Merge branch 'add_relative_lane_position_issue_5513624' into 'master'

Add FindRelativeLanePoseDistanceFrom in query service interface

See merge request eclipse/simopenpass/scenario_api!39

MantleAPI/include/MantleAPI/Map/i_lane_location_query_service.h

@@ -59,6 +59,15 @@ public:
   ///@param direction  Direction to go along the lane from the reference_pose_on_lane. The orientation of the reference pose is used to determine the forward direction. "Forward" means aligned with the positive x direction of the local coordinate system defined by the pose.
   ///@return Pose that is at the given distance from reference_pose_on_lane in the specified direction. The new orientation is parallel to the lane orientation at the target position.
   virtual std::optional<Pose> FindLanePoseAtDistanceFrom(const Pose& reference_pose_on_lane, units::length::meter_t distance, Direction direction) const = 0;
+
+  /// @brief Calculate a new pose which is at certain distance in a relative lane from the reference_pose_on_lane.
+  ///
+  ///@param reference_pose_on_lane  Starting position. Must be on a lane.
+  ///@param relative_target_lane  Shift of the target position in number of lanes relative to the lane where the reference pose is located. Positive to the left, negative to the right.
+  ///@param distance  The longitudinal distance along the centerline of the lane closest to the reference pose. The orientation of the reference pose is used to determine the direction. Positive distance means aligned with the positive x direction of the local coordinate system defined by the pose.
+  ///@param lateral_offset  Lateral offset to the target lane
+  ///@return Pose that is at the given distance from reference_pose_on_lane in a relative lane. The new orientation is parallel to the lane orientation at the target position.
+  virtual std::optional<Pose> FindRelativeLanePoseAtDistanceFrom(const Pose& reference_pose_on_lane, int relative_target_lane, units::length::meter_t distance, units::length::meter_t lateral_offset) const = 0;
 };
 
 }  // namespace mantle_api

MantleAPI/test/MantleAPI/Test/test_utils.h

@@ -141,6 +141,15 @@ public:
     Pose pose{};
     return pose;
   }
+  std::optional<Pose> FindRelativeLanePoseAtDistanceFrom(const Pose& reference_pose_on_lane, int relative_target_lane, units::length::meter_t distance, units::length::meter_t lateral_offset) const override
+  {
+    std::ignore = reference_pose_on_lane;
+    std::ignore = relative_target_lane;
+    std::ignore = distance;
+    std::ignore = lateral_offset;
+    Pose pose{};
+    return pose;
+  }
 
 private:
   MockVehicle test_vehicle_{};