Update entity visibility config

MantleAPI/include/MantleAPI/Traffic/i_entity.h

@@ -27,17 +27,24 @@
 namespace mantle_api
 {
 
-struct SensorVisibilityConfig
-{
-    std::string name{"sensor"};
-    bool visibility{true};
-};
-
 struct EntityVisibilityConfig
 {
+    /// The "graphics" flag determines, if the entity shall be shown in visualizations of the simulated environment
     bool graphics{true};
+    /// The "traffic" flag determines, if the entity is contained in the common simulator output (e.g. OSI Ground Truth)
+    /// for all traffic participants
     bool traffic{true};
-    std::vector<SensorVisibilityConfig> sensors{};
+    /// The "sensors" flag can be used to simulate sensor errors (false positives / false negatives). For this the
+    /// "sensors" flag value has to diverge from the "traffic" flag value (e.g. false positive: traffic=false,
+    /// sensors=true)
+    bool sensors{true};
+    /// - Sensor errors can be specified for single sensors only. E.g. a false positive for a radar sensor would be
+    /// specified with traffic="false", sensors="true", sensor_names={"radar"}.
+    /// - For the other not named sensors implicitly the opposite applies. So in the above example e.g. for a camera
+    /// sensor the entity would be not visible / not contained in its OSI Sensor View.
+    /// - When "sensor_names" is not specified (empty vector) then the "sensors" flag applies to
+    /// all sensors.
+    std::vector<std::string> sensor_names{};
 };
 
 /// Base interface for all static and dynamic scenario entities.
@@ -69,8 +76,8 @@ class IEntity : public IIdentifiable
     virtual void SetAssignedLaneIds(const std::vector<std::uint64_t>& assigned_lane_ids) = 0;
     virtual std::vector<std::uint64_t> GetAssignedLaneIds() const = 0;
 
-     virtual void SetVisibility(const EntityVisibilityConfig& visibility) = 0;
-     virtual EntityVisibilityConfig GetVisibility() const = 0;
+    virtual void SetVisibility(const EntityVisibilityConfig& visibility) = 0;
+    virtual EntityVisibilityConfig GetVisibility() const = 0;
 };
 
 class IVehicle : public virtual IEntity

MantleAPI/test/interface_test.cpp

@@ -30,4 +30,5 @@ TEST(InterfaceTest, GivenTeleportAction_When_ThenHostVehicleIsPlaced)
     const auto* const converter = env.GetConverter();
     auto world_pos = converter->Convert(inert_pos);
     host_vehicle.SetPosition(world_pos);
+    host_vehicle.SetVisibility(mantle_api::EntityVisibilityConfig{true, false, true, {"radar"}});
 }