From c0287ad20389fe16a3c1ea4f48fe5d9086bfd70e Mon Sep 17 00:00:00 2001
From: Timo Hanke <Timo.Hanke@bmw.de>
Date: Mon, 6 Feb 2017 11:41:27 +0100
Subject: [PATCH] add documentation images

---
 doc/images/highway_exit.png             | Bin 0 -> 12159 bytes
 doc/images/highway_exit.svg             | 285 ++++++++++++++++++++++++
 doc/images/line_approximation_error.png | Bin 0 -> 6915 bytes
 doc/images/line_approximation_error.svg | 143 ++++++++++++
 4 files changed, 428 insertions(+)
 create mode 100644 doc/images/highway_exit.png
 create mode 100644 doc/images/highway_exit.svg
 create mode 100644 doc/images/line_approximation_error.png
 create mode 100644 doc/images/line_approximation_error.svg

diff --git a/doc/images/highway_exit.png b/doc/images/highway_exit.png
new file mode 100644
index 0000000000000000000000000000000000000000..cf505917d152d18300b1732a73c422dface2169f
GIT binary patch
literal 12159
zcmaia1yodR+wKOGmQVyF6{S<9r9?uyQ@TYY1Zf5kMjAwr4k_stMd?8pQd&BP?vSqY
z4Da`T|5|6Af1Ozf&fd?Cr|$cTJ497k_69x`J_JEG<ep2ZLl9;p`2RF6Hu&xSOg$O=
zx#lb>r-=(b-nbUQ;5(k<b3JF!ei;1^Ly{%g9UQ#lBCYG9;b7(BX8Ohwa&vRzdTIa4
z+1%98lFQ+Zb@HYN6$IUd<fNWzx~FVRdblJHr3!49+HuC|=uIu~8O?DhODeWW>SKDm
zr0!td$iUMu^2D}zlFPaPJ;QF3z|sF5TbHBC@|u<N^}QV0FR_HxF6wa<&l~Za$SZ`V
z=A^$_yecp5j;pHm&4b-+i98o6w|_7`-6NEOI@LYQRY*&pPfsgcGSYhX>=~sL`ZMr6
z^biUL9~)QI{ey$u(EFs|ld8c&hL~**%HU#S3q90DpJ(xppomN<U}69ty}=-2`p84d
ztLw;Ble-t)qx{idtT2?dZh`BgIXGxS!1w3m`-)h)9OMbzRyI}o9523ckej1#ka>+a
z3*qGALN<Lmb=W&T9(H!-U3)Ya_K=Dk{dmTtJ4#xYt2zym4h{}Qt&->$#api>K*k%x
z?l{yRTX7)&Ii|Ry`BspoHInwp_HHM47$x!5)hyEREF`MwmWqgfYpaYJ>fY588EYIT
zYTUSC7klZ=X63;&|Fq3}Nr3$JjbG&QY){bZ6@u^89|$THy9w^oeQRKfrqUc4nU|@S
z)i*OfeZf!XK7(OlWra^mbM+h|>1n5;!ouc1#V^$K^jK|0(C-=h+2VF2yH3fk;rau<
zO~Pm35O0*y3qjan%{08vrk2F~pV#5vaHG-VML&oX%8TdrlD75sv>-stT8ySvKB~z{
z*DCms$y`!01|QUX0(~w%$9EUGUU3@tY16-{_d2w^sfU&8?7v<QzaI1<-IoUH9sW*(
z^^LLOba9cl*+LkC%Ek*#HtVEZr@Ol7G-G{nAxbJX8S7zd%R?ols;r;36j0;R<Ig#7
zW7g|!tB4iI8;BrWY(7EH^}>o%%tpmsbG402iNbvdN>YK5W@YU<d@+OZh<{Q4G4nb*
zml#U$J)V7YI}<gyP;uJ&SbR0^0#8mZy5UAwRQ^NpMID%K@!PV4;r31H(zD(*95sz|
za=(G&3@-kS7&^!KWu4opf^}0)GVB~R^w9hQUChOfm!~$Xu#=2AbtpbDCbWJaFU`!w
zUWkLb?6G%C%cOAi{He7{jh_!L^y&CKs8f8v#zy#6|NG$Z!Xs8sQ)XtI?0SDcqa6Y-
zreif-M_kXkTN3jv`SbAZGZUC1Blq_^;MRV}@$~$s4AKr~JKa&|&*kwUa4zWhVZ(0o
z(qlF@8q_Cxst7kpSjwT%5PB|o8}g#)#yR+6HBTWPUIWa}m-L*Ld^TQ4nPnGy$PbyE
zo9EzmNF_)!1o<^(;7j`ypLfpe-MQ@hZlGpdlZB1CG~)Vxrosa8tUr?TshhHs2ES<X
zOQ+Mn<T>2^z_5P<PUfH#nK+MZkK>jsrn?Ruo$H03JQANzjymphvc)>#V8`fcINLrZ
z3_Ss(97)@teL{6>&)l{v>i83V^od-(`$AApJl{QW%^NpvbSx(HY|qE2m<^Y-x!vF0
z+uNB7<4$v6LGL(u$A9;(t{{5R{m%|1k3@I%0Re$5y4^=O{3-&pBM{N(9c^Jc`y73~
zqRjCD`n=x%efdJo$8^)lpKsfGdT^lZ9M*A~RP=RL6zCWuI2CXgT$K3>nQx1}`hUH9
z-p`*u1E**P#>PUUqe)G7!otF$Q&TxPE*cx5BJIMmqm`AFyu3UT^69NZ)O>pkVh*cu
zt|crwC53|nCM%00LKjtb#1w-klclEX9n|bUHDzSFv+pTdP*4!qLW~_C2s^7TJA%p_
zXC*-(GTl*06~6v`oRb6g^eM*f?rvZUJq?YNiVC<1D=TYWNeMYQJrqeJ#J~&F(z^ZE
zv##uDa&nTAis~l0xPSl!91cg!5fc+<6&5P!dPm3vjE#YNV$2-vpm4DR5OX@(+6;Vr
zTDsnqqlCEwtQ;^`SN_njFnG(MyU6nLvft0IUo}T!APF6v_+G?AW@g!C@xhUigkFSN
z>F~38q3vUD1Of8n$D4UWkM&1i%GcG^NfO9r^|Ab=fk^ZPS6zfNP{h|T5d^X^?GOG&
z)eqU;))%BA#LiffDAp$6q^Z&`-X8W_MwI8};oiA(2QfFk;hF(Ax3c=u>uge`4=0bb
zt<rZV;u8=6jS2AaO?W850MOBq>kC?0Sm27{5Cvh;($fBC!FUX2mOcos9mAC>nI|MB
zCJ5u+y~PAoPugebIAi+zm5rd1l9QujA8bAj9$vdmP7R%$oCF$0y!l~(FvE&2>|k(a
zA;ZTD6D_H#(puJf6}?0Oot&ON6c%RVsBdH6l$iI?|2vJ@H#R;FhfO}6pT2YVjkLzR
z5XrfiFh4(&NRX7#>uU_gFZ)(p5OZO*V}f+X^FoxROVyAdI(D`r{y!^=<!8i065K{R
z{^o@@_sH<?adO@O)Aw9K;TE45dP&NY43I}=sN&YRZM7yl)Q8++R&Lxnlsy+?WyRCd
z(i-{t@>WUhuDlH|m1zJYXrFnM_(q5>tmPe&-q+yZr$kOpPW4v(sj9X%c_jvVXQ`P9
zTF(md@c6wR|JGzxnF=eDhu7AM#D4m8Pe|wvSVm>K9BKsDa&vQ0Nb!q@^78V(qSDY?
zhAY9DJko92$8B&bb7*L&8Ws6ORZs8EesxI+m&pF0hMEpzXJ_ZmdSws(q*CD36-9FF
zHLb0!d6`b56_!WsDzHZxHrM<rDjtdK{JN!EZU%QLs;s=_dwDv2oiHAK#hhh7VkgyY
zDjN33wyJvL+xVAS&ph?~GVrc>K9W7*Ptkk5ayom+L_;Iy@7_m71yutBk=LImCJZ!n
zbQCsXm{nR$+|i9<S(wNo!9t;nlC@?3(VhdA^ofUs#kH)gtj9ET=&4~0#ak1kijX<m
ziSi9>p7ratdS+ylwr-+bsCA;3)hDH7h=vM%>-;O2GhmsvwY5ojc>GwG@Rxv!i;LCA
zEgn71QSbH+ym}gm**Bx#zf+&gy4K_zB=Nm6yPbsY&rJzMeA(QA5ZWiM&tF&RM<^xp
zw=nQtJstP$20|dGwLPwogs8KWk)5J8K%x=udwJN<xVA5kY&cus&MGT&?5MZQsmT}y
zIp?R>AH-UB^m(l`T&b;V9ShPeV&~y~aEYB(J7Gl`5zV@fG0q@Jqg8QgW$kuXe2Wq?
zaV(?xb0IwHGcZuh!ta9#Io1%EZr16#PRGVRjg8;HhQh-wGAq|AD^8i1qcVT8ReZ7H
z$&-0CPGNC)-7j%5NCt%kxulFi4dRBb#)~+6=4?5P^!NCNFib8Mf{-y$bbBD9gTPPz
zr}p|MHeA2shqQ~xvkv0qVr*BW<fsowSi+M$Y#ri|qp<kkCj#Zt?<4&u9@5OeHNR31
zUrwtyE%&aluCA`yp6!WW?tS$MQ%Y|%S;mA22?yDPovvS(Rnv4Qfo5Enu5vGX>t#B!
zRh_J^3=Ki*Cq>uDQmelXV&s=r`Q{@KCeK&b-XwyvL$(cr0wlfcFw>p~;vMpb5~XgK
zkY`sRIF(2b5I{mGQKO9=7SH8wvz2jn8Bee=j3dvTLQW0?>WW(7LF0o!Nh)c$dF}4A
zTxXTGsJ*lTBJ6;XlT_{6QOBP)yp)9KJ@vWI=C=UH)nu}~-D~HTk8l*!(`HWZ2@0a~
z#63MEevYiDyx~3{Evu%gdY4^B=g`_@BT7;FMCQ$H!aK_w#mMb4Jdk_YQWyLBu<gQl
z_~XD72^QvhxbQB`V1{3M-5^$JU^z*gNR!MjMc(%fxetL<t8UyNuAw$9A;Aptb1cQ*
zr5JkD*b{!q;z&itqw_oe&CipS<XGSIp*?PKZ!ycuhMlgc7)~8Ijp%<NkRT4T{jA6*
z_XT9z^Toh3RX$$cz)#o8$2Z(({Be4xrnqPyQ$@HR%?4$WL(J&N@<X~$^R2Zt^JeYd
z@4U?NuV2Z;Px_*CuRvnAQw$d*mWYKzG?NiT7djT{xYD0feR**j9i6fM=plNLy2UE+
zk%l#{v$^8utROPG*qxv3SFe@SR2Sa`r~5=6zMefAdsRAnyp$d#e2~NKgZJXQ{X*P3
z^ak5&i-ntmjIG%R!hz#}l7MMv947)t27NAMAq8%3Zhk+_=U{YzShLUxN$X~UYK@?<
zFhQS=)n($OdCgCq=DjNy*qp1g`eP~0s|<F2Lcq^+6=6AIxR85c#%Gw#&CTkkKi5jk
z`_Pzzw@0aZZe(Z(F6wn4MeB7q>9#ZFwZ%$w5tDv)4Le}A7DpC+`w(-<*`p>LdMPC}
ztVZw|C5~Yv!%v;gL+^i<S;d5c&Gq$gq~O)pCU8q#W8)~0(-W=@ukAk!K?8899f1tT
ziLWm;L|U%`9G-oDO#zyp1pjXR56n>;9vuATMTl-3+bEeqGB!5$xum2d^8ZDCKy=!n
z!$J=^W7&?9;UFg`rxP7M`g=F_zbMOHhYx)~Da7qRgs8UgDqxY#8vX+<8K<<A&`%4^
zTM+BD9cs2yex{;AHDQ0_jkBz(!Ftn2#sJlP1OxI4ec_pmA<8QsV}YP$MkDy)@yeF7
zv+OpU+XeM=Z7icN&`eC?YNQDZ-oJnEY{cb#ykL7aOFV=N*BroR<90($c@cm9I!HV4
zKN;%i_mdX)xsU}lq;}~hGE+K$hw_Xkd0=}7c?|w!Pg9T`Z4YXAeMnrPcyfi^e$Iet
z9v^?~xRe@?*orFpW6m2nw^>7McKk+m5Y^iHaeFST%6+2>e`Ulne&6);Aizxas)rO4
z*=vIJ7oKoU-U7|WZ?A)x$ReQ6eSzD>4zx&ViqRZ%dYEpoKStf>*{l3ntH?rw<^N!P
zRO4<HcirH-PwX4k;)<E-7{f;6_o|-VyPcH8)DZn1J$+WCcyLr-*66k;pSssjf&a^Z
z*!Y^vF>(c4!uS6yT?@n;5q9m7oz=pc-o9x6g9F7Py~jSY%Wqz0j_Gs8FQCa-(kmuI
zq*^JlN&8LaI1Z-{{QiEkVB7duM>)EyZE4k?Y#v)S{?>ir6I=dko^Z47q>IG&S76}U
zeXq`@b{ZkGUypk@;6t7#T&oT~g^3zhbL{*f6H#6#dP_FaqS;odrQ95wS0FttQ&}D#
z^(9%^3?<{-g(HVv13S4T2HTN?%Ytu(5VOubMq6WA?}m-J(;Y<~4+LGF^+c%|iZYyr
zgeje74BWr~081Mo@R75|0d}F5ovVidVSQ_H{1Iw#$VWA9(zbdH5=_yeq)9otbmr1a
zoNQ}<i2)JTgql_kb!;Zb**<&PWQyi4IE8N$*Xu$02vtglptB2?zX>{>o5?BbvL2&B
zke}-F2#wVE_DupveivnDnd9|YTlP(6jWuU$>-_ZV9yF_J(Hsl}iSC~Wc>jch0?@sl
zGhNjkI?aMMLb88p%I~J@j=~geS5(k;l7)4OV8#WO_llyPRdhyk$x<Utu#nHPAJyFK
zDYD%t?7it+SAB7!z3kHT5=TS(;2xo#A(~yiK_|7rz)VEjCU4dSAz+8xhk<{QCCBqa
zp++O4qqLNlhpU@Lxy!$Da$jWEgS0FS_cz*#J^5+CB+YGC<*B(!jhoE^Gi7g&s?_3g
z$MN);$7X-!o0>_%zZY=)@KgWCC{x~V7=YM<kz(^iMOni*ijLVoe#C?l=m$(;U8QF>
zuTN_;5f6=yqcf?KKG27LDR^c3zRZ2+t|Ak+-8ZtM+Kr<vafd);R?tA=JMr`Un?c0X
zI|20G@4~|$GG?Fy4og%1_!EBlh?Ro#wNi&LTOBTU;_0JBBfDuBme_^+J!s|^9u}Ra
z4I>@QeJi%StFCayQ4<T2@qW)r@5TShm)2YCKGazJc?<^%Lj9$k33#?Eegm_ySCzH(
zvM$#9<28nXD3s6SrlhowtV~6A{r#-O&=YJ-{d@<Wyu`)6Tdbh-Z{Hf@N3`NVp<*{M
zyNDSV&0&8Jh7^{p>(P({Fj|qltSl6M-baSVs{c)8WCpLV&BfDaU4-KuXV}`<;IfB4
z(wphCn0V7^-8<}dGB3K@X2f9(+bqUMchkl-aYr~3`aE!bXL5@!LikUwDpgo7da1|W
zHB%SFj4sCKOBz@cNa}uBj(-&-@a|f{&ELGCw6x6qPW4syuZGA~xU@>fbJL<1{1CRd
z$f3)Tk9$q?=)3O|jwcDjUcv@%cEcNluQm{#1;`OoUeY5~g;KV@8?Roou<j^Qw=HQj
zn+f?iE81_`gulNEq#-5<&3zE;)HaC4KDgB!pKejy^KO-H4dbRu7;OV@9?X&f!q0H&
zcZp&#LyY>9RZQJt4PWCvdzGeASk<yiZ#GX!?ME+dG<5A|yoHbK>UwD4+|8Q5v6sKI
zoJG+z+p9$NxtQ}7P`23IMRKj{1YWN`eVOmokNgMi@&dFgX8dUL=PS;!ag|br(qSCO
zZobsKV%oqy!O-8oT~Y+2BQDRUZ(a*vTX7<wAe!xyrMBGAxf-QPq>x+W9jgAhi&LG9
z97YA#vQO-<tC!LO+Pdb&{)su=u`h@sBN%5F;$LlxUus~dJ0Nb1e4LmdHE=V0Qd0ku
zfbDkt>{ZkYv)Itu*vTt*FcuR#AH>bo2<q#5U||uS@wqW5jH|+Q^bzymYOjkadQ@!4
zW3;Yx1JV||&Zp>HlQjOX60jN?il3nZR6K%)X>Jafy**d|zyQ33o{H+-zzP|;ap`c@
z=g$(lXA*b)($eSvPySp~L?|aWCl&yd!SL{K+_3bRn1JwbLem{XE{b*6nzAF|R3d5V
zT~~Kudce#K4GjU^mynag8(ejs_7l+1F1#(4uA+OkzHVn>*>3DF$r^<W@W*hfae7&$
zpP<Nurs9M78j`4FMW!pZkAsapv!mE>zIoiy(IM&T`mOB9sFdRT{2Vb?IAj|e8>@KP
zcxQQaRg&ewCM+~FlVRB<rc{rXz_o^!D_%kO47}U?{5)=$_@hUdVJ(>ZKzV?R;z5Em
zL>cg`b_+=-r}DC+jg1XS0_5MnF2N!=;Pu>Rbzi(-{~L9&y<OIOMa2PAM9cw27?AFL
z&$?b3d^Cke0&Kp#ud$`dcMC8no7sf)^r(&wdDER!z@o_`ff^y{j7wrHsI9Gye+~%(
z*8J76tG)f{>(|9)M}SG$%;xpk1TK9TwFB&3TT`>qga<dw_wTYAApD@Cz0Na^f+pp<
zg8zVx-8^Yud@_$JQpk><y0!Hery$p^?R}C&F%l0Vsf+ROwbj*|!djf@W9=CxsuRkx
zna(yYE}Aw(A!mW&CAqmcfY0fAmkzUY@RJB38G4#P@5)C0<?vlrkJZ)H16wG-6N0@t
z<pGQL$RP;sQVjlmuWw7*$H#|~h6b#Nze0{b3?zG+j!s$Puhdxvz5l%6|0XlV-QliZ
z+B@zY9>%#_!DI@9U4-LEOFfXhOVYT!Y@=wF^W}?Vj(W=ja?(D#hbY8OpDcaLRGk+F
z6mRHy=bOW{80sl0X~_1U7Y?)5;-`9wX6Far8>Eelj1<klJ|=&hRA6so^C48`pOyW)
z#*sI<+x_Br$y|t>AyW_VP&~u3lwcOM)M3rH;F;!8qU4oZ0P-2)?(gq|4d_L7=!J?9
za0CON@3Yq}KrlHFhi<MjTWyXc`ug?jFHa6BDak}dCa^xGeGWFpgMhLuw{e4--(+vG
zyPS@Sw6Ey1d%?+aU)B+d{t_4JU2%D?q!e-d8IWB67PBT)lz610V8!ECmX?g0KpPN@
z3Jqp~k=>32D_KQkC-5)RNwI?u0U*+n*fLUNDu6|c0|*HCG6rN@MK%82AxJqlY_APy
z0J3VcM-$FHO}15-kan>?ys)%hzYRQRZllNd;xRzJ*#~i)FI3glZz4gIYe`>6>;w>t
zHI6$p+<@A;y5?POkap{Vy-`}b8#>6v!SPG{d_cU#2}Jjhr`oeNm807O=@*)|)1GU^
zJX8?~Y-#X1+_l@7GBPsR2b|w0FpIUR(RXHi55#vz!EpM^BV_-fH^2QvaF6%mV>Ig^
zBbJS%Y4X~tW3C!5F$~ix)NXN*049LN7-EOp_n3f)P6QWf>+EcHtKXxY4PeMTzQ@W+
zxphx*yI+A@y2_z?_Pt<4U@*&0UZ?!w^N7u~D%>EI;g3Moa^Gp8z>sp4ANls0y1&0a
zdpbEZ>9ev}gLESSz8GA24HMEmUE>i>Vy$sd{w<fCGX_DfvV0<G-lIM@^bCP60KgPc
zocV|rM~#Dw41L87S_q1-AyKx@S+Do3!}9pS3_(W5M0VfwM}4aF1@H-ou+ZR2x2O{+
z@5*$~%3sn$cgfVVkhS`*#!v#A_!o0F+jsi3iJNO{FG9-wjDQe;oal*?CYY9RYBzFm
zg<+?rrfbF0A0NvC*nvqher98D-wMo`D;-2tON+7U);)3W`=gYUy5OBa_Wqhp%BD5n
z+ywW&B>9AfE<m?`V+A9;@yX1lTGMqJXvQ+Ar)snJpxnJ@buR6`3dG9~OXHL$Mn)*<
zyw)FvM?_#i^}C-+O^$b$1NC(Wpol;By&&rXgKZ)-8iT&)O7w-WbH0>PGo5E!p1p6Z
z;WCGhFDAY4&JBXPnM<|*B7Q&oX0nqxi~&tfqD6$RaHH_c7cWlN$Zlij=ey>Yc3P_c
zMQ9hw0@Yq3bdKWS$L_O8INy!lwN!|Kn}?Cx4h+KYsIyvg-Le@&NJ43UdWOaTs;QGX
z*yCck^yQ(t?<RtLByQxhKa__w@;%>I+mLDlx`=ikwXevYdHbCBeO6Xz22t-D+<}%H
z66iIA9*gUbi<Ra%hU>tVHL#iIkwQKF4zN9H7gtwI2xJCFu!B2bfQaW`dqxGZ<%`0G
z?xlHpd6irDtgz=%7<)e?=Q5zYTDf#@-42EG9~y1Y3pzrj4RrZ-L$-XIfZED!v8-<t
z%HDOPY)qJA{-z(_%tv#~`z0Fywq&1snC8(c6m%+Sne_ny3zV0>+Pg1Ff;GocKD77+
zKG60_xV1=W1!s?p?BneEdQ!_%6m|erzQcS})uWh&AcH!e{a)Kz=x!?aj|BSN?$)!i
z@mIa$Zlt?=k>(~Q<t`-)tMs~TKK)Tzu=R-_8e<bsWA->clO(Kq0uKBGK5@@K3@h~X
z_+0a+LBVGq0**7fynjb!+&k8x_CHz(^5yW6gym6DQ6a3w+7{l-#=WrjpR~t;CfrdG
z8YRZAAgn2by)$+lwH&GUsmXjw+IN<t4kx>8BDqIHgjzGc6i)fwHmIYlOoaBjK+IGc
zhzYiVC2mKa{~b_KkVb*DS#H@GM<B++kVJnID3uHf+u;-u67$b^!ekgSLk6w+iRi_`
zCu`gkHoku4JzKXHPkz)0GR$9R1qFgMkHtIrb)NgSMMlNzofT426k|B_-XufyXS<!K
z$0Wd0q|g%dteeU+hV8a9hrR=WIis{x#n#%|y3+AMW*|9HP?i`EfCPhsZ4J%I!8T%Y
z;T~YJ1z)~;6_)hHr~&3fBl}D$b|kYzaB*Q_wu8M?lg#9Ba}vn$kl(v^n83bNJTbJ)
zsd(ZG#M-YwD3+=M33HD3CNMa_v$eIfW`94~(j=Q1P!a!xj|8Sb%Xvufm#n@c5`4yc
zl!GlI2Z``3`5Xk0Rn0DFq@<j$=N5#pWW401E2^ItDk|{BXm9Tr4p04^2shW$(;NI&
zASFc>0Sp<&qWSrUML*_+EUXd$Ny&gMIDA%z=WemYAW=^p97+epoQ(lVPYS+jYodx3
z_O?Y_pH25Po`EKE@+6cf=zc+Je6AfcE{K#eqUX;*u+Od9a8}KKw|(-)gx~n)z=-vf
z(hao9lSBlZAbEGr;^e?zqBV|P-QBl$fwSq{5>9|D^<H3iteJ%TfWC5vI5>D&QtzAH
z9XgMB(tLo@Xpwy+q>N%{<7d78r7{}sJCi#^qQU0>_(rR9b8~37*y?%iz&&7+JhzLG
z!D^U}YHE54`3>1h-z5oNan93ZOHllh&?=JLV)m4Wl8js&7<>Q=A?9ifxUNiy(&05z
zUMhGC@IlJ-ivd3LTW+uhh>nsv?402*s-m(IUKfecxZ!GUWAj}1EH;+x3c=Ci!vTh1
z<`9EG9?sJ&f3dq}$De!yh}MWXYT%$GQv$0R*s;c3>v+L7n=I_?SWqoc*(C9i33U|k
zL(GDqTSQN2h+cYWl6G`<qIE|O*sE8Cy@);&o?n|ZiU`yWE;o(zrRaE_*LQ&XfGlpa
zGY-T)0NdKyNIZ#TWM$zLkqYr#6mva15Ja?%t_6VWbJ{m00<#*RHh^>G6%^pVh~Sbu
z$=yIt$`pEV#!FI<hbvCK6-`3gEoWOfO0)Hlq>nHpsX$p-`8~+%!rFRzA@^k??}F)m
zM>y+9`PheBUg4abP*40)w$Xal#R{=D&T?)v&&vmmY#byQhls|s6-Gcad&gGZL|+(o
z**XRLe0$Jd3sVU@)hmWle$2+Uw%}gpySw{*CEveOw70hd{{==Xn5z7MG2{mmB|aQ-
z6ry8D0$CkfyTstme%&1)!~=oS;Deb&Np?2GRpN{BLx>r$>CBaxZeT9&&;fXsf;JYv
z<Y*U`o3-H2FD)q`!H77`G-Ax^$i+Sf2@)ic-ai+<B=}C|91NMd=D>ff07gv4moG9u
z*LXmr0WRAzQ2fwPW?6Ek`=Qi>7cX8=A8bu?`wT1OsGGKbWJFsZy<6AOW=z6vsJVl~
zmdE5tT3T8p05^ATga_Y@H!79&@ezIW_;HRoS3H4|lG3(k-9uk7(1T||L`}eJTHDVA
ztVQ2daz4ot?84U_h@BATw8ke}wON8TV6B5hS$=h^7jND?isLe*s@g>7Pa<03K!1P#
z1QA*APDbvt*J*@ZZ2D`etMobf9j3xLK@6!rO%4t=bLhxl{r2q}0Ur@VlI6RmyXeS=
zhJ@0oGFeRpT7{~HhN7q=0I~4x8_r#6MBKMi6fTd>Ve2F1SeLupmki#l<O~d$zdgn?
zrnh9>+z#P11f<=Psi~=ybabs9pV)H>VSIdiJd}ijF3Y_h#Xg4s8JQv@Y1LnVG3rj@
z)2*<;Q`gYwo0^IQ3vXn@6^edc3p;A2pKE7MpZ^5hVE^AjT9f_#?*Q;Kv=!fO#L}&H
z%qaQ{&?G>a<#+CpcH;x025KFo0Ml^k0wb26j|T{oYl@2aIoaWabJQR|C87Iv6ArUM
zi%ZR<`)Yn}nb)EH$_Pcnk@N(BhZSke?3I91;P5|bh*FYzFf5c?(3A3oZd#WA$&(j<
zd^xB>7SsFs)Oh*%=K!PYFCQG#EPC;sh$%)+I~?#y>ogA;TWd>8z>(=wT~?oniqZn0
zD+_ESm-R`v=}%QPfla+3L-8U(VQan-DJd}(tw0vkAd3WKt-ptnk+FAepTa^yiq|Wm
zbj^Kx=IP6@hWUAmBHeP#FbeLtKfWUIXnU=+4V?p7I5|a^P%$wvAc>I!zJKfp=7Kf-
zSq^@d{Yv_0?Wnt~tbVsUFZ{9}?7T<>wBq{GStKe^hsJzI+KnMe9QdL$t~F}L#@rhj
zhH7g5MMXud-`Tt`&ku9b6%-V9j(dDzV@vvVo_qj{d`L_TDJtRs^jPuu$Wa%5t~C8?
zY^aApXf#SCslMIN3Rv?=e<vT&5P{hB%ob!gh8zPfii7phfQ8O@g%`K2tgX#~{vTtn
zwS0J5?zUx=UuW8k{eV%aLH4Pqr!cw<hMg+8$65+i|KdZ+dQhiUb{;orpEv(X%^Og4
zGnjjjl$1okf0rTY2^fMh-%A)^G0zoNmtBO5^eUNFYeFE$)xrEc_UO)dZVF-kQh^}p
z`=rs5F-A@zr>zME1#E<bgeFVBQ*9g^WOZ~X-UkImfBFOm+_uQ5j!MVKgYm2W#&v2z
z(r!ASrvqyp5qg^)I6m3M_>~nEXd-njpeav}2)OIgVdT;+Ankx~=qN}7ri>?1vHz1I
z1H(@qAW8SsK4fBNCulhCc0ltxrRo=bR+YebHQk!31B$JV<M`|Erb7i<X0nP>mHnWe
z06j)0C!Q}C;B#|k78Vwt^Yd9(?d<}Zpeo_rgTaZ3a2;cx+Yu2Fx26I>j4$`tv$C70
zb{eC006NGbQ)+?OUMOm2=I#_&6EEYd%SP>vE)E-_fbu>P`5}0buyi;qO6&v|xc2?!
zU0sSr#tn49_)tS4W_e)1i8UYp_Ijkw>o9xkDcGz>eNnK$)2#-2vGlEXXW}5dTMsB}
zMHPawA}t+5IFMGrfCGS<SygrWiQ8r%5`_T;O5PJWU9UvbAI5kC2G@BhUiRw&PeG)?
z4G0M6zbQ%;fem=Nr=pb=6YO++dQQdnB*sNCM?C{rO0Wic@-RlW#f$S(C$RKTvqAK6
zC7L%$)z+0pgj!cz=H64=e;Cs*CjUO=$qt<F4mm6k8$^!hV{B|~KSnOh&(91uT)Z8m
z$7IN?w6wMcORWU-(Cc6wgXB20tGAcLug!1(7)vcV@kXH_?*gqE)nt5mqI0(C))4md
zrbjp5u*uq=;)k^6`eV?e$6gmZwa1inTyc{+>2rbiPRSq>i(k-HaT5p(KYm2Fw4Yz_
zj%@6@Zese)TZr%OMPWjcPj3{RzXg>_5^8-IE7oBP41vwN4cMw5e6Pv1N55t|1;~do
z_HyzN?D<~X`xFf82UJJrD;1|ygt?!GWj6=uU9=koK8h+u4Lo|>{aj%U2daLr<miQO
zai|n{MoFyz?`HDF$#!3qg-xkFC_IN2jbZMhKPaih4u5{NRv0`>*zOY{!#4%o9oYHc
zr}|**mDBM;eEJ^Vn>TM9!N{6}KK5%tHItFwr(x8|{I5TXsxl<`rYJMJZcRmeV%I@z
zxGEr#VXgiB>LP!8pS88OhpfiO#l7!N7C>c&aUl%dCK)Fq&ReM+W;%^89)*UQxqWvr
z+H~SD`YQ|p<=p!AZS42!8r3$(3J`=AvIQ=_@+J?uIpz`4v$B9Hkne+TgXtO7Jd|4m
zkZ&c|GeM3^w$1*WQpwy1yNAb9r-w~Tk2^MN$`(s`EZ$;3RELw8LC;{Os%jS)S4CJv
zbQi+jKDz_~W&>iNgbadg#60*WXu$zMwc<MiiEoo(1J{!=%s2+W`Z$grP(2<OMc8aY
z-toiPCy_!zLPxCv_5OgxQ-Fl<H&z<8!rV6p3h7)2%XipuKp?&|UBE+zFHNhHuX&Xw
z$Rex@N=jPa4jVF8J<A|zum(9nwX2@+D}epk+1bz6#OXvmd9^b_Y$6GQns1SxPStum
zw*R@plp_2VpIJHO!ykW<ah-+}t=fx|wf=5Ckk^kE1sd*DmV1aCFIO5|gTO*l8ysHh
zj5{H^(caJxNqxyho_dOU0F^udsN^P!$FAil9}JeH_t*SjuV@FU(s_v(*T3nn;KzP^
z`5ba2(ta*}>b+aagb}?bd~sQ1L3Q(a_?haPA);Vs7$FB-do8Xt<Ck4e)YIz&gA#L#
z$iOYZ-@i7#Pe;bZk>{TS`}Jw=Knt4)X}2k{*wJ0FizD;=^AYo?*^-(~Othj%0|+Io
z!MDF2RDuYA5+uyK6~6nR@ZpCDF=;e3u(g!aI6BQPJPi9PC1u^&(GhA3D9ws>R$uV`
z+HkW8kK)*2*I^n^0f9(o^#K^W28sl-LCvH?%0NxBbZ1Cv2H7QZ3@9NsuU~%}1E5;B
z(yBWU8F9I(Xwc^${5%|Q+R1x=NT+XdG9n}6USPB7*$j^O2il_CT-g&L0fG3ne9~yU
z+qZA4y-x0a4|+vNL?r*>HWMSGDX^r`c;n4{u*<WEA=^(UcL=fVedVPdv<0$91`*LB
zN(^htKq^`v|4s~IUj?Qf$JNyvAY~!#W2JbPh6V?vd`4)Dsa?GbCF468&r7PSDZxex
zFrq)6b2T<L9^3*|rQvvRb3?<wo}ya~m-R&wSEU?d)B^S?O=ZD0^>Uz&Ys|@Zy56Th
zs4xE;8<6srH#g%VON|>Y5I2&7ZPF4|1&y3qZmV^goele*Q-IQ=T*3;k!_B;!dxZrB
zs>a6j&89c|yn(^${q(A+rQxWBJNw{B8;*>kkB?iFQ&w(u?h$1cWdcP))ckhUj#x|#
zN!B0HveQ<&$6Zik1VCkXcQ?d9u(~<jKo3TXg@Yq}m4+y2CrJDZqet}6V37J4i&zB8
zQXBmVOzD=E7MqtZ{YUMvArS4&fWrdxhVrkqzd@o|cYOl-Y7gpOYtIkH)h}O_){(~>
zdA>AgRhHtVSNs`?YHP#YtUEMH5p-f$J*u$mRMpVH3TX0+j3l}`R3pvy2_K{#6fYlX
zssNZZ-}7N#_@sS&BoHLMR}_pTL6sXwPoR)%=dj_D7I3+Kb8=4oKw|MT5&#*)#_B%+
z$hwq5;O8YmCvtIw8mVzBEt1I3&qvn~IgVP!x48I8@m}f{Yfpf6t2X^Ir30k%GUp{_
zblnpr;oSCYGl-J!WaU6BVA<2<4%wo^WfquTAPYMRr^aA|#9loY%Dzp1xkIn})h4>F
z{AQm>Gyv^AKAX;z)YQ*jy;=+ODMGHe2phZ|(sDoBL6+O}F+5;o1lk{-w6wHp;gFgR
zX9!5r77jw_3M_Oj*Q}!ns58b6!0_<!$SW*Fnbk-=2=81#0Cl);VuBEaXH}L!!0v$y
zVAA~l2B<=UNPcwwtgkoH&%}Yi&;zN_{WsdydY+iD31oCK6_8%pwTmP`F_ViOsCWWF
z2Edn46yPI^?-T5Wo`WW!Tw<ibR~)USnxnT^jVmW0btu6{pvuD^ko0a=z|ojh(td$7
zOp1FAlKSI@t|SIim-#0jILnqtMDkM3>b}00fyMX=^73V_8)JD}Pj8Y&dxOeqo8P<c
zB1g+vQJH^|yE{4%=uDfEk|G!x4xBeLK$x8Mc_@E11>j_TV;cl@Uh^Ln(3NCMeE^hl
z6`Y?Q?v>awBvAmHrrf0IT^{2vY#f|fM?pXad4z?jkf0f33D9LPE?{{G6n)cGr34cx
zK79Lo!+FF%-u8p2G25zEbissE#_(FkzzXDtKA}MgfUp1`UyBC|n*Q@rI~H8|c>gUU
aJ@YNell72~T0>XRLvqr}QYDfm@BR-BO)7K%

literal 0
HcmV?d00001

diff --git a/doc/images/highway_exit.svg b/doc/images/highway_exit.svg
new file mode 100644
index 000000000..b5b373b4c
--- /dev/null
+++ b/doc/images/highway_exit.svg
@@ -0,0 +1,285 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<!-- Created with Inkscape (http://www.inkscape.org/) -->
+
+<svg
+   xmlns:dc="http://purl.org/dc/elements/1.1/"
+   xmlns:cc="http://creativecommons.org/ns#"
+   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+   xmlns:svg="http://www.w3.org/2000/svg"
+   xmlns="http://www.w3.org/2000/svg"
+   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
+   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
+   width="653.56873"
+   height="225.26402"
+   id="svg2"
+   version="1.1"
+   inkscape:version="0.48.5 r10040"
+   sodipodi:docname="highway_exit.svg">
+  <defs
+     id="defs4" />
+  <sodipodi:namedview
+     id="base"
+     pagecolor="#ffffff"
+     bordercolor="#666666"
+     borderopacity="1.0"
+     inkscape:pageopacity="0.0"
+     inkscape:pageshadow="2"
+     inkscape:zoom="1.4"
+     inkscape:cx="179.0304"
+     inkscape:cy="6.9237246"
+     inkscape:document-units="px"
+     inkscape:current-layer="layer1"
+     showgrid="false"
+     inkscape:window-width="1920"
+     inkscape:window-height="1058"
+     inkscape:window-x="3516"
+     inkscape:window-y="-4"
+     inkscape:window-maximized="1"
+     fit-margin-top="0"
+     fit-margin-left="0"
+     fit-margin-right="0"
+     fit-margin-bottom="0" />
+  <metadata
+     id="metadata7">
+    <rdf:RDF>
+      <cc:Work
+         rdf:about="">
+        <dc:format>image/svg+xml</dc:format>
+        <dc:type
+           rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
+        <dc:title></dc:title>
+      </cc:Work>
+    </rdf:RDF>
+  </metadata>
+  <g
+     inkscape:label="Layer 1"
+     inkscape:groupmode="layer"
+     id="layer1"
+     transform="translate(-38.385799,-22.087807)">
+    <rect
+       style="fill:#b6b6b6;fill-opacity:1;stroke:none"
+       id="rect2991"
+       width="653.56873"
+       height="222.66431"
+       x="40.385799"
+       y="22.087807"
+       inkscape:export-filename="C:\GIT\ascgit058.UFM_Integration_ADTF\src\xfacelight_library\doc\images\highway_exit.png"
+       inkscape:export-xdpi="90"
+       inkscape:export-ydpi="90" />
+    <path
+       style="fill:none;stroke:#ffffff;stroke-width:3.0187068;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
+       d="m 40.395158,115.95077 652.539852,0"
+       id="path3761"
+       inkscape:connector-curvature="0"
+       inkscape:export-filename="C:\GIT\ascgit058.UFM_Integration_ADTF\src\xfacelight_library\doc\images\highway_exit.png"
+       inkscape:export-xdpi="90"
+       inkscape:export-ydpi="90" />
+    <path
+       inkscape:connector-curvature="0"
+       id="path3763"
+       d="m 40.395158,109.95077 652.539852,0"
+       style="fill:none;stroke:#ffffff;stroke-width:3.0187068;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
+       inkscape:export-filename="C:\GIT\ascgit058.UFM_Integration_ADTF\src\xfacelight_library\doc\images\highway_exit.png"
+       inkscape:export-xdpi="90"
+       inkscape:export-ydpi="90" />
+    <path
+       style="fill:none;stroke:#ffffff;stroke-width:3.0187068;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:24.14965439, 24.14965439;stroke-dashoffset:0"
+       d="m 40.395158,67.950768 652.539852,0"
+       id="path3765"
+       inkscape:connector-curvature="0"
+       inkscape:export-filename="C:\GIT\ascgit058.UFM_Integration_ADTF\src\xfacelight_library\doc\images\highway_exit.png"
+       inkscape:export-xdpi="90"
+       inkscape:export-ydpi="90" />
+    <path
+       inkscape:connector-curvature="0"
+       id="path3767"
+       d="m 40.395158,25.950768 652.539852,0"
+       style="fill:none;stroke:#ffffff;stroke-width:3.0187068;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
+       inkscape:export-filename="C:\GIT\ascgit058.UFM_Integration_ADTF\src\xfacelight_library\doc\images\highway_exit.png"
+       inkscape:export-xdpi="90"
+       inkscape:export-ydpi="90" />
+    <path
+       inkscape:connector-curvature="0"
+       id="path3769"
+       d="m 40.395158,195.95077 268.968422,0"
+       style="fill:none;stroke:#ffffff;stroke-width:3.0187068;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
+       inkscape:export-filename="C:\GIT\ascgit058.UFM_Integration_ADTF\src\xfacelight_library\doc\images\highway_exit.png"
+       inkscape:export-xdpi="90"
+       inkscape:export-ydpi="90"
+       sodipodi:nodetypes="cc" />
+    <path
+       style="fill:none;stroke:#ffffff;stroke-width:3.0187068;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:24.14965439, 24.14965439;stroke-dashoffset:0"
+       d="m 40.395158,153.95077 652.539852,0"
+       id="path3771"
+       inkscape:connector-curvature="0"
+       inkscape:export-filename="C:\GIT\ascgit058.UFM_Integration_ADTF\src\xfacelight_library\doc\images\highway_exit.png"
+       inkscape:export-xdpi="90"
+       inkscape:export-ydpi="90" />
+    <path
+       style="fill:none;stroke:#ffffff;stroke-width:3.0187068;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:24.14965439, 24.14965439;stroke-dashoffset:0"
+       d="m 282.83177,195.95077 410.10324,0"
+       id="path3781"
+       inkscape:connector-curvature="0"
+       sodipodi:nodetypes="cc"
+       inkscape:export-filename="C:\GIT\ascgit058.UFM_Integration_ADTF\src\xfacelight_library\doc\images\highway_exit.png"
+       inkscape:export-xdpi="90"
+       inkscape:export-ydpi="90" />
+    <path
+       inkscape:connector-curvature="0"
+       id="path3783"
+       d="m 305.05512,195.50406 56.55918,44.44671 331.32071,0"
+       style="fill:none;stroke:#ffffff;stroke-width:3.0187068;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
+       sodipodi:nodetypes="ccc"
+       inkscape:export-filename="C:\GIT\ascgit058.UFM_Integration_ADTF\src\xfacelight_library\doc\images\highway_exit.png"
+       inkscape:export-xdpi="90"
+       inkscape:export-ydpi="90" />
+    <path
+       style="fill:none;stroke:#fffd29;stroke-width:3.01900005;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:3.019, 12.076;stroke-dashoffset:0"
+       d="m 40.395158,45.950768 652.539852,0"
+       id="path3785"
+       inkscape:connector-curvature="0"
+       inkscape:export-filename="C:\GIT\ascgit058.UFM_Integration_ADTF\src\xfacelight_library\doc\images\highway_exit.png"
+       inkscape:export-xdpi="90"
+       inkscape:export-ydpi="90" />
+    <path
+       inkscape:connector-curvature="0"
+       id="path3787"
+       d="m 40.395158,89.950768 652.539852,0"
+       style="fill:none;stroke:#fffd29;stroke-width:3.01900005;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:3.019, 12.076;stroke-dashoffset:0"
+       inkscape:export-filename="C:\GIT\ascgit058.UFM_Integration_ADTF\src\xfacelight_library\doc\images\highway_exit.png"
+       inkscape:export-xdpi="90"
+       inkscape:export-ydpi="90" />
+    <path
+       style="fill:none;stroke:#fffd29;stroke-width:3.01900005;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:3.019, 12.076;stroke-dashoffset:0"
+       d="m 40.395158,133.95077 652.539852,0"
+       id="path3789"
+       inkscape:connector-curvature="0"
+       inkscape:export-filename="C:\GIT\ascgit058.UFM_Integration_ADTF\src\xfacelight_library\doc\images\highway_exit.png"
+       inkscape:export-xdpi="90"
+       inkscape:export-ydpi="90" />
+    <path
+       inkscape:connector-curvature="0"
+       id="path3791"
+       d="m 40.395158,175.95077 652.539852,0"
+       style="fill:none;stroke:#fffd29;stroke-width:3.01900005;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:3.019, 12.076;stroke-dashoffset:0"
+       inkscape:export-filename="C:\GIT\ascgit058.UFM_Integration_ADTF\src\xfacelight_library\doc\images\highway_exit.png"
+       inkscape:export-xdpi="90"
+       inkscape:export-ydpi="90" />
+    <path
+       style="fill:none;stroke:#fffd29;stroke-width:3.01900005;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:3.019, 12.076;stroke-dashoffset:0"
+       d="m 327.53102,174.76675 42.1645,43.18402 323.23949,0"
+       id="path3793"
+       inkscape:connector-curvature="0"
+       sodipodi:nodetypes="ccc"
+       inkscape:export-filename="C:\GIT\ascgit058.UFM_Integration_ADTF\src\xfacelight_library\doc\images\highway_exit.png"
+       inkscape:export-xdpi="90"
+       inkscape:export-ydpi="90" />
+    <text
+       xml:space="preserve"
+       style="font-size:40px;font-style:normal;font-weight:normal;line-height:125%;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;font-family:Sans"
+       x="44.35268"
+       y="60.325768"
+       id="text3795"
+       sodipodi:linespacing="125%"
+       inkscape:export-filename="C:\GIT\ascgit058.UFM_Integration_ADTF\src\xfacelight_library\doc\images\highway_exit.png"
+       inkscape:export-xdpi="90"
+       inkscape:export-ydpi="90"><tspan
+         sodipodi:role="line"
+         id="tspan3797"
+         x="44.35268"
+         y="60.325768">1</tspan></text>
+    <text
+       sodipodi:linespacing="125%"
+       id="text3799"
+       y="104.32577"
+       x="43.32729"
+       style="font-size:40px;font-style:normal;font-weight:normal;line-height:125%;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;font-family:Sans"
+       xml:space="preserve"
+       inkscape:export-filename="C:\GIT\ascgit058.UFM_Integration_ADTF\src\xfacelight_library\doc\images\highway_exit.png"
+       inkscape:export-xdpi="90"
+       inkscape:export-ydpi="90"><tspan
+         y="104.32577"
+         x="43.32729"
+         id="tspan3801"
+         sodipodi:role="line">2</tspan></text>
+    <text
+       xml:space="preserve"
+       style="font-size:40px;font-style:normal;font-weight:normal;line-height:125%;letter-spacing:0px;word-spacing:0px;fill:#0000ff;fill-opacity:1;stroke:none;font-family:Sans"
+       x="42.926899"
+       y="148.07187"
+       id="text3803"
+       sodipodi:linespacing="125%"
+       inkscape:export-filename="C:\GIT\ascgit058.UFM_Integration_ADTF\src\xfacelight_library\doc\images\highway_exit.png"
+       inkscape:export-xdpi="90"
+       inkscape:export-ydpi="90"><tspan
+         sodipodi:role="line"
+         id="tspan3805"
+         x="42.926899"
+         y="148.07187">3</tspan></text>
+    <text
+       sodipodi:linespacing="125%"
+       id="text3807"
+       y="190.26718"
+       x="43.57143"
+       style="font-size:40px;font-style:normal;font-weight:normal;line-height:125%;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;font-family:Sans"
+       xml:space="preserve"
+       inkscape:export-filename="C:\GIT\ascgit058.UFM_Integration_ADTF\src\xfacelight_library\doc\images\highway_exit.png"
+       inkscape:export-xdpi="90"
+       inkscape:export-ydpi="90"><tspan
+         y="190.26718"
+         x="43.57143"
+         id="tspan3809"
+         sodipodi:role="line">4</tspan></text>
+    <text
+       xml:space="preserve"
+       style="font-size:40px;font-style:normal;font-weight:normal;line-height:125%;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;font-family:Sans"
+       x="42.829243"
+       y="230.54201"
+       id="text3811"
+       sodipodi:linespacing="125%"
+       inkscape:export-filename="C:\GIT\ascgit058.UFM_Integration_ADTF\src\xfacelight_library\doc\images\highway_exit.png"
+       inkscape:export-xdpi="90"
+       inkscape:export-ydpi="90"><tspan
+         sodipodi:role="line"
+         id="tspan3813"
+         x="42.829243"
+         y="230.54201">5</tspan></text>
+    <text
+       sodipodi:linespacing="125%"
+       id="text3815"
+       y="230.93362"
+       x="329.85715"
+       style="font-size:40px;font-style:normal;font-weight:normal;line-height:125%;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;font-family:Sans"
+       xml:space="preserve"
+       inkscape:export-filename="C:\GIT\ascgit058.UFM_Integration_ADTF\src\xfacelight_library\doc\images\highway_exit.png"
+       inkscape:export-xdpi="90"
+       inkscape:export-ydpi="90"><tspan
+         y="230.93362"
+         x="329.85715"
+         id="tspan3817"
+         sodipodi:role="line">6</tspan></text>
+    <path
+       sodipodi:nodetypes="cc"
+       inkscape:export-ydpi="90"
+       inkscape:export-xdpi="90"
+       inkscape:export-filename="C:\GIT\ascgit058.UFM_Integration_ADTF\src\xfacelight_library\doc\images\highway_exit.png"
+       style="fill:none;stroke:#ffffff;stroke-width:3.0187068;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
+       d="m 40.395158,239.95077 323.254132,0"
+       id="path3821"
+       inkscape:connector-curvature="0" />
+    <text
+       inkscape:export-ydpi="90"
+       inkscape:export-xdpi="90"
+       inkscape:export-filename="C:\GIT\ascgit058.UFM_Integration_ADTF\src\xfacelight_library\doc\images\highway_exit.png"
+       xml:space="preserve"
+       style="font-size:40px;font-style:normal;font-weight:normal;line-height:125%;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;font-family:Sans"
+       x="354.85715"
+       y="190.08163"
+       id="text3823"
+       sodipodi:linespacing="125%"><tspan
+         sodipodi:role="line"
+         id="tspan3825"
+         x="354.85715"
+         y="190.08163">7</tspan></text>
+  </g>
+</svg>
diff --git a/doc/images/line_approximation_error.png b/doc/images/line_approximation_error.png
new file mode 100644
index 0000000000000000000000000000000000000000..d0d6b4f03b0bef070f152ae53622f0b271d8d296
GIT binary patch
literal 6915
zcmX9@2|UyP|KH&lBS%8+vB)t;gmPcm9J$L8hR`xcUvjh@D-<F&_d@!PlH6;FWTkJ1
ziW;&RSzq5Sj1@*X`hWcXdp!2p_IbQM@AvC`zMikW3%rlJN{TCqgFqlj4BFWj1OgWT
z-wR+Oz?FUXnHcaPl<bJ{hXJpPu+vw8-(pGVpkzRPa`z2(JV;3gZthQU2~6=zj7dq0
z_$wNemX>CSONdL3ib#q!O#CaBvSh6U0x9KSoE`krZ}4W)Zk#&*@Wqc&i#&T+t~}BV
zA+1sF4RMn^e6UfRDJT3x&-0Ojk6U|Tj+_to(o?v1IUE+|BK_VOo#U;EDtGtpP4P$X
zyDEkfySS`AXnKVFHsO$|RZncpdd6Vb%G6Aa>DR6Nzv?rxKL2`Uj>wf(a%Fll0_e*|
zeW;1~fE1`BtkH^`qSA@rd%urw$<rjm5V_AwX-AB~toMS~E)Q<Ymtk_H9iixXsV%7_
zw^k9@RSg+OSn*%``JFrp=dlJ3g|VWoZ0V6wTR%sV%qwUZt5NkE+bV{*xwE6n4w|{r
z^B&AkjN^<~sw&;KohPkErNBEq&tIzvEzXXt*o|goK@`Jyn9XrkwX`FQS868ItD+da
zIkRUE1+q1;XcGrs02fKfy2~0v(x(KEy1$+jrGq|#wK-wl4r4nogVJ$j7O1+uZc~`^
zIsSW9-R3z?iO24)&c5N?lMFV!A?#^mKU5)R`G{JtsHJ=_eeo0lv<`j&+Iv8iVl$YQ
zx^+889W<wh|M-gG!(c3Kr-58S*D*>pb(@yl_QhH<k|$f^3`2~M{$kkS!-HNu3G#j@
zrx;1NOC8JcVZW{d&vx2`F+tn_j0IF5;>yl)W7=a+RG#yXLSfZ8e#ij{6%Cv?-w6xl
znD&^E-L=qwLsijJqLy;3zQPBR;O43N+U;$SvEG8LlE}qy=0kSeGGqZnCYq1{Q%A!V
zLZg#o+4ZDtTP>^QW7Ko=R>P4aH(|1f+;<p~2)VCt&;9Ka`w}x%1O1qV^gk|2@16^;
zkYb?W^lgvSVlQw9WG^usqyx?*KJ>SHY~4}!H70s=`RpbXqYu)G+;!Gb2VW!ZF|Hej
zd^e+m_mGj8qko`S<hTLh*IDjg7y{;~)W$lV|JxIL9{YN+TG;;2NY);X5!mZ={C-UB
zzWX7kcXc@u3(+ig^`Ae&tz2C10EHtxy|%55Wf=lRObFx()CgjyXSK7!h+rI`?wf(4
zLj%<5$!+kShBR`F(}3uyQ-a@Q25oVD0CRbMlPto`R*yacWalwbs^-k1D=X{oZvr#N
z6pK7*M@eLxlV1Nhe43=R^lpOPt@OkUKzpC1HZ8~n`~FX4UpH}nwye2b?PLl;33aGI
z+VRea6sD)(xLzM36cMw#N**$EpQ7ZVcf<g-Qenmuk?Re{5J(@K7H_oaev|oMAvC=d
zL~I<uxtzZ)CM_KW*x2bzIw8CRx{<I+yu}%txYe%<_)Y`2A8T#=N>F`^<CputsDLqp
z8WoQ$-`K3i?B9Lt-5yLVhyv9joXyGE73fsNh(dKh98OlpH-VgP9|f@U8dZi7h)v}D
z2}vOo%J%@b5L!4zoc7pBO?#va(h&wOH7hqGfA`=F8ui({)x6{kYivi>A--R2Qt7Fp
z-sfawU7}7XP4?~K^r+!h>XYNcCnqKoV|E{16DV_cnpBc)JO8p8O|)0=y7TJNgblTO
z_GH@U`ymcO1=3GtF@65b_oV0UeZI_j_R4Gbqdv?)Ost#Ije+Qs*j{P?GV~zs8g=u)
zwk2V-jN#4g?p`nFgfe-gb`s6)vK<HOo6|cih%SC~qO}k}h``zz;&zS}u?lne8fXW;
zflM;s%Nt{S?U+-S)`*{T63Yakwh)%|hHR2DUz{J0y<j!Tk+M`vSMF_>QHR+xHGCDu
zis?pY$Il0c0tz}FXz#Rv_d-}c%%6<d95~*qCo>>*+C2W_x>`~Yec)>yqmMo-Di2D=
zXOEBEH|)0A*Q>~~;{12Jy;~w0lGM*jp3mG_LhiavwkdII1!J+X!}!U#*B!MZcIWM8
zbF@R_>PNSwBY$3IjR@O9E=)4HC1@qswD9zd--1bi*8d(9jj>zTnAwPhT!)GdJ!Lyk
zpcU<?YS$Og@uoPQsC676OOh9Vl5VkP$@SsP-kHqk?>YEd#_`TG2a+xH9z><mCe1pj
zooWP%gI?iext^tX&=wrHQY1mwb_!+EoSdT0H^fQ&ZHQbG-GN!VOR+D|)NUEL!XgTg
zHo_{$hc#jzto#OXlH)8B?KtWw{HgBf8GrX9Qkg_APzW>xybSUJk>huKkE$n$ws01U
zRIlabraEf_8lVYaO~T`OP}xAo3~)Jt%VA0M66G|e2;0Ycmnn=<Oixou3CO4JC6F)f
z<?%DW=1B?jE~OiqNs{jpU%8I_2JIn8FU{PppHsGR*$v3+GFI+*6YW%9;xD-I)8-aP
zsQy(pP)3!S@0EM&hoM4@7)DSr&Sza7K+nb|w8ZV7E%eXLoO?dYf|Rt~t`h9Y37Dz)
zUHvSwB6f)6QVK)RYEf1{J_bWQuI~d1``y_ccES2c@NY!pssHU*8dxV-Z@lyD3WIze
zfBd?1(RW9fr~561PF3Th1PNj7GVwnFn+Mi0l=XSe(<P(bviB<s^!#@Pci(J`7>5an
z^@5797vU?0cYe}Dj<+TI5ps9!%_B)0Un<vKgyO|Lgq}m9@H_NxKZ0d`^I+MTd-MJK
zl4m{(d>{Br@~#44`R+6FM5U$Uzk@^^^|!k|coq>27o9pab38{;#9Cb4S}YDPGX1#R
z9R(WEibgbwbX6PXz5`OUb6*DCSf#gt_FyQGa<VdOk1A|SLNRLdcJx<UaZ7|%_MgS?
zH4H6Akh$0RkH1$fcMDe%VIs|<$jJ%7UrL3AxwaH>{Q)<|I+}n}KfC#9Py3`YOQ<?-
zCHS_TJxCL1EAt2SYkY>~>4<nk|6%#Cdpj4E(DQ}CHF6rw6I~A*A-iiHCI^BQUFuO6
z?dws~oEqKR?2Vy#h7h;>;7aJVU39v8T6w#?JCB!h<z-LapVraCDH?n~t{G=?V(vzx
z`R)?#ND~n2vbAxwbx7}vFLl2|<34Q+nJ^G^oympiM)R)Ynz^0Tc)tc;Z<bnmxtyY)
z>sMS<`@^KI2w`jp$5i=To%jFp481Cvsv{+l`Kl+cKmLoE;5Yn*`g8DX_rT4vNq9vO
z03%WdOv<efE(%#6x1}35Elf2+iLFGx_&?pP?aF$4fgDkDj10nB{EW=l1{M)B@9C%8
z1j}zAI@S66IbP>KuQ^5UHn;?jNLU8F6OQAIo@2zui}&lgPl<0F;2Yq!8chk#xgv$T
zLe96;jY-xaim<JMa@4g48Lf;jh!%wwrG@Vdi>M26D@A~iyv~nvKk*S3-2J|E{t>Pi
zrFld9ATFMJ;ifuYjANuQP4y-MDRss~_BF_gESm4YsH5UP8TR{e2<ExeA)-383aY@`
z>EvqXi31tmD2%@6sU{}?)oZDz)Z<rth;J9Xr#6WVpa!9m?(M)Qp5g(8OU=@?rOxV1
z+PE(^aBnZXci+Zc&oLu2GR+isZn}=~fj*1s#WaclHT4dO{D3qnf1tyc&7kwqJu&cj
z%)C?B)TSjTO^$Qx-F`sEyA=QDvMLbU>(Du(9Y}}mVbqy%xQr%~q-6|c4GXSaqR1W9
z1&XJy^w|qQ%!d*8AN#43IqJwwif6oy%!VO9lyh<)V5!dTj`p$x=*#pbd<2x6;ET2V
z=Swk!a#Df)w6~S`i-G2h?h3l@ZW}9mImfFEGW3z546KKwB=|f!4uCnEp+GcY+%Hjf
zd$1Qkin{V>IENGqr-0T=Aw%EIvjOEK5x8t--xblEw^56Yo4c`6Lf>;6mOV!9&JUt`
zL>TaIzI_CtOd69uXriuiAeK)AGr|_SW`O`|=xHFZ%0R@Dv6>k;-eh51=v*{(Os7nw
zxkG5=!L~zJn|LS!0C&~Wz#20s&Ww-4nrG0H20gF$V%(;bdPS<;ht(pneWC?GI_@uM
z0~~_FWG*$~8(sHN$z~wSEB*)h*Y2>UO#fk=|Mng!0wI)%=BHt5o@OwdDeG{2SOiiP
za>}u`y+3Gi{avz)w#)^U0@TaPPhr^I7&(^3>(^3MiR$3j;6D+Yj{)b4%R6YM5M=dB
z&mt-yLy(_cd4%{27e5`rD1#J8@;jNzz3)@q#|y=a0gy~_m!*(I^SnS(<XE@~zqX7f
z&R69g^j&9Wv$Hx_C-P!sqhuRHN(1X@qmH`9SLNgkMVII`A=s7L5^5G>63w}~qr@6d
z9jj883N^aqd?rX%nJk*8n)3opj0mR;%CYG&l|0!rFkh~-hxZkp;Cm+W{fu02{<FUr
zOaBoY)pZYEgFffH(e2FeG~x(-b7eQo(zdZ>Jh3*wt7p#2Dg)Zp5p`a^kgqrFj&E~h
zdNXgXo?z6_vqO`}j&Q)MwS~{R8SVcOBZPkfl|o?)n|Cy!gRh%?;qT{)GWOB?qdi;R
zS(<3ei0gFO>S|mQIR^0}UwZn9;b;ECvss*-^1+14<(p!wc@GNX1I`2h2vtQ6%$JjJ
zV?WhX$$Ck7GxeYOlI=3w{G3xOky=drBP2Mm?~}5Uev?z|nqD8cF}5`D<iC~$9AXV)
zo%nzVv}fbR4{_|zTUjz1cXe>d7z^^e#{fv8Yr766-KYj|LrKK@DzkT|hUINVrZKhT
zKhcz+B9&~zxnEb6`yMr-3^?Yi9BTGR6(qb%b-}?g6v&M`$_4iUF9<X;TTvB*>2I2c
z4oNxwi*IIDp=_Ry^;4gq+?c7<0Hzk&FSvs~Gv{8E`yA*u;~ux9I<)}sGEY+ATXEAV
zg%4<E^mjG}SR-y#@tMR{G7X9wYw*PMRO~4(&UXA8K$U<pMUSbRShJRA0)48-Cn2s3
zMat^jZ?S5hacN|C@wpSwrR8tWYu^6eFJg@)qzb0>82s*`W=<A;zS80<vTP@)0dmhP
zST{3=_bbobU{z5D2@u3p5xUN({0GtJWXRAf^RfBVF57Fd;IIC($7VnVQi>b()X;dN
zGs$mo3<riB*B8^zsuxi?b~j=*GWDDDO}+*KC(Kpkp5~&shq#mRb|+!Q@=>x8CbF$S
z=Kh_NU3wj5eR`}@xnkr)GUJKu>+DdP=Tsf-#m^4>tgm1zmElRh5|iyEWOzT5z&6o`
zjO9$kk5;4{F&+~<B(;N=Xxkj~NseNA@%Xacgy1#FT&S|grfH|);-~W#8p8R1qeIiG
z*jZGcNq7Vfh#-1ZvtrCJ8t#O#A{9fA-_IC;Q%u1o;u~>-_}_5G4{AbNE83JgEUC5c
zu6_*!FF741n3m=)N1J9hm)hzu%o%Z{cIXl)Vf1m^tfRQ>SkCr=8OS}cdwSmyoZFLg
zLzU<$_{P!ivqN6QPxRS4Uk^Lp0eF*|TjXJ`AC=K*VO&?Pdqc$fjGsrt1I6pV#9IiT
zWw0Wh4ZOkg{F3`YG{QGw?3{SXk)sRC%kZte=`c$uOF}+1WBaKf@j#{&>#ZPx^Z~Tv
zp_levm-L%_D8B=`f{uP0Wqj1E0w!ydo0}64w8RL;0MLItC?yF`LtEANW;86M6#pju
z{%>&4G~#<KBb&2xl9ILsXLT+vAI21|O{w*ya-weh4t`)@ql**Kr5qG4@Ws|(^bBCe
zqJdrcUi4DxdE#E85qKS{!^*m8`c<OQC-R^37TR5f&tzmL$$g&fIy2nIk`moVUVfQx
z7L(5LTE}yPntKL#uJP(F!zm|3v}2?8eh#~}cuWev=h5_+>MEk=fi*+BW6YnVEFjRJ
zz|&>n877a8$A8vs>7ZUlZkN!Og&C=IsbY{!ZP01i8FVEI?^%z+gQs1G<sZkboITgp
zI-G7BDcABwh<+RT72TKPzmGm0$`B?!2lWuoW9G!rN0ob@2#QEcp!Sy{bUXOPDS;Kq
zcF&eQGo5R|ow|@EjiEqZkoqdZKv{cK_J`!=pOA65^$+Hrb1l)V)=Uex2Z#Tpg1zOr
zu$H(U2~j^MgZspCWKZQ-aIDuO%!j@wGlCgA(XH2GpFZuX&_WZFU3~|$bvc%@EIR_v
zm7e&vez1En_&O<pU)o(%R5`wdH=p=K<#rnCUgrEGfV*D^hrK=6%%E!&pn#~g<%qtr
z_&1~FC4J&@yH9xYA!y)i>@OZLVCrJDh(=J+(wHmTH_Qg;rf><TgZ`&wQTCB8%=s_A
z*z|^S)G63>+*n(m;a0%tB)c}3rP|x}O<+(!y`S?p=JLB`$ROzWeVe#~M2SWh=h8F2
zvJ|qyYfhyZ?=O|4GSBtdUR%#RRhPXYVwl%u0{n(7E_A4asD-x+J2T{X2AE$x9V0=V
zIza1^(GBSp+9iNM>s@=3?)&gsvqp>h_u1DG>`_<ZLXH!DFdRGPc;=2G`C#cYV*uUB
zROQh?Cd={D+U3ILp0%T$<k6q4d8fjI^J!eZvF{hYkZxS>;XbmXm(SW!G0dd9(&O@|
zl9q=qGu6)71>4B>^7K6a$jB(J4g*WEi8m|(b-fc}26|Mz`e1r(WH`k`__4$MJm;Ap
zjNVZIlDR+%?xPqYCf)~;TG1`(*LAvN03g-kTk3|eX1~;Eaz3m+6MB=y7*)EkzeTF0
zbvcRohB{b!DBrZ(tqZXl2x-@T3!W8C2e6Iz3;3s{d4=b!Wc`ROP{GXVgg@-p>Xd0w
z`%_0BC9lSF@xDQGS_%)VY49XH<EyK7|L&(N)U1D;M^-{pwbVlbOU$^|dlVDL==Yqz
z<%~>XzpR+?O&UHQZ%YqboMwW2E4z)7H2B$6Mp6;4W$n=kSlc}Xet_?*%TC0@Im@wm
zqgh@`);6`Yy&vAP38^C`>K?;-OUQuvEfTd3P2i2_1T39GGwr$AXgGC`1~21cB-AdX
zs*Gj-Z=7rtChzBSP$K9G>t6IqqWNGk$Vc`14}YxE0IN^!E7{DM`HHlJ+}=DQmM+4Y
z5*X66Rlu6LE^7$kOGWX6y5GgQ+FWtpeEyI@tEED9rRTQ(I+bSyLT>L5d?7$$%2Rjr
zx@<z2(!O<dmx((JJ<079NzM0CtO|flqle|%p|-JOhu}bo<lb|3ofvcPNdOqncK3^6
zYWw3>;^<Vp-)MgRJJmG=3Z$1glzAm(B@CS2k1u-mkScsCUbOG^3+*q!<m*T}aUkH)
z#auJ#4T+Zi)&uB!uD0|}{g&-0Otfk}tpFEUY*Ih&k`Zx0G?r7g<RmUmAd7=`%F21R
zpQ=X`90Pur>V+>k=#{5R8yC<j=0F$@JL}r2-Hd*a1I=y3Dx5U6CH2q-_lFzRvve<{
zu_Pq?L(Q{83`2mgo@F$kYd*X;pE+yLghP#HJ{sysX{lV%EmHXB^-jptC2M2+F};Ex
zu3WqBe{&GIN^6K{(AStyH;CZ=Hjz47b~j3()%5*Jz`2ihP$SG#uYqz6=%PE*61(5`
z*O&A2YYy`ck*WYsP2(Q%r6)-kvzJai{N`<wJ+}M}Z}Up!7>VbmgVSOvP;AgaGZM_I
z8$CIq!#fl>B88Nb7QbF)*2%MkP$k)M-}@_Qc!Iu94|p;Au+x+gKvW2=<tPd5nXAvi
z+1&-d_@4H+=OaI!-rGLs>C4ZO>eV4k#}SS-N=h^;hbSTo6VNBi0?F1PEb{n$^GZ2I
zwE}!&I(v1&1`Upos*Kn#pCqMz&LZhLZ%~2rRQf_mLU^SUz)_$;X&JV}-6}^pH=HMS
zGZlu2yc`+on}h(YrmkPFl^_DvXgPBTjlSow%S~`k#{Yk;@R=P1vCSKY(BQ^Z)-^NR
zHAUkZn(|C}%(oH=L<(60@t)$Z(J@|ZmTTs1yGJp0FPti_fpe0VgoTvNBRsXG#JyNc
zLHiP%&LB|ANTf(vESv!C05}C1FE7V>q~^+;`tJ#rvuJX~TG3j>I^n^{@nl4<ytphd
zw^-ctrFY6C83kcGf4Ksqmk+Y-`7Lln|6-G`eYJ#j3?aq@C4m@s_Y)N>2*9juxyIVX
zmd3)RSkEqQh>&TTIQxfk5_GM$m)SSE4W0-V@(v%$eP?`FSggS3KhD_%32U#uplO_G
z`<LgivII0RBl&S{0T{d=JgR!MQu1Jj`|wCU{ntZ1J~Da^Mh`c<(}Kt~JP}Y@8YtF#
z!(a5amIXMxC!_Uga=V9;pQ5KyRC*CGa?gIbT&S#AiDm{Hs0rmm7RubH)(tjc2RFAT
zs&R6TqXFkiU-o6yYh=!ysvQJ#SX(`HD_6~4HvvhY<4G`xhW|j_-`oA;lHkxKNlcy!
zM}+v5ScM<er#?aCHlOe;?Je;CLGvB#@*B`8Aa-^Z&5u#f_5jM?^28&<^YAyY2YIo=
z@3J(~p9rSg6XRix6#;Tc<T3KyvnLirxN{71>U?(;vCG`(LsEMJsx{{5Roag+?qb(5
zN<-7Eiym<REe)!_zFp-6TcfemCVAx>`LutcP{%;G!Ru3xLgtPH2cK|x@HZv%*Yf3@
z2biL_%@sCb+5r=&ZJUYI#UusCZ?Z)~1&f@;Q<!9cvfo=>X)43XBu{+oi5s@BJ(fxi
zC(>@Oi^r?QH|TE<9L)fIdwt7d8%MS0Cs77tStWlV06UopX=G{z+M;iQ=wQ68{jDFr
zb~}67>07ok?lVsXtA_hi=%x;z+Cts5(Cu9_Bp7^OE(r_CA5PfNmfRT8CD69}w;n#g
zZ0dLkH~(X4zw3mf+CMCDryAXQ!Y@^fXv`#umL|N(Y`wUuyE((SLgoI5U`JuH(^jXf
z<p<vz$%7(4c)=QVLhv59pyU=^w8W!X0cv8<2sj)t{TA@)T=v}`TXS(2!+`@CZSS{7
zf$0Q#*K$3u|4Wb$aE?=Jf7l^XlADdW%yu`0vh)P!0J#q*aA|wZ$Iu7N5<-R>2Sw@E
yK)_i|TgL~zPSMh{M)yw&r{Wxtzy?Jd+4;+upEvwY9|I1oKp2<f&h3uaOaBLqlgLT{

literal 0
HcmV?d00001

diff --git a/doc/images/line_approximation_error.svg b/doc/images/line_approximation_error.svg
new file mode 100644
index 000000000..65b160e1a
--- /dev/null
+++ b/doc/images/line_approximation_error.svg
@@ -0,0 +1,143 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<!-- Created with Inkscape (http://www.inkscape.org/) -->
+
+<svg
+   xmlns:dc="http://purl.org/dc/elements/1.1/"
+   xmlns:cc="http://creativecommons.org/ns#"
+   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+   xmlns:svg="http://www.w3.org/2000/svg"
+   xmlns="http://www.w3.org/2000/svg"
+   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
+   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
+   width="392.71301"
+   height="137.41576"
+   id="svg3827"
+   version="1.1"
+   inkscape:version="0.48.5 r10040"
+   sodipodi:docname="New document 3">
+  <defs
+     id="defs3829" />
+  <sodipodi:namedview
+     id="base"
+     pagecolor="#ffffff"
+     bordercolor="#666666"
+     borderopacity="1.0"
+     inkscape:pageopacity="0.0"
+     inkscape:pageshadow="2"
+     inkscape:zoom="1.4"
+     inkscape:cx="170.42634"
+     inkscape:cy="-45.714285"
+     inkscape:document-units="px"
+     inkscape:current-layer="layer1"
+     showgrid="false"
+     fit-margin-top="0"
+     fit-margin-left="0"
+     fit-margin-right="0"
+     fit-margin-bottom="0"
+     inkscape:window-width="1920"
+     inkscape:window-height="1058"
+     inkscape:window-x="3516"
+     inkscape:window-y="-4"
+     inkscape:window-maximized="1" />
+  <metadata
+     id="metadata3832">
+    <rdf:RDF>
+      <cc:Work
+         rdf:about="">
+        <dc:format>image/svg+xml</dc:format>
+        <dc:type
+           rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
+        <dc:title></dc:title>
+      </cc:Work>
+    </rdf:RDF>
+  </metadata>
+  <g
+     inkscape:label="Layer 1"
+     inkscape:groupmode="layer"
+     id="layer1"
+     transform="translate(-93.145088,-206.375)">
+    <path
+       style="fill:none;stroke:#000000;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+       d="m 97.142857,335.21933 c 0,0 237.142853,27.14285 342.857143,-128.57143"
+       id="path3837"
+       inkscape:connector-curvature="0" />
+    <text
+       xml:space="preserve"
+       style="font-size:40px;font-style:normal;font-weight:normal;line-height:125%;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;font-family:Sans"
+       x="442.85712"
+       y="218.79076"
+       id="text3839"
+       sodipodi:linespacing="125%"><tspan
+         sodipodi:role="line"
+         id="tspan3841"
+         x="442.85712"
+         y="218.79076"
+         style="font-size:11px">ideal line</tspan></text>
+    <path
+       sodipodi:type="arc"
+       style="fill:#0000ff;fill-opacity:1;stroke:none"
+       id="path3843"
+       sodipodi:cx="159.64285"
+       sodipodi:cy="379.86218"
+       sodipodi:rx="7.500001"
+       sodipodi:ry="7.500001"
+       d="m 167.14285,379.86218 c 0,4.14214 -3.35786,7.5 -7.5,7.5 -4.14213,0 -7.5,-3.35786 -7.5,-7.5 0,-4.14213 3.35787,-7.5 7.5,-7.5 4.14214,0 7.5,3.35787 7.5,7.5 z"
+       transform="translate(-50,-43.571429)" />
+    <path
+       transform="translate(242.14286,-128.57143)"
+       d="m 167.14285,379.86218 c 0,4.14214 -3.35786,7.5 -7.5,7.5 -4.14213,0 -7.5,-3.35786 -7.5,-7.5 0,-4.14213 3.35787,-7.5 7.5,-7.5 4.14214,0 7.5,3.35787 7.5,7.5 z"
+       sodipodi:ry="7.500001"
+       sodipodi:rx="7.500001"
+       sodipodi:cy="379.86218"
+       sodipodi:cx="159.64285"
+       id="path4353"
+       style="fill:#0000ff;fill-opacity:1;stroke:none"
+       sodipodi:type="arc" />
+    <path
+       style="fill:#0000ff;stroke:#0000ff;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+       d="M 109.28571,335.93361 401.42857,251.6479"
+       id="path4355"
+       inkscape:connector-curvature="0" />
+    <path
+       style="fill:none;stroke:#008000;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+       d="m 255.71429,293.79075 7.49061,27.95536"
+       id="path4357"
+       inkscape:connector-curvature="0" />
+    <text
+       xml:space="preserve"
+       style="font-size:40px;font-style:normal;font-weight:normal;line-height:125%;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;font-family:Sans"
+       x="92.419991"
+       y="320.52048"
+       id="text3839-1"
+       sodipodi:linespacing="125%"><tspan
+         sodipodi:role="line"
+         id="tspan3841-7"
+         x="92.419991"
+         y="320.52048"
+         style="font-size:11px">point a</tspan></text>
+    <text
+       sodipodi:linespacing="125%"
+       id="text4380"
+       y="243.37762"
+       x="357.41998"
+       style="font-size:40px;font-style:normal;font-weight:normal;line-height:125%;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;font-family:Sans"
+       xml:space="preserve"><tspan
+         style="font-size:11px"
+         y="243.37762"
+         x="357.41998"
+         id="tspan4382"
+         sodipodi:role="line">point b</tspan></text>
+    <text
+       sodipodi:linespacing="125%"
+       id="text4384"
+       y="306.94904"
+       x="259.56287"
+       style="font-size:40px;font-style:normal;font-weight:normal;line-height:125%;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;font-family:Sans"
+       xml:space="preserve"><tspan
+         style="font-size:11px"
+         y="306.94904"
+         x="259.56287"
+         id="tspan4386"
+         sodipodi:role="line">&lt; 0.05m</tspan></text>
+  </g>
+</svg>