Abstract

This PR contains the continuation of #1443

Details

There is no longer lanelet::Id passed into TrafficSink, but an optional<lanelet::Id>. It is still used solely for the purpose of visualization, where nullopt means that the sink was placed too far from the lane. Resigning from passing lanelet::Id altogether turned out to be problematic, because ends of multiple lanelets overlap and the corresponding lanelet could not be determined.
Additionally I would like to propose an alternative approach to the set sinkable_entity_types variable.
I have removed the special case if sinkable_entity_types is empty, then all entities should sink. In my opinion it could be misleading (someone could pass empty sinkable_entity_types and expect that no sinking behavior will occur). Now if we want to sink all entities, we need to provide the full set sinkable_entity_types.
I have removed the bool auto_sink variable, which could be equivalent to sinkable_entity_types.empty() with this approach.
The default behavior is sinkable_entity_types = {}, that is no auto sinks are generated.