Add zone properties and zone lane events for GoToZone feature

[chart-singapore]

New feature implementation

Implemented feature

This is part of an 8-repo Simple GoToZone feature. Tracked in Stage A of open-rmf/rmf#726.

Adds zone concepts to rmf_traffic::agv::Graph: named zones with geometry, internal vertices (carrying priority and group metadata), and transition lanes bridging internal vertices to external waypoints. Adds Lane::ZoneEntry/Lane::ZoneExit events, to be attached as entry_event or exit_event on a lane that enters or exits a zone, and consumed by ExecutePlan.cpp when populating the phases.

Implementation description

What's added

Graph-layer zone data

Three new classes under Graph::ZoneProperties add a zone concept to the graph:

• Graph::ZoneProperties — a named zone on a specific map (level), with geometry, a type label, internal vertices, and transition lanes.
• ZoneProperties::InternalVertex — an internal waypoint of a zone, carrying a name, position, group, and priority.
• ZoneProperties::TransitionLane — a lane bridging an internal vertex to an external waypoint, with is_entry_lane / is_exit_lane flags.

Top-level Graph accessors: find_known_zone(name) and all_known_zones().

Lane events

Lane::ZoneEntry(zone_name, duration) and Lane::ZoneExit(zone_name, duration) — new lane event types (both inherit from a shared ZoneSession base). Attached to nav-graph lanes as entry_event or exit_event.

GenAI Use

We follow OSRA's policy on GenAI tools

• I used a GenAI tool in this PR.
• I did not use GenAI

[codecov]

Codecov Report

❌ Patch coverage is 0% with 118 lines in your changes missing coverage. Please review.
✅ Project coverage is 21.56%. Comparing base (d5de7f3) to head (47754ad).

Files with missing lines	Patch %	Lines
rmf_traffic/src/rmf_traffic/agv/Graph.cpp	0.00%	107 Missing ⚠️
rmf_traffic/include/rmf_traffic/agv/Graph.hpp	0.00%	5 Missing ⚠️
rmf_traffic/test/unit/agv/test_Planner.cpp	0.00%	4 Missing ⚠️
..._traffic/agv/planning/DifferentialDrivePlanner.cpp	0.00%	2 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main     #133      +/-   ##
==========================================
- Coverage   21.63%   21.56%   -0.08%     
==========================================
  Files         361      361              
  Lines       30466    30584     +118     
  Branches    14292    14312      +20     
==========================================
+ Hits         6592     6594       +2     
- Misses      14319    14436     +117     
+ Partials     9555     9554       -1     

Flag	Coverage Δ
tests	21.56% <0.00%> (-0.08%)	⬇️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files with missing lines	Coverage Δ
..._traffic/agv/planning/DifferentialDrivePlanner.cpp	39.16% <0.00%> (-0.09%)	⬇️
rmf_traffic/test/unit/agv/test_Planner.cpp	12.86% <0.00%> (-0.03%)	⬇️
rmf_traffic/include/rmf_traffic/agv/Graph.hpp	0.00% <0.00%> (ø)
rmf_traffic/src/rmf_traffic/agv/Graph.cpp	33.05% <0.00%> (-9.54%)	⬇️

... and 1 file with indirect coverage changes

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[xiyuoh]

I'm getting started on setting these PRs up for testing, running into build failure (related to CI failing I believe).

[xiyuoh]

ZoneProperties doesn't have a default constructor so this line fails. Instead of updating its Implementation separately, you can parse args into ZoneProperties itself, since it will instantiate the pimpl upon construction.

[xiyuoh]

InternalVertex's _pimpl->priority is a size_t, needs to be explicitly cast otherwise the 0 passed in is considered int

[jixiancgh]

Hi @xiyuoh , I have done a quick fix for both issues. Thanks!