I am more concerned with how the road is represented then the library structure. Will we still divide lanes into lanelets which are built from 2 linestrings which are built from points following the lanelet2 standard.
I don’t think we have to change the data structure that much, but apparently @mch has a comment on that. I haven’t done much investigation about computation time as he has done.
I agree that the way the library is implemented is hard to follow (lots and lots of templates). Is this the reason you believe it should not be used in Autoware.Auto?
Yes. I am not sure if we want to use the library that we can’t fully understand. If we notice something going wrong in the library, I’m not confident to track down the root cause.