5_-1_10_1" length="1.5709921580400758e+01" id="1007" junction="2">
<link>
diff --git a/data/sample_parking_loc/goals_A.yaml b/data/sample_parking_loc/goals_A.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..865e1c66676bfbd6cd0c063084e7da8283902081
--- /dev/null
+++ b/data/sample_parking_loc/goals_A.yaml
@@ -0,0 +1,18 @@
+goals:
+ - id: goal1
+ x: 8.18
+ y: 3.50
+ yaw: 1.5709
+ type: 0
+
+ - id: goal2
+ x: -1.22
+ y: 3.50
+ yaw: 4.7124
+ type: 1
+
+ - id: goal3
+ x: 3.75
+ y: 3.5
+ yaw: 1.5709
+ type: 2
diff --git a/data/sample_parking_loc/goals_B.yaml b/data/sample_parking_loc/goals_B.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..40fc12cb863dcf30407e492cacb1531bf3f9cc92
--- /dev/null
+++ b/data/sample_parking_loc/goals_B.yaml
@@ -0,0 +1,18 @@
+goals:
+ - id: goal1
+ x: -0.77
+ y: 3.50
+ yaw: 1.5709
+ type: 0
+
+ - id: goal2
+ x: 3.25
+ y: 3.50
+ yaw: 4.7124
+ type: 1
+
+ - id: goal3
+ x: 7.8
+ y: 7.15
+ yaw: 4.7124
+ type: 2
diff --git a/data/sample_parking_loc/landmarks.txt b/data/sample_parking_loc/landmarks.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f2413e7deaf616415587264073d5621bf34318c3
--- /dev/null
+++ b/data/sample_parking_loc/landmarks.txt
@@ -0,0 +1,54 @@
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diff --git a/data/sample_parking_loc/sample_parking_loc.xodr b/data/sample_parking_loc/sample_parking_loc.xodr
new file mode 100644
index 0000000000000000000000000000000000000000..c39c3e6dbb01007d833747873a5d87a822211de9
--- /dev/null
+++ b/data/sample_parking_loc/sample_parking_loc.xodr
@@ -0,0 +1,1106 @@
+<?xml version="1.0" ?>
+<OpenDRIVE>
+ <header revMajor="1" revMinor="1" name="Testfile" version="1" date="Thu Feb 8 14:24:06 2007" north="0.0000000000000000e+00" south="0.0000000000000000e+00" east="0.0000000000000000e+00" west="0.0000000000000000e+00" />
+ <road name="road0" length="2.5000000000000000e+01" id="0" junction="-1">
+ <link>
+ <predecessor elementType="road" elementId="9" contactPoint="end" />
+ <successor elementType="junction" elementId="1" contactPoint="end" />
+ </link>
+ <type s="0.0000000000000000e+00" type="town" />
+ <planView>
+ <geometry s="0.0000000000000000e+00" x="0.0000000000000000e+00" y="0.0000000000000000e+00" hdg="0.0000000000000000e+00" length="2.5000000000000000e+01">
+ <line />
+ </geometry>
+ </planView>
+ <elevationProfile />
+ <lateralProfile />
+ <lanes>
+ <laneSection s="0.0000000000000000e+00">
+ <left>
+ <lane id="1" type="driving" level="false">
+ <link />
+ <width sOffset="0.0000000000000000e+00" a="4.4000000000000004e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+ <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="2.9999999999999999e-01" laneChange="both" />
+ <speed sOffset="0.0000000000000000e+00" max="6.0000000000000000e+01" />
+ </lane>
+ </left>
+ <center>
+ <lane id="0" type="driving" level="false">
+ <link />
+ <roadMark sOffset="0.0000000000000000e+00" type="broken" weight="standard" color="standard" width="2.0000000000000001e-01" laneChange="both" />
+ </lane>
+ </center>
+ <right>
+ <lane id="-1" type="driving" level="false">
+ <link />
+ <width sOffset="0.0000000000000000e+00" a="4.4000000000000004e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+ <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="2.9999999999999999e-01" laneChange="both" />
+ <speed sOffset="0.0000000000000000e+00" max="6.0000000000000000e+01" />
+ </lane>
+ </right>
+ </laneSection>
+ </lanes>
+ <objects>
+ <object s="5.0000000000000000e+00" t="-6.6699999999999999e+00" id="1" name="parking_0_1" dynamic="no" orientation="none" zOffset="0.0000000000000000e+00" validLength="0.0000000000000000e+00" type="parkingSpace" hdg="0.0000000000000000e+00" pitch="0.0000000000000000e+00" roll="0.0000000000000000e+00" length="8.0000000000000000e+00" width="4.4000000000000004e+00" height="1.0000000000000000e+00">
+ <parkingSpace access="all" restrictions="none">
+ <marking side="front" type="solid" width="1.4999999999999999e-01" color="standard" />
+ <marking side="rear" type="solid" width="1.4999999999999999e-01" color="standard" />
+ <marking side="right" type="solid" width="1.4999999999999999e-01" color="standard" />
+ </parkingSpace>
+ </object>
+ <object s="1.3000000000000000e+01" t="-6.6699999999999999e+00" id="2" name="parking_0_2" dynamic="no" orientation="none" zOffset="0.0000000000000000e+00" validLength="0.0000000000000000e+00" type="parkingSpace" hdg="0.0000000000000000e+00" pitch="0.0000000000000000e+00" roll="0.0000000000000000e+00" length="8.0000000000000000e+00" width="4.4000000000000004e+00" height="1.0000000000000000e+00">
+ <parkingSpace access="all" restrictions="none">
+ <marking side="right" type="solid" width="1.4999999999999999e-01" color="standard" />
+ <marking side="front" type="solid" width="1.4999999999999999e-01" color="standard" />
+ <marking side="rear" type="solid" width="1.4999999999999999e-01" color="standard" />
+ </parkingSpace>
+ </object>
+ <object s="2.1000000000000000e+01" t="-6.6699999999999999e+00" id="3" name="parking_0_3" dynamic="no" orientation="none" zOffset="0.0000000000000000e+00" validLength="0.0000000000000000e+00" type="parkingSpace" hdg="0.0000000000000000e+00" pitch="0.0000000000000000e+00" roll="0.0000000000000000e+00" length="8.0000000000000000e+00" width="4.4000000000000004e+00" height="1.0000000000000000e+00">
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