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cd ~/dev/software/matlab_scripts/map_print/map_print2/lane_graph.m

Each node is a base point for the trajectory. represents the index in the lane graph to receive the information you need for your trajectory:

struct LaneGraph{

vector node_x
vecotr node_y

The graph edges correspond to center lines, along which a vehicle may drive. Parallel lanes are not modeled, instead extra edges are added for lane changes in discrete locations.

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