code: def _compute_connection(
      current_waypoint, next_waypoint, threshold=35
  ):
      """
      Compute the type of topological connection between an active waypoint (current_waypoint) and a target waypoint
      (next_waypoint).
  
      :param current_waypoint: active waypoint
      :param next_waypoint: target waypoint
      :return: the type of topological connection encoded as a RoadOption enum:
               RoadOption.STRAIGHT
               RoadOption.LEFT
               RoadOption.RIGHT
      """
      n = next_waypoint.transform.rotation.yaw
      n = n % 360.0
  
      c = current_waypoint.transform.rotation.yaw
      c = c % 360.0
  
      diff_angle = (n - c) % 180.0
      if diff_angle < threshold or diff_angle > (180 - threshold):
          return RoadOption.STRAIGHT
      elif diff_angle > 90.0:
          return RoadOption.LEFT
      else:
          return RoadOption.RIGHT
  
imports: from enum import IntEnum
  from collections import deque
  import random
  import carla
  from agents.navigation.controller import VehiclePIDController
  from agents.tools.misc import draw_waypoints, get_speed
label_desc: Use image node_id 2 for calling a global function with example usage: _compute_connection(current_waypoint, next_waypoint, threshold) and returns: RoadOption, RoadOption, RoadOption