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Activate light state via fmu

Merged Activate light state via fmu
activate-light-state-via-fmu into develop
Merged Raghunandan Netrapalli Madhusudhan requested to merge activate-light-state-via-fmu into develop
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doc/source/advanced_topics/simulator/scenario_actions.rst
+ 44
− 24
@@ -12,22 +12,22 @@
.. _mapping_scenario_actions:
Mapping of OpenSCENARIO Actions
================================
===============================
.. table::
:class: tight-table
=================== =============
Layer/Component API/Datatype
Layer/Component API/Datatype
=================== =============
OpenSCENARIO
OpenScenarioEngine mantle_api
opSimualtion openPASS
FMU Interface osi3
opSimualtion openPASS
FMU Interface osi3
=================== =============
AcquirePositionAction
----------------------
---------------------
.. table::
:class: tight-table
@@ -41,7 +41,7 @@ AcquirePositionAction
| | Entity::GetPosition() |
| | GeometryHelper::TranslateGlobalPositionLocally() |
+--------------+-------------------------------------------------------------------------------------------------------+
| openPASS | SpawnParameter |
| openPASS | SpawnParameter |
| | AgentInterface::GetPositionX() |
| | AgentInterface::GetPositionY() |
| | AgentInterface::GetYaw() |
@@ -53,7 +53,7 @@ AcquirePositionAction
+--------------+-------------------------------------------------------------------------------------------------------+
AssignRouteAction
------------------
-----------------
.. table::
:class: tight-table
@@ -65,14 +65,14 @@ AssignRouteAction
+--------------+-------------------------------------------------------------------------------------------------------+
| mantle_api | Entity::AssignRoute(UniqueId, RouteDefinition) |
+--------------+-------------------------------------------------------------------------------------------------------+
| openPASS | RouteSamplerInterface::CalculateRouteFromWaypoints(std::vector<mantle_api::RouteWaypoint>) |
| openPASS | RouteSamplerInterface::CalculateRouteFromWaypoints(std::vector<mantle_api::RouteWaypoint>) |
| | EgoAgentInterface::SetRoadGraph(RoadGraph, RoadGraphVertex, RoadGraphVertex) |
+--------------+-------------------------------------------------------------------------------------------------------+
| osi3 | x -- not relevant |
+--------------+-------------------------------------------------------------------------------------------------------+
CustomCommandAction
--------------------
-------------------
.. table::
:class: tight-table
@@ -84,7 +84,7 @@ CustomCommandAction
+--------------+-------------------------------------------------------------------------------------------------------+
| mantle_api | ExecuteCustomCommand(actors, type, command) |
+--------------+-------------------------------------------------------------------------------------------------------+
| openPASS | AddCustomCommand(command) |
| openPASS | AddCustomCommand(command) |
| | GetCustomCommands() |
| | ComponentControllerImplementation::Trigger(time) |
| | TrajectoryFollowerCommonBase::Trigger(time) |
@@ -95,7 +95,7 @@ CustomCommandAction
+--------------+-------------------------------------------------------------------------------------------------------+
FollowTrajectoryAction
-----------------------
----------------------
.. table::
:class: tight-table
@@ -110,7 +110,7 @@ FollowTrajectoryAction
| | GeometryHelper::TranslateGlobalPositionLocally(PolyLine) |
| | MovementDomain::kBoth |
+--------------+-------------------------------------------------------------------------------------------------------+
| openPASS | SetStrategies(MovementDomain::kBoth, ControlStrategyType::kFollowTrajectory) |
| openPASS | SetStrategies(MovementDomain::kBoth, ControlStrategyType::kFollowTrajectory) |
| | Algorithm_Routecontrol_Implementation::ReadWayPointData() |
| | DynamicsScenarioImplementation::ReadWayPointData() |
| | TrajectoryFollowerImplementation::Trigger(time) |
@@ -158,15 +158,35 @@ LaneChangeAction
| | |
| | LaneLocationQueryService::GetRelativeLaneId() |
+--------------+-------------------------------------------------------------------------------------------------------+
| openPASS | SetStrategies(MovementDomain::kLateral, ControlStrategyType::kPerformLaneChange) |
| openPASS | SetStrategies(MovementDomain::kLateral, ControlStrategyType::kPerformLaneChange) |
| | DynamicsScenarioImplementation::CalculateSinusiodalLaneChange(PerformLaneChangeControlStrategy) |
| | DynamicsScenarioImplementation::ReadWayPointData() |
+--------------+-------------------------------------------------------------------------------------------------------+
| osi3 | x -- not implemented |
+--------------+-------------------------------------------------------------------------------------------------------+
LightStateAction
----------------
.. table::
:class: tight-table
+--------------+-------------------------------------------------------------------------------------------------------+
| API/Datatype | Used Methods/Classes/API |
+==============+=======================================================================================================+
| OpenSCENARIO | **LightStateAction** |
+--------------+-------------------------------------------------------------------------------------------------------+
| mantle_api | UpdateControlStrategies(FollowVelocitySplineControlStrategy) |
+--------------+-------------------------------------------------------------------------------------------------------+
| openPASS | SetStrategies(std::vector<std::shared_ptr<mantle_api::ControlStrategy>>) |
+--------------+-------------------------------------------------------------------------------------------------------+
| osi3 | osi3::TrafficAction::CustomAction |
| | CustomAction::command_type("UpdateLightState <LightType>") |
| | CustomAction::command("<LightState>") |
+--------------+-------------------------------------------------------------------------------------------------------+
SpeedAction
---------------
-----------
.. table::
:class: tight-table
@@ -182,7 +202,7 @@ SpeedAction
| | SetSpeed(IEntity, units::velocity::meters_per_second_t) |
| | MovementDomain::kLongitudinal |
+--------------+-------------------------------------------------------------------------------------------------------+
| openPASS | SetStrategies(MovementDomain::kLongitudinal, ControlStrategyType::kFollowVelocitySpline) |
| openPASS | SetStrategies(MovementDomain::kLongitudinal, ControlStrategyType::kFollowVelocitySpline) |
| | ControlStrategies::HasNewLongitudinalStrategy() |
| | DynamicsScenarioImplementation::GetVelocityFromSplines() |
+--------------+-------------------------------------------------------------------------------------------------------+
@@ -192,7 +212,7 @@ SpeedAction
+--------------+-------------------------------------------------------------------------------------------------------+
TeleportAction
---------------
--------------
.. table::
:class: tight-table
@@ -209,7 +229,7 @@ TeleportAction
| | LaneLocationQueryService::GetUpwardsShiftedLanePosition(...) |
| | LaneLocationQueryService::GetLaneIdsAtPosition(…) |
+--------------+-------------------------------------------------------------------------------------------------------+
| openPASS | RouteSampler::Sample(mantle_api::Vec3<units::length::meter_t>, units::angle::radian_t) |
| openPASS | RouteSampler::Sample(mantle_api::Vec3<units::length::meter_t>, units::angle::radian_t) |
| | AgentInterface::SetPositionX(units::length::meter_t) |
| | AgentInterface::SetPositionY(units::length::meter_t) |
| | AgentInterface:SetYaw(units::angle::radian_t) |
@@ -218,7 +238,7 @@ TeleportAction
+--------------+-------------------------------------------------------------------------------------------------------+
TrafficSignalAction
--------------------
-------------------
.. table::
:class: tight-table
@@ -230,7 +250,7 @@ TrafficSignalAction
+--------------+-------------------------------------------------------------------------------------------------------+
| mantle_api | SetTrafficSignalState(std::string name, std::string state) |
+--------------+-------------------------------------------------------------------------------------------------------+
| openPASS | WorldData::GetTrafficSignIdMapping() |
| openPASS | WorldData::GetTrafficSignIdMapping() |
| | WorldData::GetSignalType(Id) |
| | WorldData::GetTrafficLight(Id) |
| | ThreeSignalsTrafficLight::SetState(CommonTrafficLight::State) |
@@ -242,7 +262,7 @@ TrafficSignalAction
+--------------+-------------------------------------------------------------------------------------------------------+
TrafficSignalStateAction
-------------------------
------------------------
.. table::
:class: tight-table
@@ -254,7 +274,7 @@ TrafficSignalStateAction
+--------------+-------------------------------------------------------------------------------------------------------+
| mantle_api | SetTrafficSignalState(std::string name, std::string state) |
+--------------+-------------------------------------------------------------------------------------------------------+
| openPASS | WorldData::GetTrafficSignIdMapping() |
| openPASS | WorldData::GetTrafficSignIdMapping() |
| | WorldData::GetSignalType(Id) |
| | WorldData::GetTrafficLight(Id) |
| | ThreeSignalsTrafficLight::SetState(CommonTrafficLight::State) |
@@ -266,7 +286,7 @@ TrafficSignalStateAction
+--------------+-------------------------------------------------------------------------------------------------------+
TrafficSinkAction
--------------------
-----------------
.. table::
:class: tight-table
@@ -281,7 +301,7 @@ TrafficSinkAction
| mantle_api | Entity::GetPosition() |
| | GeometryHelper::TranslateGlobalPositionLocally() |
+--------------+-------------------------------------------------------------------------------------------------------+
| openPASS | SpawnParameter |
| openPASS | SpawnParameter |
| +-------------------------------------------------------------------------------------------------------+
| | AgentInterface::GetPositionX() |
| | AgentInterface::GetPositionY() |
@@ -303,7 +323,7 @@ VisibilityAction
+--------------+-------------------------------------------------------------------------------------------------------+
| mantle_api | SetVisibility(EntityVisibilityConfig) |
+--------------+-------------------------------------------------------------------------------------------------------+
| openPASS | x -- not implemented |
| openPASS | x -- not implemented |
+--------------+-------------------------------------------------------------------------------------------------------+
| osi3 | x -- not implemented |
+--------------+-------------------------------------------------------------------------------------------------------+

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