Add PerformLaneChangeControlStrategy

MantleAPI/include/MantleAPI/Map/i_lane_location_query_service.h

@@ -68,8 +68,16 @@ public:
   ///@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;
+
+  /// @brief Calculate the lane id of the relative target lane from a given position
+  ///
+  ///@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.
+  ///@return Lane id that is at the given lateral shift (relative_lane_target) from given position (reference_pose_on_lane).
+  ///        No value, if reference pose is not on a lane or if the lane doesn't have a suitable adjacent lane
+  virtual std::optional<mantle_api::UniqueId> GetRelativeLaneId(const mantle_api::Pose& reference_pose_on_lane, int relative_lane_target) const = 0;
 };
 
 }  // namespace mantle_api
 
-#endif  // MANTLEAPI_MAP_ILANELOCATIONQUERYSERVICE_H
\ No newline at end of file
+#endif  // MANTLEAPI_MAP_ILANELOCATIONQUERYSERVICE_H

MantleAPI/include/MantleAPI/Traffic/control_strategy.h

@@ -15,6 +15,7 @@
 #ifndef MANTLEAPI_TRAFFIC_CONTROLSTRATEGY_H
 #define MANTLEAPI_TRAFFIC_CONTROLSTRATEGY_H
 
+#include <MantleAPI/Common/i_identifiable.h>
 #include <MantleAPI/Common/spline.h>
 #include <MantleAPI/Common/trajectory.h>
 #include <MantleAPI/Common/vector.h>
@@ -44,7 +45,8 @@ enum class ControlStrategyType
   kFollowRoute,
   kAcquireLaneOffset,
   kFollowTrajectory,
-  kUpdateTrafficLightStates
+  kUpdateTrafficLightStates,
+  kPerformLaneChange
 };
 
 struct ControlStrategy
@@ -222,6 +224,19 @@ struct FollowTrajectoryControlStrategy : public ControlStrategy
   std::optional<TrajectoryTimeReference> timeReference;
 };
 
+struct PerformLaneChangeControlStrategy : public ControlStrategy
+{
+  PerformLaneChangeControlStrategy()
+  {
+    movement_domain = MovementDomain::kLateral;
+    type = ControlStrategyType::kPerformLaneChange;
+  }
+
+  mantle_api::UniqueId target_lane_id{0};
+  units::length::meter_t target_lane_offset{0.0};
+  TransitionDynamics transition_dynamics{};
+};
+
 }  // namespace mantle_api
 
 #endif  // MANTLEAPI_TRAFFIC_CONTROLSTRATEGY_H

MantleAPI/test/MantleAPI/Test/test_utils.h

@@ -151,6 +151,13 @@ public:
     return pose;
   }
 
+  std::optional<UniqueId> GetRelativeLaneId(const mantle_api::Pose& reference_pose_on_lane, int relative_lane_target) const override
+  {
+    std::ignore = reference_pose_on_lane;
+    std::ignore = relative_lane_target;
+    return {};
+  }
+
 private:
   MockVehicle test_vehicle_{};
 };