[Task] Defining the Open Lane Area

[mjorgecruz]

Description

Construct a Polygon:

• Combine the boundary points by ordering the left lane points in one direction and the right lane points in the reverse order. This creates a closed polygon that represents the drivable area.

Optional Buffering:

• You might offset these boundaries inward to create a safety margin, ensuring your trajectory stays within a safe zone.

Priority

Medium