practice_4_solution.txt

For the practice 4 solution I used some code from the lanelet2_global_planner.py code in
the full version autoware_mini folder. I used shapely to generate a start point and a goal point
based on the self.current_position and the self.goal_point variables I already had available.

After that I created a global path by using the PathWrapper class which will return an object
that encapsulates all the waypoints in a given list and provides useful geometries such as a linestring.

I was then able to project the start point distance and a new goal point distance using the
linestring.interpolate() function on the global path object. Then I could interpolate from the new
goal point distance a new goal on the path and update the self.goal_point member variable with that
value.

Finally, I used another useful part of the PathWrapper class, the extract waypoints member function.
This allowed me to trim the final lanelet and returned to me the final trimmed waypoints which I could
then publish.