Merge branch 'master' into 'master'

Initial

See merge request eclipse/simopenpass/scenario_api!1

LICENSE.txt

+Eclipse Public License - v 2.0
+
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\ No newline at end of file

MantleAPI/BUILD.bazel

+/*******************************************************************************
+* Copyright (c) 2021, Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+*
+* This program and the accompanying materials are made
+* available under the terms of the Eclipse Public License 2.0
+* which is available at https://www.eclipse.org/legal/epl-2.0/
+*
+* SPDX-License-Identifier: EPL-2.0
+*******************************************************************************/
+
+cc_library(
+    name = "mantle_api",
+    hdrs = glob([
+        "include/**/*.h",
+    ]),
+    includes = [
+        "include",
+    ],
+    visibility = [
+        "//visibility:public",
+    ],
+)
+
+cc_library(
+    name = "mantle_api_test_utils",
+    hdrs = glob([
+        "test/**/*.h",
+    ]),
+    includes = [
+        "test",
+    ],
+    visibility = [
+        "//visibility:public",
+    ],
+    deps = [
+        ":mantle_api",
+        "@googletest//:gtest_main",
+    ],
+)
+
+cc_test(
+    name = "mantle_api_test",
+    timeout = "short",
+    srcs = ["test/interface_test.cpp"],
+    data = [
+        "//Core/Service/Testing:sanitizer-suppressions",
+    ],
+    tags = ["test"],
+    deps = [
+        ":mantle_api_test_utils",
+    ],
+)

MantleAPI/include/MantleAPI/Common/bounding_box.h

+/*******************************************************************************
+* Copyright (c) 2021, Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+*
+* This program and the accompanying materials are made
+* available under the terms of the Eclipse Public License 2.0
+* which is available at https://www.eclipse.org/legal/epl-2.0/
+*
+* SPDX-License-Identifier: EPL-2.0
+*******************************************************************************/
+
+//-----------------------------------------------------------------------------
+/** @file  bounding_box.h */
+//-----------------------------------------------------------------------------
+
+#ifndef MANTLEAPI_COMMON_BOUNDINGBOX_H
+#define MANTLEAPI_COMMON_BOUNDINGBOX_H
+
+#include <MantleAPI/Common/i_position.h>
+#include <MantleAPI/Common/vector.h>
+
+namespace mantle_api
+{
+/// Bounding box is defined in local object coordinate system.
+/// The origin of the object coordinate system is defined in relation to the geometric center.
+struct BoundingBox
+{
+    Vec3d geometric_center{0.0, 0.0, 0.0};
+    double width{0.0};
+    double length{0.0};
+    double height{0.0};
+};
+}  // namespace mantle_api
+
+#endif  // MANTLEAPI_COMMON_BOUNDINGBOX_H

MantleAPI/include/MantleAPI/Common/dimension.h

+/*******************************************************************************
+* Copyright (c) 2021, Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+*
+* This program and the accompanying materials are made
+* available under the terms of the Eclipse Public License 2.0
+* which is available at https://www.eclipse.org/legal/epl-2.0/
+*
+* SPDX-License-Identifier: EPL-2.0
+*******************************************************************************/
+
+//-----------------------------------------------------------------------------
+/** @file  dimension.h */
+//-----------------------------------------------------------------------------
+
+#ifndef MANTLEAPI_COMMON_DIMENSION_H
+#define MANTLEAPI_COMMON_DIMENSION_H
+
+#include <MantleAPI/Common/floating_point_helper.h>
+#include <MantleAPI/Common/vector.h>
+
+namespace mantle_api
+{
+
+template <typename T>
+struct Dimension3
+{
+    T length{};
+    T width{};
+    T height{};
+};
+
+using Dimension3d = Dimension3<double>;
+
+inline bool operator==(const Dimension3d& lhs, const Dimension3d& rhs) noexcept
+{
+    return IsEqual(lhs.length, rhs.length) && IsEqual(lhs.width, rhs.width) && IsEqual(lhs.height, rhs.height);
+}
+
+inline bool operator!=(const Dimension3d& lhs, const Dimension3d& rhs) noexcept
+{
+    return !(lhs == rhs);
+}
+
+}  // namespace mantle_api
+
+#endif  // MANTLEAPI_COMMON_DIMENSION_H

MantleAPI/include/MantleAPI/Common/floating_point_helper.h

+/*******************************************************************************
+* Copyright (c) 2021, Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+*
+* This program and the accompanying materials are made
+* available under the terms of the Eclipse Public License 2.0
+* which is available at https://www.eclipse.org/legal/epl-2.0/
+*
+* SPDX-License-Identifier: EPL-2.0
+*******************************************************************************/
+
+//-----------------------------------------------------------------------------
+/** @file  floating_point_helper.h */
+//-----------------------------------------------------------------------------
+
+#ifndef THIRDPARTY_MANTLEAPI_INCLUDE_MANTLEAPI_COMMON_FLOATING_POINT_HELPER_H
+#define THIRDPARTY_MANTLEAPI_INCLUDE_MANTLEAPI_COMMON_FLOATING_POINT_HELPER_H
+
+#include <cmath>
+#include <limits>
+#include <type_traits>
+namespace mantle_api
+{
+
+/// @brief Compares two floating point numbers for equality.
+///
+/// **Attention** No approximation of the correct precision for the actual value is done!
+///
+/// This function uses a default precision of `std::numeric_limts<T>::epsilon()`, which means that without providing the
+/// precision yourself, it is only suited for
+/// * bit-wise equal numbers
+/// * numbers around 1 or smaller
+///
+/// @tparam T Floating point type, ensured by SFINAE
+/// @param lhs Left-hand operand
+/// @param rhs Right-hand operand
+/// @param precision Given precision, defaults to `std::numeric_limits<T>::epsilon()`.
+/// @return True if both numbers are equal within the given precision.
+template <typename T, typename std::enable_if_t<std::is_floating_point_v<T>>* = nullptr>
+bool IsEqual(T lhs, T rhs, T precision = std::numeric_limits<T>::epsilon())
+{
+    return std::abs(lhs - rhs) < precision;
+}
+
+/// @brief Compares two floating point numbers for equality.
+///
+/// **Attention** No approximation of the correct precision for the actual value is done!
+///
+/// This function uses a default precision of `std::numeric_limts<T>::epsilon()`, which means that without providing the
+/// precision yourself, it is only suited for
+/// * bit-wise equal numbers
+/// * numbers around 1 or smaller
+///
+/// @tparam T Floating point type, ensured by SFINAE
+/// @param lhs Left-hand operand
+/// @param rhs Right-hand operand
+/// @param precision Given precision, defaults to `std::numeric_limits<T>::epsilon()`.
+/// @return True if lhs is greater than rhs or both numbers are equal within the given precision.
+template <typename T, typename std::enable_if_t<std::is_floating_point_v<T>>* = nullptr>
+bool GreaterOrEqual(T lhs, T rhs, T precision = std::numeric_limits<T>::epsilon())
+{
+    if (lhs > rhs)
+    {
+        return true;
+    }
+    return IsEqual(lhs, rhs, precision);
+}
+
+/// @brief Compares two floating point numbers for equality.
+///
+/// **Attention** No approximation of the correct precision for the actual value is done!
+///
+/// This function uses a default precision of `std::numeric_limts<T>::epsilon()`, which means that without providing the
+/// precision yourself, it is only suited for
+/// * bit-wise equal numbers
+/// * numbers around 1 or smaller
+///
+/// @tparam T Floating point type, ensured by SFINAE
+/// @param lhs Left-hand operand
+/// @param rhs Right-hand operand
+/// @param precision Given precision, defaults to `std::numeric_limits<T>::epsilon()`.
+/// @return True if lhs is less than rhs or both numbers are equal within the given precision.
+template <typename T, typename std::enable_if_t<std::is_floating_point_v<T>>* = nullptr>
+bool LessOrEqual(T lhs, T rhs, T precision = std::numeric_limits<T>::epsilon())
+{
+    if (lhs < rhs)
+    {
+        return true;
+    }
+    return IsEqual(lhs, rhs, precision);
+}
+}  // namespace mantle_api
+
+#endif  // THIRDPARTY_MANTLEAPI_INCLUDE_MANTLEAPI_COMMON_FLOATING_POINT_HELPER_H

MantleAPI/include/MantleAPI/Common/i_identifiable.h

+/*******************************************************************************
+* Copyright (c) 2021, Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+*
+* This program and the accompanying materials are made
+* available under the terms of the Eclipse Public License 2.0
+* which is available at https://www.eclipse.org/legal/epl-2.0/
+*
+* SPDX-License-Identifier: EPL-2.0
+*******************************************************************************/
+
+//-----------------------------------------------------------------------------
+/** @file  i_identifiable.h */
+//-----------------------------------------------------------------------------
+
+
+#ifndef MANTLEAPI_COMMON_IIDENTIFIABLE_H
+#define MANTLEAPI_COMMON_IIDENTIFIABLE_H
+
+#include <cstdint>
+#include <string>
+
+namespace mantle_api
+{
+using UniqueId = std::uint64_t;
+
+/// Common interface for all classes that can be referenced by an ID or name.
+class IIdentifiable
+{
+  public:
+    virtual ~IIdentifiable() = default;
+
+    /// The unique id is provided and maintained by the scenario simulator.
+    virtual UniqueId GetUniqueId() const = 0;
+    /// Scenario specific name of an object.
+    ///
+    /// The scenario description is responsible for keeping the name unique.
+    virtual void SetName(const std::string& name) = 0;
+    virtual const std::string& GetName() const = 0;
+};
+
+}  // namespace mantle_api
+
+#endif  // MANTLEAPI_COMMON_IIDENTIFIABLE_H

MantleAPI/include/MantleAPI/Common/orientation.h

+/*******************************************************************************
+* Copyright (c) 2021, Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+*
+* This program and the accompanying materials are made
+* available under the terms of the Eclipse Public License 2.0
+* which is available at https://www.eclipse.org/legal/epl-2.0/
+*
+* SPDX-License-Identifier: EPL-2.0
+*******************************************************************************/
+
+//-----------------------------------------------------------------------------
+/** @file  orientation.h */
+//-----------------------------------------------------------------------------
+
+
+#ifndef SIMULATOR_ORIENTATION_H
+#define SIMULATOR_ORIENTATION_H
+
+#include <MantleAPI/Common/floating_point_helper.h>
+
+namespace mantle_api
+{
+
+template <typename T>
+struct Orientation3
+{
+    T yaw{};
+    T pitch{};
+    T roll{};
+};
+
+using Orientation3d = Orientation3<double>;
+
+inline bool operator==(const Orientation3d& lhs, const Orientation3d& rhs) noexcept
+{
+    return IsEqual(lhs.yaw, rhs.yaw) && IsEqual(lhs.pitch, rhs.pitch) && IsEqual(lhs.roll, rhs.roll);
+}
+
+inline bool operator!=(const Orientation3d& lhs, const Orientation3d& rhs) noexcept
+{
+    return !(lhs == rhs);
+}
+
+}  // namespace mantle_api
+
+#endif  // SIMULATOR_ORIENTATION_H

MantleAPI/include/MantleAPI/Common/pose.h

+/*******************************************************************************
+* Copyright (c) 2021, Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+*
+* This program and the accompanying materials are made
+* available under the terms of the Eclipse Public License 2.0
+* which is available at https://www.eclipse.org/legal/epl-2.0/
+*
+* SPDX-License-Identifier: EPL-2.0
+*******************************************************************************/
+
+//-----------------------------------------------------------------------------
+/** @file  pose.h */
+//-----------------------------------------------------------------------------
+
+#ifndef MANTLEAPI_COMMON_POSE_H
+#define MANTLEAPI_COMMON_POSE_H
+
+#include <MantleAPI/Common/orientation.h>
+#include <MantleAPI/Common/vector.h>
+
+namespace mantle_api
+{
+struct Pose
+{
+    Vec3d position{};
+    Orientation3d orientation{};
+};
+
+}  // namespace mantle_api
+
+#endif  // MANTLEAPI_COMMON_POSE_H

MantleAPI/include/MantleAPI/Common/position.h

+/*******************************************************************************
+* Copyright (c) 2021, Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+*
+* This program and the accompanying materials are made
+* available under the terms of the Eclipse Public License 2.0
+* which is available at https://www.eclipse.org/legal/epl-2.0/
+*
+* SPDX-License-Identifier: EPL-2.0
+*******************************************************************************/
+
+//-----------------------------------------------------------------------------
+/** @file  position.h */
+//-----------------------------------------------------------------------------
+
+#ifndef SCENARIOABSTRACT_COMMON_IPOSITION_H
+#define SCENARIOABSTRACT_COMMON_IPOSITION_H
+
+#include <MantleAPI/Common/floating_point_helper.h>
+#include <MantleAPI/Common/vector.h>
+
+#include <cmath>
+#include <cstdint>
+#include <variant>
+
+namespace mantle_api
+{
+struct ReferencedObject
+{
+    std::int32_t road{0};
+    std::int32_t lane{0};
+};
+
+struct OpenDrivePosition
+{
+    ReferencedObject referenced_object{};
+
+    /// @brief Offset in s direction, unit: [m]
+    double s_offset{0.0};
+    /// @brief Offset in t direction, unit: [m]
+    double t_offset{0.0};
+};
+
+struct LatLonPosition
+{
+    /// @brief GPS latitude, unit: [rad]
+    double latitude{0.0};
+    /// @brief GPS longitude, unit: [rad]
+    double longitude{0.0};
+};
+
+using Position = std::variant<OpenDrivePosition, LatLonPosition, Vec3d>;
+
+/// @brief Equality comparison for OpenDrivePosition.
+///
+/// **Attention** Floating-point comparision may require tweaks in precision.
+inline bool operator==(const OpenDrivePosition& lhs, const OpenDrivePosition& rhs) noexcept
+{
+    return lhs.referenced_object.road == rhs.referenced_object.road &&
+           lhs.referenced_object.lane == rhs.referenced_object.lane && IsEqual(lhs.s_offset, rhs.s_offset) &&
+           IsEqual(lhs.t_offset, rhs.t_offset);
+}
+
+inline bool operator!=(const OpenDrivePosition& lhs, const OpenDrivePosition& rhs) noexcept
+{
+    return !(lhs == rhs);
+}
+
+/// @brief Equality comparison for LatLonPosition.
+///
+/// **Attention** Floating-point comparision may require tweaks in precision.
+inline bool operator==(const LatLonPosition& lhs, const LatLonPosition& rhs) noexcept
+{
+    return IsEqual(lhs.latitude, rhs.latitude) && IsEqual(lhs.longitude, rhs.longitude);
+}
+
+inline bool operator!=(const LatLonPosition& lhs, const LatLonPosition& rhs) noexcept
+{
+    return !(lhs == rhs);
+}
+
+}  // namespace mantle_api
+#endif  // SCENARIOABSTRACT_COMMON_IPOSITION_H

MantleAPI/include/MantleAPI/Common/simulation_time.h

+/*******************************************************************************
+* Copyright (c) 2021, Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+*
+* This program and the accompanying materials are made
+* available under the terms of the Eclipse Public License 2.0
+* which is available at https://www.eclipse.org/legal/epl-2.0/
+*
+* SPDX-License-Identifier: EPL-2.0
+*******************************************************************************/
+
+//-----------------------------------------------------------------------------
+/** @file  simulation_time.h */
+//-----------------------------------------------------------------------------
+
+#ifndef SCENARIOABSTRACT_COMMON_SIMULATION_TIME_H
+#define SCENARIOABSTRACT_COMMON_SIMULATION_TIME_H
+
+#include <chrono>
+
+namespace mantle_api
+{
+using SimulationTime = std::chrono::duration<std::int64_t, std::milli>;
+}
+
+#endif  // SCENARIOABSTRACT_COMMON_SIMULATION_TIME_H
\ No newline at end of file

MantleAPI/include/MantleAPI/Common/spline.h

+/*******************************************************************************
+* Copyright (c) 2021, Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+*
+* This program and the accompanying materials are made
+* available under the terms of the Eclipse Public License 2.0
+* which is available at https://www.eclipse.org/legal/epl-2.0/
+*
+* SPDX-License-Identifier: EPL-2.0
+*******************************************************************************/
+
+//-----------------------------------------------------------------------------
+/** @file  spline.h */
+//-----------------------------------------------------------------------------
+
+#ifndef SCENARIOABSTRACT_COMMON_SPLINE_H
+#define SCENARIOABSTRACT_COMMON_SPLINE_H
+
+#include <MantleAPI/Common/floating_point_helper.h>
+#include <MantleAPI/Common/simulation_time.h>
+
+#include <array>
+
+namespace mantle_api
+{
+struct SplineSection
+{
+    mantle_api::SimulationTime start_time{0};
+    mantle_api::SimulationTime end_time{0};
+    /// @brief Represents the polynomial.
+    ///
+    /// The array stores in format \f$[a_3, a_2, a_1, a_0]\f$ for a polynomial in form
+    /// \f[
+    ///   P(x) = \sum_{i=0}^{3} a_{i} x^{i} = a_3 x^3 + a_2 x^2 + a_1 x + a_0
+    /// \f]
+    std::array<double, 4> polynomial;
+};
+
+/// @brief Equality comparison for SplineSection.
+inline bool operator==(const SplineSection& lhs, const SplineSection& rhs) noexcept
+{
+    return lhs.start_time == rhs.start_time && lhs.end_time == rhs.end_time &&
+           std::equal(lhs.polynomial.begin(),
+                      lhs.polynomial.end(),
+                      rhs.polynomial.begin(),
+                      [](const double a, const double b) { return IsEqual(a, b); });
+}
+
+}  // namespace mantle_api
+
+#endif  // SCENARIOABSTRACT_COMMON_SPLINE_H
\ No newline at end of file

MantleAPI/include/MantleAPI/Common/vector.h

+/*******************************************************************************
+* Copyright (c) 2021, Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+*
+* This program and the accompanying materials are made
+* available under the terms of the Eclipse Public License 2.0
+* which is available at https://www.eclipse.org/legal/epl-2.0/
+*
+* SPDX-License-Identifier: EPL-2.0
+*******************************************************************************/
+
+//-----------------------------------------------------------------------------
+/** @file  vector.h */
+//-----------------------------------------------------------------------------
+
+
+#ifndef MANTLEAPI_COMMON_VECTOR_H
+#define MANTLEAPI_COMMON_VECTOR_H
+
+#include <MantleAPI/Common/floating_point_helper.h>
+
+#include <cstdint>
+
+namespace mantle_api
+{
+
+template <typename T>
+struct Vec3
+{
+    Vec3() = default;
+    Vec3(T x, T y, T z) : x{x}, y{y}, z{z} {}
+
+    T x{};
+    T y{};
+    T z{};
+};
+using Vec3d = Vec3<double>;
+
+inline bool operator==(const Vec3d& lhs, const Vec3d& rhs) noexcept
+{
+    return IsEqual(lhs.x, rhs.x) && IsEqual(lhs.y, rhs.y) && IsEqual(lhs.z, rhs.z);
+}
+
+inline bool operator!=(const Vec3d& lhs, const Vec3d& rhs) noexcept
+{
+    return !(lhs == rhs);
+}
+
+inline Vec3d operator-(const Vec3d& lhs, const Vec3d& rhs) noexcept
+{
+    return {lhs.x - rhs.x, lhs.y - rhs.y, lhs.z - rhs.z};
+}
+
+inline Vec3d operator+(const Vec3d& lhs, const Vec3d& rhs) noexcept
+{
+    return {lhs.x + rhs.x, lhs.y + rhs.y, lhs.z + rhs.z};
+}
+
+}  // namespace mantle_api
+
+#endif  // MANTLEAPI_COMMON_VECTOR_H

MantleAPI/include/MantleAPI/EnvironmentalConditions/road_condition.h

+/*******************************************************************************
+* Copyright (c) 2021, Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+*
+* This program and the accompanying materials are made
+* available under the terms of the Eclipse Public License 2.0
+* which is available at https://www.eclipse.org/legal/epl-2.0/
+*
+* SPDX-License-Identifier: EPL-2.0
+*******************************************************************************/
+
+//-----------------------------------------------------------------------------
+/** @file  road_condition.h */
+//-----------------------------------------------------------------------------
+
+#ifndef MANTLEAPI_ENVIRONMENTALCONDITIONS_ROADCONDITION_H
+#define MANTLEAPI_ENVIRONMENTALCONDITIONS_ROADCONDITION_H
+
+#include <MantleAPI/Common/position.h>
+namespace mantle_api
+{
+
+struct Rectangle
+{
+    Position bottom_left;
+    Position top_right;
+};
+
+struct FrictionPatch
+{
+    Rectangle bounding_box;
+    double friction;
+};
+}  // namespace mantle_api
+#endif  // MANTLEAPI_ENVIRONMENTALCONDITIONS_ROADCONDITION_H

MantleAPI/include/MantleAPI/EnvironmentalConditions/weather.h

+/*******************************************************************************
+* Copyright (c) 2021, Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+*
+* This program and the accompanying materials are made
+* available under the terms of the Eclipse Public License 2.0
+* which is available at https://www.eclipse.org/legal/epl-2.0/
+*
+* SPDX-License-Identifier: EPL-2.0
+*******************************************************************************/
+
+//-----------------------------------------------------------------------------
+/** @file  weather.h */
+//-----------------------------------------------------------------------------
+
+#ifndef MANTLEAPI_ENVIRONMENTALCONDITIONS_WEATHER_H
+#define MANTLEAPI_ENVIRONMENTALCONDITIONS_WEATHER_H
+
+#include <chrono>
+
+using Milliseconds = std::chrono::duration<int64_t, std::ratio<1, 1000>>;
+
+namespace mantle_api
+{
+enum class Precipitation
+{
+    kUnknown,
+    kOther,
+    kNone,
+    kVeryLight,
+    kLight,
+    kModerate,
+    kHeavy,
+    kVeryHeavy,
+    kExtreme
+};
+
+enum class Fog
+{
+    kUnknown,
+    kOther,
+    kExcellentVisibility,
+    kGoodVisibility,
+    kModerateVisibility,
+    kPoorVisibility,
+    kMist,
+    kLight,
+    kThick,
+    kDense
+};
+
+enum class Illumination
+{
+    kUnknown,
+    kOther,
+    kLevel1,
+    kLevel2,
+    kLevel3,
+    kLevel4,
+    kLevel5,
+    kLevel6,
+    kLevel7,
+    kLevel8,
+    kLevel9
+};
+
+struct Weather
+{
+    Fog fog{Fog::kUnknown};
+    Precipitation precipitation{Precipitation::kUnknown};
+    Illumination illumination{Illumination::kUnknown};
+    double humidity_percent{0.0};
+    double temperature_kelvin{0.0};
+    double atmospheric_pressure_pascal{0.0};
+
+    Milliseconds date_time_ms{0};  // TODO: we should move this out of the weather...?!
+};
+}  // namespace mantle_api
+
+#endif  // MANTLEAPI_ENVIRONMENTALCONDITIONS_WEATHER_H

MantleAPI/include/MantleAPI/Execution/i_environment.h

+/*******************************************************************************
+* Copyright (c) 2021, Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+*
+* This program and the accompanying materials are made
+* available under the terms of the Eclipse Public License 2.0
+* which is available at https://www.eclipse.org/legal/epl-2.0/
+*
+* SPDX-License-Identifier: EPL-2.0
+*******************************************************************************/
+
+//-----------------------------------------------------------------------------
+/** @file  i_environment.h */
+//-----------------------------------------------------------------------------
+
+
+#ifndef MANTLEAPI_EXECUTION_IENVIRONMENT_H
+#define MANTLEAPI_EXECUTION_IENVIRONMENT_H
+
+#include <MantleAPI/EnvironmentalConditions/road_condition.h>
+#include <MantleAPI/EnvironmentalConditions/weather.h>
+#include <MantleAPI/Map/i_coord_converter.h>
+#include <MantleAPI/Map/i_lane_location_query_service.h>
+#include <MantleAPI/Traffic/i_entity_repository.h>
+
+#include <string>
+
+namespace mantle_api
+{
+
+class IEnvironment
+{
+  public:
+    virtual ~IEnvironment() = default;
+
+    virtual void Init() = 0;
+    virtual void Step() = 0;
+
+    /// Load a map file and parse it into the memory.
+    ///
+    /// @param file_path raw map file path from the scenario file. Resolving to a valid file path is done in the
+    ///                  environment.
+    virtual void CreateMap(const std::string& file_path, const std::vector<Position>& map_region) = 0;
+
+    /// Creates a controller from the given config. A created controller can be assigned to multiple entities.
+    ///
+    /// @param config Specifies what kind of controller shall be created. The config needs to contain an ID to
+    ///               in order to be able to assign this controller to an entity.
+    virtual void CreateController(std::unique_ptr<IControllerConfig> config) = 0;
+
+    /// Assigns an entity to a copy of the specified controller. This controller needs to be created beforehand.
+    ///
+    /// @param entity The entity to be manipulated by the specified controller.
+    /// @param controller_id Identifies the controller to manipulate the entity.
+    virtual void AddEntityToController(IEntity& entity, std::uint64_t controller_id) = 0;
+
+    virtual const ILaneLocationQueryService& GetQueryService() const = 0;
+    virtual const ICoordConverter* GetConverter() const = 0;
+
+    virtual IEntityRepository& GetEntityRepository() = 0;
+    virtual const IEntityRepository& GetEntityRepository() const = 0;
+
+    /// @brief DateTime in UTC (converted from RFC 3339 standard)
+    virtual void SetDateTime(std::chrono::duration<std::int64_t, std::milli> date_time) = 0;
+    virtual std::chrono::duration<std::int64_t, std::milli> GetDateTime() = 0;
+
+    virtual void SetWeather(Weather weather) = 0;
+    virtual void SetRoadCondition(std::vector<FrictionPatch> friction_patches) = 0;
+};
+}  // namespace mantle_api
+
+#endif  // MANTLEAPI_EXECUTION_IENVIRONMENT_H

MantleAPI/include/MantleAPI/Execution/i_scenario_engine.h

+/*******************************************************************************
+* Copyright (c) 2021, Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+*
+* This program and the accompanying materials are made
+* available under the terms of the Eclipse Public License 2.0
+* which is available at https://www.eclipse.org/legal/epl-2.0/
+*
+* SPDX-License-Identifier: EPL-2.0
+*******************************************************************************/
+
+//-----------------------------------------------------------------------------
+/** @file  i_scenario_engine.h */
+//-----------------------------------------------------------------------------
+
+
+#ifndef MANTLEAPI_EXECUTION_ISCENARIOENGINE_H
+#define MANTLEAPI_EXECUTION_ISCENARIOENGINE_H
+
+#include <MantleAPI/Execution/scenario_info.h>
+
+#include <string>
+
+namespace mantle_api
+{
+class IScenarioEngine
+{
+  public:
+    virtual ~IScenarioEngine() = default;
+
+    /// Initialization of the scenario state, e.g. loading the scenario file, map file, etc.
+    virtual void Init() = 0;
+
+    /// Provide information about the scenario loaded in `Init()`
+    virtual ScenarioInfo GetScenarioInfo() const = 0;
+
+    /// Calculate the new state of the scenario implementation.
+    ///
+    /// Calling this function after `IsFinished()` should be a no-op.
+    /// @see IsFinished()
+    virtual void Step() = 0;
+
+    /// Indicates whether the scenario implementation has finished processing the scenario (end of scenario is reached).
+    /// @return `true` if processing the scenario is complete, `false` otherwise.
+    virtual bool IsFinished() const = 0;
+};
+}  // namespace mantle_api
+
+#endif  // MANTLEAPI_EXECUTION_ISCENARIOENGINE_H

MantleAPI/include/MantleAPI/Execution/scenario_info.h

+/*******************************************************************************
+* Copyright (c) 2021, Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+*
+* This program and the accompanying materials are made
+* available under the terms of the Eclipse Public License 2.0
+* which is available at https://www.eclipse.org/legal/epl-2.0/
+*
+* SPDX-License-Identifier: EPL-2.0
+*******************************************************************************/
+
+//-----------------------------------------------------------------------------
+/** @file  scenario_info.h */
+//-----------------------------------------------------------------------------
+
+
+#ifndef MANTLEAPI_EXECUTION_SCENARIOINFO_H
+#define MANTLEAPI_EXECUTION_SCENARIOINFO_H
+
+#include <MantleAPI/Execution/simulation_time.h>
+
+#include <map>
+#include <string>
+
+namespace mantle_api
+{
+
+struct ScenarioInfo
+{
+    SimulationTime scenario_timeout_duration;
+    std::string description;
+    std::map<std::string, std::string> additional_information;
+};
+
+}  // namespace mantle_api
+
+#endif  // MANTLEAPI_EXECUTION_SCENARIOINFO_H

MantleAPI/include/MantleAPI/Execution/simulation_time.h

+/*******************************************************************************
+* Copyright (c) 2021, Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+*
+* This program and the accompanying materials are made
+* available under the terms of the Eclipse Public License 2.0
+* which is available at https://www.eclipse.org/legal/epl-2.0/
+*
+* SPDX-License-Identifier: EPL-2.0
+*******************************************************************************/
+
+//-----------------------------------------------------------------------------
+/** @file  simulation_time.h */
+//-----------------------------------------------------------------------------
+
+
+#ifndef MANTLEAPI_EXECUTION_SIMULATIONTIME_H
+#define MANTLEAPI_EXECUTION_SIMULATIONTIME_H
+
+#include <chrono>
+#include <cstdint>
+
+namespace mantle_api
+{
+
+/// @brief Use milliseconds with std::int64_t representation as simulation time
+using SimulationTime = std::chrono::duration<std::int64_t, std::milli>;
+
+}  // namespace mantle_api
+
+#endif  // MANTLEAPI_EXECUTION_SIMULATIONTIME_H

MantleAPI/include/MantleAPI/Map/i_coord_converter.h

+/*******************************************************************************
+* Copyright (c) 2021, Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+*
+* This program and the accompanying materials are made
+* available under the terms of the Eclipse Public License 2.0
+* which is available at https://www.eclipse.org/legal/epl-2.0/
+*
+* SPDX-License-Identifier: EPL-2.0
+*******************************************************************************/
+
+//-----------------------------------------------------------------------------
+/** @file  i_coord_converter.h */
+//-----------------------------------------------------------------------------
+
+
+#ifndef MANTLEAPI_MAP_ICOORDCONVERTER_H
+#define MANTLEAPI_MAP_ICOORDCONVERTER_H
+
+#include <MantleAPI/Common/position.h>
+#include <MantleAPI/Common/vector.h>
+
+namespace mantle_api
+{
+
+/// Interface that provides functionality to query the underlying map with regard to transformation of different
+/// position types, curvature, elevation etc.
+class ICoordConverter
+{
+  public:
+    virtual ~ICoordConverter() = default;
+    /// Converts a track position to its corresponding inertial position.
+    virtual Vec3d Convert(Position position) const = 0;
+
+    /// Converts alane position to its corresponding inertial position.
+    virtual Position Convert(Vec3d) const = 0;
+};
+}  // namespace mantle_api
+
+#endif  // MANTLEAPI_MAP_ICOORDCONVERTER_H

MantleAPI/include/MantleAPI/Map/i_lane_location_query_service.h

+/*******************************************************************************
+* Copyright (c) 2021, Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+*
+* This program and the accompanying materials are made
+* available under the terms of the Eclipse Public License 2.0
+* which is available at https://www.eclipse.org/legal/epl-2.0/
+*
+* SPDX-License-Identifier: EPL-2.0
+*******************************************************************************/
+
+//-----------------------------------------------------------------------------
+/** @file  i_lane_location_query_service.h */
+//-----------------------------------------------------------------------------
+
+#ifndef MANTLEAPI_MAP_IQUERYSERVICE_H
+#define MANTLEAPI_MAP_IQUERYSERVICE_H
+
+#include <MantleAPI/Common/i_identifiable.h>
+
+namespace mantle_api
+{
+
+/// Abstraction layer for all map related functions.
+class ILaneLocationQueryService
+{
+  public:
+    virtual ~ILaneLocationQueryService() = default;
+
+    /// TODO: Currently LaneLocationProvider just inherits from this for the sake of easily passing it to the
+    /// controllers
+    /// Therefore the GetMapObjectById function has been removed from the interface - for now.
+    /// We need to think about proper interface functions we want to define here (GetLaneLocation? GetLanes? But this
+    /// would add a rat-tail of more interfaces we need to define (ILaneLocation, ILane, ...?)
+    // virtual const IIdentifiable& GetMapObjectById(UniqueId id) = 0;
+};
+}  // namespace mantle_api
+
+#endif  // MANTLEAPI_MAP_IQUERYSERVICE_H