h Lanelets,  Regulatory Elements, ...


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# 2. Routing Graph
Answer queries regarding relations to other lanelets
* Possible relations:
    * `left`, `right` (reachable though lane change)
    * `adjacent left`, `adjacent right` (directly adjacent but not legally  reachable)
    * `succeeding`
    * `conflicting`

Reachable set of lanelets:
* Lanelets that can be reached within a specified amount of routing cost

Possible routes:
* Routes that can be taken starting at a given lanelet

<img src="images/ma