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Aligned to the OSM via UTM origin. Requires the map to be loaded so the origin is known.
Point Cloud
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Validation Poses
For route testing — place a start pose and goal pose to verify a path through the map.
Goal: not set
Goal Poses
Production atl-goal-poses.json — the named destinations used by the planning stack, loaded per-map from the aerovect_map repo.
LanesLanelets
Hidden lanelets
Polygons
Validation posesRegulatory elements
Goal poses
TOOL
Centerline
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Connect — Checkpoints
Feasibility
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Filled dot = anchored to a lanelet (snaps centerline & inherits width). Hollow dot = free point.
Drag any checkpoint to move it; right-click on one to delete.
Width tapers linearly between anchored checkpoints.
Crank up if the inside of a tight turn looks pinched.
Lower = fewer boundary nodes (easier to drag individually after confirm).
G2 Connect — Tune
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Feasibility
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Higher = spline hugs lanelet A's direction longer. Values above ~0.6 can produce S-curves on tight bends.
Higher = spline approaches lanelet B head-on for longer.
Sharp turns are OK as long as the planner can hold this speed. Lower = more permissive feasibility.
Anchor mode: click in the viewer to drop the midpoint.
Useful at short distances where the entry+exit weights would produce a zigzag.
Boundary anchors
Turn
Taxiway connect — Tune
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NODE DENSITY
Higher = fewer nodes. Nodes go where the curve bends, not at a fixed step.
Cap on the gap between nodes along gentle stretches.
Anchors: click to add · drag to move · right-click to delete