nes and returns lanes
    * `Lane` is a number of consecutive lanelets in a route until they end, merge or diverge
]

.pull-light-right[
##### Shortest Path:
<img src="images/straight_shortest_path.svg" alt="Drawing" style="float: right; width: 200px; padding-bottom:20px;"/>

##### Route:
<img src="images/straight_route.svg" alt="Drawing" style="float: right; width: 200px;"/>
]


---

# 3. Initialization and workflow
#### Load map (*lanelet2_io*):
```cpp
auto uniqueMap = load("map.osm");
LaneletMapPtr map =