ph->getRoute(*fromLanelet,
                                    *toLanelet, routingCostId);
write(std::string("route.osm"), *route->getLaneletMap());
```
* `Optional` will be uninitialized (false) if there's no route
* This lanelet map will include all lanelets that are part of the route
* As said, a route is independent from the routing graph

---
# 6. Routes
Example route through `Oststadtkreisel`:

<img src="images/lanelet_map_route_oststadtkreisel.jpg" alt="Drawing" style="width: 670px;"/>


---

# 6. Ro