diff --git a/content/html/_downloads/0434e3ab992f6eea8e1df4ae553aa93d/cmake-tools-kits.json b/content/html/_downloads/0434e3ab992f6eea8e1df4ae553aa93d/cmake-tools-kits.json
index 7da223eeb289629553594052621c86749d87d811..096e358a955f2aa61e3a8d54e5c9df6a3bf5c0e1 100644
--- a/content/html/_downloads/0434e3ab992f6eea8e1df4ae553aa93d/cmake-tools-kits.json
+++ b/content/html/_downloads/0434e3ab992f6eea8e1df4ae553aa93d/cmake-tools-kits.json
@@ -1,15 +1,15 @@
-[
-    {
-        "name": "MinGW64",
-        "preferredGenerator": {
-            "name": "MSYS Makefiles"
-        },
-        "environmentVariables": { "PATH": "${command:mingw64.path}" },
-        "compilers": {
-            "C": "${command:mingw64.cc.exe}",
-            "CXX": "${command:mingw64.cxx.exe}",
-            "Fortran": "${command:mingw64.fc.exe}"
-        },
-        "keep": true
-    }
-]
+[
+    {
+        "name": "MinGW64",
+        "preferredGenerator": {
+            "name": "MSYS Makefiles"
+        },
+        "environmentVariables": { "PATH": "${command:mingw64.path}" },
+        "compilers": {
+            "C": "${command:mingw64.cc.exe}",
+            "CXX": "${command:mingw64.cxx.exe}",
+            "Fortran": "${command:mingw64.fc.exe}"
+        },
+        "keep": true
+    }
+]
diff --git a/content/html/_downloads/13db75188596730e5b909e7eb9b658b0/PrepareDocCustom.cmake b/content/html/_downloads/13db75188596730e5b909e7eb9b658b0/PrepareDocCustom.cmake
index a9f10e0e51418fc1e2cfb8b8673045581ff427ea..12c0acf7d5194fe9a64a503ef12e8069bf1c26b5 100644
--- a/content/html/_downloads/13db75188596730e5b909e7eb9b658b0/PrepareDocCustom.cmake
+++ b/content/html/_downloads/13db75188596730e5b909e7eb9b658b0/PrepareDocCustom.cmake
@@ -1,59 +1,59 @@
-################################################################################
-# Copyright (c) 2021 in-tech GmbH
-#
-# This program and the accompanying materials are made available under the
-# terms of the Eclipse Public License 2.0 which is available at
-# http://www.eclipse.org/legal/epl-2.0.
-#
-# SPDX-License-Identifier: EPL-2.0
-################################################################################
-
-# The rst files of the sphinx documentation contain PLACEHOLDERS for referencing
-# files outside the source folder of the documentation. This makes references
-# into the repository "as a whole" easier, but also introduces a step for
-# resolving these references before building. To prevent changes in the original
-# documentation source, the this file copies the original source folder ${SRC}
-# into a new ${DST} folder. After that, the PLACEHOLDERS are updated w.r.t
-# to the the new origin.
-#
-# Currently supported PLACEHOLDERS
-# - @OP_REL_ROOT@ => relative path to root of the openpass repository
-# - @OP_REL_SIM@  => resolves to @OP_REL_ROOT@/sim
-# - @CUSTOM_REL_SIM@ => relative path to the "custom" root (.)
-
-macro(copy_documentation source destination)
-    message(VERBOSE "Copy ${source} to ${destination}")
-    file(COPY ${source} DESTINATION ${destination})
-endmacro()
-
-macro(update_placeholder source destination)
-    message(VERBOSE "Updating ${source} to ${destination}")
-    file(RELATIVE_PATH target ${destination} ${source}/../..)
-
-    # Remove potential trailing "/"
-    string(REGEX REPLACE "(.*)/$" "\\1" target ${target})
-
-    # Placeholder for conf.py: no initial '/' => real relative paths
-    set(OP_REL_ROOT ../${target}/deps/os) # relative path to the openPASS open source code, with prefix '../${target}' pointing to the custom repository root if this file is located at <root>/doc
-    set(OP_REL_SIM ${OP_REL_ROOT}/sim)    # relative path to simulation root
-    set(CUSTOM_REL_SIM ../${target})      # relative path to the custom repository root (here, equal to custom sim root)
-
-    configure_file(${destination}/source/conf.py
-                   ${destination}/source/conf.py @ONLY)
-
-    # Placeholder for RST files: use initial '/' => sphinx style for "from source"
-    # Override old one, because we want to use the same placeholder in both contexts
-    set(OP_REL_ROOT /${OP_REL_ROOT})
-    set(OP_REL_SIM /${OP_REL_SIM})
-    set(CUSTOM_REL_SIM /${CUSTOM_REL_SIM})
-
-    file(GLOB_RECURSE rstFiles LIST_DIRECTORIES false ${destination}/*.rst)
-
-    foreach(rstFile IN LISTS rstFiles)
-        message(DEBUG "Replacing placeholders in ${rstFile}")
-        configure_file(${rstFile} ${rstFile} @ONLY)
-    endforeach()
-endmacro()
-
-copy_documentation(${SRC} ${DST})
-update_placeholder(${SRC} ${DST})
+################################################################################
+# Copyright (c) 2021 in-tech GmbH
+#
+# This program and the accompanying materials are made available under the
+# terms of the Eclipse Public License 2.0 which is available at
+# http://www.eclipse.org/legal/epl-2.0.
+#
+# SPDX-License-Identifier: EPL-2.0
+################################################################################
+
+# The rst files of the sphinx documentation contain PLACEHOLDERS for referencing
+# files outside the source folder of the documentation. This makes references
+# into the repository "as a whole" easier, but also introduces a step for
+# resolving these references before building. To prevent changes in the original
+# documentation source, the this file copies the original source folder ${SRC}
+# into a new ${DST} folder. After that, the PLACEHOLDERS are updated w.r.t
+# to the the new origin.
+#
+# Currently supported PLACEHOLDERS
+# - @OP_REL_ROOT@ => relative path to root of the openpass repository
+# - @OP_REL_SIM@  => resolves to @OP_REL_ROOT@/sim
+# - @CUSTOM_REL_SIM@ => relative path to the "custom" root (.)
+
+macro(copy_documentation source destination)
+    message(VERBOSE "Copy ${source} to ${destination}")
+    file(COPY ${source} DESTINATION ${destination})
+endmacro()
+
+macro(update_placeholder source destination)
+    message(VERBOSE "Updating ${source} to ${destination}")
+    file(RELATIVE_PATH target ${destination} ${source}/../..)
+
+    # Remove potential trailing "/"
+    string(REGEX REPLACE "(.*)/$" "\\1" target ${target})
+
+    # Placeholder for conf.py: no initial '/' => real relative paths
+    set(OP_REL_ROOT ../${target}/deps/os) # relative path to the openPASS open source code, with prefix '../${target}' pointing to the custom repository root if this file is located at <root>/doc
+    set(OP_REL_SIM ${OP_REL_ROOT}/sim)    # relative path to simulation root
+    set(CUSTOM_REL_SIM ../${target})      # relative path to the custom repository root (here, equal to custom sim root)
+
+    configure_file(${destination}/source/conf.py
+                   ${destination}/source/conf.py @ONLY)
+
+    # Placeholder for RST files: use initial '/' => sphinx style for "from source"
+    # Override old one, because we want to use the same placeholder in both contexts
+    set(OP_REL_ROOT /${OP_REL_ROOT})
+    set(OP_REL_SIM /${OP_REL_SIM})
+    set(CUSTOM_REL_SIM /${CUSTOM_REL_SIM})
+
+    file(GLOB_RECURSE rstFiles LIST_DIRECTORIES false ${destination}/*.rst)
+
+    foreach(rstFile IN LISTS rstFiles)
+        message(DEBUG "Replacing placeholders in ${rstFile}")
+        configure_file(${rstFile} ${rstFile} @ONLY)
+    endforeach()
+endmacro()
+
+copy_documentation(${SRC} ${DST})
+update_placeholder(${SRC} ${DST})
diff --git a/content/html/_downloads/29dd021e0bdb423fc1a0b9b1d8df02f7/launch.json b/content/html/_downloads/29dd021e0bdb423fc1a0b9b1d8df02f7/launch.json
index c5960a62f9006d803c1efb94385d862b4d4d889e..3f064ba729bb4b5d44aa15148b36fc853d2c33c3 100644
--- a/content/html/_downloads/29dd021e0bdb423fc1a0b9b1d8df02f7/launch.json
+++ b/content/html/_downloads/29dd021e0bdb423fc1a0b9b1d8df02f7/launch.json
@@ -1,57 +1,57 @@
-{
-    "version": "0.2.0",
-    "configurations": [
-        {
-            // FOR TESTMATE (SELECTED TEST) AND CMAKE (DEBUG CMAKE TARGET)
-            "name": "CMake Target",
-            "type": "cppdbg",
-            "request": "launch",
-            "program": "${command:cmake.launchTargetPath}",
-            "args": [],
-            "stopAtEntry": false,
-            "cwd": "${workspaceFolder}",
-            "environment": [
-                {
-                    "name": "PATH",
-                    "value": "$PATH:${command:msys2.root}\\bin;${command:mingw64.root}\\x86_64-w64-mingw32\\lib${command:cmake.buildkit.launch.path}"
-                }
-            ],
-            "externalConsole": false,
-            "MIMode": "gdb",
-            "miDebuggerPath": "${command:cmake.buildkit.gdb.exe}",
-            "setupCommands": [
-                {
-                    "description": "Enable pretty-printing for gdb",
-                    "text": "-enable-pretty-printing",
-                    "ignoreFailures": true
-                }
-            ]
-        },
-        {
-            // FOR DEBUGGING opSimulation (DON'T FORGET TO CALL make install)
-            "name": "opsimulation",
-            "type": "cppdbg",
-            "request": "launch",
-            "program": "${workspaceFolder}\\bin\\core\\opSimulation.exe",
-            "args": [],
-            "stopAtEntry": false,
-            "cwd": "${workspaceFolder}\\bin\\core",
-            "environment": [
-                {
-                    "name": "PATH",
-                    "value": "$PATH:${command:msys2.root}\\bin;${command:mingw64.root}\\x86_64-w64-mingw32\\lib${command:cmake.buildkit.launch.path}"
-                }
-            ],
-            "externalConsole": false,
-            "MIMode": "gdb",
-            "miDebuggerPath": "${command:cmake.buildkit.gdb.exe}",
-            "setupCommands": [
-                {
-                    "description": "Enable pretty-printing for gdb",
-                    "text": "-enable-pretty-printing",
-                    "ignoreFailures": true
-                }
-            ]
-        }
-    ]
-}
+{
+    "version": "0.2.0",
+    "configurations": [
+        {
+            // FOR TESTMATE (SELECTED TEST) AND CMAKE (DEBUG CMAKE TARGET)
+            "name": "CMake Target",
+            "type": "cppdbg",
+            "request": "launch",
+            "program": "${command:cmake.launchTargetPath}",
+            "args": [],
+            "stopAtEntry": false,
+            "cwd": "${workspaceFolder}",
+            "environment": [
+                {
+                    "name": "PATH",
+                    "value": "$PATH:${command:msys2.root}\\bin;${command:mingw64.root}\\x86_64-w64-mingw32\\lib${command:cmake.buildkit.launch.path}"
+                }
+            ],
+            "externalConsole": false,
+            "MIMode": "gdb",
+            "miDebuggerPath": "${command:cmake.buildkit.gdb.exe}",
+            "setupCommands": [
+                {
+                    "description": "Enable pretty-printing for gdb",
+                    "text": "-enable-pretty-printing",
+                    "ignoreFailures": true
+                }
+            ]
+        },
+        {
+            // FOR DEBUGGING opSimulation (DON'T FORGET TO CALL make install)
+            "name": "opsimulation",
+            "type": "cppdbg",
+            "request": "launch",
+            "program": "${workspaceFolder}\\bin\\core\\opSimulation.exe",
+            "args": [],
+            "stopAtEntry": false,
+            "cwd": "${workspaceFolder}\\bin\\core",
+            "environment": [
+                {
+                    "name": "PATH",
+                    "value": "$PATH:${command:msys2.root}\\bin;${command:mingw64.root}\\x86_64-w64-mingw32\\lib${command:cmake.buildkit.launch.path}"
+                }
+            ],
+            "externalConsole": false,
+            "MIMode": "gdb",
+            "miDebuggerPath": "${command:cmake.buildkit.gdb.exe}",
+            "setupCommands": [
+                {
+                    "description": "Enable pretty-printing for gdb",
+                    "text": "-enable-pretty-printing",
+                    "ignoreFailures": true
+                }
+            ]
+        }
+    ]
+}
diff --git a/content/html/_downloads/631d97fb2e9fb8f8491268ef3e6ec616/settings.json b/content/html/_downloads/631d97fb2e9fb8f8491268ef3e6ec616/settings.json
index 9fab4b4f5b49c2f8dc9c15008e558b6202c01fb4..6b65773aaadde949b237470865db3c480ca90a87 100644
--- a/content/html/_downloads/631d97fb2e9fb8f8491268ef3e6ec616/settings.json
+++ b/content/html/_downloads/631d97fb2e9fb8f8491268ef3e6ec616/settings.json
@@ -1,61 +1,60 @@
-{
-    //
-    // CMAKE
-    //
-    // Optional: Adjust to your needs
-    "cmake.parallelJobs": 4,
-    // See openPASS documentation for individual WITH_* settings
-    "cmake.configureSettings": {
-        // Adjust paths depending on your system
-        "CMAKE_PREFIX_PATH": [
-            "/usr/lib/qt5/bin",
-            "${workspaceFolder}/deps/thirdParty/linux64/Yase",
-            "${workspaceFolder}/deps/scmThirdParty/linux64/stochastics",
-            "${workspaceFolder}/deps/thirdParty/linux64/MantleAPI",
-            "${workspaceFolder}/deps/thirdParty/linux64/FMILibrary",
-            "${workspaceFolder}/deps/thirdParty/linux64/protobuf",
-            "${workspaceFolder}/deps/thirdParty/linux64/protobuf-shared",
-            "${workspaceFolder}/deps/thirdParty/linux64/googletest",
-            "${workspaceFolder}/deps/thirdParty/linux64/minizip",
-            "${workspaceFolder}/deps/thirdParty/linux64/openscenario_api",
-            "${workspaceFolder}/deps/thirdParty/linux64/openscenario_engine/release",
-            "${workspaceFolder}/deps/thirdParty/linux64/open-simulation-interface",
-            "${workspaceFolder}/deps/thirdParty/linux64/zlib",
-            "${workspaceFolder}/deps/thirdParty/linux64/units"
-        ],
-        "CMAKE_INSTALL_PREFIX": "/usr/local/openPASS/bin/core",
-        "CMAKE_BUILD_TYPE": "Debug",
-        "USE_CCACHE": true,
-        "WITH_DEBUG_POSTFIX": false,
-        "OPENPASS_ADJUST_OUTPUT": false,
-        "INSTALL_EXTRA_RUNTIME_DEPS": true,
-        "WITH_API_DOC": false,
-        "WITH_DOC": false,
-        "WITH_TESTS": true,
-        // For integration with IntelliSense (see c_cpp_properties.json)
-        "CMAKE_EXPORT_COMPILE_COMMANDS": true
-    },
-    //
-    // TESTMATE
-    //
-    // Optional: Adjust to your needs
-    "testMate.cpp.test.parallelExecutionLimit": 4,
-    "testMate.cpp.test.parallelExecutionOfExecutableLimit": 2,
-    // Optional: Set, if you like to debug test discovery and test start issues
-    "testMate.cpp.log.logfile": "/tmp/cpp.testmate.log",
-    //
-    // VSCODE
-    //
-    // Enforce usage of .clang-format of modified code
-    "editor.formatOnSave": true,
-    "editor.formatOnSaveMode": "modifications",
-    // EOL and whitespace enforcement
-    "editor.detectIndentation": true,
-    "editor.insertSpaces": true,
-    "editor.renderFinalNewline": "dimmed",
-    "editor.renderWhitespace": "all",
-    "editor.trimAutoWhitespace": true,
-    "files.insertFinalNewline": true,
-    "files.trimFinalNewlines": true,
-    "files.trimTrailingWhitespace": true
-}
+{
+    //
+    // CMAKE
+    //
+    // Optional: Adjust to your needs
+    "cmake.parallelJobs": 4,
+    // See openPASS documentation for individual WITH_* settings
+    "cmake.configureSettings": {
+        // Adjust paths depending on your system
+        "CMAKE_PREFIX_PATH": [
+            "${workspaceFolder}/deps/thirdParty/linux64/Yase",
+            "${workspaceFolder}/deps/scmThirdParty/linux64/stochastics",
+            "${workspaceFolder}/deps/thirdParty/linux64/MantleAPI",
+            "${workspaceFolder}/deps/thirdParty/linux64/FMILibrary",
+            "${workspaceFolder}/deps/thirdParty/linux64/protobuf",
+            "${workspaceFolder}/deps/thirdParty/linux64/protobuf-shared",
+            "${workspaceFolder}/deps/thirdParty/linux64/googletest",
+            "${workspaceFolder}/deps/thirdParty/linux64/minizip",
+            "${workspaceFolder}/deps/thirdParty/linux64/openscenario_api",
+            "${workspaceFolder}/deps/thirdParty/linux64/openscenario_engine/release",
+            "${workspaceFolder}/deps/thirdParty/linux64/open-simulation-interface",
+            "${workspaceFolder}/deps/thirdParty/linux64/zlib",
+            "${workspaceFolder}/deps/thirdParty/linux64/units"
+        ],
+        "CMAKE_INSTALL_PREFIX": "/usr/local/openPASS/bin/core",
+        "CMAKE_BUILD_TYPE": "Debug",
+        "USE_CCACHE": true,
+        "WITH_DEBUG_POSTFIX": false,
+        "OPENPASS_ADJUST_OUTPUT": false,
+        "INSTALL_EXTRA_RUNTIME_DEPS": true,
+        "WITH_API_DOC": false,
+        "WITH_DOC": false,
+        "WITH_TESTS": true,
+        // For integration with IntelliSense (see c_cpp_properties.json)
+        "CMAKE_EXPORT_COMPILE_COMMANDS": true
+    },
+    //
+    // TESTMATE
+    //
+    // Optional: Adjust to your needs
+    "testMate.cpp.test.parallelExecutionLimit": 4,
+    "testMate.cpp.test.parallelExecutionOfExecutableLimit": 2,
+    // Optional: Set, if you like to debug test discovery and test start issues
+    "testMate.cpp.log.logfile": "/tmp/cpp.testmate.log",
+    //
+    // VSCODE
+    //
+    // Enforce usage of .clang-format of modified code
+    "editor.formatOnSave": true,
+    "editor.formatOnSaveMode": "modifications",
+    // EOL and whitespace enforcement
+    "editor.detectIndentation": true,
+    "editor.insertSpaces": true,
+    "editor.renderFinalNewline": "dimmed",
+    "editor.renderWhitespace": "all",
+    "editor.trimAutoWhitespace": true,
+    "files.insertFinalNewline": true,
+    "files.trimFinalNewlines": true,
+    "files.trimTrailingWhitespace": true
+}
diff --git a/content/html/_downloads/6a57e453fd078015624636244721a982/.clang-tidy b/content/html/_downloads/6a57e453fd078015624636244721a982/.clang-tidy
index 0a87ee3fb9192b103f58a399cad3daa9aee31b48..0589bb5ad01fe3f3734915b30bd048b4400455ec 100644
--- a/content/html/_downloads/6a57e453fd078015624636244721a982/.clang-tidy
+++ b/content/html/_downloads/6a57e453fd078015624636244721a982/.clang-tidy
@@ -1,65 +1,65 @@
----
-Checks: >
-  -*,
-  boost-*,
-  bugprone-*,
-  -bugprone-easily-swappable-parameters,
-  cppcoreguidelines-*,
-  -cppcoreguidelines-non-private-member-variables-in-classes,
-  -cppcoreguidelines-special-member-functions,
-  -cppcoreguidelines-avoid-magic-numbers,
-  misc-*,
-  -misc-non-private-member-variables-in-classes,
-  llvm-*,
-  google-*,
-  -google-build-using-namespace,
-  -google-default-arguments,
-  -google-readability-todo,
-  modernize-*,
-  -modernize-use-trailing-return-type,
-  performance-*,
-  -readability-*,
-  -readability-magic-numbers,
-  -readability-implicit-bool-conversion
-FormatStyle: file
-CheckOptions:
-  - key: readability-identifier-naming.ClassCase
-    value: CamelCase
-  - key: readability-identifier-naming.ClassMemberCase
-    value: camelBack
-  - key: readability-identifier-naming.ClassMethodCase
-    value: CamelCase
-  - key: readability-identifier-naming.GlobalConstantCase
-    value: UPPER_CASE
-  - key: readability-identifier-naming.ConstantCase
-    value: camelBack
-  - key: readability-identifier-naming.ConstexprVariableCase
-    value: UPPER_CASE
-  - key: readability-identifier-naming.EnumCase
-    value: CamelCase
-  - key: readability-identifier-naming.EnumConstantCase
-    value: CamelCase
-  - key: readability-identifier-naming.FunctionCase
-    value: CamelCase
-  - key: readability-identifier-naming.FunctionIgnoredRegexp
-    value: 'OpenPASS_GetVersion|OpenPASS_CreateInstance|OpenPASS_DestroyInstance|OpenPASS_UpdateInput|OpenPASS_UpdateOutput|OpenPASS_Trigger|OpenPASS_OpSimulationManagerPreHook|OpenPASS_OpSimulationManagerPostHook|OpenPASS_OpSimulationPreHook|OpenPASS_OpSimulationPreRunHook|OpenPASS_OpSimulationUpdateHook|OpenPASS_OpSimulationPostRunHook|OpenPASS_OpSimulationPostHook|OpenPASS_OpSimulationResultFile'
-  - key: readability-identifier-naming.GlobalVariableCase
-    value: camelBack
-  - key: readability-identifier-naming.GlobalVariablePrefix 
-    value: g_
-  - key: readability-identifier-naming.NamespaceCase
-    value: lower_case
-  - key: readability-identifier-naming.ParameterCase
-    value: camelBack
-  - key: readability-identifier-naming.StaticConstantCase
-    value: camelBack
-  - key: readability-identifier-naming.StructCase
-    value: CamelCase
-  - key: readability-identifier-naming.TemplateParameterCase
-    value: CamelCase
-  - key: readability-identifier-naming.VariableCase
-    value: camelBack
-  - key: readability-identifier-length.IgnoredVariableNames
-    value: "^(i|j|k|x|y|z|u|v|s|t|id)$"
-  - key: readability-identifier-length.IgnoredParameterNames
-    value: "^(os|x|y|z|u|v|s|id)$"
+---
+Checks: >
+  -*,
+  boost-*,
+  bugprone-*,
+  -bugprone-easily-swappable-parameters,
+  cppcoreguidelines-*,
+  -cppcoreguidelines-non-private-member-variables-in-classes,
+  -cppcoreguidelines-special-member-functions,
+  -cppcoreguidelines-avoid-magic-numbers,
+  misc-*,
+  -misc-non-private-member-variables-in-classes,
+  llvm-*,
+  google-*,
+  -google-build-using-namespace,
+  -google-default-arguments,
+  -google-readability-todo,
+  modernize-*,
+  -modernize-use-trailing-return-type,
+  performance-*,
+  -readability-*,
+  -readability-magic-numbers,
+  -readability-implicit-bool-conversion
+FormatStyle: file
+CheckOptions:
+  - key: readability-identifier-naming.ClassCase
+    value: CamelCase
+  - key: readability-identifier-naming.ClassMemberCase
+    value: camelBack
+  - key: readability-identifier-naming.ClassMethodCase
+    value: CamelCase
+  - key: readability-identifier-naming.GlobalConstantCase
+    value: UPPER_CASE
+  - key: readability-identifier-naming.ConstantCase
+    value: camelBack
+  - key: readability-identifier-naming.ConstexprVariableCase
+    value: UPPER_CASE
+  - key: readability-identifier-naming.EnumCase
+    value: CamelCase
+  - key: readability-identifier-naming.EnumConstantCase
+    value: CamelCase
+  - key: readability-identifier-naming.FunctionCase
+    value: CamelCase
+  - key: readability-identifier-naming.FunctionIgnoredRegexp
+    value: 'OpenPASS_GetVersion|OpenPASS_CreateInstance|OpenPASS_DestroyInstance|OpenPASS_UpdateInput|OpenPASS_UpdateOutput|OpenPASS_Trigger|OpenPASS_OpSimulationPreHook|OpenPASS_OpSimulationPreRunHook|OpenPASS_OpSimulationUpdateHook|OpenPASS_OpSimulationPostRunHook|OpenPASS_OpSimulationPostHook'
+  - key: readability-identifier-naming.GlobalVariableCase
+    value: camelBack
+  - key: readability-identifier-naming.GlobalVariablePrefix 
+    value: g_
+  - key: readability-identifier-naming.NamespaceCase
+    value: lower_case
+  - key: readability-identifier-naming.ParameterCase
+    value: camelBack
+  - key: readability-identifier-naming.StaticConstantCase
+    value: camelBack
+  - key: readability-identifier-naming.StructCase
+    value: CamelCase
+  - key: readability-identifier-naming.TemplateParameterCase
+    value: CamelCase
+  - key: readability-identifier-naming.VariableCase
+    value: camelBack
+  - key: readability-identifier-length.IgnoredVariableNames
+    value: "^(i|j|k|x|y|z|u|v|s|t|id)$"
+  - key: readability-identifier-length.IgnoredParameterNames
+    value: "^(os|x|y|z|u|v|s|id)$"
diff --git a/content/html/_downloads/8789748ec2bbe8f70ec8c0763329bc98/VehicleModelsCatalog.xosc b/content/html/_downloads/8789748ec2bbe8f70ec8c0763329bc98/VehicleModelsCatalog.xosc
index 154b1671baf02b50f4129cd3532204f60c63785f..c15f14f44f98d128ce2c63b1a0497f00b7107fed 100644
--- a/content/html/_downloads/8789748ec2bbe8f70ec8c0763329bc98/VehicleModelsCatalog.xosc
+++ b/content/html/_downloads/8789748ec2bbe8f70ec8c0763329bc98/VehicleModelsCatalog.xosc
@@ -1,618 +1,618 @@
-<?xml version='1.0' encoding='UTF-8'?>
-<OpenSCENARIO>
-  <FileHeader revMajor="1" revMinor="0" date="2020-06-26T00:17:00" description="openPASS vehicle models" author="in-tech GmbH"/>
-  <Catalog name="VehicleCatalog">
-    <Vehicle model3d="car_bmw_i3" mass="1320.0" name="car_bmw_i3" vehicleCategory="car">
-      <Properties>
-        <Property name="AirDragCoefficient" value="0.3"/>
-        <Property name="AxleRatio" value="1.0"/>
-        <Property name="DecelerationFromPowertrainDrag" value="0.5"/>
-        <Property name="FrictionCoefficient" value="1.0"/>
-        <Property name="FrontSurface" value="2.38"/>
-        <Property name="GearRatio1" value="9.665"/>
-        <Property name="MaximumEngineSpeed" value="6000.0"/>
-        <Property name="MaximumEngineTorque" value="250.0"/>
-        <Property name="MinimumEngineSpeed" value="900.0"/>
-        <Property name="MinimumEngineTorque" value="-54.0"/>
-        <Property name="MomentInertiaPitch" value="0.0"/>
-        <Property name="MomentInertiaRoll" value="0.0"/>
-        <Property name="MomentInertiaYaw" value="0.0"/>
-        <Property name="NumberOfGears" value="1"/>
-        <Property name="SensorPosition/FrontCenter/Height" value="0.66"/>
-        <Property name="SensorPosition/FrontCenter/Lateral" value="0.0"/>
-        <Property name="SensorPosition/FrontCenter/Longitudinal" value="3.26"/>
-        <Property name="SensorPosition/FrontCenter/Pitch" value="0.0"/>
-        <Property name="SensorPosition/FrontCenter/Roll" value="0.0"/>
-        <Property name="SensorPosition/FrontCenter/Yaw" value="0.0"/>
-        <Property name="SensorPosition/FrontLeft/Height" value="0.82"/>
-        <Property name="SensorPosition/FrontLeft/Lateral" value="0.68"/>
-        <Property name="SensorPosition/FrontLeft/Longitudinal" value="2.98"/>
-        <Property name="SensorPosition/FrontLeft/Pitch" value="0.0"/>
-        <Property name="SensorPosition/FrontLeft/Roll" value="0.0"/>
-        <Property name="SensorPosition/FrontLeft/Yaw" value="1.134464"/>
-        <Property name="SensorPosition/FrontRight/Height" value="0.82"/>
-        <Property name="SensorPosition/FrontRight/Lateral" value="-0.68"/>
-        <Property name="SensorPosition/FrontRight/Longitudinal" value="2.98"/>
-        <Property name="SensorPosition/FrontRight/Pitch" value="0.0"/>
-        <Property name="SensorPosition/FrontRight/Roll" value="0.0"/>
-        <Property name="SensorPosition/FrontRight/Yaw" value="-1.134464"/>
-        <Property name="SensorPosition/FrontWindow/Height" value="1.45"/>
-        <Property name="SensorPosition/FrontWindow/Lateral" value="0.0"/>
-        <Property name="SensorPosition/FrontWindow/Longitudinal" value="1.9"/>
-        <Property name="SensorPosition/FrontWindow/Pitch" value="0.0"/>
-        <Property name="SensorPosition/FrontWindow/Roll" value="0.0"/>
-        <Property name="SensorPosition/FrontWindow/Yaw" value="0.0"/>
-        <Property name="SensorPosition/RearLeft/Height" value="0.64"/>
-        <Property name="SensorPosition/RearLeft/Lateral" value="0.64"/>
-        <Property name="SensorPosition/RearLeft/Longitudinal" value="-0.49"/>
-        <Property name="SensorPosition/RearLeft/Pitch" value="0.0"/>
-        <Property name="SensorPosition/RearLeft/Roll" value="0.0"/>
-        <Property name="SensorPosition/RearLeft/Yaw" value="2.146755"/>
-        <Property name="SensorPosition/RearRight/Height" value="0.64"/>
-        <Property name="SensorPosition/RearRight/Lateral" value="-0.64"/>
-        <Property name="SensorPosition/RearRight/Longitudinal" value="-0.49"/>
-        <Property name="SensorPosition/RearRight/Pitch" value="0.0"/>
-        <Property name="SensorPosition/RearRight/Roll" value="0.0"/>
-        <Property name="SensorPosition/RearRight/Yaw" value="-2.146755"/>
-        <Property name="SensorPosition/RearWindow/Height" value="1.39"/>
-        <Property name="SensorPosition/RearWindow/Lateral" value="0.0"/>
-        <Property name="SensorPosition/RearWindow/Longitudinal" value="-0.21"/>
-        <Property name="SensorPosition/RearWindow/Pitch" value="0.0"/>
-        <Property name="SensorPosition/RearWindow/Roll" value="0.0"/>
-        <Property name="SensorPosition/RearWindow/Yaw" value="3.141592"/>
-        <Property name="SensorPosition/SideLeft/Height" value="0.3"/>
-        <Property name="SensorPosition/SideLeft/Lateral" value="0.8"/>
-        <Property name="SensorPosition/SideLeft/Longitudinal" value="1.2"/>
-        <Property name="SensorPosition/SideLeft/Pitch" value="0.0"/>
-        <Property name="SensorPosition/SideLeft/Roll" value="0.0"/>
-        <Property name="SensorPosition/SideLeft/Yaw" value="1.570796"/>
-        <Property name="SensorPosition/SideRight/Height" value="0.3"/>
-        <Property name="SensorPosition/SideRight/Lateral" value="-0.8"/>
-        <Property name="SensorPosition/SideRight/Longitudinal" value="1.2"/>
-        <Property name="SensorPosition/SideRight/Pitch" value="0.0"/>
-        <Property name="SensorPosition/SideRight/Roll" value="0.0"/>
-        <Property name="SensorPosition/SideRight/Yaw" value="-1.570796"/>
-        <Property name="SteeringRatio" value="10.7"/>
-      </Properties>
-      <BoundingBox>
-        <Center x="1.25" y="0.0" z="0.84"/>
-        <Dimensions width="2.04" length="3.96" height="1.68"/>
-      </BoundingBox>
-      <Performance maxSpeed="41.67" maxAcceleration="9.80665" maxDeceleration="9.80665"/>
-      <Axles>
-        <FrontAxle maxSteering="0.5282" wheelDiameter="0.682" trackWidth="1.8" positionX="2.52" positionZ="0.341"/>
-        <RearAxle maxSteering="0.0" wheelDiameter="0.682" trackWidth="1.8" positionX="0.0" positionZ="0.341"/>
-      </Axles>
-    </Vehicle>
-    <Vehicle model3d="car_bmw_3" mass="1525.0" name="car_bmw_3" vehicleCategory="car">
-      <Properties>
-        <Property name="AirDragCoefficient" value="0.3"/>
-        <Property name="AxleRatio" value="2.813"/>
-        <Property name="DecelerationFromPowertrainDrag" value="0.5"/>
-        <Property name="FrictionCoefficient" value="1.0"/>
-        <Property name="FrontSurface" value="2.2"/>
-        <Property name="GearRatio1" value="5.0"/>
-        <Property name="GearRatio2" value="3.2"/>
-        <Property name="GearRatio3" value="2.143"/>
-        <Property name="GearRatio4" value="1.72"/>
-        <Property name="GearRatio5" value="1.314"/>
-        <Property name="GearRatio6" value="1.0"/>
-        <Property name="GearRatio7" value="0.822"/>
-        <Property name="GearRatio8" value="0.64"/>
-        <Property name="MaximumEngineSpeed" value="6000.0"/>
-        <Property name="MaximumEngineTorque" value="270.0"/>
-        <Property name="MinimumEngineSpeed" value="900.0"/>
-        <Property name="MinimumEngineTorque" value="-54.0"/>
-        <Property name="MomentInertiaPitch" value="0.0"/>
-        <Property name="MomentInertiaRoll" value="0.0"/>
-        <Property name="MomentInertiaYaw" value="0.0"/>
-        <Property name="NumberOfGears" value="8"/>
-        <Property name="SensorPosition/FrontCenter/Height" value="0.56"/>
-        <Property name="SensorPosition/FrontCenter/Lateral" value="0.0"/>
-        <Property name="SensorPosition/FrontCenter/Longitudinal" value="3.71"/>
-        <Property name="SensorPosition/FrontCenter/Pitch" value="0.0"/>
-        <Property name="SensorPosition/FrontCenter/Roll" value="0.0"/>
-        <Property name="SensorPosition/FrontCenter/Yaw" value="0.0"/>
-        <Property name="SensorPosition/FrontLeft/Height" value="0.68"/>
-        <Property name="SensorPosition/FrontLeft/Lateral" value="0.78"/>
-        <Property name="SensorPosition/FrontLeft/Longitudinal" value="3.33"/>
-        <Property name="SensorPosition/FrontLeft/Pitch" value="0.0"/>
-        <Property name="SensorPosition/FrontLeft/Roll" value="0.0"/>
-        <Property name="SensorPosition/FrontLeft/Yaw" value="1.134464"/>
-        <Property name="SensorPosition/FrontRight/Height" value="0.68"/>
-        <Property name="SensorPosition/FrontRight/Lateral" value="-0.78"/>
-        <Property name="SensorPosition/FrontRight/Longitudinal" value="3.33"/>
-        <Property name="SensorPosition/FrontRight/Pitch" value="0.0"/>
-        <Property name="SensorPosition/FrontRight/Roll" value="0.0"/>
-        <Property name="SensorPosition/FrontRight/Yaw" value="-1.134464"/>
-        <Property name="SensorPosition/FrontWindow/Height" value="1.27"/>
-        <Property name="SensorPosition/FrontWindow/Lateral" value="0.0"/>
-        <Property name="SensorPosition/FrontWindow/Longitudinal" value="1.82"/>
-        <Property name="SensorPosition/FrontWindow/Pitch" value="0.0"/>
-        <Property name="SensorPosition/FrontWindow/Roll" value="0.0"/>
-        <Property name="SensorPosition/FrontWindow/Yaw" value="0.0"/>
-        <Property name="SensorPosition/RearLeft/Height" value="0.65"/>
-        <Property name="SensorPosition/RearLeft/Lateral" value="0.675"/>
-        <Property name="SensorPosition/RearLeft/Longitudinal" value="-0.65"/>
-        <Property name="SensorPosition/RearLeft/Pitch" value="0.0"/>
-        <Property name="SensorPosition/RearLeft/Roll" value="0.0"/>
-        <Property name="SensorPosition/RearLeft/Yaw" value="2.146755"/>
-        <Property name="SensorPosition/RearRight/Height" value="0.65"/>
-        <Property name="SensorPosition/RearRight/Lateral" value="-0.75"/>
-        <Property name="SensorPosition/RearRight/Longitudinal" value="-0.65"/>
-        <Property name="SensorPosition/RearRight/Pitch" value="0.0"/>
-        <Property name="SensorPosition/RearRight/Roll" value="0.0"/>
-        <Property name="SensorPosition/RearRight/Yaw" value="-2.146755"/>
-        <Property name="SensorPosition/RearWindow/Height" value="1.31"/>
-        <Property name="SensorPosition/RearWindow/Lateral" value="0.0"/>
-        <Property name="SensorPosition/RearWindow/Longitudinal" value="0.16"/>
-        <Property name="SensorPosition/RearWindow/Pitch" value="0.0"/>
-        <Property name="SensorPosition/RearWindow/Roll" value="0.0"/>
-        <Property name="SensorPosition/RearWindow/Yaw" value="3.141592"/>
-        <Property name="SensorPosition/SideLeft/Height" value="0.21"/>
-        <Property name="SensorPosition/SideLeft/Lateral" value="0.81"/>
-        <Property name="SensorPosition/SideLeft/Longitudinal" value="1.21"/>
-        <Property name="SensorPosition/SideLeft/Pitch" value="0.0"/>
-        <Property name="SensorPosition/SideLeft/Roll" value="0.0"/>
-        <Property name="SensorPosition/SideLeft/Yaw" value="1.570796"/>
-        <Property name="SensorPosition/SideRight/Height" value="0.21"/>
-        <Property name="SensorPosition/SideRight/Lateral" value="-0.81"/>
-        <Property name="SensorPosition/SideRight/Longitudinal" value="1.21"/>
-        <Property name="SensorPosition/SideRight/Pitch" value="0.0"/>
-        <Property name="SensorPosition/SideRight/Roll" value="0.0"/>
-        <Property name="SensorPosition/SideRight/Yaw" value="-1.570796"/>
-        <Property name="SteeringRatio" value="10.7"/>
-      </Properties>
-      <BoundingBox>
-        <Center x="1.285" y="0.0" z="0.72"/>
-        <Dimensions width="1.96" length="4.63" height="1.44"/>
-      </BoundingBox>
-      <Performance maxSpeed="69.44" maxAcceleration="9.80665" maxDeceleration="9.80665"/>
-      <Axles>
-        <FrontAxle maxSteering="0.5012" wheelDiameter="0.634" trackWidth="1.8" positionX="2.81" positionZ="0.317"/>
-        <RearAxle maxSteering="0.0" wheelDiameter="0.634" trackWidth="1.8" positionX="0.0" positionZ="0.317"/>
-      </Axles>
-    </Vehicle>
-    <Vehicle model3d="car_bmw_7_1" mass="1845.0" name="car_bmw_7_1" vehicleCategory="car">
-      <Properties>
-        <Property name="AirDragCoefficient" value="0.3"/>
-        <Property name="AxleRatio" value="3.077"/>
-        <Property name="DecelerationFromPowertrainDrag" value="0.5"/>
-        <Property name="FrictionCoefficient" value="1.0"/>
-        <Property name="FrontSurface" value="2.42"/>
-        <Property name="GearRatio1" value="5.0"/>
-        <Property name="GearRatio2" value="3.2"/>
-        <Property name="GearRatio3" value="2.143"/>
-        <Property name="GearRatio4" value="1.72"/>
-        <Property name="GearRatio5" value="1.314"/>
-        <Property name="GearRatio6" value="1.0"/>
-        <Property name="GearRatio7" value="0.822"/>
-        <Property name="GearRatio8" value="0.64"/>
-        <Property name="MaximumEngineSpeed" value="6000.0"/>
-        <Property name="MaximumEngineTorque" value="450.0"/>
-        <Property name="MinimumEngineSpeed" value="900.0"/>
-        <Property name="MinimumEngineTorque" value="-54.0"/>
-        <Property name="MaximumEnginePower" value="200000.0"/>
-        <Property name="MomentInertiaPitch" value="0.0"/>
-        <Property name="MomentInertiaRoll" value="0.0"/>
-        <Property name="MomentInertiaYaw" value="0.0"/>
-        <Property name="NumberOfGears" value="8"/>
-        <Property name="SensorPosition/FrontCenter/Height" value="0.6"/>
-        <Property name="SensorPosition/FrontCenter/Lateral" value="0.0"/>
-        <Property name="SensorPosition/FrontCenter/Longitudinal" value="4.16"/>
-        <Property name="SensorPosition/FrontCenter/Pitch" value="0.0"/>
-        <Property name="SensorPosition/FrontCenter/Roll" value="0.0"/>
-        <Property name="SensorPosition/FrontCenter/Yaw" value="0.0"/>
-        <Property name="SensorPosition/FrontLeft/Height" value="0.77"/>
-        <Property name="SensorPosition/FrontLeft/Lateral" value="0.84"/>
-        <Property name="SensorPosition/FrontLeft/Longitudinal" value="3.75"/>
-        <Property name="SensorPosition/FrontLeft/Pitch" value="0.0"/>
-        <Property name="SensorPosition/FrontLeft/Roll" value="0.0"/>
-        <Property name="SensorPosition/FrontLeft/Yaw" value="1.134464"/>
-        <Property name="SensorPosition/FrontRight/Height" value="0.77"/>
-        <Property name="SensorPosition/FrontRight/Lateral" value="-0.84"/>
-        <Property name="SensorPosition/FrontRight/Longitudinal" value="3.75"/>
-        <Property name="SensorPosition/FrontRight/Pitch" value="0.0"/>
-        <Property name="SensorPosition/FrontRight/Roll" value="0.0"/>
-        <Property name="SensorPosition/FrontRight/Yaw" value="-1.134464"/>
-        <Property name="SensorPosition/FrontWindow/Height" value="1.36"/>
-        <Property name="SensorPosition/FrontWindow/Lateral" value="0.0"/>
-        <Property name="SensorPosition/FrontWindow/Longitudinal" value="2.05"/>
-        <Property name="SensorPosition/FrontWindow/Pitch" value="0.0"/>
-        <Property name="SensorPosition/FrontWindow/Roll" value="0.0"/>
-        <Property name="SensorPosition/FrontWindow/Yaw" value="0.0"/>
-        <Property name="SensorPosition/RearLeft/Height" value="0.73"/>
-        <Property name="SensorPosition/RearLeft/Lateral" value="0.84"/>
-        <Property name="SensorPosition/RearLeft/Longitudinal" value="-0.75"/>
-        <Property name="SensorPosition/RearLeft/Pitch" value="0.0"/>
-        <Property name="SensorPosition/RearLeft/Roll" value="0.0"/>
-        <Property name="SensorPosition/RearLeft/Yaw" value="2.146755"/>
-        <Property name="SensorPosition/RearRight/Height" value="0.73"/>
-        <Property name="SensorPosition/RearRight/Lateral" value="-0.84"/>
-        <Property name="SensorPosition/RearRight/Longitudinal" value="-0.475"/>
-        <Property name="SensorPosition/RearRight/Pitch" value="0.0"/>
-        <Property name="SensorPosition/RearRight/Roll" value="0.0"/>
-        <Property name="SensorPosition/RearRight/Yaw" value="-2.146755"/>
-        <Property name="SensorPosition/RearWindow/Height" value="1.41"/>
-        <Property name="SensorPosition/RearWindow/Lateral" value="0.0"/>
-        <Property name="SensorPosition/RearWindow/Longitudinal" value="0.26"/>
-        <Property name="SensorPosition/RearWindow/Pitch" value="0.0"/>
-        <Property name="SensorPosition/RearWindow/Roll" value="0.0"/>
-        <Property name="SensorPosition/RearWindow/Yaw" value="3.141592"/>
-        <Property name="SensorPosition/SideLeft/Height" value="0.23"/>
-        <Property name="SensorPosition/SideLeft/Lateral" value="0.9"/>
-        <Property name="SensorPosition/SideLeft/Longitudinal" value="1.34"/>
-        <Property name="SensorPosition/SideLeft/Pitch" value="0.0"/>
-        <Property name="SensorPosition/SideLeft/Roll" value="0.0"/>
-        <Property name="SensorPosition/SideLeft/Yaw" value="1.570796"/>
-        <Property name="SensorPosition/SideRight/Height" value="0.23"/>
-        <Property name="SensorPosition/SideRight/Lateral" value="-0.9"/>
-        <Property name="SensorPosition/SideRight/Longitudinal" value="1.34"/>
-        <Property name="SensorPosition/SideRight/Pitch" value="0.0"/>
-        <Property name="SensorPosition/SideRight/Roll" value="0.0"/>
-        <Property name="SensorPosition/SideRight/Yaw" value="-1.570796"/>
-        <Property name="SteeringRatio" value="10.7"/>
-      </Properties>
-      <BoundingBox>
-        <Center x="1.46" y="0.0" z="0.755"/>
-        <Dimensions width="2.18" length="5.26" height="1.51"/>
-      </BoundingBox>
-      <Performance maxSpeed="69.44" maxAcceleration="9.80665" maxDeceleration="9.80665"/>
-      <Axles>
-        <FrontAxle maxSteering="0.5226" wheelDiameter="0.682" trackWidth="1.8" positionX="3.22" positionZ="0.341"/>
-        <RearAxle maxSteering="0.0" wheelDiameter="0.682" trackWidth="1.8" positionX="0.0" positionZ="0.341"/>
-      </Axles>
-    </Vehicle>
-    <Vehicle model3d="car_bmw_7_2" mass="1900.0" name="car_bmw_7_2" vehicleCategory="car">
-      <Properties>
-        <Property name="AirDragCoefficient" value="0.3"/>
-        <Property name="AxleRatio" value="3.077"/>
-        <Property name="DecelerationFromPowertrainDrag" value="0.5"/>
-        <Property name="FrictionCoefficient" value="1.0"/>
-        <Property name="FrontSurface" value="2.42"/>
-        <Property name="GearRatio1" value="4.714"/>
-        <Property name="GearRatio2" value="3.143"/>
-        <Property name="GearRatio3" value="2.106"/>
-        <Property name="GearRatio4" value="1.667"/>
-        <Property name="GearRatio5" value="1.285"/>
-        <Property name="GearRatio6" value="1.0"/>
-        <Property name="GearRatio7" value="0.839"/>
-        <Property name="GearRatio8" value="0.667"/>
-        <Property name="MaximumEngineSpeed" value="6000.0"/>
-        <Property name="MaximumEngineTorque" value="450.0"/>
-        <Property name="MinimumEngineSpeed" value="900.0"/>
-        <Property name="MinimumEngineTorque" value="-54.0"/>
-        <Property name="MaximumEnginePower" value="200000.0"/>
-        <Property name="MomentInertiaPitch" value="0.0"/>
-        <Property name="MomentInertiaRoll" value="0.0"/>
-        <Property name="MomentInertiaYaw" value="1300.0"/>
-        <Property name="NumberOfGears" value="8"/>
-        <Property name="SensorPosition/FrontCenter/Height" value="0.55"/>
-        <Property name="SensorPosition/FrontCenter/Lateral" value="0.0"/>
-        <Property name="SensorPosition/FrontCenter/Longitudinal" value="4.2"/>
-        <Property name="SensorPosition/FrontCenter/Pitch" value="0.0"/>
-        <Property name="SensorPosition/FrontCenter/Roll" value="0.0"/>
-        <Property name="SensorPosition/FrontCenter/Yaw" value="0.0"/>
-        <Property name="SensorPosition/FrontLeft/Height" value="0.75"/>
-        <Property name="SensorPosition/FrontLeft/Lateral" value="0.86"/>
-        <Property name="SensorPosition/FrontLeft/Longitudinal" value="3.84"/>
-        <Property name="SensorPosition/FrontLeft/Pitch" value="0.0"/>
-        <Property name="SensorPosition/FrontLeft/Roll" value="0.0"/>
-        <Property name="SensorPosition/FrontLeft/Yaw" value="1.134464"/>
-        <Property name="SensorPosition/FrontRight/Height" value="0.75"/>
-        <Property name="SensorPosition/FrontRight/Lateral" value="-0.86"/>
-        <Property name="SensorPosition/FrontRight/Longitudinal" value="3.84"/>
-        <Property name="SensorPosition/FrontRight/Pitch" value="0.0"/>
-        <Property name="SensorPosition/FrontRight/Roll" value="0.0"/>
-        <Property name="SensorPosition/FrontRight/Yaw" value="-1.134464"/>
-        <Property name="SensorPosition/FrontWindow/Height" value="1.34"/>
-        <Property name="SensorPosition/FrontWindow/Lateral" value="0.0"/>
-        <Property name="SensorPosition/FrontWindow/Longitudinal" value="2.09"/>
-        <Property name="SensorPosition/FrontWindow/Pitch" value="0.0"/>
-        <Property name="SensorPosition/FrontWindow/Roll" value="0.0"/>
-        <Property name="SensorPosition/FrontWindow/Yaw" value="0.0"/>
-        <Property name="SensorPosition/RearLeft/Height" value="0.69"/>
-        <Property name="SensorPosition/RearLeft/Lateral" value="0.79"/>
-        <Property name="SensorPosition/RearLeft/Longitudinal" value="-0.84"/>
-        <Property name="SensorPosition/RearLeft/Pitch" value="0.0"/>
-        <Property name="SensorPosition/RearLeft/Roll" value="0.0"/>
-        <Property name="SensorPosition/RearLeft/Yaw" value="2.146755"/>
-        <Property name="SensorPosition/RearRight/Height" value="0.69"/>
-        <Property name="SensorPosition/RearRight/Lateral" value="-0.79"/>
-        <Property name="SensorPosition/RearRight/Longitudinal" value="-0.84"/>
-        <Property name="SensorPosition/RearRight/Pitch" value="0.0"/>
-        <Property name="SensorPosition/RearRight/Roll" value="0.0"/>
-        <Property name="SensorPosition/RearRight/Yaw" value="-2.146755"/>
-        <Property name="SensorPosition/RearWindow/Height" value="1.38"/>
-        <Property name="SensorPosition/RearWindow/Lateral" value="0.0"/>
-        <Property name="SensorPosition/RearWindow/Longitudinal" value="0.28"/>
-        <Property name="SensorPosition/RearWindow/Pitch" value="0.0"/>
-        <Property name="SensorPosition/RearWindow/Roll" value="0.0"/>
-        <Property name="SensorPosition/RearWindow/Yaw" value="3.141592"/>
-        <Property name="SensorPosition/SideLeft/Height" value="0.24"/>
-        <Property name="SensorPosition/SideLeft/Lateral" value="0.91"/>
-        <Property name="SensorPosition/SideLeft/Longitudinal" value="1.46"/>
-        <Property name="SensorPosition/SideLeft/Pitch" value="0.0"/>
-        <Property name="SensorPosition/SideLeft/Roll" value="0.0"/>
-        <Property name="SensorPosition/SideLeft/Yaw" value="1.570796"/>
-        <Property name="SensorPosition/SideRight/Height" value="0.24"/>
-        <Property name="SensorPosition/SideRight/Lateral" value="-0.91"/>
-        <Property name="SensorPosition/SideRight/Longitudinal" value="1.46"/>
-        <Property name="SensorPosition/SideRight/Pitch" value="0.0"/>
-        <Property name="SensorPosition/SideRight/Roll" value="0.0"/>
-        <Property name="SensorPosition/SideRight/Yaw" value="-1.570796"/>
-        <Property name="SteeringRatio" value="10.7"/>
-      </Properties>
-      <BoundingBox>
-        <Center x="1.485" y="0.0" z="0.745"/>
-        <Dimensions width="2.16" length="5.27" height="1.49"/>
-      </BoundingBox>
-      <Performance maxSpeed="69.44" maxAcceleration="9.80665" maxDeceleration="9.80665"/>
-      <Axles>
-        <FrontAxle maxSteering="0.5279" wheelDiameter="0.682" trackWidth="1.8" positionX="3.25" positionZ="0.341"/>
-        <RearAxle maxSteering="0.0" wheelDiameter="0.682" trackWidth="1.8" positionX="0.0" positionZ="0.341"/>
-      </Axles>
-    </Vehicle>
-    <Vehicle model3d="car_mini_cooper" mass="1235.0" name="car_mini_cooper" vehicleCategory="car">
-      <Properties>
-        <Property name="AirDragCoefficient" value="0.3"/>
-        <Property name="AxleRatio" value="3.789"/>
-        <Property name="DecelerationFromPowertrainDrag" value="0.5"/>
-        <Property name="FrictionCoefficient" value="1.0"/>
-        <Property name="FrontSurface" value="2.07"/>
-        <Property name="GearRatio1" value="4.154"/>
-        <Property name="GearRatio2" value="2.45"/>
-        <Property name="GearRatio3" value="1.557"/>
-        <Property name="GearRatio4" value="1.09"/>
-        <Property name="GearRatio5" value="0.843"/>
-        <Property name="GearRatio6" value="0.675"/>
-        <Property name="GearRatio7" value="0.547"/>
-        <Property name="MaximumEngineSpeed" value="6000.0"/>
-        <Property name="MaximumEngineTorque" value="220.0"/>
-        <Property name="MinimumEngineSpeed" value="900.0"/>
-        <Property name="MinimumEngineTorque" value="-54.0"/>
-        <Property name="MomentInertiaPitch" value="0.0"/>
-        <Property name="MomentInertiaRoll" value="0.0"/>
-        <Property name="MomentInertiaYaw" value="0.0"/>
-        <Property name="NumberOfGears" value="7"/>
-        <Property name="SensorPosition/FrontCenter/Height" value="0.57"/>
-        <Property name="SensorPosition/FrontCenter/Lateral" value="0.0"/>
-        <Property name="SensorPosition/FrontCenter/Longitudinal" value="3.22"/>
-        <Property name="SensorPosition/FrontCenter/Pitch" value="0.0"/>
-        <Property name="SensorPosition/FrontCenter/Roll" value="0.0"/>
-        <Property name="SensorPosition/FrontCenter/Yaw" value="0.0"/>
-        <Property name="SensorPosition/FrontLeft/Height" value="0.65"/>
-        <Property name="SensorPosition/FrontLeft/Lateral" value="0.65"/>
-        <Property name="SensorPosition/FrontLeft/Longitudinal" value="3.05"/>
-        <Property name="SensorPosition/FrontLeft/Pitch" value="0.0"/>
-        <Property name="SensorPosition/FrontLeft/Roll" value="0.0"/>
-        <Property name="SensorPosition/FrontLeft/Yaw" value="1.134464"/>
-        <Property name="SensorPosition/FrontRight/Height" value="0.65"/>
-        <Property name="SensorPosition/FrontRight/Lateral" value="-0.65"/>
-        <Property name="SensorPosition/FrontRight/Longitudinal" value="3.05"/>
-        <Property name="SensorPosition/FrontRight/Pitch" value="0.0"/>
-        <Property name="SensorPosition/FrontRight/Roll" value="0.0"/>
-        <Property name="SensorPosition/FrontRight/Yaw" value="-1.134464"/>
-        <Property name="SensorPosition/FrontWindow/Height" value="1.28"/>
-        <Property name="SensorPosition/FrontWindow/Lateral" value="0.0"/>
-        <Property name="SensorPosition/FrontWindow/Longitudinal" value="1.83"/>
-        <Property name="SensorPosition/FrontWindow/Pitch" value="0.0"/>
-        <Property name="SensorPosition/FrontWindow/Roll" value="0.0"/>
-        <Property name="SensorPosition/FrontWindow/Yaw" value="0.0"/>
-        <Property name="SensorPosition/RearLeft/Height" value="0.6"/>
-        <Property name="SensorPosition/RearLeft/Lateral" value="0.7"/>
-        <Property name="SensorPosition/RearLeft/Longitudinal" value="-0.35"/>
-        <Property name="SensorPosition/RearLeft/Pitch" value="0.0"/>
-        <Property name="SensorPosition/RearLeft/Roll" value="0.0"/>
-        <Property name="SensorPosition/RearLeft/Yaw" value="2.146755"/>
-        <Property name="SensorPosition/RearRight/Height" value="0.6"/>
-        <Property name="SensorPosition/RearRight/Lateral" value="-0.7"/>
-        <Property name="SensorPosition/RearRight/Longitudinal" value="-0.35"/>
-        <Property name="SensorPosition/RearRight/Pitch" value="0.0"/>
-        <Property name="SensorPosition/RearRight/Roll" value="0.0"/>
-        <Property name="SensorPosition/RearRight/Yaw" value="-2.146755"/>
-        <Property name="SensorPosition/RearWindow/Height" value="1.33"/>
-        <Property name="SensorPosition/RearWindow/Lateral" value="0.0"/>
-        <Property name="SensorPosition/RearWindow/Longitudinal" value="-0.08"/>
-        <Property name="SensorPosition/RearWindow/Pitch" value="0.0"/>
-        <Property name="SensorPosition/RearWindow/Roll" value="0.0"/>
-        <Property name="SensorPosition/RearWindow/Yaw" value="3.141592"/>
-        <Property name="SensorPosition/SideLeft/Height" value="0.26"/>
-        <Property name="SensorPosition/SideLeft/Lateral" value="0.81"/>
-        <Property name="SensorPosition/SideLeft/Longitudinal" value="1.06"/>
-        <Property name="SensorPosition/SideLeft/Pitch" value="0.0"/>
-        <Property name="SensorPosition/SideLeft/Roll" value="0.0"/>
-        <Property name="SensorPosition/SideLeft/Yaw" value="1.570796"/>
-        <Property name="SensorPosition/SideRight/Height" value="0.26"/>
-        <Property name="SensorPosition/SideRight/Lateral" value="-0.81"/>
-        <Property name="SensorPosition/SideRight/Longitudinal" value="1.06"/>
-        <Property name="SensorPosition/SideRight/Pitch" value="0.0"/>
-        <Property name="SensorPosition/SideRight/Roll" value="0.0"/>
-        <Property name="SensorPosition/SideRight/Yaw" value="-1.570796"/>
-        <Property name="SteeringRatio" value="10.7"/>
-      </Properties>
-      <BoundingBox>
-        <Center x="1.35" y="0.0" z="0.71"/>
-        <Dimensions width="1.89" length="3.8" height="1.42"/>
-      </BoundingBox>
-      <Performance maxSpeed="58.33" maxAcceleration="9.80665" maxDeceleration="9.80665"/>
-      <Axles>
-        <FrontAxle maxSteering="0.4766" wheelDiameter="0.59" trackWidth="1.8" positionX="2.48" positionZ="0.295"/>
-        <RearAxle maxSteering="0.0" wheelDiameter="0.59" trackWidth="1.8" positionX="0.0" positionZ="0.295"/>
-      </Axles>
-    </Vehicle>
-    <Vehicle model3d="car_oldtimer" mass="1525.0" name="car_oldtimer" vehicleCategory="car">
-      <Properties>
-        <Property name="AirDragCoefficient" value="0.3"/>
-        <Property name="AxleRatio" value="2.813"/>
-        <Property name="DecelerationFromPowertrainDrag" value="0.5"/>
-        <Property name="FrictionCoefficient" value="1.0"/>
-        <Property name="FrontSurface" value="2.2"/>
-        <Property name="GearRatio1" value="5.0"/>
-        <Property name="GearRatio2" value="3.2"/>
-        <Property name="GearRatio3" value="2.143"/>
-        <Property name="GearRatio4" value="1.72"/>
-        <Property name="GearRatio5" value="1.314"/>
-        <Property name="GearRatio6" value="1.0"/>
-        <Property name="GearRatio7" value="0.822"/>
-        <Property name="GearRatio8" value="0.64"/>
-        <Property name="MaximumEngineSpeed" value="6000.0"/>
-        <Property name="MaximumEngineTorque" value="270.0"/>
-        <Property name="MinimumEngineSpeed" value="900.0"/>
-        <Property name="MinimumEngineTorque" value="-54.0"/>
-        <Property name="MomentInertiaPitch" value="0.0"/>
-        <Property name="MomentInertiaRoll" value="0.0"/>
-        <Property name="MomentInertiaYaw" value="0.0"/>
-        <Property name="NumberOfGears" value="8"/>
-        <Property name="SteeringRatio" value="10.7"/>
-      </Properties>
-      <BoundingBox>
-        <Center x="1.2" y="0.0" z="0.675"/>
-        <Dimensions width="1.68" length="3.89" height="1.35"/>
-      </BoundingBox>
-      <Performance maxSpeed="40.0" maxAcceleration="9.80665" maxDeceleration="9.80665"/>
-      <Axles>
-        <FrontAxle maxSteering="0.5012" wheelDiameter="0.634" trackWidth="1.4" positionX="2.81" positionZ="0.317"/>
-        <RearAxle maxSteering="0.0" wheelDiameter="0.634" trackWidth="1.4" positionX="0.0" positionZ="0.317"/>
-      </Axles>
-    </Vehicle>
-    <Vehicle model3d="bus" mass="25000.0" name="bus" vehicleCategory="truck">
-      <Properties>
-        <Property name="AirDragCoefficient" value="0.8"/>
-        <Property name="AxleRatio" value="4.0"/>
-        <Property name="DecelerationFromPowertrainDrag" value="1.0"/>
-        <Property name="FrictionCoefficient" value="1.0"/>
-        <Property name="FrontSurface" value="9.0"/>
-        <Property name="GearRatio1" value="6.316"/>
-        <Property name="GearRatio2" value="4.554"/>
-        <Property name="GearRatio3" value="3.269"/>
-        <Property name="GearRatio4" value="2.352"/>
-        <Property name="GearRatio5" value="1.692"/>
-        <Property name="GearRatio6" value="1.217"/>
-        <Property name="GearRatio7" value="0.876"/>
-        <Property name="GearRatio8" value="0.630"/>
-        <Property name="MaximumEngineSpeed" value="2500.0"/>
-        <Property name="MaximumEngineTorque" value="1400.0"/>
-        <Property name="MinimumEngineSpeed" value="600.0"/>
-        <Property name="MinimumEngineTorque" value="-140.0"/>
-        <Property name="MomentInertiaPitch" value="0.0"/>
-        <Property name="MomentInertiaRoll" value="0.0"/>
-        <Property name="MomentInertiaYaw" value="0.0"/>
-        <Property name="NumberOfGears" value="8"/>
-        <Property name="SteeringRatio" value="15.0"/>
-      </Properties>
-      <BoundingBox>
-        <Center x="2.815" y="0.0" z="1.92"/>
-        <Dimensions width="2.91" length="13.23" height="3.84"/>
-      </BoundingBox>
-      <Performance maxSpeed="33.33" maxAcceleration="9.80665" maxDeceleration="9.80665"/>
-      <Axles>
-        <FrontAxle maxSteering="0.6972" wheelDiameter="0.808" trackWidth="1.8" positionX="6.64" positionZ="0.404"/>
-        <RearAxle maxSteering="0.0" wheelDiameter="0.808" trackWidth="1.8" positionX="0.0" positionZ="0.404"/>
-      </Axles>
-    </Vehicle>
-    <Vehicle model3d="truck" mass="30000.0" name="truck" vehicleCategory="truck">
-      <Properties>
-        <Property name="AirDragCoefficient" value="0.8"/>
-        <Property name="AxleRatio" value="4.0"/>
-        <Property name="DecelerationFromPowertrainDrag" value="1.0"/>
-        <Property name="FrictionCoefficient" value="1.0"/>
-        <Property name="FrontSurface" value="9.0"/>
-        <Property name="GearRatio1" value="6.316"/>
-        <Property name="GearRatio2" value="4.554"/>
-        <Property name="GearRatio3" value="3.269"/>
-        <Property name="GearRatio4" value="2.352"/>
-        <Property name="GearRatio5" value="1.692"/>
-        <Property name="GearRatio6" value="1.217"/>
-        <Property name="GearRatio7" value="0.876"/>
-        <Property name="GearRatio8" value="0.630"/>
-        <Property name="MaximumEngineSpeed" value="2500.0"/>
-        <Property name="MaximumEngineTorque" value="1400.0"/>
-        <Property name="MinimumEngineSpeed" value="600.0"/>
-        <Property name="MinimumEngineTorque" value="-140.0"/>
-        <Property name="MomentInertiaPitch" value="0.0"/>
-        <Property name="MomentInertiaRoll" value="0.0"/>
-        <Property name="MomentInertiaYaw" value="0.0"/>
-        <Property name="NumberOfGears" value="8"/>
-        <Property name="SteeringRatio" value="15.0"/>
-      </Properties>
-      <BoundingBox>
-        <Center x="2.685" y="0.0" z="1.74"/>
-        <Dimensions width="3.16" length="8.83" height="3.48"/>
-      </BoundingBox>
-      <Performance maxSpeed="25.0" maxAcceleration="9.80665" maxDeceleration="9.80665"/>
-      <Axles>
-        <FrontAxle maxSteering="0.4352" wheelDiameter="0.808" trackWidth="1.8" positionX="4.36" positionZ="0.404"/>
-        <RearAxle maxSteering="0.0" wheelDiameter="0.808" trackWidth="1.8" positionX="0.0" positionZ="0.404"/>
-      </Axles>
-    </Vehicle>
-    <Vehicle model3d="truck_lorry" mass="30000.0" name="truck_lorry" vehicleCategory="truck">
-      <Properties>
-        <Property name="AirDragCoefficient" value="0.8"/>
-        <Property name="AxleRatio" value="4.0"/>
-        <Property name="DecelerationFromPowertrainDrag" value="1.0"/>
-        <Property name="FrictionCoefficient" value="1.0"/>
-        <Property name="FrontSurface" value="9.0"/>
-        <Property name="GearRatio1" value="6.316"/>
-        <Property name="GearRatio2" value="4.554"/>
-        <Property name="GearRatio3" value="3.269"/>
-        <Property name="GearRatio4" value="2.352"/>
-        <Property name="GearRatio5" value="1.692"/>
-        <Property name="GearRatio6" value="1.217"/>
-        <Property name="GearRatio7" value="0.876"/>
-        <Property name="GearRatio8" value="0.630"/>
-        <Property name="MaximumEngineSpeed" value="2500.0"/>
-        <Property name="MaximumEngineTorque" value="1400.0"/>
-        <Property name="MinimumEngineSpeed" value="600.0"/>
-        <Property name="MinimumEngineTorque" value="-140.0"/>
-        <Property name="MomentInertiaPitch" value="0.0"/>
-        <Property name="MomentInertiaRoll" value="0.0"/>
-        <Property name="MomentInertiaYaw" value="0.0"/>
-        <Property name="NumberOfGears" value="8"/>
-        <Property name="SteeringRatio" value="15.0"/>
-      </Properties>
-      <BoundingBox>
-        <Center x="2.11" y="0.0" z="1.7"/>
-        <Dimensions width="2.93" length="8.47" height="3.4"/>
-      </BoundingBox>
-      <Performance maxSpeed="25.0" maxAcceleration="9.80665" maxDeceleration="9.80665"/>
-      <Axles>
-        <FrontAxle maxSteering="0.4352" wheelDiameter="0.808" trackWidth="1.8" positionX="4.36" positionZ="0.404"/>
-        <RearAxle maxSteering="0.0" wheelDiameter="0.808" trackWidth="1.8" positionX="0.0" positionZ="0.404"/>
-      </Axles>
-    </Vehicle>
-    <Vehicle model3d="bicycle" mass="90.0" name="bicycle" vehicleCategory="bicycle">
-      <Properties>
-        <Property name="AirDragCoefficient" value="0.3"/>
-        <Property name="AxleRatio" value="3.0"/>
-        <Property name="DecelerationFromPowertrainDrag" value="0.5"/>
-        <Property name="FrictionCoefficient" value="1.0"/>
-        <Property name="FrontSurface" value="1.9"/>
-        <Property name="GearRatio1" value="4.350"/>
-        <Property name="GearRatio2" value="2.496"/>
-        <Property name="GearRatio3" value="1.665"/>
-        <Property name="GearRatio4" value="1.230"/>
-        <Property name="GearRatio5" value="1.0"/>
-        <Property name="GearRatio6" value="0.851"/>
-        <Property name="MaximumEngineSpeed" value="6000.0"/>
-        <Property name="MaximumEngineTorque" value="540.0"/>
-        <Property name="MinimumEngineSpeed" value="900.0"/>
-        <Property name="MinimumEngineTorque" value="-54.0"/>
-        <Property name="MomentInertiaPitch" value="0.0"/>
-        <Property name="MomentInertiaRoll" value="0.0"/>
-        <Property name="MomentInertiaYaw" value="0.0"/>
-        <Property name="NumberOfGears" value="6"/>
-        <Property name="SteeringRatio" value="10.7"/>
-      </Properties>
-      <BoundingBox>
-        <Center x="0.175" y="0.0" z="0.9325"/>
-        <Dimensions width="0.5" length="1.89" height="1.865"/>
-      </BoundingBox>
-      <Performance maxSpeed="10.0" maxAcceleration="9.80665" maxDeceleration="9.80665"/>
-      <Axles>
-        <FrontAxle maxSteering="1.5708" wheelDiameter="0.636" trackWidth="0.1" positionX="1.04" positionZ="0.318"/>
-        <RearAxle maxSteering="0.0" wheelDiameter="0.636" trackWidth="0.1" positionX="0.0" positionZ="0.318"/>
-      </Axles>
-    </Vehicle>
-  </Catalog>
-</OpenSCENARIO>
+<?xml version='1.0' encoding='UTF-8'?>
+<OpenSCENARIO>
+  <FileHeader revMajor="1" revMinor="0" date="2020-06-26T00:17:00" description="openPASS vehicle models" author="in-tech GmbH"/>
+  <Catalog name="VehicleCatalog">
+    <Vehicle model3d="car_bmw_i3" mass="1320.0" name="car_bmw_i3" vehicleCategory="car">
+      <Properties>
+        <Property name="AirDragCoefficient" value="0.3"/>
+        <Property name="AxleRatio" value="1.0"/>
+        <Property name="DecelerationFromPowertrainDrag" value="0.5"/>
+        <Property name="FrictionCoefficient" value="1.0"/>
+        <Property name="FrontSurface" value="2.38"/>
+        <Property name="GearRatio1" value="9.665"/>
+        <Property name="MaximumEngineSpeed" value="6000.0"/>
+        <Property name="MaximumEngineTorque" value="250.0"/>
+        <Property name="MinimumEngineSpeed" value="900.0"/>
+        <Property name="MinimumEngineTorque" value="-54.0"/>
+        <Property name="MomentInertiaPitch" value="0.0"/>
+        <Property name="MomentInertiaRoll" value="0.0"/>
+        <Property name="MomentInertiaYaw" value="0.0"/>
+        <Property name="NumberOfGears" value="1"/>
+        <Property name="SensorPosition/FrontCenter/Height" value="0.66"/>
+        <Property name="SensorPosition/FrontCenter/Lateral" value="0.0"/>
+        <Property name="SensorPosition/FrontCenter/Longitudinal" value="3.26"/>
+        <Property name="SensorPosition/FrontCenter/Pitch" value="0.0"/>
+        <Property name="SensorPosition/FrontCenter/Roll" value="0.0"/>
+        <Property name="SensorPosition/FrontCenter/Yaw" value="0.0"/>
+        <Property name="SensorPosition/FrontLeft/Height" value="0.82"/>
+        <Property name="SensorPosition/FrontLeft/Lateral" value="0.68"/>
+        <Property name="SensorPosition/FrontLeft/Longitudinal" value="2.98"/>
+        <Property name="SensorPosition/FrontLeft/Pitch" value="0.0"/>
+        <Property name="SensorPosition/FrontLeft/Roll" value="0.0"/>
+        <Property name="SensorPosition/FrontLeft/Yaw" value="1.134464"/>
+        <Property name="SensorPosition/FrontRight/Height" value="0.82"/>
+        <Property name="SensorPosition/FrontRight/Lateral" value="-0.68"/>
+        <Property name="SensorPosition/FrontRight/Longitudinal" value="2.98"/>
+        <Property name="SensorPosition/FrontRight/Pitch" value="0.0"/>
+        <Property name="SensorPosition/FrontRight/Roll" value="0.0"/>
+        <Property name="SensorPosition/FrontRight/Yaw" value="-1.134464"/>
+        <Property name="SensorPosition/FrontWindow/Height" value="1.45"/>
+        <Property name="SensorPosition/FrontWindow/Lateral" value="0.0"/>
+        <Property name="SensorPosition/FrontWindow/Longitudinal" value="1.9"/>
+        <Property name="SensorPosition/FrontWindow/Pitch" value="0.0"/>
+        <Property name="SensorPosition/FrontWindow/Roll" value="0.0"/>
+        <Property name="SensorPosition/FrontWindow/Yaw" value="0.0"/>
+        <Property name="SensorPosition/RearLeft/Height" value="0.64"/>
+        <Property name="SensorPosition/RearLeft/Lateral" value="0.64"/>
+        <Property name="SensorPosition/RearLeft/Longitudinal" value="-0.49"/>
+        <Property name="SensorPosition/RearLeft/Pitch" value="0.0"/>
+        <Property name="SensorPosition/RearLeft/Roll" value="0.0"/>
+        <Property name="SensorPosition/RearLeft/Yaw" value="2.146755"/>
+        <Property name="SensorPosition/RearRight/Height" value="0.64"/>
+        <Property name="SensorPosition/RearRight/Lateral" value="-0.64"/>
+        <Property name="SensorPosition/RearRight/Longitudinal" value="-0.49"/>
+        <Property name="SensorPosition/RearRight/Pitch" value="0.0"/>
+        <Property name="SensorPosition/RearRight/Roll" value="0.0"/>
+        <Property name="SensorPosition/RearRight/Yaw" value="-2.146755"/>
+        <Property name="SensorPosition/RearWindow/Height" value="1.39"/>
+        <Property name="SensorPosition/RearWindow/Lateral" value="0.0"/>
+        <Property name="SensorPosition/RearWindow/Longitudinal" value="-0.21"/>
+        <Property name="SensorPosition/RearWindow/Pitch" value="0.0"/>
+        <Property name="SensorPosition/RearWindow/Roll" value="0.0"/>
+        <Property name="SensorPosition/RearWindow/Yaw" value="3.141592"/>
+        <Property name="SensorPosition/SideLeft/Height" value="0.3"/>
+        <Property name="SensorPosition/SideLeft/Lateral" value="0.8"/>
+        <Property name="SensorPosition/SideLeft/Longitudinal" value="1.2"/>
+        <Property name="SensorPosition/SideLeft/Pitch" value="0.0"/>
+        <Property name="SensorPosition/SideLeft/Roll" value="0.0"/>
+        <Property name="SensorPosition/SideLeft/Yaw" value="1.570796"/>
+        <Property name="SensorPosition/SideRight/Height" value="0.3"/>
+        <Property name="SensorPosition/SideRight/Lateral" value="-0.8"/>
+        <Property name="SensorPosition/SideRight/Longitudinal" value="1.2"/>
+        <Property name="SensorPosition/SideRight/Pitch" value="0.0"/>
+        <Property name="SensorPosition/SideRight/Roll" value="0.0"/>
+        <Property name="SensorPosition/SideRight/Yaw" value="-1.570796"/>
+        <Property name="SteeringRatio" value="10.7"/>
+      </Properties>
+      <BoundingBox>
+        <Center x="1.25" y="0.0" z="0.84"/>
+        <Dimensions width="2.04" length="3.96" height="1.68"/>
+      </BoundingBox>
+      <Performance maxSpeed="41.67" maxAcceleration="9.80665" maxDeceleration="9.80665"/>
+      <Axles>
+        <FrontAxle maxSteering="0.5282" wheelDiameter="0.682" trackWidth="1.8" positionX="2.52" positionZ="0.341"/>
+        <RearAxle maxSteering="0.0" wheelDiameter="0.682" trackWidth="1.8" positionX="0.0" positionZ="0.341"/>
+      </Axles>
+    </Vehicle>
+    <Vehicle model3d="car_bmw_3" mass="1525.0" name="car_bmw_3" vehicleCategory="car">
+      <Properties>
+        <Property name="AirDragCoefficient" value="0.3"/>
+        <Property name="AxleRatio" value="2.813"/>
+        <Property name="DecelerationFromPowertrainDrag" value="0.5"/>
+        <Property name="FrictionCoefficient" value="1.0"/>
+        <Property name="FrontSurface" value="2.2"/>
+        <Property name="GearRatio1" value="5.0"/>
+        <Property name="GearRatio2" value="3.2"/>
+        <Property name="GearRatio3" value="2.143"/>
+        <Property name="GearRatio4" value="1.72"/>
+        <Property name="GearRatio5" value="1.314"/>
+        <Property name="GearRatio6" value="1.0"/>
+        <Property name="GearRatio7" value="0.822"/>
+        <Property name="GearRatio8" value="0.64"/>
+        <Property name="MaximumEngineSpeed" value="6000.0"/>
+        <Property name="MaximumEngineTorque" value="270.0"/>
+        <Property name="MinimumEngineSpeed" value="900.0"/>
+        <Property name="MinimumEngineTorque" value="-54.0"/>
+        <Property name="MomentInertiaPitch" value="0.0"/>
+        <Property name="MomentInertiaRoll" value="0.0"/>
+        <Property name="MomentInertiaYaw" value="0.0"/>
+        <Property name="NumberOfGears" value="8"/>
+        <Property name="SensorPosition/FrontCenter/Height" value="0.56"/>
+        <Property name="SensorPosition/FrontCenter/Lateral" value="0.0"/>
+        <Property name="SensorPosition/FrontCenter/Longitudinal" value="3.71"/>
+        <Property name="SensorPosition/FrontCenter/Pitch" value="0.0"/>
+        <Property name="SensorPosition/FrontCenter/Roll" value="0.0"/>
+        <Property name="SensorPosition/FrontCenter/Yaw" value="0.0"/>
+        <Property name="SensorPosition/FrontLeft/Height" value="0.68"/>
+        <Property name="SensorPosition/FrontLeft/Lateral" value="0.78"/>
+        <Property name="SensorPosition/FrontLeft/Longitudinal" value="3.33"/>
+        <Property name="SensorPosition/FrontLeft/Pitch" value="0.0"/>
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+    </Vehicle>
+    <Vehicle model3d="bicycle" mass="90.0" name="bicycle" vehicleCategory="bicycle">
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+      </Axles>
+    </Vehicle>
+  </Catalog>
+</OpenSCENARIO>
diff --git a/content/html/_downloads/a4a21311d2dff77fb2513fe86367853b/ComponentsChannelCommunicationDiagram.drawio b/content/html/_downloads/a4a21311d2dff77fb2513fe86367853b/ComponentsChannelCommunicationDiagram.drawio
index 23246550c00f5394bd040363977006cf3f4e7ea4..9cb3513a9872c85794981892055539ecdba812d9 100644
--- a/content/html/_downloads/a4a21311d2dff77fb2513fe86367853b/ComponentsChannelCommunicationDiagram.drawio
+++ b/content/html/_downloads/a4a21311d2dff77fb2513fe86367853b/ComponentsChannelCommunicationDiagram.drawio
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+          </mxGeometry>
+        </mxCell>
+        <mxCell id="oQRBRVreamrxgLVo8nZy-86" value="2212" style="edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];fontSize=14;fontFamily=Helvetica;labelBackgroundColor=default;" vertex="1" connectable="0" parent="1">
+          <mxGeometry x="510.00327772580374" y="979.9952621871091" as="geometry">
+            <mxPoint x="-1" y="10" as="offset" />
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+        </mxCell>
+        <mxCell id="oQRBRVreamrxgLVo8nZy-87" value="&lt;span style=&quot;color: rgb(0, 0, 0); font-family: Helvetica; font-size: 14px; font-style: normal; font-variant-ligatures: normal; font-variant-caps: normal; font-weight: 400; letter-spacing: normal; orphans: 2; text-align: center; text-indent: 0px; text-transform: none; widows: 2; word-spacing: 0px; -webkit-text-stroke-width: 0px; background-color: rgb(255, 255, 255); text-decoration-thickness: initial; text-decoration-style: initial; text-decoration-color: initial; float: none; display: inline !important;&quot;&gt;9292&lt;/span&gt;" style="text;whiteSpace=wrap;html=1;" vertex="1" parent="1">
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+        <mxCell id="oQRBRVreamrxgLVo8nZy-88" value="1512" style="edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];fontSize=14;fontFamily=Helvetica;labelBackgroundColor=default;" vertex="1" connectable="0" parent="1">
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+        <mxCell id="oQRBRVreamrxgLVo8nZy-91" value="301" style="edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];fontSize=14;fontFamily=Helvetica;labelBackgroundColor=default;" vertex="1" connectable="0" parent="1">
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+        </mxCell>
+        <mxCell id="oQRBRVreamrxgLVo8nZy-92" value="401" style="edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];fontSize=14;fontFamily=Helvetica;labelBackgroundColor=default;" vertex="1" connectable="0" parent="1">
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+        </mxCell>
+        <mxCell id="oQRBRVreamrxgLVo8nZy-93" style="edgeStyle=orthogonalEdgeStyle;html=1;fontFamily=Helvetica;fontSize=16;endArrow=blockThin;endFill=1;strokeWidth=3;entryX=0.75;entryY=0;entryDx=0;entryDy=0;" edge="1" parent="1" target="oQRBRVreamrxgLVo8nZy-57">
+          <mxGeometry relative="1" as="geometry">
+            <mxPoint x="289" y="770" as="targetPoint" />
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+          </mxGeometry>
+        </mxCell>
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+          <mxGeometry x="179.24000799999877" y="880" as="geometry">
+            <mxPoint x="131" y="-18" as="offset" />
+          </mxGeometry>
+        </mxCell>
+        <mxCell id="oQRBRVreamrxgLVo8nZy-95" value="2414" style="edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];fontSize=14;fontFamily=Helvetica;labelBackgroundColor=default;" vertex="1" connectable="0" parent="1">
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+        </mxCell>
+        <mxCell id="oQRBRVreamrxgLVo8nZy-96" value="&lt;span style=&quot;color: rgb(0, 0, 0); font-family: Helvetica; font-size: 14px; font-style: normal; font-variant-ligatures: normal; font-variant-caps: normal; font-weight: 400; letter-spacing: normal; orphans: 2; text-align: center; text-indent: 0px; text-transform: none; widows: 2; word-spacing: 0px; -webkit-text-stroke-width: 0px; background-color: rgb(255, 255, 255); text-decoration-thickness: initial; text-decoration-style: initial; text-decoration-color: initial; float: none; display: inline !important;&quot;&gt;4113&lt;/span&gt;" style="text;whiteSpace=wrap;html=1;" vertex="1" parent="1">
+          <mxGeometry x="324" y="708" width="60" height="40" as="geometry" />
+        </mxCell>
+      </root>
+    </mxGraphModel>
+  </diagram>
+</mxfile>
diff --git a/content/html/_downloads/a65389c511a382161f2a161fdf5ea53f/devcontainer.json b/content/html/_downloads/a65389c511a382161f2a161fdf5ea53f/devcontainer.json
index bfdaf3e462953961e8abc1ca543e7ed652f4cf41..c7a38f16d1d860d5001e1e76c3d57741b24d418b 100644
--- a/content/html/_downloads/a65389c511a382161f2a161fdf5ea53f/devcontainer.json
+++ b/content/html/_downloads/a65389c511a382161f2a161fdf5ea53f/devcontainer.json
@@ -1,5 +1,5 @@
-{
-  "name": "openPASS DevContainer",
-  "dockerFile": "../utils/Dockerfile",
-  "workspaceFolder": "/workspaces/openPASS"
-}
+{
+  "name": "openPASS DevContainer",
+  "dockerFile": "../utils/Dockerfile",
+  "workspaceFolder": "/workspaces/openPASS"
+}
diff --git a/content/html/_downloads/c182e909c0bef397a2a7e7c51c6f7763/conf.py b/content/html/_downloads/c182e909c0bef397a2a7e7c51c6f7763/conf.py
index 1b5a74d9361f8ddbaa85af62cdf6171ca51f6748..2c83d9e7ac7317c2f2349bbb753cb63268e1958d 100644
--- a/content/html/_downloads/c182e909c0bef397a2a7e7c51c6f7763/conf.py
+++ b/content/html/_downloads/c182e909c0bef397a2a7e7c51c6f7763/conf.py
@@ -1,95 +1,94 @@
-################################################################################
-# Copyright (c) 2021 in-tech GmbH
-#               2023-2024 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
-# http://www.eclipse.org/legal/epl-2.0.
-#
-# SPDX-License-Identifier: EPL-2.0
-################################################################################
-
-# Configuration file for the Sphinx documentation builder. See also:
-# https://www.sphinx-doc.org/en/master/usage/configuration.html
-
-import os
-import sys
-import datetime
-
-# -- Path setup --------------------------------------------------------------
-sys.path.append(os.path.abspath("_ext"))
-
-# -- Project information -----------------------------------------------------
-project = 'openPASS'
-copyright = f'{datetime.datetime.now().year} openPASS Working Group'
-author = 'in-tech GmbH'
-
-# -- Version is generated via cmake
-version_file = 'version.txt'
-if os.path.exists(version_file):
-    with open(version_file) as vf:
-        version = vf.read().strip()
-        release = version
-
-# -- General configuration ---------------------------------------------------
-
-
-def setup(app):
-    app.add_css_file('css/custom.css')
-
-
-extensions = []
-
-extensions.append("sphinx_rtd_theme")
-extensions.append('sphinx.ext.todo')
-extensions.append('sphinx_tabs.tabs')
-extensions.append('sphinx.ext.imgmath')
-extensions.append('api_doc')
-extensions.append('myst_parser')
-
-templates_path = ['_templates']
-
-exclude_patterns = ['README.md']
-
-todo_include_todos = True
-
-pdf_stylesheets = ['sphinx', 'kerning', 'a4']
-pdf_style_path = ['.', '_styles']
-pdf_fit_mode = "shrink" # literal blocks wider than frame
-pdf_language = "en_US"
-pdf_page_template = 'cutePage'
-
-# -- Options for HTML output -------------------------------------------------
-
-html_static_path = ['_static']
-html_theme = 'sphinx_rtd_theme'
-html_title = 'openPASS Documentation'
-html_short_title = 'openPASS|Doc'
-html_favicon = '_static/openPASS.ico'
-html_logo = '_static/openPASS.png'
-
-# -- Options for API DOC -----------------------------------------------------
-api_doc_title = "Source Code Documentation"
-
-# -- Define global replacements ----------------------------------------------
-# See https://documentation.help/Sphinx/config.html
-rst_epilog = """
-
-.. |op| replace:: **openPASS**
-.. |opwg| replace:: **openPASS** Working Group
-.. |op_oss| replace:: **openPASS** (Open Source)
-.. |mingw_shell| replace:: ``MinGW 64-bit`` shell
-.. |protobuf_version| replace:: 3.20.0
-.. |osi_version| replace:: 3.6.0
-.. |fmi_version| replace:: 2.0.3
-.. |zlib_version| replace:: v1.2.12
-.. |gtest_version| replace:: 1.14.0
-.. |boost_version| replace:: 1.72.0
-.. |qt_version| replace:: 5.15.3
-.. |doxygen_version| replace:: 1.9.6
-.. |gcc_version| replace:: 13.2.0
-.. |gdb_version| replace:: 13.2.0
-.. |cmake_version| replace:: 3.27.3
-.. |ccache_version| replace:: 4.7.4
-
-"""
+################################################################################
+# Copyright (c) 2021 in-tech GmbH
+#               2023-2024 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
+# http://www.eclipse.org/legal/epl-2.0.
+#
+# SPDX-License-Identifier: EPL-2.0
+################################################################################
+
+# Configuration file for the Sphinx documentation builder. See also:
+# https://www.sphinx-doc.org/en/master/usage/configuration.html
+
+import os
+import sys
+import datetime
+
+# -- Path setup --------------------------------------------------------------
+sys.path.append(os.path.abspath("_ext"))
+
+# -- Project information -----------------------------------------------------
+project = 'openPASS'
+copyright = f'{datetime.datetime.now().year} openPASS Working Group'
+author = 'in-tech GmbH'
+
+# -- Version is generated via cmake
+version_file = 'version.txt'
+if os.path.exists(version_file):
+    with open(version_file) as vf:
+        version = vf.read().strip()
+        release = version
+
+# -- General configuration ---------------------------------------------------
+
+
+def setup(app):
+    app.add_css_file('css/custom.css')
+
+
+extensions = []
+
+extensions.append("sphinx_rtd_theme")
+extensions.append('sphinx.ext.todo')
+extensions.append('sphinx_tabs.tabs')
+extensions.append('sphinx.ext.imgmath')
+extensions.append('api_doc')
+extensions.append('myst_parser')
+
+templates_path = ['_templates']
+
+exclude_patterns = ['README.md']
+
+todo_include_todos = True
+
+pdf_stylesheets = ['sphinx', 'kerning', 'a4']
+pdf_style_path = ['.', '_styles']
+pdf_fit_mode = "shrink" # literal blocks wider than frame
+pdf_language = "en_US"
+pdf_page_template = 'cutePage'
+
+# -- Options for HTML output -------------------------------------------------
+
+html_static_path = ['_static']
+html_theme = 'sphinx_rtd_theme'
+html_title = 'openPASS Documentation'
+html_short_title = 'openPASS|Doc'
+html_favicon = '_static/openPASS.ico'
+html_logo = '_static/openPASS.png'
+
+# -- Options for API DOC -----------------------------------------------------
+api_doc_title = "Source Code Documentation"
+
+# -- Define global replacements ----------------------------------------------
+# See https://documentation.help/Sphinx/config.html
+rst_epilog = """
+
+.. |op| replace:: **openPASS**
+.. |opwg| replace:: **openPASS** Working Group
+.. |op_oss| replace:: **openPASS** (Open Source)
+.. |mingw_shell| replace:: ``MinGW 64-bit`` shell
+.. |protobuf_version| replace:: 3.20.0
+.. |osi_version| replace:: 3.6.0
+.. |fmi_version| replace:: 2.0.3
+.. |zlib_version| replace:: v1.2.12
+.. |gtest_version| replace:: 1.14.0
+.. |boost_version| replace:: 1.72.0
+.. |doxygen_version| replace:: 1.9.6
+.. |gcc_version| replace:: 13.2.0
+.. |gdb_version| replace:: 13.2.0
+.. |cmake_version| replace:: 3.27.3
+.. |ccache_version| replace:: 4.7.4
+
+"""
diff --git a/content/html/_downloads/cf3a708e6048855aab4490b408d22f7c/settings.json b/content/html/_downloads/cf3a708e6048855aab4490b408d22f7c/settings.json
index 81f8f2690e08b038bda7e20ef0425a5f7c8f018a..d75e50abb90f5cb405af542813be119306d0f28e 100644
--- a/content/html/_downloads/cf3a708e6048855aab4490b408d22f7c/settings.json
+++ b/content/html/_downloads/cf3a708e6048855aab4490b408d22f7c/settings.json
@@ -1,94 +1,94 @@
-{
-    //
-    // CMAKE
-    //
-    // Following settings are from the MSYS2 extension documentation
-    "cmake.cmakePath": "C:\\msys64\\mingw64\\bin\\cmake.exe",
-    "cmake.preferredGenerators": [
-        "MSYS Makefiles"
-    ],
-    "cmake.configureSettings": {
-        "CMAKE_MAKE_PROGRAM": "C:\\msys64\\mingw64\\bin\\make.exe",
-        "CMAKE_PREFIX_PATH": [
-            "${workspaceRoot}/deps/thirdParty/win64/Yase",
-            "${workspaceRoot}/deps/thirdParty/win64/FMILibrary",
-            "${workspaceRoot}/deps/thirdParty/win64/MantleAPI",
-            "${workspaceRoot}/deps/thirdParty/win64/osi",
-            "${workspaceRoot}/deps/thirdParty/win64/protobuf",
-            "${workspaceRoot}/deps/thirdParty/win64/protobuf-shared",
-            "${workspaceRoot}/deps/thirdParty/win64/googletest",
-            "${workspaceRoot}/deps/thirdParty/win64/minizip",
-            "${workspaceRoot}/deps/thirdParty/win64/openscenario_engine/release",
-            "${workspaceRoot}/deps/thirdParty/win64/openscenario_api",
-            "${workspaceRoot}/deps/thirdParty/win64/zlib",
-            "${workspaceRoot}/deps/thirdParty/win64/open-simulation-interface",
-            "${workspaceRoot}/deps/thirdParty/win64/units",
-            "${workspaceRoot}/deps/scmThirdParty/win64/stochastics",
-            "C:/msys64/mingw64/bin"
-        ],
-        "CMAKE_INSTALL_PREFIX": "${workspaceRoot}/bin/core",
-        "CMAKE_BUILD_TYPE": "Debug",
-        "USE_CCACHE": true,
-        "WITH_DEBUG_POSTFIX": false,
-        "OPENPASS_ADJUST_OUTPUT": false,
-        "WITH_API_DOC": false,
-        "WITH_DOC": false,
-        "INSTALL_EXTRA_RUNTIME_DEPS": true,
-        "INSTALL_SYSTEM_RUNTIME_DEPS": true,
-        // For integration with IntelliSense (see c_cpp_properties.json)
-        "CMAKE_EXPORT_COMPILE_COMMANDS": true
-    },
-    // Optional: Adjust to your needs
-    "cmake.parallelJobs": 4,
-    //
-    // TESTMATE
-    //
-    // Optional: Adjust to your needs
-    "testMate.cpp.test.parallelExecutionLimit": 4,
-    "testMate.cpp.test.parallelExecutionOfExecutableLimit": 2,
-    // Optional: Set, if you like to debug test discovery and test start issues
-    "testMate.cpp.log.logfile": "C:\\temp\\cpp.testmate.log",
-    // Optional:    As CTest triggers the install step, dependencies between test executables
-    //              and openpass libraries can be resolved by linking text executables to
-    //              openpass install directory
-    // Alternative: Check dependencies of test executables by 'ldd <_Tests.exe> and copy
-    //              libraries right next to test executable within build direcory
-    "testMate.cpp.test.advancedExecutables": [
-        {
-            "pattern": "build/**/*{tests,Tests,TESTS}*",
-            "env": {
-                "Path": "C:\\msys64\\mingw64\\bin;${workspaceFolder}\\bin\\core;${workspaceFolder}\\bin\\core\\lib;${os_env:PATH};${workspaceFolder}\\deps\\thirdParty\\win64\\FMILibrary\\lib;${workspaceFolder}\\deps\\thirdParty\\win64\\osi\\lib\\osi3"
-            }
-        }
-    ],
-    //
-    // VSCODE
-    //
-    // Optional: Integration of MinGW64 Terminal in VS Code
-    "terminal.integrated.profiles.windows": {
-        "MinGW64": {
-            "overrideName": true,
-            "path": [
-                "C:\\msys64\\usr\\bin\\bash.exe"
-            ],
-            "args": ["--login", "-i"],
-            "icon": "terminal-bash",
-            "env": {
-                "MSYSTEM": "MINGW64",
-                "CHERE_INVOKING": "1",
-                "MSYS2_PATH_TYPE": "inherit"
-            }
-        }
-    },
-    "terminal.integrated.defaultProfile.windows": "MinGW64",
-    // Enforce usage of .clang-format of modified code
-    "editor.formatOnSave": true,
-    "editor.formatOnSaveMode": "modifications",
-    // EOL and whitespace enforcement
-    "editor.detectIndentation": true,
-    "editor.insertSpaces": true,
-    "editor.renderFinalNewline": "dimmed",
-    "files.insertFinalNewline": true,
-    "files.trimFinalNewlines": true,
-    "files.trimTrailingWhitespace": true
-}
+{
+    //
+    // CMAKE
+    //
+    // Following settings are from the MSYS2 extension documentation
+    "cmake.cmakePath": "C:\\msys64\\mingw64\\bin\\cmake.exe",
+    "cmake.preferredGenerators": [
+        "MSYS Makefiles"
+    ],
+    "cmake.configureSettings": {
+        "CMAKE_MAKE_PROGRAM": "C:\\msys64\\mingw64\\bin\\make.exe",
+        "CMAKE_PREFIX_PATH": [
+            "${workspaceRoot}/deps/thirdParty/win64/Yase",
+            "${workspaceRoot}/deps/thirdParty/win64/FMILibrary",
+            "${workspaceRoot}/deps/thirdParty/win64/MantleAPI",
+            "${workspaceRoot}/deps/thirdParty/win64/osi",
+            "${workspaceRoot}/deps/thirdParty/win64/protobuf",
+            "${workspaceRoot}/deps/thirdParty/win64/protobuf-shared",
+            "${workspaceRoot}/deps/thirdParty/win64/googletest",
+            "${workspaceRoot}/deps/thirdParty/win64/minizip",
+            "${workspaceRoot}/deps/thirdParty/win64/openscenario_engine/release",
+            "${workspaceRoot}/deps/thirdParty/win64/openscenario_api",
+            "${workspaceRoot}/deps/thirdParty/win64/zlib",
+            "${workspaceRoot}/deps/thirdParty/win64/open-simulation-interface",
+            "${workspaceRoot}/deps/thirdParty/win64/units",
+            "${workspaceRoot}/deps/scmThirdParty/win64/stochastics",
+            "C:/msys64/mingw64/bin"
+        ],
+        "CMAKE_INSTALL_PREFIX": "${workspaceRoot}/bin/core",
+        "CMAKE_BUILD_TYPE": "Debug",
+        "USE_CCACHE": true,
+        "WITH_DEBUG_POSTFIX": false,
+        "OPENPASS_ADJUST_OUTPUT": false,
+        "WITH_API_DOC": false,
+        "WITH_DOC": false,
+        "INSTALL_EXTRA_RUNTIME_DEPS": true,
+        "INSTALL_SYSTEM_RUNTIME_DEPS": true,
+        // For integration with IntelliSense (see c_cpp_properties.json)
+        "CMAKE_EXPORT_COMPILE_COMMANDS": true
+    },
+    // Optional: Adjust to your needs
+    "cmake.parallelJobs": 4,
+    //
+    // TESTMATE
+    //
+    // Optional: Adjust to your needs
+    "testMate.cpp.test.parallelExecutionLimit": 4,
+    "testMate.cpp.test.parallelExecutionOfExecutableLimit": 2,
+    // Optional: Set, if you like to debug test discovery and test start issues
+    "testMate.cpp.log.logfile": "C:\\temp\\cpp.testmate.log",
+    // Optional:    As CTest triggers the install step, dependencies between test executables
+    //              and openpass libraries can be resolved by linking text executables to
+    //              openpass install directory
+    // Alternative: Check dependencies of test executables by 'ldd <_Tests.exe> and copy
+    //              libraries right next to test executable within build direcory
+    "testMate.cpp.test.advancedExecutables": [
+        {
+            "pattern": "build/**/*{tests,Tests,TESTS}*",
+            "env": {
+                "Path": "C:\\msys64\\mingw64\\bin;${workspaceFolder}\\bin\\core;${workspaceFolder}\\bin\\core\\lib;${os_env:PATH};${workspaceFolder}\\deps\\thirdParty\\win64\\FMILibrary\\lib;${workspaceFolder}\\deps\\thirdParty\\win64\\osi\\lib\\osi3"
+            }
+        }
+    ],
+    //
+    // VSCODE
+    //
+    // Optional: Integration of MinGW64 Terminal in VS Code
+    "terminal.integrated.profiles.windows": {
+        "MinGW64": {
+            "overrideName": true,
+            "path": [
+                "C:\\msys64\\usr\\bin\\bash.exe"
+            ],
+            "args": ["--login", "-i"],
+            "icon": "terminal-bash",
+            "env": {
+                "MSYSTEM": "MINGW64",
+                "CHERE_INVOKING": "1",
+                "MSYS2_PATH_TYPE": "inherit"
+            }
+        }
+    },
+    "terminal.integrated.defaultProfile.windows": "MinGW64",
+    // Enforce usage of .clang-format of modified code
+    "editor.formatOnSave": true,
+    "editor.formatOnSaveMode": "modifications",
+    // EOL and whitespace enforcement
+    "editor.detectIndentation": true,
+    "editor.insertSpaces": true,
+    "editor.renderFinalNewline": "dimmed",
+    "files.insertFinalNewline": true,
+    "files.trimFinalNewlines": true,
+    "files.trimTrailingWhitespace": true
+}
diff --git a/content/html/_downloads/dca649c6abf7935b694a9b820bb4efc5/c_cpp_properties.json b/content/html/_downloads/dca649c6abf7935b694a9b820bb4efc5/c_cpp_properties.json
index 0dea477c2128c629a344f7d1b67006ed5cd1679f..42788dc604a5a316b58576255e77c5bcf247e1be 100644
--- a/content/html/_downloads/dca649c6abf7935b694a9b820bb4efc5/c_cpp_properties.json
+++ b/content/html/_downloads/dca649c6abf7935b694a9b820bb4efc5/c_cpp_properties.json
@@ -1,13 +1,13 @@
-{
-    "configurations": [
-        {
-            "name": "openpass",
-            "cStandard": "c99",
-            "cppStandard": "c++17",
-            "configurationProvider": "ms-vscode.cmake-tools",
-            "compileCommands": "${workspaceFolder}/build/compile_commands.json",
-            "intelliSenseMode": "linux-gcc-x64"
-        }
-    ],
-    "version": 4
-}
+{
+    "configurations": [
+        {
+            "name": "openpass",
+            "cStandard": "c99",
+            "cppStandard": "c++17",
+            "configurationProvider": "ms-vscode.cmake-tools",
+            "compileCommands": "${workspaceFolder}/build/compile_commands.json",
+            "intelliSenseMode": "linux-gcc-x64"
+        }
+    ],
+    "version": 4
+}
diff --git a/content/html/_downloads/e127566572084ecb8640fe52563f5060/PedestrianModelsCatalog.xosc b/content/html/_downloads/e127566572084ecb8640fe52563f5060/PedestrianModelsCatalog.xosc
index 7663bf6d6548ea0fb2627396fe6ef9c46a993981..32c4e373a275b70e8285c228a9cbc2791492d2f4 100644
--- a/content/html/_downloads/e127566572084ecb8640fe52563f5060/PedestrianModelsCatalog.xosc
+++ b/content/html/_downloads/e127566572084ecb8640fe52563f5060/PedestrianModelsCatalog.xosc
@@ -1,22 +1,22 @@
-<?xml version='1.0' encoding='UTF-8'?>
-<OpenSCENARIO>
-  <FileHeader revMajor="1" revMinor="0" date="2020-06-26T00:17:00" description="openPASS pedestrian models" author="in-tech GmbH"/>
-  <Catalog name="PedestrianCatalog">
-    <Pedestrian model3d="pedestrian_child" mass="30.0" name="pedestrian_child" pedestrianCategory="pedestrian">
-      <ParameterDeclarations/>
-      <BoundingBox>
-        <Center x="0.0" y="0.0" z="0.577"/>
-        <Dimensions width="0.298" length="0.711" height="1.154"/>
-      </BoundingBox>
-      <Properties/>
-    </Pedestrian>
-    <Pedestrian model3d="pedestrian_adult" mass="70.0" name="pedestrian_adult" pedestrianCategory="pedestrian">
-      <ParameterDeclarations/>
-      <BoundingBox>
-        <Center x="0.0" y="0.0" z="0.9"/>
-        <Dimensions width="0.5" length="0.6" height="1.8"/>
-      </BoundingBox>
-      <Properties/>
-    </Pedestrian>
-  </Catalog>
-</OpenSCENARIO>
+<?xml version='1.0' encoding='UTF-8'?>
+<OpenSCENARIO>
+  <FileHeader revMajor="1" revMinor="0" date="2020-06-26T00:17:00" description="openPASS pedestrian models" author="in-tech GmbH"/>
+  <Catalog name="PedestrianCatalog">
+    <Pedestrian model3d="pedestrian_child" mass="30.0" name="pedestrian_child" pedestrianCategory="pedestrian">
+      <ParameterDeclarations/>
+      <BoundingBox>
+        <Center x="0.0" y="0.0" z="0.577"/>
+        <Dimensions width="0.298" length="0.711" height="1.154"/>
+      </BoundingBox>
+      <Properties/>
+    </Pedestrian>
+    <Pedestrian model3d="pedestrian_adult" mass="70.0" name="pedestrian_adult" pedestrianCategory="pedestrian">
+      <ParameterDeclarations/>
+      <BoundingBox>
+        <Center x="0.0" y="0.0" z="0.9"/>
+        <Dimensions width="0.5" length="0.6" height="1.8"/>
+      </BoundingBox>
+      <Properties/>
+    </Pedestrian>
+  </Catalog>
+</OpenSCENARIO>
diff --git a/content/html/_downloads/f717c80213b149820a0dc8e07e803940/launch.json b/content/html/_downloads/f717c80213b149820a0dc8e07e803940/launch.json
index e3db1961ee5645f4043c472e328d05d36044bda3..349efcfb399297ecda658538b96c8b3aba07d0a4 100644
--- a/content/html/_downloads/f717c80213b149820a0dc8e07e803940/launch.json
+++ b/content/html/_downloads/f717c80213b149820a0dc8e07e803940/launch.json
@@ -1,43 +1,43 @@
-{
-    "version": "0.2.0",
-    "configurations": [
-        {
-            // FOR TESTMATE (SELECTED TEST) AND CMAKE (DEBUG CMAKE TARGET)
-            "name": "CMake Target",
-            "type": "cppdbg",
-            "request": "launch",
-            "program": "${command:cmake.launchTargetPath}",
-            "args": [],
-            "stopAtEntry": false,
-            "cwd": "${workspaceFolder}",
-            "externalConsole": false,
-            "MIMode": "gdb",
-            "setupCommands": [
-                {
-                    "description": "Enable pretty-printing for gdb",
-                    "text": "-enable-pretty-printing",
-                    "ignoreFailures": true
-                }
-            ]
-        },
-        {
-            // FOR DEBUGGING opSimulation (DON'T FORGET TO CALL make install)
-            "name": "opsimulation",
-            "type": "cppdbg",
-            "request": "launch",
-            "program": "/usr/local/openPASS/bin/core/opSimulation",
-            "args": [],
-            "stopAtEntry": false,
-            "cwd": "/usr/local/openPASS/bin/core/",
-            "externalConsole": false,
-            "MIMode": "gdb",
-            "setupCommands": [
-                {
-                    "description": "Enable pretty-printing for gdb",
-                    "text": "-enable-pretty-printing",
-                    "ignoreFailures": true
-                }
-            ]
-        }
-    ]
-}
+{
+    "version": "0.2.0",
+    "configurations": [
+        {
+            // FOR TESTMATE (SELECTED TEST) AND CMAKE (DEBUG CMAKE TARGET)
+            "name": "CMake Target",
+            "type": "cppdbg",
+            "request": "launch",
+            "program": "${command:cmake.launchTargetPath}",
+            "args": [],
+            "stopAtEntry": false,
+            "cwd": "${workspaceFolder}",
+            "externalConsole": false,
+            "MIMode": "gdb",
+            "setupCommands": [
+                {
+                    "description": "Enable pretty-printing for gdb",
+                    "text": "-enable-pretty-printing",
+                    "ignoreFailures": true
+                }
+            ]
+        },
+        {
+            // FOR DEBUGGING opSimulation (DON'T FORGET TO CALL make install)
+            "name": "opsimulation",
+            "type": "cppdbg",
+            "request": "launch",
+            "program": "/usr/local/openPASS/bin/core/opSimulation",
+            "args": [],
+            "stopAtEntry": false,
+            "cwd": "/usr/local/openPASS/bin/core/",
+            "externalConsole": false,
+            "MIMode": "gdb",
+            "setupCommands": [
+                {
+                    "description": "Enable pretty-printing for gdb",
+                    "text": "-enable-pretty-printing",
+                    "ignoreFailures": true
+                }
+            ]
+        }
+    ]
+}
diff --git a/content/html/_images/AckermannModel.svg b/content/html/_images/AckermannModel.svg
index 2db8d1494fcaec4c50c7d9e27964938ad05201f6..52c979f85ac963c2d53718bdf7825e2e31ec2f26 100644
--- a/content/html/_images/AckermannModel.svg
+++ b/content/html/_images/AckermannModel.svg
@@ -1,1148 +1,1148 @@
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-   xmlns="http://www.w3.org/2000/svg"
-   xmlns:svg="http://www.w3.org/2000/svg"
-   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
-   xmlns:cc="http://creativecommons.org/ns#"
-   xmlns:dc="http://purl.org/dc/elements/1.1/">
-  <title
-     id="title3699">Ackermann Model</title>
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index 99d31ea5ccce02c53b0450f0d51d543943d8477f..aeb6c9a686bee74b011ae0a31e8608e33c7f4f2a 100644
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+       style="font-style:normal;font-weight:normal;font-size:40.2577px;line-height:1.25;font-family:sans-serif;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1.00644"
+       x="-21.705709"
+       y="3.0263662"
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+         sodipodi:role="line"
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+         style="stroke-width:1.00644"
+         x="-21.705709"
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+    <text
+       xml:space="preserve"
+       style="font-size:4.84868px;line-height:1.25;font-family:sans-serif;stroke-width:2.70632"
+       x="-88.360077"
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+   style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:sans-serif;-inkscape-font-specification:Sans"
+   id="tspan1">Lateral</tspan> (m)</tspan></text>
+    <text
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+       style="font-size:4.84868px;line-height:1.25;font-family:sans-serif;display:inline;stroke-width:2.70632"
+       x="115.10297"
+       y="128.09456"
+       id="text34235-7"><tspan
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+         x="115.10297"
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+   style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:sans-serif;-inkscape-font-specification:Sans"
+   id="tspan2">Longitudinal</tspan> (m)</tspan></text>
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+       x="61.847992"
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+         x="61.847992"
+         y="58.145531"
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+         x="61.847992"
+         y="62.111618"
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+         x="61.847992"
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+         y="89.904366"
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index db1fd3a61d1ff2084ba3bdfa5a0e55c475e9c4ec..cc520b816c6495045f30c182db2a4c27fb572940 100644
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index 4ed5b65deda7cfe51cc6b62be969e7776d802cf2..5bb21305f28a3a8fd51f29affb6b3ea3d7c3f3bf 100644
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diff --git a/content/html/_images/OvertakingBanTrucksBegin_277.svg b/content/html/_images/OvertakingBanTrucksBegin_277.svg
index 64fc63d4467d34a80c7349ee8650471a61d94305..1edeb4f617c30fb9de84ab736540d2873b39076f 100644
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index 445a50ff9050855457a5947f0ef7d3226515f59c..1f52b84abf65e81f22817092460026c497c84f2f 100644
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diff --git a/content/html/_images/RightLaneEnd_W4-2R.svg b/content/html/_images/RightLaneEnd_W4-2R.svg
index 899e10c85d84ab9277a03441b9d13f535f51c42a..e0fffae074cb208f8421ae35c6169109a9974ff5 100644
--- a/content/html/_images/RightLaneEnd_W4-2R.svg
+++ b/content/html/_images/RightLaneEnd_W4-2R.svg
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index b5b562fe845b4a3c77fc882086d463da66ab0fd2..a609ddebfecd2a2af1a0500a3d9780cc61c2f2fe 100644
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diff --git a/content/html/_images/Stop_206.svg b/content/html/_images/Stop_206.svg
index 347de433b04af66e7dd5d3b7f3f8a060c90d2607..a293e2a2670b8720d5e624faf4a4ca2ebf65e098 100644
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diff --git a/content/html/_images/Stop_R1-1.svg b/content/html/_images/Stop_R1-1.svg
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index c4c74891630976caecae1c0a5087b4220aea363c..e2d2cdffa0c75354dd2295c7a78d187878c57203 100644
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diff --git a/content/html/_images/TrafficCalmedDistrictBegin_325.1.svg b/content/html/_images/TrafficCalmedDistrictBegin_325.1.svg
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index 4da44fbc856ba4ed7fd02de944c627a25590e6fe..f12c460828380107a71cb093797c5c9ec84ac11a 100644
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index 23a02c2cc448db55add7e50d601b44832fbcb70f..20207ff8e6e1c493092ffec4f8f9ffea573a0cf8 100644
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index c4a72378e134fefc6d44ebfe554f0237a5bf3f69..bb64ad17b736beaac6d318e5ae2fa579165a5156 100644
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index ebe714e4088bd36be0118f93d59d52d85885ef09..3ff117f3d57f05a7a41db3b34c444758e58f1d9c 100644
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index 87321c4d7d555fd43d359c016127e79188a03e6d..bb499c809611f9b3fdf7c6fa409daf6bb6ee92e3 100644
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index 46c1f03c560ead601b223a62abfdf740bcd11ad9..a9ca264f521296c489b6ca556bba1eabbdd78210 100644
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index 3123a9aa9646161a602e5e5ae84eb8bdf18b7cce..7b55dca0f13b4ea4fba88ab546bef92036e103ad 100644
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diff --git a/content/html/_images/shadow_casting_step05.svg b/content/html/_images/shadow_casting_step05.svg
index 18c842b95b362bcdc74ade7e542d22638a403c60..a246540b662569301d65c1be893c2e685c842092 100644
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index 33b986deb28e0f2cbb42f06db3cc4ca348795354..acb5f1ca83caec54dc9f44554cea26309e7be3e7 100644
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+  </g>
+  <path
+     style="font-variation-settings:normal;display:inline;opacity:1;fill:none;fill-opacity:0.5;stroke:#00ff00;stroke-width:0.497619;stroke-linecap:butt;stroke-linejoin:round;stroke-miterlimit:4;stroke-dasharray:0.995238, 0.497619;stroke-dashoffset:0;stroke-opacity:1;stop-color:#000000;stop-opacity:1"
+     d="m 78.73791,78.187606 0.05452,-0.0252 z m 43.46636,22.733754 1.65349,-18.832762 -45.011336,-3.951394 80.746176,-37.581188 -7.96245,-16.5112 -105.292338,69.134738 120.935908,35.222596 0.63774,-4.46879 -37.27672,-9.73731 35.16602,-6.19015 -11.1501,-1.38811 -77.560583,-9.657077 z"
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+            <dc:title>René Paris</dc:title>
+          </cc:Agent>
+        </dc:creator>
+        <dc:rights>
+          <cc:Agent>
+            <dc:title>2023 - Bayerische Motoren Werke Aktiengesellschaft (BMW AG)</dc:title>
+          </cc:Agent>
+        </dc:rights>
+        <dc:title>Shadow Casting</dc:title>
+        <cc:license
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+      </cc:Work>
+    </rdf:RDF>
+  </metadata>
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diff --git a/content/html/_sources/advanced_topics/20_simulator_advanced.rst.txt b/content/html/_sources/advanced_topics/20_simulator_advanced.rst.txt
index 29b9b19cede869dc7bfe50ddc7053a52b8502bbf..02df7972711ceba256746263da74b7867b1b8775 100644
--- a/content/html/_sources/advanced_topics/20_simulator_advanced.rst.txt
+++ b/content/html/_sources/advanced_topics/20_simulator_advanced.rst.txt
@@ -1,22 +1,22 @@
-..
-  *******************************************************************************
-  Copyright (c) 2021 in-tech GmbH
-
-  This program and the accompanying materials are made available under the
-  terms of the Eclipse Public License 2.0 which is available at
-  http://www.eclipse.org/legal/epl-2.0.
-
-  SPDX-License-Identifier: EPL-2.0
-  *******************************************************************************
-
-.. _simulator_advanced:
-
-Simulator
-=========
- 
-
-.. toctree::
-   :glob:
-   :maxdepth: 3
-
-   simulator/*
+..
+  *******************************************************************************
+  Copyright (c) 2021 in-tech GmbH
+
+  This program and the accompanying materials are made available under the
+  terms of the Eclipse Public License 2.0 which is available at
+  http://www.eclipse.org/legal/epl-2.0.
+
+  SPDX-License-Identifier: EPL-2.0
+  *******************************************************************************
+
+.. _simulator_advanced:
+
+Simulator
+=========
+ 
+
+.. toctree::
+   :glob:
+   :maxdepth: 3
+
+   simulator/*
diff --git a/content/html/_sources/advanced_topics/30_testing.rst.txt b/content/html/_sources/advanced_topics/30_testing.rst.txt
index de5ceb3031bead57615760407aedde7cab0d2ce0..de57a05fb8dd3782a684074db768d52e993ad4e8 100644
--- a/content/html/_sources/advanced_topics/30_testing.rst.txt
+++ b/content/html/_sources/advanced_topics/30_testing.rst.txt
@@ -1,19 +1,19 @@
-..
-  *******************************************************************************
-  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
-  http://www.eclipse.org/legal/epl-2.0.
-
-  SPDX-License-Identifier: EPL-2.0
-  *******************************************************************************
-
-.. _testing_endtoend:
-
-EndToEnd Test Framework
-=======================
-
-**pyOpenPASS**
-
-.. include:: /../../../repo/sim/tests/endToEndTests/pyOpenPASS.rst
+..
+  *******************************************************************************
+  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
+  http://www.eclipse.org/legal/epl-2.0.
+
+  SPDX-License-Identifier: EPL-2.0
+  *******************************************************************************
+
+.. _testing_endtoend:
+
+EndToEnd Test Framework
+=======================
+
+**pyOpenPASS**
+
+.. include:: /../../../repo/sim/tests/endToEndTests/pyOpenPASS.rst
diff --git a/content/html/_sources/advanced_topics/simulator/agent_components.rst.txt b/content/html/_sources/advanced_topics/simulator/agent_components.rst.txt
index ccc272f45cf7403cdddbdaee92b93f6c22156e76..ef8aaef806da0a68e191b035514394c1644abf47 100644
--- a/content/html/_sources/advanced_topics/simulator/agent_components.rst.txt
+++ b/content/html/_sources/advanced_topics/simulator/agent_components.rst.txt
@@ -1,580 +1,580 @@
-..
-  *******************************************************************************
-  Copyright (c) 2021 in-tech GmbH
-                2023-2024 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
-  http://www.eclipse.org/legal/epl-2.0.
-
-  SPDX-License-Identifier: EPL-2.0
-  *******************************************************************************
-
-.. _agentcomponents:
-
-Agent Components
-================
-
-An agent in openPASS is composed of multiple modules, which are connected by corresponding signals.
-As shown in the next figure, the modules can be roughly divided into the groups drivers, vehicle components, algorithms, dynamic modules, and prioritizers. 
-Thereby, modules can consist of several submodules, such as sensor (reading from an interface) and action (writing to an interface).
-
-.. figure:: ./draw.io/DynamicsModules.png
-
-   Modules for longitudinal and lateral dynamics
-
-By statistic means, based on corresponding probabilities defined in the :ref:`profilescatalog`, each individual agent is composed from a superset of all possible (valid) combinations, which is defined by the :ref:`systemconfigblueprint`.
-This config defines all available framework modules and agent modules and connects them by corresponding channels, which in turn have a specific signal type.
-
-The next figure gives an exhaustive overview over the current superset:
-
-.. _component_channel_communication:
-
-.. figure:: ./draw.io/ComponentsChannelCommunicationDiagram.png
-
-   Components and channel communication
-
-:download:`./draw.io/ComponentsChannelCommunicationDiagram.drawio`
-
-Modules that can be parametrized by the user are explained in the :ref:`Simulation User Guide <simuserguide_components>`.
-Therefor the following section only contains the components not listed in the user guide.
-
-Action_LongitudinalDriver
--------------------------
-
-Updates the agents pedal positions and gear.
-The input for this module is prepared by the AlgorithmLongitudinal Module.
-
-Action_SecondaryDriver
------------------------
-
-Updates the agents braking light, indicator, horn and all light switches (headlight, high beam, flasher).
-The input for this module is prepared by the driver module.
-
-**Overview of the module's functionalities**
-
-Action_SecondaryDriver gathers the secondary driving tasks and transfers them to output signals. Three graded driving tasks are defined and exampled as follows:
-
-**Primary driving tasks:** direct control of vehicle movements, like steering, pedal operation, shifting, etc.
-
-**Secondary driving tasks:** indirect control of vehicle movements, but supporting and complementing driving actions, like activation of indicator, horn, light, etc.
-
-**Tertiary driving tasks:** all the other activities, which are not related to vehicle control, like radio operation, etc.
-
-Table list of the input paramemter:
-
-======================== =========================== =============================
-Variable                 Description                 Value
-======================== =========================== =============================
-in_indicatorState        State of the indicator      left, center/off, right, warn
-in_hornSwitch            Horn activation             true/false
-in_headLightSwitch       Light activation            true/false
-in_highBeamLightSwitch   High beam light activation  true/false
-in_flasherSwitch         Flasher activation          true/false
-======================== =========================== =============================
-
-AgentUpdater
-------------
-
-The AgentUpdater executes all Set-Methods of the agent dynamics after the DynamicsPrioritizer. This includes position, velocity, acceleration and rotation.
-
-Algorithm_Lateral
------------------
-
-This module converts the lateral input of the driver module into a steering wheel angle.
-
-See :ref:`algorithm_lateral`.
-
-Algorithm_Longitudinal
-----------------------
-
-This module converts the acceleration input of the driver module into pedal positions and gear.
-
-See :ref:`algorithm_longitudinal`.
-
-AlgorithmCar2XSender
---------------------
-
-This module publishes the below mentioned parameters in each timestep via the RadioInterface provided by the World.
-
-======================= ======= ===== ================================================
-Parameter               Type    Unit  Description
-======================= ======= ===== ================================================
-SignalStrength          Double  W     Singal strength of the Car2XSender
-SendPositionXEnabled    Boolean       If true, the x-coordinate of the agent is sent
-SendPositionYEnabled    Boolean       If true, the y-coordinate of the agent is sent
-SendVelocityEnabled     Boolean       If true, the velocity of the agent is sent
-SendAccelerationEnabled Boolean       If true, the acceleration of the agent is sent
-SendYawEnabled          Boolean       If true, the yaw angle of the agent is sent
-======================= ======= ===== ================================================
-
-Dynamics_Collision
-------------------
-
-If the number of collision partners of the agent is bigger than in the previous time step, the DynamicsCollision module calculates the collision. 
-Currently the collision is implemented fully inelastic, i.e. all agents will have the same velocity after the collision, while the momentum is conserved. 
-After the collision the agents slow down with a fixed deceleration until fully stopped.
-
-Dynamics_Scenario
------------------
-
-See :ref:`dynamics_scenario`.
-
-Dynamics_RegularDriving
-------------------------
-
-The module takes care that the motion of the agent fit to the physical limitations, such as friction or maximum possible acceleration based on the current gear.
-This module uses both the world friction and the vehicle model parameter friction.
-Thereby it calculates the dynamics of the agents in every time step.
-The currently covered  dynamics are *Acceleration*, *Velocity*, and consequently *Position*, *Yaw angle* and *Yaw rate*.
-The input for this module is the steering wheel angle and the new acceleration of the vehicle.
-
-See :ref:`dynamics_regular_driving`.
-
-LimiterAccelerationVehicleComponents
--------------------------------------
-
-This module limits the AccelerationSignal from the PrioritizerAccelerationVehicleComponents to the constraints given by the vehicle. The DynamicsTrajectoryFollower can then use this signal to calculate a trajectory.
-
-The limit is calculated by :math:`a_{\text{lim}} = \frac {F_{\text{wheel}} - F_{\text{roll}} - F_{\text{air}}} {m_{\text{veh}}}`, where the symbols meanings are:
-
-======================== ================================================
-Symbol                   Description                                     
-======================== ================================================
-:math:`a_{\text{lim}}`   Resulting acceleration limit [m/s²] 
-:math:`F_{\text{wheel}}` Force at wheel (provided by drivetrain) [N]    
-:math:`F_{\text{roll}}`  Force resulting from rolling resistance [N]    
-:math:`F_{\text{air}}`   Force resulting from air drag [N]              
-:math:`m_{\text{veh}}`   Mass of the vehicle [kg]                       
-======================== ================================================
-
-The components are calculated as follows:
-
-**Driving force**
-
-:math:`F_{\text{wheel}} = \frac {T_{\text{engine}} \cdot r_{\text{axle}}} {r_{\text{wheel}}}`
-
-========================= ============================================================================================
-Symbol                    Description                                                                                 
-========================= ============================================================================================
-:math:`T_{\text{engine}}` Resulting torque from drivetrain at current velocity (assuming best gearing selected) [Nm] 
-:math:`r_{\text{axle}}`   Axle transmission ratio [1]                                                                
-:math:`r_{\text{wheel}}`  Static radius of the wheels [m]                                                            
-========================= ============================================================================================
-
-The engine torque :math:`T_{\text{engine}}` is calculated by a simple model, where the torque scales proportional with the current engine speed between 1350 and 5000 rpm, up to maximum engine torque.
-From minimum engine speed up to 1350 rpm the torque scales proportional with the engine speed up to half the maximum torque.
-From 5000 rpm up to maximum engine speed, the torque scales with 5000 / maxEngineSpeed, up to maximum torque.
-
-**Rolling resistance**
-
-:math:`F_{\text{roll}} = m_{\text{veh}} \cdot c_{\text{fric}} \cdot g`
-
-========================= ============================================================================================
-Symbol                    Description                                        
-========================= ============================================================================================
-:math:`m_{\text{veh}}`    Mass of the vehicle [kg]                          
-:math:`c_{\text{fric}}`   Rolling friction coefficient (constant 0.015) [1] 
-========================= ============================================================================================
-
-
-**Air drag**
-
-:math:`F_{\text{air}} = \frac {\rho_{\text{air}}} {2} \cdot A_{\text{front}} \cdot c_w \cdot v^2`
-
-========================= ============================================================================================
-Symbol                    Description                                 
-========================= ============================================================================================
-:math:`\rho_{\text{air}}` Density of air [kg/m³]         
-:math:`A_{\text{front}}`  Vehicle front surface area [m²] 
-:math:`c_w`               Drag coefficient [1]                       
-:math:`v`                 Vehicle's current velocity [m/s]           
-========================= ============================================================================================
-
-OpenScenarioActions
--------------------
-
-.. _OpenSCENARIO: https://www.asam.net/standards/detail/openscenario/
-
-As defined by `OpenSCENARIO`_, OpenScenarioActions is the relaying module for:
-
-- Trajectory-actions
-- LaneChange-actions 
-- UserDefined-actions.
-  
-If a
-
-- TrajectoryManipulator
-- LaneChangeManipulator
-
-or a user defined manipulator
-  
-raises such an event for the specified agent, the module forwards it as signal to all interested module of the corresponding agent. The modules can than react on the signals content without time delay.
-
-.. _parameters_vehicle:
-
-Parameters_Vehicle
--------------------
-
-The ParametersVehicle module forwards the VehicleModelParameters to all other modules that need them via the ParametersVehicleSignal.
-
-This section includes all vehicle system related parameters, powertrain system related parameters and steering system related parameters.
-Relevant parameters are presented in the following three tables with the corresponding explanations.
-
-Vehicle model related parameters
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. table::
-   :class: tight-table
-
-   ====================================== ====== ==== ============================================================
-   Variable                               Type   Unit Description
-   ====================================== ====== ==== ============================================================
-   width                                  Double m    Maximum width of the vehicle
-   length                                 Double m    Maximum length of the vehicle
-   height                                 Double m    Maximum height of the vehicle
-   wheelbase                              Double m    Wheelbase of the vehicle
-   trackwidth                             Double m    Trackwidth of the vehicle
-   distanceCOGtoLeadingEdge               Double m    Distance between the COG and the front bumper
-   distanceCOGtoFrontAxle                 Double m    Distance between the COG and the front axle
-   heightCOG                              Double m    Height of the center of gravity above ground
-   weight                                 Double kg   Overall mass of the vehicle
-   momentInertiaRoll                      Double kgm² Moment of inertia along the vehicle's longitudinal axis
-   momentInertiaPitch                     Double kgm² Moment of inertia along the vehicle's lateral axis
-   momentInertiaYaw                       Double kgm² Moment of inertia along the vehicle's vertical axis
-   frontSurface                           Double m²   Projected front surface of the vehicle
-   airDragCoefficient                     Double      Air drag coefficient of the vehicle
-   ====================================== ====== ==== ============================================================
-
-Powertrain related parameters
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. table::
-   :class: tight-table
-
-   ====================================== ======= ===== =============================================================
-   Variable                               Type    Unit  Description
-   ====================================== ======= ===== =============================================================
-   minimumEngineSpeed                     Double  1/min Idle speed of the engine
-   maximumEngineSpeed                     Double  1/min Maximum engine speed
-   minimumEngineTorque                    Double  Nm    Minimum torque of the engine
-   maximumEngineTorque                    Double  Nm    Maximum torque of the engine
-   numberOfGears                          Integer       Number of gears in the gearbox
-   axleRatio                              Double        Ratio of the axle gear
-   decelerationFromPowertrainDrag         Double  m/s²  Deceleration caused by the overall powertrain drag torque
-   ====================================== ======= ===== =============================================================
-
-Steering related parameters
-~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. table::
-   :class: tight-table
-
-   ====================================== ======= ====== =============================================================
-   Variable                               Type    Unit   Description
-   ====================================== ======= ====== =============================================================
-   steeringRatio                          Double         Ratio of the steering gear
-   maximumSteeringWheelAngleAmplitude     Double  degree Maximum amplitude of the steering wheel angle
-   ====================================== ======= ====== =============================================================
-
-Sensor_Driver
---------------
-
-The Sensor_Driver performs queries on the AgentInterface to gather information about the own agent and its surroundings. 
-These are forwarded to the driver modules and the Algorithm modules, which use them for their calculations.
-
-See :ref:`sensor_driver`.
-
-Sensor_OSI
------------
-
-This module is a representation of various sensors and uses OSI for its input and output.
-Currently, two types of sensors (SensorGeometric2D and ReceiverCar2X) are available. 
-
-SensorGeometric2D
-~~~~~~~~~~~~~~~~~
-
-The SensorGeometric2D detects all objects in a sector with specified range and opening angle.
-The input of the sensor is a OSI SensorView generated by the OSI World and its output is a OSI SensorData structure.
-
-For generation of the SensorView, a SensorViewConfiguration has to be provided by the sensor to the OSI World. See image for a visualization of the
-dataflow.
-
-.. figure:: ./draw.io/SensorView_Dataflow.png
-
-   OSI SensorView dataflow
-
-From OSI development perspective, the OSI World would have to send back a SensorViewConfiguration to the sensor, with the contents describing the
-actual configuration of the SensorView (since the World is maybe notable to provide the requested information).
-As we have full control over the simulation environment, this back-channel is skipped and SensorView according to the sensor'S SensorView configuration
-will always be provided.
-
-To test whether an object is inside our sector we check
-1. if it is inside the circle around the sensor with radius the detection range and
-2. if it intersects a suitable polygon
-
-Depending on the opening-angle the polygon in 2) has either four (angle < 180°) or five corners (angle >= 180°).
-
-.. figure:: ./images/sensor2d_kite_polygon.svg
-
-    four-corner kite polygon for angle lower than 180°
-
-======= ================= ================== =========
-Object  intersects circle intersects polygon detected
-======= ================= ================== =========
-A       true              false              false
-B       true              true               true
-C       false             true               false
-D       false             false              false
-E       true              true               true
-======= ================= ================== =========
-
-.. figure:: ./images/sensor2d_five_corner_polygon.svg
-
-    five-corner polygon for angle greater or equal 180° and greater 360°
-
-======= ================= ================== =========
-Object  intersects circle intersects polygon detected
-======= ================= ================== =========
-A       false             true               false
-B       true              true               true
-C       true              true               true
-D       true              false              false
-E       false             false              false
-======= ================= ================== =========
-
-For convex BBoxes the above will give correct detection results.
-
-Both polygons are constructed from corner-points consisting out of the intersection between the opening-angle boundaries at maximum detection range and their corresponding tangents.
-
-Function
-~~~~~~~~
-
-1. Construct the polygon based on the opening-angle
-2. Check if detection-field (polygon) intersects with any BBox (object-detection)
-3. Calculate the distance between sensor and object
-4. if (dist <= range && isIntersecting) -> object is in circular sector (object validation)
-
-Cases
-~~~~~
-
-- For angles < 1.0 * pi a four-corner (kite) polygon can be constructed out of two radiuses and two tangents.
-- For angles > = 1.0 * pi and < 2.0 * pi a five-corner polygon can be constructed of two radiuses an three tangents.
-- For opening-angle of exactly 2.0 * pi the distance information suffices. No polygon is needed.
-
-Visual Obstruction
-~~~~~~~~~~~~~~~~~~
-
-Objects in front of others block the sensors line of sight.
-If an object is large enough it might visually obstruct others.
-To check if one or multiple objects in combination "shadow" other objects the flag ``EnableVisualObstruction`` can be set.
-Also the minimum required percentage of the visible area of an object to be detected can be specified.
-The implemented algorithm uses the concept of shadow-casting, where the sensor cone is assumed to be the light source and the resulting shadow is calculated for each object.
-If an object is shadowed too much, it is removed from the list of detected objects.
-
-Shadow casting is calculated as follows:
-
-1. Approximate detection field as circular sector.
-2. Calculate the casted shadow of each object inside the detection field.
-3. Remove bounding box of object from shadow, so that it can be detected.
-4. Remove the casted shadow from the detection field.
-5. For each object, check if remaining area is inside the remaining polygon.
-6. Remove objects, if relation ``covered object area/total object area`` is smaller than a parameterizable threshold.
-
-**Example**
-
-Assume that the vehicle ahead is fully captured by the following vehicle's sensor cone.
-The outer points of the bounding box define the cone of the shadow.
-
-.. figure:: ./images/shadow_casting_step01.svg
-
-   Vehicle within sensor range
-
-For calculation of the shadow polygon, these boundary vectors needs to be extended w.r.t. detection range.
-
-In order to calculate the shadow polygon, the bounding vectors needs to be scaled with regard to the detection area.
-Note that extending only to the edges of the detection area would produce too small a shadow.
-
-.. figure:: ./images/shadow_casting_step02.svg
-
-   Too small shadow with missing area in red
-
-To avoid numerical scaling problems related to the length of the bounding vectors, the shadow is not stretched to a fixed size.
-Instead, the internal algorithm overestimates the size of the shadow, with the detection range as a guaranteed lower limit.
-
-.. figure:: ./images/shadow_casting_step03.svg
-
-   Overestimated shadow
-
-For this guarantee, the actual detection area must be approximated along the edge of the ideal circle (rather than by a tangential approximation).
-With regard to typical object sizes and detection areas, the error can be considered negligible.
-
-.. figure:: ./images/shadow_casting_step04.svg
-
-   Approximation of the sensor cone
-
-Next, the object's bounding box is removed from the shadow.
-
-.. figure:: ./images/shadow_casting_step05.svg
-
-   Approximated sensor cone and shadow with removed bounding box
-
-Finally, the shadow is subtracted from the sensor cone.
-
-.. figure:: ./images/shadow_casting_step06.svg
-
-   Sensor cone with removed shadow
-
-The process is repeated for each object in the detection area.
-
-.. figure:: ./images/shadow_casting_step07.svg
-
-   Shadow of partially occluded vehicle
-
-.. figure:: ./images/shadow_casting_step08.svg
-
-   Sensor cone with removed shadow of partially occluded vehicle
-
-Note that the order of shadow calculation and subtraction is irrelevant.
-
-SensorFusionOSI
----------------
-
-The SensorFusionOSI module allows unsorted aggregation of any data provided by sensors. All sampled detected objects can then be broadcasted to connected ADAS.
-
-It collects all SensorDataSignals and merges them into a single SensorDataSignal.
-
-.. _agentcomponents_signalprioritizer:
-
-SignalPrioritizer
------------------
-
-All channels can only have one source.
-If one module can have the same input type from multiple sources a prioritizer module is needed in between.
-All sources then get an output channel to the prioritizer module and the prioritizer gets an output to the module, which uses this signal.
-If more than an component sends an active signal during the same timestep, the prioritizer forwards only the signal from the input channel with the highest priority.
-These priorities are set as parameters in the systemconfigblueprint.xml, where the key corresponds the the id of the input channel and the value is the priority (higher value is prioritized).
-In the following example the channel with id 102 has the highest priority (3) and the channel with id 100 has the lowest priority (1).
-
-.. code-block:: xml
-
-   <component>
-     <id>PrioritizerName</id>
-     <schedule>
-       <priority>150</priority>
-       <offset>0</offset>
-       <cycle>100</cycle>
-       <response>0</response>
-     </schedule>
-     <library>SignalPrioritizer</library>
-     <parameters>
-       <parameter>
-         <id>100</id>
-         <type>int</type>
-         <unit/>
-         <value>1</value>
-       </parameter>
-       <parameter>
-         <id>101</id>
-         <type>int</type>
-         <unit/>
-         <value>2</value>
-       </parameter>
-       <parameter>
-         <id>102</id>
-         <type>int</type>
-         <unit/>
-         <value>3</value>
-       </parameter>
-     </parameters>
-   </component>
-
-One prioritizer module can only handle signals of the same type and the signal class must be derived from ComponentStateSignal.
-If there is no signal in one time step, then the signal of the previous time step is hold.
-
-**Existing prioritizer modules**
-
-* PrioritizerAccelerationVehicleComponents
-* PrioritizerSteeringVehicleComponents
-* PrioritizerTurningIndicator
-* PrioritizerLongitudinal
-* PrioritizerSteering
-* PrioritizerDynamics
-
-
-.. _agentcomponents_componentcontroller:
-
-ComponentController
--------------------
-
-Overview
-~~~~~~~~~
-
-The ComponentController (CC) is used to configure and handle dependencies between other vehicle components.
-
-Example use cases could be:
-
-- Cruise control:
-
-  - driver requesting higher acceleration than cruise control overrides the latter
-  - driver braking deactivates cruise control
-  
-- Lane keeping assistant:
-
-  - cannot be activated by driver, if emergency braking is currently active
-  - stays active, when emergency braking occurs (i. e. by other ADAS)
-
-The responsibilies of the CC are:
-
-- Handling of all dependencies between *VehicleComponents* in case a component wants to activate
-- Make information about driver, *TrajectoryFollower* and other *VehicleComponents* available to each other
-- Determine the highest allowed activation state of a component and notify the affected component about this state
-
-To achieve this tasks, each component is assigned a maximum allowed state in each time step. This state is of type ComponentState,
-which defines *Disabled*, *Armed* or *Active* as allowed states.
-Drivers can be in a state of either *Active* or *Passive*.
-
-State handling inside Vehicle Component
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-Within a vehicle component, the information flow should be implemented as follows:
-
-1. The vehicle component retrieves the information of other components and the current maximum allowed state from the CC.
-   Other components include drivers, trajectory followers and all other vehicle components connected to the CC.
-2. Based on that information the vehicle component determines its current desired state.
-3. The desired state is sent to the CC.
-
-The CC handles all the dependencies between different components and determines the maximum allowed state for each component based
-on the configuration of the CC.
-
-Used signals
-~~~~~~~~~~~~~
-
-The CC communicates with the controlled components via framework signals.
-
-Inputs to the ComponentController:
-
-.. table::
-   :class: tight-table
-
-   ================== ===================================================== =============================
-   Source             Contents                                              Signal                      
-   ================== ===================================================== =============================
-   TrajectoryFollower Current state                                         ComponentStateSignal        
-   Driver             Current state, pedal activity                         DriverStateSignal           
-   VehicleComponent   Current state, desired state, generic ADAS parameters VehicleCompToCompCtrlSignal 
-   ================== ===================================================== =============================
-
-
-Output to other components:
-
-.. table::
-   :class: tight-table
-
-   ================== ========================================================================== =============================
-   Destination        Contents                                                                   Signal                      
-   ================== ========================================================================== =============================
-   TrajectoryFollower Current max. reachable state                                               ComponentStateSignal        
-   Driver             List of all ADAS with names, stati and types                               AdasStateSignal             
-   VehicleComponent   Current max. reachable state, list of all ADAS with names, stati and types CompCtrlToVehicleCompSignal 
-   ================== ========================================================================== =============================
+..
+  *******************************************************************************
+  Copyright (c) 2021 in-tech GmbH
+                2023-2024 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
+  http://www.eclipse.org/legal/epl-2.0.
+
+  SPDX-License-Identifier: EPL-2.0
+  *******************************************************************************
+
+.. _agentcomponents:
+
+Agent Components
+================
+
+An agent in openPASS is composed of multiple modules, which are connected by corresponding signals.
+As shown in the next figure, the modules can be roughly divided into the groups drivers, vehicle components, algorithms, dynamic modules, and prioritizers. 
+Thereby, modules can consist of several submodules, such as sensor (reading from an interface) and action (writing to an interface).
+
+.. figure:: ./draw.io/DynamicsModules.png
+
+   Modules for longitudinal and lateral dynamics
+
+By statistic means, based on corresponding probabilities defined in the :ref:`profilescatalog`, each individual agent is composed from a superset of all possible (valid) combinations, which is defined by the :ref:`systemconfigblueprint`.
+This config defines all available framework modules and agent modules and connects them by corresponding channels, which in turn have a specific signal type.
+
+The next figure gives an exhaustive overview over the current superset:
+
+.. _component_channel_communication:
+
+.. figure:: ./draw.io/ComponentsChannelCommunicationDiagram.png
+
+   Components and channel communication
+
+:download:`./draw.io/ComponentsChannelCommunicationDiagram.drawio`
+
+Modules that can be parametrized by the user are explained in the :ref:`Simulation User Guide <simuserguide_components>`.
+Therefor the following section only contains the components not listed in the user guide.
+
+Action_LongitudinalDriver
+-------------------------
+
+Updates the agents pedal positions and gear.
+The input for this module is prepared by the AlgorithmLongitudinal Module.
+
+Action_SecondaryDriver
+-----------------------
+
+Updates the agents braking light, indicator, horn and all light switches (headlight, high beam, flasher).
+The input for this module is prepared by the driver module.
+
+**Overview of the module's functionalities**
+
+Action_SecondaryDriver gathers the secondary driving tasks and transfers them to output signals. Three graded driving tasks are defined and exampled as follows:
+
+**Primary driving tasks:** direct control of vehicle movements, like steering, pedal operation, shifting, etc.
+
+**Secondary driving tasks:** indirect control of vehicle movements, but supporting and complementing driving actions, like activation of indicator, horn, light, etc.
+
+**Tertiary driving tasks:** all the other activities, which are not related to vehicle control, like radio operation, etc.
+
+Table list of the input paramemter:
+
+======================== =========================== =============================
+Variable                 Description                 Value
+======================== =========================== =============================
+in_indicatorState        State of the indicator      left, center/off, right, warn
+in_hornSwitch            Horn activation             true/false
+in_headLightSwitch       Light activation            true/false
+in_highBeamLightSwitch   High beam light activation  true/false
+in_flasherSwitch         Flasher activation          true/false
+======================== =========================== =============================
+
+AgentUpdater
+------------
+
+The AgentUpdater executes all Set-Methods of the agent dynamics after the DynamicsPrioritizer. This includes position, velocity, acceleration and rotation.
+
+Algorithm_Lateral
+-----------------
+
+This module converts the lateral input of the driver module into a steering wheel angle.
+
+See :ref:`algorithm_lateral`.
+
+Algorithm_Longitudinal
+----------------------
+
+This module converts the acceleration input of the driver module into pedal positions and gear.
+
+See :ref:`algorithm_longitudinal`.
+
+AlgorithmCar2XSender
+--------------------
+
+This module publishes the below mentioned parameters in each timestep via the RadioInterface provided by the World.
+
+======================= ======= ===== ================================================
+Parameter               Type    Unit  Description
+======================= ======= ===== ================================================
+SignalStrength          Double  W     Singal strength of the Car2XSender
+SendPositionXEnabled    Boolean       If true, the x-coordinate of the agent is sent
+SendPositionYEnabled    Boolean       If true, the y-coordinate of the agent is sent
+SendVelocityEnabled     Boolean       If true, the velocity of the agent is sent
+SendAccelerationEnabled Boolean       If true, the acceleration of the agent is sent
+SendYawEnabled          Boolean       If true, the yaw angle of the agent is sent
+======================= ======= ===== ================================================
+
+Dynamics_Collision
+------------------
+
+If the number of collision partners of the agent is bigger than in the previous time step, the DynamicsCollision module calculates the collision. 
+Currently the collision is implemented fully inelastic, i.e. all agents will have the same velocity after the collision, while the momentum is conserved. 
+After the collision the agents slow down with a fixed deceleration until fully stopped.
+
+Dynamics_Scenario
+-----------------
+
+See :ref:`dynamics_scenario`.
+
+Dynamics_RegularDriving
+------------------------
+
+The module takes care that the motion of the agent fit to the physical limitations, such as friction or maximum possible acceleration based on the current gear.
+This module uses both the world friction and the vehicle model parameter friction.
+Thereby it calculates the dynamics of the agents in every time step.
+The currently covered  dynamics are *Acceleration*, *Velocity*, and consequently *Position*, *Yaw angle* and *Yaw rate*.
+The input for this module is the steering wheel angle and the new acceleration of the vehicle.
+
+See :ref:`dynamics_regular_driving`.
+
+LimiterAccelerationVehicleComponents
+-------------------------------------
+
+This module limits the AccelerationSignal from the PrioritizerAccelerationVehicleComponents to the constraints given by the vehicle. The DynamicsTrajectoryFollower can then use this signal to calculate a trajectory.
+
+The limit is calculated by :math:`a_{\text{lim}} = \frac {F_{\text{wheel}} - F_{\text{roll}} - F_{\text{air}}} {m_{\text{veh}}}`, where the symbols meanings are:
+
+======================== ================================================
+Symbol                   Description                                     
+======================== ================================================
+:math:`a_{\text{lim}}`   Resulting acceleration limit [m/s²] 
+:math:`F_{\text{wheel}}` Force at wheel (provided by drivetrain) [N]    
+:math:`F_{\text{roll}}`  Force resulting from rolling resistance [N]    
+:math:`F_{\text{air}}`   Force resulting from air drag [N]              
+:math:`m_{\text{veh}}`   Mass of the vehicle [kg]                       
+======================== ================================================
+
+The components are calculated as follows:
+
+**Driving force**
+
+:math:`F_{\text{wheel}} = \frac {T_{\text{engine}} \cdot r_{\text{axle}}} {r_{\text{wheel}}}`
+
+========================= ============================================================================================
+Symbol                    Description                                                                                 
+========================= ============================================================================================
+:math:`T_{\text{engine}}` Resulting torque from drivetrain at current velocity (assuming best gearing selected) [Nm] 
+:math:`r_{\text{axle}}`   Axle transmission ratio [1]                                                                
+:math:`r_{\text{wheel}}`  Static radius of the wheels [m]                                                            
+========================= ============================================================================================
+
+The engine torque :math:`T_{\text{engine}}` is calculated by a simple model, where the torque scales proportional with the current engine speed between 1350 and 5000 rpm, up to maximum engine torque.
+From minimum engine speed up to 1350 rpm the torque scales proportional with the engine speed up to half the maximum torque.
+From 5000 rpm up to maximum engine speed, the torque scales with 5000 / maxEngineSpeed, up to maximum torque.
+
+**Rolling resistance**
+
+:math:`F_{\text{roll}} = m_{\text{veh}} \cdot c_{\text{fric}} \cdot g`
+
+========================= ============================================================================================
+Symbol                    Description                                        
+========================= ============================================================================================
+:math:`m_{\text{veh}}`    Mass of the vehicle [kg]                          
+:math:`c_{\text{fric}}`   Rolling friction coefficient (constant 0.015) [1] 
+========================= ============================================================================================
+
+
+**Air drag**
+
+:math:`F_{\text{air}} = \frac {\rho_{\text{air}}} {2} \cdot A_{\text{front}} \cdot c_w \cdot v^2`
+
+========================= ============================================================================================
+Symbol                    Description                                 
+========================= ============================================================================================
+:math:`\rho_{\text{air}}` Density of air [kg/m³]         
+:math:`A_{\text{front}}`  Vehicle front surface area [m²] 
+:math:`c_w`               Drag coefficient [1]                       
+:math:`v`                 Vehicle's current velocity [m/s]           
+========================= ============================================================================================
+
+OpenScenarioActions
+-------------------
+
+.. _OpenSCENARIO: https://www.asam.net/standards/detail/openscenario/
+
+As defined by `OpenSCENARIO`_, OpenScenarioActions is the relaying module for:
+
+- Trajectory-actions
+- LaneChange-actions 
+- UserDefined-actions.
+  
+If a
+
+- TrajectoryManipulator
+- LaneChangeManipulator
+
+or a user defined manipulator
+  
+raises such an event for the specified agent, the module forwards it as signal to all interested module of the corresponding agent. The modules can than react on the signals content without time delay.
+
+.. _parameters_vehicle:
+
+Parameters_Vehicle
+-------------------
+
+The ParametersVehicle module forwards the VehicleModelParameters to all other modules that need them via the ParametersVehicleSignal.
+
+This section includes all vehicle system related parameters, powertrain system related parameters and steering system related parameters.
+Relevant parameters are presented in the following three tables with the corresponding explanations.
+
+Vehicle model related parameters
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. table::
+   :class: tight-table
+
+   ====================================== ====== ==== ============================================================
+   Variable                               Type   Unit Description
+   ====================================== ====== ==== ============================================================
+   width                                  Double m    Maximum width of the vehicle
+   length                                 Double m    Maximum length of the vehicle
+   height                                 Double m    Maximum height of the vehicle
+   wheelbase                              Double m    Wheelbase of the vehicle
+   trackwidth                             Double m    Trackwidth of the vehicle
+   distanceCOGtoLeadingEdge               Double m    Distance between the COG and the front bumper
+   distanceCOGtoFrontAxle                 Double m    Distance between the COG and the front axle
+   heightCOG                              Double m    Height of the center of gravity above ground
+   weight                                 Double kg   Overall mass of the vehicle
+   momentInertiaRoll                      Double kgm² Moment of inertia along the vehicle's longitudinal axis
+   momentInertiaPitch                     Double kgm² Moment of inertia along the vehicle's lateral axis
+   momentInertiaYaw                       Double kgm² Moment of inertia along the vehicle's vertical axis
+   frontSurface                           Double m²   Projected front surface of the vehicle
+   airDragCoefficient                     Double      Air drag coefficient of the vehicle
+   ====================================== ====== ==== ============================================================
+
+Powertrain related parameters
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. table::
+   :class: tight-table
+
+   ====================================== ======= ===== =============================================================
+   Variable                               Type    Unit  Description
+   ====================================== ======= ===== =============================================================
+   minimumEngineSpeed                     Double  1/min Idle speed of the engine
+   maximumEngineSpeed                     Double  1/min Maximum engine speed
+   minimumEngineTorque                    Double  Nm    Minimum torque of the engine
+   maximumEngineTorque                    Double  Nm    Maximum torque of the engine
+   numberOfGears                          Integer       Number of gears in the gearbox
+   axleRatio                              Double        Ratio of the axle gear
+   decelerationFromPowertrainDrag         Double  m/s²  Deceleration caused by the overall powertrain drag torque
+   ====================================== ======= ===== =============================================================
+
+Steering related parameters
+~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. table::
+   :class: tight-table
+
+   ====================================== ======= ====== =============================================================
+   Variable                               Type    Unit   Description
+   ====================================== ======= ====== =============================================================
+   steeringRatio                          Double         Ratio of the steering gear
+   maximumSteeringWheelAngleAmplitude     Double  degree Maximum amplitude of the steering wheel angle
+   ====================================== ======= ====== =============================================================
+
+Sensor_Driver
+--------------
+
+The Sensor_Driver performs queries on the AgentInterface to gather information about the own agent and its surroundings. 
+These are forwarded to the driver modules and the Algorithm modules, which use them for their calculations.
+
+See :ref:`sensor_driver`.
+
+Sensor_OSI
+-----------
+
+This module is a representation of various sensors and uses OSI for its input and output.
+Currently, two types of sensors (SensorGeometric2D and ReceiverCar2X) are available. 
+
+SensorGeometric2D
+~~~~~~~~~~~~~~~~~
+
+The SensorGeometric2D detects all objects in a sector with specified range and opening angle.
+The input of the sensor is a OSI SensorView generated by the OSI World and its output is a OSI SensorData structure.
+
+For generation of the SensorView, a SensorViewConfiguration has to be provided by the sensor to the OSI World. See image for a visualization of the
+dataflow.
+
+.. figure:: ./draw.io/SensorView_Dataflow.png
+
+   OSI SensorView dataflow
+
+From OSI development perspective, the OSI World would have to send back a SensorViewConfiguration to the sensor, with the contents describing the
+actual configuration of the SensorView (since the World is maybe notable to provide the requested information).
+As we have full control over the simulation environment, this back-channel is skipped and SensorView according to the sensor'S SensorView configuration
+will always be provided.
+
+To test whether an object is inside our sector we check
+1. if it is inside the circle around the sensor with radius the detection range and
+2. if it intersects a suitable polygon
+
+Depending on the opening-angle the polygon in 2) has either four (angle < 180°) or five corners (angle >= 180°).
+
+.. figure:: ./images/sensor2d_kite_polygon.svg
+
+    four-corner kite polygon for angle lower than 180°
+
+======= ================= ================== =========
+Object  intersects circle intersects polygon detected
+======= ================= ================== =========
+A       true              false              false
+B       true              true               true
+C       false             true               false
+D       false             false              false
+E       true              true               true
+======= ================= ================== =========
+
+.. figure:: ./images/sensor2d_five_corner_polygon.svg
+
+    five-corner polygon for angle greater or equal 180° and greater 360°
+
+======= ================= ================== =========
+Object  intersects circle intersects polygon detected
+======= ================= ================== =========
+A       false             true               false
+B       true              true               true
+C       true              true               true
+D       true              false              false
+E       false             false              false
+======= ================= ================== =========
+
+For convex BBoxes the above will give correct detection results.
+
+Both polygons are constructed from corner-points consisting out of the intersection between the opening-angle boundaries at maximum detection range and their corresponding tangents.
+
+Function
+~~~~~~~~
+
+1. Construct the polygon based on the opening-angle
+2. Check if detection-field (polygon) intersects with any BBox (object-detection)
+3. Calculate the distance between sensor and object
+4. if (dist <= range && isIntersecting) -> object is in circular sector (object validation)
+
+Cases
+~~~~~
+
+- For angles < 1.0 * pi a four-corner (kite) polygon can be constructed out of two radiuses and two tangents.
+- For angles > = 1.0 * pi and < 2.0 * pi a five-corner polygon can be constructed of two radiuses an three tangents.
+- For opening-angle of exactly 2.0 * pi the distance information suffices. No polygon is needed.
+
+Visual Obstruction
+~~~~~~~~~~~~~~~~~~
+
+Objects in front of others block the sensors line of sight.
+If an object is large enough it might visually obstruct others.
+To check if one or multiple objects in combination "shadow" other objects the flag ``EnableVisualObstruction`` can be set.
+Also the minimum required percentage of the visible area of an object to be detected can be specified.
+The implemented algorithm uses the concept of shadow-casting, where the sensor cone is assumed to be the light source and the resulting shadow is calculated for each object.
+If an object is shadowed too much, it is removed from the list of detected objects.
+
+Shadow casting is calculated as follows:
+
+1. Approximate detection field as circular sector.
+2. Calculate the casted shadow of each object inside the detection field.
+3. Remove bounding box of object from shadow, so that it can be detected.
+4. Remove the casted shadow from the detection field.
+5. For each object, check if remaining area is inside the remaining polygon.
+6. Remove objects, if relation ``covered object area/total object area`` is smaller than a parameterizable threshold.
+
+**Example**
+
+Assume that the vehicle ahead is fully captured by the following vehicle's sensor cone.
+The outer points of the bounding box define the cone of the shadow.
+
+.. figure:: ./images/shadow_casting_step01.svg
+
+   Vehicle within sensor range
+
+For calculation of the shadow polygon, these boundary vectors needs to be extended w.r.t. detection range.
+
+In order to calculate the shadow polygon, the bounding vectors needs to be scaled with regard to the detection area.
+Note that extending only to the edges of the detection area would produce too small a shadow.
+
+.. figure:: ./images/shadow_casting_step02.svg
+
+   Too small shadow with missing area in red
+
+To avoid numerical scaling problems related to the length of the bounding vectors, the shadow is not stretched to a fixed size.
+Instead, the internal algorithm overestimates the size of the shadow, with the detection range as a guaranteed lower limit.
+
+.. figure:: ./images/shadow_casting_step03.svg
+
+   Overestimated shadow
+
+For this guarantee, the actual detection area must be approximated along the edge of the ideal circle (rather than by a tangential approximation).
+With regard to typical object sizes and detection areas, the error can be considered negligible.
+
+.. figure:: ./images/shadow_casting_step04.svg
+
+   Approximation of the sensor cone
+
+Next, the object's bounding box is removed from the shadow.
+
+.. figure:: ./images/shadow_casting_step05.svg
+
+   Approximated sensor cone and shadow with removed bounding box
+
+Finally, the shadow is subtracted from the sensor cone.
+
+.. figure:: ./images/shadow_casting_step06.svg
+
+   Sensor cone with removed shadow
+
+The process is repeated for each object in the detection area.
+
+.. figure:: ./images/shadow_casting_step07.svg
+
+   Shadow of partially occluded vehicle
+
+.. figure:: ./images/shadow_casting_step08.svg
+
+   Sensor cone with removed shadow of partially occluded vehicle
+
+Note that the order of shadow calculation and subtraction is irrelevant.
+
+SensorFusionOSI
+---------------
+
+The SensorFusionOSI module allows unsorted aggregation of any data provided by sensors. All sampled detected objects can then be broadcasted to connected ADAS.
+
+It collects all SensorDataSignals and merges them into a single SensorDataSignal.
+
+.. _agentcomponents_signalprioritizer:
+
+SignalPrioritizer
+-----------------
+
+All channels can only have one source.
+If one module can have the same input type from multiple sources a prioritizer module is needed in between.
+All sources then get an output channel to the prioritizer module and the prioritizer gets an output to the module, which uses this signal.
+If more than an component sends an active signal during the same timestep, the prioritizer forwards only the signal from the input channel with the highest priority.
+These priorities are set as parameters in the systemconfigblueprint.xml, where the key corresponds the the id of the input channel and the value is the priority (higher value is prioritized).
+In the following example the channel with id 102 has the highest priority (3) and the channel with id 100 has the lowest priority (1).
+
+.. code-block:: xml
+
+   <component>
+     <id>PrioritizerName</id>
+     <schedule>
+       <priority>150</priority>
+       <offset>0</offset>
+       <cycle>100</cycle>
+       <response>0</response>
+     </schedule>
+     <library>SignalPrioritizer</library>
+     <parameters>
+       <parameter>
+         <id>100</id>
+         <type>int</type>
+         <unit/>
+         <value>1</value>
+       </parameter>
+       <parameter>
+         <id>101</id>
+         <type>int</type>
+         <unit/>
+         <value>2</value>
+       </parameter>
+       <parameter>
+         <id>102</id>
+         <type>int</type>
+         <unit/>
+         <value>3</value>
+       </parameter>
+     </parameters>
+   </component>
+
+One prioritizer module can only handle signals of the same type and the signal class must be derived from ComponentStateSignal.
+If there is no signal in one time step, then the signal of the previous time step is hold.
+
+**Existing prioritizer modules**
+
+* PrioritizerAccelerationVehicleComponents
+* PrioritizerSteeringVehicleComponents
+* PrioritizerTurningIndicator
+* PrioritizerLongitudinal
+* PrioritizerSteering
+* PrioritizerDynamics
+
+
+.. _agentcomponents_componentcontroller:
+
+ComponentController
+-------------------
+
+Overview
+~~~~~~~~~
+
+The ComponentController (CC) is used to configure and handle dependencies between other vehicle components.
+
+Example use cases could be:
+
+- Cruise control:
+
+  - driver requesting higher acceleration than cruise control overrides the latter
+  - driver braking deactivates cruise control
+  
+- Lane keeping assistant:
+
+  - cannot be activated by driver, if emergency braking is currently active
+  - stays active, when emergency braking occurs (i. e. by other ADAS)
+
+The responsibilies of the CC are:
+
+- Handling of all dependencies between *VehicleComponents* in case a component wants to activate
+- Make information about driver, *TrajectoryFollower* and other *VehicleComponents* available to each other
+- Determine the highest allowed activation state of a component and notify the affected component about this state
+
+To achieve this tasks, each component is assigned a maximum allowed state in each time step. This state is of type ComponentState,
+which defines *Disabled*, *Armed* or *Active* as allowed states.
+Drivers can be in a state of either *Active* or *Passive*.
+
+State handling inside Vehicle Component
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+Within a vehicle component, the information flow should be implemented as follows:
+
+1. The vehicle component retrieves the information of other components and the current maximum allowed state from the CC.
+   Other components include drivers, trajectory followers and all other vehicle components connected to the CC.
+2. Based on that information the vehicle component determines its current desired state.
+3. The desired state is sent to the CC.
+
+The CC handles all the dependencies between different components and determines the maximum allowed state for each component based
+on the configuration of the CC.
+
+Used signals
+~~~~~~~~~~~~~
+
+The CC communicates with the controlled components via framework signals.
+
+Inputs to the ComponentController:
+
+.. table::
+   :class: tight-table
+
+   ================== ===================================================== =============================
+   Source             Contents                                              Signal                      
+   ================== ===================================================== =============================
+   TrajectoryFollower Current state                                         ComponentStateSignal        
+   Driver             Current state, pedal activity                         DriverStateSignal           
+   VehicleComponent   Current state, desired state, generic ADAS parameters VehicleCompToCompCtrlSignal 
+   ================== ===================================================== =============================
+
+
+Output to other components:
+
+.. table::
+   :class: tight-table
+
+   ================== ========================================================================== =============================
+   Destination        Contents                                                                   Signal                      
+   ================== ========================================================================== =============================
+   TrajectoryFollower Current max. reachable state                                               ComponentStateSignal        
+   Driver             List of all ADAS with names, stati and types                               AdasStateSignal             
+   VehicleComponent   Current max. reachable state, list of all ADAS with names, stati and types CompCtrlToVehicleCompSignal 
+   ================== ========================================================================== =============================
diff --git a/content/html/_sources/advanced_topics/simulator/coordinate_systems.rst.txt b/content/html/_sources/advanced_topics/simulator/coordinate_systems.rst.txt
index 8d663dbb05a0294361323d0efceb70ab7aaa1b95..812a8108d7c8de8aec08a7feeb9d5187b44cb6b4 100644
--- a/content/html/_sources/advanced_topics/simulator/coordinate_systems.rst.txt
+++ b/content/html/_sources/advanced_topics/simulator/coordinate_systems.rst.txt
@@ -1,101 +1,101 @@
-..
-  *******************************************************************************
-  Copyright (c) 2021 in-tech GmbH
-                2022-2023 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
-  http://www.eclipse.org/legal/epl-2.0.
-
-  SPDX-License-Identifier: EPL-2.0
-  *******************************************************************************
-
-.. _coordinatesystems:
-
-Coordinate Systems
-==================
-
-|op| uses three different coordinate systems.
-All systems rotate counterclockwise and use radian.
-
-.. _coordinatesystems_world:
-
-World Coordinate System
------------------------
-
-The world coordinate system is absolute.
-It is the parent coordinate system and all other systems are relative to the world coordinate system.
-This system consists of *x*, *y* and *z* (*z* is currently unused).
-
-.. figure:: ./images/WorldCoordinateSystem.svg
-
-   World Coordinate System
-
-.. _coordinatesystems_road:
-
-Road Coordinate System
-----------------------
-
-The road coordinate system is relative to the position of the road in the world coordinate system.
-It consists of *s* and *t* coordinates, where *s* describes the longitudinal position along the road.
-At the beginning of the road *s* = 0, increasing with the downstream direction of the road.
-The coordinate *t* describes the lateral position relative to the center of the road, where *t* > 0 indicates left side and *t* < 0 right side of the road with respect to the road direction.
-
-.. figure:: ./images/RoadCoordinateSystem.svg
-
-   Road Coordinate System
-
-.. _coordinatesystems_agent:
-
-Agent Coordinate System
-~~~~~~~~~~~~~~~~~~~~~~~
-
-The agent coordinate system is relative to the position of the agent in the world coordinate system.
-It uses longitudinal, lateral and height (height currently unused).
-The system originates at the *reference point*, which is located at the center of the rear axle.
-The longitudinal axis is parallel to the length of the car and the lateral axis is parallel to the width of the car
-
-.. figure:: ./images/AgentCoordinateSystem.svg
-
-   Agent Coordinate System
-
-.. _coordinatesystems_sensor:
-
-Sensor Coordinate System
-------------------------
-
-Each sensor has its own coordinate system whose origin is the mounting position of the sensor.
-The *x* axis points in the direction of the sensor as defined by the mounting orientation.
-All values in the OSI SensorData generated by a sensor are in its sensor coordinate system.
-Vectorial values such as velocity and acceleration are relative to the own vehicle's velocity and acceleration at the sensor position.
-
-.. _coordinatesystems_sensor_transformation:
-
-Conversions between SensorData coordinate systems
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-Since all values in the SensorData are relative to the sensor the following conversions are needed.
-
-In the Sensor_OSI where the SensorData is written, data for other objects is calculated according to these steps:
-
-#) Get position, velocity and acceleration from the SensorView in world coordinates
-#) For the position:
-    #) Translation by the sensor position (in world coordinates, inverse)
-    #) Rotation by the sensor orientation (in world coordinates, inverse)
-#) For the velocity and acceleration (vectorial):
-    #) Subtract own velocity / acceleration at sensor position
-    #) Rotation by the sensor orientation (in world coordinates, inverse)
-
-ADAS using SensorData may need to convert the values back to the agent coordinate system.
-The SensorFusion_Errorless also converts the merged SensorData to agent coordinate and sets the mounting position to the agents reference point.
-This calculation follows the following steps:
-
-#) Get position, velocity and acceleration from the SensorData in sensor coordinates
-#) For the position:
-    #) Rotation by the sensor orientation (mounting position in agent coordinates)
-    #) Translation by the sensor position (mounting position in agent coordinates)
-#) For the velocity and acceleration (vectorial):
-    #) Calculate the difference between the ego velocity / acceleration at the sensor position to the reference point (in world coordinates)
-    #) Rotation of this difference by the inverse agent orientation
-    #) Rotation of objects' velocity / acceleration by the sensor orientation (mounting position in agent coordinates)
-    #) Add results of the two previous steps
+..
+  *******************************************************************************
+  Copyright (c) 2021 in-tech GmbH
+                2022-2023 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
+  http://www.eclipse.org/legal/epl-2.0.
+
+  SPDX-License-Identifier: EPL-2.0
+  *******************************************************************************
+
+.. _coordinatesystems:
+
+Coordinate Systems
+==================
+
+|op| uses three different coordinate systems.
+All systems rotate counterclockwise and use radian.
+
+.. _coordinatesystems_world:
+
+World Coordinate System
+-----------------------
+
+The world coordinate system is absolute.
+It is the parent coordinate system and all other systems are relative to the world coordinate system.
+This system consists of *x*, *y* and *z* (*z* is currently unused).
+
+.. figure:: ./images/WorldCoordinateSystem.svg
+
+   World Coordinate System
+
+.. _coordinatesystems_road:
+
+Road Coordinate System
+----------------------
+
+The road coordinate system is relative to the position of the road in the world coordinate system.
+It consists of *s* and *t* coordinates, where *s* describes the longitudinal position along the road.
+At the beginning of the road *s* = 0, increasing with the downstream direction of the road.
+The coordinate *t* describes the lateral position relative to the center of the road, where *t* > 0 indicates left side and *t* < 0 right side of the road with respect to the road direction.
+
+.. figure:: ./images/RoadCoordinateSystem.svg
+
+   Road Coordinate System
+
+.. _coordinatesystems_agent:
+
+Agent Coordinate System
+~~~~~~~~~~~~~~~~~~~~~~~
+
+The agent coordinate system is relative to the position of the agent in the world coordinate system.
+It uses longitudinal, lateral and height (height currently unused).
+The system originates at the *reference point*, which is located at the center of the rear axle.
+The longitudinal axis is parallel to the length of the car and the lateral axis is parallel to the width of the car
+
+.. figure:: ./images/AgentCoordinateSystem.svg
+
+   Agent Coordinate System
+
+.. _coordinatesystems_sensor:
+
+Sensor Coordinate System
+------------------------
+
+Each sensor has its own coordinate system whose origin is the mounting position of the sensor.
+The *x* axis points in the direction of the sensor as defined by the mounting orientation.
+All values in the OSI SensorData generated by a sensor are in its sensor coordinate system.
+Vectorial values such as velocity and acceleration are relative to the own vehicle's velocity and acceleration at the sensor position.
+
+.. _coordinatesystems_sensor_transformation:
+
+Conversions between SensorData coordinate systems
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+Since all values in the SensorData are relative to the sensor the following conversions are needed.
+
+In the Sensor_OSI where the SensorData is written, data for other objects is calculated according to these steps:
+
+#) Get position, velocity and acceleration from the SensorView in world coordinates
+#) For the position:
+    #) Translation by the sensor position (in world coordinates, inverse)
+    #) Rotation by the sensor orientation (in world coordinates, inverse)
+#) For the velocity and acceleration (vectorial):
+    #) Subtract own velocity / acceleration at sensor position
+    #) Rotation by the sensor orientation (in world coordinates, inverse)
+
+ADAS using SensorData may need to convert the values back to the agent coordinate system.
+The SensorFusion_Errorless also converts the merged SensorData to agent coordinate and sets the mounting position to the agents reference point.
+This calculation follows the following steps:
+
+#) Get position, velocity and acceleration from the SensorData in sensor coordinates
+#) For the position:
+    #) Rotation by the sensor orientation (mounting position in agent coordinates)
+    #) Translation by the sensor position (mounting position in agent coordinates)
+#) For the velocity and acceleration (vectorial):
+    #) Calculate the difference between the ego velocity / acceleration at the sensor position to the reference point (in world coordinates)
+    #) Rotation of this difference by the inverse agent orientation
+    #) Rotation of objects' velocity / acceleration by the sensor orientation (mounting position in agent coordinates)
+    #) Add results of the two previous steps
diff --git a/content/html/_sources/advanced_topics/simulator/event_detector.rst.txt b/content/html/_sources/advanced_topics/simulator/event_detector.rst.txt
index 9f5a2f479ef2f5f75ddb180dc5e6a741c51a0013..dfc5841fea492ddc9caebac47ebfe8019c74ee3a 100644
--- a/content/html/_sources/advanced_topics/simulator/event_detector.rst.txt
+++ b/content/html/_sources/advanced_topics/simulator/event_detector.rst.txt
@@ -1,75 +1,75 @@
-..
-  *******************************************************************************
-  Copyright (c) 2021 in-tech GmbH
-                2023 Mercedes-Benz Tech Innovation GmbH
-
-  This program and the accompanying materials are made available under the
-  terms of the Eclipse Public License 2.0 which is available at
-  http://www.eclipse.org/legal/epl-2.0.
-
-  SPDX-License-Identifier: EPL-2.0
-  *******************************************************************************
-
-.. _eventdetector:
-
-EventDetector
-=============
-
-EventDetectors are executed at the beginning of each timestep.
-A detector uses its access to the world and the framework to detect specific events.
-After detection, the event is usually forwarded to the EventNetwork.
-
-There are multiple EventDetectors available, all of them sharing a common interface.
-
-.. note:: Each instance of an EventDetector can have its own cycle time.
-
-
-.. _eventdetector_collisiondetector:
-
-CollisionDetector
------------------
-
-The CollisionDetector checks whether a collision has occurred.
-Moving and stationary objects are taken into account.
-Objects are considered as collided, if their two-dimensional bounding boxes intersect.
-
-.. note:: The calculation of the bounding box itself considers a potential inclination by the roll angle of an object (projection onto the xy-plane).
-
-In case of a collision, a CollisionEvent containing the participating object Ids is created.
-This type of event is picked up by the CollisionManipulator, which updates the state of the collided objects accordingly.
-
-The geometric parameters of the crash configuration in terms of collision angles are determined according to Wagstrom et. al. (https://www-esv.nhtsa.dot.gov/Proceedings/26/26ESV-000177.pdf). In addition, collision velocities are stored.
-
-.. figure:: ./images/crash_config.svg
-
-Furthermore, the CollisionDetector contains an impact evaluation which estimates based on momentum the changes in velocities due to the collision, considering vehicle mass ratio and initial crash configuration, e.h. `VelocityChange`. The impact model behind these calculations was developed and tested with full-overlap vehicle-to-vehicle collisions. 
-
-The concept was described in detail at ESAR 2016 in Kolk et. al. (https://bast.opus.hbz-nrw.de/opus45-bast/frontdoor/deliver/index/docId/1825/file/F117_21.pdf). 
-
-
-The parameters stored for each collision are listed in detail in the table below.
-
-============================ ====================================================================
-Parameter                    Description
-============================ ====================================================================
-CollisionVelocity            velocity of host prior to the collision
-CollisionWithAgent           true (1) / false (0) if collision occured with another agent
-HCPA                         host collision point angle in degree
-HCPAo                        normalized HCPA
-OCPA                         opponent collision point angle
-OCPAo                        normalized OCPA
-OYA                          opponent yaw angle
-OpponentCollisionVelocity    velocity of opponent prior to the collision
-OpponentPointOfContactLocalX X-coordinate of opponent point of contact in local coordinate system
-OpponentPointOfContactLocalY Y-coordinate of opponent point of contact in local coordinate system
-OpponentVelocity             velocity of opponent after the collision
-OpponentVelocityChange       velocity change of opponent due to collision
-OpponentVelocityDirection    velocity direction 
-OpponentYawVelocity          opponent yaw velocity
-PointOfContactLocalX         X-coordinate of  point of contact in local coordinate system
-PointOfContactLocalY         Y-coordinate of opponent point of contact in local coordinate system
-Velocity                     velocity of host after the collision
-VelocityChange               velocity change of host due to collision
-============================ ====================================================================
-
-.. note:: Both geometric interpretation and impact calculation only work for collisions between two car agents. A more general application is work in progress.
+..
+  *******************************************************************************
+  Copyright (c) 2021 in-tech GmbH
+                2023 Mercedes-Benz Tech Innovation GmbH
+
+  This program and the accompanying materials are made available under the
+  terms of the Eclipse Public License 2.0 which is available at
+  http://www.eclipse.org/legal/epl-2.0.
+
+  SPDX-License-Identifier: EPL-2.0
+  *******************************************************************************
+
+.. _eventdetector:
+
+EventDetector
+=============
+
+EventDetectors are executed at the beginning of each timestep.
+A detector uses its access to the world and the framework to detect specific events.
+After detection, the event is usually forwarded to the EventNetwork.
+
+There are multiple EventDetectors available, all of them sharing a common interface.
+
+.. note:: Each instance of an EventDetector can have its own cycle time.
+
+
+.. _eventdetector_collisiondetector:
+
+CollisionDetector
+-----------------
+
+The CollisionDetector checks whether a collision has occurred.
+Moving and stationary objects are taken into account.
+Objects are considered as collided, if their two-dimensional bounding boxes intersect.
+
+.. note:: The calculation of the bounding box itself considers a potential inclination by the roll angle of an object (projection onto the xy-plane).
+
+In case of a collision, a CollisionEvent containing the participating object Ids is created.
+This type of event is picked up by the CollisionManipulator, which updates the state of the collided objects accordingly.
+
+The geometric parameters of the crash configuration in terms of collision angles are determined according to Wagstrom et. al. (https://www-esv.nhtsa.dot.gov/Proceedings/26/26ESV-000177.pdf). In addition, collision velocities are stored.
+
+.. figure:: ./images/crash_config.svg
+
+Furthermore, the CollisionDetector contains an impact evaluation which estimates based on momentum the changes in velocities due to the collision, considering vehicle mass ratio and initial crash configuration, e.h. `VelocityChange`. The impact model behind these calculations was developed and tested with full-overlap vehicle-to-vehicle collisions. 
+
+The concept was described in detail at ESAR 2016 in Kolk et. al. (https://bast.opus.hbz-nrw.de/opus45-bast/frontdoor/deliver/index/docId/1825/file/F117_21.pdf). 
+
+
+The parameters stored for each collision are listed in detail in the table below.
+
+============================ ====================================================================
+Parameter                    Description
+============================ ====================================================================
+CollisionVelocity            velocity of host prior to the collision
+CollisionWithAgent           true (1) / false (0) if collision occured with another agent
+HCPA                         host collision point angle in degree
+HCPAo                        normalized HCPA
+OCPA                         opponent collision point angle
+OCPAo                        normalized OCPA
+OYA                          opponent yaw angle
+OpponentCollisionVelocity    velocity of opponent prior to the collision
+OpponentPointOfContactLocalX X-coordinate of opponent point of contact in local coordinate system
+OpponentPointOfContactLocalY Y-coordinate of opponent point of contact in local coordinate system
+OpponentVelocity             velocity of opponent after the collision
+OpponentVelocityChange       velocity change of opponent due to collision
+OpponentVelocityDirection    velocity direction 
+OpponentYawVelocity          opponent yaw velocity
+PointOfContactLocalX         X-coordinate of  point of contact in local coordinate system
+PointOfContactLocalY         Y-coordinate of opponent point of contact in local coordinate system
+Velocity                     velocity of host after the collision
+VelocityChange               velocity change of host due to collision
+============================ ====================================================================
+
+.. note:: Both geometric interpretation and impact calculation only work for collisions between two car agents. A more general application is work in progress.
diff --git a/content/html/_sources/advanced_topics/simulator/scenario_actions.rst.txt b/content/html/_sources/advanced_topics/simulator/scenario_actions.rst.txt
index 0ab152c83e2f434d909135dbf077b5b92904878b..8c74d21a79e22f408e6484d37c98e2f02ff2fbdd 100644
--- a/content/html/_sources/advanced_topics/simulator/scenario_actions.rst.txt
+++ b/content/html/_sources/advanced_topics/simulator/scenario_actions.rst.txt
@@ -1,309 +1,353 @@
-..
-  *******************************************************************************
-  Copyright (c) 2023 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
-  http://www.eclipse.org/legal/epl-2.0.
-
-  SPDX-License-Identifier: EPL-2.0
-  *******************************************************************************
-
-.. _mapping_scenario_actions:
-
-Mapping of OpenSCENARIO Actions
-================================
-
-.. table::
-   :class: tight-table
-   
-   =================== =============
-   Layer/Component	    API/Datatype
-   =================== =============
-                       OpenSCENARIO
-   OpenScenarioEngine  mantle_api
-   opSimualtion	       openPASS
-   FMU Interface	   osi3
-   =================== =============
-
-AcquirePositionAction
-----------------------
-
-.. table::
-   :class: tight-table
-   
-   +--------------+-------------------------------------------------------------------------------------------------------+
-   | API/Datatype | Used Methods/Classes/API                                                                              |
-   +==============+=======================================================================================================+
-   | OpenSCENARIO | **AcquirePositionAction**                                                                             |
-   +--------------+-------------------------------------------------------------------------------------------------------+
-   | mantle_api   | Entity::AssignRoute(UniqueId, RouteDefinition)                                                        |
-   |              | Entity::GetPosition()                                                                                 |
-   |              | GeometryHelper::TranslateGlobalPositionLocally()                                                      |
-   +--------------+-------------------------------------------------------------------------------------------------------+
-   | openPASS	  | SpawnParameter                                                                                        |
-   |              | AgentInterface::GetPositionX()                                                                        |
-   |              | AgentInterface::GetPositionY()                                                                        |
-   |              | AgentInterface::GetYaw()                                                                              |
-   |              +-------------------------------------------------------------------------------------------------------+
-   |              | RouteSamplerInterface::CalculateRouteFromWaypoints(std::vector<mantle_api::RouteWaypoint>)            |
-   |              | EgoAgentInterface::SetRoadGraph(RoadGraph, RoadGraphVertex, RoadGraphVertex)                          |
-   +--------------+-------------------------------------------------------------------------------------------------------+
-   | osi3         | x -- not implemented                                                                                  |
-   +--------------+-------------------------------------------------------------------------------------------------------+
-
-AssignRouteAction
-------------------
-
-.. table::
-   :class: tight-table
-   
-   +--------------+-------------------------------------------------------------------------------------------------------+
-   | API/Datatype | Used Methods/Classes/API                                                                              |
-   +==============+=======================================================================================================+
-   | OpenSCENARIO | **AssignRouteAction**                                                                                 |
-   +--------------+-------------------------------------------------------------------------------------------------------+
-   | mantle_api   | Entity::AssignRoute(UniqueId, RouteDefinition)                                                        |
-   +--------------+-------------------------------------------------------------------------------------------------------+
-   | openPASS	  | RouteSamplerInterface::CalculateRouteFromWaypoints(std::vector<mantle_api::RouteWaypoint>)            |
-   |              | EgoAgentInterface::SetRoadGraph(RoadGraph, RoadGraphVertex, RoadGraphVertex)                          |
-   +--------------+-------------------------------------------------------------------------------------------------------+
-   | osi3         | x -- not relevant                                                                                     |
-   +--------------+-------------------------------------------------------------------------------------------------------+
-
-CustomCommandAction
---------------------
-
-.. table::
-   :class: tight-table
-   
-   +--------------+-------------------------------------------------------------------------------------------------------+
-   | API/Datatype | Used Methods/Classes/API                                                                              |
-   +==============+=======================================================================================================+
-   | OpenSCENARIO | **CustomCommandAction**                                                                               |
-   +--------------+-------------------------------------------------------------------------------------------------------+
-   | mantle_api   | ExecuteCustomCommand(actors, type, command)                                                           |
-   +--------------+-------------------------------------------------------------------------------------------------------+
-   | openPASS	  | AddCustomCommand(command)                                                                             |
-   |              | GetCustomCommands()                                                                                   |
-   |              | ComponentControllerImplementation::Trigger(time)                                                      |
-   |              | TrajectoryFollowerCommonBase::Trigger(time)                                                           |
-   +--------------+-------------------------------------------------------------------------------------------------------+
-   | osi3         | osi3::TrafficAction::CustomAction                                                                     |
-   |              | TrafficAction::mutable_custom_action()                                                                |
-   |              | TrafficAction_CustomAction::set_command(command)                                                      |
-   +--------------+-------------------------------------------------------------------------------------------------------+
-
-FollowTrajectoryAction
------------------------
-
-.. table::
-   :class: tight-table
-   
-   +--------------+-------------------------------------------------------------------------------------------------------+
-   | API/Datatype | Used Methods/Classes/API                                                                              |
-   +==============+=======================================================================================================+
-   | OpenSCENARIO | **FollowTrajectoryAction**                                                                            |
-   +--------------+-------------------------------------------------------------------------------------------------------+
-   | mantle_api   | UpdateControlStrategies(FollowTrajectoryControlStrategy)                                              |
-   |              | HasControlStrategyGoalBeenReached(ControlStrategyType::kFollowTrajectory)                             |
-   |              | GeometryHelper::TranslateGlobalPositionLocally(PolyLine)                                              |
-   |              | MovementDomain::kBoth                                                                                 |
-   +--------------+-------------------------------------------------------------------------------------------------------+
-   | openPASS	  | SetStrategies(MovementDomain::kBoth, ControlStrategyType::kFollowTrajectory)                          |
-   |              | Algorithm_Routecontrol_Implementation::ReadWayPointData()                                             |
-   |              | DynamicsScenarioImplementation::ReadWayPointData()                                                    |
-   |              | TrajectoryFollowerImplementation::Trigger(time)                                                       |
-   |              | FmuHelper::AddTrafficCommandActionFromOpenScenarioTrajectory(TrafficCommand::add_action(), Trajectory)|
-   +--------------+-------------------------------------------------------------------------------------------------------+
-   | osi3         | **osi3::TrafficAction::FollowTrajectoryAction**                                                       |
-   |              |                                                                                                       |
-   |              | TrafficAction::mutable_follow_trajectory_action()                                                     |
-   |              | TrafficAction_FollowTrajectoryAction::add_trajectory_point()                                          |
-   |              +-------------------------------------------------------------------------------------------------------+
-   |              | **osi3::TrafficAction::FollowPathAction**                                                             |
-   |              |                                                                                                       |
-   |              | TrafficAction::mutable_follow_path_action()                                                           |
-   |              | TrafficAction_FollowPathAction::add_path_point()                                                      |
-   +--------------+-------------------------------------------------------------------------------------------------------+
-
-LaneChangeAction
-----------------
-
-.. table::
-   :class: tight-table
-   
-   +--------------+-------------------------------------------------------------------------------------------------------+
-   | API/Datatype | Used Methods/Classes/API                                                                              |
-   +==============+=======================================================================================================+
-   | OpenSCENARIO | **LaneChangeAction**                                                                                  |
-   |              |                                                                                                       |
-   |              | LaneChangeActionImpl::GetLaneChangeTarget()                                                           |
-   |              | ConvertScenarioLaneChangeTarget(ILaneChangeTarget) -> mantle_api::LaneId                              |
-   |              +-------------------------------------------------------------------------------------------------------+
-   |              | **RelativeTargetLane**                                                                                |
-   |              |                                                                                                       |
-   |              | LaneChangeTargetImpl::GetRelativeTargetLane()                                                         |
-   |              | ConvertScenarioRelativeTargetLane(IRelativeTargetLane) -> mantle_api::LaneId                          |
-   |              +-------------------------------------------------------------------------------------------------------+
-   |              | **AbsoluteTargetLane**                                                                                |
-   |              |                                                                                                       |
-   |              | LaneChangeTargetImpl::GetAbsoluteTargetLane()                                                         |
-   |              | ConvertScenarioAbsoluteTargetLane(IAbsoluteTargetLane) -> mantle_api::LaneId                          |
-   +--------------+-------------------------------------------------------------------------------------------------------+
-   | mantle_api   | UpdateControlStrategies(PerformLaneChangeControlStrategy)                                             |
-   |              | (ControlStrategyType::kPerformLaneChange)                                                             |
-   |              +-------------------------------------------------------------------------------------------------------+
-   |              | **Relative**                                                                                          |
-   |              |                                                                                                       |
-   |              | LaneLocationQueryService::GetRelativeLaneId()                                                         |
-   +--------------+-------------------------------------------------------------------------------------------------------+
-   | openPASS	  | SetStrategies(MovementDomain::kLateral, ControlStrategyType::kPerformLaneChange)                      |
-   |              | DynamicsScenarioImplementation::CalculateSinusiodalLaneChange(PerformLaneChangeControlStrategy)       |
-   |              | DynamicsScenarioImplementation::ReadWayPointData()                                                    |
-   +--------------+-------------------------------------------------------------------------------------------------------+
-   | osi3         | x -- not implemented                                                                                  |
-   +--------------+-------------------------------------------------------------------------------------------------------+
-
-SpeedAction
----------------
-
-.. table::
-   :class: tight-table
-   
-   +--------------+-------------------------------------------------------------------------------------------------------+
-   | API/Datatype | Used Methods/Classes/API                                                                              |
-   +==============+=======================================================================================================+
-   | OpenSCENARIO | **SpeedAction**                                                                                       |
-   |              | SetLinearVelocitySplineControlStrategy(std::string)                                                   |
-   +--------------+-------------------------------------------------------------------------------------------------------+
-   | mantle_api   | UpdateControlStrategies(FollowVelocitySplineControlStrategy)                                          |
-   |              | HasControlStrategyGoalBeenReached(ControlStrategyType::kFollowVelocitySpline)                         |
-   |              | SetSpeed(IEntity, units::velocity::meters_per_second_t)                                               |
-   |              | MovementDomain::kLongitudinal                                                                         |
-   +--------------+-------------------------------------------------------------------------------------------------------+
-   | openPASS	  | SetStrategies(MovementDomain::kLongitudinal, ControlStrategyType::kFollowVelocitySpline)              |
-   |              | ControlStrategies::HasNewLongitudinalStrategy()                                                       |
-   |              | DynamicsScenarioImplementation::GetVelocityFromSplines()                                              |
-   +--------------+-------------------------------------------------------------------------------------------------------+
-   | osi3         | osi3::TrafficAction::SpeedAction                                                                      |
-   |              | TrafficAction::mutable_speed_action()                                                                 |
-   |              | TrafficAction_CustomAction::set_absolute_target_speed(targetSpeed)                                    |
-   +--------------+-------------------------------------------------------------------------------------------------------+
-
-TeleportAction
----------------
-
-.. table::
-   :class: tight-table
-   
-   +--------------+-------------------------------------------------------------------------------------------------------+
-   | API/Datatype | Used Methods/Classes/API                                                                              |
-   +==============+=======================================================================================================+
-   | OpenSCENARIO | **TeleportAction**                                                                                    |
-   +--------------+-------------------------------------------------------------------------------------------------------+
-   | mantle_api   | Entity::SetPosition(Vec3<units::length::meter_t>)                                                     |
-   |              | Entity::SetOrientation(Orientation3<units::angle::radian_t>)                                          |
-   |              | Entity::SetAssignedLaneIds(std::vector<uint64_t>)                                                     |
-   |              | GeometryHelper::TranslateGlobalPositionLocally(...)                                                   |
-   |              | LaneLocationQueryService::GetUpwardsShiftedLanePosition(...)                                          |
-   |              | LaneLocationQueryService::GetLaneIdsAtPosition(…)                                                     |
-   +--------------+-------------------------------------------------------------------------------------------------------+
-   | 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)                                                         |
-   +--------------+-------------------------------------------------------------------------------------------------------+
-   | osi3         | x -- not relevant                                                                                     |
-   +--------------+-------------------------------------------------------------------------------------------------------+
-
-TrafficSignalAction
---------------------
-
-.. table::
-   :class: tight-table
-   
-   +--------------+-------------------------------------------------------------------------------------------------------+
-   | API/Datatype | Used Methods/Classes/API                                                                              |
-   +==============+=======================================================================================================+
-   | OpenSCENARIO | **TrafficSignalAction**                                                                               |
-   +--------------+-------------------------------------------------------------------------------------------------------+
-   | mantle_api   | SetTrafficSignalState(std::string name, std::string state)                                            |
-   +--------------+-------------------------------------------------------------------------------------------------------+
-   | openPASS	  | WorldData::GetTrafficSignIdMapping()                                                                  |
-   |              | WorldData::GetSignalType(Id)                                                                          |
-   |              | WorldData::GetTrafficLight(Id)                                                                        |
-   |              | ThreeSignalsTrafficLight::SetState(CommonTrafficLight::State)                                         |
-   |              | TwoSignalsTrafficLight::SetState(CommonTrafficLight::State)                                           |
-   |              | OneSignalsTrafficLight::SetState(CommonTrafficLight::State)                                           |
-   |              | DataBuffer::PutAcyclic                                                                                |
-   +--------------+-------------------------------------------------------------------------------------------------------+
-   | osi3         | TrafficLight_Classification::set_mode(::osi3::TrafficLight_Classification_Mode)                       |
-   +--------------+-------------------------------------------------------------------------------------------------------+
-
-TrafficSignalStateAction
--------------------------
-
-.. table::
-   :class: tight-table
-   
-   +--------------+-------------------------------------------------------------------------------------------------------+
-   | API/Datatype | Used Methods/Classes/API                                                                              |
-   +==============+=======================================================================================================+
-   | OpenSCENARIO | **TrafficSignalStateAction**                                                                          |
-   +--------------+-------------------------------------------------------------------------------------------------------+
-   | mantle_api   | SetTrafficSignalState(std::string name, std::string state)                                            |
-   +--------------+-------------------------------------------------------------------------------------------------------+
-   | openPASS	  | WorldData::GetTrafficSignIdMapping()                                                                  |
-   |              | WorldData::GetSignalType(Id)                                                                          |
-   |              | WorldData::GetTrafficLight(Id)                                                                        |
-   |              | ThreeSignalsTrafficLight::SetState(CommonTrafficLight::State)                                         |
-   |              | TwoSignalsTrafficLight::SetState(CommonTrafficLight::State)                                           |
-   |              | OneSignalsTrafficLight::SetState(CommonTrafficLight::State)                                           |
-   |              | DataBuffer::PutAcyclic                                                                                |
-   +--------------+-------------------------------------------------------------------------------------------------------+
-   | osi3         | TrafficLight_Classification::set_mode(::osi3::TrafficLight_Classification_Mode)                       |
-   +--------------+-------------------------------------------------------------------------------------------------------+
-
-TrafficSinkAction
---------------------
-
-.. table::
-   :class: tight-table
-   
-   +--------------+-------------------------------------------------------------------------------------------------------+
-   | API/Datatype | Used Methods/Classes/API                                                                              |
-   +==============+=======================================================================================================+
-   | OpenSCENARIO | **TrafficSinkAction**                                                                                 |
-   |              |                                                                                                       |
-   |              | ConvertScenarioTrafficDefinition(NET_ASAM_OPENSCENARIO::v1_1::ITrafficDefinition)                     |
-   +--------------+-------------------------------------------------------------------------------------------------------+
-   | mantle_api   | Entity::GetPosition()                                                                                 |
-   |              | GeometryHelper::TranslateGlobalPositionLocally()                                                      |
-   +--------------+-------------------------------------------------------------------------------------------------------+
-   | openPASS	  | SpawnParameter                                                                                        |
-   |              +-------------------------------------------------------------------------------------------------------+
-   |              | AgentInterface::GetPositionX()                                                                        |
-   |              | AgentInterface::GetPositionY()                                                                        |
-   |              | AgentInterface:GetYaw()                                                                               |
-   +--------------+-------------------------------------------------------------------------------------------------------+
-   | osi3         | x -- not relevant                                                                                     |
-   +--------------+-------------------------------------------------------------------------------------------------------+
-
-VisibilityAction
---------------------
-
-.. table::
-   :class: tight-table
-   
-   +--------------+-------------------------------------------------------------------------------------------------------+
-   | API/Datatype | Used Methods/Classes/API                                                                              |
-   +==============+=======================================================================================================+
-   | OpenSCENARIO | **VisibilityAction**                                                                                  |
-   +--------------+-------------------------------------------------------------------------------------------------------+
-   | mantle_api   | SetVisibility(EntityVisibilityConfig)                                                                 |
-   +--------------+-------------------------------------------------------------------------------------------------------+
-   | openPASS	  | x -- not implemented                                                                                  |
-   +--------------+-------------------------------------------------------------------------------------------------------+
-   | osi3         | x -- not implemented                                                                                  |
-   +--------------+-------------------------------------------------------------------------------------------------------+
+..
+  *******************************************************************************
+  Copyright (c) 2023-2024 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
+  http://www.eclipse.org/legal/epl-2.0.
+
+  SPDX-License-Identifier: EPL-2.0
+  *******************************************************************************
+
+.. _mapping_scenario_actions:
+
+Mapping of OpenSCENARIO Actions
+===============================
+
+.. table::
+   :class: tight-table
+
+   =================== =============
+   Layer/Component     API/Datatype
+   =================== =============
+                       OpenSCENARIO
+   OpenScenarioEngine  mantle_api
+   opSimualtion        openPASS
+   FMU Interface       osi3
+   =================== =============
+
+AcquirePositionAction
+---------------------
+
+.. table::
+   :class: tight-table
+
+   +--------------+-------------------------------------------------------------------------------------------------------+
+   | API/Datatype | Used Methods/Classes/API                                                                              |
+   +==============+=======================================================================================================+
+   | OpenSCENARIO | **AcquirePositionAction**                                                                             |
+   +--------------+-------------------------------------------------------------------------------------------------------+
+   | mantle_api   | Entity::AssignRoute(UniqueId, RouteDefinition)                                                        |
+   |              | Entity::GetPosition()                                                                                 |
+   |              | GeometryHelper::TranslateGlobalPositionLocally()                                                      |
+   +--------------+-------------------------------------------------------------------------------------------------------+
+   | openPASS     | SpawnParameter                                                                                        |
+   |              | AgentInterface::GetPositionX()                                                                        |
+   |              | AgentInterface::GetPositionY()                                                                        |
+   |              | AgentInterface::GetYaw()                                                                              |
+   |              +-------------------------------------------------------------------------------------------------------+
+   |              | RouteSamplerInterface::CalculateRouteFromWaypoints(std::vector<mantle_api::RouteWaypoint>)            |
+   |              | EgoAgentInterface::SetRoadGraph(RoadGraph, RoadGraphVertex, RoadGraphVertex)                          |
+   +--------------+-------------------------------------------------------------------------------------------------------+
+   | osi3         | x -- not implemented                                                                                  |
+   +--------------+-------------------------------------------------------------------------------------------------------+
+
+AssignRouteAction
+-----------------
+
+.. table::
+   :class: tight-table
+
+   +--------------+-------------------------------------------------------------------------------------------------------+
+   | API/Datatype | Used Methods/Classes/API                                                                              |
+   +==============+=======================================================================================================+
+   | OpenSCENARIO | **AssignRouteAction**                                                                                 |
+   +--------------+-------------------------------------------------------------------------------------------------------+
+   | mantle_api   | Entity::AssignRoute(UniqueId, RouteDefinition)                                                        |
+   +--------------+-------------------------------------------------------------------------------------------------------+
+   | openPASS     | RouteSamplerInterface::CalculateRouteFromWaypoints(std::vector<mantle_api::RouteWaypoint>)            |
+   |              | EgoAgentInterface::SetRoadGraph(RoadGraph, RoadGraphVertex, RoadGraphVertex)                          |
+   +--------------+-------------------------------------------------------------------------------------------------------+
+   | osi3         | x -- not relevant                                                                                     |
+   +--------------+-------------------------------------------------------------------------------------------------------+
+
+CustomCommandAction
+-------------------
+
+.. table::
+   :class: tight-table
+
+   +--------------+-------------------------------------------------------------------------------------------------------+
+   | API/Datatype | Used Methods/Classes/API                                                                              |
+   +==============+=======================================================================================================+
+   | OpenSCENARIO | **CustomCommandAction**                                                                               |
+   +--------------+-------------------------------------------------------------------------------------------------------+
+   | mantle_api   | ExecuteCustomCommand(actors, type, command)                                                           |
+   +--------------+-------------------------------------------------------------------------------------------------------+
+   | openPASS     | AddCustomCommand(command)                                                                             |
+   |              | GetCustomCommands()                                                                                   |
+   |              | ComponentControllerImplementation::Trigger(time)                                                      |
+   |              | TrajectoryFollowerCommonBase::Trigger(time)                                                           |
+   +--------------+-------------------------------------------------------------------------------------------------------+
+   | osi3         | osi3::TrafficAction::CustomAction                                                                     |
+   |              | TrafficAction::mutable_custom_action()                                                                |
+   |              | TrafficAction_CustomAction::set_command(command)                                                      |
+   +--------------+-------------------------------------------------------------------------------------------------------+
+
+FollowTrajectoryAction
+----------------------
+
+.. table::
+   :class: tight-table
+
+   +--------------+-------------------------------------------------------------------------------------------------------+
+   | API/Datatype | Used Methods/Classes/API                                                                              |
+   +==============+=======================================================================================================+
+   | OpenSCENARIO | **FollowTrajectoryAction**                                                                            |
+   +--------------+-------------------------------------------------------------------------------------------------------+
+   | mantle_api   | UpdateControlStrategies(FollowTrajectoryControlStrategy)                                              |
+   |              | HasControlStrategyGoalBeenReached(ControlStrategyType::kFollowTrajectory)                             |
+   |              | GeometryHelper::TranslateGlobalPositionLocally(PolyLine)                                              |
+   |              | MovementDomain::kBoth                                                                                 |
+   +--------------+-------------------------------------------------------------------------------------------------------+
+   | openPASS     | SetStrategies(MovementDomain::kBoth, ControlStrategyType::kFollowTrajectory)                          |
+   |              | Algorithm_Routecontrol_Implementation::ReadWayPointData()                                             |
+   |              | DynamicsScenarioImplementation::ReadWayPointData()                                                    |
+   |              | TrajectoryFollowerImplementation::Trigger(time)                                                       |
+   |              | FmuHelper::AddTrafficCommandActionFromOpenScenarioTrajectory(TrafficCommand::add_action(), Trajectory)|
+   +--------------+-------------------------------------------------------------------------------------------------------+
+   | osi3         | **osi3::TrafficAction::FollowTrajectoryAction**                                                       |
+   |              |                                                                                                       |
+   |              | TrafficAction::mutable_follow_trajectory_action()                                                     |
+   |              | TrafficAction_FollowTrajectoryAction::add_trajectory_point()                                          |
+   |              +-------------------------------------------------------------------------------------------------------+
+   |              | **osi3::TrafficAction::FollowPathAction**                                                             |
+   |              |                                                                                                       |
+   |              | TrafficAction::mutable_follow_path_action()                                                           |
+   |              | TrafficAction_FollowPathAction::add_path_point()                                                      |
+   +--------------+-------------------------------------------------------------------------------------------------------+
+
+LaneChangeAction
+----------------
+
+.. table::
+   :class: tight-table
+
+   +--------------+-------------------------------------------------------------------------------------------------------+
+   | API/Datatype | Used Methods/Classes/API                                                                              |
+   +==============+=======================================================================================================+
+   | OpenSCENARIO | **LaneChangeAction**                                                                                  |
+   |              |                                                                                                       |
+   |              | LaneChangeActionImpl::GetLaneChangeTarget()                                                           |
+   |              | ConvertScenarioLaneChangeTarget(ILaneChangeTarget) -> mantle_api::LaneId                              |
+   |              +-------------------------------------------------------------------------------------------------------+
+   |              | **RelativeTargetLane**                                                                                |
+   |              |                                                                                                       |
+   |              | LaneChangeTargetImpl::GetRelativeTargetLane()                                                         |
+   |              | ConvertScenarioRelativeTargetLane(IRelativeTargetLane) -> mantle_api::LaneId                          |
+   |              +-------------------------------------------------------------------------------------------------------+
+   |              | **AbsoluteTargetLane**                                                                                |
+   |              |                                                                                                       |
+   |              | LaneChangeTargetImpl::GetAbsoluteTargetLane()                                                         |
+   |              | ConvertScenarioAbsoluteTargetLane(IAbsoluteTargetLane) -> mantle_api::LaneId                          |
+   +--------------+-------------------------------------------------------------------------------------------------------+
+   | mantle_api   | UpdateControlStrategies(PerformLaneChangeControlStrategy)                                             |
+   |              | (ControlStrategyType::kPerformLaneChange)                                                             |
+   |              +-------------------------------------------------------------------------------------------------------+
+   |              | **Relative**                                                                                          |
+   |              |                                                                                                       |
+   |              | LaneLocationQueryService::GetRelativeLaneId()                                                         |
+   +--------------+-------------------------------------------------------------------------------------------------------+
+   | 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
+
+   +--------------+-------------------------------------------------------------------------------------------------------+
+   | API/Datatype | Used Methods/Classes/API                                                                              |
+   +==============+=======================================================================================================+
+   | OpenSCENARIO | **SpeedAction**                                                                                       |
+   |              | SetLinearVelocitySplineControlStrategy(std::string)                                                   |
+   +--------------+-------------------------------------------------------------------------------------------------------+
+   | mantle_api   | UpdateControlStrategies(FollowVelocitySplineControlStrategy)                                          |
+   |              | HasControlStrategyGoalBeenReached(ControlStrategyType::kFollowVelocitySpline)                         |
+   |              | SetSpeed(IEntity, units::velocity::meters_per_second_t)                                               |
+   |              | MovementDomain::kLongitudinal                                                                         |
+   +--------------+-------------------------------------------------------------------------------------------------------+
+   | openPASS     | SetStrategies(MovementDomain::kLongitudinal, ControlStrategyType::kFollowVelocitySpline)              |
+   |              | ControlStrategies::HasNewLongitudinalStrategy()                                                       |
+   |              | DynamicsScenarioImplementation::GetVelocityFromSplines()                                              |
+   +--------------+-------------------------------------------------------------------------------------------------------+
+   | osi3         | osi3::TrafficAction::SpeedAction                                                                      |
+   |              | TrafficAction::mutable_speed_action()                                                                 |
+   |              | TrafficAction_CustomAction::set_absolute_target_speed(targetSpeed)                                    |
+   +--------------+-------------------------------------------------------------------------------------------------------+
+
+TeleportAction
+--------------
+
+.. table::
+   :class: tight-table
+
+   +--------------+-------------------------------------------------------------------------------------------------------+
+   | API/Datatype | Used Methods/Classes/API                                                                              |
+   +==============+=======================================================================================================+
+   | OpenSCENARIO | **TeleportAction**                                                                                    |
+   +--------------+-------------------------------------------------------------------------------------------------------+
+   | mantle_api   | Entity::SetPosition(Vec3<units::length::meter_t>)                                                     |
+   |              | Entity::SetOrientation(Orientation3<units::angle::radian_t>)                                          |
+   |              | Entity::SetAssignedLaneIds(std::vector<uint64_t>)                                                     |
+   |              | GeometryHelper::TranslateGlobalPositionLocally(...)                                                   |
+   |              | LaneLocationQueryService::GetUpwardsShiftedLanePosition(...)                                          |
+   |              | LaneLocationQueryService::GetLaneIdsAtPosition(…)                                                     |
+   +--------------+-------------------------------------------------------------------------------------------------------+
+   | 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)                                                         |
+   +--------------+-------------------------------------------------------------------------------------------------------+
+   | osi3         | x -- not relevant                                                                                     |
+   +--------------+-------------------------------------------------------------------------------------------------------+
+
+TrafficSignalAction
+-------------------
+
+.. table::
+   :class: tight-table
+
+   +--------------+-------------------------------------------------------------------------------------------------------+
+   | API/Datatype | Used Methods/Classes/API                                                                              |
+   +==============+=======================================================================================================+
+   | OpenSCENARIO | **TrafficSignalAction**                                                                               |
+   +--------------+-------------------------------------------------------------------------------------------------------+
+   | mantle_api   | SetTrafficSignalState(std::string name, std::string state)                                            |
+   +--------------+-------------------------------------------------------------------------------------------------------+
+   | openPASS     | WorldData::GetTrafficSignIdMapping()                                                                  |
+   |              | WorldData::GetSignalType(Id)                                                                          |
+   |              | WorldData::GetTrafficLight(Id)                                                                        |
+   |              | ThreeSignalsTrafficLight::SetState(CommonTrafficLight::State)                                         |
+   |              | TwoSignalsTrafficLight::SetState(CommonTrafficLight::State)                                           |
+   |              | OneSignalsTrafficLight::SetState(CommonTrafficLight::State)                                           |
+   |              | DataBuffer::PutAcyclic                                                                                |
+   +--------------+-------------------------------------------------------------------------------------------------------+
+   | osi3         | TrafficLight_Classification::set_mode(::osi3::TrafficLight_Classification_Mode)                       |
+   +--------------+-------------------------------------------------------------------------------------------------------+
+
+TrafficSignalStateAction
+------------------------
+
+.. table::
+   :class: tight-table
+
+   +--------------+-------------------------------------------------------------------------------------------------------+
+   | API/Datatype | Used Methods/Classes/API                                                                              |
+   +==============+=======================================================================================================+
+   | OpenSCENARIO | **TrafficSignalStateAction**                                                                          |
+   +--------------+-------------------------------------------------------------------------------------------------------+
+   | mantle_api   | SetTrafficSignalState(std::string name, std::string state)                                            |
+   +--------------+-------------------------------------------------------------------------------------------------------+
+   | openPASS     | WorldData::GetTrafficSignIdMapping()                                                                  |
+   |              | WorldData::GetSignalType(Id)                                                                          |
+   |              | WorldData::GetTrafficLight(Id)                                                                        |
+   |              | ThreeSignalsTrafficLight::SetState(CommonTrafficLight::State)                                         |
+   |              | TwoSignalsTrafficLight::SetState(CommonTrafficLight::State)                                           |
+   |              | OneSignalsTrafficLight::SetState(CommonTrafficLight::State)                                           |
+   |              | DataBuffer::PutAcyclic                                                                                |
+   +--------------+-------------------------------------------------------------------------------------------------------+
+   | osi3         | TrafficLight_Classification::set_mode(::osi3::TrafficLight_Classification_Mode)                       |
+   +--------------+-------------------------------------------------------------------------------------------------------+
+
+TrafficSinkAction
+-----------------
+
+.. table::
+   :class: tight-table
+
+   +--------------+-------------------------------------------------------------------------------------------------------+
+   | API/Datatype | Used Methods/Classes/API                                                                              |
+   +==============+=======================================================================================================+
+   | OpenSCENARIO | **TrafficSinkAction**                                                                                 |
+   |              |                                                                                                       |
+   |              | ConvertScenarioTrafficDefinition(NET_ASAM_OPENSCENARIO::v1_1::ITrafficDefinition)                     |
+   +--------------+-------------------------------------------------------------------------------------------------------+
+   | mantle_api   | Entity::GetPosition()                                                                                 |
+   |              | GeometryHelper::TranslateGlobalPositionLocally()                                                      |
+   +--------------+-------------------------------------------------------------------------------------------------------+
+   | openPASS     | SpawnParameter                                                                                        |
+   |              +-------------------------------------------------------------------------------------------------------+
+   |              | AgentInterface::GetPositionX()                                                                        |
+   |              | AgentInterface::GetPositionY()                                                                        |
+   |              | AgentInterface:GetYaw()                                                                               |
+   +--------------+-------------------------------------------------------------------------------------------------------+
+   | osi3         | x -- not relevant                                                                                     |
+   +--------------+-------------------------------------------------------------------------------------------------------+
+
+VisibilityAction
+--------------------
+
+.. table::
+   :class: tight-table
+
+   +--------------+-------------------------------------------------------------------------------------------------------+
+   | API/Datatype | Used Methods/Classes/API                                                                              |
+   +==============+=======================================================================================================+
+   | OpenSCENARIO | **VisibilityAction**                                                                                  |
+   +--------------+-------------------------------------------------------------------------------------------------------+
+   | mantle_api   | SetVisibility(EntityVisibilityConfig)                                                                 |
+   +--------------+-------------------------------------------------------------------------------------------------------+
+   | openPASS     | x -- not implemented                                                                                  |
+   +--------------+-------------------------------------------------------------------------------------------------------+
+   | osi3         | x -- not implemented                                                                                  |
+   +--------------+-------------------------------------------------------------------------------------------------------+
+
+LightStateAction
+----------------
+
+.. table::
+   :class: tight-table
+
+   +--------------+-------------------------------------------------------------------------------------------------------+
+   | API/Datatype | Used Methods/Classes/API                                                                              |
+   +==============+=======================================================================================================+
+   | OpenSCENARIO | **LightStateAction**                                                                                  |
+   +--------------+-------------------------------------------------------------------------------------------------------+
+   | mantle_api   | UpdateControlStrategies(VehicleLightStatesControlStrategy)                                            |
+   |              | MovementDomain::kNone                                                                                 |
+   +--------------+-------------------------------------------------------------------------------------------------------+
+   | openPASS     | Entity::SetVehicleLightState(mantle_api::LightState, mantle_api::LightType)                           |
+   +--------------+-------------------------------------------------------------------------------------------------------+
+   | osi3         | osi3::TrafficAction_CustomAction                                                                      |
+   +--------------+-------------------------------------------------------------------------------------------------------+
+
+.. note::
+
+   Currently only indicatorLeft, indicatorRight and warningLights of OpenSCENARIO VehicleLightType are supported in openPASS.
+   OpenSCENARIO LightStateAction attribute, transitionTime is not received from the OSE
diff --git a/content/html/_sources/advanced_topics/simulator/simulation.rst.txt b/content/html/_sources/advanced_topics/simulator/simulation.rst.txt
index 19919d4e842b79c6e5accaf81fd97c6c2ce01b2f..beeaa7486da5ce1234238af470c9a07d7ea0a612 100644
--- a/content/html/_sources/advanced_topics/simulator/simulation.rst.txt
+++ b/content/html/_sources/advanced_topics/simulator/simulation.rst.txt
@@ -1,115 +1,118 @@
-..
-  *******************************************************************************
-  Copyright (c) 2021 in-tech GmbH
-
-  This program and the accompanying materials are made available under the
-  terms of the Eclipse Public License 2.0 which is available at
-  http://www.eclipse.org/legal/epl-2.0.
-
-  SPDX-License-Identifier: EPL-2.0
-  *******************************************************************************
-
-.. _simulation:
-
-Simulation
-==========
-
-.. _simulation_commandlinearguments:
-
-Command Line Arguments
------------------------
-
-The simulation can be configured by applying the following command line arguments.
-Unspecified arguments will be defaulted (*default values in []*).
-
-The simulation supports the following arguments:
-
-* *-\-logLevel* [0] :
-  Logging level between 0 (minimum) and 5 (maximum - debug core)
-* *-\-logFile* [opSimulation.log]* :
-  Name of the log file
-* *-\-lib* [modules] :
-  Path of the libraries (relative or absolute)
-* *-\-configs* [configs] :
-  Path for writing outputs (relative or absolute)
-* *-\-results* [results] :
-  Path for writing outputs (relative or absolute)
-
-.. _simulation_scheduler:
-
-Scheduler
----------
-
-The Scheduler handles the sequence of agent based and common tasks before, during and after simulation.
-
-Executing phases
-~~~~~~~~~~~~~~~~
-
-Each simulation run splits up into 3 phases: Bootstrap tasks, Stepping and Finalize tasks.
-
-1. Initial task are grouped within the bootstrap tasks and are executed first and only once.
-   This includes updating the Observation modules and triggering all PreRun Spawners.
-
-2. After this Spawning, PreAgent, NonRecurring, Recurring and Syncronize Tasks are processed for each timestep.
-   First all Runtime Spawners are triggered.
-   Whenever a new agent is spawned, all its components are parsed to *Trigger* and *Update* tasks, grouped and sorted by execution time as non-recurring and recurring tasks.
-   Next all PreAgents task are executed, which includes publishing the world state to the DataBuffer in triggering all EventDetectors and Manipulators
-   Non-recurring tasks are executed just once and will be deleted afterwards (*init* flag in ComponentRepository).
-   Right after execution of all agent-based tasks, the Syncronize phase synchronizes all changes to the world as world state for the next timestep.
-
-3. The last phase is finalizing task, executed when an end condition is reached, such as end of simulation duration. Within this phase all EventDetectors and Manipulators are triggered and the Observation modules are updated one last time.
-
-Task type description
-~~~~~~~~~~~~~~~~~~~~~
-
-The scheduler handles 8 different task types:
-
-* **Spawning** - triggers agent spawning
-* **EventDetector** - execute event detector
-* **Manipulator** - execute manipulator
-* **Observation** - update observation modules
-* **Trigger** - execute trigger function of connected component
-* **Update** - execute update output of connected component and resulting input
-* **SyncWorld** - update world
-
-The following table gives an overview to all phases.
-
-.. table::
-   :class: tight-table
-   
-   ================== ========== ======================================================== ===================================================================================
-   Phase              Changeable Task types                                               Notes
-   ================== ========== ======================================================== ===================================================================================
-   Bootstrap          no         Spawning (PreRun), Observation
-   Spawning           no         Spawning (Runtime), Observation 
-   PreAgent           no         SyncWorld (publishing), EventDetector, Manipulator 
-   Non recurring      yes        Trigger, Update                                          Only components defined as "Init"
-   Recurring          yes        Trigger, Update                                          Non Init components
-   Syncronize         no         SyncWorld                                                Update the state of the agents and the virtual world (e.g. due to agent movements).
-   Finalize           no         EventDetector, Manipulator, Observation 
-   ================== ========== ======================================================== ===================================================================================
-
-Task priorities
-~~~~~~~~~~~~~~~
-
-The order of the tasks within one phase depends on component priority and task type.
-All tasks for a given timestamp are ordered by the SchedulerTasks priority, and divided into the aformentioned phases.
-
-The following table shows the priorities for the non-component task types:
-
-.. table::
-   :class: tight-table
-   
-   =============== ======== =================================================================================================
-   Task type       Priority Notes
-   =============== ======== =================================================================================================
-   Spawning        4        Highest priority, nothing can happen before any agent is instantiated. 
-   EventDetector   3  
-   Manipulator     2        The manipulator task uses the event detector tasks as input. Therefore it is called afterwards. 
-   SyncGlobalData  1 
-   Observation     0        Observation tasks have to be execute at the end.
-   =============== ======== =================================================================================================
-
-The priority of trigger and update tasks depend on the priority within the SystemConfig. 
-They are independent of non-component priorities.
-Since trigger tasks prepare output signals, output tasks are right called after the corresponding trigger tasks.
+..
+  *******************************************************************************
+  Copyright (c) 2021 in-tech GmbH
+                2024 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
+  http://www.eclipse.org/legal/epl-2.0.
+
+  SPDX-License-Identifier: EPL-2.0
+  *******************************************************************************
+
+.. _simulation:
+
+Simulation
+==========
+
+.. _simulation_commandlinearguments:
+
+Command Line Arguments
+-----------------------
+
+The simulation can be configured by applying the following command line arguments.
+Unspecified arguments will be defaulted (*default values in []*).
+
+The simulation supports the following arguments:
+
+* *-\-clearResultsPath*: [false] :
+  If set, the results path will be cleared before the simulation starts.
+* *-\-logLevel* [0] :
+  Logging level between 0 (minimum) and 5 (maximum - debug core)
+* *-\-logFile* [opSimulation.log]* :
+  Name of the log file
+* *-\-lib* [modules] :
+  Path of the libraries (relative or absolute)
+* *-\-configs* [configs] :
+  Path for writing outputs (relative or absolute)
+* *-\-results* [results] :
+  Path for writing outputs (relative or absolute)
+
+.. _simulation_scheduler:
+
+Scheduler
+---------
+
+The Scheduler handles the sequence of agent based and common tasks before, during and after simulation.
+
+Executing phases
+~~~~~~~~~~~~~~~~
+
+Each simulation run splits up into 3 phases: Bootstrap tasks, Stepping and Finalize tasks.
+
+1. Initial task are grouped within the bootstrap tasks and are executed first and only once.
+   This includes updating the Observation modules and triggering all PreRun Spawners.
+
+2. After this Spawning, PreAgent, NonRecurring, Recurring and Syncronize Tasks are processed for each timestep.
+   First all Runtime Spawners are triggered.
+   Whenever a new agent is spawned, all its components are parsed to *Trigger* and *Update* tasks, grouped and sorted by execution time as non-recurring and recurring tasks.
+   Next all PreAgents task are executed, which includes publishing the world state to the DataBuffer in triggering all EventDetectors and Manipulators
+   Non-recurring tasks are executed just once and will be deleted afterwards (*init* flag in ComponentRepository).
+   Right after execution of all agent-based tasks, the Syncronize phase synchronizes all changes to the world as world state for the next timestep.
+
+3. The last phase is finalizing task, executed when an end condition is reached, such as end of simulation duration. Within this phase all EventDetectors and Manipulators are triggered and the Observation modules are updated one last time.
+
+Task type description
+~~~~~~~~~~~~~~~~~~~~~
+
+The scheduler handles 8 different task types:
+
+* **Spawning** - triggers agent spawning
+* **EventDetector** - execute event detector
+* **Manipulator** - execute manipulator
+* **Observation** - update observation modules
+* **Trigger** - execute trigger function of connected component
+* **Update** - execute update output of connected component and resulting input
+* **SyncWorld** - update world
+
+The following table gives an overview to all phases.
+
+.. table::
+   :class: tight-table
+   
+   ================== ========== ======================================================== ===================================================================================
+   Phase              Changeable Task types                                               Notes
+   ================== ========== ======================================================== ===================================================================================
+   Bootstrap          no         Spawning (PreRun), Observation
+   Spawning           no         Spawning (Runtime), Observation 
+   PreAgent           no         SyncWorld (publishing), EventDetector, Manipulator 
+   Non recurring      yes        Trigger, Update                                          Only components defined as "Init"
+   Recurring          yes        Trigger, Update                                          Non Init components
+   Syncronize         no         SyncWorld                                                Update the state of the agents and the virtual world (e.g. due to agent movements).
+   Finalize           no         EventDetector, Manipulator, Observation 
+   ================== ========== ======================================================== ===================================================================================
+
+Task priorities
+~~~~~~~~~~~~~~~
+
+The order of the tasks within one phase depends on component priority and task type.
+All tasks for a given timestamp are ordered by the SchedulerTasks priority, and divided into the aformentioned phases.
+
+The following table shows the priorities for the non-component task types:
+
+.. table::
+   :class: tight-table
+   
+   =============== ======== =================================================================================================
+   Task type       Priority Notes
+   =============== ======== =================================================================================================
+   Spawning        4        Highest priority, nothing can happen before any agent is instantiated. 
+   EventDetector   3  
+   Manipulator     2        The manipulator task uses the event detector tasks as input. Therefore it is called afterwards. 
+   SyncGlobalData  1 
+   Observation     0        Observation tasks have to be execute at the end.
+   =============== ======== =================================================================================================
+
+The priority of trigger and update tasks depend on the priority within the SystemConfig. 
+They are independent of non-component priorities.
+Since trigger tasks prepare output signals, output tasks are right called after the corresponding trigger tasks.
diff --git a/content/html/_sources/advanced_topics/simulator/spawner_features.rst.txt b/content/html/_sources/advanced_topics/simulator/spawner_features.rst.txt
index 65d878dc122105db33ee9ce0c2bd0467c8991ab4..67636cdd1b70751d73e0d84fcb51063b92be83be 100644
--- a/content/html/_sources/advanced_topics/simulator/spawner_features.rst.txt
+++ b/content/html/_sources/advanced_topics/simulator/spawner_features.rst.txt
@@ -1,562 +1,562 @@
-..
-  *******************************************************************************
-  Copyright (c) 2021 in-tech GmbH
-
-  This program and the accompanying materials are made available under the
-  terms of the Eclipse Public License 2.0 which is available at
-  http://www.eclipse.org/legal/epl-2.0.
-
-  SPDX-License-Identifier: EPL-2.0
-  *******************************************************************************
-
-.. _spawner_features:
-
-****************
-Spawner Features
-****************
-
-
-.. _spawner_features_prerun:
-
-PreRunSpawner
-=============
-
-Spawning on roads, lanes and ranges
------------------------------------
-
-Non-existent roads
-^^^^^^^^^^^^^^^^^^
-
-Requirement
-   Road IDs specified in the configuration, but not part of the scenery file are igored.
-
-Verified by
-   Unit Test SpawnerPreRunCommonParameterExtractor_GetWayToNextRoad_NoPossibleWay
-
-
-.. _spawner_features_prerun_on_roads_single_road:
-
-Single road
-^^^^^^^^^^^
-
-Requirement
-   Spawning on the given road takes place.
-
-Requirement
-   No agents are spawned on other roads in the scenery.
-
-Verified by
-   End-to-end Test SpawnerPreRun_Highway_SingleRoad
-
-
-.. _spawner_features_prerun_on_roads_consecutive_roads:
-
-Consecutive roads
-^^^^^^^^^^^^^^^^^
-
-Precondition
-   Spawner configuration specifies a list of consecutively connected roads in a single ListItem.
-
-Requirement
-   Spawning on the given roads takes place.
-
-Requirement
-   No agents spawned on other roads in the scenery.
-
-Requirement
-   Agents are spawned on all drivable lanes (which are part of the roads being specified in the configuration).
-
-Requirement
-   Agents are spawned in the correct driving direction.
-
-Verified by
-   End-to-end Test SpawnerPreRun_Highway_FullStream
-   End-to-end Test SpawnerPreRun_SingleRoad_DrivingDirection
-
-
-Non-consecutive roads
-^^^^^^^^^^^^^^^^^^^^^
-
-Precondition
-   Spawner configuration specifies a list of non-consecutively connected roads.
-
-Requirement
-   Spawning on the given roads takes place.
-
-Requirement
-   Missing roads between the specified ones are automatically determined by the Spawner and handled like they were specified in the configuration in the first place.
-   The resulting path being spawned on is arbitrary if multiple solutions exist for a scenery, but only one path shall be used.
-
-Verified by
-   Covered by :ref:`spawner_features_prerun_on_roads_across_junction`
-
-
-.. _spawner_features_prerun_on_roads_across_junction:
-
-Roads across junction
-^^^^^^^^^^^^^^^^^^^^^
-
-Precondition
-   Spawner configuration specifies a list of (not necessarily consecutively) connected roads in a single ListItem.
-
-Precondition
-   The chain of roads specified has to cross a single junction.
-
-Requirement
-   Spawning on the given roads takes place.
-
-Requirement
-   Missing roads between the specified ones are automatically determined by the Spawner and handled like they were specified in the configuration in the first place.
-   The resulting path being spawned on is arbitrary if multiple solutions exist for a scenery, but only one path shall be used.
-
-Verified by
-   End-to-end Test SpawnerPreRun_Highway_EntryExit
-
-
-Multiple roads (including non existent IDs)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-Precondition
-   Spawner configuration specifies a list of (at least partially) consecutively connected roads in a single ListItem.
-
-Precondition
-   At least one road id given in the configuration is not present in the scenery.
-
-Requirement
-   Spawning on the given roads takes place up to the first non-existent road that is encountered.
-
-Requirement
-   No spawning takes place, if the first road of the list doesn't exist.
-
-Verified by
-   End-to-end Test SpawnerPreRun_Highway_IncorrectStreamBegin
-   End-to-end Test SpawnerPreRun_Highway_IncorrectStreamMid
-
-
-Specified lanes
-^^^^^^^^^^^^^^^
-
-Precondition
-   Basic setup as as in :ref:`spawner_features_prerun_on_roads_consecutive_roads`.
-
-Precondition
-   A list of lanes to be spawned on is specified in the Spawner configuration.
-
-Precondition
-   The list of lanes contains at least one lane IDs which exist for the first specified road.
-
-Precondition
-   The list of lanes contains at least one lane IDs which doesn't exist for the first specified road.
-
-Requirement
-   Spawning takes place on the specified lane IDs (on drivable lanes).
-
-Requirement
-   Spawning does not take place on other lane IDs.
-
-Requirement
-   Lane IDs not present for one or more roads do not lead to an error.
-
-Verified by
-   End-to-end Test SpawnerPreRun_SingleRoad_SpecifiedLanes
-
-
-Multiple overlapping road streams
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-Precondition
-   Two road streams are specified in the Spawner configuration (as in :ref:`spawner_features_prerun_on_roads_consecutive_roads`).
-
-Precondition
-   The two road streams have at least one road in common.
-
-Precondition
-   The Spawner configuration specifies the lanes to spawn on in such a way that there are no overlapping lanes (on the road being common to both streams).
-
-Requirement
-   Spawning on the given roads and all given lanes takes place.
-
-Verified by
-   End-to-end Test SpawnerPreRun_Highway_RoadOverlap
-
-
-Spawning on range (SStart + SEnd within road boundaries)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-Precondition
-   Basic setup as as in :ref:`spawner_features_prerun_on_roads_consecutive_roads`.
-
-Precondition
-   SStart and SEnd are set to values within the road boundaries (with the effective start s-coordinate being lower than the effective end s-coordinate when taking the whole road stream into account).
-
-Requirement
-   Agents are spawned within the specified range.
-
-Requirement
-   No agents are spawned outside of the specified range.
-
-Verified by
-   Unit Test SpawnerPreRunCommonParameterExtractor_ExtractSpawnAreas_AllOptionalParameters
-   End-to-end Test SpawnerPreRun_SingleRoad_SpecifiedRange
-
-
-
-Spawning on range (SStart + SLength within road boundaries)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-Precondition
-   Basic setup as as in :ref:`spawner_features_prerun_on_roads_consecutive_roads`.
-
-Precondition
-   SStart and SLength are set to values within the road boundaries (with the effective start s-coordinate being lower than the effective end s-coordinate when taking the whole road stream into account).
-
-Requirement
-   Agents are spawned within the specified range.
-
-Requirement
-   No agents are spawned outside of the specified range.
-
-Verified by
-   Unit Test SpawnerPreRunCommonParameterExtractor_ExtractSpawnAreas_AllOptionalParameters
-
-
-Spawning on range (SEnd outside of road boundaries)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-Precondition
-   Basic setup as as in :ref:`spawner_features_prerun_on_roads_consecutive_roads`.
-
-Precondition
-   SStart is set set to a value within the road boundaries, SEnd is set greater than the length of the last road given.
-
-Requirement
-   Agents are spawned within the specified range.
-
-Requirement
-   The specified range is capped to the length of the last road.
-
-Verified by
-   Unit Test SpawnerPreRunCommonParameterExtractor_ExtractSpawnAreasWithSOutOfRange_ReturnsValidS
-
-
-Spawning on range (SLength outside of road boundaries)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-Precondition
-   Basic setup as as in :ref:`spawner_features_prerun_on_roads_consecutive_roads`.
-
-Precondition
-   SStart is set set to a value within the road boundaries, SLength is set greater than the accumulated length of all roads given.
-
-Requirement
-   Agents are spawned within the specified range.
-
-Requirement
-   The specified range is capped to the length of the roads.
-
-Verified by
-   Unit Test SpawnerPreRunCommonParameterExtractor_ExtractSpawnAreasWithSOutOfRange_ReturnsValidS
-
-
-Right lane only
-^^^^^^^^^^^^^^^
-
-Precondition
-   Basic setup as as in :ref:`spawner_features_prerun_on_roads_consecutive_roads`.
-
-Precondition
-   ``RightLaneOnly`` set to ``true`` in the Spawner configuration.
-
-Requirement
-   Spawning takes place on the specified roads.
-
-Requirement
-   Spawning takes place on the rightmost lanes only.
-
-Verified by
-   End-to-end Test SpawnerPreRun_SingleRoad_RightLaneOnly
-
-
-Traffic parameters
-------------------
-
-Separation buffer specified
-^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-Precondition
-   Basic setup as as in :ref:`spawner_features_prerun_on_roads_single_road`.
-
-Precondition
-   ``MinimumSeparationBuffer`` is set in the Spawner configuration.
-
-Requirement
-   No two agents are spawned with a net distance lower than the specified separation buffer.
-
-Verified by
-   UNTESTED
-
-
-Separation buffer not specified
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-Precondition
-   Basic setup as as in :ref:`spawner_features_prerun_on_roads_single_road`.
-
-Precondition
-   ``MinimumSeparationBuffer`` is not set in the Spawner configuration.
-
-Requirement
-   No two agents are spawned with a net distance lower than 5 m.
-
-Verified by
-   UNTESTED
-
-
-Time to collision
-^^^^^^^^^^^^^^^^^
-
-Precondition
-   Basic setup as as in :ref:`spawner_features_prerun_on_roads_single_road`.
-
-Requirement
-   No agent is spawned with a TTC lower than the configured threshold (with respect to end of lane).
-
-Verified by
-   UNTESTED
-   Also has to be checked by analysis of simulation output by an external tool
-
-
-Stochastics
------------
-
-Traffic groups
-^^^^^^^^^^^^^^
-
-Requirement
-   The selection of traffic groups is randomized using a uniform distribution.
-
-Verified by
-   UNTESTED
-
-
-Agent profiles
-^^^^^^^^^^^^^^
-
-Requirement
-   The selection of agent profiles is randomized using a uniform distribution.
-
-Verified by
-   UNTESTED
-
-
-Velocity distribution
-^^^^^^^^^^^^^^^^^^^^^
-
-Requirement
-   The distribution of the velocities of a traffic group has to match the configured distribution.
-
-Verified by
-   UNTESTED
-   Also has to be checked by analysis of simulation output by an external tool
-
-
-TGap distribution
-^^^^^^^^^^^^^^^^^
-
-Requirement
-   The distribution of the TGaps of a traffic group has to match the configured distribution.
-
-Verified by
-   UNTESTED
-   Also has to be checked by analysis of simulation output by an external tool
-
-
-.. _spawner_features_runtime:
-
-RuntimeSpawner
-==============
-
-Spawning on roads, lanes and ranges
------------------------------------
-
-Non-existent roads
-^^^^^^^^^^^^^^^^^^
-
-Requirement
-   Road IDs specified in the configuration, but not part of the scenery file are igored.
-
-Verified by
-   UNTESTED
-
-
-.. _spawner_features_runtime_on_roads_single_road:
-
-Single road
-^^^^^^^^^^^
-
-Requirement
-   Spawning on the given road takes place.
-
-Requirement
-   No agents are spawned on other roads in the scenery.
-
-Requirement
-   Agents are spawned in the correct driving direction.
-
-Verified by
-   End-to-end Test SpawnerRuntime_Highway_SingleRoad
-
-
-Driving direction
-^^^^^^^^^^^^^^^^^
-
-Requirement
-   Agents are spawned in the correct driving direction (matching lane direction).
-
-Verified by
-   End-to-end Test SpawnerRuntime_Highway_SingleRoad_DrivingDirection
-
-
-Multiple roads (including non existent IDs)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-Precondition
-   Spawner configuration specifies a list of roads in a single ListItem.
-
-Precondition
-   At least one road id given in the configuration is not present in the scenery.
-
-Requirement
-   Spawning on the given roads takes place.
-
-Requirement
-   Non-existent road IDs are ignored.
-
-Verified by
-   End-to-end Test SpawnerRuntime_Highway_MultipleRoads
-
-
-Specified lanes
-^^^^^^^^^^^^^^^
-
-Precondition
-   Basic setup as as in :ref:`spawner_features_runtime_on_roads_single_road`.
-
-Precondition
-   A list of lanes to be spawned on is specified in the Spawner configuration.
-
-Precondition
-   The list of lanes contains lane IDs which don't exist for the specified road.
-
-Requirement
-   Spawning takes place on the specified lane IDs (on drivable lanes).
-
-Requirement
-   Spawning does not take place on other lane IDs.
-
-Requirement
-   Lane IDs not present for the specified road do not lead to an error.
-
-Verified by
-   End-to-end Test SpawnerRuntime_SingleRoad_SpecifiedLanes
-
-
-Right lane only
-^^^^^^^^^^^^^^^
-
-Precondition
-   Basic setup as as in :ref:`spawner_features_runtime_on_roads_single_road`.
-
-Precondition
-   ``RightLaneOnly`` set to ``true`` in the Spawner configuration.
-
-Requirement
-   Spawning takes place on the specified road.
-
-Requirement
-   Spawning takes place on the rightmost lane only.
-
-Verified by
-   End-to-end Test SpawnerRuntime_SingleRoad_RightLaneOnly
-
-
-Traffic parameters
-------------------
-
-Separation buffer specified
-^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-Precondition
-   Basic setup as as in :ref:`spawner_features_runtime_on_roads_single_road`.
-
-Precondition
-   ``MinimumSeparationBuffer`` is set in the Spawner configuration.
-
-Requirement
-   No two agents are spawned with a net distance lower than the specified separation buffer.
-
-Verified by
-   Unit Test SpawnerRuntimeCommonParameterExtractor_ExtractMinimumSeparationBuffer_FixedValue
-
-
-Separation buffer not specified
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-Precondition
-   Basic setup as as in :ref:`spawner_features_runtime_on_roads_single_road`.
-
-Precondition
-   ``MinimumSeparationBuffer`` is not set in the Spawner configuration.
-
-Requirement
-   No two agents are spawned with a net distance lower than 5 m.
-
-Verified by
-   Unit Test SpawnerRuntimeCommonParameterExtractor_ExtractMinimumSeparationBuffer_NoValue_SetsDefault
-
-
-
-Stochastics
------------
-
-Traffic groups
-^^^^^^^^^^^^^^
-
-Requirement
-   The selection of traffic groups is randomized using a uniform distribution.
-
-Verified by
-   UNTESTED
-
-
-Agent profiles
-^^^^^^^^^^^^^^
-
-Requirement
-   The selection of agent profiles is randomized using a uniform distribution.
-
-Verified by
-   UNTESTED
-
-
-Velocity distribution
-^^^^^^^^^^^^^^^^^^^^^
-
-Requirement
-   The distribution of the velocities of a traffic group has to match the configured distribution.
-
-Verified by
-   UNTESTED
-   Also has to be checked by analysis of simulation output by an external tool
-
-
-TGap distribution
-^^^^^^^^^^^^^^^^^
-
-Requirement
-   The distribution of the TGaps of a traffic group has to match the configured distribution.
-
-Verified by
-   UNTESTED
-   Also has to be checked by analysis of simulation output by an external tool
-
+..
+  *******************************************************************************
+  Copyright (c) 2021 in-tech GmbH
+
+  This program and the accompanying materials are made available under the
+  terms of the Eclipse Public License 2.0 which is available at
+  http://www.eclipse.org/legal/epl-2.0.
+
+  SPDX-License-Identifier: EPL-2.0
+  *******************************************************************************
+
+.. _spawner_features:
+
+****************
+Spawner Features
+****************
+
+
+.. _spawner_features_prerun:
+
+PreRunSpawner
+=============
+
+Spawning on roads, lanes and ranges
+-----------------------------------
+
+Non-existent roads
+^^^^^^^^^^^^^^^^^^
+
+Requirement
+   Road IDs specified in the configuration, but not part of the scenery file are igored.
+
+Verified by
+   Unit Test SpawnerPreRunCommonParameterExtractor_GetWayToNextRoad_NoPossibleWay
+
+
+.. _spawner_features_prerun_on_roads_single_road:
+
+Single road
+^^^^^^^^^^^
+
+Requirement
+   Spawning on the given road takes place.
+
+Requirement
+   No agents are spawned on other roads in the scenery.
+
+Verified by
+   End-to-end Test SpawnerPreRun_Highway_SingleRoad
+
+
+.. _spawner_features_prerun_on_roads_consecutive_roads:
+
+Consecutive roads
+^^^^^^^^^^^^^^^^^
+
+Precondition
+   Spawner configuration specifies a list of consecutively connected roads in a single ListItem.
+
+Requirement
+   Spawning on the given roads takes place.
+
+Requirement
+   No agents spawned on other roads in the scenery.
+
+Requirement
+   Agents are spawned on all drivable lanes (which are part of the roads being specified in the configuration).
+
+Requirement
+   Agents are spawned in the correct driving direction.
+
+Verified by
+   End-to-end Test SpawnerPreRun_Highway_FullStream
+   End-to-end Test SpawnerPreRun_SingleRoad_DrivingDirection
+
+
+Non-consecutive roads
+^^^^^^^^^^^^^^^^^^^^^
+
+Precondition
+   Spawner configuration specifies a list of non-consecutively connected roads.
+
+Requirement
+   Spawning on the given roads takes place.
+
+Requirement
+   Missing roads between the specified ones are automatically determined by the Spawner and handled like they were specified in the configuration in the first place.
+   The resulting path being spawned on is arbitrary if multiple solutions exist for a scenery, but only one path shall be used.
+
+Verified by
+   Covered by :ref:`spawner_features_prerun_on_roads_across_junction`
+
+
+.. _spawner_features_prerun_on_roads_across_junction:
+
+Roads across junction
+^^^^^^^^^^^^^^^^^^^^^
+
+Precondition
+   Spawner configuration specifies a list of (not necessarily consecutively) connected roads in a single ListItem.
+
+Precondition
+   The chain of roads specified has to cross a single junction.
+
+Requirement
+   Spawning on the given roads takes place.
+
+Requirement
+   Missing roads between the specified ones are automatically determined by the Spawner and handled like they were specified in the configuration in the first place.
+   The resulting path being spawned on is arbitrary if multiple solutions exist for a scenery, but only one path shall be used.
+
+Verified by
+   End-to-end Test SpawnerPreRun_Highway_EntryExit
+
+
+Multiple roads (including non existent IDs)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+Precondition
+   Spawner configuration specifies a list of (at least partially) consecutively connected roads in a single ListItem.
+
+Precondition
+   At least one road id given in the configuration is not present in the scenery.
+
+Requirement
+   Spawning on the given roads takes place up to the first non-existent road that is encountered.
+
+Requirement
+   No spawning takes place, if the first road of the list doesn't exist.
+
+Verified by
+   End-to-end Test SpawnerPreRun_Highway_IncorrectStreamBegin
+   End-to-end Test SpawnerPreRun_Highway_IncorrectStreamMid
+
+
+Specified lanes
+^^^^^^^^^^^^^^^
+
+Precondition
+   Basic setup as as in :ref:`spawner_features_prerun_on_roads_consecutive_roads`.
+
+Precondition
+   A list of lanes to be spawned on is specified in the Spawner configuration.
+
+Precondition
+   The list of lanes contains at least one lane IDs which exist for the first specified road.
+
+Precondition
+   The list of lanes contains at least one lane IDs which doesn't exist for the first specified road.
+
+Requirement
+   Spawning takes place on the specified lane IDs (on drivable lanes).
+
+Requirement
+   Spawning does not take place on other lane IDs.
+
+Requirement
+   Lane IDs not present for one or more roads do not lead to an error.
+
+Verified by
+   End-to-end Test SpawnerPreRun_SingleRoad_SpecifiedLanes
+
+
+Multiple overlapping road streams
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+Precondition
+   Two road streams are specified in the Spawner configuration (as in :ref:`spawner_features_prerun_on_roads_consecutive_roads`).
+
+Precondition
+   The two road streams have at least one road in common.
+
+Precondition
+   The Spawner configuration specifies the lanes to spawn on in such a way that there are no overlapping lanes (on the road being common to both streams).
+
+Requirement
+   Spawning on the given roads and all given lanes takes place.
+
+Verified by
+   End-to-end Test SpawnerPreRun_Highway_RoadOverlap
+
+
+Spawning on range (SStart + SEnd within road boundaries)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+Precondition
+   Basic setup as as in :ref:`spawner_features_prerun_on_roads_consecutive_roads`.
+
+Precondition
+   SStart and SEnd are set to values within the road boundaries (with the effective start s-coordinate being lower than the effective end s-coordinate when taking the whole road stream into account).
+
+Requirement
+   Agents are spawned within the specified range.
+
+Requirement
+   No agents are spawned outside of the specified range.
+
+Verified by
+   Unit Test SpawnerPreRunCommonParameterExtractor_ExtractSpawnAreas_AllOptionalParameters
+   End-to-end Test SpawnerPreRun_SingleRoad_SpecifiedRange
+
+
+
+Spawning on range (SStart + SLength within road boundaries)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+Precondition
+   Basic setup as as in :ref:`spawner_features_prerun_on_roads_consecutive_roads`.
+
+Precondition
+   SStart and SLength are set to values within the road boundaries (with the effective start s-coordinate being lower than the effective end s-coordinate when taking the whole road stream into account).
+
+Requirement
+   Agents are spawned within the specified range.
+
+Requirement
+   No agents are spawned outside of the specified range.
+
+Verified by
+   Unit Test SpawnerPreRunCommonParameterExtractor_ExtractSpawnAreas_AllOptionalParameters
+
+
+Spawning on range (SEnd outside of road boundaries)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+Precondition
+   Basic setup as as in :ref:`spawner_features_prerun_on_roads_consecutive_roads`.
+
+Precondition
+   SStart is set set to a value within the road boundaries, SEnd is set greater than the length of the last road given.
+
+Requirement
+   Agents are spawned within the specified range.
+
+Requirement
+   The specified range is capped to the length of the last road.
+
+Verified by
+   Unit Test SpawnerPreRunCommonParameterExtractor_ExtractSpawnAreasWithSOutOfRange_ReturnsValidS
+
+
+Spawning on range (SLength outside of road boundaries)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+Precondition
+   Basic setup as as in :ref:`spawner_features_prerun_on_roads_consecutive_roads`.
+
+Precondition
+   SStart is set set to a value within the road boundaries, SLength is set greater than the accumulated length of all roads given.
+
+Requirement
+   Agents are spawned within the specified range.
+
+Requirement
+   The specified range is capped to the length of the roads.
+
+Verified by
+   Unit Test SpawnerPreRunCommonParameterExtractor_ExtractSpawnAreasWithSOutOfRange_ReturnsValidS
+
+
+Right lane only
+^^^^^^^^^^^^^^^
+
+Precondition
+   Basic setup as as in :ref:`spawner_features_prerun_on_roads_consecutive_roads`.
+
+Precondition
+   ``RightLaneOnly`` set to ``true`` in the Spawner configuration.
+
+Requirement
+   Spawning takes place on the specified roads.
+
+Requirement
+   Spawning takes place on the rightmost lanes only.
+
+Verified by
+   End-to-end Test SpawnerPreRun_SingleRoad_RightLaneOnly
+
+
+Traffic parameters
+------------------
+
+Separation buffer specified
+^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+Precondition
+   Basic setup as as in :ref:`spawner_features_prerun_on_roads_single_road`.
+
+Precondition
+   ``MinimumSeparationBuffer`` is set in the Spawner configuration.
+
+Requirement
+   No two agents are spawned with a net distance lower than the specified separation buffer.
+
+Verified by
+   UNTESTED
+
+
+Separation buffer not specified
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+Precondition
+   Basic setup as as in :ref:`spawner_features_prerun_on_roads_single_road`.
+
+Precondition
+   ``MinimumSeparationBuffer`` is not set in the Spawner configuration.
+
+Requirement
+   No two agents are spawned with a net distance lower than 5 m.
+
+Verified by
+   UNTESTED
+
+
+Time to collision
+^^^^^^^^^^^^^^^^^
+
+Precondition
+   Basic setup as as in :ref:`spawner_features_prerun_on_roads_single_road`.
+
+Requirement
+   No agent is spawned with a TTC lower than the configured threshold (with respect to end of lane).
+
+Verified by
+   UNTESTED
+   Also has to be checked by analysis of simulation output by an external tool
+
+
+Stochastics
+-----------
+
+Traffic groups
+^^^^^^^^^^^^^^
+
+Requirement
+   The selection of traffic groups is randomized using a uniform distribution.
+
+Verified by
+   UNTESTED
+
+
+Agent profiles
+^^^^^^^^^^^^^^
+
+Requirement
+   The selection of agent profiles is randomized using a uniform distribution.
+
+Verified by
+   UNTESTED
+
+
+Velocity distribution
+^^^^^^^^^^^^^^^^^^^^^
+
+Requirement
+   The distribution of the velocities of a traffic group has to match the configured distribution.
+
+Verified by
+   UNTESTED
+   Also has to be checked by analysis of simulation output by an external tool
+
+
+TGap distribution
+^^^^^^^^^^^^^^^^^
+
+Requirement
+   The distribution of the TGaps of a traffic group has to match the configured distribution.
+
+Verified by
+   UNTESTED
+   Also has to be checked by analysis of simulation output by an external tool
+
+
+.. _spawner_features_runtime:
+
+RuntimeSpawner
+==============
+
+Spawning on roads, lanes and ranges
+-----------------------------------
+
+Non-existent roads
+^^^^^^^^^^^^^^^^^^
+
+Requirement
+   Road IDs specified in the configuration, but not part of the scenery file are igored.
+
+Verified by
+   UNTESTED
+
+
+.. _spawner_features_runtime_on_roads_single_road:
+
+Single road
+^^^^^^^^^^^
+
+Requirement
+   Spawning on the given road takes place.
+
+Requirement
+   No agents are spawned on other roads in the scenery.
+
+Requirement
+   Agents are spawned in the correct driving direction.
+
+Verified by
+   End-to-end Test SpawnerRuntime_Highway_SingleRoad
+
+
+Driving direction
+^^^^^^^^^^^^^^^^^
+
+Requirement
+   Agents are spawned in the correct driving direction (matching lane direction).
+
+Verified by
+   End-to-end Test SpawnerRuntime_Highway_SingleRoad_DrivingDirection
+
+
+Multiple roads (including non existent IDs)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+Precondition
+   Spawner configuration specifies a list of roads in a single ListItem.
+
+Precondition
+   At least one road id given in the configuration is not present in the scenery.
+
+Requirement
+   Spawning on the given roads takes place.
+
+Requirement
+   Non-existent road IDs are ignored.
+
+Verified by
+   End-to-end Test SpawnerRuntime_Highway_MultipleRoads
+
+
+Specified lanes
+^^^^^^^^^^^^^^^
+
+Precondition
+   Basic setup as as in :ref:`spawner_features_runtime_on_roads_single_road`.
+
+Precondition
+   A list of lanes to be spawned on is specified in the Spawner configuration.
+
+Precondition
+   The list of lanes contains lane IDs which don't exist for the specified road.
+
+Requirement
+   Spawning takes place on the specified lane IDs (on drivable lanes).
+
+Requirement
+   Spawning does not take place on other lane IDs.
+
+Requirement
+   Lane IDs not present for the specified road do not lead to an error.
+
+Verified by
+   End-to-end Test SpawnerRuntime_SingleRoad_SpecifiedLanes
+
+
+Right lane only
+^^^^^^^^^^^^^^^
+
+Precondition
+   Basic setup as as in :ref:`spawner_features_runtime_on_roads_single_road`.
+
+Precondition
+   ``RightLaneOnly`` set to ``true`` in the Spawner configuration.
+
+Requirement
+   Spawning takes place on the specified road.
+
+Requirement
+   Spawning takes place on the rightmost lane only.
+
+Verified by
+   End-to-end Test SpawnerRuntime_SingleRoad_RightLaneOnly
+
+
+Traffic parameters
+------------------
+
+Separation buffer specified
+^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+Precondition
+   Basic setup as as in :ref:`spawner_features_runtime_on_roads_single_road`.
+
+Precondition
+   ``MinimumSeparationBuffer`` is set in the Spawner configuration.
+
+Requirement
+   No two agents are spawned with a net distance lower than the specified separation buffer.
+
+Verified by
+   Unit Test SpawnerRuntimeCommonParameterExtractor_ExtractMinimumSeparationBuffer_FixedValue
+
+
+Separation buffer not specified
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+Precondition
+   Basic setup as as in :ref:`spawner_features_runtime_on_roads_single_road`.
+
+Precondition
+   ``MinimumSeparationBuffer`` is not set in the Spawner configuration.
+
+Requirement
+   No two agents are spawned with a net distance lower than 5 m.
+
+Verified by
+   Unit Test SpawnerRuntimeCommonParameterExtractor_ExtractMinimumSeparationBuffer_NoValue_SetsDefault
+
+
+
+Stochastics
+-----------
+
+Traffic groups
+^^^^^^^^^^^^^^
+
+Requirement
+   The selection of traffic groups is randomized using a uniform distribution.
+
+Verified by
+   UNTESTED
+
+
+Agent profiles
+^^^^^^^^^^^^^^
+
+Requirement
+   The selection of agent profiles is randomized using a uniform distribution.
+
+Verified by
+   UNTESTED
+
+
+Velocity distribution
+^^^^^^^^^^^^^^^^^^^^^
+
+Requirement
+   The distribution of the velocities of a traffic group has to match the configured distribution.
+
+Verified by
+   UNTESTED
+   Also has to be checked by analysis of simulation output by an external tool
+
+
+TGap distribution
+^^^^^^^^^^^^^^^^^
+
+Requirement
+   The distribution of the TGaps of a traffic group has to match the configured distribution.
+
+Verified by
+   UNTESTED
+   Also has to be checked by analysis of simulation output by an external tool
+
diff --git a/content/html/_sources/advanced_topics/simulator/system_structure_and_parameterization_(SSP).rst.txt b/content/html/_sources/advanced_topics/simulator/system_structure_and_parameterization_(SSP).rst.txt
index a8aee19964c1022de5493c62db2a8659ab510158..16e936f011b886178f1290845f60e5307ac2e9ec 100644
--- a/content/html/_sources/advanced_topics/simulator/system_structure_and_parameterization_(SSP).rst.txt
+++ b/content/html/_sources/advanced_topics/simulator/system_structure_and_parameterization_(SSP).rst.txt
@@ -1,428 +1,428 @@
-..
-  *******************************************************************************
-  Copyright (c) 2022-2024 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
-  http://www.eclipse.org/legal/epl-2.0.
-
-  SPDX-License-Identifier: EPL-2.0
-  *******************************************************************************
-
-.. _ssp:
-
-System Structure and Parameterization (SSP)
-===========================================
-
-System Structure and Parameterization (SSP) is a tool independent standard to define
-complete systems consisting of one or more FMUs
-(see Functional-Mockup-Interface [LINK: https://fmi-standard.org/])
-including its parameterization that can be transferred between simulation tools.
-Official content is available under: https://ssp-standard.org/ .
-
-In |op| we use SSP to connect FMUs with each other,
-especially those which need communication during one simulation time step.
-The whole SSP is appended as vehicle component.
-
-.. _ssp_input:
-
-Inputs / SSP Structure
-----------------------
-The following image displays the example ConnectionTest.ssp. This SSP contains one root SSD-System,
-the subsystem OSMPConnectionTest and two SSD-Components, that are connected with each other.
-
-.. _OsmpConnectionTest_Visual:
-.. figure:: ./draw.io/[B2]OsmpConnectionTest_Visual.png
-
-
-FMUs are wrapped within a SSD-Component. The example consists of two FMU's "DummySensor" and "OSMPTrafficUpdateStepper".
-To allow these two to exchange data within one timestep, they need a connection, which consists of two connectors.
-Either a connector gets data from outside of the SSP-System, for instance |op|.
-Or two connectors which are directly connected within the SSP-System.
-These connections are only one directional.
-The example shows a common usecase of SSP: A sensor Component transfers SensorData to the TrafficUpdateStepper,
-which writes a DynamicSignal. This signal leaves this SSP to animate the agent.
-
-
-System Structure Package SSP
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-On the filesystem, a SSP is a zip file, which includes one or more .ssd files together with related resources.
-
-In our example the unpacked zip looks like this:
-
-      ::
-
-         ..\ConnectionTest.ssp
-         ├── SystemStructure.ssd (mandatory !)
-         ├── OSMPConnectionTest.ssd
-         ├── ParameterValues.ssv
-         ├── Resources
-         │  ├── DummySensor.fmu
-         │  └── OsmpTrafficUpdateStepper.fmu
-
-      In the folder structure above:
-
-      - ``SystemStructure.ssd`` can be perceived as the root of the SSP. It contains the root system.
-      - ``OSMPConnectionTest.ssd`` A system within the root system
-      - ``ParameterValues.ssv`` Alternative way to describe the values of SSP parameters (:ref:`ref <ssvFiles>`)
-      - ``Resources`` The Resources folder is for additional data, like FMUs.
-
-
-Resources can be referenced FMUs.
-Any SSP specific files should be located in the zip root directory.
-SSP files are referenced from the System Structure Description file(s) through relative URIs (cf. RFC 3986).
-SystemStructure.ssd is the root file of the zip archive. System structure definitions (\*.ssd) describe entities called Systems.
-Additional entries may include Parameter Values (\*.ssv), Parameter Mappings (\*.ssm) or Signal Dictionaries (\*.ssb).
-
-**System Structure description (.ssd files)**
-
-The file "SystemStructure.ssd" is mandatory because it defines to root of the SSP.
-Other (\*).ssd can be used to make use of more then one system, or for organisation purpose.
-Subsystems that are hierarchically within the root system should be listed in that SSD.
-Subsystems which are only present as (\*).ssd but are not connected with the root. More on that in section :ref:`ssd`.
-
-.. _ssvFiles:
-
-**System Structure Parameter Values (.ssv files)**
-
-Not mandatory. Is supported in the current version of |op|.
-Parameter Values describes a collection of ssd:ParameterSet
-A ParameterSet is a collection of parameters grouped under a name.
-Parameter Values can be added in two ways:
-
-1. directly define it within the .ssd file in ssd:ParameterValues
-2. create a .ssv file and reference it within the .ssd under ssd:ParameterValues
-
-
-**System Structure Parameter Mapping (.ssm files)**
-
-Not mandatory. Not yet implemented in current |op| version.
-A parameter mapping describes a mapping between parameters.
-A parameter mapping can be added in two ways:
-
-1. directly define it within the .ssd file in one ssd:ParameterMapping
-2. create a .ssm file and reference it within the .ssd in one ssd:ParameterMappings
-
-
-**System Structure Signal Dictionaries (.ssb files)**
-
-Is not mandatory. Not yet implemented in current |op| version.
-A signal dictionary is a collection of signals.
-There are two ways to define a signal dictionary:
-
-1. directly define it within the .ssd file in ssd:ParameterMappings
-2. create a .ssb file and reference it within the .ssd in ssd:ParameterMappings
-
-.. _ssd:
-
-SSD - System Structure Definition
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-The following example shows the definition of a system "OSMPConnectionTest".
-
-.. _OsmpConnectionTest_Schema:
-
-.. figure:: ./draw.io/OsmpConnectionTest.ssd_Schemaansicht.png
-
-   Schematic representation of OSMPConnection.ssd
-
-In the root System, OSMPConnectionTest is defined as an Element.
-So this System is a subsystem of the root System.
-The file "OSMPConnectionTest.ssd" defines the subsystem, which consists of two Components "DummySensor" and "TrafficUpdateStepper".
-Notice, how Components are listed as Elements. In general, Elements of a System can either be a System or a Component.
-You can think of it as a filestructure, in our example we keep it simple with just two Components in the Elements of OSMPConnectionTest.
-
-**In General**
-
-Each System consists of zero to many Elements and zero to many Connections
-A Element can either be a Component, a SignalDictionaryReference or a System (Subsystem).
-Each Element can have zero to many connectors, which are used to define Connections.
-Connectors can interface with the FMU model description.
-A Connector has a certain type (data type), and can have zero two many Annotations
-An Annotation is used to give additional information for any model entity, which we are using in |op| to make OSMPConnectors (see :ref:`SSP_OSMPConnector`)
-Furthermore each Element has zero to many ParameterBindings.
-The parametrization of the FMUs is handled with a ParameterSet.
-
-**OSMP Connectors**
-
-By using an Annotation, we can combine three Connectors to be able to handle OSI messages. Notice, that Annotations
-are a valid way to extend the standard with features, which are not part of SSP yet.
-
-    .. literalinclude:: /../../../repo/sim/contrib/ssp/ConnectionTest/OSMPConnectionTest.ssd
-        :language: xml
-        :start-at: <ssd:Annotations>
-        :end-at: </ssd:Annotations>
-
-Three Connectors combine with an Annotation of type "net.psmf.osmp", by having the same name inside the osmp:osmp-binary-variable.
-osmp:osmp-binary-variable comes always in the same shape.
-Each triple of connectors must have the three following roles: base.lo, base.hi and size.
-base.lo and base.hi make a memory pointer, where the OSI message is allocated during simulation.
-size contains the memory size of the message. In combination of the three connectors the message can be passed between components
-Also, notice how mime-type contains crucial information. Type specifies the type of the OSI message. Version is specified as well.
-
-**FMU Parameters**
-
-The FMU inside the ssd component needs parametrization as well. These are the same parameters as the parameters of the Algorithm_FmuWrapper.
-To parametrize the FMU inside ssd, we define a ParameterSet inside the ParameterBindings. Important is the name attribute of the ParameterSet (name="FMUParameters"):
-
-    .. literalinclude:: /../../../repo/sim/contrib/ssp/ConnectionTest/OSMPConnectionTest.ssd
-        :language: xml
-        :start-at: <ssv:ParameterSet version="1.0" name="FmuParameters">
-        :end-at: </ssv:ParameterSet>
-
-Each ssv::parameter has a sub object of the parameter type, with the attribute value containing the actual value.
-SSP support the following types: Real (float value), Integer, Boolean, String, Enumeration and Binary.
-
-**PriorityParameter**
-The priority of the component is set through an annotation on component level
-With a higher priority, a FMU component triggers earlier then others.
-
-
-    .. literalinclude:: /../../../repo/sim/contrib/ssp/ConnectionTest/OSMPConnectionTest.ssd
-        :language: xml
-        :start-at: <ssc:Annotation type="de.setlevel.ssp.scheduling">
-        :end-at: </ssc:Annotation>
-
-
-.. _ssp_implementation:
-
-Implementation
---------------
-
-Parsing
-~~~~~~~
-
-The first implementation detail of Algorithm SSP Wrapper, a selected SSP is loaded as vehicle component.
-The following picture illustrates how files are parsed and interpreted in Algorithm_SspWrapper.
-
-.. _SSP_Parsing:
-.. figure:: ./draw.io/[I1]Parsing.png
-
-Algorithm_SspWrapper is initialized by parsing one .ssp. The zip folded contents of the .ssp is unpacked to a temporary folder
-and the contents are scanned for ssd files, such as the mandatory "SystemStructure.ssd".
-The System described by "SystemStructure.ssd" makes the root system,
-any other fully parsed system is included as subsystem of that root system.
-
-.. note::
-   One parsed ssd. System includes GroupConnectors, which contain all outer accessible connectors.
-   A Connector is only visible from outside if it is connected with a connection. More on that in section :ref:`SSP_ObjectStructure`
-
-.. note::
-   Should there be systems which are described by .ssd files, they must be in the elements array of the root system,
-   or in any other system related to the root system. Is a .ssd not in any relation to the root, it is ignored!
-
-The process of interpreting the connections is part of the system creation.
-Another feature of system creation is the formation of OSI Connectors we discuss in the next chapter:
-
-.. _SSP_OSMPConnector:
-
-OSI Connectors
-~~~~~~~~~~~~~~
-
-The next figure describes how triples of connectors form a OSI Connector.
-
-.. figure:: ./draw.io/[I2]OsmpConnector.png
-
-OSI connectors come in triples since OSI messages are represented with 3 integers.
-The integers base.lo and base.hi specify the memory location of the OSI message. base.size describes the buffer length.
-Through the osmp annotation, a triple of connectors are joined together.
-In the figures of this documentation, OSI Connectors are signaled by the purple color.
-
-.. note::
-   The name attribute in the annotation joins the triple, whereas the connector name is relevant for the ssd system.
-
-.. note::
-   To connect OSI connectors, they require 3 connections in the .ssd. Once the file is parsed,
-   the 3 connections forms a complete connection in the system.
-
-
-OSI connectors are responsible for writing messages. Should the OSI message of a OSI connector change,
-and the connector parametrized to write output, it writes the new message as soon as it changes.
-While json messages can be written to file directly, binary traces contain the serialized messages of much timesteps in one file.
-Because of that, osi messages append binary traces to message containers in their SSP system. It's contents are written
-to file as soon the system destructs.
-
-
-.. _SSP_ObjectStructure:
-
-Object Structure
-~~~~~~~~~~~~~~~~
-
-The implementation of SSP follows the relation of objects which the standard imposes.
-Mainly the SSP contains at least one System. Each System contains Elements and Connectors.
-Since Systems are Elements, Systems can include other Systems as subelements.
-
-Another type of Elements are Components. One common used Component is the FMUComponent.
-It is good practice that FMUComponents don't contain further subelements.
-
-The System originating from the mandatory SystemStructure.ssd makes the root System object,
-containing all of it's subsystems.
-
-The Following picture shows ConnectionTest.ssp with two connected FMU's.
-
-.. _SSP_ConnectionTestDetail:
-.. figure:: ./draw.io/[I3]OSMPConnectionTestDetail.png
-
-After parsing, Algorithm_SspWrapper holds only one SSP System, which is the root System defined by the systemstructure.ssd
-In our example, we have one subsystem: OSMPConnection, which is a Element of the root System.
-Within the Elements of the System OSMPConnection are two components, which are of the type FMUComponent.
-Each of these Components hold an instance of Algorithm_FmuWrapper.
-The two FMUs are connected by two OSI Connectors. To establish a connection, the following requirements need to be fulfilled:
-
-- SensorDataOut has to be a OSI connector (see section :ref:`SSP_OSMPConnector`)
-- SensorDataOut should be an output connector of SensorDummy and SensorDataIn should be an input connector of TrafficUpdateStepper. Their kind is specified as a connector attribute in the ssd file.
-- both connectors are connected by the connection depicted with '*' in the figure.
-
-The OSI connector SensorDataOut will propagate its SensorData to the other connector SensorDataIn.
-Each System can have connections, which can connect connectors of two different elements.
-Hence, each Connection is just a tuple of : (elementStartName, startConnectorName) -> (elementEndName, endConnectorName)
-
-    .. note::
-        While OSI Connectors are abstracted as singular units in the figure, they appear as triple in the ssd. files.
-        Hence they require three connections in the ssd. file as well
-
-Example Connection between two components within the SSP (Connection '*')
-    .. literalinclude:: /../../../repo/sim/contrib/ssp/ConnectionTest/OSMPConnectionTest.ssd
-        :language: xml
-        :start-at: <!-- DummySensor <-> TrafficStepper -->
-        :end-at: suppressUnitConversion="false"/>
-
-Example Connection from outside the system(e.g. openPASS or another system) to a component in the system (Connection '**')
-    .. literalinclude:: /../../../repo/sim/contrib/ssp/ConnectionTest/OSMPConnectionTest.ssd
-        :language: xml
-        :start-at: <!-- System <-> TrafficStepper -->
-        :end-at: suppressUnitConversion="false"/>
-
-.. _ssp_connections:
-
-Notice that the connectors SensorDataIn, SensorDataOut and TrafficUpdate belong to their Components.
-In the case of OSMPConnection, we are interested in the TrafficUpdate OSI message as output of the whole SSP.
-Therefore, it needs a connection outwards.
-This connection is represented by the connection '**' in the figure. As you can see in the figure above, the second connection
-connects connector TrafficUpdateOut with the GroupConnector systemOutput. To make the connection work, the following is necessary:
-- TrafficUpdateOut has to be a OSI connector (see section :ref:`SSP_OSMPConnector`)
-- TrafficUpdateOut should be an output connector of TrafficUpdate and there must be three output connectors at the system OSMPConnection. These mirror the names of the three connectors forming the OSI connector on TrafficUpdateStepper.
-- Both connectors are connected by a connection depicted with ** in the figure.
-
-.. note::
-   For the connectors of system level, the most minimal connectors are necessary.
-   These only require the attribute name that mirrors the name of the connectors forming the OSI Connector.
-
-If all conditions are met, the output connector is emplaced in the GroupConnector systemOutput.
-In this example there are no input connectors which are accessible form outside.
-
-.. note::
-   Again TrafficUpdateOut makes up a pair of three connectors in the .ssd files. Notice that, if connectors inside sub elements
-   are only accessible from outside by well defined connections.
-
-Let's see how these outside accessible connectors are utilized by |op| in the next section.
-
-
-SSP and |op|
-~~~~~~~~~~~~
-
-From |op|, the Algorithm SspWrapper receives three events: UpdateInput, UpdateOutput and Trigger.
-For each of these events, the SSP Wrapper implementation handles them by creating Visitors following the Visitor software pattern.
-These Visitors visiting Elements, and allow the Elements to implement the behaviour for each visitor based on if the element is a System or a Component.
-
-In general, we have two types of Visitors: ConnectorVisitors and ElementVisitors.
-In the following figure, you can see how the Visitors traverse through our OSMPConnectionExample
-
-.. _SSP_ConnectionTestDetailwithOpenPass:
-.. figure:: ./draw.io/[I4]OSMPConnectionTestDetailwithOpenPass.png
-
-   Components and channel communication
-
-Trigger is an event that manifests as ElementVisitor in the Algorithm SSP Wrapper.
-Each Element in the root System is visited by the TriggerVisitor. A system accepts the Visitor by passing it to further subsystems
-and by creating a queue of FMUComponents that are stored inside the system's elements array.
-Each component has a priority which is used to order the queue.
-Then, the queue is processed and Trigger is called on the Algorithm_FmuWrapper instances which are stored inside the FMUComponents.
-After each Trigger, all output Connectors are visited by the PropagateDataVisitor, which propagates OSI messages from one Connector to the next.
-
-UpdateInput and UpdateOutput are ConnectorVisitors. For each System in the root system, they visit the SystemConnectors
-systemInput and systemOutput. GroupConnectors can be connected to other connectors (see :ref:`SSP Connections <ssp_connections>`).
-Their job is to delegate ConnectorVisitors to their connected counterparts.
-The UpdateInputVisitor and UpdateOutputVisitor follow the GroupConnectors systemInput/systemOutput down to it's OSI Connectors.
-Once these Visitors visit a OSIConnector, they can perform UpdateInput and UpdateOutput, if the OSI Connector is a connector of a FMUComponent.
-
-.. Note::
-   UpdateInput and UpdateOutput handling is still experimental. Since we need to decide to continue in calling UpdateInput/UpdateOutput on the FMU,
-   or to refactor OSMPFmuHandler.
-
-At the beginning of the simulation, the Init Visitor is a unique ElementVisitor, which will traverse through the System and trigger on every FMU the init procedure.
-
-.. _ssp_output:
-
-Limits
-------
-
-The current implementation of SSP in the SSP Wrapper is not a full implementation of the SSP Standard
-but rather a solution to connect more then one FMUs together.
-Currently, these SSP features are not part of Algorithm SspWrapper :
-
-- The standard allows usage of ids that can be used to refer any BaseElement in SSP
-- Other annotations besides OSMP Connectors and the component priority are ignored
-- Top Level meta data is not parsed
-- units and transformation between units are not supported
-- XML Element Choice : "Transformation Choice" as GType choice (for Connections) is not supported
-- SSP as component of Systems is not implemented
-- ParameterMapping (SSM) for automatic unit-mapping and name transformations in parameter binding is not implemented
-- Signal directories (SSB) as element of systems for cross hierarchical signal pools (e.g for buses) (and Signal Directory Reference) are not implemented
-- Default Experiment (with startTime and StopTime) is not used and ignored, the experiment control comes through |op| events
-- Connectors of type string and binary data are not supported
-
-Outputs
--------
-
-For debugging purposes we allow to write out intermediate results during Simulation.
-
-FolderStructure
-~~~~~~~~~~~~~~~
-The following folder structure shows the output files of our example.
-
-    ::
-
-         ..\results
-         ├── ssp
-         │  ├── Agent0xxx
-         │  │   ├──OsmpConnectionTest
-         │  │   │   ├── DummySensor
-         │  │   │   │  ├── JsonFiles
-         │  │   │   │  └── BinaryTraceFiles
-         │  │   │   ├── TrafficUpdateStepper
-         │  │   │   │   ├── JsonFiles
-         │  │   │   │   └── BinaryTraceFiles
-         │  │   │   └──
-         │  │   └──
-         │  └──
-         └──
-
-In the folder structure above:
-    - ``ssp`` is always the root of the output structure
-    - ``Agent0xxx``: the output is grouped by the agent who produced it (Agent0 -> Agent0000, Agent1 -> Agent0001)
-    - the output is grouped by its producing System name
-    - Further, the output is grouped by Components
-    - There are two different possible output files: Json and BinaryTrace
-
-Json files for
-- For every timestep a json file containing the connector's OSI message will be created
-
-BinaryTrace files for
-- Serialized OSI message as string from a specified connector
-
-
-WriteMessageParameters
-~~~~~~~~~~~~~~~~~~~~~~
-
-We can specify for each component if json and/or binary traces are written to a file by using the parameter set
-"WriteMessageParameters". The following shows an example:
-
-    .. literalinclude:: /../../../repo/sim/contrib/ssp/ConnectionTest/OSMPConnectionTest.ssd
-        :language: xml
-        :start-at: <ssv:ParameterSet version="1.0" name="WriteMessageParameters">
-        :end-at: </ssv:ParameterSet>
-
-How to read these parameters:
-- WriteJson_SensorData: We write json outputs for the connector triple "OSMPSensorDataOut"
-- WriteTrace_SensorData: We write binary traces for the connector triple "OSMPSensorDataOut"
+..
+  *******************************************************************************
+  Copyright (c) 2022-2024 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
+  http://www.eclipse.org/legal/epl-2.0.
+
+  SPDX-License-Identifier: EPL-2.0
+  *******************************************************************************
+
+.. _ssp:
+
+System Structure and Parameterization (SSP)
+===========================================
+
+System Structure and Parameterization (SSP) is a tool independent standard to define
+complete systems consisting of one or more FMUs
+(see Functional-Mockup-Interface [LINK: https://fmi-standard.org/])
+including its parameterization that can be transferred between simulation tools.
+Official content is available under: https://ssp-standard.org/ .
+
+In |op| we use SSP to connect FMUs with each other,
+especially those which need communication during one simulation time step.
+The whole SSP is appended as vehicle component.
+
+.. _ssp_input:
+
+Inputs / SSP Structure
+----------------------
+The following image displays the example ConnectionTest.ssp. This SSP contains one root SSD-System,
+the subsystem OSMPConnectionTest and two SSD-Components, that are connected with each other.
+
+.. _OsmpConnectionTest_Visual:
+.. figure:: ./draw.io/[B2]OsmpConnectionTest_Visual.png
+
+
+FMUs are wrapped within a SSD-Component. The example consists of two FMU's "DummySensor" and "OSMPTrafficUpdateStepper".
+To allow these two to exchange data within one timestep, they need a connection, which consists of two connectors.
+Either a connector gets data from outside of the SSP-System, for instance |op|.
+Or two connectors which are directly connected within the SSP-System.
+These connections are only one directional.
+The example shows a common usecase of SSP: A sensor Component transfers SensorData to the TrafficUpdateStepper,
+which writes a DynamicSignal. This signal leaves this SSP to animate the agent.
+
+
+System Structure Package SSP
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+On the filesystem, a SSP is a zip file, which includes one or more .ssd files together with related resources.
+
+In our example the unpacked zip looks like this:
+
+      ::
+
+         ..\ConnectionTest.ssp
+         ├── SystemStructure.ssd (mandatory !)
+         ├── OSMPConnectionTest.ssd
+         ├── ParameterValues.ssv
+         ├── Resources
+         │  ├── DummySensor.fmu
+         │  └── OsmpTrafficUpdateStepper.fmu
+
+      In the folder structure above:
+
+      - ``SystemStructure.ssd`` can be perceived as the root of the SSP. It contains the root system.
+      - ``OSMPConnectionTest.ssd`` A system within the root system
+      - ``ParameterValues.ssv`` Alternative way to describe the values of SSP parameters (:ref:`ref <ssvFiles>`)
+      - ``Resources`` The Resources folder is for additional data, like FMUs.
+
+
+Resources can be referenced FMUs.
+Any SSP specific files should be located in the zip root directory.
+SSP files are referenced from the System Structure Description file(s) through relative URIs (cf. RFC 3986).
+SystemStructure.ssd is the root file of the zip archive. System structure definitions (\*.ssd) describe entities called Systems.
+Additional entries may include Parameter Values (\*.ssv), Parameter Mappings (\*.ssm) or Signal Dictionaries (\*.ssb).
+
+**System Structure description (.ssd files)**
+
+The file "SystemStructure.ssd" is mandatory because it defines to root of the SSP.
+Other (\*).ssd can be used to make use of more then one system, or for organisation purpose.
+Subsystems that are hierarchically within the root system should be listed in that SSD.
+Subsystems which are only present as (\*).ssd but are not connected with the root. More on that in section :ref:`ssd`.
+
+.. _ssvFiles:
+
+**System Structure Parameter Values (.ssv files)**
+
+Not mandatory. Is supported in the current version of |op|.
+Parameter Values describes a collection of ssd:ParameterSet
+A ParameterSet is a collection of parameters grouped under a name.
+Parameter Values can be added in two ways:
+
+1. directly define it within the .ssd file in ssd:ParameterValues
+2. create a .ssv file and reference it within the .ssd under ssd:ParameterValues
+
+
+**System Structure Parameter Mapping (.ssm files)**
+
+Not mandatory. Not yet implemented in current |op| version.
+A parameter mapping describes a mapping between parameters.
+A parameter mapping can be added in two ways:
+
+1. directly define it within the .ssd file in one ssd:ParameterMapping
+2. create a .ssm file and reference it within the .ssd in one ssd:ParameterMappings
+
+
+**System Structure Signal Dictionaries (.ssb files)**
+
+Is not mandatory. Not yet implemented in current |op| version.
+A signal dictionary is a collection of signals.
+There are two ways to define a signal dictionary:
+
+1. directly define it within the .ssd file in ssd:ParameterMappings
+2. create a .ssb file and reference it within the .ssd in ssd:ParameterMappings
+
+.. _ssd:
+
+SSD - System Structure Definition
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+The following example shows the definition of a system "OSMPConnectionTest".
+
+.. _OsmpConnectionTest_Schema:
+
+.. figure:: ./draw.io/OsmpConnectionTest.ssd_Schemaansicht.png
+
+   Schematic representation of OSMPConnection.ssd
+
+In the root System, OSMPConnectionTest is defined as an Element.
+So this System is a subsystem of the root System.
+The file "OSMPConnectionTest.ssd" defines the subsystem, which consists of two Components "DummySensor" and "TrafficUpdateStepper".
+Notice, how Components are listed as Elements. In general, Elements of a System can either be a System or a Component.
+You can think of it as a filestructure, in our example we keep it simple with just two Components in the Elements of OSMPConnectionTest.
+
+**In General**
+
+Each System consists of zero to many Elements and zero to many Connections
+A Element can either be a Component, a SignalDictionaryReference or a System (Subsystem).
+Each Element can have zero to many connectors, which are used to define Connections.
+Connectors can interface with the FMU model description.
+A Connector has a certain type (data type), and can have zero two many Annotations
+An Annotation is used to give additional information for any model entity, which we are using in |op| to make OSMPConnectors (see :ref:`SSP_OSMPConnector`)
+Furthermore each Element has zero to many ParameterBindings.
+The parametrization of the FMUs is handled with a ParameterSet.
+
+**OSMP Connectors**
+
+By using an Annotation, we can combine three Connectors to be able to handle OSI messages. Notice, that Annotations
+are a valid way to extend the standard with features, which are not part of SSP yet.
+
+    .. literalinclude:: /../../../repo/sim/contrib/ssp/ConnectionTest/OSMPConnectionTest.ssd
+        :language: xml
+        :start-at: <ssd:Annotations>
+        :end-at: </ssd:Annotations>
+
+Three Connectors combine with an Annotation of type "net.psmf.osmp", by having the same name inside the osmp:osmp-binary-variable.
+osmp:osmp-binary-variable comes always in the same shape.
+Each triple of connectors must have the three following roles: base.lo, base.hi and size.
+base.lo and base.hi make a memory pointer, where the OSI message is allocated during simulation.
+size contains the memory size of the message. In combination of the three connectors the message can be passed between components
+Also, notice how mime-type contains crucial information. Type specifies the type of the OSI message. Version is specified as well.
+
+**FMU Parameters**
+
+The FMU inside the ssd component needs parametrization as well. These are the same parameters as the parameters of the Algorithm_FmuWrapper.
+To parametrize the FMU inside ssd, we define a ParameterSet inside the ParameterBindings. Important is the name attribute of the ParameterSet (name="FMUParameters"):
+
+    .. literalinclude:: /../../../repo/sim/contrib/ssp/ConnectionTest/OSMPConnectionTest.ssd
+        :language: xml
+        :start-at: <ssv:ParameterSet version="1.0" name="FmuParameters">
+        :end-at: </ssv:ParameterSet>
+
+Each ssv::parameter has a sub object of the parameter type, with the attribute value containing the actual value.
+SSP support the following types: Real (float value), Integer, Boolean, String, Enumeration and Binary.
+
+**PriorityParameter**
+The priority of the component is set through an annotation on component level
+With a higher priority, a FMU component triggers earlier then others.
+
+
+    .. literalinclude:: /../../../repo/sim/contrib/ssp/ConnectionTest/OSMPConnectionTest.ssd
+        :language: xml
+        :start-at: <ssc:Annotation type="de.setlevel.ssp.scheduling">
+        :end-at: </ssc:Annotation>
+
+
+.. _ssp_implementation:
+
+Implementation
+--------------
+
+Parsing
+~~~~~~~
+
+The first implementation detail of Algorithm SSP Wrapper, a selected SSP is loaded as vehicle component.
+The following picture illustrates how files are parsed and interpreted in Algorithm_SspWrapper.
+
+.. _SSP_Parsing:
+.. figure:: ./draw.io/[I1]Parsing.png
+
+Algorithm_SspWrapper is initialized by parsing one .ssp. The zip folded contents of the .ssp is unpacked to a temporary folder
+and the contents are scanned for ssd files, such as the mandatory "SystemStructure.ssd".
+The System described by "SystemStructure.ssd" makes the root system,
+any other fully parsed system is included as subsystem of that root system.
+
+.. note::
+   One parsed ssd. System includes GroupConnectors, which contain all outer accessible connectors.
+   A Connector is only visible from outside if it is connected with a connection. More on that in section :ref:`SSP_ObjectStructure`
+
+.. note::
+   Should there be systems which are described by .ssd files, they must be in the elements array of the root system,
+   or in any other system related to the root system. Is a .ssd not in any relation to the root, it is ignored!
+
+The process of interpreting the connections is part of the system creation.
+Another feature of system creation is the formation of OSI Connectors we discuss in the next chapter:
+
+.. _SSP_OSMPConnector:
+
+OSI Connectors
+~~~~~~~~~~~~~~
+
+The next figure describes how triples of connectors form a OSI Connector.
+
+.. figure:: ./draw.io/[I2]OsmpConnector.png
+
+OSI connectors come in triples since OSI messages are represented with 3 integers.
+The integers base.lo and base.hi specify the memory location of the OSI message. base.size describes the buffer length.
+Through the osmp annotation, a triple of connectors are joined together.
+In the figures of this documentation, OSI Connectors are signaled by the purple color.
+
+.. note::
+   The name attribute in the annotation joins the triple, whereas the connector name is relevant for the ssd system.
+
+.. note::
+   To connect OSI connectors, they require 3 connections in the .ssd. Once the file is parsed,
+   the 3 connections forms a complete connection in the system.
+
+
+OSI connectors are responsible for writing messages. Should the OSI message of a OSI connector change,
+and the connector parametrized to write output, it writes the new message as soon as it changes.
+While json messages can be written to file directly, binary traces contain the serialized messages of much timesteps in one file.
+Because of that, osi messages append binary traces to message containers in their SSP system. It's contents are written
+to file as soon the system destructs.
+
+
+.. _SSP_ObjectStructure:
+
+Object Structure
+~~~~~~~~~~~~~~~~
+
+The implementation of SSP follows the relation of objects which the standard imposes.
+Mainly the SSP contains at least one System. Each System contains Elements and Connectors.
+Since Systems are Elements, Systems can include other Systems as subelements.
+
+Another type of Elements are Components. One common used Component is the FMUComponent.
+It is good practice that FMUComponents don't contain further subelements.
+
+The System originating from the mandatory SystemStructure.ssd makes the root System object,
+containing all of it's subsystems.
+
+The Following picture shows ConnectionTest.ssp with two connected FMU's.
+
+.. _SSP_ConnectionTestDetail:
+.. figure:: ./draw.io/[I3]OSMPConnectionTestDetail.png
+
+After parsing, Algorithm_SspWrapper holds only one SSP System, which is the root System defined by the systemstructure.ssd
+In our example, we have one subsystem: OSMPConnection, which is a Element of the root System.
+Within the Elements of the System OSMPConnection are two components, which are of the type FMUComponent.
+Each of these Components hold an instance of Algorithm_FmuWrapper.
+The two FMUs are connected by two OSI Connectors. To establish a connection, the following requirements need to be fulfilled:
+
+- SensorDataOut has to be a OSI connector (see section :ref:`SSP_OSMPConnector`)
+- SensorDataOut should be an output connector of SensorDummy and SensorDataIn should be an input connector of TrafficUpdateStepper. Their kind is specified as a connector attribute in the ssd file.
+- both connectors are connected by the connection depicted with '*' in the figure.
+
+The OSI connector SensorDataOut will propagate its SensorData to the other connector SensorDataIn.
+Each System can have connections, which can connect connectors of two different elements.
+Hence, each Connection is just a tuple of : (elementStartName, startConnectorName) -> (elementEndName, endConnectorName)
+
+    .. note::
+        While OSI Connectors are abstracted as singular units in the figure, they appear as triple in the ssd. files.
+        Hence they require three connections in the ssd. file as well
+
+Example Connection between two components within the SSP (Connection '*')
+    .. literalinclude:: /../../../repo/sim/contrib/ssp/ConnectionTest/OSMPConnectionTest.ssd
+        :language: xml
+        :start-at: <!-- DummySensor <-> TrafficStepper -->
+        :end-at: suppressUnitConversion="false"/>
+
+Example Connection from outside the system(e.g. openPASS or another system) to a component in the system (Connection '**')
+    .. literalinclude:: /../../../repo/sim/contrib/ssp/ConnectionTest/OSMPConnectionTest.ssd
+        :language: xml
+        :start-at: <!-- System <-> TrafficStepper -->
+        :end-at: suppressUnitConversion="false"/>
+
+.. _ssp_connections:
+
+Notice that the connectors SensorDataIn, SensorDataOut and TrafficUpdate belong to their Components.
+In the case of OSMPConnection, we are interested in the TrafficUpdate OSI message as output of the whole SSP.
+Therefore, it needs a connection outwards.
+This connection is represented by the connection '**' in the figure. As you can see in the figure above, the second connection
+connects connector TrafficUpdateOut with the GroupConnector systemOutput. To make the connection work, the following is necessary:
+- TrafficUpdateOut has to be a OSI connector (see section :ref:`SSP_OSMPConnector`)
+- TrafficUpdateOut should be an output connector of TrafficUpdate and there must be three output connectors at the system OSMPConnection. These mirror the names of the three connectors forming the OSI connector on TrafficUpdateStepper.
+- Both connectors are connected by a connection depicted with ** in the figure.
+
+.. note::
+   For the connectors of system level, the most minimal connectors are necessary.
+   These only require the attribute name that mirrors the name of the connectors forming the OSI Connector.
+
+If all conditions are met, the output connector is emplaced in the GroupConnector systemOutput.
+In this example there are no input connectors which are accessible form outside.
+
+.. note::
+   Again TrafficUpdateOut makes up a pair of three connectors in the .ssd files. Notice that, if connectors inside sub elements
+   are only accessible from outside by well defined connections.
+
+Let's see how these outside accessible connectors are utilized by |op| in the next section.
+
+
+SSP and |op|
+~~~~~~~~~~~~
+
+From |op|, the Algorithm SspWrapper receives three events: UpdateInput, UpdateOutput and Trigger.
+For each of these events, the SSP Wrapper implementation handles them by creating Visitors following the Visitor software pattern.
+These Visitors visiting Elements, and allow the Elements to implement the behaviour for each visitor based on if the element is a System or a Component.
+
+In general, we have two types of Visitors: ConnectorVisitors and ElementVisitors.
+In the following figure, you can see how the Visitors traverse through our OSMPConnectionExample
+
+.. _SSP_ConnectionTestDetailwithOpenPass:
+.. figure:: ./draw.io/[I4]OSMPConnectionTestDetailwithOpenPass.png
+
+   Components and channel communication
+
+Trigger is an event that manifests as ElementVisitor in the Algorithm SSP Wrapper.
+Each Element in the root System is visited by the TriggerVisitor. A system accepts the Visitor by passing it to further subsystems
+and by creating a queue of FMUComponents that are stored inside the system's elements array.
+Each component has a priority which is used to order the queue.
+Then, the queue is processed and Trigger is called on the Algorithm_FmuWrapper instances which are stored inside the FMUComponents.
+After each Trigger, all output Connectors are visited by the PropagateDataVisitor, which propagates OSI messages from one Connector to the next.
+
+UpdateInput and UpdateOutput are ConnectorVisitors. For each System in the root system, they visit the SystemConnectors
+systemInput and systemOutput. GroupConnectors can be connected to other connectors (see :ref:`SSP Connections <ssp_connections>`).
+Their job is to delegate ConnectorVisitors to their connected counterparts.
+The UpdateInputVisitor and UpdateOutputVisitor follow the GroupConnectors systemInput/systemOutput down to it's OSI Connectors.
+Once these Visitors visit a OSIConnector, they can perform UpdateInput and UpdateOutput, if the OSI Connector is a connector of a FMUComponent.
+
+.. Note::
+   UpdateInput and UpdateOutput handling is still experimental. Since we need to decide to continue in calling UpdateInput/UpdateOutput on the FMU,
+   or to refactor OSMPFmuHandler.
+
+At the beginning of the simulation, the Init Visitor is a unique ElementVisitor, which will traverse through the System and trigger on every FMU the init procedure.
+
+.. _ssp_output:
+
+Limits
+------
+
+The current implementation of SSP in the SSP Wrapper is not a full implementation of the SSP Standard
+but rather a solution to connect more then one FMUs together.
+Currently, these SSP features are not part of Algorithm SspWrapper :
+
+- The standard allows usage of ids that can be used to refer any BaseElement in SSP
+- Other annotations besides OSMP Connectors and the component priority are ignored
+- Top Level meta data is not parsed
+- units and transformation between units are not supported
+- XML Element Choice : "Transformation Choice" as GType choice (for Connections) is not supported
+- SSP as component of Systems is not implemented
+- ParameterMapping (SSM) for automatic unit-mapping and name transformations in parameter binding is not implemented
+- Signal directories (SSB) as element of systems for cross hierarchical signal pools (e.g for buses) (and Signal Directory Reference) are not implemented
+- Default Experiment (with startTime and StopTime) is not used and ignored, the experiment control comes through |op| events
+- Connectors of type string and binary data are not supported
+
+Outputs
+-------
+
+For debugging purposes we allow to write out intermediate results during Simulation.
+
+FolderStructure
+~~~~~~~~~~~~~~~
+The following folder structure shows the output files of our example.
+
+    ::
+
+         ..\results
+         ├── ssp
+         │  ├── Agent0xxx
+         │  │   ├──OsmpConnectionTest
+         │  │   │   ├── DummySensor
+         │  │   │   │  ├── JsonFiles
+         │  │   │   │  └── BinaryTraceFiles
+         │  │   │   ├── TrafficUpdateStepper
+         │  │   │   │   ├── JsonFiles
+         │  │   │   │   └── BinaryTraceFiles
+         │  │   │   └──
+         │  │   └──
+         │  └──
+         └──
+
+In the folder structure above:
+    - ``ssp`` is always the root of the output structure
+    - ``Agent0xxx``: the output is grouped by the agent who produced it (Agent0 -> Agent0000, Agent1 -> Agent0001)
+    - the output is grouped by its producing System name
+    - Further, the output is grouped by Components
+    - There are two different possible output files: Json and BinaryTrace
+
+Json files for
+- For every timestep a json file containing the connector's OSI message will be created
+
+BinaryTrace files for
+- Serialized OSI message as string from a specified connector
+
+
+WriteMessageParameters
+~~~~~~~~~~~~~~~~~~~~~~
+
+We can specify for each component if json and/or binary traces are written to a file by using the parameter set
+"WriteMessageParameters". The following shows an example:
+
+    .. literalinclude:: /../../../repo/sim/contrib/ssp/ConnectionTest/OSMPConnectionTest.ssd
+        :language: xml
+        :start-at: <ssv:ParameterSet version="1.0" name="WriteMessageParameters">
+        :end-at: </ssv:ParameterSet>
+
+How to read these parameters:
+- WriteJson_SensorData: We write json outputs for the connector triple "OSMPSensorDataOut"
+- WriteTrace_SensorData: We write binary traces for the connector triple "OSMPSensorDataOut"
diff --git a/content/html/_sources/advanced_topics/simulator/world_osi.rst.txt b/content/html/_sources/advanced_topics/simulator/world_osi.rst.txt
index 07c891992a24c60c346cc275ec5d5176df32fc43..2131ea0bf014883b260f8b8f9e9165659e1a6075 100644
--- a/content/html/_sources/advanced_topics/simulator/world_osi.rst.txt
+++ b/content/html/_sources/advanced_topics/simulator/world_osi.rst.txt
@@ -1,370 +1,370 @@
-..
-  *******************************************************************************
-  Copyright (c) 2021 in-tech GmbH
-                2023 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
-  http://www.eclipse.org/legal/epl-2.0.
-
-  SPDX-License-Identifier: EPL-2.0
-  *******************************************************************************
-
-.. _world_osi:
-
-World_OSI
-==========
-
-.. _world_sampling:
-
-Sampling of World Geometries
-----------------------------
-
-.. _OpenDRIVE: https://www.asam.net/standards/detail/opendrive/
-.. _OpenSCENARIO: https://www.asam.net/standards/detail/openscenario/
-.. _open simulation interface: https://github.com/OpenSimulationInterface
-.. _Ramer-Douglas-Peucker algorithm: https://en.wikipedia.org/wiki/Ramer%E2%80%93Douglas%E2%80%93Peucker_algorithm
-
-Roads are described following the `OpenDRIVE`_ specification.
-There the geometry of a road is defined algebraically as lines, clothoids and by means of cubic polynomials, whereby primarily only one reference line is defined.
-The lanes can be understood as a stack of parallel lanes, which are given by the width and the offset, now in relation to this reference line, which acts as the underlying coordinate system ('s/t' road coordinates with s along the road).
-Here, too, width and offset are defined algebraically, which means that almost any boundary lines can be defined.
-
-When the world is initialized, these boundary definitions (i.e. algebraic geometries) are converted into piecewise linear elements, which is called sampling.
-The road is scanned at a constant interval along 's', which leads to four-sided (quadrangular) sections of the lanes at common 's' coordinates, so-called lane elements (see LaneElement).
-The scanning is carried out at a scanning rate of 10 centimeters with the aim of achieving a total scanning error of less than 5 centimeters, as required by the representation used internally (c.f. `open simulation interface`_).
-Note that this error is only guaranteed if geometries do not exhibit extreme curvatures, i.e. a deviation of more than 5 cm within two sampling points (10 cm along s).
-The scanned points define so-called joints, which contain all scanned points at an 's' coordinate across all lane boundaries of the given road.
-The number of these joints is reduced by a `Ramer-Douglas-Peucker algorithm`_, which ensures that the maximum lateral error of each individual point within a joint is less than 5 cm compared to the originally scanned points.
-Note that (a) the boundary points of geometries are always retained and (b) additional points for lane marking transitions are also retained to ensure the maximum accuracy of these edge cases.
-The lane elements are generated with two successive connections, which are ultimately used in the localization at runtime (see :ref:`world_localization`).
-
-Internally, each lane element receives a constant direction, which is defined by the direction of the vector spanned between the centers of the corresponding connections.
-Each joint also holds the corresponding curvature of the road, so that the curvature can be interpolated linearly within a lane element along the 's' coordinate.
-
-.. _world_localization:
-
-Localization
-------------
-
-Generally, the position of an agent is stored with respect to :ref:`world coordinates (x,y) <coordinatesystems_world>`.
-As queries on the world operates in :ref:`road coordinates (s,t) <coordinatesystems_road>`, the position of the agent needs to be transformed.
-
-This section describes the translation of coordinates (x,y) of an agent into RoadCoordinate (s,t), whereas the notion of (s,t) comes from the `OpenDRIVE` _ standard.
-
-Basics
-~~~~~~
-
-The following image depics the basic principes of the localization which is rooted on the specifics of the OSI World Layer (aka OWL).
-
-.. figure:: ./images/LocalizationBasics.svg
-
-   Localization Basics
-
-Given is a point P in cartesian coordinates (x/y).
-The task is to assign the point to a lane, defined by a general road geometry and calculate the transformed Point P' in road coordinates (s/t).
-
-Road geometry (based on `OpenDRIVE`_):
-
- - A road consists of several sections
- - Each section consists of several lanes
- - Within a section, the number of lanes is constant
- - Lanes can have one predecessor and one successor
- - The road follows a reference line, which is the reference for the *s*\ -coordinate.
-   The *t*\ -coordinate is perpendicular to this line.
-
-OWL specifics:
-
- - All lanes are sampled, generating a stream of generic quadrilaterals (LaneGeometryElements).
- - Within a section, the number of quads per lane is equal, and all lanes have the same length in s.
- - This is realized by a variable sampling width, determined by a constant sampling width along the longest arc.
- - Consequently, points perpendicular to the reference line (*t*\ -axis) have the same *s*\ -coordinate.
-
-Note, that the final *t*\ -coordinate is calculated with respect to a virtual reference line for each lane.
-This means, that points on the center of a lane have *t*\ -coordinate of 0.
-
-Localization Sequence
-~~~~~~~~~~~~~~~~~~~~~
-
-.. _r-tree: https://www.boost.org/doc/libs/1_65_0/libs/geometry/doc/html/geometry/reference/spatial_indexes/boost__geometry__index__rtree.html
-
-The following outlines the localization process implemented in openPASS, using a specific example of a bus changing lanes on a widening road.
-
-.. figure:: ./images/localization_with_bus_step0.svg
-
-   Bus changing lanes on a widening road
-
-First, as described above LaneGeometryElements are generated for the road, here shown as a simplified red grid:
-
-.. figure:: ./images/localization_with_bus_step1.svg
-
-   LaneGeometryElements and bounding box of the bus
-
-All geometries are internally managed by an `r-tree`_, used to check for overlaps between the bounding box of the bus and all stored objects in the tree, making checks for overlap extremely fast.
-However, the r-tree comes with the restriction that all stored objects are stored by boxes orthogonal to ``x`` and ``y`` (= maximum Cartesian coordinates of the boundary points).
-
-.. figure:: ./images/localization_with_bus_step2.svg
-
-   r-Tree representation of the Bus and a single LaneGeometryElement
-
-.. figure:: ./images/localization_with_bus_step3.svg
-
-   r-Tree representation of all participating geometries
-
-This introduces additional overlaps, resulting in false positives where the bus is located on segments it does not actually touch.
-
-.. figure:: ./images/localization_with_bus_step4.svg
-
-   Found overlaps with false positives
-
-This is justified because the subsequent filtering can be carried out quickly since the possible geometries allow a simplified intersection check.
-Finally, for each point of a non-empty intersection polygon, the ``s`` and ``t`` coordinates are calculated and aggregated with respect to the underlying lane.
-For each touched lane, the minimum and maximum ``s`` coordinate, and the minimum and maximum lane remainder (delta t) is stored.
-
-.. figure:: ./images/localization_with_bus_step5.svg
-
-   Example for the calculation of s_min, s_max and delta_right
-
-In addition, if the reference point (i.e. the middle of the rear axle) or the mainLaneLocator (i.e. the middle of the agent front) are located within a LaneGeometryElement, ``s/t/yaw`` is calculated of each point, respectively.
-Further aggregation is done with respect to each road by calculating the minimum and maximum ``s`` for each road the agent intersects with.
-For the current route of an agent, the following information is stored: ``s/t/yaw`` of the reference point and mainLaneLocator on the route (roads along a route are not allowed to intersect), distance from the lane boundary to the left and right for the road(s) along the route, and OpenDRIVE Ids of the lanes on the route that the agent touches.
-The results also holds information whether both the reference point and the mainLaneLocator lay on the route.
-In the current implementation, these points must be located - otherwise the agent is despawened, as the agent cannot execute distance queries without a relation to its current route.
-
-
-.. _world_trafficsigns:
-
-Traffic Signs, Road Markings and TrafficLights
-----------------------------------------------
-
-The world currently supports a variety of traffic signs, road markings and traffic lights.
-All of these are defined in `OpenDRIVE`_ as "RoadSignal".
-At the moment it can interpret traffic signs and road markings according to the German regulations, US regulations, and China regulations and traffic lights according the the `OpenDRIVE`_ appendix.
-Traffic signs can contain optional supplementary traffic signs. Supplementary signs are dependent on a main traffic sign and contain additional information.
-
-For Germany the types are based on the StVO (see: https://www.bast.de/BASt_2017/DE/Verkehrstechnik/Fachthemen/v1-verkehrszeichen/vz-download.html).
-The following traffic signs are supported for Germany:
-
-.. table::
-   :class: tight-table
-
-   ============================================= ============================================================================= ========= =========== =================================================================================
-   TrafficSign                                   Image                                                                         StVo Type Subtype     Value and Units
-   ============================================= ============================================================================= ========= =========== =================================================================================
-   GiveWay                                       .. figure:: ./images/DE/GiveWay_205.svg                                       205
-                                                   :width: 400
-   Stop                                          .. figure:: ./images/DE/Stop_206.svg                                          206
-                                                   :width: 400
-   DoNotEnter                                    .. figure:: ./images/DE/DoNotEnter_267.svg                                    267
-                                                   :width: 400
-   EnvironmentalZoneBegin                        .. figure:: ./images/DE/EnvironmentalZoneBegin_270.1.svg                      270.1
-                                                   :width: 400
-   EnvironmentalZoneEnd                          .. figure:: ./images/DE/EnvironmentalZoneEnd_270.2.svg                        270.2
-                                                   :width: 400
-   MaximumSpeedLimit                             .. figure:: ./images/DE/MaximumSpeedLimit_274-5.svg                           274       X           The subtype "X" is used to define the speedlimit in km/h.
-                                                   :width: 400                                                                                       Afterwards the world converts it to m/s.
-                                                 .. figure:: ./images/DE/MaximumSpeedLimit_274-130.svg
-                                                   :width: 400
-   SpeedLimitZoneBegin                           .. figure:: ./images/DE/SpeedLimitZoneBegin_274.1.svg                         274.1     -/20        The subtype is used to define the speedlimit in km/h.
-                                                   :width: 400                                                                                       Afterwards the world converts it to m/s.
-                                                 .. figure:: ./images/DE/SpeedLimitZoneBegin_274.1-20.svg                                            No subtype = 30km/h, 20 = 20km/h
-                                                   :width: 400
-   SpeedLimitZoneEnd                             .. figure:: ./images/DE/SpeedLimitZoneEnd_274.2.svg                           274.2     -/20        The subtype is used to define the speedlimit in km/h.
-                                                   :width: 400                                                                                       Afterwards the world converts it to m/s.
-                                                 .. figure:: ./images/DE/SpeedLimitZoneEnd_274.2-20.svg                                              No subtype = 30km/h, 20 = 20km/h
-                                                   :width: 400
-   MinimumSpeedLimit                             .. figure:: ./images/DE/MinimumSpeedLimit_275.svg                             275       X           The subtype is used to define the speedlimit in km/h.
-                                                   :width: 400                                                                                       Afterwards the world converts it to m/s.
-   OvertakingBanBegin                            .. figure:: ./images/DE/OvertakingBanBegin_276.svg                            276
-                                                   :width: 400
-   OvertakingBanTrucksBegin                      .. figure:: ./images/DE/OvertakingBanTrucksBegin_277.svg                      277
-                                                   :width: 400
-   EndOfMaximumSpeedLimit                        .. figure:: ./images/DE/EndOfMaximumSpeedLimit_278-5.svg                      278       X           The subtype "X" is used to define the speedlimit in km/h.
-                                                   :width: 400                                                                                       Afterwards the world converts it to m/s.
-                                                 .. figure:: ./images/DE/EndOfMaximumSpeedLimit_278-130.svg
-                                                   :width: 400
-   EndOfMinimumSpeedLimit                        .. figure:: ./images/DE/EndOfMinimumSpeedLimit_279.svg                        279       X           The subtype "X" is used to define the speedlimit in km/h.
-                                                   :width: 400                                                                                       Afterwards the world converts it to m/s.
-   OvertakingBanEnd                              .. figure:: ./images/DE/OvertakingBanEnd_280.svg                              280
-                                                   :width: 400
-   OvertakingBanTrucksEnd                        .. figure:: ./images/DE/OvertakingBanTrucksEnd_281.svg                        281
-                                                   :width: 400
-   EndOffAllSpeedLimitsAndOvertakingRestrictions .. figure:: ./images/DE/EndOffAllSpeedLimitsAndOvertakingRestrictions_282.svg 282
-                                                   :width: 400
-   RightOfWayNextIntersection                    .. figure:: ./images/DE/RightOfWayNextIntersection_301.svg                    301
-                                                   :width: 400
-   RightOfWayBegin                               .. figure:: ./images/DE/RightOfWayBegin_306.svg                               306
-                                                   :width: 400
-   RightOfWayEnd                                 .. figure:: ./images/DE/RightOfWayEnd_307.svg                                 307
-                                                   :width: 400
-   TownBegin                                     .. figure:: ./images/DE/TownBegin_310.svg                                     310                   This sign contains a text describing the name of the town
-                                                   :width: 400
-   TownEnd                                       .. figure:: ./images/DE/TownEnd_311.svg                                       311                   This sign contains a text describing the name of the town
-                                                   :width: 400
-   TrafficCalmedDistrictBegin                    .. figure:: ./images/DE/TrafficCalmedDistrictBegin_325.1.svg                  325.1
-                                                   :width: 400
-   TrafficCalmedDistrictEnd                      .. figure:: ./images/DE/TrafficCalmedDistrictEnd_325.2.svg                    325.2
-                                                   :width: 400
-   HighWayBegin                                  .. figure:: ./images/DE/HighWayBegin_330.1.svg                                330.1
-                                                   :width: 400
-   HighWayEnd                                    .. figure:: ./images/DE/HighWayEnd_330.2.svg                                  330.2
-                                                   :width: 400
-   HighWayExit                                   .. figure:: ./images/DE/HighWayExit_333.svg                                   333
-                                                   :width: 400
-   AnnounceHighwayExit                           .. figure:: ./images/DE/AnnounceHighwayExit_448.svg                           448
-                                                   :width: 400
-   PreannounceHighwayExitDirections              .. figure:: ./images/DE/AnnounceHighwayExit_449.svg                           449
-                                                   :width: 400
-   HighwayExitPole                               .. figure:: ./images/DE/HighwayExitPole_450-50.svg                            450       50/51/52    The subtype describes the distance to the highway exit in m.
-                                                   :width: 400                                                                                       50 = 100m, 51 = 200m, 52 = 300m
-                                                 .. figure:: ./images/DE/HighwayExitPole_450-51.svg
-                                                   :width: 400
-                                                 .. figure:: ./images/DE/HighwayExitPole_450-52.svg
-                                                   :width: 400
-   AnnounceRightLaneEnd                          .. figure:: ./images/DE/AnnounceRightLaneEnd_531-10.svg                       531       10/11/12/13 The subtype describes the number of continuing lanes after the right lane ends.
-                                                   :width: 400                                                                                       10 = 1 lane, 11 = 2 lanes, 12 = 3 lanes, 13 = 4 lanes
-                                                 .. figure:: ./images/DE/AnnounceRightLaneEnd_531-11.svg
-                                                   :width: 400
-                                                 .. figure:: ./images/DE/AnnounceRightLaneEnd_531-12.svg
-                                                   :width: 400
-                                                 .. figure:: ./images/DE/AnnounceRightLaneEnd_531-13.svg
-                                                   :width: 400
-   AnnounceLeftLaneEnd                           .. figure:: ./images/DE/AnnounceLeftLaneEnd_531-20.svg                        531       20/21/22/23 The subtype describes the number of continuing lanes after the left lane ends.
-                                                   :width: 400                                                                                       10 = 1 lane, 11 = 2 lanes, 12 = 3 lanes, 13 = 4 lanes
-                                                 .. figure:: ./images/DE/AnnounceLeftLaneEnd_531-21.svg
-                                                   :width: 400
-                                                 .. figure:: ./images/DE/AnnounceLeftLaneEnd_531-22.svg
-                                                   :width: 400
-                                                 .. figure:: ./images/DE/AnnounceLeftLaneEnd_531-23.svg
-                                                   :width: 400
-   DistanceIndication                            .. figure:: ./images/DE/DistanceIndication_1004-30.svg                        1004      30/31/32    For subtype 30 the value describes the distance in m.
-                                                   :width: 400                                                                                       For subtype 31 the value describes the distance in km.
-                                                 .. figure:: ./images/DE/DistanceIndication_1004-31.svg                                              Subtype 32 has a STOP in 100m.
-                                                   :width: 400
-                                                 .. figure:: ./images/DE/DistanceIndication_1004-32.svg
-                                                   :width: 400
-   ============================================= ============================================================================= ========= =========== =================================================================================
-
-The following road markings are supported for Germany:
-
-.. table::
-   :class: tight-table
-
-   ======================= ================================================== ========= ======= ================
-   RoadMarking             Image                                              StVo Type Subtype Value and Units
-   ======================= ================================================== ========= ======= ================
-   PedestrianCrossing      .. figure:: ./images/DE/PedestrianCrossing_293.svg 293
-                             :width: 400
-   Stop line               .. figure:: ./images/DE/Stop_line_294.svg          294
-                             :width: 400
-   ======================= ================================================== ========= ======= ================
-
-The pedestrian crossing can also be defined in `OpenDRIVE`_ as object with type "crosswalk".
-
-For United States the types are based on the "Manual on Uniform Traffic Control Devices" (see: https://mutcd.fhwa.dot.gov/pdfs/2009r1r2/pdf_index.htm).
-The following traffic signs are supported for United States:
-
-.. table::
-
-   ============================================= ======================================================== ========= ========================================================
-   TrafficSign                                   Image                                                    Type      Value and Units
-   ============================================= ======================================================== ========= ========================================================
-   HighWayExit                                   .. figure:: ./images/US/HighWayExit_E5-1.svg             E5-1
-                                                   :width: 400
-   HighWayExit                                   .. figure:: ./images/US/HighWayExit_E2-5.svg             E2-5
-                                                   :width: 400
-   AnnounceHighwayExit                           .. figure:: ./images/US/AnnounceHighwayExit_E1-2.svg     E1-2
-                                                   :width: 400
-   PreannounceHighwayExit                        .. figure:: ./images/US/PreannounceHighwayExit_E1-2a.svg E1-2a
-                                                   :width: 400
-   Stop                                          .. figure:: ./images/US/Stop_R1-1.svg                    R1-1
-                                                   :width: 400
-   GiveWay                                       .. figure:: ./images/US/GiveWay_R1-2.svg                 R1-2
-                                                   :width: 400
-   MaximumSpeedLimit                             .. figure:: ./images/US/MaximumSpeedLimit_R2-1.svg       R2-1      as defined via the "value" and "unit" attributes
-                                                   :width: 400
-   DoNotPass (OvertakingBan)                     .. figure:: ./images/US/DoNotPass_R4-1.svg               R4-1
-                                                   :width: 400
-   DoNotEnter                                    .. figure:: ./images/US/DoNotEnter_R5-1.svg              R5-1
-                                                   :width: 400
-   RightLaneEnd                                  .. figure:: ./images/US/RightLaneEnd_W4-2R.svg           W4-2R
-                                                   :width: 400
-   LeftLaneEnd                                   .. figure:: ./images/US/LeftLaneEnd_W4-2L.svg             W4-2L
-                                                   :width: 400
-   ============================================= ======================================================== ========= ========================================================
-
-For China the types are based on the https://upload.wikimedia.org/wikipedia/commons/8/8c/China_GB_5768.2-2009.pdf.
-The following traffic signs are supported for China:
-
-.. table::
-
-   ============================================= ======================================================= ============================= =========== ================================================================================
-   TrafficSign                                   Image                                                   Type                          Subtype     Value and Units
-   ============================================= ======================================================= ============================= =========== ================================================================================
-   AnnounceRightLaneEnd                          .. figure:: ./images/CN/EndofLaneRight-32a.svg          EndofLane-32                  a/b         The subtype describes the number of continuing lanes after the right lane ends.
-                                                   :width: 400                                                                                     a = 2 lanes, b = 3 lanes
-                                                 .. figure:: ./images/CN/EndofLaneRight-32b.svg
-                                                   :width: 400
-   AnnounceLeftLaneEnd                           .. figure:: ./images/CN/EndofLaneLeft-32c.svg           EndofLane-32                  c/d         The subtype describes the number of continuing lanes after the left lane ends.
-                                                   :width: 400                                                                                     c = 2 lanes, d = 3 lanes
-                                                 .. figure:: ./images/CN/EndofLaneLeft-32d.svg
-                                                   :width: 400
-   MaximumSpeedLimit                             .. figure:: ./images/CN/MaximumSpeedLimit-38.svg        SpeedLimit-38                             as defined via the "value" and "unit" attributes
-                                                   :width: 400
-   EndOfMaximumSpeedLimit                        .. figure:: ./images/CN/EndOfMaximumSpeedLimit-39.svg   EndOfSpeedLimit-39                        as defined via the "value" and "unit" attributes
-                                                   :width: 400
-   AnnounceHighwayExit (1km)                     .. figure:: ./images/CN/AnnouceHighwayExit1km-50b.svg   AnnounceHighwayExit-50b
-                                                   :width: 400
-   AnnounceHighwayExit (500m)                    .. figure:: ./images/CN/AnnouceHighwayExit500m-50c.svg  AnnounceHighwayExit-50c
-                                                   :width: 400
-   HighWayExit                                   .. figure:: ./images/CN/HighwayExit-50d.svg             HighwayExit-50d
-                                                   :width: 400
-   ============================================= ======================================================= ============================= =========== ================================================================================
-
-The following traffic lights are supported:
-
-.. table::
-   :class: tight-table
-
-   ============================================= =============== ======= ===============
-   TrafficLight                                  OpenDRIVE Type  Subtype Value and Units
-   ============================================= =============== ======= ===============
-   Standard traffic light (red, yellow, green)   1.000.001       \-      \-
-   Left arrows                                   1.000.011       10      \-
-   Right arrows                                  1.000.011       20      \-
-   Upwards arrows                                1.000.011       30      \-
-   Left und upwards arrows                       1.000.011       40      \-
-   Right und upwards arrows                      1.000.011       50      \-
-   ============================================= =============== ======= ===============
-
-These traffic lights are controlled by `OpenSCENARIO`_.
-
-.. _world_lanemarkings:
-
-Lane Markings
--------------
-
-The world also supports lane markings (i.e. printed lines between two lanes) according to the `OpenDRIVE`_ standard.
-The following attributes of the "roadMark" tag in the scenery file are stored in the world and can be retrieved by the GetLaneMarkings query: sOffset, type, weight, color.
-The weight is converted into a width in meter: 0.15 for standard and 0.3 for bold. Lane markings are also converted to OSI LaneBoundaries.
-For the OpenDRIVE type "solid solid", "solid broken", "broken solid", and "broken broken" two LaneBoundaries are created in OSI with a fixed lateral distance of 0.15m.
-
-.. _world_getobstruction:
-
-GetObstruction
---------------
-
-The GetObstruction function calculates the lateral distance an agent must travel in order to align with either the left or right boundary of a target object occupying the same lane.
-
-The calculation adheres to the following process:
-
-#) Project the agent's MainLaneLocator along the lane to the nearest and furthest s-coordinate of the target object, capturing the projected points
-#) Create a straight line from the two captured points
-#) Calculate the Euclidean distance of each of the target object's corners to the created line
-#) Return the left-most and right-most points with respect to the created line
-
-If the first step fails, because the ego lane does not extend to the object's position (i.e. it ends prematurely or the objects is outside the ego's route), then the result is invalid, which is indicated by a separate valid flag.
-
-.. figure:: ./images/GetObstruction.svg
-
-   Example for the calculation of GetObstruction
+..
+  *******************************************************************************
+  Copyright (c) 2021 in-tech GmbH
+                2023 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
+  http://www.eclipse.org/legal/epl-2.0.
+
+  SPDX-License-Identifier: EPL-2.0
+  *******************************************************************************
+
+.. _world_osi:
+
+World_OSI
+==========
+
+.. _world_sampling:
+
+Sampling of World Geometries
+----------------------------
+
+.. _OpenDRIVE: https://www.asam.net/standards/detail/opendrive/
+.. _OpenSCENARIO: https://www.asam.net/standards/detail/openscenario/
+.. _open simulation interface: https://github.com/OpenSimulationInterface
+.. _Ramer-Douglas-Peucker algorithm: https://en.wikipedia.org/wiki/Ramer%E2%80%93Douglas%E2%80%93Peucker_algorithm
+
+Roads are described following the `OpenDRIVE`_ specification.
+There the geometry of a road is defined algebraically as lines, clothoids and by means of cubic polynomials, whereby primarily only one reference line is defined.
+The lanes can be understood as a stack of parallel lanes, which are given by the width and the offset, now in relation to this reference line, which acts as the underlying coordinate system ('s/t' road coordinates with s along the road).
+Here, too, width and offset are defined algebraically, which means that almost any boundary lines can be defined.
+
+When the world is initialized, these boundary definitions (i.e. algebraic geometries) are converted into piecewise linear elements, which is called sampling.
+The road is scanned at a constant interval along 's', which leads to four-sided (quadrangular) sections of the lanes at common 's' coordinates, so-called lane elements (see LaneElement).
+The scanning is carried out at a scanning rate of 10 centimeters with the aim of achieving a total scanning error of less than 5 centimeters, as required by the representation used internally (c.f. `open simulation interface`_).
+Note that this error is only guaranteed if geometries do not exhibit extreme curvatures, i.e. a deviation of more than 5 cm within two sampling points (10 cm along s).
+The scanned points define so-called joints, which contain all scanned points at an 's' coordinate across all lane boundaries of the given road.
+The number of these joints is reduced by a `Ramer-Douglas-Peucker algorithm`_, which ensures that the maximum lateral error of each individual point within a joint is less than 5 cm compared to the originally scanned points.
+Note that (a) the boundary points of geometries are always retained and (b) additional points for lane marking transitions are also retained to ensure the maximum accuracy of these edge cases.
+The lane elements are generated with two successive connections, which are ultimately used in the localization at runtime (see :ref:`world_localization`).
+
+Internally, each lane element receives a constant direction, which is defined by the direction of the vector spanned between the centers of the corresponding connections.
+Each joint also holds the corresponding curvature of the road, so that the curvature can be interpolated linearly within a lane element along the 's' coordinate.
+
+.. _world_localization:
+
+Localization
+------------
+
+Generally, the position of an agent is stored with respect to :ref:`world coordinates (x,y) <coordinatesystems_world>`.
+As queries on the world operates in :ref:`road coordinates (s,t) <coordinatesystems_road>`, the position of the agent needs to be transformed.
+
+This section describes the translation of coordinates (x,y) of an agent into RoadCoordinate (s,t), whereas the notion of (s,t) comes from the `OpenDRIVE` _ standard.
+
+Basics
+~~~~~~
+
+The following image depics the basic principes of the localization which is rooted on the specifics of the OSI World Layer (aka OWL).
+
+.. figure:: ./images/LocalizationBasics.svg
+
+   Localization Basics
+
+Given is a point P in cartesian coordinates (x/y).
+The task is to assign the point to a lane, defined by a general road geometry and calculate the transformed Point P' in road coordinates (s/t).
+
+Road geometry (based on `OpenDRIVE`_):
+
+ - A road consists of several sections
+ - Each section consists of several lanes
+ - Within a section, the number of lanes is constant
+ - Lanes can have one predecessor and one successor
+ - The road follows a reference line, which is the reference for the *s*\ -coordinate.
+   The *t*\ -coordinate is perpendicular to this line.
+
+OWL specifics:
+
+ - All lanes are sampled, generating a stream of generic quadrilaterals (LaneGeometryElements).
+ - Within a section, the number of quads per lane is equal, and all lanes have the same length in s.
+ - This is realized by a variable sampling width, determined by a constant sampling width along the longest arc.
+ - Consequently, points perpendicular to the reference line (*t*\ -axis) have the same *s*\ -coordinate.
+
+Note, that the final *t*\ -coordinate is calculated with respect to a virtual reference line for each lane.
+This means, that points on the center of a lane have *t*\ -coordinate of 0.
+
+Localization Sequence
+~~~~~~~~~~~~~~~~~~~~~
+
+.. _r-tree: https://www.boost.org/doc/libs/1_65_0/libs/geometry/doc/html/geometry/reference/spatial_indexes/boost__geometry__index__rtree.html
+
+The following outlines the localization process implemented in openPASS, using a specific example of a bus changing lanes on a widening road.
+
+.. figure:: ./images/localization_with_bus_step0.svg
+
+   Bus changing lanes on a widening road
+
+First, as described above LaneGeometryElements are generated for the road, here shown as a simplified red grid:
+
+.. figure:: ./images/localization_with_bus_step1.svg
+
+   LaneGeometryElements and bounding box of the bus
+
+All geometries are internally managed by an `r-tree`_, used to check for overlaps between the bounding box of the bus and all stored objects in the tree, making checks for overlap extremely fast.
+However, the r-tree comes with the restriction that all stored objects are stored by boxes orthogonal to ``x`` and ``y`` (= maximum Cartesian coordinates of the boundary points).
+
+.. figure:: ./images/localization_with_bus_step2.svg
+
+   r-Tree representation of the Bus and a single LaneGeometryElement
+
+.. figure:: ./images/localization_with_bus_step3.svg
+
+   r-Tree representation of all participating geometries
+
+This introduces additional overlaps, resulting in false positives where the bus is located on segments it does not actually touch.
+
+.. figure:: ./images/localization_with_bus_step4.svg
+
+   Found overlaps with false positives
+
+This is justified because the subsequent filtering can be carried out quickly since the possible geometries allow a simplified intersection check.
+Finally, for each point of a non-empty intersection polygon, the ``s`` and ``t`` coordinates are calculated and aggregated with respect to the underlying lane.
+For each touched lane, the minimum and maximum ``s`` coordinate, and the minimum and maximum lane remainder (delta t) is stored.
+
+.. figure:: ./images/localization_with_bus_step5.svg
+
+   Example for the calculation of s_min, s_max and delta_right
+
+In addition, if the reference point (i.e. the middle of the rear axle) or the mainLaneLocator (i.e. the middle of the agent front) are located within a LaneGeometryElement, ``s/t/yaw`` is calculated of each point, respectively.
+Further aggregation is done with respect to each road by calculating the minimum and maximum ``s`` for each road the agent intersects with.
+For the current route of an agent, the following information is stored: ``s/t/yaw`` of the reference point and mainLaneLocator on the route (roads along a route are not allowed to intersect), distance from the lane boundary to the left and right for the road(s) along the route, and OpenDRIVE Ids of the lanes on the route that the agent touches.
+The results also holds information whether both the reference point and the mainLaneLocator lay on the route.
+In the current implementation, these points must be located - otherwise the agent is despawened, as the agent cannot execute distance queries without a relation to its current route.
+
+
+.. _world_trafficsigns:
+
+Traffic Signs, Road Markings and TrafficLights
+----------------------------------------------
+
+The world currently supports a variety of traffic signs, road markings and traffic lights.
+All of these are defined in `OpenDRIVE`_ as "RoadSignal".
+At the moment it can interpret traffic signs and road markings according to the German regulations, US regulations, and China regulations and traffic lights according the the `OpenDRIVE`_ appendix.
+Traffic signs can contain optional supplementary traffic signs. Supplementary signs are dependent on a main traffic sign and contain additional information.
+
+For Germany the types are based on the StVO (see: https://www.bast.de/BASt_2017/DE/Verkehrstechnik/Fachthemen/v1-verkehrszeichen/vz-download.html).
+The following traffic signs are supported for Germany:
+
+.. table::
+   :class: tight-table
+
+   ============================================= ============================================================================= ========= =========== =================================================================================
+   TrafficSign                                   Image                                                                         StVo Type Subtype     Value and Units
+   ============================================= ============================================================================= ========= =========== =================================================================================
+   GiveWay                                       .. figure:: ./images/DE/GiveWay_205.svg                                       205
+                                                   :width: 400
+   Stop                                          .. figure:: ./images/DE/Stop_206.svg                                          206
+                                                   :width: 400
+   DoNotEnter                                    .. figure:: ./images/DE/DoNotEnter_267.svg                                    267
+                                                   :width: 400
+   EnvironmentalZoneBegin                        .. figure:: ./images/DE/EnvironmentalZoneBegin_270.1.svg                      270.1
+                                                   :width: 400
+   EnvironmentalZoneEnd                          .. figure:: ./images/DE/EnvironmentalZoneEnd_270.2.svg                        270.2
+                                                   :width: 400
+   MaximumSpeedLimit                             .. figure:: ./images/DE/MaximumSpeedLimit_274-5.svg                           274       X           The subtype "X" is used to define the speedlimit in km/h.
+                                                   :width: 400                                                                                       Afterwards the world converts it to m/s.
+                                                 .. figure:: ./images/DE/MaximumSpeedLimit_274-130.svg
+                                                   :width: 400
+   SpeedLimitZoneBegin                           .. figure:: ./images/DE/SpeedLimitZoneBegin_274.1.svg                         274.1     -/20        The subtype is used to define the speedlimit in km/h.
+                                                   :width: 400                                                                                       Afterwards the world converts it to m/s.
+                                                 .. figure:: ./images/DE/SpeedLimitZoneBegin_274.1-20.svg                                            No subtype = 30km/h, 20 = 20km/h
+                                                   :width: 400
+   SpeedLimitZoneEnd                             .. figure:: ./images/DE/SpeedLimitZoneEnd_274.2.svg                           274.2     -/20        The subtype is used to define the speedlimit in km/h.
+                                                   :width: 400                                                                                       Afterwards the world converts it to m/s.
+                                                 .. figure:: ./images/DE/SpeedLimitZoneEnd_274.2-20.svg                                              No subtype = 30km/h, 20 = 20km/h
+                                                   :width: 400
+   MinimumSpeedLimit                             .. figure:: ./images/DE/MinimumSpeedLimit_275.svg                             275       X           The subtype is used to define the speedlimit in km/h.
+                                                   :width: 400                                                                                       Afterwards the world converts it to m/s.
+   OvertakingBanBegin                            .. figure:: ./images/DE/OvertakingBanBegin_276.svg                            276
+                                                   :width: 400
+   OvertakingBanTrucksBegin                      .. figure:: ./images/DE/OvertakingBanTrucksBegin_277.svg                      277
+                                                   :width: 400
+   EndOfMaximumSpeedLimit                        .. figure:: ./images/DE/EndOfMaximumSpeedLimit_278-5.svg                      278       X           The subtype "X" is used to define the speedlimit in km/h.
+                                                   :width: 400                                                                                       Afterwards the world converts it to m/s.
+                                                 .. figure:: ./images/DE/EndOfMaximumSpeedLimit_278-130.svg
+                                                   :width: 400
+   EndOfMinimumSpeedLimit                        .. figure:: ./images/DE/EndOfMinimumSpeedLimit_279.svg                        279       X           The subtype "X" is used to define the speedlimit in km/h.
+                                                   :width: 400                                                                                       Afterwards the world converts it to m/s.
+   OvertakingBanEnd                              .. figure:: ./images/DE/OvertakingBanEnd_280.svg                              280
+                                                   :width: 400
+   OvertakingBanTrucksEnd                        .. figure:: ./images/DE/OvertakingBanTrucksEnd_281.svg                        281
+                                                   :width: 400
+   EndOffAllSpeedLimitsAndOvertakingRestrictions .. figure:: ./images/DE/EndOffAllSpeedLimitsAndOvertakingRestrictions_282.svg 282
+                                                   :width: 400
+   RightOfWayNextIntersection                    .. figure:: ./images/DE/RightOfWayNextIntersection_301.svg                    301
+                                                   :width: 400
+   RightOfWayBegin                               .. figure:: ./images/DE/RightOfWayBegin_306.svg                               306
+                                                   :width: 400
+   RightOfWayEnd                                 .. figure:: ./images/DE/RightOfWayEnd_307.svg                                 307
+                                                   :width: 400
+   TownBegin                                     .. figure:: ./images/DE/TownBegin_310.svg                                     310                   This sign contains a text describing the name of the town
+                                                   :width: 400
+   TownEnd                                       .. figure:: ./images/DE/TownEnd_311.svg                                       311                   This sign contains a text describing the name of the town
+                                                   :width: 400
+   TrafficCalmedDistrictBegin                    .. figure:: ./images/DE/TrafficCalmedDistrictBegin_325.1.svg                  325.1
+                                                   :width: 400
+   TrafficCalmedDistrictEnd                      .. figure:: ./images/DE/TrafficCalmedDistrictEnd_325.2.svg                    325.2
+                                                   :width: 400
+   HighWayBegin                                  .. figure:: ./images/DE/HighWayBegin_330.1.svg                                330.1
+                                                   :width: 400
+   HighWayEnd                                    .. figure:: ./images/DE/HighWayEnd_330.2.svg                                  330.2
+                                                   :width: 400
+   HighWayExit                                   .. figure:: ./images/DE/HighWayExit_333.svg                                   333
+                                                   :width: 400
+   AnnounceHighwayExit                           .. figure:: ./images/DE/AnnounceHighwayExit_448.svg                           448
+                                                   :width: 400
+   PreannounceHighwayExitDirections              .. figure:: ./images/DE/AnnounceHighwayExit_449.svg                           449
+                                                   :width: 400
+   HighwayExitPole                               .. figure:: ./images/DE/HighwayExitPole_450-50.svg                            450       50/51/52    The subtype describes the distance to the highway exit in m.
+                                                   :width: 400                                                                                       50 = 100m, 51 = 200m, 52 = 300m
+                                                 .. figure:: ./images/DE/HighwayExitPole_450-51.svg
+                                                   :width: 400
+                                                 .. figure:: ./images/DE/HighwayExitPole_450-52.svg
+                                                   :width: 400
+   AnnounceRightLaneEnd                          .. figure:: ./images/DE/AnnounceRightLaneEnd_531-10.svg                       531       10/11/12/13 The subtype describes the number of continuing lanes after the right lane ends.
+                                                   :width: 400                                                                                       10 = 1 lane, 11 = 2 lanes, 12 = 3 lanes, 13 = 4 lanes
+                                                 .. figure:: ./images/DE/AnnounceRightLaneEnd_531-11.svg
+                                                   :width: 400
+                                                 .. figure:: ./images/DE/AnnounceRightLaneEnd_531-12.svg
+                                                   :width: 400
+                                                 .. figure:: ./images/DE/AnnounceRightLaneEnd_531-13.svg
+                                                   :width: 400
+   AnnounceLeftLaneEnd                           .. figure:: ./images/DE/AnnounceLeftLaneEnd_531-20.svg                        531       20/21/22/23 The subtype describes the number of continuing lanes after the left lane ends.
+                                                   :width: 400                                                                                       10 = 1 lane, 11 = 2 lanes, 12 = 3 lanes, 13 = 4 lanes
+                                                 .. figure:: ./images/DE/AnnounceLeftLaneEnd_531-21.svg
+                                                   :width: 400
+                                                 .. figure:: ./images/DE/AnnounceLeftLaneEnd_531-22.svg
+                                                   :width: 400
+                                                 .. figure:: ./images/DE/AnnounceLeftLaneEnd_531-23.svg
+                                                   :width: 400
+   DistanceIndication                            .. figure:: ./images/DE/DistanceIndication_1004-30.svg                        1004      30/31/32    For subtype 30 the value describes the distance in m.
+                                                   :width: 400                                                                                       For subtype 31 the value describes the distance in km.
+                                                 .. figure:: ./images/DE/DistanceIndication_1004-31.svg                                              Subtype 32 has a STOP in 100m.
+                                                   :width: 400
+                                                 .. figure:: ./images/DE/DistanceIndication_1004-32.svg
+                                                   :width: 400
+   ============================================= ============================================================================= ========= =========== =================================================================================
+
+The following road markings are supported for Germany:
+
+.. table::
+   :class: tight-table
+
+   ======================= ================================================== ========= ======= ================
+   RoadMarking             Image                                              StVo Type Subtype Value and Units
+   ======================= ================================================== ========= ======= ================
+   PedestrianCrossing      .. figure:: ./images/DE/PedestrianCrossing_293.svg 293
+                             :width: 400
+   Stop line               .. figure:: ./images/DE/Stop_line_294.svg          294
+                             :width: 400
+   ======================= ================================================== ========= ======= ================
+
+The pedestrian crossing can also be defined in `OpenDRIVE`_ as object with type "crosswalk".
+
+For United States the types are based on the "Manual on Uniform Traffic Control Devices" (see: https://mutcd.fhwa.dot.gov/pdfs/2009r1r2/pdf_index.htm).
+The following traffic signs are supported for United States:
+
+.. table::
+
+   ============================================= ======================================================== ========= ========================================================
+   TrafficSign                                   Image                                                    Type      Value and Units
+   ============================================= ======================================================== ========= ========================================================
+   HighWayExit                                   .. figure:: ./images/US/HighWayExit_E5-1.svg             E5-1
+                                                   :width: 400
+   HighWayExit                                   .. figure:: ./images/US/HighWayExit_E2-5.svg             E2-5
+                                                   :width: 400
+   AnnounceHighwayExit                           .. figure:: ./images/US/AnnounceHighwayExit_E1-2.svg     E1-2
+                                                   :width: 400
+   PreannounceHighwayExit                        .. figure:: ./images/US/PreannounceHighwayExit_E1-2a.svg E1-2a
+                                                   :width: 400
+   Stop                                          .. figure:: ./images/US/Stop_R1-1.svg                    R1-1
+                                                   :width: 400
+   GiveWay                                       .. figure:: ./images/US/GiveWay_R1-2.svg                 R1-2
+                                                   :width: 400
+   MaximumSpeedLimit                             .. figure:: ./images/US/MaximumSpeedLimit_R2-1.svg       R2-1      as defined via the "value" and "unit" attributes
+                                                   :width: 400
+   DoNotPass (OvertakingBan)                     .. figure:: ./images/US/DoNotPass_R4-1.svg               R4-1
+                                                   :width: 400
+   DoNotEnter                                    .. figure:: ./images/US/DoNotEnter_R5-1.svg              R5-1
+                                                   :width: 400
+   RightLaneEnd                                  .. figure:: ./images/US/RightLaneEnd_W4-2R.svg           W4-2R
+                                                   :width: 400
+   LeftLaneEnd                                   .. figure:: ./images/US/LeftLaneEnd_W4-2L.svg             W4-2L
+                                                   :width: 400
+   ============================================= ======================================================== ========= ========================================================
+
+For China the types are based on the https://upload.wikimedia.org/wikipedia/commons/8/8c/China_GB_5768.2-2009.pdf.
+The following traffic signs are supported for China:
+
+.. table::
+
+   ============================================= ======================================================= ============================= =========== ================================================================================
+   TrafficSign                                   Image                                                   Type                          Subtype     Value and Units
+   ============================================= ======================================================= ============================= =========== ================================================================================
+   AnnounceRightLaneEnd                          .. figure:: ./images/CN/EndofLaneRight-32a.svg          EndofLane-32                  a/b         The subtype describes the number of continuing lanes after the right lane ends.
+                                                   :width: 400                                                                                     a = 2 lanes, b = 3 lanes
+                                                 .. figure:: ./images/CN/EndofLaneRight-32b.svg
+                                                   :width: 400
+   AnnounceLeftLaneEnd                           .. figure:: ./images/CN/EndofLaneLeft-32c.svg           EndofLane-32                  c/d         The subtype describes the number of continuing lanes after the left lane ends.
+                                                   :width: 400                                                                                     c = 2 lanes, d = 3 lanes
+                                                 .. figure:: ./images/CN/EndofLaneLeft-32d.svg
+                                                   :width: 400
+   MaximumSpeedLimit                             .. figure:: ./images/CN/MaximumSpeedLimit-38.svg        SpeedLimit-38                             as defined via the "value" and "unit" attributes
+                                                   :width: 400
+   EndOfMaximumSpeedLimit                        .. figure:: ./images/CN/EndOfMaximumSpeedLimit-39.svg   EndOfSpeedLimit-39                        as defined via the "value" and "unit" attributes
+                                                   :width: 400
+   AnnounceHighwayExit (1km)                     .. figure:: ./images/CN/AnnouceHighwayExit1km-50b.svg   AnnounceHighwayExit-50b
+                                                   :width: 400
+   AnnounceHighwayExit (500m)                    .. figure:: ./images/CN/AnnouceHighwayExit500m-50c.svg  AnnounceHighwayExit-50c
+                                                   :width: 400
+   HighWayExit                                   .. figure:: ./images/CN/HighwayExit-50d.svg             HighwayExit-50d
+                                                   :width: 400
+   ============================================= ======================================================= ============================= =========== ================================================================================
+
+The following traffic lights are supported:
+
+.. table::
+   :class: tight-table
+
+   ============================================= =============== ======= ===============
+   TrafficLight                                  OpenDRIVE Type  Subtype Value and Units
+   ============================================= =============== ======= ===============
+   Standard traffic light (red, yellow, green)   1.000.001       \-      \-
+   Left arrows                                   1.000.011       10      \-
+   Right arrows                                  1.000.011       20      \-
+   Upwards arrows                                1.000.011       30      \-
+   Left und upwards arrows                       1.000.011       40      \-
+   Right und upwards arrows                      1.000.011       50      \-
+   ============================================= =============== ======= ===============
+
+These traffic lights are controlled by `OpenSCENARIO`_.
+
+.. _world_lanemarkings:
+
+Lane Markings
+-------------
+
+The world also supports lane markings (i.e. printed lines between two lanes) according to the `OpenDRIVE`_ standard.
+The following attributes of the "roadMark" tag in the scenery file are stored in the world and can be retrieved by the GetLaneMarkings query: sOffset, type, weight, color.
+The weight is converted into a width in meter: 0.15 for standard and 0.3 for bold. Lane markings are also converted to OSI LaneBoundaries.
+For the OpenDRIVE type "solid solid", "solid broken", "broken solid", and "broken broken" two LaneBoundaries are created in OSI with a fixed lateral distance of 0.15m.
+
+.. _world_getobstruction:
+
+GetObstruction
+--------------
+
+The GetObstruction function calculates the lateral distance an agent must travel in order to align with either the left or right boundary of a target object occupying the same lane.
+
+The calculation adheres to the following process:
+
+#) Project the agent's MainLaneLocator along the lane to the nearest and furthest s-coordinate of the target object, capturing the projected points
+#) Create a straight line from the two captured points
+#) Calculate the Euclidean distance of each of the target object's corners to the created line
+#) Return the left-most and right-most points with respect to the created line
+
+If the first step fails, because the ego lane does not extend to the object's position (i.e. it ends prematurely or the objects is outside the ego's route), then the result is invalid, which is indicated by a separate valid flag.
+
+.. figure:: ./images/GetObstruction.svg
+
+   Example for the calculation of GetObstruction
diff --git a/content/html/_sources/developer_information/10_ide_support.rst.txt b/content/html/_sources/developer_information/10_ide_support.rst.txt
index 7ffb7cd8073dfad001ee81bd99c7305ba8e545bb..b484ea26b6debcc61a8168f48090977562b6e0d5 100644
--- a/content/html/_sources/developer_information/10_ide_support.rst.txt
+++ b/content/html/_sources/developer_information/10_ide_support.rst.txt
@@ -1,24 +1,24 @@
-..
-  *******************************************************************************
-  Copyright (c) 2021-2024 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
-  http://www.eclipse.org/legal/epl-2.0.
-
-  SPDX-License-Identifier: EPL-2.0
-  *******************************************************************************
-
-
-.. _ide_support:
-
-IDE Support 
-===========
-
-Development of |op| is often done in Visual Studio Code. This section provides guides to set up your build environment. 
-
-.. toctree::
-   :glob:
-   :maxdepth: 1
-
-   ide_support/*
+..
+  *******************************************************************************
+  Copyright (c) 2021-2024 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
+  http://www.eclipse.org/legal/epl-2.0.
+
+  SPDX-License-Identifier: EPL-2.0
+  *******************************************************************************
+
+
+.. _ide_support:
+
+IDE Support 
+===========
+
+Development of |op| is often done in Visual Studio Code. This section provides guides to set up your build environment. 
+
+.. toctree::
+   :glob:
+   :maxdepth: 1
+
+   ide_support/*
diff --git a/content/html/_sources/developer_information/20_documentation.rst.txt b/content/html/_sources/developer_information/20_documentation.rst.txt
index 5586eb74ad8b534671357695fbd721201d8e182f..6de57126643c00e1f2e64f0810c8e601337b0a99 100644
--- a/content/html/_sources/developer_information/20_documentation.rst.txt
+++ b/content/html/_sources/developer_information/20_documentation.rst.txt
@@ -1,115 +1,115 @@
-..
-  *******************************************************************************
-  Copyright (c) 2021 in-tech GmbH
-                2023 Mercedes-Benz Tech Innovation GmbH
-                2023 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
-  http://www.eclipse.org/legal/epl-2.0.
-
-  SPDX-License-Identifier: EPL-2.0
-  *******************************************************************************
-
-.. _documentation:
-
-Documentation Concept
-=====================
-
-|Op_oss| is developed under the Eclipse Public License and as such private and commercial use is allowed under certain rules (see `EPL 2.0 <https://www.eclipse.org/legal/epl-2.0/>`_).
-The basic documentation concept facilitates this by providing a way to include custom content which is not necessarily part of the |op_oss| distribution.
-This results in certain restrictions on how documentation is to be written.
-The following sections describe this restrictions and the process of integrating proprietary documentation into the |op_oss| documentation build.
-
-Basic Build Mechanics
----------------------
-
-The required steps to build the documentation are described in :ref:`download_and_install_openpass`.
-Before building, a temporary copy of the original documentation is made.
-This temporary copy acts as *seam* for custom extension, as proprietary content is simply copied into the temporary folder (see below).
-This mechanism keeps contents clearly separated during development and allows easy transition from closed to open source if desired.
-
-References to files located outside of the documentation root is used at various places, as this allows to keep documentation as close to the source as possible.
-These references normally would become invalid when the documentation source is copied or moved to another location.
-Thus, placeholders are used to have a fixed reference to the |op_oss| tree:
-
-  - *@*\ *OP_REL_ROOT*\ *@* - Root of repository (``.``)
-  - *@*\ *OP_REL_SIM*\ *@* - Folder ``./sim``
-
-These placeholders must be used when files outside of the documentation root shall be referenced.
-Note that this also makes sources more readable.
-
-**Example**
-
-.. literalinclude:: /../../../repo/doc/source/user_guide/configs/scenery.rst
-   :start-at: OP_REL_SIM
-   :lines: 1
-
-.. warning:: 
-
-   Generally, when moving or deleting files, make sure to run ``make clean`` prior to ``make doc`` to remove any outdated files from the build directory.
-
-openPASS as Submodule
----------------------
-
-#. **Write the documentation**
-
-   As custom documentation simply integrates into the |op_oss| documentation, it is also written in the *reStructuredText* file format.
-   Thereby files have to reside in a directory structure that is a clone of the open source documentation directory structure (starting from ``doc/source``).
-   During the build your documentation and the open source documentation will both be copied to a temporary directory.
-
-   .. note:: Files existing in both source directories will be overwritten at the destination, with the custom files having higher precedence.
-
-   On the TOC tree level, the **seam** to custom files is made through *globbing* using wildcards, such as ``folder/*.rst``.
-   Ordering of the files (and to avoid file name collisions) is established through a two digit number prefix and an underscore, e.g. ``10_quickstart.rst``.
-   This allows injection of proprietary documentation at any position in the TOC tree, as the order of headings is determined by the (ASCII) sorting of the filenames.
-
-#. **Referencing files**
-
-   Sphinx uses some special path format when referencing files from documentation.
-   All paths are relative to a single documentation root directory, but are specified like absolute paths (i.e. with a leading slash).
-   Due to the documentation source files being copied to a temporary directory during build, all file references have to be prefixed with a path constant:
-
-   - When specifying a file reference relative to the |op_oss| repository, the file path has to be prefixed with custom placeholders, such as *@*\ *OP_REL_ROOT*\ *@* (see above).
-   - When referencing files relative to a custom root, additional placeholders can be introduced in a custom ``PrepareDocCustom.cmake`` (see next steps).
-   - These placeholders will then coexist and will be replaced with the corresponding paths during build.
-
-#. **Add a cmake file for documentation preparation**
-
-   The file :download:`PrepareDocCustom.cmake<_static/custom_doc/PrepareDocCustom.cmake>` can be used as a template.
-   Just add the placeholders used in your proprietary documentation.
-
-   This diff highlights the important parts in comparison to the original ``PrepareDoc.cmake``, used in the open source documentation build:
-
-   .. literalinclude:: _static/custom_doc/PrepareDocCustom.cmake
-      :diff: /../../../repo/doc/PrepareDoc.cmake
-
-#. **Add a ``doc`` CMake target to your custom build**
-
-   To add your custom build target, the following ``CMakeLists.txt`` snippet can be used as template.
-   Note the usage of the ``PrepareDocCustom.cmake``.
-
-   .. literalinclude:: _static/custom_doc/CMakeLists_doc.cmake
-      :emphasize-lines: 23
-
-#. **Provide a config file for Sphinx**
-
-   Sphinx allows to specify a configuration residing in ``conf.py`` in the documentation source directory.
-   Customization is done by providing a customized file here, with the open source version as template (:download:`/../../../repo/doc/source/conf.py`).
-
-Docker Image
-------------
-
-This documentation provides an overview of the Dockerfile used to build an image containing all the necessary packages required for building |Op_oss|. The resulting image can be used as a development environment.
-
-**Usage**
-
-#. Clone the |Op_oss| project
-
-#. At the root level (the folder containing the repo), execute the following command
-
-   .. code-block::
-
-      docker build -f ./repo/utils/Dockerfile -t <DockerImageName> .
-
-   .. note:: The Dockerfile assumes the name of the repository as "repo". The command and the Dockerfile should be modified accordingly, if different name is used
+..
+  *******************************************************************************
+  Copyright (c) 2021 in-tech GmbH
+                2023 Mercedes-Benz Tech Innovation GmbH
+                2023 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
+  http://www.eclipse.org/legal/epl-2.0.
+
+  SPDX-License-Identifier: EPL-2.0
+  *******************************************************************************
+
+.. _documentation:
+
+Documentation Concept
+=====================
+
+|Op_oss| is developed under the Eclipse Public License and as such private and commercial use is allowed under certain rules (see `EPL 2.0 <https://www.eclipse.org/legal/epl-2.0/>`_).
+The basic documentation concept facilitates this by providing a way to include custom content which is not necessarily part of the |op_oss| distribution.
+This results in certain restrictions on how documentation is to be written.
+The following sections describe this restrictions and the process of integrating proprietary documentation into the |op_oss| documentation build.
+
+Basic Build Mechanics
+---------------------
+
+The required steps to build the documentation are described in :ref:`download_and_install_openpass`.
+Before building, a temporary copy of the original documentation is made.
+This temporary copy acts as *seam* for custom extension, as proprietary content is simply copied into the temporary folder (see below).
+This mechanism keeps contents clearly separated during development and allows easy transition from closed to open source if desired.
+
+References to files located outside of the documentation root is used at various places, as this allows to keep documentation as close to the source as possible.
+These references normally would become invalid when the documentation source is copied or moved to another location.
+Thus, placeholders are used to have a fixed reference to the |op_oss| tree:
+
+  - *@*\ *OP_REL_ROOT*\ *@* - Root of repository (``.``)
+  - *@*\ *OP_REL_SIM*\ *@* - Folder ``./sim``
+
+These placeholders must be used when files outside of the documentation root shall be referenced.
+Note that this also makes sources more readable.
+
+**Example**
+
+.. literalinclude:: /../../../repo/doc/source/user_guide/configs/scenery.rst
+   :start-at: OP_REL_SIM
+   :lines: 1
+
+.. warning:: 
+
+   Generally, when moving or deleting files, make sure to run ``make clean`` prior to ``make doc`` to remove any outdated files from the build directory.
+
+openPASS as Submodule
+---------------------
+
+#. **Write the documentation**
+
+   As custom documentation simply integrates into the |op_oss| documentation, it is also written in the *reStructuredText* file format.
+   Thereby files have to reside in a directory structure that is a clone of the open source documentation directory structure (starting from ``doc/source``).
+   During the build your documentation and the open source documentation will both be copied to a temporary directory.
+
+   .. note:: Files existing in both source directories will be overwritten at the destination, with the custom files having higher precedence.
+
+   On the TOC tree level, the **seam** to custom files is made through *globbing* using wildcards, such as ``folder/*.rst``.
+   Ordering of the files (and to avoid file name collisions) is established through a two digit number prefix and an underscore, e.g. ``10_quickstart.rst``.
+   This allows injection of proprietary documentation at any position in the TOC tree, as the order of headings is determined by the (ASCII) sorting of the filenames.
+
+#. **Referencing files**
+
+   Sphinx uses some special path format when referencing files from documentation.
+   All paths are relative to a single documentation root directory, but are specified like absolute paths (i.e. with a leading slash).
+   Due to the documentation source files being copied to a temporary directory during build, all file references have to be prefixed with a path constant:
+
+   - When specifying a file reference relative to the |op_oss| repository, the file path has to be prefixed with custom placeholders, such as *@*\ *OP_REL_ROOT*\ *@* (see above).
+   - When referencing files relative to a custom root, additional placeholders can be introduced in a custom ``PrepareDocCustom.cmake`` (see next steps).
+   - These placeholders will then coexist and will be replaced with the corresponding paths during build.
+
+#. **Add a cmake file for documentation preparation**
+
+   The file :download:`PrepareDocCustom.cmake<_static/custom_doc/PrepareDocCustom.cmake>` can be used as a template.
+   Just add the placeholders used in your proprietary documentation.
+
+   This diff highlights the important parts in comparison to the original ``PrepareDoc.cmake``, used in the open source documentation build:
+
+   .. literalinclude:: _static/custom_doc/PrepareDocCustom.cmake
+      :diff: /../../../repo/doc/PrepareDoc.cmake
+
+#. **Add a ``doc`` CMake target to your custom build**
+
+   To add your custom build target, the following ``CMakeLists.txt`` snippet can be used as template.
+   Note the usage of the ``PrepareDocCustom.cmake``.
+
+   .. literalinclude:: _static/custom_doc/CMakeLists_doc.cmake
+      :emphasize-lines: 23
+
+#. **Provide a config file for Sphinx**
+
+   Sphinx allows to specify a configuration residing in ``conf.py`` in the documentation source directory.
+   Customization is done by providing a customized file here, with the open source version as template (:download:`/../../../repo/doc/source/conf.py`).
+
+Docker Image
+------------
+
+This documentation provides an overview of the Dockerfile used to build an image containing all the necessary packages required for building |Op_oss|. The resulting image can be used as a development environment.
+
+**Usage**
+
+#. Clone the |Op_oss| project
+
+#. At the root level (the folder containing the repo), execute the following command
+
+   .. code-block::
+
+      docker build -f ./repo/utils/Dockerfile -t <DockerImageName> .
+
+   .. note:: The Dockerfile assumes the name of the repository as "repo". The command and the Dockerfile should be modified accordingly, if different name is used
diff --git a/content/html/_sources/developer_information/30_coding_conventions.rst.txt b/content/html/_sources/developer_information/30_coding_conventions.rst.txt
index 507927ffd016618414d08ac6d206c6f0a4e5cde8..9068e21cc092105bf421ffb4b1b6cf436a787113 100644
--- a/content/html/_sources/developer_information/30_coding_conventions.rst.txt
+++ b/content/html/_sources/developer_information/30_coding_conventions.rst.txt
@@ -1,339 +1,339 @@
-..
-  *******************************************************************************
-  Copyright (c) 2023 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
-  http://www.eclipse.org/legal/epl-2.0.
-
-  SPDX-License-Identifier: EPL-2.0
-  *******************************************************************************
-
-.. _coding_conventions:
-
-Coding Guidelines
-=================
-
-General
--------
-
-|Op_oss| is based on modern C++ (currently C++17). For coding guidelines, please refer to `ISO C++ Core Guidelines <https://github.com/isocpp/CppCoreGuidelines>`_.
-
-**Headers/Sources**
-
- - Use ``*.h`` as file extension for header files
- - Use ``*.cpp`` as file extension for source files
-
-Naming Conventions
-------------------
-Concise summarized Naming Conventions
-
-.. literalinclude:: _static/custom_doc/NamingConventions.txt
-
-**Namespaces**
-
- #. Use lowercase for namespaces
- #. Use singular form for namespaces where appropriate
- #. Use base namespace ``openpass``
- #. Core uses ``openpass::core::*``
- #. Components use ``openpass::component::*``
- #. Use the appropriate namespace for the type your component
-    * ``openpass::component::algorithm``
-    * ``openpass::component::sensor``
-    * ``openpass::component::dynamics``
-    * ``openpass::component::driver``
-    * ...
- #. Code with shared scope (e.g. ``common``) namespaces are separated in
-
-    * For everyone ``openpass::common`` e.g. ``openpass::common::XmlParser``
-    * Common for components ``openpass::component::common`` e.g. ``openpass::components::Ports``
-    * For the core only ``openpass::core::common`` e.g. ``openpass::core::common::Parameters``
-
- #. Discussion: ``openpass::type::*``
-
-    Example: ``openpass::type::Vector2D, openpass::type::OpenDriveId``
-
-**Interfaces**
-
- #. Interfaces should be named descriptively according to the functionality they outline with an ``UpperCamelCase`` name
-
-    Example: Interface for the **world** = ``class WorldInterface``
- #. Interfaces are abstract classes, and as such provide pure virtual functions only, withtout any default implementation. For example:
-
-      ``virtual double GetDistance() const = 0;``
-
- #. Interface methods **do not** exibit default parameters.
- #. We excessively use **gmock**, so for every interface a fake interface should be provided
-
-    Example: ``class FakeWorld : public WorldInterface {...};``
-
-    Note: Following ***Roy Osherove***, we use Fake instead of Mock, whick allows to distinguish Mocks and
-    Stubs more easily in the code
-
-**Classes**
-
- #. Classes should be named descriptively according to the functionality they implement with an ``UpperCamelCase`` name
- #. A Class implementing an Interface should have the Interfaces name (see below), with the Interface portion removed. For example:
-    .. code-block::
-
-      class AgentBlueprint : public AgentBlueprintInterface {...};
-
-**Methods**
-
- #. Methods should be descriptively named in ``UpperCamelCase``
-
-    Example: Method for retrieving the time of day should be named ``GetTimeOfDay()``
-
-**Member Variables**
-
- #. Member variables should be descriptively named in ``lowerCamelCase``
- #. Normally, it is sufficient to use the classes name directly.
-
-    Example: The member variable containing the AgentNetwork should be named ``agentNetwork``
-
-**Input / Output Signal Naming**
-
- #. Components use a special form of signal transmission. For easier use, the following abstraction is recommended:
-    .. code-block::
-
-      std::map<int, ComponentPort *> outputPorts;
-      bool success = outputPorts.at(localLinkId)->SetSignalValue(data);
-
-    .. code-block::
-
-      std::map<int, ComponentPort *> inputPorts;
-      bool success = inputPorts.at(localLinkId)->GetSignalValue(data);
- #. Discussion: Wrap in ``openpass::components::common::Port`` and further
-    ``openpass::components::common::Ports``
-
-**Additional Information**
-
- #. Use ``UpperCamelCase`` for abbreviations used in files, classes, methods, or variables
- #. This does not apply if the abbreviation is the entire name or the beginning of the name - in such a case the name is written with the rules for the appropriate type
-
-    * int ID→int id
-    * class AgentID→ class AgentId
-    * ADASDriver.cpp→adasDriver.cpp
- #. Avoid public class data members. If unavoidable, use ``lowerCamelCase``
- #. Enums should be preferably defined as enum class; as such, enum names should be in ``UpperCamelCase``
- #. Decorate container by type aliases and use UpperCamelCase. For example:
-
-  .. code-block::
-
-    using FooParts = std::vector<FooPart>;
-
-**Avoid**
-
- #. Do **not** use Hungarian notation for variables names (iCounter → counter)
- #. Do **not** specify the type of the underlying implementation (partMap→ parts)
- #. Do **not** use magic numbers in the code; explicitly define constants instead
- #. Do **not** use global variables
-
-**Exceptions**
-
- #. Autogenerated code does not need to follow the coding conventions
-
-    Example:: Signals/Slots (QT): ``void on_button_clicked();``
-
-**Documentation**
-
- #. The following should be documented
-    * Public functions and class methods
-    * Classes
-    * File headers
-    * Constants
-    * Private functions or methods with more than 3 arguments and/or complex functionality??
-
- #. Language
-
-    * Document "what" it does rather than describing "why"
-    * Third-person singular verbs should be used to describe what it does
-
- #. Use the below methods to comment in source code. The below 2 syntaxes must be placed just above an entity.
-
-    Multi line comments
-
-    .. code-block::
-
-      //! … comments…
-      //! … comments…
-      //! … comments…
-
-    Single line comments
-
-    .. code-block::
-
-      /// Comments.
-
- #. Use the following structural commands
-
-    .. list-table::
-       :widths: 25 50
-       :header-rows: 1
-
-       * - Syntax
-         - Definition
-       * - @file
-         - The file name must be present in the file header
-       * - @param[in/out]
-         - Parameter documentation for functions
-       * - @page
-         - Markdown page name
-
- #. Use the following syntax for parameter description
-
-    .. code-block::
-
-      @param[in/out] <variable name> <variable description>
- #. All parameters description should be aligned as shown below to make them more readable.
-
-    .. code-block::
-
-     @param[in]  shortName    Description.
-     @param[in]  longerName   Description.
-     @param[out] veryLongName Description.
- #. Example
-
-    .. literalinclude:: _static/custom_doc/InlineDocumentation.txt
-
- #. Do not comment on polymorph methods (virtual base → override), unless there is a severe change
-
-**End Of Line**
-
- #. Native end of line (EOL) should be used in the working directory
- #. The ``.gitattributes`` configuration file provides correct EOL handling for ``git`` related commands and actions
- #. When editing files
-
-    * Trim trailing whitespaces
-    * Single EOL at end of files
-    * Use spaces for tabs (use tab size according to coding guidelines or existing file contents)
-
-See :ref:`Example VSCode user settings <vscode_user_settings>`.
-
-ClangFormat
------------
-
-To ensure consistent and readable code across the project, **ClangFormat** is recommended.
-
-.. note::
-
-   The following guidelines are based on ClangFormat version 15.0.7
-
-**Installing ClangFormat**
-
-To install **ClangFormat 15.0.7**, execute the following command depending on the operating system.
-
-.. tabs::
-
-   .. tab:: Windows
-
-      .. code-block::
-
-         pacman -S mingw-w64-x86_64-clang
-
-   .. tab:: Linux (Debian Bookworm or Ubuntu 22.04)
-
-      .. code-block::
-
-         apt -y install clang-format
-
-**Configuring ClangFormat**
-
-To configure ClangFormat, create a `.clang-format` file in the root directory of your project. Below is the configuration used in |op_oss|:
-
-   .. literalinclude:: /../../../repo/.clang-format
-
-**Running ClangFormat**
-
-To format the code using ClangFormat, run the following command in the terminal:
-
-.. code-block:: bash
-
-   clang-format -i [source_file(s)]
-
-Replace `[source_file(s)]` with the path(s) to the file(s) to format. The `-i` option tells ClangFormat to modify the files in-place.
-
-ClangTidy
------------
-
-Supported Version: 14.0.6
-
-To ensure code quality and adherence to coding standards, ClangTidy is recommended.
-
-The used checks are located in the :download:`.clang-tidy </../../../repo/.clang-tidy>` file, where lines starting with ``-`` are checks that have been deactivated. 
-For more details, visit the `ClangTidy official page <https://clang.llvm.org/extra/clang-tidy/#using-clang-tidy>`_.
-
-Commit Message Guidelines
--------------------------
-
-**Overview**
-
-This section outlines the guidelines for writing commit messages in openPASS repository. Following these guidelines ensures that commit messages are clear, descriptive, and help facilitate collaboration among team members.
-This section uses excerpts from `Conventional Commits <https://www.conventionalcommits.org/en/v1.0.0/>`_ licensed under `CC BY 3.0 <https://creativecommons.org/licenses/by/3.0/>`_ by it's authors.
-
-**Commit Message Format**
-
-Each commit message should consist of a single short summary line (recommended, up to 50 characters) followed by a more detailed description (if necessary).
-The message should adhere to the following format:
-
-   .. code-block::
-
-    <type>[optional scope]: <description>
-
-    [optional body]
-
-    [optional footer(s)]
-
- #. The ``<type>`` part represents the type of the commit, which helps in categorizing the nature of the changes. The following types are allowed:
-
-    * ``feat``: A new feature or enhancement.
-    * ``fix``: A bug fix.
-    * ``docs``: Documentation-related changes.
-    * ``style``: Code style changes (e.g., formatting, spacing).
-    * ``refactor``: Code refactoring without adding new features or fixing bugs.
-    * ``test``: Adding or improving tests.
-    * ``chore``: Maintenance tasks, build changes, or other non-functional modifications.
-    * ``ci``: Changes related to CI.
-    * ``build``: Modifications related to build step.
-    * ``perf``: Modifications related to performance improvements.
-    * ``revert``: Revert any code changes.
-
- #. The ``<optional scope>`` section is optional but is used to provide additional contextual information and is contained within parenthesis.
-
- #. The ``<description>`` is a brief description of the changes made in the commit. It should be concise yet informative and is recommended to not exceed 50 characters.
-
- #. The ``<optional body>`` section is optional but recommended, especially for complex changes or when further explanation is needed. This section should provide additional context, justification, and details about the changes made. Use bullet points for better readability when necessary.
-
- #. The ``<optional footer>`` section is also optional but can be used to provide supplementary information related to the commit.
-
-Header File Inclusion
----------------------
-
-**Overview**
-
-When working on a C/C++ project, it's essential to include header files correctly. This documentation explains the various ways to include header files, depending on their source.
-
-**System Libraries**
-
-Header files from system libraries should be enclosed in angular brackets (`< >`). This syntax informs the compiler to search for the headers in the system's standard include directories.
-
-   .. code-block::
-
-      #include <stdio.h>
-      #include <stdlib.h>
-
-**Dependencies in CMAKE_PREFIX_PATH**
-
-If the header files are from dependencies that are part of the `CMAKE_PREFIX_PATH`, use angular brackets (`< >`) as well. This indicates to the compiler that the headers are part of external dependencies.
-
-   .. code-block::
-
-      #include <dependency/header.h>
-
-**Repository Header Files**
-
-If the header files are from project's repository then, use double quotes (`" ""`).
-
-   .. code-block::
-      
-      #include "my_component/header.h"
+..
+  *******************************************************************************
+  Copyright (c) 2023-2024 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
+  http://www.eclipse.org/legal/epl-2.0.
+
+  SPDX-License-Identifier: EPL-2.0
+  *******************************************************************************
+
+.. _coding_conventions:
+
+Coding Guidelines
+=================
+
+General
+-------
+
+|Op_oss| is based on modern C++ (currently C++17). For coding guidelines, please refer to `ISO C++ Core Guidelines <https://github.com/isocpp/CppCoreGuidelines>`_.
+
+**Headers/Sources**
+
+ - Use ``*.h`` as file extension for header files
+ - Use ``*.cpp`` as file extension for source files
+
+Naming Conventions
+------------------
+Concise summarized Naming Conventions
+
+.. literalinclude:: _static/custom_doc/NamingConventions.txt
+
+**Namespaces**
+
+ #. Use lowercase for namespaces
+ #. Use singular form for namespaces where appropriate
+ #. Use base namespace ``openpass``
+ #. Core uses ``openpass::core::*``
+ #. Components use ``openpass::component::*``
+ #. Use the appropriate namespace for the type your component
+    * ``openpass::component::algorithm``
+    * ``openpass::component::sensor``
+    * ``openpass::component::dynamics``
+    * ``openpass::component::driver``
+    * ...
+ #. Code with shared scope (e.g. ``common``) namespaces are separated in
+
+    * For everyone ``openpass::common`` e.g. ``openpass::common::XmlParser``
+    * Common for components ``openpass::component::common`` e.g. ``openpass::components::Ports``
+    * For the core only ``openpass::core::common`` e.g. ``openpass::core::common::Parameters``
+
+ #. Discussion: ``openpass::type::*``
+
+    Example: ``openpass::type::Vector2D, openpass::type::OpenDriveId``
+
+**Interfaces**
+
+ #. Interfaces should be named descriptively according to the functionality they outline with an ``UpperCamelCase`` name
+
+    Example: Interface for the **world** = ``class WorldInterface``
+ #. Interfaces are abstract classes, and as such provide pure virtual functions only, withtout any default implementation. For example:
+
+      ``virtual double GetDistance() const = 0;``
+
+ #. Interface methods **do not** exibit default parameters.
+ #. We excessively use **gmock**, so for every interface a fake interface should be provided
+
+    Example: ``class FakeWorld : public WorldInterface {...};``
+
+    Note: Following ***Roy Osherove***, we use Fake instead of Mock, whick allows to distinguish Mocks and
+    Stubs more easily in the code
+
+**Classes**
+
+ #. Classes should be named descriptively according to the functionality they implement with an ``UpperCamelCase`` name
+ #. A Class implementing an Interface should have the Interfaces name (see below), with the Interface portion removed. For example:
+    .. code-block::
+
+      class AgentBlueprint : public AgentBlueprintInterface {...};
+
+**Methods**
+
+ #. Methods should be descriptively named in ``UpperCamelCase``
+
+    Example: Method for retrieving the time of day should be named ``GetTimeOfDay()``
+
+**Member Variables**
+
+ #. Member variables should be descriptively named in ``lowerCamelCase``
+ #. Normally, it is sufficient to use the classes name directly.
+
+    Example: The member variable containing the AgentNetwork should be named ``agentNetwork``
+
+**Input / Output Signal Naming**
+
+ #. Components use a special form of signal transmission. For easier use, the following abstraction is recommended:
+    .. code-block::
+
+      std::map<int, ComponentPort *> outputPorts;
+      bool success = outputPorts.at(localLinkId)->SetSignalValue(data);
+
+    .. code-block::
+
+      std::map<int, ComponentPort *> inputPorts;
+      bool success = inputPorts.at(localLinkId)->GetSignalValue(data);
+ #. Discussion: Wrap in ``openpass::components::common::Port`` and further
+    ``openpass::components::common::Ports``
+
+**Additional Information**
+
+ #. Use ``UpperCamelCase`` for abbreviations used in files, classes, methods, or variables
+ #. This does not apply if the abbreviation is the entire name or the beginning of the name - in such a case the name is written with the rules for the appropriate type
+
+    * int ID→int id
+    * class AgentID→ class AgentId
+    * ADASDriver.cpp→adasDriver.cpp
+ #. Avoid public class data members. If unavoidable, use ``lowerCamelCase``
+ #. Enums should be preferably defined as enum class; as such, enum names should be in ``UpperCamelCase``
+ #. Decorate container by type aliases and use UpperCamelCase. For example:
+
+  .. code-block::
+
+    using FooParts = std::vector<FooPart>;
+
+**Avoid**
+
+ #. Do **not** use Hungarian notation for variables names (iCounter → counter)
+ #. Do **not** specify the type of the underlying implementation (partMap→ parts)
+ #. Do **not** use magic numbers in the code; explicitly define constants instead
+ #. Do **not** use global variables
+
+**Exceptions**
+
+ #. Autogenerated code does not need to follow the coding conventions
+
+    Example:: osi3: ``::osi3::DetectedEntityHeader* mutable_moving_object_header()``
+
+**Documentation**
+
+ #. The following should be documented
+    * Public functions and class methods
+    * Classes
+    * File headers
+    * Constants
+    * Private functions or methods with more than 3 arguments and/or complex functionality??
+
+ #. Language
+
+    * Document "what" it does rather than describing "why"
+    * Third-person singular verbs should be used to describe what it does
+
+ #. Use the below methods to comment in source code. The below 2 syntaxes must be placed just above an entity.
+
+    Multi line comments
+
+    .. code-block::
+
+      //! … comments…
+      //! … comments…
+      //! … comments…
+
+    Single line comments
+
+    .. code-block::
+
+      /// Comments.
+
+ #. Use the following structural commands
+
+    .. list-table::
+       :widths: 25 50
+       :header-rows: 1
+
+       * - Syntax
+         - Definition
+       * - @file
+         - The file name must be present in the file header
+       * - @param[in/out]
+         - Parameter documentation for functions
+       * - @page
+         - Markdown page name
+
+ #. Use the following syntax for parameter description
+
+    .. code-block::
+
+      @param[in/out] <variable name> <variable description>
+ #. All parameters description should be aligned as shown below to make them more readable.
+
+    .. code-block::
+
+     @param[in]  shortName    Description.
+     @param[in]  longerName   Description.
+     @param[out] veryLongName Description.
+ #. Example
+
+    .. literalinclude:: _static/custom_doc/InlineDocumentation.txt
+
+ #. Do not comment on polymorph methods (virtual base → override), unless there is a severe change
+
+**End Of Line**
+
+ #. Native end of line (EOL) should be used in the working directory
+ #. The ``.gitattributes`` configuration file provides correct EOL handling for ``git`` related commands and actions
+ #. When editing files
+
+    * Trim trailing whitespaces
+    * Single EOL at end of files
+    * Use spaces for tabs (use tab size according to coding guidelines or existing file contents)
+
+See :ref:`Example VSCode user settings <vscode_user_settings>`.
+
+ClangFormat
+-----------
+
+To ensure consistent and readable code across the project, **ClangFormat** is recommended.
+
+.. note::
+
+   The following guidelines are based on ClangFormat version 15.0.7
+
+**Installing ClangFormat**
+
+To install **ClangFormat 15.0.7**, execute the following command depending on the operating system.
+
+.. tabs::
+
+   .. tab:: Windows
+
+      .. code-block::
+
+         pacman -S mingw-w64-x86_64-clang
+
+   .. tab:: Linux (Debian Bookworm or Ubuntu 22.04)
+
+      .. code-block::
+
+         apt -y install clang-format
+
+**Configuring ClangFormat**
+
+To configure ClangFormat, create a `.clang-format` file in the root directory of your project. Below is the configuration used in |op_oss|:
+
+   .. literalinclude:: /../../../repo/.clang-format
+
+**Running ClangFormat**
+
+To format the code using ClangFormat, run the following command in the terminal:
+
+.. code-block:: bash
+
+   clang-format -i [source_file(s)]
+
+Replace `[source_file(s)]` with the path(s) to the file(s) to format. The `-i` option tells ClangFormat to modify the files in-place.
+
+ClangTidy
+-----------
+
+Supported Version: 14.0.6
+
+To ensure code quality and adherence to coding standards, ClangTidy is recommended.
+
+The used checks are located in the :download:`.clang-tidy </../../../repo/.clang-tidy>` file, where lines starting with ``-`` are checks that have been deactivated.
+For more details, visit the `ClangTidy official page <https://clang.llvm.org/extra/clang-tidy/#using-clang-tidy>`_.
+
+Commit Message Guidelines
+-------------------------
+
+**Overview**
+
+This section outlines the guidelines for writing commit messages in openPASS repository. Following these guidelines ensures that commit messages are clear, descriptive, and help facilitate collaboration among team members.
+This section uses excerpts from `Conventional Commits <https://www.conventionalcommits.org/en/v1.0.0/>`_ licensed under `CC BY 3.0 <https://creativecommons.org/licenses/by/3.0/>`_ by it's authors.
+
+**Commit Message Format**
+
+Each commit message should consist of a single short summary line (recommended, up to 50 characters) followed by a more detailed description (if necessary).
+The message should adhere to the following format:
+
+   .. code-block::
+
+    <type>[optional scope]: <description>
+
+    [optional body]
+
+    [optional footer(s)]
+
+ #. The ``<type>`` part represents the type of the commit, which helps in categorizing the nature of the changes. The following types are allowed:
+
+    * ``feat``: A new feature or enhancement.
+    * ``fix``: A bug fix.
+    * ``docs``: Documentation-related changes.
+    * ``style``: Code style changes (e.g., formatting, spacing).
+    * ``refactor``: Code refactoring without adding new features or fixing bugs.
+    * ``test``: Adding or improving tests.
+    * ``chore``: Maintenance tasks, build changes, or other non-functional modifications.
+    * ``ci``: Changes related to CI.
+    * ``build``: Modifications related to build step.
+    * ``perf``: Modifications related to performance improvements.
+    * ``revert``: Revert any code changes.
+
+ #. The ``<optional scope>`` section is optional but is used to provide additional contextual information and is contained within parenthesis.
+
+ #. The ``<description>`` is a brief description of the changes made in the commit. It should be concise yet informative and is recommended to not exceed 50 characters.
+
+ #. The ``<optional body>`` section is optional but recommended, especially for complex changes or when further explanation is needed. This section should provide additional context, justification, and details about the changes made. Use bullet points for better readability when necessary.
+
+ #. The ``<optional footer>`` section is also optional but can be used to provide supplementary information related to the commit.
+
+Header File Inclusion
+---------------------
+
+**Overview**
+
+When working on a C/C++ project, it's essential to include header files correctly. This documentation explains the various ways to include header files, depending on their source.
+
+**System Libraries**
+
+Header files from system libraries should be enclosed in angular brackets (`< >`). This syntax informs the compiler to search for the headers in the system's standard include directories.
+
+   .. code-block::
+
+      #include <stdio.h>
+      #include <stdlib.h>
+
+**Dependencies in CMAKE_PREFIX_PATH**
+
+If the header files are from dependencies that are part of the `CMAKE_PREFIX_PATH`, use angular brackets (`< >`) as well. This indicates to the compiler that the headers are part of external dependencies.
+
+   .. code-block::
+
+      #include <dependency/header.h>
+
+**Repository Header Files**
+
+If the header files are from project's repository then, use double quotes (`" ""`).
+
+   .. code-block::
+
+      #include "my_component/header.h"
diff --git a/content/html/_sources/developer_information/ide_support/30_vscode.rst.txt b/content/html/_sources/developer_information/ide_support/30_vscode.rst.txt
index ec6839abdae7ba9db14ede8270113cb2e053256a..c09072ba18d4d7e21d8d0772b6ce61d0e5367a31 100644
--- a/content/html/_sources/developer_information/ide_support/30_vscode.rst.txt
+++ b/content/html/_sources/developer_information/ide_support/30_vscode.rst.txt
@@ -1,445 +1,445 @@
-..
-  *******************************************************************************
-  Copyright (c) 2021 in-tech GmbH
-                2023-2024 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
-  http://www.eclipse.org/legal/epl-2.0.
-
-  SPDX-License-Identifier: EPL-2.0
-  *******************************************************************************
-
-.. |win_only| image:: /_static/win_only.png
-
-.. _vscode:
-
-Working with Visual Studio Code
-===============================
-
-This section describes the basic setup for Visual Studio Code.
-
-.. figure:: _static/images/vscode_quick_intro.png
-   :align: center
-
-   Correctly configured Visual Studio Code showing -- among other things -- **left**, debugging, testmate, and cmake pane selectors, and at the **bottom**, build type, kit, current target, and CTest runner.
-
-Assumptions
------------
-
-- For brevity, non-standard libraries are expected to be in the folder ``./deps/thirdParty``.
-- |win_only| **MSYS2/MinGW 64 Bit** is used.
-
-Installation
-------------
-
-1. Install Visual Studio Code (https://code.visualstudio.com)
-
-2. Install Extensions
-
-.. table::
-
-   ======================================================================================================== =======================================================
-   Name                                                                                                     Purpose
-   ======================================================================================================== =======================================================
-   `C/C++ <https://marketplace.visualstudio.com/items?itemName=ms-vscode.cpptools>`_                        Support for C/C++, including IntelliSense and debugging
-   `CMake Tools <https://vector-of-bool.github.io/docs/vscode-cmake-tools>`_                                Extended CMake support
-   `C++ Testmate <https://marketplace.visualstudio.com/items?itemName=matepek.vscode-catch2-test-adapter>`_ Run and debug GoogleTest
-   `MSYS2/Cygwin/MinGW/Clang support <https://marketplace.visualstudio.com/items?itemName=fougas.msys2>`_   |win_only| MSYS2/MinGW configuration adapter
-   `Remote Development <https://code.visualstudio.com/docs/devcontainers/containers>`_                      Development using DevContainers
-   `Docker <https://code.visualstudio.com/docs/containers/overview>`_                                       Additional information for DevContainer prerequisites
-   ======================================================================================================== =======================================================
-
-Set Up Development Containers in Visual Studio Code
----------------------------------------------------
-
-Introduction
-++++++++++++
-
-This section provides step-by-step instructions on setting up development containers in Visual Studio Code (VSCode). Development containers allow you to define and manage your development environment using Docker containers, ensuring consistent and reproducible setups across different machines.
-
-Prerequisites
-+++++++++++++
-
-Before you begin, make sure ``docker`` is installed in your system. If ``docker`` is not installed, follow the below steps.
-
-.. tabs::
-
-   .. tab:: Windows
-
-      1. Open PowerShell in Administrator Mode by right-clicking and selecting "Run as administrator.".
-
-      2. To install wsl, run the following command and then restart the machine:
-
-         .. code-block:: powershell
-
-            wsl --install
-
-         The above command only works if WSL is not installed at all.
-         If you run ``wsl --install`` and see the WSL help text, try running ``wsl --list --online`` to see a list of available distros and run ``wsl --install -d <Linux DistroName>`` to install a distro. The recommended distro is ``Ubuntu`` and the following steps assumes the distro as ``Ubuntu``
-
-      3. Once the distro is installed, check the version of the installed distro
-
-         .. code-block:: powershell
-
-            wsl -l -v
-
-         If the version is 1, then change it to 2 using the command ``wsl --set-version <distro> 2``
-
-      4. After successful installation, open Ubuntu by searching ``Ubuntu`` in windows search bar
-
-      5. Install the dependencies to run docker on the distro using the following command
-
-         .. code-block:: bash
-
-            sudo apt install --no-install-recommends apt-transport-https ca-certificates curl
-
-      6. On Debian or Ubuntu, first temporarily set some OS-specific variables:
-
-         .. code-block:: bash
-
-            . /etc/os-release
-
-         Then, make sure ``apt`` trust the docker repo
-
-         .. code-block:: bash
-
-            curl -fsSL https://download.docker.com/linux/${ID}/gpg | sudo tee /etc/apt/trusted.gpg.d/docker.asc
-
-         ID will be either ``ubuntu`` or ``debian``, as appropriate, depending on what is in ``/etc/os-release``.
-
-      7. Add docker repo information to the ``apt`` to install docker.
-
-         .. code-block:: bash
-
-            echo "deb [arch=amd64] https://download.docker.com/linux/${ID} ${VERSION_CODENAME} stable" | sudo tee /etc/apt/sources.list.d/docker.list
-            sudo apt update
-
-      8. Install Docker and add user to the ``docker`` group
-
-         .. code-block:: bash
-
-            sudo apt install docker-ce docker-ce-cli containerd.io
-            sudo usermod -aG docker $USER
-
-         Replace ``$USER`` with your user name on distro. Then close the WSL window, and launch WSL again. You should see ``docker`` when you run the command ``groups`` on command prompt to list group memberships.
-
-      9. Launch ``dockerd`` using the following command
-
-         .. code-block:: bash
-
-            sudo dockerd
-
-         There should be several lines of info, warnings related to cgroup blkio, and the like, with something like API listen on /var/run/docker.sock at the end. If so, you have success.
-         If there is any network controller issue, execute the following compile_commands
-
-         .. code-block:: bash
-
-            echo -e "[network]\ngenerateResolvConf = false" | sudo tee -a /etc/wsl.conf
-            sudo unlink /etc/resolv.conf
-            echo nameserver 1.1.1.1 | sudo tee /etc/resolv.conf
-
-         Also switch to legacy iptables using the following command
-
-         .. code-block:: bash
-
-            update-alternatives --config iptables
-
-         And select iptables-legacy
-         Rerun the command ``sudo dockerd`` and check if it is succeeded.
-
-      10. To check if ``docker`` is running from Windows, in PowerShell execute the following command.
-
-         .. code-block:: powershell
-
-            wsl -d Ubuntu docker -H unix:///var/run/docker.sock --version
-
-   .. tab:: Linux
-
-      1. Open a terminal window.
-
-      2. Execute the following command
-
-         .. code-block:: bash
-
-            docker --version
-
-         If Docker is installed, you will see the version information displayed in the terminal.
-
-      3. If Docker is not installed, you can install it using the following steps:
-
-         1. Update your package list using the command:
-
-            .. code-block:: bash
-
-               sudo apt update
-
-         2. Install Docker using the following command:
-
-            .. code-block:: bash
-
-               sudo apt install docker.io
-
-         3. You may need to add your user to the "docker" group to use Docker without sudo. Run the following command to add your user to the group (replace `<username>` with your actual username):
-
-            .. code-block:: bash
-
-               sudo usermod -aG docker <username>
-
-.. note::
-   For more detailed instructions and troubleshooting related to Docker, refer to the official Docker documentation: https://docs.docker.com/get-docker/
-
-DevContainers
-+++++++++++++
-
-Open the repository in VSCode as folder, e.g. by calling ``code openpass`` after checking out and then define the development container configuration.
-
-1. Open the repository as folder, e.g. by calling ``code openpass`` after checking out.
-2. Create the folder ``.devcontainer`` at the root of the project and configure your development container using JSON format. Below is an example configuration:
-
-   .. tabs::
-
-      .. tab:: Windows
-
-         .. literalinclude:: _static/vscode/config/devcontainer.json
-            :caption: devcontainer.json
-            :language: javascript
-            :linenos:
-
-         :download:`Download <_static/vscode/config/devcontainer.json>`
-
-         .. note::
-
-            To use docker daemons running on WSL, open ``settings`` in VSCode and search for ``Execute In WSL`` and select the option to execute in WSL. Also, under ``Execute in WSLDistro`` enter your distro name, for example: ``Ubuntu``
-
-      .. tab:: Linux
-
-         .. literalinclude:: _static/vscode/config/devcontainer.json
-            :caption: devcontainer.json
-            :language: javascript
-            :linenos:
-
-         :download:`Download <_static/vscode/config/devcontainer.json>`
-
-3. Open Your Project in a Development Container:
-
-   1. Open the command palette by pressing `Ctrl+Shift+P`.
-   2. Type "Dev Containers: Open Folder in Container" and select your project folder.
-   3. VSCode will build the Docker container based on the configuration and open your project inside it.
-
-4. Developing in the Container:
-
-   1. You can now edit files, install packages, and run code within the development container.
-   2. Installed extensions and settings in the container will be isolated from your local environment.
-
-5. To exit the container, click on the bottom left status bar where it shows the container name and click "Close Remote Connection."
-
-
-Configuration
--------------
-
-|win_only| MSYS2 Path
-+++++++++++++++++++++
-
-Normally, runtime dependencies (DLLs) are not copied into the executables folder within the build process.
-This means, that programs cannot be executed natively from Windows shells or the explorer.
-It is therefore highly recommended, to set the environmental variable ``MSYSTEM=MINGW64`` and ``CHERE_INVOKING=1``.
-The setting of ``MSYSTEM`` will cause the environment to be set up correctly for MinGW64.
-Windows will then look for DLLs within the msys64 folders, allowing native execution.
-``CHERE_INVOKING`` makes sure the shell stays in the current working directory.
-As investigated recently, the ``C:\msys64\usr\bin``must also be added to the ``PATH`` environment variable in order to resolve dependencies to ``cygpath.exe``.
-
-.. note::
-   If ``C:\msys64`` is not already listed in ``PATH`` variable, then add ``C:\msys64`` in ``PATH`` variable before adding ``C:\msys64\usr\bin`` to the ``PATH`` variable.
-   If there are any other Unix like environments installed on Windows operating systems (example: cygwin), there might even be file collisions when calling certain cmake commands.
-   Therefore, it is suggested to add ``C:\msys64`` in ``PATH`` variable before any other Unix like environmental calls.
-
-Either set environment variable through the ``Windows PowerShell``
-
-.. code:: shell
-
-   # check if set
-   echo ${env:path}
-   echo ${env:MSYSTEM}
-   echo ${env:CHERE_INVOKING}
-
-   # if not
-   setx path "%PATH%;C:\msys64\usr\bin"
-   setx MSYSTEM "MINGW64"
-   setx CHERE_INVOKING "1"
-
-or
-
-1. Open the start search
-2. Type in “env” and choose “Edit the system environment variables”
-3. Choose “Environment Variables…”
-4. Set the environment variables:
-
-   i. MSYSTEM=MINGW64
-   ii. CHERE_INVOKING=1
-   iii. Add ``C:\msys64\usr\bin`` to PATH
-
-Visual Studio Code needs to be reloaded/restarted after the path update.
-
-.. note::
-
-   An optimal solution would be to set the system environment variables in VSCode under ``settings.json``. This is currently not possible. Please contact us if you find a better solution.
-
-Build Kit
-+++++++++
-
-.. tabs::
-
-   .. tab:: Windows
-
-      **Add and select MSYS2/MinGW64 Build Kit:**
-
-      1. Execute ``Ctrl+Shift+P``: ``CMake: Edit User-Local CMake Kits``
-
-      2. Insert/Update:
-
-         .. literalinclude:: _static/vscode/config/win/cmake-tools-kits.json
-            :caption: cmake-tools-kits.json
-            :language: javascript
-            :linenos:
-
-         :download:`Download <_static/vscode/config/win/cmake-tools-kits.json>`
-
-      3. ``Ctrl+Shift+P``: ``CMake: Select a Kit`` = ``MinGW64``
-
-   .. tab:: Linux
-
-      **Select System Build Kit:**
-
-      ``Ctrl+Shift+P``: ``CMake: Select a Kit`` = ``GCC 10.2.0``
-
-      See also :ref:`prerequisites`.
-
-.. _vscode_user_settings:
-
-User Settings
-+++++++++++++
-
-1. Execute ``Ctrl+Shift+P``: ``Preferences Open Workspace Settings (JSON)``
-
-2. Insert/Update:
-
-   .. tabs::
-
-      .. tab:: Windows
-
-         .. literalinclude:: _static/vscode/config/win/settings.json
-            :caption: settings.json
-            :language: javascript
-            :linenos:
-
-         :download:`Download <_static/vscode/config/win/settings.json>`
-
-      .. tab:: Linux
-
-         .. literalinclude:: _static/vscode/config/linux/settings.json
-            :caption: settings.json
-            :language: javascript
-            :linenos:
-
-         :download:`Download <_static/vscode/config/linux/settings.json>`
-
-
-C++ and IntelliSense
-++++++++++++++++++++
-
-1. Execute ``Ctrl+Shift+P``: ``C/C++: Edit Configurations (JSON)``
-
-2. .. literalinclude:: _static/vscode/config/c_cpp_properties.json
-     :caption: c_cpp_properties.json
-     :language: javascript
-     :linenos:
-
-   :download:`Download <_static/vscode/config/c_cpp_properties.json>`
-
-Configure the Build
-+++++++++++++++++++
-
-Execute ``Ctrl+Shift+P``: ``CMake: Configure``
-
-
-CMake should now be able to configure the project.
-If not, cmake should give you at least a hint, what's missing (normally external libraries).
-Read :ref:`cmake` or :ref:`prerequisites` for more information.
-
-.. admonition:: CMake
-
- Some changes such as changing the build type (Debug/Release) will cause CMake to updates the configuration automatically.
- Other changes won't trigger an update, such as changing the paths to libraries (`CMAKE_PREFIX_PATH`), the cmake cache needs to be cleared before reconfiguration:
- ``Ctrl+Shift+P`` > ``CMake: Delete Cache and Reconfigure``
-
-Debug Targets
-+++++++++++++
-
-CMake Tools and C++ Testmate automatically use custom launch configurations, if available.
-When using the debugging functionality, the according executable will be executed from where they are built (per default inside the ``build`` folder).
-
-- This is acceptable for unit test, which do not require openPASS specific libraries.
-  The corresponding config is ``CMake Target``.
-
-- For the core, located at ``./build/sim/src/core/opSimulation/opSimulation``, this does not work, as no libraries and no configurations are available.
-  As a solution, a second debug target ``opsimulation`` points at the installed executable instead.
-
-  .. warning:: Don't forget to run the target ``install`` before debugging .
-
-1. Got to "Run and Debug" (``Ctrl+Shift+D``) and *create a launch.json file*.
-
-2. Insert/Update:
-
-.. tabs::
-
-   .. tab:: Windows
-
-      .. literalinclude:: _static/vscode/config/win/launch.json
-         :caption: launch.json
-         :language: javascript
-         :linenos:
-
-      :download:`Download <_static/vscode/config/win/launch.json>`
-
-   .. tab:: Linux
-
-      .. literalinclude:: _static/vscode/config/linux/launch.json
-         :caption: launch.json
-         :language: javascript
-         :linenos:
-
-      :download:`Download <_static/vscode/config/linux/launch.json>`
-
-.. note::
-
-   IntelliSense uses the ``compile_commands.json`` of generated through ``CMAKE_EXPORT_COMPILE_COMMANDS=ON`` (see ``settings.json``).
-   This is necessary for proper resolution of the include files.
-
-
-Troubleshooting
----------------
-
-|win_only| **Program does not start**
-
-The most effective way to debug startup issues is by means of the `Process Monitor <https://docs.microsoft.com/en-us/sysinternals/downloads/procmon>`_.
-
-But normally, its a missing DLL. When executing the program via command line or explorer a message box should prompt which DLLs are missing.
-A simple solution is to copy the according DLLs into the folder of the executable.
-Another solution is to make the path available by extending the ``PATH`` environment variable.
-Potential sources for missing DLLs are ``C:\msys64\mingw64\bin``, ``C:\msys64\mingw64\x86_64-w64-mingw32\lib``, and the ``build`` folder itself.
-
-**Tests are not listed**
-
-For test discovery, C++ Testmate needs to know the location of all additional dependencies.
-This information is retrieved from the current debug configuration.
-
-#. Testmate discovers tests only after they are built.
-   It pays to ``Run CTest`` to build all test targets.
-   After this, you should see all tests in the testing pane on the left.
-
-#. Still not listed? Set ``testMate.cpp.log.logfile`` in ``settings.json`` and check log.
-
-   #. Test executable not mentioned at all:
-      Executable name might not fit (check glob pattern in ``testMate.cpp.test.executables``).
-   #. Log reports *Error: Not a supported test executable*: a library/DLL might be missing.
+..
+  *******************************************************************************
+  Copyright (c) 2021 in-tech GmbH
+                2023-2024 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
+  http://www.eclipse.org/legal/epl-2.0.
+
+  SPDX-License-Identifier: EPL-2.0
+  *******************************************************************************
+
+.. |win_only| image:: /_static/win_only.png
+
+.. _vscode:
+
+Working with Visual Studio Code
+===============================
+
+This section describes the basic setup for Visual Studio Code.
+
+.. figure:: _static/images/vscode_quick_intro.png
+   :align: center
+
+   Correctly configured Visual Studio Code showing -- among other things -- **left**, debugging, testmate, and cmake pane selectors, and at the **bottom**, build type, kit, current target, and CTest runner.
+
+Assumptions
+-----------
+
+- For brevity, non-standard libraries are expected to be in the folder ``./deps/thirdParty``.
+- |win_only| **MSYS2/MinGW 64 Bit** is used.
+
+Installation
+------------
+
+1. Install Visual Studio Code (https://code.visualstudio.com)
+
+2. Install Extensions
+
+.. table::
+
+   ======================================================================================================== =======================================================
+   Name                                                                                                     Purpose
+   ======================================================================================================== =======================================================
+   `C/C++ <https://marketplace.visualstudio.com/items?itemName=ms-vscode.cpptools>`_                        Support for C/C++, including IntelliSense and debugging
+   `CMake Tools <https://vector-of-bool.github.io/docs/vscode-cmake-tools>`_                                Extended CMake support
+   `C++ Testmate <https://marketplace.visualstudio.com/items?itemName=matepek.vscode-catch2-test-adapter>`_ Run and debug GoogleTest
+   `MSYS2/Cygwin/MinGW/Clang support <https://marketplace.visualstudio.com/items?itemName=fougas.msys2>`_   |win_only| MSYS2/MinGW configuration adapter
+   `Remote Development <https://code.visualstudio.com/docs/devcontainers/containers>`_                      Development using DevContainers
+   `Docker <https://code.visualstudio.com/docs/containers/overview>`_                                       Additional information for DevContainer prerequisites
+   ======================================================================================================== =======================================================
+
+Set Up Development Containers in Visual Studio Code
+---------------------------------------------------
+
+Introduction
+++++++++++++
+
+This section provides step-by-step instructions on setting up development containers in Visual Studio Code (VSCode). Development containers allow you to define and manage your development environment using Docker containers, ensuring consistent and reproducible setups across different machines.
+
+Prerequisites
++++++++++++++
+
+Before you begin, make sure ``docker`` is installed in your system. If ``docker`` is not installed, follow the below steps.
+
+.. tabs::
+
+   .. tab:: Windows
+
+      1. Open PowerShell in Administrator Mode by right-clicking and selecting "Run as administrator.".
+
+      2. To install wsl, run the following command and then restart the machine:
+
+         .. code-block:: powershell
+
+            wsl --install
+
+         The above command only works if WSL is not installed at all.
+         If you run ``wsl --install`` and see the WSL help text, try running ``wsl --list --online`` to see a list of available distros and run ``wsl --install -d <Linux DistroName>`` to install a distro. The recommended distro is ``Ubuntu`` and the following steps assumes the distro as ``Ubuntu``
+
+      3. Once the distro is installed, check the version of the installed distro
+
+         .. code-block:: powershell
+
+            wsl -l -v
+
+         If the version is 1, then change it to 2 using the command ``wsl --set-version <distro> 2``
+
+      4. After successful installation, open Ubuntu by searching ``Ubuntu`` in windows search bar
+
+      5. Install the dependencies to run docker on the distro using the following command
+
+         .. code-block:: bash
+
+            sudo apt install --no-install-recommends apt-transport-https ca-certificates curl
+
+      6. On Debian or Ubuntu, first temporarily set some OS-specific variables:
+
+         .. code-block:: bash
+
+            . /etc/os-release
+
+         Then, make sure ``apt`` trust the docker repo
+
+         .. code-block:: bash
+
+            curl -fsSL https://download.docker.com/linux/${ID}/gpg | sudo tee /etc/apt/trusted.gpg.d/docker.asc
+
+         ID will be either ``ubuntu`` or ``debian``, as appropriate, depending on what is in ``/etc/os-release``.
+
+      7. Add docker repo information to the ``apt`` to install docker.
+
+         .. code-block:: bash
+
+            echo "deb [arch=amd64] https://download.docker.com/linux/${ID} ${VERSION_CODENAME} stable" | sudo tee /etc/apt/sources.list.d/docker.list
+            sudo apt update
+
+      8. Install Docker and add user to the ``docker`` group
+
+         .. code-block:: bash
+
+            sudo apt install docker-ce docker-ce-cli containerd.io
+            sudo usermod -aG docker $USER
+
+         Replace ``$USER`` with your user name on distro. Then close the WSL window, and launch WSL again. You should see ``docker`` when you run the command ``groups`` on command prompt to list group memberships.
+
+      9. Launch ``dockerd`` using the following command
+
+         .. code-block:: bash
+
+            sudo dockerd
+
+         There should be several lines of info, warnings related to cgroup blkio, and the like, with something like API listen on /var/run/docker.sock at the end. If so, you have success.
+         If there is any network controller issue, execute the following compile_commands
+
+         .. code-block:: bash
+
+            echo -e "[network]\ngenerateResolvConf = false" | sudo tee -a /etc/wsl.conf
+            sudo unlink /etc/resolv.conf
+            echo nameserver 1.1.1.1 | sudo tee /etc/resolv.conf
+
+         Also switch to legacy iptables using the following command
+
+         .. code-block:: bash
+
+            update-alternatives --config iptables
+
+         And select iptables-legacy
+         Rerun the command ``sudo dockerd`` and check if it is succeeded.
+
+      10. To check if ``docker`` is running from Windows, in PowerShell execute the following command.
+
+         .. code-block:: powershell
+
+            wsl -d Ubuntu docker -H unix:///var/run/docker.sock --version
+
+   .. tab:: Linux
+
+      1. Open a terminal window.
+
+      2. Execute the following command
+
+         .. code-block:: bash
+
+            docker --version
+
+         If Docker is installed, you will see the version information displayed in the terminal.
+
+      3. If Docker is not installed, you can install it using the following steps:
+
+         1. Update your package list using the command:
+
+            .. code-block:: bash
+
+               sudo apt update
+
+         2. Install Docker using the following command:
+
+            .. code-block:: bash
+
+               sudo apt install docker.io
+
+         3. You may need to add your user to the "docker" group to use Docker without sudo. Run the following command to add your user to the group (replace `<username>` with your actual username):
+
+            .. code-block:: bash
+
+               sudo usermod -aG docker <username>
+
+.. note::
+   For more detailed instructions and troubleshooting related to Docker, refer to the official Docker documentation: https://docs.docker.com/get-docker/
+
+DevContainers
++++++++++++++
+
+Open the repository in VSCode as folder, e.g. by calling ``code openpass`` after checking out and then define the development container configuration.
+
+1. Open the repository as folder, e.g. by calling ``code openpass`` after checking out.
+2. Create the folder ``.devcontainer`` at the root of the project and configure your development container using JSON format. Below is an example configuration:
+
+   .. tabs::
+
+      .. tab:: Windows
+
+         .. literalinclude:: _static/vscode/config/devcontainer.json
+            :caption: devcontainer.json
+            :language: javascript
+            :linenos:
+
+         :download:`Download <_static/vscode/config/devcontainer.json>`
+
+         .. note::
+
+            To use docker daemons running on WSL, open ``settings`` in VSCode and search for ``Execute In WSL`` and select the option to execute in WSL. Also, under ``Execute in WSLDistro`` enter your distro name, for example: ``Ubuntu``
+
+      .. tab:: Linux
+
+         .. literalinclude:: _static/vscode/config/devcontainer.json
+            :caption: devcontainer.json
+            :language: javascript
+            :linenos:
+
+         :download:`Download <_static/vscode/config/devcontainer.json>`
+
+3. Open Your Project in a Development Container:
+
+   1. Open the command palette by pressing `Ctrl+Shift+P`.
+   2. Type "Dev Containers: Open Folder in Container" and select your project folder.
+   3. VSCode will build the Docker container based on the configuration and open your project inside it.
+
+4. Developing in the Container:
+
+   1. You can now edit files, install packages, and run code within the development container.
+   2. Installed extensions and settings in the container will be isolated from your local environment.
+
+5. To exit the container, click on the bottom left status bar where it shows the container name and click "Close Remote Connection."
+
+
+Configuration
+-------------
+
+|win_only| MSYS2 Path
++++++++++++++++++++++
+
+Normally, runtime dependencies (DLLs) are not copied into the executables folder within the build process.
+This means, that programs cannot be executed natively from Windows shells or the explorer.
+It is therefore highly recommended, to set the environmental variable ``MSYSTEM=MINGW64`` and ``CHERE_INVOKING=1``.
+The setting of ``MSYSTEM`` will cause the environment to be set up correctly for MinGW64.
+Windows will then look for DLLs within the msys64 folders, allowing native execution.
+``CHERE_INVOKING`` makes sure the shell stays in the current working directory.
+As investigated recently, the ``C:\msys64\usr\bin``must also be added to the ``PATH`` environment variable in order to resolve dependencies to ``cygpath.exe``.
+
+.. note::
+   If ``C:\msys64`` is not already listed in ``PATH`` variable, then add ``C:\msys64`` in ``PATH`` variable before adding ``C:\msys64\usr\bin`` to the ``PATH`` variable.
+   If there are any other Unix like environments installed on Windows operating systems (example: cygwin), there might even be file collisions when calling certain cmake commands.
+   Therefore, it is suggested to add ``C:\msys64`` in ``PATH`` variable before any other Unix like environmental calls.
+
+Either set environment variable through the ``Windows PowerShell``
+
+.. code:: shell
+
+   # check if set
+   echo ${env:path}
+   echo ${env:MSYSTEM}
+   echo ${env:CHERE_INVOKING}
+
+   # if not
+   setx path "%PATH%;C:\msys64\usr\bin"
+   setx MSYSTEM "MINGW64"
+   setx CHERE_INVOKING "1"
+
+or
+
+1. Open the start search
+2. Type in “env” and choose “Edit the system environment variables”
+3. Choose “Environment Variables…”
+4. Set the environment variables:
+
+   i. MSYSTEM=MINGW64
+   ii. CHERE_INVOKING=1
+   iii. Add ``C:\msys64\usr\bin`` to PATH
+
+Visual Studio Code needs to be reloaded/restarted after the path update.
+
+.. note::
+
+   An optimal solution would be to set the system environment variables in VSCode under ``settings.json``. This is currently not possible. Please contact us if you find a better solution.
+
+Build Kit
++++++++++
+
+.. tabs::
+
+   .. tab:: Windows
+
+      **Add and select MSYS2/MinGW64 Build Kit:**
+
+      1. Execute ``Ctrl+Shift+P``: ``CMake: Edit User-Local CMake Kits``
+
+      2. Insert/Update:
+
+         .. literalinclude:: _static/vscode/config/win/cmake-tools-kits.json
+            :caption: cmake-tools-kits.json
+            :language: javascript
+            :linenos:
+
+         :download:`Download <_static/vscode/config/win/cmake-tools-kits.json>`
+
+      3. ``Ctrl+Shift+P``: ``CMake: Select a Kit`` = ``MinGW64``
+
+   .. tab:: Linux
+
+      **Select System Build Kit:**
+
+      ``Ctrl+Shift+P``: ``CMake: Select a Kit`` = ``GCC 10.2.0``
+
+      See also :ref:`prerequisites`.
+
+.. _vscode_user_settings:
+
+User Settings
++++++++++++++
+
+1. Execute ``Ctrl+Shift+P``: ``Preferences Open Workspace Settings (JSON)``
+
+2. Insert/Update:
+
+   .. tabs::
+
+      .. tab:: Windows
+
+         .. literalinclude:: _static/vscode/config/win/settings.json
+            :caption: settings.json
+            :language: javascript
+            :linenos:
+
+         :download:`Download <_static/vscode/config/win/settings.json>`
+
+      .. tab:: Linux
+
+         .. literalinclude:: _static/vscode/config/linux/settings.json
+            :caption: settings.json
+            :language: javascript
+            :linenos:
+
+         :download:`Download <_static/vscode/config/linux/settings.json>`
+
+
+C++ and IntelliSense
+++++++++++++++++++++
+
+1. Execute ``Ctrl+Shift+P``: ``C/C++: Edit Configurations (JSON)``
+
+2. .. literalinclude:: _static/vscode/config/c_cpp_properties.json
+     :caption: c_cpp_properties.json
+     :language: javascript
+     :linenos:
+
+   :download:`Download <_static/vscode/config/c_cpp_properties.json>`
+
+Configure the Build
++++++++++++++++++++
+
+Execute ``Ctrl+Shift+P``: ``CMake: Configure``
+
+
+CMake should now be able to configure the project.
+If not, cmake should give you at least a hint, what's missing (normally external libraries).
+Read :ref:`cmake` or :ref:`prerequisites` for more information.
+
+.. admonition:: CMake
+
+ Some changes such as changing the build type (Debug/Release) will cause CMake to updates the configuration automatically.
+ Other changes won't trigger an update, such as changing the paths to libraries (`CMAKE_PREFIX_PATH`), the cmake cache needs to be cleared before reconfiguration:
+ ``Ctrl+Shift+P`` > ``CMake: Delete Cache and Reconfigure``
+
+Debug Targets
++++++++++++++
+
+CMake Tools and C++ Testmate automatically use custom launch configurations, if available.
+When using the debugging functionality, the according executable will be executed from where they are built (per default inside the ``build`` folder).
+
+- This is acceptable for unit test, which do not require openPASS specific libraries.
+  The corresponding config is ``CMake Target``.
+
+- For the core, located at ``./build/sim/src/core/opSimulation/opSimulation``, this does not work, as no libraries and no configurations are available.
+  As a solution, a second debug target ``opsimulation`` points at the installed executable instead.
+
+  .. warning:: Don't forget to run the target ``install`` before debugging .
+
+1. Got to "Run and Debug" (``Ctrl+Shift+D``) and *create a launch.json file*.
+
+2. Insert/Update:
+
+.. tabs::
+
+   .. tab:: Windows
+
+      .. literalinclude:: _static/vscode/config/win/launch.json
+         :caption: launch.json
+         :language: javascript
+         :linenos:
+
+      :download:`Download <_static/vscode/config/win/launch.json>`
+
+   .. tab:: Linux
+
+      .. literalinclude:: _static/vscode/config/linux/launch.json
+         :caption: launch.json
+         :language: javascript
+         :linenos:
+
+      :download:`Download <_static/vscode/config/linux/launch.json>`
+
+.. note::
+
+   IntelliSense uses the ``compile_commands.json`` of generated through ``CMAKE_EXPORT_COMPILE_COMMANDS=ON`` (see ``settings.json``).
+   This is necessary for proper resolution of the include files.
+
+
+Troubleshooting
+---------------
+
+|win_only| **Program does not start**
+
+The most effective way to debug startup issues is by means of the `Process Monitor <https://docs.microsoft.com/en-us/sysinternals/downloads/procmon>`_.
+
+But normally, its a missing DLL. When executing the program via command line or explorer a message box should prompt which DLLs are missing.
+A simple solution is to copy the according DLLs into the folder of the executable.
+Another solution is to make the path available by extending the ``PATH`` environment variable.
+Potential sources for missing DLLs are ``C:\msys64\mingw64\bin``, ``C:\msys64\mingw64\x86_64-w64-mingw32\lib``, and the ``build`` folder itself.
+
+**Tests are not listed**
+
+For test discovery, C++ Testmate needs to know the location of all additional dependencies.
+This information is retrieved from the current debug configuration.
+
+#. Testmate discovers tests only after they are built.
+   It pays to ``Run CTest`` to build all test targets.
+   After this, you should see all tests in the testing pane on the left.
+
+#. Still not listed? Set ``testMate.cpp.log.logfile`` in ``settings.json`` and check log.
+
+   #. Test executable not mentioned at all:
+      Executable name might not fit (check glob pattern in ``testMate.cpp.test.executables``).
+   #. Log reports *Error: Not a supported test executable*: a library/DLL might be missing.
diff --git a/content/html/_sources/index.rst.txt b/content/html/_sources/index.rst.txt
index 716865b9b7c9e97b7f2f831cbff8fc6eda5be5b1..8274eb7c280b171538fe308c9bf1acb99a3ff7bc 100644
--- a/content/html/_sources/index.rst.txt
+++ b/content/html/_sources/index.rst.txt
@@ -1,68 +1,63 @@
-..
-  *******************************************************************************
-  Copyright (c) 2021 in-tech GmbH
-                2023 Mercedes-Benz Tech Innovation GmbH
-
-  This program and the accompanying materials are made available under the
-  terms of the Eclipse Public License 2.0 which is available at
-  http://www.eclipse.org/legal/epl-2.0.
-
-  SPDX-License-Identifier: EPL-2.0
-  *******************************************************************************
-
-openPASS Documentation
-======================
-
-The openPASS (Open Platform for Assessment of Safety Systems) tool is a developed framework for the simulation of interaction between traffic participants to evaluate and parametrize active safety systems. 
-The simulation is based on a specific situation configuration and can contain several simulation runs, which differ due to random parameters.
-
-The software suite of openPASS started as a set of stand-alone applications, which can be installed and configured individually.
-Over time, especially the graphical user interface evolved to a single entry point, enabling the average user to use openPASS as a "monolithic" tool.
-
-This guide contains information about installation, configuration and usage of all tools in the |Op| environment.
-
-.. toctree::
-   :caption: Installation Guide
-   :glob:
-   :maxdepth: 1
-
-   installation_guide/*
-
-.. TODO:: Update section for new react GUI.
-
-The GUI lets the user configure the simulation and generate configuration files from all set parameters.
-Based on these the simulation core calculates different simulation runs and compiles trace files for further processing.
-
-.. toctree::
-   :caption: User Guides
-   :glob:
-   :maxdepth: 1
-
-   user_guide/*
-
-.. toctree::
-   :caption: Advanced topics
-   :glob:
-   :maxdepth: 1
-
-   advanced_topics/*
-
-.. toctree-api::
-   :caption: Developer Information
-   :glob:
-   :maxdepth: 1
-
-   developer_information/*
-   :api-doc:
-
-.. toctree::
-   :caption: Other Information
-   :glob:
-   :maxdepth: 1
-
-   other_information/*
-
-Todolist
-========
-
-.. todolist::
+..
+  *******************************************************************************
+  Copyright (c) 2021 in-tech GmbH
+                2023 Mercedes-Benz Tech Innovation GmbH
+
+  This program and the accompanying materials are made available under the
+  terms of the Eclipse Public License 2.0 which is available at
+  http://www.eclipse.org/legal/epl-2.0.
+
+  SPDX-License-Identifier: EPL-2.0
+  *******************************************************************************
+
+openPASS Documentation
+======================
+
+The openPASS (Open Platform for Assessment of Safety Systems) tool is a developed framework for the simulation of interaction between traffic participants to evaluate and parametrize active safety systems. 
+The simulation is based on a specific situation configuration and can contain several simulation runs, which differ due to random parameters.
+
+The software suite of openPASS started as a set of stand-alone applications, which can be installed and configured individually.
+In the future, the graphical user interface opGUI will evolve to a single entry point, enabling the average user to use openPASS as a "monolithic" tool.
+
+This guide contains information about installation, configuration and usage of all tools in the |Op| environment.
+
+.. toctree::
+   :caption: Installation Guide
+   :glob:
+   :maxdepth: 1
+
+   installation_guide/*
+
+.. toctree::
+   :caption: User Guides
+   :glob:
+   :maxdepth: 1
+
+   user_guide/*
+
+.. toctree::
+   :caption: Advanced topics
+   :glob:
+   :maxdepth: 1
+
+   advanced_topics/*
+
+.. toctree-api::
+   :caption: Developer Information
+   :glob:
+   :maxdepth: 1
+
+   developer_information/*
+   :api-doc:
+
+.. toctree::
+   :caption: Other Information
+   :glob:
+   :maxdepth: 1
+
+   other_information/*
+
+Todolist
+========
+
+.. todolist::
diff --git a/content/html/_sources/installation_guide/10_getting_started.rst.txt b/content/html/_sources/installation_guide/10_getting_started.rst.txt
index 19ce73601b7ce7a43e04a9727e9db29a6fb1b811..fda9c692c466cb93333807d4587b573eb8caedf1 100644
--- a/content/html/_sources/installation_guide/10_getting_started.rst.txt
+++ b/content/html/_sources/installation_guide/10_getting_started.rst.txt
@@ -1,55 +1,55 @@
-..
-  *******************************************************************************
-  Copyright (c) 2021-2024 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
-  http://www.eclipse.org/legal/epl-2.0.
-
-  SPDX-License-Identifier: EPL-2.0
-  *******************************************************************************
-
-.. _sim_install_guide:
-
-Getting Started
-===============
-
-This guide will lead you through the installation steps to set up the |op| simulator and run your first simulation. 
-The process is described for Windows and Linux as target platforms. 
-Please check the :ref:`system_requirements` for the required hardware setup.  
-
-The installation manual is structured as follows:
-
-.. tabs::
-
-  .. tab:: Building manually
-
-    **Setting up your system**
-
-    - :ref:`Prerequisites` contains instructions for installing the thirdparty software required by |op|
-
-    **Installation of the simulator**
-
-    - :ref:`Download_and_install_openpass` describes how to compile and run |op| once all prerequisites are installed
-    
-  .. tab:: Building with Conan
-
-    .. warning:: Not Recommended to install this way. Not finished and fully tested yet.
-
-    **Setting up Conan** 
-  
-    - :ref:`building_with_conan` contains the instructions to set Conan up.
-
-    **Installation of the simulator**
-
-    - :ref:`building_with_conan` describes how to compile and run |op| once all prerequisites are installed
-
-
-**Run a default simulation**
-
-- :ref:`tutorials` shows how to run your first simulations
-
-**Further guidance**
-
-- :ref:`Cmake` holds information about available variables and options for the cross-platform build environment CMake
-- :ref:`Vscode` describes the basic setup for Visual Studio Code
+..
+  *******************************************************************************
+  Copyright (c) 2021-2024 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
+  http://www.eclipse.org/legal/epl-2.0.
+
+  SPDX-License-Identifier: EPL-2.0
+  *******************************************************************************
+
+.. _sim_install_guide:
+
+Getting Started
+===============
+
+This guide will lead you through the installation steps to set up the |op| simulator and run your first simulation. 
+The process is described for Windows and Linux as target platforms. 
+Please check the :ref:`system_requirements` for the required hardware setup.  
+
+The installation manual is structured as follows:
+
+.. tabs::
+
+  .. tab:: Building manually
+
+    **Setting up your system**
+
+    - :ref:`Prerequisites` contains instructions for installing the thirdparty software required by |op|
+
+    **Installation of the simulator**
+
+    - :ref:`Download_and_install_openpass` describes how to compile and run |op| once all prerequisites are installed
+    
+  .. tab:: Building with Conan
+
+    .. warning:: Not Recommended to install this way. Not finished and fully tested yet.
+
+    **Setting up Conan** 
+  
+    - :ref:`building_with_conan` contains the instructions to set Conan up.
+
+    **Installation of the simulator**
+
+    - :ref:`building_with_conan` describes how to compile and run |op| once all prerequisites are installed
+
+
+**Run a default simulation**
+
+- :ref:`tutorials` shows how to run your first simulations
+
+**Further guidance**
+
+- :ref:`Cmake` holds information about available variables and options for the cross-platform build environment CMake
+- :ref:`Vscode` describes the basic setup for Visual Studio Code
diff --git a/content/html/_sources/installation_guide/15_system_requirements.rst.txt b/content/html/_sources/installation_guide/15_system_requirements.rst.txt
index e1a4eda9c2d7baec9f666a5cae09361808f8d499..fdf69b3654f7a3ff2b896143fd73d002f394e925 100644
--- a/content/html/_sources/installation_guide/15_system_requirements.rst.txt
+++ b/content/html/_sources/installation_guide/15_system_requirements.rst.txt
@@ -1,34 +1,34 @@
-..
-  *******************************************************************************
-  Copyright (c) 2022-2023 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
-  http://www.eclipse.org/legal/epl-2.0.
-
-  SPDX-License-Identifier: EPL-2.0
-  *******************************************************************************
-
-.. _system_requirements:
-
-System Requirements
-===================
-
-Simulations with |op| are designed to be very lightweight and performant, without imposing huge requirements on the underlying hardware. 
-Thus, |op| simulations run as a single core application and do not utilize GPU. 
-Only the build process during installation of |op| makes use of multiple cores, so it is recommended to have at least a 4 core CPU.
-In the table below, minimal requirements are listed along with a commonly used, well working example setup.
-
-.. table::
-   :class: tight-table
-
-   ==================== ============================================================== ==========================
-   System Specification Minimal Requirements                                           Tested Setup (exemplarily)
-   ==================== ============================================================== ==========================
-   Operating System     Windows or Linux (Debian Bookworm or Ubuntu 22.04 recommended) Windows 10 
-   CPU                  Intel x64 Architecture with at least 1,50 GHz clock frequency  Intel i5-10310U
-   RAM                  at least 8 GB                                                  8 GB
-   GPU                  not used by the simulation                                     Intel UHD Graphics 620
-   Others               1 GB free hard disk space
-   ==================== ============================================================== ==========================
-
+..
+  *******************************************************************************
+  Copyright (c) 2022-2023 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
+  http://www.eclipse.org/legal/epl-2.0.
+
+  SPDX-License-Identifier: EPL-2.0
+  *******************************************************************************
+
+.. _system_requirements:
+
+System Requirements
+===================
+
+Simulations with |op| are designed to be very lightweight and performant, without imposing huge requirements on the underlying hardware. 
+Thus, |op| simulations run as a single core application and do not utilize GPU. 
+Only the build process during installation of |op| makes use of multiple cores, so it is recommended to have at least a 4 core CPU.
+In the table below, minimal requirements are listed along with a commonly used, well working example setup.
+
+.. table::
+   :class: tight-table
+
+   ==================== ============================================================== ==========================
+   System Specification Minimal Requirements                                           Tested Setup (exemplarily)
+   ==================== ============================================================== ==========================
+   Operating System     Windows or Linux (Debian Bookworm or Ubuntu 22.04 recommended) Windows 10 
+   CPU                  Intel x64 Architecture with at least 1,50 GHz clock frequency  Intel i5-10310U
+   RAM                  at least 8 GB                                                  8 GB
+   GPU                  not used by the simulation                                     Intel UHD Graphics 620
+   Others               1 GB free hard disk space
+   ==================== ============================================================== ==========================
+
diff --git a/content/html/_sources/installation_guide/20_install_prerequisites.rst.txt b/content/html/_sources/installation_guide/20_install_prerequisites.rst.txt
index eb0420e0b95c027b6535e72083b5f419f5c07291..724c836fda267a5de56a2f814b67a51a1a12404e 100644
--- a/content/html/_sources/installation_guide/20_install_prerequisites.rst.txt
+++ b/content/html/_sources/installation_guide/20_install_prerequisites.rst.txt
@@ -1,320 +1,330 @@
-..
-  *******************************************************************************
-  Copyright (c) 2021-2024 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
-                2021 in-tech GmbH
-
-  This program and the accompanying materials are made available under the
-  terms of the Eclipse Public License 2.0 which is available at
-  http://www.eclipse.org/legal/epl-2.0.
-
-  SPDX-License-Identifier: EPL-2.0
-  *******************************************************************************
-
-.. _prerequisites:
-
-Installing Prerequisites
-========================
-
-Before being able to compile and run |op|, make sure to have all dependencies installed.
-The third party software dependency of |op| can be divided into:
-
-- **Build environment**, which manages third party software and is used to compile and install |op|
-- **Binary packages**, which can be easily installed via a package manager of the respective build environment
-- **Source packages**, which need to be built from source code
-
-This section gives detailed information about the prerequisites and tested version.
-
-.. _building_under_windows:
-
-
-Installing the Build Environment
---------------------------------
-
-.. tabs::
-
-   .. tab:: Windows
-
-      #. MSYS2
-
-         On Windows, the build environment of choice are :term:`MSYS2` programming tools.
-         :term:`MSYS2` is used to install some third-party software on which |op| depends.
-         Also, the unix-like shell simplifies c++ compilation on Windows.
-         For details, see `MSYS2 website <https://www.msys2.org/>`_.
-
-
-         .. _msys2:
-
-      #. Download MSYS2
-
-         The latest 64-bit package is located in the Installation section of `MSYS2 website <https://www.msys2.org/>`_.
-
-
-         .. _msys2_installation:
-
-      #. Install MSYS2
-
-         Run the downloaded executable and adjust suggested settings to your needs (defaults are fine).
-         In the following, it is assumed that MSYS2 is installed under ``C:\msys64``.
-
-      #. Understand the Build Environment
-
-         MSYS2 provides three different environments, located in the MSYS2 installation directory:
-
-         .. _fig_msys2_environments:
-
-         .. figure:: _static/images/msys2.png
-            :align: center
-            :alt: MSYS2 Apps
-
-         MSYS2 Environments
-
-         - MSYS2 MSYS: Common environment, i.e. for package management
-         - MSYS2 MinGW 32-bit: A MinGW 32-bit environment
-         - MSYS2 MinGW 64-bit: A MinGW 64-bit environment
-
-         .. warning::
-
-            | MSYS2 MinGW 64-bit is **the**  |op| development environment and will be referred to as |mingw_shell|.
-
-   .. _building_under_linux:
-
-   .. tab:: Linux
-
-      On Linux, no special build environment is needed. |Op| is developed under Debian 64-Bit,
-      which means that developing under a recent Ubuntu distribution will also work.
-      Debian Bookworm or Ubuntu 22.04 LTS is recommended. Debian uses ``apt`` (or ``apt-get``) as package managing system.
-      Details will be given in :ref:`binary_packages` and :ref:`building_prerequisites`.
-
-
-.. _binary_packages:
-
-Installing the Binary Packages
-------------------------------
-
-The first set of dependencies we need to install in order to successfully compile |op| are the binary packages. These can be installed via appropiate package manager.
-
-.. tabs::
-
-   .. tab:: Windows (MSYS2)
-
-      #. Open ``MSYS2 MinGW 64-bit`` and execute the following package manager ``pacman`` commands to update the package repository and upgrade system packages:
-
-         .. code-block::
-
-            pacman -Syuu
-
-         If the upgrade requires a restart of MSYS2, resume the upgrade by re-opening the shell and call:
-
-         .. code-block::
-
-            pacman -Suu
-
-      #. Required packages (can be specified in single command line if desired):
-
-         .. literalinclude:: _static/msys2_packages.txt
-            :language: bash
-
-         .. admonition:: Versions
-
-            | MSYS2 provides rolling release versions, so some packages might be too "up-to-date".
-
-      #. Required python packages
-
-         .. code-block::
-
-            pip3 install "approvaltests==3.1.0" breathe "conan>2.0" empty-files exhale watchdog
-
-      .. admonition:: GIT/SSH
-
-         The |mingw_shell| does not access an already existing git installation or available SSH keys.
-         Make sure, to update/copy your configuration and credentials within the |mingw_shell| before working with git.
-
-   .. tab:: Linux (Debian Bookworm)
-
-      #. Update  the package database on the system
-
-         .. code-block::
-
-            apt update
-
-      #. Upgrade existing software to latest version
-
-         .. code-block::
-
-            apt upgrade
-
-      #. Install required binary packages
-
-         .. code-block::
-
-            # for simulator
-            apt -y install antlr4
-            apt -y install build-essential
-            apt -y install ca-certificates
-            apt -y install ccache
-            apt -y install cmake
-            apt -y install clang-format-15
-            apt -y install doxygen
-            apt -y install g++
-            apt -y install gcc
-            apt -y install git
-            apt -y install googletest
-            apt -y install graphviz
-            apt -y install libboost-filesystem-dev
-            apt -y install libgmock-dev
-            apt -y install libgtest-dev
-            apt -y install libprotobuf-dev
-            apt -y install libqt5xmlpatterns5-dev
-            apt -y install libantlr4-runtime4.9
-            apt -y install libantlr4-runtime-java
-            apt -y install libantlr4-runtime-dev
-            apt -y install openjdk-17-jre
-            apt -y install pkg-config
-            apt -y install protobuf-compiler
-            apt -y install python3
-            apt -y install python3-distutils
-            apt -y install python3-pip
-            apt -y install qtbase5-dev
-            apt -y install uuid-dev
-
-            # python packages
-            pip3 install "approvaltests==3.1.0" empty-files "conan>2.0" watchdog 
-            pip3 install breathe exhale myst-parser "sphinx==7.2.6" sphinx-rtd-theme sphinx-tabs sphinxcontrib-spelling
-
-**EndToEnd Test Framework**
-
-If end to end tests shall be executed, additional requirements have to be considered.
-Please refer to :ref:`testing_endtoend` for more details on installation of the prerequisites and usage of the framework.
-
-
-.. _building_prerequisites:
-
-Installing the Dependencies
----------------------------
-
-This section describes how to compile prerequisites of |op| using conan (``conan>2.0``).
-
-The goal of this section is to build and install necessary packages into a suitable directory using conan.
-
-.. note::
-
-   If you are unfamiliar to ``conan`` or working with it, Section :ref:`building_with_conan` might give you a short introduction on conan in the scope of building dependencies for |op|.
-
-To keep the installation process of |op| and its dependencies as simple as possible, we recommend a specific folder structure.
-If you strictly follow the recommended paths of this guide, no command modifications are necessary.
-
-.. tabs::
-
-   .. tab:: Notes for Windows
-
-      - Recommended checkout path of |op| repository: ``C:\openpass``
-      - Dependency directory within the |op| repository: ``C:\deps``
-      - Recommended installation directory of |op|: ``C:\openPASS\bin\core``
-
-   .. tab:: Notes for Linux
-
-      - Recommended checkout path of |op| repository: ``~/openpass``
-      - Dependency directory within the |op| repository: ``~/deps``
-      - Recommended installation directory of |op|: ``/usr/local/openPASS/bin/core``
- 
-The above directory structure will be created by following the instructions of this guide. 
-
-#. Clone |Op| repository
-
-   As described above, the checkout path of the repository is assumed to be the default ``openpass``.
-
-   .. tabs::
-
-      .. tab:: Windows
-
-         Start |mingw_shell|
-         
-         .. code-block:: 
-
-            cd /C/
-            git clone https://gitlab.eclipse.org/eclipse/openpass/opSimulation.git openpass
-
-         .. note::
-
-            As stated in :ref:`Building_under_windows`, the windows programming tools suffer from a `path length restriction`.
-            This error manifests as strange **file not found** compile errors.
-            It is therefore recommended to use a short path for source code checkout, e.g. a drive letter.
-            This can also be done by the windows command `subst <https://docs.microsoft.com/en-us/windows-server/administration/windows-commands/subst>`_.
-
-      .. tab:: Linux
-
-         Start ``Bash`` shell
-
-         .. code-block:: 
-         
-            cd ~
-            git clone https://gitlab.eclipse.org/eclipse/openpass/opSimulation.git openpass
-
-#. Navigate into repository and checkout main branch
-
-   .. code-block:: 
-
-      cd openpass
-      git checkout main
-
-#. The essential packages necessary for |Op| are listed in the file ``utils/ci/conan/conanfile.txt``.
-
-   If a required package is available on ConanCenter, they will be used directly.
-   For packages not available on ConanCenter, the respective recipes are stored in the ``utils/ci/conan/recipe`` folder.
-
-   .. note::
-
-      It is important to have conancenter remote enabled. To check the status of conancenter and to enable, if it is disabled, execute the following commands
-
-      .. code-block::
-
-         conan remote list
-         conan remote enable conancenter
-
-#. There are two Conan profiles ``conanprofile_linux`` and ``conanprofile_windows`` available in the ``utils/ci/conan/recipe`` folder.
-   The compiler version and the path to the MSYS installation in these profiles can be adjusted to suit your specific environment, if necessary.
-
-   .. note::
-
-      The recommended compiler is GCC. Usage of other compilers may lead to unexpected outcomes.
-
-#. To build and install the dependencies, run the script ``15_prepare_thirdParty.sh`` located in ``utils/ci/scripts``.
-
-   .. tabs::
-
-      .. tab:: Windows
-
-         #. One of the dependencies of |Op| is OpenScenarioEngine which requires OpenSCENARIO API and it in turn requires JAVA executable to build.
-            If Java executable is not available on your machine, download the java from `here <https://cdn.azul.com/zulu/bin/zulu11.50.19-ca-jdk11.0.12-win_x64.zip>`_ and extract the zip file
-         
-         #. If ``C:\Downloads\zulu`` is the extracted path, then add the variable JAVA_HOME to the environmental variable, and append the java executable path to the PATH environmental variable as below
-         
-            .. code-block:: 
-
-               export JAVA_HOME=/c/Downloads/zulu/
-               export PATH=$PATH:/c/Downloads/zulu/bin
-         
-         #. The script ``15_prepare_thirdParty.sh`` also requires the variable PYTHON_WINDOWS_EXE set. This variable refers to the path of the python installation (For ex: It could be either on native Windows or on MSYS).
-            If the python is installed on MSYS then set the variable with the following command. 
-
-            .. code-block:: 
-
-               export PYTHON_WINDOWS_EXE=python3
-
-         #. Execute the script ``15_prepare_thirdParty.sh`` on MSYS
-
-            .. code-block:: 
-
-               cd utils/ci/scripts
-               ./15_prepare_thirdParty.sh
-
-      .. tab:: Linux
-
-         #. Execute the script
-
-            .. code-block:: 
-
-               cd utils/ci/scripts
-               ./15_prepare_thirdParty.sh
-
-#. Upon successful execution of the script, the dependencies will be installed under ``C:\deps`` on Windows and  ``~/deps`` on Linux.
+..
+  *******************************************************************************
+  Copyright (c) 2021-2024 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+                2021 in-tech GmbH
+
+  This program and the accompanying materials are made available under the
+  terms of the Eclipse Public License 2.0 which is available at
+  http://www.eclipse.org/legal/epl-2.0.
+
+  SPDX-License-Identifier: EPL-2.0
+  *******************************************************************************
+
+.. _prerequisites:
+
+Installing Prerequisites
+========================
+
+Before being able to compile and run |op|, make sure to have all dependencies installed.
+The third party software dependency of |op| can be divided into:
+
+- **Build environment**, which manages third party software and is used to compile and install |op|
+- **Binary packages**, which can be easily installed via a package manager of the respective build environment
+- **Source packages**, which need to be built from source code
+
+This section gives detailed information about the prerequisites and tested version.
+
+.. _building_under_windows:
+
+
+Installing the Build Environment
+--------------------------------
+
+.. tabs::
+
+   .. tab:: Windows
+
+      #. MSYS2
+
+         On Windows, the build environment of choice are :term:`MSYS2` programming tools.
+         :term:`MSYS2` is used to install some third-party software on which |op| depends.
+         Also, the unix-like shell simplifies c++ compilation on Windows.
+         For details, see `MSYS2 website <https://www.msys2.org/>`_.
+
+
+         .. _msys2:
+
+      #. Download MSYS2
+
+         The latest 64-bit package is located in the Installation section of `MSYS2 website <https://www.msys2.org/>`_.
+
+
+         .. _msys2_installation:
+
+      #. Install MSYS2
+
+         Run the downloaded executable and adjust suggested settings to your needs (defaults are fine).
+
+         .. admonition:: Installation Path
+
+            It is assumed that MSYS2 is installed in the directory ``C:\op\msys64``, as our CI scripts depend on this specific path.
+            If you choose to install MSYS2 in a different location, please ensure that you update any related configurations to reflect the new installation path, such as the conan profiles mentioned below."
+
+      #. Understand the Build Environment
+
+         MSYS2 provides three different environments, located in the MSYS2 installation directory:
+
+         .. _fig_msys2_environments:
+
+         .. figure:: _static/images/msys2.png
+            :align: center
+            :alt: MSYS2 Apps
+
+         MSYS2 Environments
+
+         - MSYS2 MSYS: Common environment, i.e. for package management
+         - MSYS2 MinGW 32-bit: A MinGW 32-bit environment
+         - MSYS2 MinGW 64-bit: A MinGW 64-bit environment
+
+         .. warning::
+
+            | MSYS2 MinGW 64-bit is **the**  |op| development environment and will be referred to as |mingw_shell|.
+
+   .. _building_under_linux:
+
+   .. tab:: Linux
+
+      On Linux, no special build environment is needed. |Op| is developed under Debian 64-Bit,
+      which means that developing under a recent Ubuntu distribution will also work.
+      Debian Bookworm or Ubuntu 22.04 LTS is recommended. Debian uses ``apt`` (or ``apt-get``) as package managing system.
+      Details will be given in :ref:`binary_packages` and :ref:`building_prerequisites`.
+
+
+.. _binary_packages:
+
+Installing the Binary Packages
+------------------------------
+
+The first set of dependencies we need to install in order to successfully compile |op| are the binary packages. These can be installed via appropiate package manager.
+
+.. tabs::
+
+   .. tab:: Windows (MSYS2)
+
+      #. Open ``MSYS2 MinGW 64-bit`` and execute the following package manager ``pacman`` commands to update the package repository and upgrade system packages:
+
+         .. code-block::
+
+            pacman -Syuu
+
+         If the upgrade requires a restart of MSYS2, resume the upgrade by re-opening the shell and call:
+
+         .. code-block::
+
+            pacman -Suu
+
+      #. Required packages (can be specified in single command line if desired):
+
+         .. literalinclude:: _static/msys2_packages.txt
+            :language: bash
+
+         .. admonition:: Versions
+
+            | MSYS2 provides rolling release versions, so some packages might be too "up-to-date".
+
+      #. Required python packages
+
+         .. code-block::
+
+            pip3 install "approvaltests==3.1.0" breathe "conan>2.0" empty-files exhale watchdog
+
+      .. admonition:: GIT/SSH
+
+         The |mingw_shell| does not access an already existing git installation or available SSH keys.
+         Make sure, to update/copy your configuration and credentials within the |mingw_shell| before working with git.
+
+   .. tab:: Linux (Debian Bookworm)
+
+      #. Update  the package database on the system
+
+         .. code-block::
+
+            apt update
+
+      #. Upgrade existing software to latest version
+
+         .. code-block::
+
+            apt upgrade
+
+      #. Install required binary packages
+
+         .. code-block::
+
+            # for simulator
+            apt -y install antlr4
+            apt -y install build-essential
+            apt -y install ca-certificates
+            apt -y install ccache
+            apt -y install cmake
+            apt -y install clang-format-15
+            apt -y install doxygen
+            apt -y install g++
+            apt -y install gcc
+            apt -y install git
+            apt -y install googletest
+            apt -y install graphviz
+            apt -y install libboost-filesystem-dev
+            apt -y install libprotobuf-dev
+            apt -y install libantlr4-runtime4.9
+            apt -y install libantlr4-runtime-java
+            apt -y install libantlr4-runtime-dev
+            apt -y install openjdk-17-jre
+            apt -y install pkg-config
+            apt -y install protobuf-compiler
+            apt -y install python3
+            apt -y install python3-distutils
+            apt -y install python3-pip
+            apt -y install uuid-dev
+
+            # python packages
+            pip3 install "approvaltests==3.1.0" empty-files "conan>2.0" watchdog
+            pip3 install breathe exhale myst-parser "sphinx==7.2.6" sphinx-rtd-theme sphinx-tabs sphinxcontrib-spelling
+
+**EndToEnd Test Framework**
+
+If end to end tests shall be executed, additional requirements have to be considered.
+Please refer to :ref:`testing_endtoend` for more details on installation of the prerequisites and usage of the framework.
+
+
+.. _building_prerequisites:
+
+Installing the Dependencies
+---------------------------
+
+This section describes how to compile prerequisites of |op| using conan (``conan>2.0``).
+
+The goal of this section is to build and install necessary packages into a suitable directory using conan.
+
+.. note::
+
+   If you are unfamiliar to ``conan`` or working with it, Section :ref:`building_with_conan` might give you a short introduction on conan in the scope of building dependencies for |op|.
+
+To keep the installation process of |op| and its dependencies as simple as possible, we recommend a specific folder structure.
+If you strictly follow the recommended paths of this guide, no command modifications are necessary.
+
+.. tabs::
+
+   .. tab:: Notes for Windows
+
+      - Recommended checkout path of |op| repository: ``C:\openpass``
+      - Dependency directory within the |op| repository: ``C:\deps``
+      - Recommended installation directory of |op|: ``C:\openPASS\bin\core``
+
+   .. tab:: Notes for Linux
+
+      - Recommended checkout path of |op| repository: ``~/openpass``
+      - Dependency directory within the |op| repository: ``~/deps``
+      - Recommended installation directory of |op|: ``/usr/local/openPASS/bin/core``
+
+The above directory structure will be created by following the instructions of this guide.
+
+#. Clone |Op| repository
+
+   As described above, the checkout path of the repository is assumed to be the default ``openpass``.
+
+   .. tabs::
+
+      .. tab:: Windows
+
+         Start |mingw_shell|
+
+         .. code-block::
+
+            cd /C/
+            git clone https://gitlab.eclipse.org/eclipse/openpass/opSimulation.git openpass
+
+         .. note::
+
+            As stated in :ref:`Building_under_windows`, the windows programming tools suffer from a `path length restriction`.
+            This error manifests as strange **file not found** compile errors.
+            It is therefore recommended to use a short path for source code checkout, e.g. a drive letter.
+            This can also be done by the windows command `subst <https://docs.microsoft.com/en-us/windows-server/administration/windows-commands/subst>`_.
+
+      .. tab:: Linux
+
+         Start ``Bash`` shell
+
+         .. code-block::
+
+            cd ~
+            git clone https://gitlab.eclipse.org/eclipse/openpass/opSimulation.git openpass
+
+#. Navigate into repository and checkout main branch
+
+   .. code-block::
+
+      cd openpass
+      git checkout main
+
+#. The essential packages necessary for |Op| are listed in the file ``utils/ci/conan/conanfile.txt``.
+
+   If a required package is available on ConanCenter, they will be used directly.
+   For packages not available on ConanCenter, the respective recipes are stored in the ``utils/ci/conan/recipe`` folder.
+
+   .. note::
+
+      It is important to have conancenter remote enabled. To check the status of conancenter and to enable, if it is disabled, execute the following commands
+
+      .. code-block::
+
+         conan remote list
+         conan remote enable conancenter
+
+#. There are two Conan profiles ``conanprofile_linux`` and ``conanprofile_windows`` available in the ``utils/ci/conan/recipe`` folder, which will be automatically used in the next step.
+
+   .. admonition:: Adjustments
+
+      Check and adjust the compiler version and the path to the MSYS installation in these profiles before running the prepare scripts.
+
+   .. note::
+
+      The recommended compiler is GCC. Usage of other compilers may lead to unexpected outcomes.
+
+#. To build and install the dependencies, run the script ``15_prepare_thirdParty.sh`` located in ``utils/ci/scripts``.
+
+   .. tabs::
+
+      .. tab:: Windows
+
+         #. One of the dependencies of |Op| is OpenScenarioEngine which requires OpenSCENARIO API and it in turn requires JAVA executable to build.
+            If Java executable is not available on your machine, download the java from `here <https://cdn.azul.com/zulu/bin/zulu11.50.19-ca-jdk11.0.12-win_x64.zip>`_ and extract the zip file
+
+         #. If ``C:\Downloads\zulu`` is the extracted path, then add the variable JAVA_HOME to the environmental variable, and append the java executable path to the PATH environmental variable as below
+
+            .. code-block::
+
+               export JAVA_HOME=/c/Downloads/zulu/
+               export PATH=$PATH:/c/Downloads/zulu/bin
+
+         #. The script ``15_prepare_thirdParty.sh`` also requires the variable PYTHON_EXECUTABLE set. This variable refers to the path of the python installation (For example: It could be either on native Windows or on MSYS).
+            If the python is installed on MSYS then set the variable with the following command.
+
+            .. code-block::
+
+               export PYTHON_EXECUTABLE=python3
+
+         #. Execute the script ``15_prepare_thirdParty.sh`` on MSYS
+
+            .. code-block::
+
+               cd utils/ci/scripts
+               ./15_prepare_thirdParty.sh
+
+      .. tab:: Linux
+
+         #. The script ``15_prepare_thirdParty.sh`` also requires the variable PYTHON_EXECUTABLE set. This variable refers to the path of the python installation.
+
+            .. code-block::
+
+               export PYTHON_EXECUTABLE=python3
+
+
+         #. Execute the script
+
+            .. code-block::
+
+               cd utils/ci/scripts
+               ./15_prepare_thirdParty.sh
+
+#. Upon successful execution of the script, the dependencies will be installed under ``C:\deps`` on Windows and  ``~/deps`` on Linux.
diff --git a/content/html/_sources/installation_guide/30_install_openpass.rst.txt b/content/html/_sources/installation_guide/30_install_openpass.rst.txt
index cc0245e5e7c72a5224ec58666da5934bd183fb6d..2930afb30c8edec8d751598b310c8c604c2c118c 100644
--- a/content/html/_sources/installation_guide/30_install_openpass.rst.txt
+++ b/content/html/_sources/installation_guide/30_install_openpass.rst.txt
@@ -1,132 +1,132 @@
-..
-  *******************************************************************************
-  Copyright (c) 2021-2024 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
-                2021 in-tech GmbH
-
-  This program and the accompanying materials are made available under the
-  terms of the Eclipse Public License 2.0 which is available at
-  http://www.eclipse.org/legal/epl-2.0.
-
-  SPDX-License-Identifier: EPL-2.0
-  *******************************************************************************
-
-.. _download_and_install_openpass:
-
-Installing openPASS
-===================
-
-This section describes how to compile and run |op|. Please make sure that all prerequisites have been properly installed according to section :ref:`Prerequisites`.
-If you have strictly followed the instructions, the installed dependencies should be located on your machine under 
-``C:\deps`` on **Windows** and ``~/deps`` on **Linux**. If there is a path deviation, 
-the following commands must be adjusted.
-
-.. note::
-   
-   If you are unfamiliar to ``CMake`` or working within a |mingw_shell|, Section :ref:`cmake` and :ref:`MSYS2 <msys2>` might give you a short introduction on these topics in the scope of building |op| itself.
-
-#. Navigate back into repository
-
-   .. tabs::
-
-      .. tab:: Windows
-
-         .. code-block:: 
-
-            cd /C/openpass
-
-      .. tab:: Linux
-
-         .. code-block:: 
-      
-            cd ~/openpass
-
-#. Create build directory and navigate into it
-
-   .. code-block:: 
-      
-      mkdir build
-      cd build
-
-#. Prepare build
-
-   |Op| links against shared libraries, which are located in the paths specified by ``CMAKE_PREFIX_PATH``. 
-   To be able to install |Op| with resolved dependencies, all libraries found under the paths have to be copied right next to the executable during the installation step. 
-   This is done by setting ``INSTALL_EXTRA_RUNTIME_DEPS=ON``. If you have followed the instructions strictly, no changes are necessary. 
-
-   .. tabs::
-
-      .. tab:: Windows
-
-         .. code-block:: 
-
-            cmake -G "MSYS Makefiles" \
-            -D CMAKE_PREFIX_PATH="C:/deps/direct_deploy/fmilibrary;C:/deps/direct_deploy/open-simulation-interface;C:/deps/direct_deploy/protobuf;C:/deps/direct_deploy/protobuf-shared;C:/deps/direct_deploy/units;C:/deps/direct_deploy/mantleapi;C:/deps/direct_deploy/yase;C:/deps/direct_deploy/openscenario_api;C:/deps/direct_deploy/openscenario_engine;C:/deps/direct_deploy/gtest;C:/deps/direct_deploy/boost;C:/deps/direct_deploy/qt;C:/deps/direct_deploy/minizip;C:/deps;C:/msys64/mingw64/bin;" \
-            -D CMAKE_INSTALL_PREFIX=C:/openPASS/bin/core \
-            -D CMAKE_BUILD_TYPE=Release \
-            -D USE_CCACHE=ON \
-            -D WITH_DEBUG_POSTFIX=OFF \
-            -D OPENPASS_ADJUST_OUTPUT=OFF \
-            -D INSTALL_EXTRA_RUNTIME_DEPS=ON \
-            ..
-
-         .. note::
-
-          - By specifying ``INSTALL_EXTRA_RUNTIME_DEPS=ON``, runtime dependencies will be copied to the installation directory when running ``make install``. This applies to all dependencies located in the paths specified in ``CMAKE_PREFIX_PATH``.
-          - Make sure that the path ``C:/msys64/mingw64/bin`` is the last path in the CMAKE_PREFIX_PATH. Otherwise cmake might find and use local versions of required libraries instead of the ones listed in the thirdparties folder.
-
-      .. tab:: Linux
-
-         .. code-block:: 
-
-            cmake -D CMAKE_PREFIX_PATH="$HOME/deps/fmilibrary;$HOME/deps/open-simulation-interface;$HOME/deps/protobuf;$HOME/deps/protobuf-shared;$HOME/deps/units;$HOME/deps/mantleapi;$HOME/deps/yase;$HOME/deps/openscenario_api;$HOME/deps/openscenario_engine;$HOME/deps/gtest;$HOME/deps/boost;$HOME/deps/qt;$HOME/deps/minizip;C:/deps" \
-            -D CMAKE_INSTALL_PREFIX=/usr/local/openPASS/bin/core \
-            -D CMAKE_BUILD_TYPE=Release \
-            -D USE_CCACHE=ON \
-            -D WITH_DEBUG_POSTFIX=OFF \
-            -D OPENPASS_ADJUST_OUTPUT=OFF \
-            -D INSTALL_EXTRA_RUNTIME_DEPS=ON \
-            ..
-
-         .. note:: 
-         
-          - To install in the mentioned CMAKE_INSTALL_PREFIX path, create ``openPASS`` folder under ``/usr/local`` using ``sudo mkdir /usr/local/openPASS``
-            And for the user to access the folder, modify the permissions using ``sudo chown <uesrname>:<username> /usr/local/openPASS``
-          - By specifying ``INSTALL_EXTRA_RUNTIME_DEPS=ON``, runtime dependencies will be copied to the installation directory when running ``make install``. This applies to all dependencies located in the paths specified in ``CMAKE_PREFIX_PATH``.
-          - If you need to adjust paths and options based on your system and needs, you need to pay attention on quotations ``" "``, when using it in console (see :ref:`Cmake_prefix_path`).
-            And also you need to be careful with it when you configuring it under VSCode (see :ref:`vscode`).
-   
-   .. note:: For a build that goes beyond the default settings, see :ref:`Cmake` for more available variables and options that can be set.
-             
-
-#. Optional: Build and execute unit tests
-
-   Starting from ``openpass/build``:
-
-   .. code-block:: 
-
-      make test ARGS="--output-on-failure -j3"
-
-   .. note::
-
-      ARGS is optional, but recommended.
-      Adjust parallel build flag ``-j3`` based on your system.
-
-#. Build documentation
-
-   Starting from ``openpass/build``:
-
-   .. code-block:: 
-
-      make doc
-
-   .. note:: Currently the documentation must be built before |op| can be successfully installed if the CMake variable `WITH_DOC=ON` (default).
-
-#. Build simulation core
-
-   Starting from ``openpass/build``:
-
-   .. code-block:: 
-
-      make -j3 install
-
-   .. note:: Again, adjust parallel build flag ``-j3`` based on your system.
+..
+  *******************************************************************************
+  Copyright (c) 2021-2024 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+                2021 in-tech GmbH
+
+  This program and the accompanying materials are made available under the
+  terms of the Eclipse Public License 2.0 which is available at
+  http://www.eclipse.org/legal/epl-2.0.
+
+  SPDX-License-Identifier: EPL-2.0
+  *******************************************************************************
+
+.. _download_and_install_openpass:
+
+Installing openPASS
+===================
+
+This section describes how to compile and run |op|. Please make sure that all prerequisites have been properly installed according to section :ref:`Prerequisites`.
+If you have strictly followed the instructions, the installed dependencies should be located on your machine under
+``C:\deps`` on **Windows** and ``~/deps`` on **Linux**. If there is a path deviation,
+the following commands must be adjusted.
+
+.. note::
+
+   If you are unfamiliar to ``CMake`` or working within a |mingw_shell|, Section :ref:`cmake` and :ref:`MSYS2 <msys2>` might give you a short introduction on these topics in the scope of building |op| itself.
+
+#. Navigate back into repository
+
+   .. tabs::
+
+      .. tab:: Windows
+
+         .. code-block::
+
+            cd /C/openpass
+
+      .. tab:: Linux
+
+         .. code-block::
+
+            cd ~/openpass
+
+#. Create build directory and navigate into it
+
+   .. code-block::
+
+      mkdir build
+      cd build
+
+#. Prepare build
+
+   |Op| links against shared libraries, which are located in the paths specified by ``CMAKE_PREFIX_PATH``.
+   To be able to install |Op| with resolved dependencies, all libraries found under the paths have to be copied right next to the executable during the installation step.
+   This is done by setting ``INSTALL_EXTRA_RUNTIME_DEPS=ON``. If you have followed the instructions strictly, no changes are necessary.
+
+   .. tabs::
+
+      .. tab:: Windows
+
+         .. code-block::
+
+            cmake -G "MSYS Makefiles" \
+            -D CMAKE_PREFIX_PATH="C:/deps/direct_deploy/fmilibrary;C:/deps/direct_deploy/open-simulation-interface;C:/deps/direct_deploy/protobuf;C:/deps/direct_deploy/protobuf-shared;C:/deps/direct_deploy/units;C:/deps/direct_deploy/mantleapi;C:/deps/direct_deploy/yase;C:/deps/direct_deploy/openscenario_api;C:/deps/direct_deploy/openscenario_engine;C:/deps/direct_deploy/gtest;C:/deps/direct_deploy/boost;C:/deps/direct_deploy/minizip;C:/deps;C:/msys64/mingw64/bin;" \
+            -D CMAKE_INSTALL_PREFIX=C:/openPASS/bin/core \
+            -D CMAKE_BUILD_TYPE=Release \
+            -D USE_CCACHE=ON \
+            -D WITH_DEBUG_POSTFIX=OFF \
+            -D OPENPASS_ADJUST_OUTPUT=OFF \
+            -D INSTALL_EXTRA_RUNTIME_DEPS=ON \
+            ..
+
+         .. note::
+
+          - By specifying ``INSTALL_EXTRA_RUNTIME_DEPS=ON``, runtime dependencies will be copied to the installation directory when running ``make install``. This applies to all dependencies located in the paths specified in ``CMAKE_PREFIX_PATH``.
+          - Make sure that the path ``C:/msys64/mingw64/bin`` is the last path in the CMAKE_PREFIX_PATH. Otherwise cmake might find and use local versions of required libraries instead of the ones listed in the thirdparties folder.
+
+      .. tab:: Linux
+
+         .. code-block::
+
+            cmake -D CMAKE_PREFIX_PATH="$HOME/deps/fmilibrary;$HOME/deps/open-simulation-interface;$HOME/deps/protobuf;$HOME/deps/protobuf-shared;$HOME/deps/units;$HOME/deps/mantleapi;$HOME/deps/yase;$HOME/deps/openscenario_api;$HOME/deps/openscenario_engine;$HOME/deps/gtest;$HOME/deps/boost;$HOME/deps/minizip;C:/deps" \
+            -D CMAKE_INSTALL_PREFIX=/usr/local/openPASS/bin/core \
+            -D CMAKE_BUILD_TYPE=Release \
+            -D USE_CCACHE=ON \
+            -D WITH_DEBUG_POSTFIX=OFF \
+            -D OPENPASS_ADJUST_OUTPUT=OFF \
+            -D INSTALL_EXTRA_RUNTIME_DEPS=ON \
+            ..
+
+         .. note::
+
+          - To install in the mentioned CMAKE_INSTALL_PREFIX path, create ``openPASS`` folder under ``/usr/local`` using ``sudo mkdir /usr/local/openPASS``
+            And for the user to access the folder, modify the permissions using ``sudo chown <uesrname>:<username> /usr/local/openPASS``
+          - By specifying ``INSTALL_EXTRA_RUNTIME_DEPS=ON``, runtime dependencies will be copied to the installation directory when running ``make install``. This applies to all dependencies located in the paths specified in ``CMAKE_PREFIX_PATH``.
+          - If you need to adjust paths and options based on your system and needs, you need to pay attention on quotations ``" "``, when using it in console (see :ref:`Cmake_prefix_path`).
+            And also you need to be careful with it when you configuring it under VSCode (see :ref:`vscode`).
+
+   .. note:: For a build that goes beyond the default settings, see :ref:`Cmake` for more available variables and options that can be set.
+
+
+#. Optional: Build and execute unit tests
+
+   Starting from ``openpass/build``:
+
+   .. code-block::
+
+      make test ARGS="--output-on-failure -j3"
+
+   .. note::
+
+      ARGS is optional, but recommended.
+      Adjust parallel build flag ``-j3`` based on your system.
+
+#. Build documentation
+
+   Starting from ``openpass/build``:
+
+   .. code-block::
+
+      make doc
+
+   .. note:: Currently the documentation must be built before |op| can be successfully installed if the CMake variable `WITH_DOC=ON` (default).
+
+#. Build simulation core
+
+   Starting from ``openpass/build``:
+
+   .. code-block::
+
+      make -j3 install
+
+   .. note:: Again, adjust parallel build flag ``-j3`` based on your system.
diff --git a/content/html/_sources/installation_guide/50_further_guidance.rst.txt b/content/html/_sources/installation_guide/50_further_guidance.rst.txt
index c77bfd62dc137b9e30c89e582d905f1e02f77ccd..46cc5578f59e6e456d95d01ce769d04bd3758b2c 100644
--- a/content/html/_sources/installation_guide/50_further_guidance.rst.txt
+++ b/content/html/_sources/installation_guide/50_further_guidance.rst.txt
@@ -1,27 +1,27 @@
-..
-  *******************************************************************************
-  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
-  http://www.eclipse.org/legal/epl-2.0.
-
-  SPDX-License-Identifier: EPL-2.0
-  *******************************************************************************
-
-Further Guidance
-================
-
-See also section :ref:`ide_support`
-
-.. toctree::
-  :caption: Customizing
-  :glob:
-  :maxdepth: 1
-
-  further_guidance/*
-
-  
-
-
-  
+..
+  *******************************************************************************
+  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
+  http://www.eclipse.org/legal/epl-2.0.
+
+  SPDX-License-Identifier: EPL-2.0
+  *******************************************************************************
+
+Further Guidance
+================
+
+See also section :ref:`ide_support`
+
+.. toctree::
+  :caption: Customizing
+  :glob:
+  :maxdepth: 1
+
+  further_guidance/*
+
+  
+
+
+  
diff --git a/content/html/_sources/installation_guide/60_conan.rst.txt b/content/html/_sources/installation_guide/60_conan.rst.txt
index e01f1911d805080bc3d74ef3243ff986ad2484c3..6ae1f3f5393cb2a47ea59737cfae0d57f970535d 100644
--- a/content/html/_sources/installation_guide/60_conan.rst.txt
+++ b/content/html/_sources/installation_guide/60_conan.rst.txt
@@ -1,136 +1,136 @@
-..
-  *******************************************************************************
-  Copyright (c) 2021 ITK Engineering GmbH
-                2023-2024 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
-  http://www.eclipse.org/legal/epl-2.0.
-
-  SPDX-License-Identifier: EPL-2.0
-  *******************************************************************************
-
-.. _building_with_conan:
-
-Building with Conan
-===================
-
-General
--------
-
-Conan is an open source, decentralized and multi-platform package manager to create and share native binaries.
-
-To learn more about Conan itself you can visit `Conan <https://conan.io/>`_.
-
-Conan is used in the |op| project to create and manage the binaries of the used ThirdParty libraries.
-
-Additional Prerequisites
---------------------------
-
-To be able to work with Conan it is necessary to add additional packages.
-
-.. tabs::
-
-   .. tab:: Windows (MSYS2)
-
-      .. code-block:: bash
-
-         pip install "conan>2.0"
-
-   .. tab:: Linux (Debian Bookworm)
-
-      .. code-block:: bash
-
-         apt install "conan>2.0"
-
-   pip install "conan>2.0"
-
-Conan Recipes
--------------
-
-A *recipe* is python file, which is used by conan to build and create a package.
-In this file there are several hooks available, which can be used for several tasks.
-E.g. Retrieving the source files, building from source, configuring dependencies, packaging, etc.
-Visit `Conan <https://conan.io/>`_. for detailed information about *recipes*.
-
-Conan Create
-------------
-
-The `conan create` command is used to create Conan packages from source code. It involves building the source code, packaging the resulting binaries and artifacts, and generating the necessary metadata to publish the package.
-The basic syntax of the command is as follows:
-
-.. code-block:: bash
-
-   $ conan create <path_to_recipe> --name $pkg --version $version --user $user --channel $channel --build=missing $packageOptions -pr:a "$conanprofile"
-
-- `<path_to_source>`: The path to the conan recipe of that corresponding package.
-- `--name $pkg`: Specifies the name of the package being created. $pkg is a placeholder for the actual package name.
-- `--version $version`: Specifies the version of the package being created. $version is a placeholder for the actual version number.
-- `--user $user`: Specifies the username of the package creator or owner. $user is a placeholder for the actual username.
-- `--channel $channel`: Specifies the channel or repository where the package will be published. $channel is a placeholder for the actual channel name.
-- `--build=missing`: Instructs Conan to build the package if its dependencies are missing or outdated. This ensures that all required dependencies are available and up to date before building the package.
-- `$packageOptions`: Optional package-specific options that can be passed to the Conan recipe. These options can customize the build process or package configuration according to user requirements.
-- `-pr:a "$conanprofile"`: Specifies a profile ($conanprofile) to be used during package creation. Profiles define the build environment and configuration settings for building packages. The -pr:a flag tells Conan to apply this profile specifically for building the package.
-
-.. code-block:: bash
-
-   $ conan create . --name openscenario_engine --version 0.1 --user openpass --channel testing --build=missing -pr:a default
-
-This command will build the package `openscenario_engine` with version `1.0` under the user `openpass` and channel `testing`.
-
-**Optional Settings**
-
-The `-o` option allows you to pass optional settings to the `conan create` command, which can be used to customize the build process of the package. These settings are defined in the `conanfile.py` recipe.
-For example, you can specify build options, compiler flags, or any other configuration settings that influence the package creation process.
-
-.. code-block:: bash
-
-   $ conan create . --name openscenario_engine --version 0.1 --user openpass --channel testing --build=missing -o MantleAPI_version=0.1 -o Yase_version=0.1 -pr:a default
-
-In this example, the `-o` option is used to set the `MantleAPI_version` and `Yase_version` build options for the `openscenario_engine` package. These options will be considered during the package creation process.
-
-.. note::
-
-   For the packages MantleAPI, Yase, openscenario_api and openscenario_engine corresponding commit ids can be used instead of version when creating the package
-
-Conan Install
--------------
-
-The `conan install` command is used to install Conan packages from a Conan recipe (a `conanfile.py` file) and its associated dependencies. It resolves and fetches the required packages from a remote Conan repository or local conan cache and installs them in the specified target location.
-The basic syntax of the command is as follows:
-
-.. code-block:: bash
-
-   $ conan install --requires=<pkg/version@user/channel> --build <missing|outdated> --deployer=<generator> -of=<install-folder-folder> -g CMakeDeps -pr:a "$conanprofile"
-
-- `<pkg/version@user/channel>`: The user and channel specify the namespace under which the package with the corresponding version will be built.
-- `-g <generator>`: Specifies the build system generator (e.g., `CMakeDeps`) for generating build files.
-- `-s <setting=value>`: Overrides a Conan setting defined in the recipe with the given value.
-- `--build <missing|outdated>`: Specifies whether to build missing or outdated packages.
-- `-pr:a "$conanprofile"`: Specifies a profile ($conanprofile) to be used during package creation. Profiles define the build environment and configuration settings for building packages. The -pr:a flag tells Conan to apply this profile specifically for building the package.
-
-**Generate Deployment Files**
-
-The `-g direct_deploy` option with the `conan install` command is used to generate deployment-related files and scripts for installing and running the package on a target system.
-These files can include packaging scripts, installation scripts, and other artifacts required for deploying the package to a specific environment.
-
-.. code-block:: bash
-
-   $ conan install openscenario_engine/0.1@openpass/testing -g direct_deploy --install-folder="my/installation/path"
-
-This command will deploy the package `openscenario_engine/0.1@openpass/testing` at the installation path.
-
-.. note::
-
-   There are several additional commands, arguments and fields for these commands available.
-   Please see `Conan Docs <https://docs.conan.io/en/latest/>`_ for additional information.
-
-Build only ThirdParties
------------------------
-
-|op| requires number of third parties libraries and they are listed in ``conanfile.txt``. To install all the dependencies, the script ``15_prepare_thirdParty.sh`` can be used.
-
-The exact list of dependency can be found below.
-
-.. literalinclude:: /../../../repo/utils/ci/conan/conanfile.txt
-   :language: text
+..
+  *******************************************************************************
+  Copyright (c) 2021 ITK Engineering GmbH
+                2023-2024 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
+  http://www.eclipse.org/legal/epl-2.0.
+
+  SPDX-License-Identifier: EPL-2.0
+  *******************************************************************************
+
+.. _building_with_conan:
+
+Building with Conan
+===================
+
+General
+-------
+
+Conan is an open source, decentralized and multi-platform package manager to create and share native binaries.
+
+To learn more about Conan itself you can visit `Conan <https://conan.io/>`_.
+
+Conan is used in the |op| project to create and manage the binaries of the used ThirdParty libraries.
+
+Additional Prerequisites
+--------------------------
+
+To be able to work with Conan it is necessary to add additional packages.
+
+.. tabs::
+
+   .. tab:: Windows (MSYS2)
+
+      .. code-block:: bash
+
+         pip install "conan>=2.2.0"
+
+   .. tab:: Linux (Debian Bookworm)
+
+      .. code-block:: bash
+
+         apt install "conan>=2.2.0"
+
+   pip install "conan>2.0"
+
+Conan Recipes
+-------------
+
+A *recipe* is python file, which is used by conan to build and create a package.
+In this file there are several hooks available, which can be used for several tasks.
+E.g. Retrieving the source files, building from source, configuring dependencies, packaging, etc.
+Visit `Conan <https://conan.io/>`_. for detailed information about *recipes*.
+
+Conan Create
+------------
+
+The `conan create` command is used to create Conan packages from source code. It involves building the source code, packaging the resulting binaries and artifacts, and generating the necessary metadata to publish the package.
+The basic syntax of the command is as follows:
+
+.. code-block:: bash
+
+   $ conan create <path_to_recipe> --name $pkg --version $version --user $user --channel $channel --build=missing $packageOptions -pr:a "$conanprofile"
+
+- `<path_to_source>`: The path to the conan recipe of that corresponding package.
+- `--name $pkg`: Specifies the name of the package being created. $pkg is a placeholder for the actual package name.
+- `--version $version`: Specifies the version of the package being created. $version is a placeholder for the actual version number.
+- `--user $user`: Specifies the username of the package creator or owner. $user is a placeholder for the actual username.
+- `--channel $channel`: Specifies the channel or repository where the package will be published. $channel is a placeholder for the actual channel name.
+- `--build=missing`: Instructs Conan to build the package if its dependencies are missing or outdated. This ensures that all required dependencies are available and up to date before building the package.
+- `$packageOptions`: Optional package-specific options that can be passed to the Conan recipe. These options can customize the build process or package configuration according to user requirements.
+- `-pr:a "$conanprofile"`: Specifies a profile ($conanprofile) to be used during package creation. Profiles define the build environment and configuration settings for building packages. The -pr:a flag tells Conan to apply this profile specifically for building the package.
+
+.. code-block:: bash
+
+   $ conan create . --name openscenario_engine --version 0.1 --user openpass --channel testing --build=missing -pr:a default
+
+This command will build the package `openscenario_engine` with version `1.0` under the user `openpass` and channel `testing`.
+
+**Optional Settings**
+
+The `-o` option allows you to pass optional settings to the `conan create` command, which can be used to customize the build process of the package. These settings are defined in the `conanfile.py` recipe.
+For example, you can specify build options, compiler flags, or any other configuration settings that influence the package creation process.
+
+.. code-block:: bash
+
+   $ conan create . --name openscenario_engine --version 0.1 --user openpass --channel testing --build=missing -o MantleAPI_version=0.1 -o Yase_version=0.1 -pr:a default
+
+In this example, the `-o` option is used to set the `MantleAPI_version` and `Yase_version` build options for the `openscenario_engine` package. These options will be considered during the package creation process.
+
+.. note::
+
+   For the packages MantleAPI, Yase, openscenario_api and openscenario_engine corresponding commit ids can be used instead of version when creating the package
+
+Conan Install
+-------------
+
+The `conan install` command is used to install Conan packages from a Conan recipe (a `conanfile.py` file) and its associated dependencies. It resolves and fetches the required packages from a remote Conan repository or local conan cache and installs them in the specified target location.
+The basic syntax of the command is as follows:
+
+.. code-block:: bash
+
+   $ conan install --requires=<pkg/version@user/channel> --build <missing|outdated> --deployer=<generator> -of=<install-folder-folder> -g CMakeDeps -pr:a "$conanprofile"
+
+- `<pkg/version@user/channel>`: The user and channel specify the namespace under which the package with the corresponding version will be built.
+- `-g <generator>`: Specifies the build system generator (e.g., `CMakeDeps`) for generating build files.
+- `-s <setting=value>`: Overrides a Conan setting defined in the recipe with the given value.
+- `--build <missing|outdated>`: Specifies whether to build missing or outdated packages.
+- `-pr:a "$conanprofile"`: Specifies a profile ($conanprofile) to be used during package creation. Profiles define the build environment and configuration settings for building packages. The -pr:a flag tells Conan to apply this profile specifically for building the package.
+
+**Generate Deployment Files**
+
+The `-g direct_deploy` option with the `conan install` command is used to generate deployment-related files and scripts for installing and running the package on a target system.
+These files can include packaging scripts, installation scripts, and other artifacts required for deploying the package to a specific environment.
+
+.. code-block:: bash
+
+   $ conan install openscenario_engine/0.1@openpass/testing -g direct_deploy --install-folder="my/installation/path"
+
+This command will deploy the package `openscenario_engine/0.1@openpass/testing` at the installation path.
+
+.. note::
+
+   There are several additional commands, arguments and fields for these commands available.
+   Please see `Conan Docs <https://docs.conan.io/en/latest/>`_ for additional information.
+
+Build only ThirdParties
+-----------------------
+
+|op| requires number of third parties libraries and they are listed in ``conanfile.txt``. To install all the dependencies, the script ``15_prepare_thirdParty.sh`` can be used.
+
+The exact list of dependency can be found below.
+
+.. literalinclude:: /../../../repo/utils/ci/conan/conanfile.txt
+   :language: text
diff --git a/content/html/_sources/installation_guide/further_guidance/10_cmake.rst.txt b/content/html/_sources/installation_guide/further_guidance/10_cmake.rst.txt
index 73ccbafe4ca7a4355447b7c8febbe4fe742791c2..cec0cda17a052947265c107e64776e9404ed8cbf 100644
--- a/content/html/_sources/installation_guide/further_guidance/10_cmake.rst.txt
+++ b/content/html/_sources/installation_guide/further_guidance/10_cmake.rst.txt
@@ -1,288 +1,288 @@
-..
-  *******************************************************************************
-  Copyright (c) 2021 in-tech GmbH
-                2021-2024 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
-  http://www.eclipse.org/legal/epl-2.0.
-
-  SPDX-License-Identifier: EPL-2.0
-  *******************************************************************************
-
-.. _cmake:
-
-CMake Variables and Options
-===========================
-
-|Op| uses CMake as default cross-platform build environment.
-CMake varibles describe configuration settings, which can be overriden by the user.
-To override any build configuration, the CMake variables have to be provided when CMake gets run.
-
-If available, recommended options are shown in **bold**.
-
-The following guide is structered as follows: The first part describes the available variables and options.
-There are standard CMake variables which are marked with the prefix ``CMAKE_`` and other defined variables
-used internally to further specify the build of |op|. As the result of a proper CMake call is a Makefile,
-which then acts as base for the actual build using ``make``, the second part describes best practices around the make commands using ``make``.
-
-Note, this guide approaches CMake from the *command line perspective*.
-Adjustments for VSCode can be found under :ref:`vscode`.
-
-.. admonition:: See also
-
-   CMake Documentation: https://cmake.org/cmake/help/latest/index.html
-
-CMake Generator
----------------
-
-This is only important for **Windows**.
-To generate MSYS compatible makefiles use ``-G "MSYS Makefiles"`` (c.f. :ref:`MSYS2 <msys2>`).
-
-.. _cmake_prefix_path:
-
-CMAKE_PREFIX_PATH
------------------
-
-This variable makes the prerequisites available to |op| as semicolon-separated list of directories,
-specifying installation prefixes to be searched by cmake.
-Please refer to :ref:`Prerequisites` for the list of mandatory packages and libraries.
-CMake will issue an error, if one prerequisite is missing.
-
-Generally, cmake recognizes installed libraries (e.g. googletest) on its own.
-By setting an explicit ``CMAKE_PREFIX_PATH`` for a library, it is possible to override the system libraries.
-Use this, when an exact library version, or a customized library shall be used.
-
-.. note::
-
-   In the following example, non-standard libraries are assumed to be in the folder ``deps/thirdParty``.
-
-**Example** (system libraries **not** set):
-
-.. tabs::
-
-   .. tab:: Windows
-
-      .. code-block:: bash
-
-         cmake -G "MSYS Makefiles"
-               -D CMAKE_PREFIX_PATH="\
-                  /mingw64/bin;\
-                  $PWD/../deps/thirdParty/win64/FMILibrary;\
-                  $PWD/../deps/thirdParty/win64/osi;\
-                  $PWD/../deps/thirdParty/win64/minizip;\
-               -D <other variables>\
-               ..
-
-   .. tab:: Linux
-
-      .. code-block:: bash
-
-         cmake -D CMAKE_PREFIX_PATH=\
-                  $PWD/../deps/thirdParty/linux64/FMILibrary\;\
-                  $PWD/../deps/thirdParty/linux64/osi\;\
-                  $PWD/../deps/thirdParty/linux64/minizip\;\
-               -D <other variables> \
-               ..
-
-      .. warning:: The semicolon ``;`` needs to be escaped (``\;``) unless the string is quoted.
-
-.. note:: Please also read through :ref:`cmake_openpass_variables` for further useful hints, e.g. why explicitly setting the MinGW path might be a necessary in some situations.
-
-Installation directory
-
-CMAKE_INSTALL_PREFIX
---------------------
-
-- Install directory used by install, when invoking ``make install``
-- Recommendation: ``/openPASS/bin/core`` (Linux) | ``C:/openPASS/bin/core`` (Windows)
-
-CMAKE_WITH_DEBUG_POSTIX
------------------------
-
-- Used only in conjunction with *Visual Studio Debug Builds* (MSVC), as it distinguishes release/debug DLLs by a postfix ``d``.
-- Options: **OFF** | ON
-
-CMAKE_BUILD_TYPE
-----------------
-
-- Specifies the build type on single-configuration generators.
-- Typical: Release | Debug
-- See: https://cmake.org/cmake/help/latest/variable/CMAKE_BUILD_TYPE.html
-
-CMAKE_C_COMPILER
-----------------
-
-- Options: **gcc-13** | gcc-12 | gcc-11 | gcc-10 | gcc-9
-- See: https://cmake.org/cmake/help/latest/variable/CMAKE_LANG_COMPILER.html
-
-CMAKE_CXX_COMPILER
-------------------
-
-- Options: **gcc-13** | gcc-12 | gcc-11 | gcc-10 | gcc-9
-- See: https://cmake.org/cmake/help/latest/variable/CMAKE_LANG_COMPILER.html
-
-CMAKE_OBJECT_PATH_MAX
----------------------
-
-- Under windows, errors from too long paths could be prevented by setting this value to 255 (maximum).
-- See: https://cmake.org/cmake/help/latest/variable/CMAKE_OBJECT_PATH_MAX.html
-
-.. _cmake_openpass_variables:
-
-USE_CCACHE
-----------
-
-- Activates ccache (see :ref:`prerequisites_ccache`)
-- Options: **ON** | OFF
-
-WITH_SIMCORE
-------------
-
-- Build OSI based scenario simulation, also know as openPASS simulation core (opSimulation).
-- Options: OFF | **ON**
-
-WITH_DOC
---------
-
-- Build sphinx based documentation
-- Options: OFF | **ON**
-
-WITH_API_DOC
-------------
-
-- Build sphinx based developer documentation
-- Options: **OFF** | ON
-
-.. note:: Automatically activates ``WITH_DOC`` if ON
-
-.. warning:: Building the API doc takes pretty long.
-
-WITH_TESTS
-----------
-
-- Build unit tests
-- Options: OFF | **ON**
-
-WITH_COVERAGE
--------------
-
-.. warning::
-
-   This option turns off optimization, which might make execution considerably slower.
-   In exchange, a coverage `<test_name>.info`` and HTML reports will be generated in a folder called ``coverage`` within the cmake build folder.
-
-- For each registered test target (see ``add_openpass_target`` in ``./cmake/HelperMacros.cmake``) two more targets are added.
-  One for code coverage analysis using ``lcov`` (target ``<test_name>_coverage``).
-  A second for HTML report generation using ``genhtml`` (target ``<test_name>_html``).
-- In addition to the individual tests, an overall test target ``TestCoverageReport`` is created.
-  When invoked, it will execute all individual tests and combine their coverage data into a single report found in ``coverage/TestCoverageReport``.
-- Options: **OFF** | ON
-- Requires:
-
-  - ``WITH_TESTS=ON``
-  - gcov, lcov, fastcov (python)
-
-- Parameterization:
-
-  - ``COVERAGE_EXCLUDES`` allows to remove source files from report (substring matching), i.e. ``/usr/include``.
-  - Multiple paths have to be separated by spaces.
-  - Paths specified through ``CMAKE_PREFIX_PATH`` and ``tests/`` are filtered by default.
-
-  .. warning::
-
-     Excluding too many paths or files may lead to an empty ``<test_name>.info`` file, causing the HTML target to fail.
-
-WITH_ENDTOEND_TESTS
--------------------
-
-- Enables execution of end to end tests using :ref:`testing_endtoend`.
-- Tests can be ran by executing ``make install && make pyOpenPASS``
-- Options: **OFF** | ON
-
-OPENPASS_ADJUST_OUTPUT
-----------------------
-
-- Adjusts if builds are executed in the (CMake default) folder ``build`` or directly in the specified install directory.
-  Latter let you skip the call ``make install``.
-- Options: **OFF** | ON
-
-.. warning::
-
-   When skipping ``make install``, dependencies are not copied into the output folder, which could cause crashes due to missing or outdated libraries.
-
-.. _cmake_protobuf_arenas:
-
-WITH_PROTOBUF_ARENA
--------------------
-
-- | *Arena allocation is a C++-only feature that helps you optimize your memory usage and improve performance when working with protocol buffers.*
-  | (from https://developers.google.com/protocol-buffers/docs/reference/arenas)
-- Options: **ON** | OFF
-
-.. note::
-
-   This feature is only available, if protobuf related libraries are also compiled with arenas.
-   Fortunately, the implementation falls back to regular allocation if not, which simply results in less performance.
-
-INSTALL_SYSTEM_RUNTIME_DEPS
----------------------------
-
-- during installation step, this configuration copies detected system runtime dependencies to install directory (i.e. MinGW system libraries)
-- Options: ON | **OFF**
-
-.. warning::
-
-   Under windows, automatic resolution might fail if other MinGW instances are installed.
-   As several programs use MinGW under the hood, it is recommended to set the used MinGW path in the CMAKE_PREFIX_PATH  explicitly:
-
-      .. code-block:: bash
-
-         CMAKE_PREFIX_PATH = mingw64/bin;\...
-
-INSTALL_EXTRA_RUNTIME_DEPS
---------------------------
-
-- during installation step, this configuration copies detected runtime dependencies (i.e. required shared libraries) specified in `CMAKE_PREFIX_PATH` to install directory
-- Options: ON | **OFF**
-
-INSTALL_EXAMPLES
-----------------
-
-- If `ON`, **opSimulation** configuration examples are copied to the `examples` folder inside the installation directory (during the installation step).
-- Options: **ON** | OFF
-
-Make Targets/Commands
----------------------
-
-|Op| defines build targets by major modules or components, such as ``opSimulation`` or ``Algorithm_FmuWrapper``.
-After calling CMake, simply build |op| by calling ``make``.
-
-.. admonition:: See also
-
-   https://www.tutorialspoint.com/unix_commands/make.htm
-
-Build and Install
-~~~~~~~~~~~~~~~~~
-
-- ``make``
-
-- ``make install``
-
-  .. warning:
-
-     - Right now, there is still an issue with an additinal ``bin`` folder.
-       After installing, the content of the `./bin` folder needs to be copied into `.`.
-
-     - Make install seems to have troubles on some systems when copying the dependencies.
-      Check if the libraries of e.g. OSI are copied into the execution directory of the core.
-
-     - MinGW system libraries are not a dependency visible to make.
-
-- ``make <target>``: Build a single target
-
-Executing Tests
-~~~~~~~~~~~~~~~
-
-- All tests: ``make test ARGS="--output-on-failure -j3"``
-- Single test: ``make test opSimulation_Tests ARGS="--output-on-failure -j3"``
+..
+  *******************************************************************************
+  Copyright (c) 2021 in-tech GmbH
+                2021-2024 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
+  http://www.eclipse.org/legal/epl-2.0.
+
+  SPDX-License-Identifier: EPL-2.0
+  *******************************************************************************
+
+.. _cmake:
+
+CMake Variables and Options
+===========================
+
+|Op| uses CMake as default cross-platform build environment.
+CMake varibles describe configuration settings, which can be overriden by the user.
+To override any build configuration, the CMake variables have to be provided when CMake gets run.
+
+If available, recommended options are shown in **bold**.
+
+The following guide is structered as follows: The first part describes the available variables and options.
+There are standard CMake variables which are marked with the prefix ``CMAKE_`` and other defined variables
+used internally to further specify the build of |op|. As the result of a proper CMake call is a Makefile,
+which then acts as base for the actual build using ``make``, the second part describes best practices around the make commands using ``make``.
+
+Note, this guide approaches CMake from the *command line perspective*.
+Adjustments for VSCode can be found under :ref:`vscode`.
+
+.. admonition:: See also
+
+   CMake Documentation: https://cmake.org/cmake/help/latest/index.html
+
+CMake Generator
+---------------
+
+This is only important for **Windows**.
+To generate MSYS compatible makefiles use ``-G "MSYS Makefiles"`` (c.f. :ref:`MSYS2 <msys2>`).
+
+.. _cmake_prefix_path:
+
+CMAKE_PREFIX_PATH
+-----------------
+
+This variable makes the prerequisites available to |op| as semicolon-separated list of directories,
+specifying installation prefixes to be searched by cmake.
+Please refer to :ref:`Prerequisites` for the list of mandatory packages and libraries.
+CMake will issue an error, if one prerequisite is missing.
+
+Generally, cmake recognizes installed libraries (e.g. googletest) on its own.
+By setting an explicit ``CMAKE_PREFIX_PATH`` for a library, it is possible to override the system libraries.
+Use this, when an exact library version, or a customized library shall be used.
+
+.. note::
+
+   In the following example, non-standard libraries are assumed to be in the folder ``deps/thirdParty``.
+
+**Example** (system libraries **not** set):
+
+.. tabs::
+
+   .. tab:: Windows
+
+      .. code-block:: bash
+
+         cmake -G "MSYS Makefiles"
+               -D CMAKE_PREFIX_PATH="\
+                  /mingw64/bin;\
+                  $PWD/../deps/thirdParty/win64/FMILibrary;\
+                  $PWD/../deps/thirdParty/win64/osi;\
+                  $PWD/../deps/thirdParty/win64/minizip;\
+               -D <other variables>\
+               ..
+
+   .. tab:: Linux
+
+      .. code-block:: bash
+
+         cmake -D CMAKE_PREFIX_PATH=\
+                  $PWD/../deps/thirdParty/linux64/FMILibrary\;\
+                  $PWD/../deps/thirdParty/linux64/osi\;\
+                  $PWD/../deps/thirdParty/linux64/minizip\;\
+               -D <other variables> \
+               ..
+
+      .. warning:: The semicolon ``;`` needs to be escaped (``\;``) unless the string is quoted.
+
+.. note:: Please also read through :ref:`cmake_openpass_variables` for further useful hints, e.g. why explicitly setting the MinGW path might be a necessary in some situations.
+
+Installation directory
+
+CMAKE_INSTALL_PREFIX
+--------------------
+
+- Install directory used by install, when invoking ``make install``
+- Recommendation: ``/openPASS/bin/core`` (Linux) | ``C:/openPASS/bin/core`` (Windows)
+
+CMAKE_WITH_DEBUG_POSTIX
+-----------------------
+
+- Used only in conjunction with *Visual Studio Debug Builds* (MSVC), as it distinguishes release/debug DLLs by a postfix ``d``.
+- Options: **OFF** | ON
+
+CMAKE_BUILD_TYPE
+----------------
+
+- Specifies the build type on single-configuration generators.
+- Typical: Release | Debug
+- See: https://cmake.org/cmake/help/latest/variable/CMAKE_BUILD_TYPE.html
+
+CMAKE_C_COMPILER
+----------------
+
+- Options: **gcc-13** | gcc-12 | gcc-11 | gcc-10 | gcc-9
+- See: https://cmake.org/cmake/help/latest/variable/CMAKE_LANG_COMPILER.html
+
+CMAKE_CXX_COMPILER
+------------------
+
+- Options: **gcc-13** | gcc-12 | gcc-11 | gcc-10 | gcc-9
+- See: https://cmake.org/cmake/help/latest/variable/CMAKE_LANG_COMPILER.html
+
+CMAKE_OBJECT_PATH_MAX
+---------------------
+
+- Under windows, errors from too long paths could be prevented by setting this value to 255 (maximum).
+- See: https://cmake.org/cmake/help/latest/variable/CMAKE_OBJECT_PATH_MAX.html
+
+.. _cmake_openpass_variables:
+
+USE_CCACHE
+----------
+
+- Activates ccache (see :ref:`prerequisites_ccache`)
+- Options: **ON** | OFF
+
+WITH_SIMCORE
+------------
+
+- Build OSI based scenario simulation, also know as openPASS simulation core (opSimulation).
+- Options: OFF | **ON**
+
+WITH_DOC
+--------
+
+- Build sphinx based documentation
+- Options: OFF | **ON**
+
+WITH_API_DOC
+------------
+
+- Build sphinx based developer documentation
+- Options: **OFF** | ON
+
+.. note:: Automatically activates ``WITH_DOC`` if ON
+
+.. warning:: Building the API doc takes pretty long.
+
+WITH_TESTS
+----------
+
+- Build unit tests
+- Options: OFF | **ON**
+
+WITH_COVERAGE
+-------------
+
+.. warning::
+
+   This option turns off optimization, which might make execution considerably slower.
+   In exchange, a coverage `<test_name>.info`` and HTML reports will be generated in a folder called ``coverage`` within the cmake build folder.
+
+- For each registered test target (see ``add_openpass_target`` in ``./cmake/HelperMacros.cmake``) two more targets are added.
+  One for code coverage analysis using ``lcov`` (target ``<test_name>_coverage``).
+  A second for HTML report generation using ``genhtml`` (target ``<test_name>_html``).
+- In addition to the individual tests, an overall test target ``TestCoverageReport`` is created.
+  When invoked, it will execute all individual tests and combine their coverage data into a single report found in ``coverage/TestCoverageReport``.
+- Options: **OFF** | ON
+- Requires:
+
+  - ``WITH_TESTS=ON``
+  - gcov, lcov, fastcov (python)
+
+- Parameterization:
+
+  - ``COVERAGE_EXCLUDES`` allows to remove source files from report (substring matching), i.e. ``/usr/include``.
+  - Multiple paths have to be separated by spaces.
+  - Paths specified through ``CMAKE_PREFIX_PATH`` and ``tests/`` are filtered by default.
+
+  .. warning::
+
+     Excluding too many paths or files may lead to an empty ``<test_name>.info`` file, causing the HTML target to fail.
+
+WITH_ENDTOEND_TESTS
+-------------------
+
+- Enables execution of end to end tests using :ref:`testing_endtoend`.
+- Tests can be ran by executing ``make install && make pyOpenPASS``
+- Options: **OFF** | ON
+
+OPENPASS_ADJUST_OUTPUT
+----------------------
+
+- Adjusts if builds are executed in the (CMake default) folder ``build`` or directly in the specified install directory.
+  Latter let you skip the call ``make install``.
+- Options: **OFF** | ON
+
+.. warning::
+
+   When skipping ``make install``, dependencies are not copied into the output folder, which could cause crashes due to missing or outdated libraries.
+
+.. _cmake_protobuf_arenas:
+
+WITH_PROTOBUF_ARENA
+-------------------
+
+- | *Arena allocation is a C++-only feature that helps you optimize your memory usage and improve performance when working with protocol buffers.*
+  | (from https://developers.google.com/protocol-buffers/docs/reference/arenas)
+- Options: **ON** | OFF
+
+.. note::
+
+   This feature is only available, if protobuf related libraries are also compiled with arenas.
+   Fortunately, the implementation falls back to regular allocation if not, which simply results in less performance.
+
+INSTALL_SYSTEM_RUNTIME_DEPS
+---------------------------
+
+- during installation step, this configuration copies detected system runtime dependencies to install directory (i.e. MinGW system libraries)
+- Options: ON | **OFF**
+
+.. warning::
+
+   Under windows, automatic resolution might fail if other MinGW instances are installed.
+   As several programs use MinGW under the hood, it is recommended to set the used MinGW path in the CMAKE_PREFIX_PATH  explicitly:
+
+      .. code-block:: bash
+
+         CMAKE_PREFIX_PATH = mingw64/bin;\...
+
+INSTALL_EXTRA_RUNTIME_DEPS
+--------------------------
+
+- during installation step, this configuration copies detected runtime dependencies (i.e. required shared libraries) specified in `CMAKE_PREFIX_PATH` to install directory
+- Options: ON | **OFF**
+
+INSTALL_EXAMPLES
+----------------
+
+- If `ON`, **opSimulation** configuration examples are copied to the `examples` folder inside the installation directory (during the installation step).
+- Options: **ON** | OFF
+
+Make Targets/Commands
+---------------------
+
+|Op| defines build targets by major modules or components, such as ``opSimulation`` or ``Algorithm_FmuWrapper``.
+After calling CMake, simply build |op| by calling ``make``.
+
+.. admonition:: See also
+
+   https://www.tutorialspoint.com/unix_commands/make.htm
+
+Build and Install
+~~~~~~~~~~~~~~~~~
+
+- ``make``
+
+- ``make install``
+
+  .. warning:
+
+     - Right now, there is still an issue with an additinal ``bin`` folder.
+       After installing, the content of the `./bin` folder needs to be copied into `.`.
+
+     - Make install seems to have troubles on some systems when copying the dependencies.
+      Check if the libraries of e.g. OSI are copied into the execution directory of the core.
+
+     - MinGW system libraries are not a dependency visible to make.
+
+- ``make <target>``: Build a single target
+
+Executing Tests
+~~~~~~~~~~~~~~~
+
+- All tests: ``make test ARGS="--output-on-failure -j3"``
+- Single test: ``make test opSimulation_Tests ARGS="--output-on-failure -j3"``
diff --git a/content/html/_sources/other_information/10_external_dependencies.rst.txt b/content/html/_sources/other_information/10_external_dependencies.rst.txt
index 3fc59e23d7392e85797b07e140bb1d134426c0b9..2a32b894225186947f3942e0a34f6b21a59a51cd 100644
--- a/content/html/_sources/other_information/10_external_dependencies.rst.txt
+++ b/content/html/_sources/other_information/10_external_dependencies.rst.txt
@@ -1,171 +1,159 @@
-..
-  *******************************************************************************
-  Copyright (c) 2021-2023 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
-                2023 Mercedes-Benz Tech Innovation GmbH
-
-  This program and the accompanying materials are made available under the
-  terms of the Eclipse Public License 2.0 which is available at
-  http://www.eclipse.org/legal/epl-2.0.
-
-  SPDX-License-Identifier: EPL-2.0
-  *******************************************************************************
-
-External Dependencies
-=====================
-
-|OP| depends on a number of external dependencies. Installation of those dependencies is described in :ref:`prerequisites`.
-
-The third party software dependency of |op| can be divided into:
-
-- **Build environment**, which manages third party software and is used to compile and install |op|
-- **Binary packages**, which can be easily installed via a package manager of the respective build environment
-- **Source packages**, which need to be built from source code
-
-This section gives an overview of the dependencies and how they are used.
-
-Information on Binary Packages
-------------------------------
-
-GNU Compiler Collection (gcc)
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-Version (latest tested): |gcc_version|
-
-|Op| is developed on Linux and Windows (64-Bit) in `C++17 <https://isocpp.org/>`_ using the GNU Compiler Collection (`gcc <https://gcc.gnu.org/>`_).
-
-.. admonition:: Useful hints
-
-   - | |op| has been developed using gcc 7.x, 8.x, 9.x, and more recently gcc 10.x.
-      | There are no known issues regarding the different versions.
-   - Since no compiler specific features are used, the source should also compile with `clang <https://clang.llvm.org/>`_.
-   - Generally, there is support for `MSVC <https://docs.microsoft.com/en-us/cpp/build/reference/c-cpp-building-reference>`_ , but currently not actively maintained by the |opwg|.
-
-GNU Debugger (gdb)
-~~~~~~~~~~~~~~~~~~
-
-Version (latest tested): |gdb_version|
-
-Debugging tools for gcc: https://www.gnu.org/savannah-checkouts/gnu/gdb/index.html
-
-CMake
-~~~~~
-
-Version (latest tested): |cmake_version|
-
-|Op| uses `CMake <https://cmake.org/>`_ for building and testing.
-For details on the provided options, see :ref:`cmake`.
-
-.. _prerequisites_ccache:
-
-Ccache
-~~~~~~
-
-Version (latest tested): |ccache_version|
-
-|Op| supports the compiler cache `Ccache <https://ccache.dev/>`_ for faster recompilation.
-Use only, if you need to recompile regularly.
-
-.. admonition:: Useful hints
-
-   - The first compilation is definilty slower (e.g. by 30%), as the cache needs to be built.
-   - If used regularily, increasing the cache size is recommended, e.g.: ``ccache -M 20G``
-
-Doxygen
-~~~~~~~
-
-Version (latest tested): |doxygen_version|
-
-Documentation is created using `Doxygen <https://www.doxygen.nl/index.html>`_.
-
-.. admonition:: Useful hints
-
-   - Doxygen introduced support for Markdown with 1.8, which is still in use.
-      Don't use older versions.
-
-Qt Framework
-~~~~~~~~~~~~
-
-Version (officially supported): |qt_version|
-
-|Op| uses some features from the `Qt <https://www.qt.io/>`_ framework.
-A previous version of the GUI of |op| relied on Qt. |Op| itself tries to stick to the C++ standard framework as far as possible, but still uses the Qt framework for some tasks, e.g. xml parsing.
-
-.. admonition:: Note on Versions
-
-   | Versions starting from 5.4 should generally work, but are not officially supported anymore/yet.
-
-Boost C++ Libraries
-~~~~~~~~~~~~~~~~~~~
-
-Version (officially supported): |boost_version|
-
-Especially for geometrical calculations, |op| uses parts of the `Boost C++ Libraries <https://www.boost.org/>`_.
-
-.. admonition:: Note on Versions
-
-   More recent versions should integrate without issues, but 1.74.0 already raise warnings for some deprecated headers.
-
-googletest
-~~~~~~~~~~
-
-Version (officially supported): |gtest_version|
-
-Tests are written in `googletest <https://github.com/google/googletest>`_ and |Op| makes use of the included *googletest* (gtest) C++ testing framework, as well as the included mocking framework *googlemock* (gmock).
-
-.. note::
-
-   The lastest major release brought several API changes, which made some code fixes necessary.
-   Use newer versions with precaution.
-
-Information on Source Packages
-------------------------------
-
-The second and last set of dependencies we need to dissolve are based on source packages.
-Since installing such source packages is not easy, we have dedicated a separate chapter on this topic.
-See :ref:`building_prerequisites` for a step-by-step instruction on how to download, build and install needed source packages.
-
-Details on source packages:
-
-.. _prerequisites_osi:
-
-Open Simulation Interface (OSI)
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-Version (officially supported): |osi_version|
-
-The internal world representation uses the `Open Simulation Interface <https://github.com/OpenSimulationInterface>`_ (:term:`OSI`) as part of its ground truth (backend storage) and exchange format.
-
-.. figure:: ./_static/draw.io/osi_in_openpass.png
-
-   OSI in |op|
-
-Interaction between World and consumers of OSI messages.
-
-Thereby, OSI provides data structures for representation of various objects in traffic simulation environments.
-Note that OSI is primarily developed in a sensor centric view, such as lane markings and object boundaries.
-Beyond that, |op| holds data for non-sensor centric data, such as metainfo on lanes and roads.
-
-As shown, OSI itself depends on :ref:`prerequisites_protobuf`.
-If not already installed, the library and headers have to be built prior to OSI.
-
-.. _prerequisites_protobuf:
-
-Protocol Buffers (protobuf)
-~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-Supported Version (officially supported): |protobuf_version|
-
-:ref:`prerequisites_osi` uses `Protocol Buffers <https://developers.google.com/protocol-buffers>`_ for describing and serialization of its datastructures.
-
-.. admonition:: Note on Versions
-
-   - So far, no version limitations known (including 2.x).
-   - |Op| lets you integrate your own protobuf libraries if necessary.
-
-Modelon FMI Library (FMIL)
-~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-Supported Version: |fmi_version|
-
-For integration of Functional Mock-up Units (FMUs) the `Algorithm_FmuWrapper` uses the `Modelon FMI Library <https://github.com/modelon-community/fmi-library>`_.
-As there is no binary available, FMIL needs to be build from scratch before |op| can be compiled.
+..
+  *******************************************************************************
+  Copyright (c) 2021-2024 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+                2023 Mercedes-Benz Tech Innovation GmbH
+
+  This program and the accompanying materials are made available under the
+  terms of the Eclipse Public License 2.0 which is available at
+  http://www.eclipse.org/legal/epl-2.0.
+
+  SPDX-License-Identifier: EPL-2.0
+  *******************************************************************************
+
+External Dependencies
+=====================
+
+|OP| depends on a number of external dependencies. Installation of those dependencies is described in :ref:`prerequisites`.
+
+The third party software dependency of |op| can be divided into:
+
+- **Build environment**, which manages third party software and is used to compile and install |op|
+- **Binary packages**, which can be easily installed via a package manager of the respective build environment
+- **Source packages**, which need to be built from source code
+
+This section gives an overview of the dependencies and how they are used.
+
+Information on Binary Packages
+------------------------------
+
+GNU Compiler Collection (gcc)
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+Version (latest tested): |gcc_version|
+
+|Op| is developed on Linux and Windows (64-Bit) in `C++17 <https://isocpp.org/>`_ using the GNU Compiler Collection (`gcc <https://gcc.gnu.org/>`_).
+
+.. admonition:: Useful hints
+
+   - | |op| has been developed using gcc 7.x, 8.x, 9.x, and more recently gcc 10.x.
+      | There are no known issues regarding the different versions.
+   - Since no compiler specific features are used, the source should also compile with `clang <https://clang.llvm.org/>`_.
+   - Generally, there is support for `MSVC <https://docs.microsoft.com/en-us/cpp/build/reference/c-cpp-building-reference>`_ , but currently not actively maintained by the |opwg|.
+
+GNU Debugger (gdb)
+~~~~~~~~~~~~~~~~~~
+
+Version (latest tested): |gdb_version|
+
+Debugging tools for gcc: https://www.gnu.org/savannah-checkouts/gnu/gdb/index.html
+
+CMake
+~~~~~
+
+Version (latest tested): |cmake_version|
+
+|Op| uses `CMake <https://cmake.org/>`_ for building and testing.
+For details on the provided options, see :ref:`cmake`.
+
+.. _prerequisites_ccache:
+
+Ccache
+~~~~~~
+
+Version (latest tested): |ccache_version|
+
+|Op| supports the compiler cache `Ccache <https://ccache.dev/>`_ for faster recompilation.
+Use only, if you need to recompile regularly.
+
+.. admonition:: Useful hints
+
+   - The first compilation is definilty slower (e.g. by 30%), as the cache needs to be built.
+   - If used regularily, increasing the cache size is recommended, e.g.: ``ccache -M 20G``
+
+Doxygen
+~~~~~~~
+
+Version (latest tested): |doxygen_version|
+
+Documentation is created using `Doxygen <https://www.doxygen.nl/index.html>`_.
+
+.. admonition:: Useful hints
+
+   - Doxygen introduced support for Markdown with 1.8, which is still in use.
+      Don't use older versions.
+
+Boost C++ Libraries
+~~~~~~~~~~~~~~~~~~~
+
+Version (officially supported): |boost_version|
+
+Especially for geometrical calculations, |op| uses parts of the `Boost C++ Libraries <https://www.boost.org/>`_.
+
+.. admonition:: Note on Versions
+
+   More recent versions should integrate without issues, but 1.74.0 already raise warnings for some deprecated headers.
+
+googletest
+~~~~~~~~~~
+
+Version (officially supported): |gtest_version|
+
+Tests are written in `googletest <https://github.com/google/googletest>`_ and |Op| makes use of the included *googletest* (gtest) C++ testing framework, as well as the included mocking framework *googlemock* (gmock).
+
+.. note::
+
+   The lastest major release brought several API changes, which made some code fixes necessary.
+   Use newer versions with precaution.
+
+Information on Source Packages
+------------------------------
+
+The second and last set of dependencies we need to dissolve are based on source packages.
+Since installing such source packages is not easy, we have dedicated a separate chapter on this topic.
+See :ref:`building_prerequisites` for a step-by-step instruction on how to download, build and install needed source packages.
+
+Details on source packages:
+
+.. _prerequisites_osi:
+
+Open Simulation Interface (OSI)
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+Version (officially supported): |osi_version|
+
+The internal world representation uses the `Open Simulation Interface <https://github.com/OpenSimulationInterface>`_ (:term:`OSI`) as part of its ground truth (backend storage) and exchange format.
+
+.. figure:: ./_static/draw.io/osi_in_openpass.png
+
+   OSI in |op|
+
+Interaction between World and consumers of OSI messages.
+
+Thereby, OSI provides data structures for representation of various objects in traffic simulation environments.
+Note that OSI is primarily developed in a sensor centric view, such as lane markings and object boundaries.
+Beyond that, |op| holds data for non-sensor centric data, such as metainfo on lanes and roads.
+
+As shown, OSI itself depends on :ref:`prerequisites_protobuf`.
+If not already installed, the library and headers have to be built prior to OSI.
+
+.. _prerequisites_protobuf:
+
+Protocol Buffers (protobuf)
+~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+Supported Version (officially supported): |protobuf_version|
+
+:ref:`prerequisites_osi` uses `Protocol Buffers <https://developers.google.com/protocol-buffers>`_ for describing and serialization of its datastructures.
+
+.. admonition:: Note on Versions
+
+   - So far, no version limitations known (including 2.x).
+   - |Op| lets you integrate your own protobuf libraries if necessary.
+
+Modelon FMI Library (FMIL)
+~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+Supported Version: |fmi_version|
+
+For integration of Functional Mock-up Units (FMUs) the `Algorithm_FmuWrapper` uses the `Modelon FMI Library <https://github.com/modelon-community/fmi-library>`_.
+As there is no binary available, FMIL needs to be build from scratch before |op| can be compiled.
diff --git a/content/html/_sources/other_information/20_glossary.rst.txt b/content/html/_sources/other_information/20_glossary.rst.txt
index ae7da335104b3f3a8c80913ffe1c2f06b1bd6a4c..4bba933f641698301b578311be718b848b3916fb 100644
--- a/content/html/_sources/other_information/20_glossary.rst.txt
+++ b/content/html/_sources/other_information/20_glossary.rst.txt
@@ -1,82 +1,82 @@
-..
-  *******************************************************************************
-  Copyright (c) 2021 in-tech GmbH
-
-  This program and the accompanying materials are made available under the
-  terms of the Eclipse Public License 2.0 which is available at
-  http://www.eclipse.org/legal/epl-2.0.
-
-  SPDX-License-Identifier: EPL-2.0
-  *******************************************************************************
-
-Glossary
-========
-
-.. glossary::
-
-   ADAS
-     Advanced Driving Assistance Systems
-
-   AEB
-     Autonomous Emergency Brake
-     preventive emergency braking in danger (support or independent launch)
-
-   Channel
-     Connects components within an agent (using unique ID)   
-
-   Component
-     A module that is part of an agent's equipment   
-
-   COG
-     Center of gravity
-
-   Dynamics
-     Calculation of dynamic parameters, e.g. position of Agent
-
-   FMI
-     Functional Mock-up Interface, see https://fmi-standard.org
-
-   FMU
-     Functional Mock-up Unit, see https://fmi-standard.org
-
-   GIDAS
-     German In-Depth Accident Study for in-depth traffic accident data collection, see https://www.gidas.org
-
-   MinGW
-     Complete Open Source programming tool set, suitable for the development of native MS-Windows applications.
-
-   Model
-     An abstract representation of a real object which might omit details e.g. ADAS, driving dynamics, pedestrian, environmental conditions. In the PreCASE framework, a model consists of one or more modules as well as channels connecting them.
-
-   Module
-     A dynamic library that is loaded and whose interface functions are called by the framework. Modules contain models or other individual functionality necessary for the simulation. Modules are exchangeable and can be fitted to various purposes ensuring ahigh flexibility of the framework.   
-
-   MSYS
-     Collection of GNU utilities (e.g. bash, make, gcc) to allow building of programs which depend on traditionally UNIX tools to be present. It is intended to supplement :term:`MinGW`.
-
-   MSYS2
-     Independent rewrite of :term:`MSYS`, based on Cygwin (POSIX compatibility layer) and MinGW-w64.
-
-   OD
-     OpenDRIVE
-
-   openPASS
-     Open Platform for Assessment of Safety Systems
-
-   OSI
-     A generic interface for the environmental perception of automated driving functions in virtual scenarios.
-     See https://opensimulationinterface.github.io/osi-documentation
-
-   PCM
-     Pre-Crash Matrix is a specified format which can be used to describe the phase of a road traffic accident before the first collision happens (the so-called pre-crash phase).
-     See https://www.vufo.de/pcm/?lang=en
-
-   PreCASE
-     Framework for the Simulative Evaluation of Active Safety Systems in Vehicles (openPASS predecessor).  
-
-   Scenario
-     A set of similar traffic situations.
-
-   TTC
-     Time to collision
-
+..
+  *******************************************************************************
+  Copyright (c) 2021 in-tech GmbH
+
+  This program and the accompanying materials are made available under the
+  terms of the Eclipse Public License 2.0 which is available at
+  http://www.eclipse.org/legal/epl-2.0.
+
+  SPDX-License-Identifier: EPL-2.0
+  *******************************************************************************
+
+Glossary
+========
+
+.. glossary::
+
+   ADAS
+     Advanced Driving Assistance Systems
+
+   AEB
+     Autonomous Emergency Brake
+     preventive emergency braking in danger (support or independent launch)
+
+   Channel
+     Connects components within an agent (using unique ID)   
+
+   Component
+     A module that is part of an agent's equipment   
+
+   COG
+     Center of gravity
+
+   Dynamics
+     Calculation of dynamic parameters, e.g. position of Agent
+
+   FMI
+     Functional Mock-up Interface, see https://fmi-standard.org
+
+   FMU
+     Functional Mock-up Unit, see https://fmi-standard.org
+
+   GIDAS
+     German In-Depth Accident Study for in-depth traffic accident data collection, see https://www.gidas.org
+
+   MinGW
+     Complete Open Source programming tool set, suitable for the development of native MS-Windows applications.
+
+   Model
+     An abstract representation of a real object which might omit details e.g. ADAS, driving dynamics, pedestrian, environmental conditions. In the PreCASE framework, a model consists of one or more modules as well as channels connecting them.
+
+   Module
+     A dynamic library that is loaded and whose interface functions are called by the framework. Modules contain models or other individual functionality necessary for the simulation. Modules are exchangeable and can be fitted to various purposes ensuring ahigh flexibility of the framework.   
+
+   MSYS
+     Collection of GNU utilities (e.g. bash, make, gcc) to allow building of programs which depend on traditionally UNIX tools to be present. It is intended to supplement :term:`MinGW`.
+
+   MSYS2
+     Independent rewrite of :term:`MSYS`, based on Cygwin (POSIX compatibility layer) and MinGW-w64.
+
+   OD
+     OpenDRIVE
+
+   openPASS
+     Open Platform for Assessment of Safety Systems
+
+   OSI
+     A generic interface for the environmental perception of automated driving functions in virtual scenarios.
+     See https://opensimulationinterface.github.io/osi-documentation
+
+   PCM
+     Pre-Crash Matrix is a specified format which can be used to describe the phase of a road traffic accident before the first collision happens (the so-called pre-crash phase).
+     See https://www.vufo.de/pcm/?lang=en
+
+   PreCASE
+     Framework for the Simulative Evaluation of Active Safety Systems in Vehicles (openPASS predecessor).  
+
+   Scenario
+     A set of similar traffic situations.
+
+   TTC
+     Time to collision
+
diff --git a/content/html/_sources/other_information/30_gui_plugins.rst.txt b/content/html/_sources/other_information/30_gui_plugins.rst.txt
index d74a32db15be13439c3c0cd1ee071061534e464e..337f0048e9116a6f83aa882473214aae10420e2d 100644
--- a/content/html/_sources/other_information/30_gui_plugins.rst.txt
+++ b/content/html/_sources/other_information/30_gui_plugins.rst.txt
@@ -1,26 +1,26 @@
-..
-  *******************************************************************************
-  Copyright (c) 2021 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
-                2021 ITK Engineering GmbH
-                2023 Mercedes-Benz Tech Innovation GmbH
-
-  This program and the accompanying materials are made available under the
-  terms of the Eclipse Public License 2.0 which is available at
-  http://www.eclipse.org/legal/epl-2.0.
-
-  SPDX-License-Identifier: EPL-2.0
-  *******************************************************************************
-
-.. _gui_plugins:
-
-GUI Plugins
-===========================
-
-      * The deprecated “Qt GUI” for simulation configuration based on Qt mainly aimed to edit PCM-based openPASS experiments was part of minor releases v0.5 – v0.11.
-      * The latest version of this deprecated GUI can be found here: https://ci.eclipse.org/openpass/job/openPASS_simulator_build/view/tags/job/openPASS_0.11/
-
-.. toctree::
-   :glob:
-   :maxdepth: 1
-
-   gui_user_guide/*
+..
+  *******************************************************************************
+  Copyright (c) 2021 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+                2021 ITK Engineering GmbH
+                2023 Mercedes-Benz Tech Innovation GmbH
+
+  This program and the accompanying materials are made available under the
+  terms of the Eclipse Public License 2.0 which is available at
+  http://www.eclipse.org/legal/epl-2.0.
+
+  SPDX-License-Identifier: EPL-2.0
+  *******************************************************************************
+
+.. _gui_plugins:
+
+GUI Plugins
+===========================
+
+      * The deprecated “Qt GUI” for simulation configuration based on Qt mainly aimed to edit PCM-based openPASS experiments was part of minor releases v0.5 – v0.11.
+      * The latest version of this deprecated GUI can be found here: https://ci.eclipse.org/openpass/job/openPASS_simulator_build/view/tags/job/openPASS_0.11/
+
+.. toctree::
+   :glob:
+   :maxdepth: 1
+
+   gui_user_guide/*
diff --git a/content/html/_sources/other_information/40_license.rst.txt b/content/html/_sources/other_information/40_license.rst.txt
index 9c9333ec33377156d123b3723357fde90e529256..c040ab16fa516ae09219d2c288137f9eefcbeb3f 100644
--- a/content/html/_sources/other_information/40_license.rst.txt
+++ b/content/html/_sources/other_information/40_license.rst.txt
@@ -1,18 +1,18 @@
-..
-  *******************************************************************************
-  Copyright (c) 2021 in-tech GmbH
-
-  This program and the accompanying materials are made available under the
-  terms of the Eclipse Public License 2.0 which is available at
-  http://www.eclipse.org/legal/epl-2.0.
-
-  SPDX-License-Identifier: EPL-2.0
-  *******************************************************************************
-
-License
-=======
-
-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
+..
+  *******************************************************************************
+  Copyright (c) 2021 in-tech GmbH
+
+  This program and the accompanying materials are made available under the
+  terms of the Eclipse Public License 2.0 which is available at
+  http://www.eclipse.org/legal/epl-2.0.
+
+  SPDX-License-Identifier: EPL-2.0
+  *******************************************************************************
+
+License
+=======
+
+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
diff --git a/content/html/_sources/other_information/gui_user_guide/10_projects.rst.txt b/content/html/_sources/other_information/gui_user_guide/10_projects.rst.txt
index a6b0a85e0b30d4dadb9cb205f340fec2485dc772..6580323b92bffc369e93263d2391a6b632b712ec 100644
--- a/content/html/_sources/other_information/gui_user_guide/10_projects.rst.txt
+++ b/content/html/_sources/other_information/gui_user_guide/10_projects.rst.txt
@@ -1,71 +1,71 @@
-..
-  *******************************************************************************
-  Copyright (c) 2021 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
-                2021 ITK Engineering GmbH
-                2023 Mercedes-Benz Tech Innovation GmbH
-
-  This program and the accompanying materials are made available under the
-  terms of the Eclipse Public License 2.0 which is available at
-  http://www.eclipse.org/legal/epl-2.0.
-
-  SPDX-License-Identifier: EPL-2.0
-  *******************************************************************************
-  
-
-.. _project:
-
-Project
-=======
-
-      * The deprecated “Qt GUI” for simulation configuration based on Qt mainly aimed to edit PCM-based openPASS experiments was part of minor releases v0.5 – v0.11.
-      * The latest version of this deprecated GUI can be found here: https://ci.eclipse.org/openpass/job/openPASS_simulator_build/view/tags/job/openPASS_0.11/
-
-
-The Project Plugin can be used to simply start a simulation from the gui.
-
-.. image:: _static/images/plugin/project/overview.png
-
-Before the simulation adjustments begin, the user is obligated to load or create a “Simulation Manager Configuration” (`opSimulationManager.xml`). 
-Such a configuration in openPASS can be understood as a project. 
-It is a XML-File which get inscribed the path settings and simulation settings after you click **SAVE**.
-
-General
--------
-
-.. image:: _static/images/plugin/project/general.png
-
-In this segment you are able to name the Simulation Manager Configuration.
-
-Path Settings
--------------
-
-.. image:: _static/images/plugin/project/pathSettings.png
-
-The next step is path settings. 
-These will change depending on where your openPASS.exe is located. 
-In the screen shot above the openPASS.exe is located at ``C:openPASS``. 
-For easier use of this tutorial it is recommended to save the Demo Folder in ``C:/`` and name it *openPASS*.
-On to the settings. 
-As you can see three paths need to be set. 
-The library comes with openPASS. 
-There are plans to remove the option for the user to set the library path, but at this moment there is still the option to change it, although this is not recommended.
-The Simulation Path references the opSimulation.exe, the file to execute the simulation.
-If you are using the provided Demo, there is no need for you to change it. 
-The only path you need to set is the path of the Configuration Files. 
-In the Demo it will be located at ``[directory of openPASS.exe]/configs``, so in this case it would be ``C:/openPASS/configs``.
-
-Simulation Output Settings
---------------------------
-
-.. image:: _static/images/plugin/project/simOutputSettings.png
-
-Next step is the Simulation Output Settings. There are three output files. First is the log file of the simulation manager. 
-However, when simulation jobs are started by the GUI, the openPASS simulation manager is not executed and, hence, the log will not contain any entries. 
-Second is the log file created by the simulation. In this log file you will find error messages, actions of the simulation etc. depending on the log level.
-The Log level lets you choose which type of messages are logged. “0” means that only errors are logged, 
-whereas the highest log level of “5” leads to the most detailed description of which steps are executed by the simulation.
-The results path specifies the folder in which the results of a successful simulation will be saved. 
-
-.. note:: 
-
-   It is recommended to create a new folder in C:/openPASS called “results” and set it as the results path as in the picture above.
+..
+  *******************************************************************************
+  Copyright (c) 2021 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+                2021 ITK Engineering GmbH
+                2023 Mercedes-Benz Tech Innovation GmbH
+
+  This program and the accompanying materials are made available under the
+  terms of the Eclipse Public License 2.0 which is available at
+  http://www.eclipse.org/legal/epl-2.0.
+
+  SPDX-License-Identifier: EPL-2.0
+  *******************************************************************************
+  
+
+.. _project:
+
+Project
+=======
+
+      * The deprecated “Qt GUI” for simulation configuration based on Qt mainly aimed to edit PCM-based openPASS experiments was part of minor releases v0.5 – v0.11.
+      * The latest version of this deprecated GUI can be found here: https://ci.eclipse.org/openpass/job/openPASS_simulator_build/view/tags/job/openPASS_0.11/
+
+
+The Project Plugin can be used to simply start a simulation from the gui.
+
+.. image:: _static/images/plugin/project/overview.png
+
+Before the simulation adjustments begin, the user is obligated to load or create a “Simulation Manager Configuration” (`opSimulationManager.xml`). 
+Such a configuration in openPASS can be understood as a project. 
+It is a XML-File which get inscribed the path settings and simulation settings after you click **SAVE**.
+
+General
+-------
+
+.. image:: _static/images/plugin/project/general.png
+
+In this segment you are able to name the Simulation Manager Configuration.
+
+Path Settings
+-------------
+
+.. image:: _static/images/plugin/project/pathSettings.png
+
+The next step is path settings. 
+These will change depending on where your openPASS.exe is located. 
+In the screen shot above the openPASS.exe is located at ``C:openPASS``. 
+For easier use of this tutorial it is recommended to save the Demo Folder in ``C:/`` and name it *openPASS*.
+On to the settings. 
+As you can see three paths need to be set. 
+The library comes with openPASS. 
+There are plans to remove the option for the user to set the library path, but at this moment there is still the option to change it, although this is not recommended.
+The Simulation Path references the opSimulation.exe, the file to execute the simulation.
+If you are using the provided Demo, there is no need for you to change it. 
+The only path you need to set is the path of the Configuration Files. 
+In the Demo it will be located at ``[directory of openPASS.exe]/configs``, so in this case it would be ``C:/openPASS/configs``.
+
+Simulation Output Settings
+--------------------------
+
+.. image:: _static/images/plugin/project/simOutputSettings.png
+
+Next step is the Simulation Output Settings. There are three output files. First is the log file of the simulation manager. 
+However, when simulation jobs are started by the GUI, the openPASS simulation manager is not executed and, hence, the log will not contain any entries. 
+Second is the log file created by the simulation. In this log file you will find error messages, actions of the simulation etc. depending on the log level.
+The Log level lets you choose which type of messages are logged. “0” means that only errors are logged, 
+whereas the highest log level of “5” leads to the most detailed description of which steps are executed by the simulation.
+The results path specifies the folder in which the results of a successful simulation will be saved. 
+
+.. note:: 
+
+   It is recommended to create a new folder in C:/openPASS called “results” and set it as the results path as in the picture above.
diff --git a/content/html/_sources/other_information/gui_user_guide/20_system_editor.rst.txt b/content/html/_sources/other_information/gui_user_guide/20_system_editor.rst.txt
index c2cacf8a67b242cbb9e56e4c23fd3a7d57a48eb3..a29587c69a51652a814db7d71e77ae963926c7cd 100644
--- a/content/html/_sources/other_information/gui_user_guide/20_system_editor.rst.txt
+++ b/content/html/_sources/other_information/gui_user_guide/20_system_editor.rst.txt
@@ -1,35 +1,35 @@
-..
-  *******************************************************************************
-  Copyright (c) 2021 ITK Engineering GmbH
-                2023 Mercedes-Benz Tech Innovation GmbH
-
-  This program and the accompanying materials are made available under the
-  terms of the Eclipse Public License 2.0 which is available at
-  http://www.eclipse.org/legal/epl-2.0.
-
-  SPDX-License-Identifier: EPL-2.0
-  *******************************************************************************
-
-.. _system_editor:
-
-System Editor
-=============
-
-      * The deprecated “Qt GUI” for simulation configuration based on Qt mainly aimed to edit PCM-based openPASS experiments was part of minor releases v0.5 – v0.11.
-      * The latest version of this deprecated GUI can be found here: https://ci.eclipse.org/openpass/job/openPASS_simulator_build/view/tags/job/openPASS_0.11/
-
-
-The System Editor helps building the system configuration (systemConfig) in the GUI. 
-This file is also a XML-file and specifies the components of an agent and systems used, in this case advanced driver assistance systems. 
-
-The editing of the System Configuration has two modes: the static and dynamic mode.
-
-The **static mode** requires the user to build a complete system which includes sensors, algorithms and actions. 
-As the actions directly manipulate the simulated vehicle’s parameters, which are the same no matter the system (i.e. gas pedal position, braking pedal position, steering wheel angle), there is no need to code the interaction between system and simulation.
-
-At this point there is no support for supporting statistical inclusion of systems in the static mode. 
-The current demo only provides an example for the static mode (a System Configuration of an agent to follow a PCM trajectory), so make sure you have the static mode selected.
-
-The **dynamic mode** is covered by the Scenario Simulation User guide.
-
-.. image:: _static/images/plugin/system_editor/overview.png
+..
+  *******************************************************************************
+  Copyright (c) 2021 ITK Engineering GmbH
+                2023 Mercedes-Benz Tech Innovation GmbH
+
+  This program and the accompanying materials are made available under the
+  terms of the Eclipse Public License 2.0 which is available at
+  http://www.eclipse.org/legal/epl-2.0.
+
+  SPDX-License-Identifier: EPL-2.0
+  *******************************************************************************
+
+.. _system_editor:
+
+System Editor
+=============
+
+      * The deprecated “Qt GUI” for simulation configuration based on Qt mainly aimed to edit PCM-based openPASS experiments was part of minor releases v0.5 – v0.11.
+      * The latest version of this deprecated GUI can be found here: https://ci.eclipse.org/openpass/job/openPASS_simulator_build/view/tags/job/openPASS_0.11/
+
+
+The System Editor helps building the system configuration (systemConfig) in the GUI. 
+This file is also a XML-file and specifies the components of an agent and systems used, in this case advanced driver assistance systems. 
+
+The editing of the System Configuration has two modes: the static and dynamic mode.
+
+The **static mode** requires the user to build a complete system which includes sensors, algorithms and actions. 
+As the actions directly manipulate the simulated vehicle’s parameters, which are the same no matter the system (i.e. gas pedal position, braking pedal position, steering wheel angle), there is no need to code the interaction between system and simulation.
+
+At this point there is no support for supporting statistical inclusion of systems in the static mode. 
+The current demo only provides an example for the static mode (a System Configuration of an agent to follow a PCM trajectory), so make sure you have the static mode selected.
+
+The **dynamic mode** is covered by the Scenario Simulation User guide.
+
+.. image:: _static/images/plugin/system_editor/overview.png
diff --git a/content/html/_sources/other_information/gui_user_guide/30_pcm_sim.rst.txt b/content/html/_sources/other_information/gui_user_guide/30_pcm_sim.rst.txt
index d439610473feefc032609eaa0e125042646b3839..9018986c42da4bf82b07a098af9e43b9d2dc7c8f 100644
--- a/content/html/_sources/other_information/gui_user_guide/30_pcm_sim.rst.txt
+++ b/content/html/_sources/other_information/gui_user_guide/30_pcm_sim.rst.txt
@@ -1,152 +1,152 @@
-..
-  *******************************************************************************
-  Copyright (c) 2021 ITK Engineering GmbH
-                2023 Mercedes-Benz Tech Innovation GmbH
-
-  This program and the accompanying materials are made available under the
-  terms of the Eclipse Public License 2.0 which is available at
-  http://www.eclipse.org/legal/epl-2.0.
-
-  SPDX-License-Identifier: EPL-2.0
-  *******************************************************************************
-
-.. _pcm_sim:
-
-PCM Simulation
-==============
-
-      * The deprecated “Qt GUI” for simulation configuration based on Qt mainly aimed to edit PCM-based openPASS experiments was part of minor releases v0.5 – v0.11.
-      * The latest version of this deprecated GUI can be found here: https://ci.eclipse.org/openpass/job/openPASS_simulator_build/view/tags/job/openPASS_0.11/
-
-
-This plugin is used to configure and start a simulation based pcm data or simulation configuration sets of previous simulations.
-
-Simulation Input
-----------------
-
-* **UseCase: Database**
-
-   * Select the radio button ``PCM Database``
-   * Select a PCM database file
-
-.. image:: _static/images/plugin/pcm_sim/input_db.png
-
-* **UseCase: Resimulation**
-
-   * Select the radio button ``Simulation Results``
-   * Select a folder with previous Results
-
-   .. note::
-
-      The selected output folder must be different to the input folder
-
-   .. warning::
-
-      To ensure that the previous results are correctly read, the folder structure of the results has to follow the structure the GUI itself generates when the simulation is started from a database. 
-      Only the configuration files of the default folders are loaded. No variation is loaded and taken into account at this place.
-
-
-.. image:: _static/images/plugin/pcm_sim/input_resim.png
-
-Simulation Output
------------------
-
-   * In ``Result Folder`` you can select a folder where the output shall be written
-   * In ``Log Level`` you can define at what level a logging output shall be produced 
-
-      * ``Error``     - Log only Errors
-      * ``Warning``   - Log additionally warnings
-      * ``Info``      - Log additionally information
-      * ``Debug``     - Log additionally debug information
-
-.. image:: _static/images/plugin/pcm_sim/output.png
-
-
-Simulation Configuration
-------------------------
-
-At this point, the User is able to choose what system configuration shall be used for each agent.
-The User can either select one or multiple system configuration files (comma separated). 
-In the case of multiple files are configured, there will be unique sets of simulation configuration files generated for each possible combination, which are placed in folders named / coded like ``<Car1_Index>-<Car2_Index>-<Other_Index>`` e.g. ``1-0-2`` 
-
-
-.. image:: _static/images/plugin/pcm_sim/system_config.png
-
-Variation
----------
-
-* The random seed can be set to a specific initial random seed by ``using a given value`` or just by ``using the case number``
-* The number runs can with different random seed can be set by changing ``Variation Count`` 
-* The original trajectory can be shifted randomly by setting the ``Shift radius`` for *Car1* and *Car2*
-
-   * Given a shift radius R for a vehicle
-   * For each position P in trajectory, it shifted position P’ is calculated by randomly generating a distance D (D<= R) and a relative angle in polar coordinate 
-
-   .. math::
-      `x_{\text{new}}(t) = x(t) + \delta x`
-      `y_{\text{new}}(t) = x(y) + \delta y`
-  
-.. image:: _static/images/plugin/pcm_sim/trajectory_shifting.png
-
-* The original velocity can be scaled randomly by setting the ``Max scale`` for *Car1* and *Car2*
-* Given a velocity deviation :math `\delta V` for a vehicle
-* In a trajectory, a position P_{i} is represented as
-
-   .. math::
-      `x(t) = x_{0} + \int_{0}^{t} v_{x} (t) dt` 
-      `y(t) = y_{0} + \int_{0}^{t} v_{y} (t) dt` 
-
-* The new position P_{i} can be represented as
-
-  .. math::
-      `x(t) = x_{0} + k \int_{0}^{t} v_{x} (t) dt` 
-      `y(t) = y_{0} + k \int_{0}^{t} v_{y} (t) dt` 
-   
-* with a scaling factor k
-
-.. image:: _static/images/plugin/pcm_sim/velocity_scaling.png
-
-.. note::
-
-   The additional random seeds which are used by the variation are chosen randomly depending on the initial random seed.
-   Therefore they´re reproducible
-
-.. image:: _static/images/plugin/pcm_sim/variation.png
-
-Simulation Start
-----------------
-
-* Select one or multiple simulation cases (by pressing the CTRL / SHIFT key)
-
-* Press the button ``Start Simulation``
-
-.. note::
-
-   The User can interrupt the simulation process by pressing ``Stop Simulation``. 
-   The simulation will stop after the current simulation is finished.
-   Therefore it won´t start the remaining simulations anymore.
-
-
-.. image:: _static/images/plugin/pcm_sim/select.png
-
-Save / Load Experiment
-----------------------
-
-Every change in the gui can be saved as in "Experiment" in an text file. 
-This file can later be loaded to retrieve the previous used configuration of the "Experiment".
-
-.. image:: _static/images/plugin/pcm_sim/experiment.png
-
-.. _result_folder_structure:
-
-Result Folder Structure
------------------------
-
-* <Result Folder Name> (e.g. *result_pcm*)
-
-   * <Case Name> (e.g. *1000208*)
-
-      * <System Configuration combination code> (e.g. *1-0-2*)
-
-         * <Variation Name> (e.g. *default* or *Var_00001*)
-  
+..
+  *******************************************************************************
+  Copyright (c) 2021 ITK Engineering GmbH
+                2023 Mercedes-Benz Tech Innovation GmbH
+
+  This program and the accompanying materials are made available under the
+  terms of the Eclipse Public License 2.0 which is available at
+  http://www.eclipse.org/legal/epl-2.0.
+
+  SPDX-License-Identifier: EPL-2.0
+  *******************************************************************************
+
+.. _pcm_sim:
+
+PCM Simulation
+==============
+
+      * The deprecated “Qt GUI” for simulation configuration based on Qt mainly aimed to edit PCM-based openPASS experiments was part of minor releases v0.5 – v0.11.
+      * The latest version of this deprecated GUI can be found here: https://ci.eclipse.org/openpass/job/openPASS_simulator_build/view/tags/job/openPASS_0.11/
+
+
+This plugin is used to configure and start a simulation based pcm data or simulation configuration sets of previous simulations.
+
+Simulation Input
+----------------
+
+* **UseCase: Database**
+
+   * Select the radio button ``PCM Database``
+   * Select a PCM database file
+
+.. image:: _static/images/plugin/pcm_sim/input_db.png
+
+* **UseCase: Resimulation**
+
+   * Select the radio button ``Simulation Results``
+   * Select a folder with previous Results
+
+   .. note::
+
+      The selected output folder must be different to the input folder
+
+   .. warning::
+
+      To ensure that the previous results are correctly read, the folder structure of the results has to follow the structure the GUI itself generates when the simulation is started from a database. 
+      Only the configuration files of the default folders are loaded. No variation is loaded and taken into account at this place.
+
+
+.. image:: _static/images/plugin/pcm_sim/input_resim.png
+
+Simulation Output
+-----------------
+
+   * In ``Result Folder`` you can select a folder where the output shall be written
+   * In ``Log Level`` you can define at what level a logging output shall be produced 
+
+      * ``Error``     - Log only Errors
+      * ``Warning``   - Log additionally warnings
+      * ``Info``      - Log additionally information
+      * ``Debug``     - Log additionally debug information
+
+.. image:: _static/images/plugin/pcm_sim/output.png
+
+
+Simulation Configuration
+------------------------
+
+At this point, the User is able to choose what system configuration shall be used for each agent.
+The User can either select one or multiple system configuration files (comma separated). 
+In the case of multiple files are configured, there will be unique sets of simulation configuration files generated for each possible combination, which are placed in folders named / coded like ``<Car1_Index>-<Car2_Index>-<Other_Index>`` e.g. ``1-0-2`` 
+
+
+.. image:: _static/images/plugin/pcm_sim/system_config.png
+
+Variation
+---------
+
+* The random seed can be set to a specific initial random seed by ``using a given value`` or just by ``using the case number``
+* The number runs can with different random seed can be set by changing ``Variation Count`` 
+* The original trajectory can be shifted randomly by setting the ``Shift radius`` for *Car1* and *Car2*
+
+   * Given a shift radius R for a vehicle
+   * For each position P in trajectory, it shifted position P’ is calculated by randomly generating a distance D (D<= R) and a relative angle in polar coordinate 
+
+   .. math::
+      `x_{\text{new}}(t) = x(t) + \delta x`
+      `y_{\text{new}}(t) = x(y) + \delta y`
+  
+.. image:: _static/images/plugin/pcm_sim/trajectory_shifting.png
+
+* The original velocity can be scaled randomly by setting the ``Max scale`` for *Car1* and *Car2*
+* Given a velocity deviation :math `\delta V` for a vehicle
+* In a trajectory, a position P_{i} is represented as
+
+   .. math::
+      `x(t) = x_{0} + \int_{0}^{t} v_{x} (t) dt` 
+      `y(t) = y_{0} + \int_{0}^{t} v_{y} (t) dt` 
+
+* The new position P_{i} can be represented as
+
+  .. math::
+      `x(t) = x_{0} + k \int_{0}^{t} v_{x} (t) dt` 
+      `y(t) = y_{0} + k \int_{0}^{t} v_{y} (t) dt` 
+   
+* with a scaling factor k
+
+.. image:: _static/images/plugin/pcm_sim/velocity_scaling.png
+
+.. note::
+
+   The additional random seeds which are used by the variation are chosen randomly depending on the initial random seed.
+   Therefore they´re reproducible
+
+.. image:: _static/images/plugin/pcm_sim/variation.png
+
+Simulation Start
+----------------
+
+* Select one or multiple simulation cases (by pressing the CTRL / SHIFT key)
+
+* Press the button ``Start Simulation``
+
+.. note::
+
+   The User can interrupt the simulation process by pressing ``Stop Simulation``. 
+   The simulation will stop after the current simulation is finished.
+   Therefore it won´t start the remaining simulations anymore.
+
+
+.. image:: _static/images/plugin/pcm_sim/select.png
+
+Save / Load Experiment
+----------------------
+
+Every change in the gui can be saved as in "Experiment" in an text file. 
+This file can later be loaded to retrieve the previous used configuration of the "Experiment".
+
+.. image:: _static/images/plugin/pcm_sim/experiment.png
+
+.. _result_folder_structure:
+
+Result Folder Structure
+-----------------------
+
+* <Result Folder Name> (e.g. *result_pcm*)
+
+   * <Case Name> (e.g. *1000208*)
+
+      * <System Configuration combination code> (e.g. *1-0-2*)
+
+         * <Variation Name> (e.g. *default* or *Var_00001*)
+  
diff --git a/content/html/_sources/other_information/gui_user_guide/40_pcm_eval.rst.txt b/content/html/_sources/other_information/gui_user_guide/40_pcm_eval.rst.txt
index 33af821705ad081dc5145d90f20d4ef21b9b7b6b..e9d609bdd263a6a4fd7c187bd10b32e88ca7c18b 100644
--- a/content/html/_sources/other_information/gui_user_guide/40_pcm_eval.rst.txt
+++ b/content/html/_sources/other_information/gui_user_guide/40_pcm_eval.rst.txt
@@ -1,43 +1,43 @@
-..
-  *******************************************************************************
-  Copyright (c) 2021 ITK Engineering GmbH
-
-  This program and the accompanying materials are made available under the
-  terms of the Eclipse Public License 2.0 which is available at
-  http://www.eclipse.org/legal/epl-2.0.
-
-  SPDX-License-Identifier: EPL-2.0
-  *******************************************************************************
-
-.. _pcm_eval:
-
-PCM Evaluation
-==============
-
-      * The deprecated “Qt GUI” for simulation configuration based on Qt mainly aimed to edit PCM-based openPASS experiments was part of minor releases v0.5 – v0.11.
-      * The latest version of this deprecated GUI can be found here: https://ci.eclipse.org/openpass/job/openPASS_simulator_build/view/tags/job/openPASS_0.11/
-      
-This plugin is used to load results of previous simulations. 
-
-Loading Results
----------------
-
-* Click ``Browse Result Files`` to choose a result folder to be evaluated
-* Simulation results are displayed in a tree structure
-
-.. note::
-
-   Result folder has to be structured like the result folder of a previous simulation.
-   See :ref:`result_folder_structure`
-
-.. image:: _static/images/plugin/pcm_eval/overview.png
-
-Evaluating Results
-------------------
-
-* Select result files to be shown. 
-
-.. note::
-   It is possible to select multiple files to compare different trajectories in the visualization area.
-
-.. image:: _static/images/plugin/pcm_eval/select.png
+..
+  *******************************************************************************
+  Copyright (c) 2021 ITK Engineering GmbH
+
+  This program and the accompanying materials are made available under the
+  terms of the Eclipse Public License 2.0 which is available at
+  http://www.eclipse.org/legal/epl-2.0.
+
+  SPDX-License-Identifier: EPL-2.0
+  *******************************************************************************
+
+.. _pcm_eval:
+
+PCM Evaluation
+==============
+
+      * The deprecated “Qt GUI” for simulation configuration based on Qt mainly aimed to edit PCM-based openPASS experiments was part of minor releases v0.5 – v0.11.
+      * The latest version of this deprecated GUI can be found here: https://ci.eclipse.org/openpass/job/openPASS_simulator_build/view/tags/job/openPASS_0.11/
+      
+This plugin is used to load results of previous simulations. 
+
+Loading Results
+---------------
+
+* Click ``Browse Result Files`` to choose a result folder to be evaluated
+* Simulation results are displayed in a tree structure
+
+.. note::
+
+   Result folder has to be structured like the result folder of a previous simulation.
+   See :ref:`result_folder_structure`
+
+.. image:: _static/images/plugin/pcm_eval/overview.png
+
+Evaluating Results
+------------------
+
+* Select result files to be shown. 
+
+.. note::
+   It is possible to select multiple files to compare different trajectories in the visualization area.
+
+.. image:: _static/images/plugin/pcm_eval/select.png
diff --git a/content/html/_sources/other_information/gui_user_guide/50_result_visualization.rst.txt b/content/html/_sources/other_information/gui_user_guide/50_result_visualization.rst.txt
index 8932c66c9b913e66601d812938db4eb0760e7362..151fdc97ba63640046d2cf325a4efbc6492e590b 100644
--- a/content/html/_sources/other_information/gui_user_guide/50_result_visualization.rst.txt
+++ b/content/html/_sources/other_information/gui_user_guide/50_result_visualization.rst.txt
@@ -1,27 +1,27 @@
-..
-  *******************************************************************************
-  Copyright (c) 2021 ITK Engineering GmbH
-
-  This program and the accompanying materials are made available under the
-  terms of the Eclipse Public License 2.0 which is available at
-  http://www.eclipse.org/legal/epl-2.0.
-
-  SPDX-License-Identifier: EPL-2.0
-  *******************************************************************************
-
-.. _result_visualization:
-
-Result Visualization
-====================
-
-      * The deprecated “Qt GUI” for simulation configuration based on Qt mainly aimed to edit PCM-based openPASS experiments was part of minor releases v0.5 – v0.11.
-      * The latest version of this deprecated GUI can be found here: https://ci.eclipse.org/openpass/job/openPASS_simulator_build/view/tags/job/openPASS_0.11/
-
-.. image:: result_visualization/_static/images/timeplot/select.png
-
-.. toctree::
-   :glob:
-   :maxdepth: 1
-
-   result_visualization/*
-
+..
+  *******************************************************************************
+  Copyright (c) 2021 ITK Engineering GmbH
+
+  This program and the accompanying materials are made available under the
+  terms of the Eclipse Public License 2.0 which is available at
+  http://www.eclipse.org/legal/epl-2.0.
+
+  SPDX-License-Identifier: EPL-2.0
+  *******************************************************************************
+
+.. _result_visualization:
+
+Result Visualization
+====================
+
+      * The deprecated “Qt GUI” for simulation configuration based on Qt mainly aimed to edit PCM-based openPASS experiments was part of minor releases v0.5 – v0.11.
+      * The latest version of this deprecated GUI can be found here: https://ci.eclipse.org/openpass/job/openPASS_simulator_build/view/tags/job/openPASS_0.11/
+
+.. image:: result_visualization/_static/images/timeplot/select.png
+
+.. toctree::
+   :glob:
+   :maxdepth: 1
+
+   result_visualization/*
+
diff --git a/content/html/_sources/other_information/gui_user_guide/result_visualization/10_statistics.rst.txt b/content/html/_sources/other_information/gui_user_guide/result_visualization/10_statistics.rst.txt
index 288dcdf58cc347761065eed73ee69eaeaa14f1f6..18a3d91b3f3dea97c6340622bb34826d7354794c 100644
--- a/content/html/_sources/other_information/gui_user_guide/result_visualization/10_statistics.rst.txt
+++ b/content/html/_sources/other_information/gui_user_guide/result_visualization/10_statistics.rst.txt
@@ -1,57 +1,57 @@
-..
-  *******************************************************************************
-  Copyright (c) 2021 ITK Engineering GmbH
-
-  This program and the accompanying materials are made available under the
-  terms of the Eclipse Public License 2.0 which is available at
-  http://www.eclipse.org/legal/epl-2.0.
-
-  SPDX-License-Identifier: EPL-2.0
-  *******************************************************************************
-
-.. _statistics:
-
-Statistics
-==========
-
-This plugin is used to calculate and show statistics and histograms from a result folder.
-
-Loading Results
----------------
-
-* Click ``Add result folder`` to choose a result folder of which the statistics shall be calculated.
-
-.. note::
-
-   It is possible to add multiple result folders.
-
-      * Subsequently selected folders are added to the list in the TreeView
-      * Histograms will be calculated for each folder including subfolders and will be shown in a new row
-
-.. image:: _static/images/statistics/overview.png
-
-Evaluating Results
-------------------
-
-* Select a result folder for showing their statistics and histograms
-* Histograms over a folder are shown in one (scrollable) row of images
-* Selecting the white background of the folder list clears the histogram preview panel
-* Each row of histograms contains the contents of the corresponding folder in the folder list
-* Adding a new folder re-calculates all histograms for each column using a common x-range
-
-.. note::
-
-   Select an input folder that contains files in the following format
-
-      * Relevant files need ending ``.csv```
-      * Columns can be separated by comma, semicolon or space
-      * First two columns need *frame* and *id** in header
-
-.. warning::
-
-   For all files in a selected folder and subfolders the headers are read in
-
-      * All of these files consistent with the first read header are used to calculate histograms for all columns
-      * Files with non-consistent headers are ignored
-
-.. image:: _static/images/statistics/select.png
+..
+  *******************************************************************************
+  Copyright (c) 2021 ITK Engineering GmbH
+
+  This program and the accompanying materials are made available under the
+  terms of the Eclipse Public License 2.0 which is available at
+  http://www.eclipse.org/legal/epl-2.0.
+
+  SPDX-License-Identifier: EPL-2.0
+  *******************************************************************************
+
+.. _statistics:
+
+Statistics
+==========
+
+This plugin is used to calculate and show statistics and histograms from a result folder.
+
+Loading Results
+---------------
+
+* Click ``Add result folder`` to choose a result folder of which the statistics shall be calculated.
+
+.. note::
+
+   It is possible to add multiple result folders.
+
+      * Subsequently selected folders are added to the list in the TreeView
+      * Histograms will be calculated for each folder including subfolders and will be shown in a new row
+
+.. image:: _static/images/statistics/overview.png
+
+Evaluating Results
+------------------
+
+* Select a result folder for showing their statistics and histograms
+* Histograms over a folder are shown in one (scrollable) row of images
+* Selecting the white background of the folder list clears the histogram preview panel
+* Each row of histograms contains the contents of the corresponding folder in the folder list
+* Adding a new folder re-calculates all histograms for each column using a common x-range
+
+.. note::
+
+   Select an input folder that contains files in the following format
+
+      * Relevant files need ending ``.csv```
+      * Columns can be separated by comma, semicolon or space
+      * First two columns need *frame* and *id** in header
+
+.. warning::
+
+   For all files in a selected folder and subfolders the headers are read in
+
+      * All of these files consistent with the first read header are used to calculate histograms for all columns
+      * Files with non-consistent headers are ignored
+
+.. image:: _static/images/statistics/select.png
diff --git a/content/html/_sources/other_information/gui_user_guide/result_visualization/20_timePlot.rst.txt b/content/html/_sources/other_information/gui_user_guide/result_visualization/20_timePlot.rst.txt
index 976f81ce412a8713121a86f1b5478baeea347486..b1e5867c9897be40dab4a2093b285e3c957de822 100644
--- a/content/html/_sources/other_information/gui_user_guide/result_visualization/20_timePlot.rst.txt
+++ b/content/html/_sources/other_information/gui_user_guide/result_visualization/20_timePlot.rst.txt
@@ -1,48 +1,48 @@
-..
-  *******************************************************************************
-  Copyright (c) 2021 ITK Engineering GmbH
-
-  This program and the accompanying materials are made available under the
-  terms of the Eclipse Public License 2.0 which is available at
-  http://www.eclipse.org/legal/epl-2.0.
-
-  SPDX-License-Identifier: EPL-2.0
-  *******************************************************************************
-
-.. _timeplot:
-
-TimePlot
-========
-
-This plugin is used to plot trajectories (position, velocity, etc.) over time.
-
-Loading Results
----------------
-
-* Click ``Select result folder`` to choose a result folder that contains files in the required format (see below) to be plotted.
-
-.. image:: _static/images/timeplot/overview.png
-
-Evaluating Results
-------------------
-
-* Select an input folder that contains files in this format:
-
-   * Relevant files need ending ``.csv``
-   * Columns can be separated by comma, semicolon or space
-   * First two columns need *frame* and *id** in header
-
-* Select table column to be plotted (up to three)
-* For each open tab the selected columns are plotted 
-
-   * first column selected is shown on the x-axis
-   * second column selected is shown on the y-axis
-   * third column selected is shown on the right y-axis
-
-.. note::
-
-   * The track_id items can be selected individually
-   * Selecting the lowest subfolders yields tabs for all contained tracks
-   * Selections can be combined with ``Ctrl+select`` or ``Shift+select``
-
-.. image:: _static/images/timeplot/select.png
+..
+  *******************************************************************************
+  Copyright (c) 2021 ITK Engineering GmbH
+
+  This program and the accompanying materials are made available under the
+  terms of the Eclipse Public License 2.0 which is available at
+  http://www.eclipse.org/legal/epl-2.0.
+
+  SPDX-License-Identifier: EPL-2.0
+  *******************************************************************************
+
+.. _timeplot:
+
+TimePlot
+========
+
+This plugin is used to plot trajectories (position, velocity, etc.) over time.
+
+Loading Results
+---------------
+
+* Click ``Select result folder`` to choose a result folder that contains files in the required format (see below) to be plotted.
+
+.. image:: _static/images/timeplot/overview.png
+
+Evaluating Results
+------------------
+
+* Select an input folder that contains files in this format:
+
+   * Relevant files need ending ``.csv``
+   * Columns can be separated by comma, semicolon or space
+   * First two columns need *frame* and *id** in header
+
+* Select table column to be plotted (up to three)
+* For each open tab the selected columns are plotted 
+
+   * first column selected is shown on the x-axis
+   * second column selected is shown on the y-axis
+   * third column selected is shown on the right y-axis
+
+.. note::
+
+   * The track_id items can be selected individually
+   * Selecting the lowest subfolders yields tabs for all contained tracks
+   * Selections can be combined with ``Ctrl+select`` or ``Shift+select``
+
+.. image:: _static/images/timeplot/select.png
diff --git a/content/html/_sources/user_guide/10_overview.rst.txt b/content/html/_sources/user_guide/10_overview.rst.txt
index 8782db7c13e2434b609fb903be026e05bd572636..51c01a09f7e3e3e6bd689af1161bd67b64c46d4b 100644
--- a/content/html/_sources/user_guide/10_overview.rst.txt
+++ b/content/html/_sources/user_guide/10_overview.rst.txt
@@ -1,184 +1,184 @@
-..
-  *******************************************************************************
-  Copyright (c) 2021 ITK Engineering GmbH
-                2023 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
-  http://www.eclipse.org/legal/epl-2.0.
-
-  SPDX-License-Identifier: EPL-2.0
-  *******************************************************************************
-
-.. _user_guide_overview:
-
-Overview
-========
-
-openPASS is an open-source software, which is continuously being improved by stakeholders of the openPASS working group: |op_oss| (https://openpass.eclipse.org/)
-openPASS can simulate traffic situations with the goal of predicting and evaluating the safety of driver assistance systems, more specifically ADAS (Advanced Driving Assistance Systems) or AD functions. Its main use-cases are PCM-(PreCrash Matrix), and scenario-based simulations.
-Let’s have a look at what that means:
-
-.. image:: sim_user_guide/_static/images/crash-scenario.png
-  :width: 600
-  :align: center
-
-1. PCM Simulations: “Crash re-simulations”
-
-  * PCM of GIDAS: PreCrash Matrix from the database of the German In-Depth Accident Study
-  * Re simulate real crashes from the past, but with cars having ADAS or AD functions and asses if the tested technology would have improved the safety.
-
-2. (Traffic-)scenario based simulations
-
-  * This is the most common use-case for openPASS.
-  * Enables simulation of whole traffic scenarios. That includes stochastic variation of those scenarios, intervention through detection of events and triggered actions and much more.
-  * To get a better understanding about how these simulations are performed, please look at the scenario-based simulation tutorial.
-
-For beginners, this presentation gives more illustrations and background about openPASS: https://openpass.eclipse.org/target_objectives/openPASS_at_a_glance.pdf
-
-Getting Started
----------------
-
-.. _OpenSCENARIO: https://www.asam.net/standards/detail/openscenario/
-
-This chapter provides insights on openPASS and how to work with the simulation.
-The following step-by-step guides are included to guide you through your first simulations with openPASS:
-
-   * Scenario-based Simulation: traffic simulation based on `OpenSCENARIO`_ description
-   * PCM Simulation: crash re-simulation based on GIDAS record
-
-In particular, it is presented how to go through the required steps until a simulation can be run successfully.  
-To enhance the guiding, there are going to be examples in every section. 
-It is important to mention that openPASS is still in progress and e. g. some plugins and options have not been fully implemented yet.
-
-Intended Audience
------------------
-
-This manual serves as an entry point for users who have an operational simulator at hand (see :ref:`sim_install_guide`) and want to carry out (first) experiments at the invocation level (*GUI-less mode*).
-In this sense, it primarily tackles how input-sets are composed, their interdependencies and, finally, the generated outputs.
-
-.. figure:: ./sim_user_guide/_static/draw.io/workflow.png
-
-   |op| Workflow
-
-This image shows the *GUI-less* workflow, starting with the input-set, bundled together in a folder typically named ``configs``.
-The ``core``, executed manually by the experimenter, processes these configs and generates an (configurable) output-set typically placed in a folder named ``results``.
-Thereby, the **Simulation Output** is again a set of files.
-
-
-Workflow
---------
-
-A typical workflow can be:
-
-   1. Configure systems and agents
-   2. Configure the simulation
-   3. Run the simulation
-   4. Evaluate the simulation results
-   5. Close the loop by continuing with your next simulation
-
-.. _primer:
-
-Primer
-------
-
-In the following the input and output sets are described with respect to the intended audience.
-For detailed information please refer to the "in-depth" documentation of the individual files.
-
-Inputs
-^^^^^^
-
-The input is focused around the files presented in the following chart, which depticts the information flow between the files: 
-
-.. figure:: ./sim_user_guide/_static/draw.io/overview-configs.png
-
-In the following list, those files are discussed further and listed with decreasing importance for the current audience.
-
-- **Scenario**
-  
-  This file describes the overall situation in terms of the **ASAM OpenSCENARIO 1.0** standard.
-  This includes placement of cars, the story (what happens when), how long the simulation will run.
-  
-  On top it contains links to additionally needed files, where the following might need modification with respect to the current audience:
-
-  - **Scenery** (``*.xosc``)
-  
-    The **scenery** file describes the world in which the experiment runs.
-    As such, it contains the description of the road network and any static object, such as a highway, a parking lot, or traffic signs and obstacles. 
-    It follows the **ASAM OpenDRIVE 1.6** standard.
-
-  - **ProfilesCatalog** (``*.xml``)
-  
-   This catalog is the probabilistic heart of the simulation as it describes the composition of various simulation components and entities, using both, deterministic and stochastic definitions.
-   The ProfilesCatalog defines which of the available components are actually existing in the simulation:
-   That includes vehicles (from the ``VehicleModelCatalog.xosc``), pedestrians (from the ``PedestrianModelCatalog.xosc``), but also components like sensors, driver assistance systems or driver models being used.
-   A Profile provides, for example, information about which components are generally available in an agent (vehicle with driver) and how likely it is that they are actually existent.
-   Such components could be ADAS sensors, which means that they are parametrized in this section as well.
-   On the implementation level, a Profile is a set of parameters which will be provided to the instantiated components of an agent or to a simulation core component, e.g. Spawner.
-   For every parameterizable component an associated ProfileGroup contains one or more Profiles, from which one will be selected based on the given probabilities.
-
-   .. note:: As **OpenSCENARIO** does not support probabilities (yet), this file is not conform to the standard.
-
-  - **VehicleCatalog** and **PedestrianCatalog**: (``*.xosc``)
-
-    These catalogs, also based on **OpenSCENARIO**, describes the physical parameters of available vehicles or pedestrians, respectively.
-
-    .. note:: 
-    
-       Historically, the referenced files carry the word *Model*  in the filename: ``VehicleModelsCatalog.xosc`` and ``PedestrianModelsCatalog.xosc``
-
-- **SimulationConfig** (``simulationConfig.xml``)
-
-  This is the entry point for the simulation, containing the setup of the core, such as active observers, reference to the scenario, the initial random seed, and the number or invocations.
-
-  .. note::
-     
-     This file is normally of limited interest.
-     Yet, some variations, such as *environmental conditions* are historically placed in here and not in the scenario description. 
-     It is therefore recommended to study the contents of this file.
-
-- **SystemConfigBlueprint** (``systemConfigBlueprint.xml``)
-
-  This file is contains a superset of all possible *components* and their valid connections. 
-  Such components can be lateral and longitudinal controllers, assistance systems, prioritizers, driver models, and so on.
-  Depending on the configured profiles and their probabilities, the core picks a subset of components to create one complete *system*.
-
-  .. warning:: This file should not be changed without the proper (developer) expertise.
-
-  .. note:: 
-  
-     Instead of using an overall blueprint, concrete (static) systems can be specified using the same format. 
-     These files are simply referred to as ``SystemConfig`` files.
-
-Some components need their own input files (e.g. a configuration).
-It is convention to put these files also into the ``configs`` folder, which is internally provided as path to the components.
-This helps to keep experiments separated.
-
-Outputs
-^^^^^^^
-
-Outputs are generated by individual observers, configured by the **SimulationConfig**, and collected within the folder `results`.
-This section describes the output files by the :ref:`observation_log`, as configured by the provided example configurations.
-
-Please refer to the documentation of the individual observers and files for more details.
-
-- **Simulation Output** (``simulationOutput.xml``)
-
-  This file acts as central entry point for further evaluation, such as the visualization.
-  It contains central information about all executed invocations within an experiment, such as the executed scenario and the run results, which can be seen as current values from the random sampling of the given probabilities.
-  As such, each run result contains, a list of participating moving entities (also referred to as agents), events related to the entities, such as collisions or activation of ADAS's, and a reference to the *cyclics file*.
-
-  .. note:: This file **does not** contain information about the actual position of agents.
-
-- **Cyclic Output** (``Cyclics_Run_###.csv``)
-
-  This file contains the ground truth information for each agent at each time step.
-  For each invocation, a new file is generated (starting with ``Cyclics_Run_000.csv`` and referenced in the according run results in the ``simulationOutput.xml``.
-
-  .. note:: This file **does not** contain information about the interaction between agents.
-
-.. note:: 
-
-   The core generates a file called ``opSimulation.log`` at the execution path, which logs errors and warnings.
-   If the simulation behaves strange or did not produce any output, check this file.
-
+..
+  *******************************************************************************
+  Copyright (c) 2021 ITK Engineering GmbH
+                2023 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
+  http://www.eclipse.org/legal/epl-2.0.
+
+  SPDX-License-Identifier: EPL-2.0
+  *******************************************************************************
+
+.. _user_guide_overview:
+
+Overview
+========
+
+openPASS is an open-source software, which is continuously being improved by stakeholders of the openPASS working group: |op_oss| (https://openpass.eclipse.org/)
+openPASS can simulate traffic situations with the goal of predicting and evaluating the safety of driver assistance systems, more specifically ADAS (Advanced Driving Assistance Systems) or AD functions. Its main use-cases are PCM-(PreCrash Matrix), and scenario-based simulations.
+Let’s have a look at what that means:
+
+.. image:: sim_user_guide/_static/images/crash-scenario.png
+  :width: 600
+  :align: center
+
+1. PCM Simulations: “Crash re-simulations”
+
+  * PCM of GIDAS: PreCrash Matrix with trajectories from the database of the German In-Depth Accident Study
+  * Re-simulate real crashes from the past, but with cars having ADAS or AD functions and assess if the tested technology would have improved the safety.
+
+2. (Traffic-)scenario based simulations
+
+  * This is the most common use-case for openPASS.
+  * Enables simulation of whole traffic scenarios. That includes stochastic variation of those scenarios, intervention through detection of events and triggered actions and much more.
+  * To get a better understanding about how these simulations are performed, please look at the scenario-based simulation tutorial.
+
+For beginners, this presentation gives more illustrations and background about openPASS: https://openpass.eclipse.org/target_objectives/openPASS_at_a_glance.pdf
+
+Getting Started
+---------------
+
+.. _OpenSCENARIO: https://www.asam.net/standards/detail/openscenario/
+
+This chapter provides insights on openPASS and how to work with the simulation.
+The following step-by-step guides are included to guide you through your first simulations with openPASS:
+
+   * Scenario-based Simulation: traffic simulation based on `OpenSCENARIO`_ description
+   * PCM Simulation: crash re-simulation based on GIDAS record
+
+In particular, it is presented how to go through the required steps until a simulation can be run successfully.  
+To enhance the guiding, there are going to be examples in every section. 
+It is important to mention that openPASS is still in progress and e. g. some plugins and options have not been fully implemented yet.
+
+Intended Audience
+-----------------
+
+This manual serves as an entry point for users who have an operational simulator at hand (see :ref:`sim_install_guide`) and want to carry out (first) experiments at the invocation level (*GUI-less mode*).
+In this sense, it primarily tackles how input-sets are composed, their interdependencies and, finally, the generated outputs.
+
+.. figure:: ./sim_user_guide/_static/draw.io/workflow.png
+
+   |op| Workflow
+
+This image shows the *GUI-less* workflow, starting with the input-set, bundled together in a folder typically named ``configs``.
+The ``core``, executed manually by the experimenter, processes these configs and generates an (configurable) output-set typically placed in a folder named ``results``.
+Thereby, the **Simulation Output** is again a set of files.
+
+
+Workflow
+--------
+
+A typical workflow can be:
+
+   1. Configure systems and agents
+   2. Configure the simulation
+   3. Run the simulation
+   4. Evaluate the simulation results
+   5. Close the loop by continuing with your next simulation
+
+.. _primer:
+
+Primer
+------
+
+In the following the input and output sets are described with respect to the intended audience.
+For detailed information please refer to the "in-depth" documentation of the individual files.
+
+Inputs
+^^^^^^
+
+The input is focused around the files presented in the following chart, which depticts the information flow between the files: 
+
+.. figure:: ./sim_user_guide/_static/draw.io/overview-configs.png
+
+In the following list, those files are discussed further and listed with decreasing importance for the current audience.
+
+- **Scenario**
+  
+  This file describes the overall situation in terms of the **ASAM OpenSCENARIO 1.0** standard.
+  This includes placement of cars, the story (what happens when), how long the simulation will run.
+  
+  On top it contains links to additionally needed files, where the following might need modification with respect to the current audience:
+
+  - **Scenery** (``*.xosc``)
+  
+    The **scenery** file describes the world in which the experiment runs.
+    As such, it contains the description of the road network and any static object, such as a highway, a parking lot, or traffic signs and obstacles. 
+    It follows the **ASAM OpenDRIVE 1.6** standard.
+
+  - **ProfilesCatalog** (``*.xml``)
+  
+   This catalog is the probabilistic heart of the simulation as it describes the composition of various simulation components and entities, using both, deterministic and stochastic definitions.
+   The ProfilesCatalog defines which of the available components are actually existing in the simulation:
+   That includes vehicles (from the ``VehicleModelCatalog.xosc``), pedestrians (from the ``PedestrianModelCatalog.xosc``), but also components like sensors, driver assistance systems or driver models being used.
+   A Profile provides, for example, information about which components are generally available in an agent (vehicle with driver) and how likely it is that they are actually existent.
+   Such components could be ADAS sensors, which means that they are parametrized in this section as well.
+   On the implementation level, a Profile is a set of parameters which will be provided to the instantiated components of an agent or to a simulation core component, e.g. Spawner.
+   For every parameterizable component an associated ProfileGroup contains one or more Profiles, from which one will be selected based on the given probabilities.
+
+   .. note:: As **OpenSCENARIO** does not support probabilities (yet), this file is not conform to the standard.
+
+  - **VehicleCatalog** and **PedestrianCatalog**: (``*.xosc``)
+
+    These catalogs, also based on **OpenSCENARIO**, describes the physical parameters of available vehicles or pedestrians, respectively.
+
+    .. note:: 
+    
+       Historically, the referenced files carry the word *Model*  in the filename: ``VehicleModelsCatalog.xosc`` and ``PedestrianModelsCatalog.xosc``
+
+- **SimulationConfig** (``simulationConfig.xml``)
+
+  This is the entry point for the simulation, containing the setup of the core, such as active observers, reference to the scenario, the initial random seed, and the number or invocations.
+
+  .. note::
+     
+     This file is normally of limited interest.
+     Yet, some variations, such as *environmental conditions* are historically placed in here and not in the scenario description. 
+     It is therefore recommended to study the contents of this file.
+
+- **SystemConfigBlueprint** (``systemConfigBlueprint.xml``)
+
+  This file is contains a superset of all possible *components* and their valid connections. 
+  Such components can be lateral and longitudinal controllers, assistance systems, prioritizers, driver models, and so on.
+  Depending on the configured profiles and their probabilities, the core picks a subset of components to create one complete *system*.
+
+  .. warning:: This file should not be changed without the proper (developer) expertise.
+
+  .. note:: 
+  
+     Instead of using an overall blueprint, concrete (static) systems can be specified using the same format. 
+     These files are simply referred to as ``SystemConfig`` files.
+
+Some components need their own input files (e.g. a configuration).
+It is convention to put these files also into the ``configs`` folder, which is internally provided as path to the components.
+This helps to keep experiments separated.
+
+Outputs
+^^^^^^^
+
+Outputs are generated by individual observers, configured by the **SimulationConfig**, and collected within the folder `results`.
+This section describes the output files by the :ref:`observation_log`, as configured by the provided example configurations.
+
+Please refer to the documentation of the individual observers and files for more details.
+
+- **Simulation Output** (``simulationOutput.xml``)
+
+  This file acts as central entry point for further evaluation, such as the visualization.
+  It contains central information about all executed invocations within an experiment, such as the executed scenario and the run results, which can be seen as current values from the random sampling of the given probabilities.
+  As such, each run result contains, a list of participating moving entities (also referred to as agents), events related to the entities, such as collisions or activation of ADAS's, and a reference to the *cyclics file*.
+
+  .. note:: This file **does not** contain information about the actual position of agents.
+
+- **Cyclic Output** (``Cyclics_Run_###.csv``)
+
+  This file contains the ground truth information for each agent at each time step.
+  For each invocation, a new file is generated (starting with ``Cyclics_Run_000.csv`` and referenced in the according run results in the ``simulationOutput.xml``.
+
+  .. note:: This file **does not** contain information about the interaction between agents.
+
+.. note:: 
+
+   The core generates a file called ``opSimulation.log`` at the execution path, which logs errors and warnings.
+   If the simulation behaves strange or did not produce any output, check this file.
+
diff --git a/content/html/_sources/user_guide/20_tutorials.rst.txt b/content/html/_sources/user_guide/20_tutorials.rst.txt
index 40c3daf948e7b59072e64f2a31df3514ee2f4206..dc9eb5b1b6a175a0509bb90bc1b567de8480b1ee 100644
--- a/content/html/_sources/user_guide/20_tutorials.rst.txt
+++ b/content/html/_sources/user_guide/20_tutorials.rst.txt
@@ -1,21 +1,21 @@
-..
-  *******************************************************************************
-  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
-  http://www.eclipse.org/legal/epl-2.0.
-
-  SPDX-License-Identifier: EPL-2.0
-  *******************************************************************************
-
-.. _tutorials:
-
-Tutorials
-=========
-
-.. toctree::
-   :glob:
-   :maxdepth: 1
-
-   tutorials/*
+..
+  *******************************************************************************
+  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
+  http://www.eclipse.org/legal/epl-2.0.
+
+  SPDX-License-Identifier: EPL-2.0
+  *******************************************************************************
+
+.. _tutorials:
+
+Tutorials
+=========
+
+.. toctree::
+   :glob:
+   :maxdepth: 1
+
+   tutorials/*
diff --git a/content/html/_sources/user_guide/30_configs_in_depth.rst.txt b/content/html/_sources/user_guide/30_configs_in_depth.rst.txt
index 4915f56b4797b91662614893ed15e617f252cefd..f26d2a53ef83622ad9c385fe7f66cd4b2af16124 100644
--- a/content/html/_sources/user_guide/30_configs_in_depth.rst.txt
+++ b/content/html/_sources/user_guide/30_configs_in_depth.rst.txt
@@ -1,26 +1,26 @@
-..
-  *******************************************************************************
-  Copyright (c) 2021 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
-                2021 in-tech GmbH
-
-  This program and the accompanying materials are made available under the
-  terms of the Eclipse Public License 2.0 which is available at
-  http://www.eclipse.org/legal/epl-2.0.
-
-  SPDX-License-Identifier: EPL-2.0
-  *******************************************************************************
-
-
-.. _configs_in_depth:
-
-Configs in Depth
-================
-
-As described in the :ref:`primer`, not all inputs might be of interest for the targeted audience.
-Yet, for completeness, all potential input files shall be described here in detail.
-
-.. toctree::
-   :glob:
-   :maxdepth: 1
-
-   configs/*
+..
+  *******************************************************************************
+  Copyright (c) 2021 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+                2021 in-tech GmbH
+
+  This program and the accompanying materials are made available under the
+  terms of the Eclipse Public License 2.0 which is available at
+  http://www.eclipse.org/legal/epl-2.0.
+
+  SPDX-License-Identifier: EPL-2.0
+  *******************************************************************************
+
+
+.. _configs_in_depth:
+
+Configs in Depth
+================
+
+As described in the :ref:`primer`, not all inputs might be of interest for the targeted audience.
+Yet, for completeness, all potential input files shall be described here in detail.
+
+.. toctree::
+   :glob:
+   :maxdepth: 1
+
+   configs/*
diff --git a/content/html/_sources/user_guide/40_outputs_in_depth.rst.txt b/content/html/_sources/user_guide/40_outputs_in_depth.rst.txt
index 18624c835b9c40fd19bd85ab18637b8f9f7ac802..0d82a55f27edc88d27f9437a158cee4aa4128b98 100644
--- a/content/html/_sources/user_guide/40_outputs_in_depth.rst.txt
+++ b/content/html/_sources/user_guide/40_outputs_in_depth.rst.txt
@@ -1,26 +1,26 @@
-..
-  *******************************************************************************
-  Copyright (c) 2021 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
-                2021 in-tech GmbH
-
-  This program and the accompanying materials are made available under the
-  terms of the Eclipse Public License 2.0 which is available at
-  http://www.eclipse.org/legal/epl-2.0.
-
-  SPDX-License-Identifier: EPL-2.0
-  *******************************************************************************
-
-
-.. _outputs_in_depth:
-
-Outputs in Depth
-================
-
-As described in the :ref:`primer`, simulation outputs are generated by the corresponding observers.
-In the following, all potential outputs are described, grouped by the corresponding observers.
-
-.. toctree::
-   :glob:
-   :maxdepth: 1
-
-   outputs/*
+..
+  *******************************************************************************
+  Copyright (c) 2021 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+                2021 in-tech GmbH
+
+  This program and the accompanying materials are made available under the
+  terms of the Eclipse Public License 2.0 which is available at
+  http://www.eclipse.org/legal/epl-2.0.
+
+  SPDX-License-Identifier: EPL-2.0
+  *******************************************************************************
+
+
+.. _outputs_in_depth:
+
+Outputs in Depth
+================
+
+As described in the :ref:`primer`, simulation outputs are generated by the corresponding observers.
+In the following, all potential outputs are described, grouped by the corresponding observers.
+
+.. toctree::
+   :glob:
+   :maxdepth: 1
+
+   outputs/*
diff --git a/content/html/_sources/user_guide/50_scenario_simulation.rst.txt b/content/html/_sources/user_guide/50_scenario_simulation.rst.txt
index e451b53df0b6c99f909715a6cb58e6a2b144fe61..cccd25adf4baee55a039c47136969ad281550228 100644
--- a/content/html/_sources/user_guide/50_scenario_simulation.rst.txt
+++ b/content/html/_sources/user_guide/50_scenario_simulation.rst.txt
@@ -1,23 +1,23 @@
-..
-  *******************************************************************************
-  Copyright (c) 2021 in-tech GmbH
-
-  This program and the accompanying materials are made available under the
-  terms of the Eclipse Public License 2.0 which is available at
-  http://www.eclipse.org/legal/epl-2.0.
-
-  SPDX-License-Identifier: EPL-2.0
-  *******************************************************************************
-
-.. _sim_user_guide:
-
-Simulator 
-=========
-
-
-.. toctree::
-   :glob:
-   :maxdepth: 3
-
-   sim_user_guide/*
-
+..
+  *******************************************************************************
+  Copyright (c) 2021 in-tech GmbH
+
+  This program and the accompanying materials are made available under the
+  terms of the Eclipse Public License 2.0 which is available at
+  http://www.eclipse.org/legal/epl-2.0.
+
+  SPDX-License-Identifier: EPL-2.0
+  *******************************************************************************
+
+.. _sim_user_guide:
+
+Simulator 
+=========
+
+
+.. toctree::
+   :glob:
+   :maxdepth: 3
+
+   sim_user_guide/*
+
diff --git a/content/html/_sources/user_guide/configs/profilescatalog.rst.txt b/content/html/_sources/user_guide/configs/profilescatalog.rst.txt
index 57e13e228a5dace20950d282b469e95864eab017..5343480dc498f416cec3081f9fe3f7fb43b2c7ed 100644
--- a/content/html/_sources/user_guide/configs/profilescatalog.rst.txt
+++ b/content/html/_sources/user_guide/configs/profilescatalog.rst.txt
@@ -1,368 +1,368 @@
-..
-  *******************************************************************************
-  Copyright (c) 2021 in-tech GmbH
-
-  This program and the accompanying materials are made available under the
-  terms of the Eclipse Public License 2.0 which is available at
-  http://www.eclipse.org/legal/epl-2.0.
-
-  SPDX-License-Identifier: EPL-2.0
-  *******************************************************************************
-
-.. _profilescatalog:
-
-ProfilesCatalog
-===============
-
-The ProfilesCatalog contains all AgentProfiles, SystemProfiles and generic ProfileGroups and Profiles.
-Depending on the configuration the simulator could require a "Driver"-ProfileGroup, a "Spawner"- and "TrafficGroup"-ProfileGroup, a "TrafficRules"-ProfileGroup or sensor and vehiclecomponent specific ProfileGroups.
-
-* :ref:`profilescatalog_agentprofiles`
-* :ref:`profilescatalog_systemprofiles`
-* :ref:`profilescatalog_profilegroups`
-* :ref:`profilescatalog_driverprofiles`
-* :ref:`profilescatalog_vehiclecomponentprofiles`
-* :ref:`profilescatalog_spawnerprofiles`
-* :ref:`profilescatalog_trafficrulesprofiles`
-
-.. _profilescatalog_agentprofiles:
-
-AgentProfiles
--------------
-
-In this section all AgentProfiles are defined.
-An AgentProfile is either static or dynamic.
-A static AgentProfile consists of a SystemConfig and a VehicleModel.
-A dynamic AgentProfile specifies the composition of the agent according to certain probabilities.
-Here the initial driver, system profile and the vehicle models of an agent get specified.
-At least one AgentProfile is required.
-But every AgentProfile referenced in the used :ref:`scenario` file or :ref:`components_trafficgroups` must exist.
-All probabilities must add up to 1.0.
-
-Composition of a static AgentProfile:
-
-+-----------------+-----------------------------------------------------------------------+-----------+
-| Tag             | Description                                                           | Required  |
-+=================+=======================================================================+===========+
-| System          | Reference to a system defined in a SystemConfig                       | Yes       |
-+-----------------+-----------------------------------------------------------------------+-----------+
-| VehicleModel    | Name of the VehicleModel in the :ref:`scenario_vehiclemodels`         | Yes       |
-+-----------------+-----------------------------------------------------------------------+-----------+
-
-Composition of a dynamic AgentProfile:
-
-+-----------------+---------------------------------------------------------------------------------+--------------------+
-| Tag             | Description                                                                     | Required           |
-+=================+=================================================================================+====================+
-| DriverProfiles  | List of :ref:`profilescatalog_driverprofiles` for random selection              | At least one entry |
-+-----------------+---------------------------------------------------------------------------------+--------------------+
-| SystemProfiles  | List of :ref:`profilescatalog_systemprofiles` for random selection              | At least one entry |
-+-----------------+---------------------------------------------------------------------------------+--------------------+
-| VehicleModels   | List of vehicle models for random selection                                     | At least one entry |
-+-----------------+---------------------------------------------------------------------------------+--------------------+
-
-Example
-~~~~~~~
-
-In this experiment the ego agent is defined by the system with Id 0 in systemConfig.xml and the VehicleModel car_bmw_7.
-Every LuxuryClassCarAgent has the driver profile "AgentFollowingDriver".
-Regarding the system profile 50% have a NoADAS and the other 50% have WithAEB.
-Regarding the vehicle model 50% use a car_mini_cooper and the other 50% use car_bmw_7_1 vehicle model.
-
-.. code-block:: xml
-
-   <AgentProfiles>
-       <AgentProfile Name="EgoAgent" Type="Static">
-           <System>
-               <File>systemConfig.xml</File>
-               <Id>0</Id>
-           </System>
-           <VehicleModel>car_bmw_7</VehicleModel>
-       </AgentProfile>
-       <AgentProfile Name="LuxuryClassCarAgent" Type="Dynamic">
-           <DriverProfiles>
-               <DriverProfile Name="AgentFollowingDriver" Probability="1.0"/>
-           </DriverProfiles>
-           <SystemProfiles>
-               <SystemProfile Name="NoADAS" Probability="0.5"/>
-               <SystemProfile Name="WithAEB" Probability="0.5"/>
-           </SystemProfiles>
-           <VehicleModels>
-             <VehicleModel Name="car_mini_cooper" Probability="0.5"/>
-             <VehicleModel Name="car_bmw_7_1" Probability="0.5"/>
-           </VehicleModels>
-       </AgentProfile>
-   </AgentProfiles>
-
-.. _profilescatalog_systemprofiles:
-
-SystemProfiles
---------------
-
-This sections contains all system profiles.
-Every SystemProfile used by :ref:`profilescatalog_agentprofiles` must be listed here.
-
-.. code-block:: xml
-
-   <SystemProfiles>
-      <SystemProfile Name="WithAEB">
-          <Components>
-                 <Component Type="AEB">
-                  <Profiles>
-                      <Profile Name="AebProfile" Probability="0.5"/>
-                  </Profiles>
-                  <SensorLinks>
-                      <SensorLink SensorId="0" InputId="Camera"/>
-                  </SensorLinks>
-                 </Component>
-          </Components>
-          <Sensors>
-              <Sensor Id="0" Position="Default">
-                  <Profile Type="Geometric2D" Name="Standard"/>
-              </Sensor>
-          </Sensors>
-      </SystemProfile>
-      ...
-   </SystemProfiles>
-
-+-------------+--------------------------------------------------------+
-| Attribute   | Description                                            |
-+=============+========================================================+
-| Name        | Name of the vehicle profile                            |
-+-------------+--------------------------------------------------------+
-| Components  | Lists all ADAS and other components in the vehicle     |
-+-------------+--------------------------------------------------------+
-| Sensors     | Lists all sensors in the vehicle                       |
-+-------------+--------------------------------------------------------+
-
-.. _profilescatalog_components:
-
-Components
-~~~~~~~~~~
-
-+-------------+-------------------------------------------------------------------------------------------------+
-| Attribute   | Description                                                                                     |
-+=============+=================================================================================================+
-| Type        | Type of the component.                                                                          |
-|             |                                                                                                 |
-|             | Must match component name in SystemConfigBlueprint                                              |
-+-------------+-------------------------------------------------------------------------------------------------+
-| Profile     | Possible profiles of the component with probabilities.                                          |
-|             |                                                                                                 |
-|             | The profiles are defined in the :ref:`profilescatalog_vehiclecomponentprofiles` section         |
-|             |                                                                                                 |
-|             | Probabilities do not need to add up to 1.                                                       |
-+-------------+-------------------------------------------------------------------------------------------------+
-| SensorLinks | Defines which sensor this component uses as input                                               |
-+-------------+-------------------------------------------------------------------------------------------------+
-
-.. note:: The possibility of "not having that component" can be achieved if the probabilities of the profiles do not add up to 1.
-
-.. _profilescatalog_sensors:
-
-Sensors
-~~~~~~~
-
-+-------------+-------------------------------------------------------------------------------------------------+
-| Attribute   | Description                                                                                     |
-+=============+=================================================================================================+
-| Id          | Identifier for the sensor used by the SensorLink definition of the components                   |
-+-------------+-------------------------------------------------------------------------------------------------+
-| Position    | Position of the sensor in the vehicle in relative coordinates                                   |
-+-------------+-------------------------------------------------------------------------------------------------+
-| Profile     | All possible profiles of the sensor with probabilities.                                         |
-|             |                                                                                                 |
-|             | The profiles are defined in the :ref:`profilescatalog_vehiclecomponentprofiles` section         |
-+-------------+-------------------------------------------------------------------------------------------------+
-
-.. code-block:: xml
-
-      <Sensors>
-        <Sensor Id="0" Position="Default">
-          <Profile Type="ReceiverCar2X" Name="Standard"/>
-        </Sensor>
-        <Sensor Id="1" Position="FrontWindow">
-          <Profile Type="Geometric2D" Name="Standard"/>
-        </Sensor>
-      </Sensors>
-
-.. note:: The Position attribute in the XML specifies placement of a sensor within a vehicle. The position is defined in VehicleModelsCatalog.
-  It follows the format "SensorPosition/Position/Parameters". The parameters height, lateral, longitudinal, pitch, roll and yaw are required.
-  For example, "FrontWindow" describes a sensor mounted on the front window, with corresponding positional parameters.
-  See example catalog in :ref:`scenario_vehiclemodels`.
-
-.. _profilescatalog_profilegroups:
-
-ProfileGroups
--------------
-
-A ProfileGroup defines all the possible profiles of a component.
-A single profile is a set of parameters that are passed to the component in the same way as the parameters in the SystemConfig.
-Note: For components that have their parameters defined in the ProfilesCatalog the parameters in the SystemConfigBlueprint are ignored.
-Parameters can either be simple or stochastic.
-Simple parameters only have one value, while stochastic parameters have a minimum and maximum value as well as distribution specific parameters.
-Which parameters are needed/supported depends on the component.
-
-.. code-block:: xml
-
-   <ProfileGroup Type="ComponentName">
-       <Profile Name="ExampleProfile">
-           <String Key="StringParameter" Value="Lorem ipsum"/>
-           <DoubleVector Key="DoubleParameter" Value="12.3,4.56,78.9"/>
-           <NormalDistribution Key="RandomParameter" Mean="4.5" SD="0.5" Min="3.5" Max="10.0"/>
-       </Profile>
-       <Profile Name="AnotherProfile">
-           ...
-       </Profile>
-   </ProfileGroup>
-
-There are the following types of simple parameters:
-
-* Bool
-* Int
-* Double
-* String
-* IntVector
-* DoubleVector
-* StringVector
-
-If a parameter is stochastic it can be defined as any to be drawn from any of the following distributions:
-
-+-------------------------+--------------------------------------------------+
-| Distribution            | Additional Attributes                            |
-+=========================+==================================================+
-| NormalDistribution      | (Mean and SD) or (Mu and Sigma) - equivalent     |
-+-------------------------+--------------------------------------------------+
-| LogNormalDistribution   | (Mean and SD) or (Mu and Sigma) - not equivalent |
-+-------------------------+--------------------------------------------------+
-| UniformDistribution     | None                                             |
-+-------------------------+--------------------------------------------------+
-| ExponentialDistribution | Lambda or Mean (Mean = 1 / Lambda)               |
-+-------------------------+--------------------------------------------------+
-| GammaDistribution       | (Mean and SD) or (Shape and Scale)               |
-+-------------------------+--------------------------------------------------+
-
-Additionally there is the list type.
-The list contains any number of list items which itself contain a list of parameters.
-Lists can be nested at most two times.
-
-.. code-block:: xml
-
-   <List Name="ExampleList">
-       <ListItem>
-           <String Key="FirstParameter" Value="Lorem"/>
-           <Double Key="SecondParameter" Value="0.4"/>
-       </ListItem>
-       <ListItem>
-           <String Key="FirstParameter" Value="ipsum"/>
-           <Double Key="SecondParameter" Value="0.6"/>
-       </ListItem>
-   </List>
-
-
-A Profile can also reference another Profile in another ProfileGroup.
-In these case the importer handles the reference as if it was substituted by all subelements of the referenced Profile.
-References may not be nested.
-
-.. code-block:: xml
-
-   <Reference Type="GroupType" Name="ProfileName"/>
-
-
-.. _profilescatalog_driverprofiles:
-
-Driver ProfileGroup
--------------------
-
-This section contains all driver profiles used by the simulation.
-At least one driver profile is required.
-The special parameter "Type" defines the name of the component (i.e. library name).
-For details on the individual parameters see the :ref:`components reference <components_driver>`.
-
-.. code-block:: xml
-
-  <ProfileGroup Type="Driver">
-    <Profile Name="Name">
-      <String Key="Type" Value="DriverLibrary"/>
-      ...
-    </Profile>
-    ...
-  </ProfileGroup>
-
-
-.. _profilescatalog_vehiclecomponentprofiles:
-
-VehicleComponent ProfileGroups
-------------------------------
-
-This sections contains all driver assistance systems and other vehicle components and their parameter sets.
-For every used VehicleComponent type there must be a ProfileGroup with this type and every profile of this type used by :ref:`profilescatalog_systemprofiles` must be listed here.
-For details on the individual parameters see the :ref:`components reference <components_vehiclecomponents>`.
-
-.. code-block:: xml
-
-  <ProfileGroup Type="LibraryName">
-    <Profile Name="Name">
-      ...
-    </Profile>
-    ...
-  </ProfileGroup>
-
-
-.. _profilescatalog_spawnerprofiles:
-
-SpawnerProfile ProfileGroup
----------------------------
-
-This sections contains all parameters of the spawners referenced in the :ref:`simulationconfig`.
-For details on the individual parameters see the :ref:`components reference <components_spawner>`.
-
-.. code-block:: xml
-
-  <ProfileGroup Type="Spawner">
-    <Profile Name="Name">
-      ...
-    </Profile>
-    ...
-  </ProfileGroup>
-
-
-.. _profilescatalog_trafficrulesprofiles:
-
-TrafficRules ProfileGroup
--------------------------
-
-This sections contains the global traffic rules, that may vary depending on the country.
-The following country are supported:
-
-+-------------+---------------+
-| Name        | Description   |
-+=============+===============+
-| DE          | Germany       |
-+-------------+---------------+
-| US          | United States |
-+-------------+---------------+
-| CN          | China         |
-+-------------+---------------+
-
-The :ref:`simulationconfig_environment` section in the SimulationConfig defines which set is used.
-Currently there are only rules regulating highway traffic. These are the following:
-
-+---------------------------+---------+---------------------------------------------------------------------------------------------------------------------+
-| Name                      | Type    | Description                                                                                                         |
-+===========================+=========+=====================================================================================================================+
-| OpenSpeedLimit            | Double  | maximum allowed speed if not restricted by signs                                                                    |
-+---------------------------+---------+---------------------------------------------------------------------------------------------------------------------+
-| KeepToOuterLanes          | Bool    | if true, vehicles must use the outermost free lane for driving                                                      |
-+---------------------------+---------+---------------------------------------------------------------------------------------------------------------------+
-| DontOvertakeOnOuterLanes  | Bool    | if true, it is prohibited to overtake another vehicle, that is driving further left (or right for lefthand traffic) |
-+---------------------------+---------+---------------------------------------------------------------------------------------------------------------------+
-| FormRescueLane            | Bool    | if true, vehicles driving in a traffic jam must form a corridor for emergency vehicles                              |
-+---------------------------+---------+---------------------------------------------------------------------------------------------------------------------+
-| ZipperMerge               | Bool    | if true all merging shall be performed using zipper merge                                                           |
-+---------------------------+---------+---------------------------------------------------------------------------------------------------------------------+
-
-.. literalinclude:: /../../../repo/sim/contrib/examples/Common/ProfilesCatalog.xml
-   :language: xml
-   :start-at: <ProfileGroup Type="TrafficRules">
-   :end-at: </ProfileGroup>
+..
+  *******************************************************************************
+  Copyright (c) 2021 in-tech GmbH
+
+  This program and the accompanying materials are made available under the
+  terms of the Eclipse Public License 2.0 which is available at
+  http://www.eclipse.org/legal/epl-2.0.
+
+  SPDX-License-Identifier: EPL-2.0
+  *******************************************************************************
+
+.. _profilescatalog:
+
+ProfilesCatalog
+===============
+
+The ProfilesCatalog contains all AgentProfiles, SystemProfiles and generic ProfileGroups and Profiles.
+Depending on the configuration the simulator could require a "Driver"-ProfileGroup, a "Spawner"- and "TrafficGroup"-ProfileGroup, a "TrafficRules"-ProfileGroup or sensor and vehiclecomponent specific ProfileGroups.
+
+* :ref:`profilescatalog_agentprofiles`
+* :ref:`profilescatalog_systemprofiles`
+* :ref:`profilescatalog_profilegroups`
+* :ref:`profilescatalog_driverprofiles`
+* :ref:`profilescatalog_vehiclecomponentprofiles`
+* :ref:`profilescatalog_spawnerprofiles`
+* :ref:`profilescatalog_trafficrulesprofiles`
+
+.. _profilescatalog_agentprofiles:
+
+AgentProfiles
+-------------
+
+In this section all AgentProfiles are defined.
+An AgentProfile is either static or dynamic.
+A static AgentProfile consists of a SystemConfig and a VehicleModel.
+A dynamic AgentProfile specifies the composition of the agent according to certain probabilities.
+Here the initial driver, system profile and the vehicle models of an agent get specified.
+At least one AgentProfile is required.
+But every AgentProfile referenced in the used :ref:`scenario` file or :ref:`components_trafficgroups` must exist.
+All probabilities must add up to 1.0.
+
+Composition of a static AgentProfile:
+
++-----------------+-----------------------------------------------------------------------+-----------+
+| Tag             | Description                                                           | Required  |
++=================+=======================================================================+===========+
+| System          | Reference to a system defined in a SystemConfig                       | Yes       |
++-----------------+-----------------------------------------------------------------------+-----------+
+| VehicleModel    | Name of the VehicleModel in the :ref:`scenario_vehiclemodels`         | Yes       |
++-----------------+-----------------------------------------------------------------------+-----------+
+
+Composition of a dynamic AgentProfile:
+
++-----------------+---------------------------------------------------------------------------------+--------------------+
+| Tag             | Description                                                                     | Required           |
++=================+=================================================================================+====================+
+| DriverProfiles  | List of :ref:`profilescatalog_driverprofiles` for random selection              | At least one entry |
++-----------------+---------------------------------------------------------------------------------+--------------------+
+| SystemProfiles  | List of :ref:`profilescatalog_systemprofiles` for random selection              | At least one entry |
++-----------------+---------------------------------------------------------------------------------+--------------------+
+| VehicleModels   | List of vehicle models for random selection                                     | At least one entry |
++-----------------+---------------------------------------------------------------------------------+--------------------+
+
+Example
+~~~~~~~
+
+In this experiment the ego agent is defined by the system with Id 0 in systemConfig.xml and the VehicleModel car_bmw_7.
+Every LuxuryClassCarAgent has the driver profile "AgentFollowingDriver".
+Regarding the system profile 50% have a NoADAS and the other 50% have WithAEB.
+Regarding the vehicle model 50% use a car_mini_cooper and the other 50% use car_bmw_7_1 vehicle model.
+
+.. code-block:: xml
+
+   <AgentProfiles>
+       <AgentProfile Name="EgoAgent" Type="Static">
+           <System>
+               <File>systemConfig.xml</File>
+               <Id>0</Id>
+           </System>
+           <VehicleModel>car_bmw_7</VehicleModel>
+       </AgentProfile>
+       <AgentProfile Name="LuxuryClassCarAgent" Type="Dynamic">
+           <DriverProfiles>
+               <DriverProfile Name="AgentFollowingDriver" Probability="1.0"/>
+           </DriverProfiles>
+           <SystemProfiles>
+               <SystemProfile Name="NoADAS" Probability="0.5"/>
+               <SystemProfile Name="WithAEB" Probability="0.5"/>
+           </SystemProfiles>
+           <VehicleModels>
+             <VehicleModel Name="car_mini_cooper" Probability="0.5"/>
+             <VehicleModel Name="car_bmw_7_1" Probability="0.5"/>
+           </VehicleModels>
+       </AgentProfile>
+   </AgentProfiles>
+
+.. _profilescatalog_systemprofiles:
+
+SystemProfiles
+--------------
+
+This sections contains all system profiles.
+Every SystemProfile used by :ref:`profilescatalog_agentprofiles` must be listed here.
+
+.. code-block:: xml
+
+   <SystemProfiles>
+      <SystemProfile Name="WithAEB">
+          <Components>
+                 <Component Type="AEB">
+                  <Profiles>
+                      <Profile Name="AebProfile" Probability="0.5"/>
+                  </Profiles>
+                  <SensorLinks>
+                      <SensorLink SensorId="0" InputId="Camera"/>
+                  </SensorLinks>
+                 </Component>
+          </Components>
+          <Sensors>
+              <Sensor Id="0" Position="Default">
+                  <Profile Type="Geometric2D" Name="Standard"/>
+              </Sensor>
+          </Sensors>
+      </SystemProfile>
+      ...
+   </SystemProfiles>
+
++-------------+--------------------------------------------------------+
+| Attribute   | Description                                            |
++=============+========================================================+
+| Name        | Name of the vehicle profile                            |
++-------------+--------------------------------------------------------+
+| Components  | Lists all ADAS and other components in the vehicle     |
++-------------+--------------------------------------------------------+
+| Sensors     | Lists all sensors in the vehicle                       |
++-------------+--------------------------------------------------------+
+
+.. _profilescatalog_components:
+
+Components
+~~~~~~~~~~
+
++-------------+-------------------------------------------------------------------------------------------------+
+| Attribute   | Description                                                                                     |
++=============+=================================================================================================+
+| Type        | Type of the component.                                                                          |
+|             |                                                                                                 |
+|             | Must match component name in SystemConfigBlueprint                                              |
++-------------+-------------------------------------------------------------------------------------------------+
+| Profile     | Possible profiles of the component with probabilities.                                          |
+|             |                                                                                                 |
+|             | The profiles are defined in the :ref:`profilescatalog_vehiclecomponentprofiles` section         |
+|             |                                                                                                 |
+|             | Probabilities do not need to add up to 1.                                                       |
++-------------+-------------------------------------------------------------------------------------------------+
+| SensorLinks | Defines which sensor this component uses as input                                               |
++-------------+-------------------------------------------------------------------------------------------------+
+
+.. note:: The possibility of "not having that component" can be achieved if the probabilities of the profiles do not add up to 1.
+
+.. _profilescatalog_sensors:
+
+Sensors
+~~~~~~~
+
++-------------+-------------------------------------------------------------------------------------------------+
+| Attribute   | Description                                                                                     |
++=============+=================================================================================================+
+| Id          | Identifier for the sensor used by the SensorLink definition of the components                   |
++-------------+-------------------------------------------------------------------------------------------------+
+| Position    | Position of the sensor in the vehicle in relative coordinates                                   |
++-------------+-------------------------------------------------------------------------------------------------+
+| Profile     | All possible profiles of the sensor with probabilities.                                         |
+|             |                                                                                                 |
+|             | The profiles are defined in the :ref:`profilescatalog_vehiclecomponentprofiles` section         |
++-------------+-------------------------------------------------------------------------------------------------+
+
+.. code-block:: xml
+
+      <Sensors>
+        <Sensor Id="0" Position="Default">
+          <Profile Type="ReceiverCar2X" Name="Standard"/>
+        </Sensor>
+        <Sensor Id="1" Position="FrontWindow">
+          <Profile Type="Geometric2D" Name="Standard"/>
+        </Sensor>
+      </Sensors>
+
+.. note:: The Position attribute in the XML specifies placement of a sensor within a vehicle. The position is defined in VehicleModelsCatalog.
+  It follows the format "SensorPosition/Position/Parameters". The parameters height, lateral, longitudinal, pitch, roll and yaw are required.
+  For example, "FrontWindow" describes a sensor mounted on the front window, with corresponding positional parameters.
+  See example catalog in :ref:`scenario_vehiclemodels`.
+
+.. _profilescatalog_profilegroups:
+
+ProfileGroups
+-------------
+
+A ProfileGroup defines all the possible profiles of a component.
+A single profile is a set of parameters that are passed to the component in the same way as the parameters in the SystemConfig.
+Note: For components that have their parameters defined in the ProfilesCatalog the parameters in the SystemConfigBlueprint are ignored.
+Parameters can either be simple or stochastic.
+Simple parameters only have one value, while stochastic parameters have a minimum and maximum value as well as distribution specific parameters.
+Which parameters are needed/supported depends on the component.
+
+.. code-block:: xml
+
+   <ProfileGroup Type="ComponentName">
+       <Profile Name="ExampleProfile">
+           <String Key="StringParameter" Value="Lorem ipsum"/>
+           <DoubleVector Key="DoubleParameter" Value="12.3,4.56,78.9"/>
+           <NormalDistribution Key="RandomParameter" Mean="4.5" SD="0.5" Min="3.5" Max="10.0"/>
+       </Profile>
+       <Profile Name="AnotherProfile">
+           ...
+       </Profile>
+   </ProfileGroup>
+
+There are the following types of simple parameters:
+
+* Bool
+* Int
+* Double
+* String
+* IntVector
+* DoubleVector
+* StringVector
+
+If a parameter is stochastic it can be defined as any to be drawn from any of the following distributions:
+
++-------------------------+--------------------------------------------------+
+| Distribution            | Additional Attributes                            |
++=========================+==================================================+
+| NormalDistribution      | (Mean and SD) or (Mu and Sigma) - equivalent     |
++-------------------------+--------------------------------------------------+
+| LogNormalDistribution   | (Mean and SD) or (Mu and Sigma) - not equivalent |
++-------------------------+--------------------------------------------------+
+| UniformDistribution     | None                                             |
++-------------------------+--------------------------------------------------+
+| ExponentialDistribution | Lambda or Mean (Mean = 1 / Lambda)               |
++-------------------------+--------------------------------------------------+
+| GammaDistribution       | (Mean and SD) or (Shape and Scale)               |
++-------------------------+--------------------------------------------------+
+
+Additionally there is the list type.
+The list contains any number of list items which itself contain a list of parameters.
+Lists can be nested at most two times.
+
+.. code-block:: xml
+
+   <List Name="ExampleList">
+       <ListItem>
+           <String Key="FirstParameter" Value="Lorem"/>
+           <Double Key="SecondParameter" Value="0.4"/>
+       </ListItem>
+       <ListItem>
+           <String Key="FirstParameter" Value="ipsum"/>
+           <Double Key="SecondParameter" Value="0.6"/>
+       </ListItem>
+   </List>
+
+
+A Profile can also reference another Profile in another ProfileGroup.
+In these case the importer handles the reference as if it was substituted by all subelements of the referenced Profile.
+References may not be nested.
+
+.. code-block:: xml
+
+   <Reference Type="GroupType" Name="ProfileName"/>
+
+
+.. _profilescatalog_driverprofiles:
+
+Driver ProfileGroup
+-------------------
+
+This section contains all driver profiles used by the simulation.
+At least one driver profile is required.
+The special parameter "Type" defines the name of the component (i.e. library name).
+For details on the individual parameters see the :ref:`components reference <components_driver>`.
+
+.. code-block:: xml
+
+  <ProfileGroup Type="Driver">
+    <Profile Name="Name">
+      <String Key="Type" Value="DriverLibrary"/>
+      ...
+    </Profile>
+    ...
+  </ProfileGroup>
+
+
+.. _profilescatalog_vehiclecomponentprofiles:
+
+VehicleComponent ProfileGroups
+------------------------------
+
+This sections contains all driver assistance systems and other vehicle components and their parameter sets.
+For every used VehicleComponent type there must be a ProfileGroup with this type and every profile of this type used by :ref:`profilescatalog_systemprofiles` must be listed here.
+For details on the individual parameters see the :ref:`components reference <components_vehiclecomponents>`.
+
+.. code-block:: xml
+
+  <ProfileGroup Type="LibraryName">
+    <Profile Name="Name">
+      ...
+    </Profile>
+    ...
+  </ProfileGroup>
+
+
+.. _profilescatalog_spawnerprofiles:
+
+SpawnerProfile ProfileGroup
+---------------------------
+
+This sections contains all parameters of the spawners referenced in the :ref:`simulationconfig`.
+For details on the individual parameters see the :ref:`components reference <components_spawner>`.
+
+.. code-block:: xml
+
+  <ProfileGroup Type="Spawner">
+    <Profile Name="Name">
+      ...
+    </Profile>
+    ...
+  </ProfileGroup>
+
+
+.. _profilescatalog_trafficrulesprofiles:
+
+TrafficRules ProfileGroup
+-------------------------
+
+This sections contains the global traffic rules, that may vary depending on the country.
+The following country are supported:
+
++-------------+---------------+
+| Name        | Description   |
++=============+===============+
+| DE          | Germany       |
++-------------+---------------+
+| US          | United States |
++-------------+---------------+
+| CN          | China         |
++-------------+---------------+
+
+The :ref:`simulationconfig_environment` section in the SimulationConfig defines which set is used.
+Currently there are only rules regulating highway traffic. These are the following:
+
++---------------------------+---------+---------------------------------------------------------------------------------------------------------------------+
+| Name                      | Type    | Description                                                                                                         |
++===========================+=========+=====================================================================================================================+
+| OpenSpeedLimit            | Double  | maximum allowed speed if not restricted by signs                                                                    |
++---------------------------+---------+---------------------------------------------------------------------------------------------------------------------+
+| KeepToOuterLanes          | Bool    | if true, vehicles must use the outermost free lane for driving                                                      |
++---------------------------+---------+---------------------------------------------------------------------------------------------------------------------+
+| DontOvertakeOnOuterLanes  | Bool    | if true, it is prohibited to overtake another vehicle, that is driving further left (or right for lefthand traffic) |
++---------------------------+---------+---------------------------------------------------------------------------------------------------------------------+
+| FormRescueLane            | Bool    | if true, vehicles driving in a traffic jam must form a corridor for emergency vehicles                              |
++---------------------------+---------+---------------------------------------------------------------------------------------------------------------------+
+| ZipperMerge               | Bool    | if true all merging shall be performed using zipper merge                                                           |
++---------------------------+---------+---------------------------------------------------------------------------------------------------------------------+
+
+.. literalinclude:: /../../../repo/sim/contrib/examples/Common/ProfilesCatalog.xml
+   :language: xml
+   :start-at: <ProfileGroup Type="TrafficRules">
+   :end-at: </ProfileGroup>
diff --git a/content/html/_sources/user_guide/configs/scenario.rst.txt b/content/html/_sources/user_guide/configs/scenario.rst.txt
index df1b297aa29aa9cd1cb1ea14688b44c50ee998b3..ca3939ea8624899144c6e698897c916d351eee7d 100644
--- a/content/html/_sources/user_guide/configs/scenario.rst.txt
+++ b/content/html/_sources/user_guide/configs/scenario.rst.txt
@@ -1,551 +1,551 @@
-..
-  *******************************************************************************
-  Copyright (c) 2021 in-tech GmbH
-                2022-2024 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
-  http://www.eclipse.org/legal/epl-2.0.
-
-  SPDX-License-Identifier: EPL-2.0
-  *******************************************************************************
-
-.. _scenario:
-
-Scenario
-========
-
-.. _scenario_overview:
-
-Overview
---------
-
-The scenario configuration file (``*.xosc``) describes all dynamic configurations of a simulation run, i.e. position of various road users as well as conditional events that change the behavior of the simulation during the run.
-The scenario control is carried out using the `OpenScenarioEngine <https://gitlab.eclipse.org/eclipse/openpass/openscenario1_engine>`_, which processes scenarios according to `ASAM OpenSCENARIO <https://www.asam.net/standards/detail/openscenario/>`_.
-It is interfaced using the `MantleAPI <https://gitlab.eclipse.org/eclipse/openpass/mantle-api>`_.
-For the list of MantleAPI features supported by |op| see :ref:`scenario_api_support`.
-
-At the time of writing, the OpenScenarioEngine processes scenario configurations in version 1.1.1, but please refer to the corresponding documentations for possible and implemented features.
-
-In the following, the most important features for openPASS are described.
-
-.. _scenario_parameterdeclaration:
-
-ParameterDeclarations
----------------------
-
-The tag ``ParameterDeclarations`` allow to define generic parameters, which can be referenced later the file by its name, prefixed with ``$``.
-
-**Example declaration**
-
-.. code-block:: xml
-
-   <ParameterDeclarations>
-     <ParameterDeclaration name="simulation_time" parameterType="double" value="123.4"/>
-   </ParameterDeclarations>
-
-**Example usage**
-
-.. code-block:: xml
-
-   <StopTrigger>
-     <ConditionGroup>
-       <Condition name="EndTime" delay="0" conditionEdge="rising">
-         <ByValueCondition>
-           <SimulationTimeCondition value="$simulation_time" rule="greaterThan"/>
-         </ByValueCondition>
-       </Condition>
-     </ConditionGroup>
-   </StopTrigger>
-
-.. list-table::
-   :header-rows: 1
-
-   * - Supported ParameterTypes
-   * - string
-   * - integer
-   * - double
-
-.. note:: Only ``string`` allows empty values.
-
-.. _scenario_catalogs:
-
-Catalogs
---------
-
-The ``Catalogs`` tag defines locations of various other files containing sub features of OpenSCENARIO for easier reusing (and written in the same format).
-
-The following catalogs are the most important:
-
-- :ref:`scenario_vehiclemodels`
-- :ref:`scenario_pedestrianmodels`
-- TrajectoryCatalog for the case that a *FollowTrajectory action* is defined
-
-The VehicleCatalog is also used by |op| itself for spawning of Common vehicles and therefore mandatory.
-
-**Example**
-
-.. literalinclude:: /../../../repo/sim/contrib/examples/Common/Scenario.xosc
-   :language: xml
-   :dedent: 2
-   :start-at: <CatalogLocations>
-   :end-at: </CatalogLocations>
-
-.. _scenario_vehiclemodels:
-
-VehicleCatalog
-~~~~~~~~~~~~~~
-
-This path is mandatory.
-It has to contain a file named "VehicleModelsCatalog.xosc".
-This file contains the available vehicle model catalogs for the simulation.
-For each vehicle the physical parameters are stored here.
-
-.. list-table::
-   :header-rows: 1
-
-   * - Supported Models
-   * - car_bmw_i3
-   * - car_bmw_3
-   * - car_bmw_7_1
-   * - car_bmw_7_2
-   * - car_mini_cooper
-   * - bus
-   * - truck
-   * - bicycle
-
-
-**Example Catalog:**
-
-:download:`/../../../repo/sim/contrib/examples/Common/Vehicles/VehicleModelsCatalog.xosc`
-
-.. _scenario_pedestrianmodels:
-
-PedestrianCatalog
-~~~~~~~~~~~~~~~~~
-
-It contains the available pedestrian model catalogs for the simulation.
-For each pedestrian the physical parameters are stored here.
-
-.. note::
-
-  Within |op|, pedestrian models are internally handled the same way as vehicle models, i.e. they behave like simplified vehicles.
-  *Meaningless* parameters, such as *number of gears*, are set to operational defaults.
-
-.. list-table::
-   :header-rows: 1
-
-   * - Supported Models
-   * - pedestrian_child
-   * - pedestrian_adult
-
-**Full Example:** :download:`/../../../repo/sim/contrib/examples/Common/Vehicles/PedestrianModelsCatalog.xosc`
-
-.. _scenario_roadnetwork:
-
-RoadNetwork
------------
-
-.. _OpenDRIVE: https://www.asam.net/standards/detail/opendrive/
-
-The ``RoadNetwork`` tag contains the mandatory reference to the `OpenDRIVE`_ :ref:`scenery`.
-
-**Example**
-
-.. literalinclude:: /../../../repo/sim/contrib/examples/Common/Scenario.xosc
-   :language: xml
-   :dedent: 2
-   :start-at: <RoadNetwork>
-   :end-at: </RoadNetwork>
-
-Furthermore the controllers of the traffic lights are defined in this section.
-Each controller defines the phases of a set of linked traffic lights (e.g. one junction).
-
-**Example**
-
-.. literalinclude:: /../../../repo/sim/contrib/examples/Configurations/TrafficLight/Scenario.xosc
-   :language: xml
-   :dedent: 4
-   :start-at: <TrafficSignals>
-   :end-at: </TrafficSignals>
-
-.. list-table::
-   :header-rows: 1
-
-   * - Supported States
-   * - off
-   * - red
-   * - yellow
-   * - green
-   * - red yellow
-   * - yellow flashing
-
-.. _scenario_entities:
-
-Entities
---------
-
-The ``Entities`` tag defines all agents that are present at the start of the simulation at predefined positions.
-There may be any number of these so called **Scenario Agents** (also zero).
-
-.. note:: EntitySelections are currently not supported by the OpenScenarioEngine
-
-An entity consits of a ``VehicleModel`` (typically a reference an entry from the VehicleCatalog) and a controller.
-The controller is **optional** and if no controller is specified, a *default* contoller will be instantiated, which strictly follows OpenSCENARIO actions as requested by the standard.
-Unless requested differently through specific actions, it follows the *default* behaviors `KeepVelocity` and `KeepLateralOffset`.
-To use the openPASS specific scenario controller a controller with a single parameter named ``AgentProfile`` needs to be specified.
-
-.. admonition:: AgentProfile and ProfilesCatalog
-
-   The ``AgentProfile`` links to a profile in the mandatory ``ProfilesCatalog.xml`` (see :ref:`profilescatalog`).
-   This is an extension w.r.t. the OpenSCENARIO standard, as the standard currently does not allow to specifiy a stochastic composition of entities.
-
-**Example**
-
-.. literalinclude:: /../../../repo/sim/contrib/examples/Common/Scenario.xosc
-   :language: xml
-   :dedent: 2
-   :start-at: <Entities>
-   :end-at: </Entities>
-
-**Overriding Parameters**
-
-Parameters defined in the VehicleCatalog can be assigned inside the CatalogReference element.
-In this case the assigned parameter will overwrite the definition in the VehicleCatalog.
-Otherwise the value defined in the VehicleCatalog is used.
-The type of the parameter must match that in the VehicleCatalog.
-
-**Example**
-
-.. code-block:: xml
-
-   <CatalogReference catalogName="VehicleCatalog" entryName="car_mini_cooper">
-       <ParameterAssignments>
-           <ParameterAssignment parameterRef="Length" value="4.0" />
-       </ParameterAssignments>
-   </CatalogReference>
-
-.. _scenario_storyboard:
-
-Storyboard
-----------
-
-The ``Storyboard`` tag contains the initial setup of the scenario and manipulator actions.
-These actions control the behavior of the simulation at runtime based on predefined conditions.
-In short it is divided into an ``Init`` phase, an actual ``Story``, and a ``StopTrigger``.
-
-For the definition of the storyboard please refert to the `OpenSCENARIO 1.1.1 Model Definition <https://www.asam.net/static_downloads/ASAM_OpenSCENARIO_V1.1.1_Model_Documentation/modelDocumentation/>`_.
-
-In the following sections, clarifications with respect to |op| will be given:
-
-.. _scenario_init:
-
-Init
-~~~~
-
-As desribed above, agents need to be defined in the ``Entities`` section.
-For proper spawning they need to be parameterized within the ``Init`` phase:
-
-- A `TeleportAction <https://www.asam.net/static_downloads/ASAM_OpenSCENARIO_V1.1.1_Model_Documentation/modelDocumentation/content/TeleportAction.html>`_ specifies the initial position
-  If no TeleportAction is defined the agent will not be spawned (the TeleportAction can also happen inside the ``Story``).
-- A `SpeedAction  <https://www.asam.net/static_downloads/ASAM_OpenSCENARIO_V1.1.1_Model_Documentation/modelDocumentation/content/SpeedAction.html>`_ specifies the desired velocity.
-  [optional] If not defined, a spawned agent will start at standstill.
-- A `FollowRouteAction  <https://www.asam.net/static_downloads/ASAM_OpenSCENARIO_V1.1.1_Model_Documentation/modelDocumentation/content/FollowRouteAction.html>`_ forces the agent onto a specific trajectory
-  [optional] If not defined, a random route will be assigned.
-
-.. note:: VisiblilityAction is currently not supported by |op|
-
-**Example: TeleportAction + SpeedAction**
-
-.. literalinclude:: /../../../repo/sim/contrib/examples/Common/Scenario.xosc
-   :language: xml
-   :dedent: 4
-   :start-at: <Init>
-   :end-at: </Init>
-
-
-**Example: TeleportAction + FollowRouteAction**
-
-.. literalinclude:: /../../../repo/sim/contrib/examples/Configurations/OSCAction_FollowRouteAction/Scenario.xosc
-   :language: xml
-   :dedent: 4
-   :start-at: <Init>
-   :end-at: </Init>
-
-.. _scenario_story:
-
-Story
-~~~~~
-
-The tag ``Story`` is optional and defines all conditional interventions during runtime.
-Please refer to the `Model Documentation <https://www.asam.net/static_downloads/ASAM_OpenSCENARIO_V1.2.0_Model_Documentation/modelDocumentation/content/Storyboard.html>`_ for a general overview and the `OpenScenarioEngine <https://gitlab.eclipse.org/eclipse/openpass/openscenario1_engine>`_ for supported actions and conditions within a story.
-
-StopTrigger
-~~~~~~~~~~~
-
-It is **mandatory** for openPASS to define a StopTrigger that will fire in any case (otherwise, the simulation will never stop).
-This does not necessarily have to be a SimulationTimeCondition, but it is recommended to use it, perhaps in conjunction with another trigger.
-
-Current Restrictions
---------------------
-
-Conditions
-~~~~~~~~~~~
-
-|Op| support different kind of conditions, belonging either to ``ByValueCondition`` or ``ByEntityCondition``.
-While a **by value condition** triggers based on a specified value and is unrelated to any specific agent, a **by entity condition** is bound to an triggering agent, defined by a mandatory section ``TriggeringEntities``.
-Entities can be either ego or scenario agents.
-
-.. note:: Reacting on "common" cars is currently not supported.
-
-Actions
-~~~~~~~
-
-The following OpenSCENARIO actions are supported:
-
-- :ref:`scenario_followrouteaction`
-- :ref:`scenario_lanechange`
-- :ref:`scenario_followtrajectory`
-- :ref:`scenario_acquireposition`
-- :ref:`scenario_teleportaction`
-- :ref:`scenario_speedaction`
-- :ref:`scenario_trafficsinkaction`
-
-In addition, the following user defined actions are interpreted:
-
-- :ref:`scenario_componentstatechange`
-- :ref:`scenario_defaultCustomCommandAction`
-
-.. _scenario_followrouteaction:
-
-FollowRouteAction
-+++++++++++++++++
-
-The FollowRouteAction is mainly used as part of the ``Init`` phase of the Storyboard.
-It defines Waypoints, which are located by ``road_id`` and further with ``s`` and ``t`` coordinates.
-The Agent will try to follow the specified points.
-
-**Example** *Right turn, by specifying three waypoints*
-
-.. literalinclude:: /../../../repo/sim/contrib/examples/Configurations/OSCAction_FollowRouteAction/Scenario.xosc
-   :language: xml
-   :dedent: 2
-   :start-at: <RoutingAction>
-   :end-at: </RoutingAction>
-
-.. _scenario_lanechange:
-
-LaneChangeAction
-++++++++++++++++
-
-If this action triggers, the actor is forced to perform a trajectory, calculated at the time of triggering.
-The target lane be given either absolute or with respect to another entity.
-The trajectory can either have a fixed length (in ``s``) or a fixed time.
-
-Currently |op| only supports the type ``sinusoidal``.
-
-**Example** *with absolute target and fixed length*
-
-.. literalinclude:: /../../../repo/sim/contrib/examples/Configurations/OSCAction_SinusoidalLaneChangeLeft_Absolute/Scenario.xosc
-   :language: xml
-   :dedent: 14
-   :start-at: <Action name="LaneChange">
-   :end-at: </Action>
-
-**Example** *with relative target and fixed time*
-
-.. literalinclude:: /../../../repo/sim/contrib/examples/Configurations/OSCAction_SinusoidalLaneChangeLeft_Relative/Scenario.xosc
-   :language: xml
-   :dedent: 14
-   :start-at: <Action name="LaneChange">
-   :end-at: </Action>
-
-.. _scenario_followtrajectory:
-
-FollowTrajectoryAction
-++++++++++++++++++++++
-
-If triggered, the defined trajectory is relayed as signal to listening components.
-The trajectory can be defined either directly in the story or as separate TrajectoryCatalog.
-For the points (vertices) of the trajectory only world coordinates, given as ``openScenario::WorldPosition``, are supported.
-Right now, the mandatory attributes  *z*, *pitch* and *roll* are ignored.
-
-**Example**
-
-.. literalinclude:: /../../../repo/sim/contrib/examples/Configurations/Pedestrian_Trajectory/Scenario.xosc
-   :language: xml
-   :dedent: 14
-   :start-at: <Action name="Trajectory">
-   :end-at: </Action>
-
-**Example** *using a TrajectoryCatalog*
-
-.. code-block:: xml
-
-   <Action name="FollowTrajectory">
-     <Private>
-       <Routing>
-         <FollowTrajectoryAction>
-           <CatalogReference catalogName="TrajectoryCatalog.xosc" entryName="TrajectoryA">
-         </FollowTrajectoryAction>
-       </Routing>
-      </Private>
-   </Action>
-
-.. _scenario_acquireposition:
-
-AcquirePositionAction
-+++++++++++++++++++++
-
-If triggered, the defined position is relayed as signal to listening components.
-
-.. warning:: Currently, this is only supported by the component *FMU_Wrapper* for OSMP messages.
-
-.. warning::
-
-   An FMU might contain routing logic not visible to the openPASS simulation core.
-   For that reason, an equivalent `RoutingAction` should be set when using `AcquirePosition`.
-   Otherwise the simulation output might contain missing data for fields depending on the localization along the route (`PositionRoute`, `TCoordinate`, `AgentInFront`, ...).
-
-**Example** *(WorldPosition)*
-
-.. code-block:: xml
-
-   <Action name="AcquirePosition">
-     <PrivateAction>
-       <RoutingAction>
-         <AcquirePositionAction>
-           <Position>
-             <WorldPosition x="1.0" y="2.0" z="0.0" h="3.1415" p="0.0" r="0.0" />
-           </Position>
-         </AcquirePositionAction>
-       </RoutingAction>
-     </PrivateAction>
-   </Action>
-
-**Example** *(RelativeObjectPosition)*
-
-.. code-block:: xml
-
-    <Action name="AcquirePosition">
-      <PrivateAction>
-        <RoutingAction>
-          <AcquirePositionAction>
-            <Position>
-              <RelativeObjectPosition dx="1.0" dy="1.0" entityRef="S1"/>
-            </Position>
-          </AcquirePositionAction>
-        </RoutingAction>
-      </PrivateAction>
-    </Action>
-
-.. _scenario_teleportaction:
-
-TeleportAction
-++++++++++++++
-
-The TeleportAction instantly changes the position of an entity.
-
-.. _scenario_trafficsinkaction:
-
-TrafficSinkAction
-+++++++++++++++++
-
-The TrafficSinkAction is used to remove agents when they reach a certain position.
-
-.. note::
-
-   At spawning time, the TrafficSinkAction is executed the common traffic is initiated, which means vehicles will spawn at the first timestamp in the defined zone, but are immediately removed at the next timestep.
-
-.. _scenario_speedaction:
-
-SpeedAction
-+++++++++++
-
-The SpeedAction adjusts the velocity of an entity based on parameters of the SpeedAction.
-
-.. note::
-
-   If the |op| specific controller is used, the SpeedAction might not reflect actual values used by the simulator due to physical boundaries of the simulator.
-
-**Example** *AbsoulteTargetSpeed*
-
-.. code-block:: xml
-
-   <Action name="SpeedAction">
-     <PrivateAction>
-       <LongitudinalAction>
-         <SpeedAction>
-           <SpeedActionDynamics dynamicsShape="step" value="0.0" dynamicsDimension="rate"/>
-           <SpeedActionTarget>
-             <AbsoluteTargetSpeed value="20"/>
-           </SpeedActionTarget>
-         </SpeedAction>
-       </LongitudinalAction>
-     </PrivateAction>
-   </Action>
-
-**Example** *RelativeTargetSpeed*
-
-.. code-block:: xml
-
-   <Action name="SpeedAction">
-     <PrivateAction>
-       <LongitudinalAction>
-         <SpeedAction>
-           <SpeedActionDynamics dynamicsShape="step" value="0.0" dynamicsDimension="rate"/>
-           <SpeedActionTarget>
-             <RelativeTargetSpeed entityRef="ScenarioAgent" value="10"
-                                  speedTargetValueType="delta" continuous="false"/>
-           </SpeedActionTarget>
-           </SpeedAction>
-       </LongitudinalAction>
-     </PrivateAction>
-   </Action>
-
-.. _scenario_componentstatechange:
-
-SetComponentState (UserDefinedAction)
-+++++++++++++++++++++++++++++++++++++
-
-Command Keyword: ``SetComponentState``
-
-Influences the maximum reachable state of an agent component handled by the ComponentController, i.e. it can either activate or deactivate a component.
-For more details see the description of the :ref:`agentcomponents_componentcontroller`.
-
-**Example**
-
-.. code-block:: xml
-
-   <Action name="ComponentStateChange">
-       <UserDefinedAction>
-           <CustomCommandAction>SetComponentState Dynamics_TrajectoryFollower Acting</CustomCommandAction>
-       </UserDefinedAction>
-   </Action>
-
-.. _scenario_defaultCustomCommandAction:
-
-DefaultCustomCommandAction (UserDefinedAction)
-++++++++++++++++++++++++++++++++++++++++++++++
-
-This is **the** default custom command, and is always selected, if **the first WORD** (Keyword) in the command string is **not** registered as a special custom command.
-The command is universally accessible across all components via `ScenarioControlInterface::GetCustomCommands()`, empowering users to define personalized actions tailored to their specific needs.
-Once defined, the functionality of this command is unique to the user, based on their custom implementation.
-
-.. admonition:: FMU_Wrapper component for OSMP messages only
-
-   The linked string signal is set as custom action of the TrafficCommand. For more information on OSMP FMUs see the :ref:`components_fmuwrapper` documentation.
-
-**Example**
-
-.. code-block:: xml
-
-  <Action name="CustomParameters">
-      <UserDefinedAction>
-          <CustomCommandAction>Arbitrary String, e.g. { "hello": "world"}</CustomCommandAction>
-      </UserDefinedAction>
-  </Action>
-
-.. note::
-
-   Here, "Arbitrary" is first checked, if it matches any other available Keyword for used defined actions, such as :ref:`scenario_componentstatechange`.
+..
+  *******************************************************************************
+  Copyright (c) 2021 in-tech GmbH
+                2022-2024 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
+  http://www.eclipse.org/legal/epl-2.0.
+
+  SPDX-License-Identifier: EPL-2.0
+  *******************************************************************************
+
+.. _scenario:
+
+Scenario
+========
+
+.. _scenario_overview:
+
+Overview
+--------
+
+The scenario configuration file (``*.xosc``) describes all dynamic configurations of a simulation run, i.e. position of various road users as well as conditional events that change the behavior of the simulation during the run.
+The scenario control is carried out using the `OpenScenarioEngine <https://gitlab.eclipse.org/eclipse/openpass/openscenario1_engine>`_, which processes scenarios according to `ASAM OpenSCENARIO <https://www.asam.net/standards/detail/openscenario/>`_.
+It is interfaced using the `MantleAPI <https://gitlab.eclipse.org/eclipse/openpass/mantle-api>`_.
+For the list of MantleAPI features supported by |op| see :ref:`scenario_api_support`.
+
+At the time of writing, the OpenScenarioEngine processes scenario configurations in version 1.1.1, but please refer to the corresponding documentations for possible and implemented features.
+
+In the following, the most important features for openPASS are described.
+
+.. _scenario_parameterdeclaration:
+
+ParameterDeclarations
+---------------------
+
+The tag ``ParameterDeclarations`` allow to define generic parameters, which can be referenced later the file by its name, prefixed with ``$``.
+
+**Example declaration**
+
+.. code-block:: xml
+
+   <ParameterDeclarations>
+     <ParameterDeclaration name="simulation_time" parameterType="double" value="123.4"/>
+   </ParameterDeclarations>
+
+**Example usage**
+
+.. code-block:: xml
+
+   <StopTrigger>
+     <ConditionGroup>
+       <Condition name="EndTime" delay="0" conditionEdge="rising">
+         <ByValueCondition>
+           <SimulationTimeCondition value="$simulation_time" rule="greaterThan"/>
+         </ByValueCondition>
+       </Condition>
+     </ConditionGroup>
+   </StopTrigger>
+
+.. list-table::
+   :header-rows: 1
+
+   * - Supported ParameterTypes
+   * - string
+   * - integer
+   * - double
+
+.. note:: Only ``string`` allows empty values.
+
+.. _scenario_catalogs:
+
+Catalogs
+--------
+
+The ``Catalogs`` tag defines locations of various other files containing sub features of OpenSCENARIO for easier reusing (and written in the same format).
+
+The following catalogs are the most important:
+
+- :ref:`scenario_vehiclemodels`
+- :ref:`scenario_pedestrianmodels`
+- TrajectoryCatalog for the case that a *FollowTrajectory action* is defined
+
+The VehicleCatalog is also used by |op| itself for spawning of Common vehicles and therefore mandatory.
+
+**Example**
+
+.. literalinclude:: /../../../repo/sim/contrib/examples/Common/Scenario.xosc
+   :language: xml
+   :dedent: 2
+   :start-at: <CatalogLocations>
+   :end-at: </CatalogLocations>
+
+.. _scenario_vehiclemodels:
+
+VehicleCatalog
+~~~~~~~~~~~~~~
+
+This path is mandatory.
+It has to contain a file named "VehicleModelsCatalog.xosc".
+This file contains the available vehicle model catalogs for the simulation.
+For each vehicle the physical parameters are stored here.
+
+.. list-table::
+   :header-rows: 1
+
+   * - Supported Models
+   * - car_bmw_i3
+   * - car_bmw_3
+   * - car_bmw_7_1
+   * - car_bmw_7_2
+   * - car_mini_cooper
+   * - bus
+   * - truck
+   * - bicycle
+
+
+**Example Catalog:**
+
+:download:`/../../../repo/sim/contrib/examples/Common/Vehicles/VehicleModelsCatalog.xosc`
+
+.. _scenario_pedestrianmodels:
+
+PedestrianCatalog
+~~~~~~~~~~~~~~~~~
+
+It contains the available pedestrian model catalogs for the simulation.
+For each pedestrian the physical parameters are stored here.
+
+.. note::
+
+  Within |op|, pedestrian models are internally handled the same way as vehicle models, i.e. they behave like simplified vehicles.
+  *Meaningless* parameters, such as *number of gears*, are set to operational defaults.
+
+.. list-table::
+   :header-rows: 1
+
+   * - Supported Models
+   * - pedestrian_child
+   * - pedestrian_adult
+
+**Full Example:** :download:`/../../../repo/sim/contrib/examples/Common/Vehicles/PedestrianModelsCatalog.xosc`
+
+.. _scenario_roadnetwork:
+
+RoadNetwork
+-----------
+
+.. _OpenDRIVE: https://www.asam.net/standards/detail/opendrive/
+
+The ``RoadNetwork`` tag contains the mandatory reference to the `OpenDRIVE`_ :ref:`scenery`.
+
+**Example**
+
+.. literalinclude:: /../../../repo/sim/contrib/examples/Common/Scenario.xosc
+   :language: xml
+   :dedent: 2
+   :start-at: <RoadNetwork>
+   :end-at: </RoadNetwork>
+
+Furthermore the controllers of the traffic lights are defined in this section.
+Each controller defines the phases of a set of linked traffic lights (e.g. one junction).
+
+**Example**
+
+.. literalinclude:: /../../../repo/sim/contrib/examples/Configurations/TrafficLight/Scenario.xosc
+   :language: xml
+   :dedent: 4
+   :start-at: <TrafficSignals>
+   :end-at: </TrafficSignals>
+
+.. list-table::
+   :header-rows: 1
+
+   * - Supported States
+   * - off
+   * - red
+   * - yellow
+   * - green
+   * - red yellow
+   * - yellow flashing
+
+.. _scenario_entities:
+
+Entities
+--------
+
+The ``Entities`` tag defines all agents that are present at the start of the simulation at predefined positions.
+There may be any number of these so called **Scenario Agents** (also zero).
+
+.. note:: EntitySelections are currently not supported by the OpenScenarioEngine
+
+An entity consits of a ``VehicleModel`` (typically a reference an entry from the VehicleCatalog) and a controller.
+The controller is **optional** and if no controller is specified, a *default* contoller will be instantiated, which strictly follows OpenSCENARIO actions as requested by the standard.
+Unless requested differently through specific actions, it follows the *default* behaviors `KeepVelocity` and `KeepLateralOffset`.
+To use the openPASS specific scenario controller a controller with a single parameter named ``AgentProfile`` needs to be specified.
+
+.. admonition:: AgentProfile and ProfilesCatalog
+
+   The ``AgentProfile`` links to a profile in the mandatory ``ProfilesCatalog.xml`` (see :ref:`profilescatalog`).
+   This is an extension w.r.t. the OpenSCENARIO standard, as the standard currently does not allow to specifiy a stochastic composition of entities.
+
+**Example**
+
+.. literalinclude:: /../../../repo/sim/contrib/examples/Common/Scenario.xosc
+   :language: xml
+   :dedent: 2
+   :start-at: <Entities>
+   :end-at: </Entities>
+
+**Overriding Parameters**
+
+Parameters defined in the VehicleCatalog can be assigned inside the CatalogReference element.
+In this case the assigned parameter will overwrite the definition in the VehicleCatalog.
+Otherwise the value defined in the VehicleCatalog is used.
+The type of the parameter must match that in the VehicleCatalog.
+
+**Example**
+
+.. code-block:: xml
+
+   <CatalogReference catalogName="VehicleCatalog" entryName="car_mini_cooper">
+       <ParameterAssignments>
+           <ParameterAssignment parameterRef="Length" value="4.0" />
+       </ParameterAssignments>
+   </CatalogReference>
+
+.. _scenario_storyboard:
+
+Storyboard
+----------
+
+The ``Storyboard`` tag contains the initial setup of the scenario and manipulator actions.
+These actions control the behavior of the simulation at runtime based on predefined conditions.
+In short it is divided into an ``Init`` phase, an actual ``Story``, and a ``StopTrigger``.
+
+For the definition of the storyboard please refert to the `OpenSCENARIO 1.1.1 Model Definition <https://www.asam.net/static_downloads/ASAM_OpenSCENARIO_V1.1.1_Model_Documentation/modelDocumentation/>`_.
+
+In the following sections, clarifications with respect to |op| will be given:
+
+.. _scenario_init:
+
+Init
+~~~~
+
+As desribed above, agents need to be defined in the ``Entities`` section.
+For proper spawning they need to be parameterized within the ``Init`` phase:
+
+- A `TeleportAction <https://www.asam.net/static_downloads/ASAM_OpenSCENARIO_V1.1.1_Model_Documentation/modelDocumentation/content/TeleportAction.html>`_ specifies the initial position
+  If no TeleportAction is defined the agent will not be spawned (the TeleportAction can also happen inside the ``Story``).
+- A `SpeedAction  <https://www.asam.net/static_downloads/ASAM_OpenSCENARIO_V1.1.1_Model_Documentation/modelDocumentation/content/SpeedAction.html>`_ specifies the desired velocity.
+  [optional] If not defined, a spawned agent will start at standstill.
+- A `FollowRouteAction  <https://www.asam.net/static_downloads/ASAM_OpenSCENARIO_V1.1.1_Model_Documentation/modelDocumentation/content/FollowRouteAction.html>`_ forces the agent onto a specific trajectory
+  [optional] If not defined, a random route will be assigned.
+
+.. note:: VisiblilityAction is currently not supported by |op|
+
+**Example: TeleportAction + SpeedAction**
+
+.. literalinclude:: /../../../repo/sim/contrib/examples/Common/Scenario.xosc
+   :language: xml
+   :dedent: 4
+   :start-at: <Init>
+   :end-at: </Init>
+
+
+**Example: TeleportAction + FollowRouteAction**
+
+.. literalinclude:: /../../../repo/sim/contrib/examples/Configurations/OSCAction_FollowRouteAction/Scenario.xosc
+   :language: xml
+   :dedent: 4
+   :start-at: <Init>
+   :end-at: </Init>
+
+.. _scenario_story:
+
+Story
+~~~~~
+
+The tag ``Story`` is optional and defines all conditional interventions during runtime.
+Please refer to the `Model Documentation <https://www.asam.net/static_downloads/ASAM_OpenSCENARIO_V1.2.0_Model_Documentation/modelDocumentation/content/Storyboard.html>`_ for a general overview and the `OpenScenarioEngine <https://gitlab.eclipse.org/eclipse/openpass/openscenario1_engine>`_ for supported actions and conditions within a story.
+
+StopTrigger
+~~~~~~~~~~~
+
+It is **mandatory** for openPASS to define a StopTrigger that will fire in any case (otherwise, the simulation will never stop).
+This does not necessarily have to be a SimulationTimeCondition, but it is recommended to use it, perhaps in conjunction with another trigger.
+
+Current Restrictions
+--------------------
+
+Conditions
+~~~~~~~~~~~
+
+|Op| support different kind of conditions, belonging either to ``ByValueCondition`` or ``ByEntityCondition``.
+While a **by value condition** triggers based on a specified value and is unrelated to any specific agent, a **by entity condition** is bound to an triggering agent, defined by a mandatory section ``TriggeringEntities``.
+Entities can be either ego or scenario agents.
+
+.. note:: Reacting on "common" cars is currently not supported.
+
+Actions
+~~~~~~~
+
+The following OpenSCENARIO actions are supported:
+
+- :ref:`scenario_followrouteaction`
+- :ref:`scenario_lanechange`
+- :ref:`scenario_followtrajectory`
+- :ref:`scenario_acquireposition`
+- :ref:`scenario_teleportaction`
+- :ref:`scenario_speedaction`
+- :ref:`scenario_trafficsinkaction`
+
+In addition, the following user defined actions are interpreted:
+
+- :ref:`scenario_componentstatechange`
+- :ref:`scenario_defaultCustomCommandAction`
+
+.. _scenario_followrouteaction:
+
+FollowRouteAction
++++++++++++++++++
+
+The FollowRouteAction is mainly used as part of the ``Init`` phase of the Storyboard.
+It defines Waypoints, which are located by ``road_id`` and further with ``s`` and ``t`` coordinates.
+The Agent will try to follow the specified points.
+
+**Example** *Right turn, by specifying three waypoints*
+
+.. literalinclude:: /../../../repo/sim/contrib/examples/Configurations/OSCAction_FollowRouteAction/Scenario.xosc
+   :language: xml
+   :dedent: 2
+   :start-at: <RoutingAction>
+   :end-at: </RoutingAction>
+
+.. _scenario_lanechange:
+
+LaneChangeAction
+++++++++++++++++
+
+If this action triggers, the actor is forced to perform a trajectory, calculated at the time of triggering.
+The target lane be given either absolute or with respect to another entity.
+The trajectory can either have a fixed length (in ``s``) or a fixed time.
+
+Currently |op| only supports the type ``sinusoidal``.
+
+**Example** *with absolute target and fixed length*
+
+.. literalinclude:: /../../../repo/sim/contrib/examples/Configurations/OSCAction_SinusoidalLaneChangeLeft_Absolute/Scenario.xosc
+   :language: xml
+   :dedent: 14
+   :start-at: <Action name="LaneChange">
+   :end-at: </Action>
+
+**Example** *with relative target and fixed time*
+
+.. literalinclude:: /../../../repo/sim/contrib/examples/Configurations/OSCAction_SinusoidalLaneChangeLeft_Relative/Scenario.xosc
+   :language: xml
+   :dedent: 14
+   :start-at: <Action name="LaneChange">
+   :end-at: </Action>
+
+.. _scenario_followtrajectory:
+
+FollowTrajectoryAction
+++++++++++++++++++++++
+
+If triggered, the defined trajectory is relayed as signal to listening components.
+The trajectory can be defined either directly in the story or as separate TrajectoryCatalog.
+For the points (vertices) of the trajectory only world coordinates, given as ``openScenario::WorldPosition``, are supported.
+Right now, the mandatory attributes  *z*, *pitch* and *roll* are ignored.
+
+**Example**
+
+.. literalinclude:: /../../../repo/sim/contrib/examples/Configurations/Pedestrian_Trajectory/Scenario.xosc
+   :language: xml
+   :dedent: 14
+   :start-at: <Action name="Trajectory">
+   :end-at: </Action>
+
+**Example** *using a TrajectoryCatalog*
+
+.. code-block:: xml
+
+   <Action name="FollowTrajectory">
+     <Private>
+       <Routing>
+         <FollowTrajectoryAction>
+           <CatalogReference catalogName="TrajectoryCatalog.xosc" entryName="TrajectoryA">
+         </FollowTrajectoryAction>
+       </Routing>
+      </Private>
+   </Action>
+
+.. _scenario_acquireposition:
+
+AcquirePositionAction
++++++++++++++++++++++
+
+If triggered, the defined position is relayed as signal to listening components.
+
+.. warning:: Currently, this is only supported by the component *FMU_Wrapper* for OSMP messages.
+
+.. warning::
+
+   An FMU might contain routing logic not visible to the openPASS simulation core.
+   For that reason, an equivalent `RoutingAction` should be set when using `AcquirePosition`.
+   Otherwise the simulation output might contain missing data for fields depending on the localization along the route (`PositionRoute`, `TCoordinate`, `AgentInFront`, ...).
+
+**Example** *(WorldPosition)*
+
+.. code-block:: xml
+
+   <Action name="AcquirePosition">
+     <PrivateAction>
+       <RoutingAction>
+         <AcquirePositionAction>
+           <Position>
+             <WorldPosition x="1.0" y="2.0" z="0.0" h="3.1415" p="0.0" r="0.0" />
+           </Position>
+         </AcquirePositionAction>
+       </RoutingAction>
+     </PrivateAction>
+   </Action>
+
+**Example** *(RelativeObjectPosition)*
+
+.. code-block:: xml
+
+    <Action name="AcquirePosition">
+      <PrivateAction>
+        <RoutingAction>
+          <AcquirePositionAction>
+            <Position>
+              <RelativeObjectPosition dx="1.0" dy="1.0" entityRef="S1"/>
+            </Position>
+          </AcquirePositionAction>
+        </RoutingAction>
+      </PrivateAction>
+    </Action>
+
+.. _scenario_teleportaction:
+
+TeleportAction
+++++++++++++++
+
+The TeleportAction instantly changes the position of an entity.
+
+.. _scenario_trafficsinkaction:
+
+TrafficSinkAction
++++++++++++++++++
+
+The TrafficSinkAction is used to remove agents when they reach a certain position.
+
+.. note::
+
+   At spawning time, the TrafficSinkAction is executed the common traffic is initiated, which means vehicles will spawn at the first timestamp in the defined zone, but are immediately removed at the next timestep.
+
+.. _scenario_speedaction:
+
+SpeedAction
++++++++++++
+
+The SpeedAction adjusts the velocity of an entity based on parameters of the SpeedAction.
+
+.. note::
+
+   If the |op| specific controller is used, the SpeedAction might not reflect actual values used by the simulator due to physical boundaries of the simulator.
+
+**Example** *AbsoulteTargetSpeed*
+
+.. code-block:: xml
+
+   <Action name="SpeedAction">
+     <PrivateAction>
+       <LongitudinalAction>
+         <SpeedAction>
+           <SpeedActionDynamics dynamicsShape="step" value="0.0" dynamicsDimension="rate"/>
+           <SpeedActionTarget>
+             <AbsoluteTargetSpeed value="20"/>
+           </SpeedActionTarget>
+         </SpeedAction>
+       </LongitudinalAction>
+     </PrivateAction>
+   </Action>
+
+**Example** *RelativeTargetSpeed*
+
+.. code-block:: xml
+
+   <Action name="SpeedAction">
+     <PrivateAction>
+       <LongitudinalAction>
+         <SpeedAction>
+           <SpeedActionDynamics dynamicsShape="step" value="0.0" dynamicsDimension="rate"/>
+           <SpeedActionTarget>
+             <RelativeTargetSpeed entityRef="ScenarioAgent" value="10"
+                                  speedTargetValueType="delta" continuous="false"/>
+           </SpeedActionTarget>
+           </SpeedAction>
+       </LongitudinalAction>
+     </PrivateAction>
+   </Action>
+
+.. _scenario_componentstatechange:
+
+SetComponentState (UserDefinedAction)
++++++++++++++++++++++++++++++++++++++
+
+Command Keyword: ``SetComponentState``
+
+Influences the maximum reachable state of an agent component handled by the ComponentController, i.e. it can either activate or deactivate a component.
+For more details see the description of the :ref:`agentcomponents_componentcontroller`.
+
+**Example**
+
+.. code-block:: xml
+
+   <Action name="ComponentStateChange">
+       <UserDefinedAction>
+           <CustomCommandAction>SetComponentState Dynamics_TrajectoryFollower Acting</CustomCommandAction>
+       </UserDefinedAction>
+   </Action>
+
+.. _scenario_defaultCustomCommandAction:
+
+DefaultCustomCommandAction (UserDefinedAction)
+++++++++++++++++++++++++++++++++++++++++++++++
+
+This is **the** default custom command, and is always selected, if **the first WORD** (Keyword) in the command string is **not** registered as a special custom command.
+The command is universally accessible across all components via `ScenarioControlInterface::GetCustomCommands()`, empowering users to define personalized actions tailored to their specific needs.
+Once defined, the functionality of this command is unique to the user, based on their custom implementation.
+
+.. admonition:: FMU_Wrapper component for OSMP messages only
+
+   The linked string signal is set as custom action of the TrafficCommand. For more information on OSMP FMUs see the :ref:`components_fmuwrapper` documentation.
+
+**Example**
+
+.. code-block:: xml
+
+  <Action name="CustomParameters">
+      <UserDefinedAction>
+          <CustomCommandAction>Arbitrary String, e.g. { "hello": "world"}</CustomCommandAction>
+      </UserDefinedAction>
+  </Action>
+
+.. note::
+
+   Here, "Arbitrary" is first checked, if it matches any other available Keyword for used defined actions, such as :ref:`scenario_componentstatechange`.
diff --git a/content/html/_sources/user_guide/configs/scenario_api_support.rst.txt b/content/html/_sources/user_guide/configs/scenario_api_support.rst.txt
index 3858bbc5061341c9912df753fc676311a10763bc..81af559ae17e91e3e3e42087685650a3e4249e54 100644
--- a/content/html/_sources/user_guide/configs/scenario_api_support.rst.txt
+++ b/content/html/_sources/user_guide/configs/scenario_api_support.rst.txt
@@ -1,18 +1,18 @@
-..
-  *******************************************************************************
-                2023 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
-  http://www.eclipse.org/legal/epl-2.0.
-
-  SPDX-License-Identifier: EPL-2.0
-  *******************************************************************************
-
-.. _scenario_api_support:
-
-Scenario API Support
-====================
-
-.. include:: /../../../repo/scenario_api_support.md
-   :parser: myst_parser.sphinx_
+..
+  *******************************************************************************
+                2023 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
+  http://www.eclipse.org/legal/epl-2.0.
+
+  SPDX-License-Identifier: EPL-2.0
+  *******************************************************************************
+
+.. _scenario_api_support:
+
+Scenario API Support
+====================
+
+.. include:: /../../../repo/scenario_api_support.md
+   :parser: myst_parser.sphinx_
diff --git a/content/html/_sources/user_guide/configs/scenery.rst.txt b/content/html/_sources/user_guide/configs/scenery.rst.txt
index 038af595424430d86c58bd53098faf7968f902ac..e3c78d023cfc501a895f388d12558e510142f863 100644
--- a/content/html/_sources/user_guide/configs/scenery.rst.txt
+++ b/content/html/_sources/user_guide/configs/scenery.rst.txt
@@ -1,42 +1,42 @@
-..
-  *******************************************************************************
-  Copyright (c) 2021 in-tech GmbH
-
-  This program and the accompanying materials are made available under the
-  terms of the Eclipse Public License 2.0 which is available at
-  http://www.eclipse.org/legal/epl-2.0.
-
-  SPDX-License-Identifier: EPL-2.0
-  *******************************************************************************
-
-.. _scenery:
-
-Scenery
-=======
-
-.. _OpenDRIVE: https://www.asam.net/standards/detail/opendrive/
-
-This file describes the road network and all static objects of the road for the simulation run.
-It is structured according to the **ASAM OpenDRIVE 1.6** standard.
-
-The file name can be freely chosen, but needs to be properly referenced by the :ref:`scenario` within the tag :ref:`scenario_roadnetwork`.
-
-Restrictions
-------------
-
-If object definitions does not meet the `OpenDRIVE`_ or are not supported, the simulation is aborted.
-On top |op| adds some additional requirements to the attributes of objects:
-
-* length > 0
-* width > 0
-* radius == 0
-
-Objects, which do no meet these requirements are ignored.
-
-Full Example
-------------
-
-.. literalinclude:: /../../../repo/sim/contrib/examples/Common/SceneryConfiguration.xodr
-   :language: xml
-   :caption: SceneryConfiguration.xodr
-   :linenos:
+..
+  *******************************************************************************
+  Copyright (c) 2021 in-tech GmbH
+
+  This program and the accompanying materials are made available under the
+  terms of the Eclipse Public License 2.0 which is available at
+  http://www.eclipse.org/legal/epl-2.0.
+
+  SPDX-License-Identifier: EPL-2.0
+  *******************************************************************************
+
+.. _scenery:
+
+Scenery
+=======
+
+.. _OpenDRIVE: https://www.asam.net/standards/detail/opendrive/
+
+This file describes the road network and all static objects of the road for the simulation run.
+It is structured according to the **ASAM OpenDRIVE 1.6** standard.
+
+The file name can be freely chosen, but needs to be properly referenced by the :ref:`scenario` within the tag :ref:`scenario_roadnetwork`.
+
+Restrictions
+------------
+
+If object definitions does not meet the `OpenDRIVE`_ or are not supported, the simulation is aborted.
+On top |op| adds some additional requirements to the attributes of objects:
+
+* length > 0
+* width > 0
+* radius == 0
+
+Objects, which do no meet these requirements are ignored.
+
+Full Example
+------------
+
+.. literalinclude:: /../../../repo/sim/contrib/examples/Common/SceneryConfiguration.xodr
+   :language: xml
+   :caption: SceneryConfiguration.xodr
+   :linenos:
diff --git a/content/html/_sources/user_guide/configs/simulationconfig.rst.txt b/content/html/_sources/user_guide/configs/simulationconfig.rst.txt
index 5c353fbe2c6c60e7a92621995d3364a00a3594f0..bd1769cc6821b0dbe70493e234e76210eaf7d7fe 100644
--- a/content/html/_sources/user_guide/configs/simulationconfig.rst.txt
+++ b/content/html/_sources/user_guide/configs/simulationconfig.rst.txt
@@ -1,217 +1,217 @@
-..
-  *******************************************************************************
-  Copyright (c) 2021 in-tech GmbH
-                2022 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
-  http://www.eclipse.org/legal/epl-2.0.
-
-  SPDX-License-Identifier: EPL-2.0
-  *******************************************************************************
-
-.. _simulationconfig:
-
-SimulationConfig
-================
-
-
-This file describes the high level parameters of a simulation invocation (i.e. an experiment).
-It contains the basic experiment settings like number of runs and random seed, the environment definition,
-the parametrization of the output (more precisely the observation modules) and the definition of the spawners.
-The path to the SimulationConfig is given as command line argument (or defaulted) and all other configs are directly
-or indirectly refered to in the SimulationConfig.
-Several parameters depend on probabilities. 
-Each invocation then rolls for said probabilities. 
-All probabilities need to add up to 1.0.
-
-The simulationConfig.xml consists of the following sections:
-
-* :ref:`simulationconfig_profilescatalog`
-* :ref:`simulationconfig_experiment`
-* :ref:`simulationconfig_scenario`
-* :ref:`simulationconfig_environment`
-* :ref:`simulationconfig_observations`
-* :ref:`simulationconfig_spawners`
-
-.. _simulationconfig_profilescatalog:
-
-ProfilesCatalog
----------------
-
-Specifies the :ref:`profilescatalog` for the experiment.
-
-.. literalinclude:: /../../../repo/sim/contrib/examples/Common/simulationConfig.xml
-   :language: xml
-   :start-at: <ProfilesCatalog> 
-   :end-at: </ProfilesCatalog>
-
-.. _simulationconfig_experiment:
-
-Experiment
-----------
-
-Specifies the general experiment setup, not specific to a single invocation.
-
-.. table::
-   :class: tight-table
-
-   ===================== ================================================== =========
-   Tag                   Description                                        Mandatory 
-   ===================== ================================================== =========
-   ExperimentId          Id of the experiment                               yes
-   NumberOfInvocations   Number of invocation in the experiment.                                   
-                         For each invocation probabilities are rerolled.    yes
-   RandomSeed            Random seed for the entire experiment.                                   
-                         Must be within the bounds of an unsigned integer.  yes
-   Libraries             Name of the core module Libraries to use.                                  
-                         If not specified the default name is assumed.      yes
-   ===================== ================================================== =========
-
-.. literalinclude:: /../../../repo/sim/contrib/examples/Common/simulationConfig.xml
-   :language: xml
-   :start-at: <Experiment> 
-   :end-at: </Experiment>
-
-.. _simulationconfig_scenario:
-
-Scenario
---------
-
-This section contains information about the scenario setup for the experiment. This information does not change between invocations.
-
-.. table::
-   :class: tight-table
-
-   ================ ========================= =========     
-   Tag              Description               Mandatory
-   ================ ========================= =========
-   OpenScenarioFile Name of the scenario file yes
-   ================ ========================= =========
-
-**Example**
-
-This experiment uses the "HighwayScenario.xosc" scenario file.
-
-.. literalinclude:: /../../../repo/sim/contrib/examples/Common/simulationConfig.xml
-   :language: xml
-   :start-at: <Scenario> 
-   :end-at: </Scenario>
-
-.. _simulationconfig_environment:
-
-Environment
------------
-
-This section contains information about the world and the general environment inside the simulation. Every invocation re-rolls the environment probabilities.
-All probabilities need to add up to 1.0.
-
-.. table::
-   :class: tight-table
-
-   =================== ============================================================================================== =========
-   Tag                 Description                                                                                    Mandatory
-   =================== ============================================================================================== =========
-   TimeOfDay           **Currently unused.** Time of day ranging from 1-24 [h].                                       1+ entry
-   VisibilityDistance  Defines how far a human driver can see [m].                                                    1+ entry
-   Friction            Friction on the road. Used by DynamicsRegularDriving and LimiterAccelerationVehicleComponents. 1+ entry
-   Weather             **Currently unused.** Weather as string                                                        1+ entry
-   TrafficRules        Defines which set of TrafficRules to use from the ProfilesCatalog                              yes
-   TurningRates        Defines the turning rates for random route generation                                          no
-   =================== ============================================================================================== =========
-
-**Example**
-
-Every invocation has the time set to 15:00.
-In 70% of all invocation drivers can see 125 meter and for the other 30% of invocations the drivers can see 250 meter.
-Every invocation has a friction of 0.3.
-Every invocation has sunny weather.
-
-.. literalinclude:: /../../../repo/sim/contrib/examples/Common/simulationConfig.xml
-   :language: xml
-   :start-at: <Environment> 
-   :end-at: </Environment>
-   
-**TurningRates**
-
-If routes are not defined in the Scenario, they are randomly generated.
-Starting at the current agent position at each junction a random connector is chosen based on the weights given in the TurningRates element, until the route terminates at a road without successors or a maximum depth is reached.
-If for a pair of incoming road / connector no weight is given, it is defaulted to 1.
-At the below example an agent coming from road "R1" has a 1/3 chance of selecting "R1-2" and a 2/3 chance of selecting "R1-3".
-
-.. table::
-   :class: tight-table
-
-   =================== ==============================
-   Attribute           Description
-   =================== ==============================
-   Incoming            Id of the incoming road
-   Outgoing            Id of the connector
-   Weight              Weight for this pair
-   =================== ==============================
-
-.. literalinclude:: /../../../repo/sim/contrib/examples/Configurations/TurningRates/simulationConfig.xml
-   :language: xml
-   :start-at: <TurningRates> 
-   :end-at: </TurningRates>
-
-.. _simulationconfig_observations:
-
-Observations
-------------
-
-In this section all observation libraries are defined with their parameters.
-A specific library is loaded by adding an entry to the `Observations` tag:
-
-.. code-block:: xml
-
-   <Observations>
-     <!-- first observer -->
-     <Observation> 
-       <Library>THE_OBSERVATION_LIBRARY</Library>
-       <!-- observer specific parameter -->
-       <Parameters>
-         <String Key="THE_KEY" Value="THE_VALUE"/>
-         <Bool Key="ANOTHER_KEY" Value="false"/>
-         ...
-       </Parameters>
-     </Observation>
-     <!-- second observer -->
-     <Observation> 
-        ...
-     </Observation>
-   </Observations>
-
-Here, the ``Library`` tag contains the name of the library, and ``Parameters`` contain an optional list of key/value pairs, specific for each observer.
-
-Please refer to the documentation of the individual observers for available parameters:
-
-.. toctree::
-   :glob:
-   :maxdepth: 1
-
-   ../outputs/*
-
-.. _simulationconfig_spawners:
-
-Spawners
---------
-
-In this section the spawners are defined with their Profile (defined in the ProfilesCatalog). 
-The same library can be loaded multiple times with different profiles.
-A spawner is either of type "PreRun", meaning it is triggered only once at the start of the simulation, or "Runtime", meaning it is triggered in every timestep.
-If different spawners are to be triggered at the same time the spawner with the highest priority is triggered first.
-
-.. literalinclude:: /../../../repo/sim/contrib/examples/Common/simulationConfig.xml
-   :language: xml
-   :start-at: <Spawners> 
-   :end-at: </Spawners>
-
-
-Full Example
-------------
-
-.. literalinclude:: /../../../repo/sim/contrib/examples/Common/simulationConfig.xml
-   :language: xml
-   :caption: simulationConfig.xml
-   :linenos:
+..
+  *******************************************************************************
+  Copyright (c) 2021 in-tech GmbH
+                2022 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
+  http://www.eclipse.org/legal/epl-2.0.
+
+  SPDX-License-Identifier: EPL-2.0
+  *******************************************************************************
+
+.. _simulationconfig:
+
+SimulationConfig
+================
+
+
+This file describes the high level parameters of a simulation invocation (i.e. an experiment).
+It contains the basic experiment settings like number of runs and random seed, the environment definition,
+the parametrization of the output (more precisely the observation modules) and the definition of the spawners.
+The path to the SimulationConfig is given as command line argument (or defaulted) and all other configs are directly
+or indirectly refered to in the SimulationConfig.
+Several parameters depend on probabilities. 
+Each invocation then rolls for said probabilities. 
+All probabilities need to add up to 1.0.
+
+The simulationConfig.xml consists of the following sections:
+
+* :ref:`simulationconfig_profilescatalog`
+* :ref:`simulationconfig_experiment`
+* :ref:`simulationconfig_scenario`
+* :ref:`simulationconfig_environment`
+* :ref:`simulationconfig_observations`
+* :ref:`simulationconfig_spawners`
+
+.. _simulationconfig_profilescatalog:
+
+ProfilesCatalog
+---------------
+
+Specifies the :ref:`profilescatalog` for the experiment.
+
+.. literalinclude:: /../../../repo/sim/contrib/examples/Common/simulationConfig.xml
+   :language: xml
+   :start-at: <ProfilesCatalog> 
+   :end-at: </ProfilesCatalog>
+
+.. _simulationconfig_experiment:
+
+Experiment
+----------
+
+Specifies the general experiment setup, not specific to a single invocation.
+
+.. table::
+   :class: tight-table
+
+   ===================== ================================================== =========
+   Tag                   Description                                        Mandatory 
+   ===================== ================================================== =========
+   ExperimentId          Id of the experiment                               yes
+   NumberOfInvocations   Number of invocation in the experiment.                                   
+                         For each invocation probabilities are rerolled.    yes
+   RandomSeed            Random seed for the entire experiment.                                   
+                         Must be within the bounds of an unsigned integer.  yes
+   Libraries             Name of the core module Libraries to use.                                  
+                         If not specified the default name is assumed.      yes
+   ===================== ================================================== =========
+
+.. literalinclude:: /../../../repo/sim/contrib/examples/Common/simulationConfig.xml
+   :language: xml
+   :start-at: <Experiment> 
+   :end-at: </Experiment>
+
+.. _simulationconfig_scenario:
+
+Scenario
+--------
+
+This section contains information about the scenario setup for the experiment. This information does not change between invocations.
+
+.. table::
+   :class: tight-table
+
+   ================ ========================= =========     
+   Tag              Description               Mandatory
+   ================ ========================= =========
+   OpenScenarioFile Name of the scenario file yes
+   ================ ========================= =========
+
+**Example**
+
+This experiment uses the "HighwayScenario.xosc" scenario file.
+
+.. literalinclude:: /../../../repo/sim/contrib/examples/Common/simulationConfig.xml
+   :language: xml
+   :start-at: <Scenario> 
+   :end-at: </Scenario>
+
+.. _simulationconfig_environment:
+
+Environment
+-----------
+
+This section contains information about the world and the general environment inside the simulation. Every invocation re-rolls the environment probabilities.
+All probabilities need to add up to 1.0.
+
+.. table::
+   :class: tight-table
+
+   =================== ============================================================================================== =========
+   Tag                 Description                                                                                    Mandatory
+   =================== ============================================================================================== =========
+   TimeOfDay           **Currently unused.** Time of day ranging from 1-24 [h].                                       1+ entry
+   VisibilityDistance  Defines how far a human driver can see [m].                                                    1+ entry
+   Friction            Friction on the road. Used by DynamicsRegularDriving and LimiterAccelerationVehicleComponents. 1+ entry
+   Weather             **Currently unused.** Weather as string                                                        1+ entry
+   TrafficRules        Defines which set of TrafficRules to use from the ProfilesCatalog                              yes
+   TurningRates        Defines the turning rates for random route generation                                          no
+   =================== ============================================================================================== =========
+
+**Example**
+
+Every invocation has the time set to 15:00.
+In 70% of all invocation drivers can see 125 meter and for the other 30% of invocations the drivers can see 250 meter.
+Every invocation has a friction of 0.3.
+Every invocation has sunny weather.
+
+.. literalinclude:: /../../../repo/sim/contrib/examples/Common/simulationConfig.xml
+   :language: xml
+   :start-at: <Environment> 
+   :end-at: </Environment>
+   
+**TurningRates**
+
+If routes are not defined in the Scenario, they are randomly generated.
+Starting at the current agent position at each junction a random connector is chosen based on the weights given in the TurningRates element, until the route terminates at a road without successors or a maximum depth is reached.
+If for a pair of incoming road / connector no weight is given, it is defaulted to 1.
+At the below example an agent coming from road "R1" has a 1/3 chance of selecting "R1-2" and a 2/3 chance of selecting "R1-3".
+
+.. table::
+   :class: tight-table
+
+   =================== ==============================
+   Attribute           Description
+   =================== ==============================
+   Incoming            Id of the incoming road
+   Outgoing            Id of the connector
+   Weight              Weight for this pair
+   =================== ==============================
+
+.. literalinclude:: /../../../repo/sim/contrib/examples/Configurations/TurningRates/simulationConfig.xml
+   :language: xml
+   :start-at: <TurningRates> 
+   :end-at: </TurningRates>
+
+.. _simulationconfig_observations:
+
+Observations
+------------
+
+In this section all observation libraries are defined with their parameters.
+A specific library is loaded by adding an entry to the `Observations` tag:
+
+.. code-block:: xml
+
+   <Observations>
+     <!-- first observer -->
+     <Observation> 
+       <Library>THE_OBSERVATION_LIBRARY</Library>
+       <!-- observer specific parameter -->
+       <Parameters>
+         <String Key="THE_KEY" Value="THE_VALUE"/>
+         <Bool Key="ANOTHER_KEY" Value="false"/>
+         ...
+       </Parameters>
+     </Observation>
+     <!-- second observer -->
+     <Observation> 
+        ...
+     </Observation>
+   </Observations>
+
+Here, the ``Library`` tag contains the name of the library, and ``Parameters`` contain an optional list of key/value pairs, specific for each observer.
+
+Please refer to the documentation of the individual observers for available parameters:
+
+.. toctree::
+   :glob:
+   :maxdepth: 1
+
+   ../outputs/*
+
+.. _simulationconfig_spawners:
+
+Spawners
+--------
+
+In this section the spawners are defined with their Profile (defined in the ProfilesCatalog). 
+The same library can be loaded multiple times with different profiles.
+A spawner is either of type "PreRun", meaning it is triggered only once at the start of the simulation, or "Runtime", meaning it is triggered in every timestep.
+If different spawners are to be triggered at the same time the spawner with the highest priority is triggered first.
+
+.. literalinclude:: /../../../repo/sim/contrib/examples/Common/simulationConfig.xml
+   :language: xml
+   :start-at: <Spawners> 
+   :end-at: </Spawners>
+
+
+Full Example
+------------
+
+.. literalinclude:: /../../../repo/sim/contrib/examples/Common/simulationConfig.xml
+   :language: xml
+   :caption: simulationConfig.xml
+   :linenos:
diff --git a/content/html/_sources/user_guide/configs/staticsystemconfig.rst.txt b/content/html/_sources/user_guide/configs/staticsystemconfig.rst.txt
index e147be04cfea24dd4ca8bff46b6a4c5b3736af81..9f90db43749a9f1945a4d74099fe4da8b9ea35df 100644
--- a/content/html/_sources/user_guide/configs/staticsystemconfig.rst.txt
+++ b/content/html/_sources/user_guide/configs/staticsystemconfig.rst.txt
@@ -1,76 +1,76 @@
-..
-  *******************************************************************************
-  Copyright (c) 2021 in-tech GmbH
-
-  This program and the accompanying materials are made available under the
-  terms of the Eclipse Public License 2.0 which is available at
-  http://www.eclipse.org/legal/epl-2.0.
-
-  SPDX-License-Identifier: EPL-2.0
-  *******************************************************************************
-
-.. _staticsystemconfig:
-
-Static SystemConfig
-===================
-
-SystemConfig files are optional.
-They describe static configurations of agents and are therefore an alternative to the dynamic sampling of an agent during runtime.
-The schema is the same as for the :ref:`systemconfigblueprint`.
-
-
-
-SSP
----------------
-One usecase for the static SystemConfig is :ref:`ssp`.
-We use SSP to chain multiple FMUs together, which transfer data between them during one time step.
-SSP is added to the SystemConfig like any other Component. It requires the following parameters:
-
-.. table::
-   :class: tight-table
-
-   ===================== ================================================== =========
-   Tag                   Description                                        Mandatory
-   ===================== ================================================== =========
-   id                    Id should be set to "SspPath"                      yes
-   type                  type should be string                              yes
-   unit                  not used                                           no
-   value                 relative path to the ssp file
-                         relative to the configuration path                 yes
-   ===================== ================================================== =========
-
-Example
-~~~~~~~
-
-.. literalinclude:: /../../../repo/sim/contrib/examples/Configurations/StaticSSPStepper/SystemConfig.xml
-   :language: xml
-   :start-at: <component doc="SSP">
-   :end-at: </component>
-
-
-
-Connecting SSP with OpenPass
-----------------------------------
-During OpenPass Simulation, information is communicated via osi messages between the Simulation Core and SSP.
-Like any other component communication, these connections need to be explicitly declared as connections in the SystemConfig.
-One connection is defined with the following attributes:
-
-.. table::
-   :class: tight-table
-
-   ===================== ================================================== =========
-   Tag                   Description                                        Mandatory
-   ===================== ================================================== =========
-   id                    unique identifier for connection                   yes
-   source                pair of sending agent component and local link id  yes
-   target                pair of receiving agent component
-                         and local link id                                  yes
-   ===================== ================================================== =========
-
-Example
-~~~~~~~
-
-.. literalinclude:: /../../../repo/sim/contrib/examples/Configurations/StaticSSPStepper/SystemConfig.xml
-   :language: xml
-   :start-at: <connection doc="SSP">
-   :end-at: </connection>
+..
+  *******************************************************************************
+  Copyright (c) 2021 in-tech GmbH
+
+  This program and the accompanying materials are made available under the
+  terms of the Eclipse Public License 2.0 which is available at
+  http://www.eclipse.org/legal/epl-2.0.
+
+  SPDX-License-Identifier: EPL-2.0
+  *******************************************************************************
+
+.. _staticsystemconfig:
+
+Static SystemConfig
+===================
+
+SystemConfig files are optional.
+They describe static configurations of agents and are therefore an alternative to the dynamic sampling of an agent during runtime.
+The schema is the same as for the :ref:`systemconfigblueprint`.
+
+
+
+SSP
+---------------
+One usecase for the static SystemConfig is :ref:`ssp`.
+We use SSP to chain multiple FMUs together, which transfer data between them during one time step.
+SSP is added to the SystemConfig like any other Component. It requires the following parameters:
+
+.. table::
+   :class: tight-table
+
+   ===================== ================================================== =========
+   Tag                   Description                                        Mandatory
+   ===================== ================================================== =========
+   id                    Id should be set to "SspPath"                      yes
+   type                  type should be string                              yes
+   unit                  not used                                           no
+   value                 relative path to the ssp file
+                         relative to the configuration path                 yes
+   ===================== ================================================== =========
+
+Example
+~~~~~~~
+
+.. literalinclude:: /../../../repo/sim/contrib/examples/Configurations/StaticSSPStepper/SystemConfig.xml
+   :language: xml
+   :start-at: <component doc="SSP">
+   :end-at: </component>
+
+
+
+Connecting SSP with OpenPass
+----------------------------------
+During OpenPass Simulation, information is communicated via osi messages between the Simulation Core and SSP.
+Like any other component communication, these connections need to be explicitly declared as connections in the SystemConfig.
+One connection is defined with the following attributes:
+
+.. table::
+   :class: tight-table
+
+   ===================== ================================================== =========
+   Tag                   Description                                        Mandatory
+   ===================== ================================================== =========
+   id                    unique identifier for connection                   yes
+   source                pair of sending agent component and local link id  yes
+   target                pair of receiving agent component
+                         and local link id                                  yes
+   ===================== ================================================== =========
+
+Example
+~~~~~~~
+
+.. literalinclude:: /../../../repo/sim/contrib/examples/Configurations/StaticSSPStepper/SystemConfig.xml
+   :language: xml
+   :start-at: <connection doc="SSP">
+   :end-at: </connection>
diff --git a/content/html/_sources/user_guide/configs/systemconfigblueprint.rst.txt b/content/html/_sources/user_guide/configs/systemconfigblueprint.rst.txt
index ee4a35b48955edb2c904adb09e51d7fd29989e3b..5c8eb212ccd978fc874c52a4ef6c9b3295c40ad3 100644
--- a/content/html/_sources/user_guide/configs/systemconfigblueprint.rst.txt
+++ b/content/html/_sources/user_guide/configs/systemconfigblueprint.rst.txt
@@ -1,281 +1,281 @@
-..
-  *******************************************************************************
-  Copyright (c) 2021 in-tech GmbH
-                2023 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
-  http://www.eclipse.org/legal/epl-2.0.
-
-  SPDX-License-Identifier: EPL-2.0
-  *******************************************************************************
-
-.. _systemconfigblueprint:
-
-SystemConfigBlueprint
-=====================
-
-This file contains the possible agent modules and channels of a dynamically generated agent. The content of this file should only be adjusted by experienced users with knowledge of the simulation architecture. The SystemConfigBlueprint is a special SystemConfig and has the same schema. Only the system with id 0 is used for generating dynamic agents.
-If the simulation uses only statically configured agents (AgentProfile Type attribute is "Static"), this file isn't required.
-
-.. _systemconfigblueprint_agentComponents:
-
-AgentComponents
----------------
-All components are listed here. An agent consists of a subset of this components.
-
-.. table::
-   :class: tight-table
-
-   =========== ===============================================================================
-   Attribute   Description
-   =========== ===============================================================================
-   Id          Used as key by the simulation to find the component
-   Priority    The module with the highest priority value gets executed first by the scheduler
-   Offset      Delay for the trigger method of each component in ms
-   Cycle       Interval in which the component gets triggered by the scheduler in ms
-   Response    Delay for the UpdateOutput method of each component in ms
-   Library     Library name of this component
-   Parameters  Parameters used by the component
-   =========== ===============================================================================
-
-Example:
-This example describes the Sensor_Driver module.
-
-.. literalinclude:: /../../../repo/sim/contrib/examples/Common/systemConfigBlueprint.xml
-   :language: xml
-   :dedent: 12
-   :lines: 28-38
-
-.. _systemconfigblueprint_priorities:
-
-Priorities
-----------
-
-Please refer to the :ref:`Components and channel communication diagram <component_channel_communication>` for assignment of a proper priority.
-Based on the signal flow, input relevant components like sensors need to be executed first. They provide data for consuming components (algorithms) like ADAS and drivers.
-Data is then handled by algorithms like Algorithm_Lateral.
-Output-relevant modules like dynamics and actions are executed last.
-
-Prioritizer can be applied on different levels depending on the modules/data they need to handle levels as following can be defined:
-
-- Level 1 describes data produced by ADAS and drivers
-- Level 2 describes data output by vehicle dynamic controllers
-- Level 3 describes data delivered by dynamics
-
-Priorities can be grouped (coarse) as following:
-Highest number indicates highest priority.
-
-.. table::
-   :class: tight-table
-
-   =========================== ===========
-   Scope                       Range
-   =========================== ===========
-   Parameters                  500
-   OpenScenarioActions         400
-   Sensor                      350...399
-   Event                       330
-   DriverMode                  310
-   ADAS                        250...299
-   ComponentController         200
-   Prioritizer (Lvl. 1)        150...199
-   VehicleDynamicsControllers  100...149
-   Prioritizer (Lvl. 2)        75...99
-   Dynamics                    50...74
-   Prioritizer (Lvl. 3)        25...49
-   Updater                     0...24
-   =========================== ===========
-
-The table below can be used as orientation when a new module is introduced.
-
-.. table::
-   :class: tight-table
-
-   ========================================= ======================================= ========= =========================== =======================================================================================================================
-   Name                                      Library                                 Priority  Scope                       Note
-   ========================================= ======================================= ========= =========================== =======================================================================================================================
-   ParametersAgentModules                    ParametersAgent                         500       Parameters                  Sets all init-data and is updated cyclically
-   OpenScenarioActions                       OpenScenarioActions                     400       ADAS                        Reads events from OpenSCENARIO Actions and forwards them to other components
-   SensorObjectDetector                      Sensor_OSI                              398       Sensor                      Gets instantiated multiple times (one time per sensor)
-   SensorAggregation                         SensorAggregation_OSI                   351       Sensor
-   SensorFusionErrorless                     SensorFusionErrorless_OSI               350       Sensor
-   AlgorithmAgentFollowingDriverModel        AlgorithmAgentFollowingDriverModel      310       DriverModels
-   AEB                                       AlgorithmAutonomousEmergencyBraking     250       ADAS
-   FMU1                                      AlgorithmFmuWrapper                     250       ADAS
-   FMU2                                      AlgorithmFmuWrapper                     250       ADAS
-   FMU3                                      AlgorithmFmuWrapper                     250       ADAS
-   SSP1                                      AlgorithmSspWrapper                     250       ADAS
-   ComponentController                       ComponentController                     200       ADAS                        Manages vehicle component states with regard to other vehicle component states and conditions and in response to events.
-   PrioritizerLaterDriver                    SignalPrioritizer                       150       Prioritizer
-   PrioritizerAccelerationDriver             SignalPrioritizer                       150       Prioritizer
-   PrioritizerTurningIndicator               SignalPrioritizer                       150       Prioritizer
-   PrioritizerSteeringVehicleComponents      SignalPrioritizer                       150       Prioritizer
-   PrioritizerAccelerationVehicleComponents  SignalPrioritizer                       150       Prioritizer
-   LimiterAccelerationVehicleComponents      LimiterAccelerationVehicleComponents    120       VehicleDynamicsControllers
-   AlgorithmLateralDriver                    AlgorithmLateralDriver                  100       VehicleDynamicsControllers
-   AlgorithmLongitudinalVehicleComponents    AlgorithmLongitudinalVehicleComponents  100       VehicleDynamicsControllers
-   AlgorithmLongitudinalDriver               AlgorithmLongitudinalDriver             100       VehicleDynamicsControllers
-   PrioritizerSteering                       SignalPrioritizer                       75        Prioritizer
-   PrioritizerLongitudinal                   SignalPrioritizer                       75        Prioritizer
-   DynamicsCollision                         DynamicsCollision                       50        Dynamics
-   DynamicsRegularDriving                    DynamicsRegularDriving                  50        Dynamics
-   DynamicsTrajectoryFollower                DynamicsTrajectoryFollower              50        Dynamics
-   PrioritizerDynamics                       SignalPrioritizer                       25        Prioritizer
-   ActionLongitudinalDriverModules           ActionLongitudinalDriver                3         Updater                     Will be expanded to ActionPrimary DriverTasks
-   ActionSecondaryDriverTasksModules         ActionSecondaryDriverTasks              3         Updater
-   AgentUpdater                              AgentUpdater                            1         Updater
-   ========================================= ======================================= ========= =========================== =======================================================================================================================
-
-.. _systemconfigblueprint_channelids:
-
-Channel-Ids
------------
-
-Channels allow components to communicate with each other.
-The signal flow is set explicitly via a channel-Id of 4 digits (see also :ref:`Components and channels communication diagram <component_channel_communication>`).
-
-The first two numbers define the sending module (XX 00).
-The other two digits define the type of signal that is sent (00 XX).
-
-Signals as well as modules can be grouped to allow explicit numbering (see tables below).
-
-Channel-Ids between Sensor and SensorFusion are an exception to this rule. For sensor/sensor fusion communication channel-ids are 9900 + x (incremented for every new sensor)
-
-Example:
-PrioritizerAccelerationDriver -> AlgorithmLongitudinalDriver with signal of type AccelerationSignal: 1813.
-
-
-**Ids for Modules (first two digits)**
-
-
-Index range for module groups:
-
-.. table::
-   :class: tight-table
-
-   ================= ==========
-   Group             Id
-   ================= ==========
-   Dynamics          1...10
-   Algorithm         11...30
-   DriverTasks       31...40
-   Driver            41...50
-   VehicleComponent  51...70
-   Special           81...89
-   Sensor            91...99
-   ================= ==========
-
-With corresponding defined indices:
-
-.. table::
-   :class: tight-table
-
-   ========================================= ================= =====
-   Module                                    Group             Id
-   ========================================= ================= =====
-   AgentUpdater                              Dynamics          1
-   Dynamics_TrajectoryFollower               Dynamics          2
-   Dynamics_RegularDriving                   Dynamics          3
-   Dynamics_Collision                        Dynamics          4
-   PrioritizerDynamics                       Dynamics          5
-   Dynamics_Scenario                         Dynamics          6
-   ControllerSwitch                          Dynamics          7
-   Algorithm_LongitudinalVehicleComponent    Algorithm         11
-   Algorithm_LongitudinalAfdm                Algorithm         12
-   Algorithm_SteeringVehicleComponent        Algorithm         14
-   Algorithm_LateralVehicleAfdm              Algorithm         15
-   LimiterAccelerationVehicleComponents      Algorithm         17
-   PrioritizerLongitudinal                   Algorithm         21
-   PrioritizerSteering                       Algorithm         22
-   PrioritizerAccelerationVehicleComponents  Algorithm         23
-   PrioritizerSteeringVehicleComponents      Algorithm         24
-   Action_LongitudinalDriver                 DriverTasks       31
-   Action_SecondaryDriverTasks               DriverTasks       32
-   PrioritizerTurningIndicator               DriverTasks       33
-   AlgorithmAgentFollowingDriverModel        Driver            41
-   AEB                                       VehicleComponent  52
-   FMU1                                      VehicleComponent  71
-   FMU2                                      VehicleComponent  72
-   FMU3                                      VehicleComponent  73
-   ComponentController                       Special           83
-   OpenScenarioActions                       Special           84
-   Parameter_Vehicle                         Sensor            92
-   SensorAggregation                         Sensor            93
-   SensorFusionErrorless                     Sensor            94
-   Sensor_Driver                             Sensor            95
-   SensorObjectDetector                      Sensor            98
-   ========================================= ================= =====
-
-**Ids for Signals (last two digits)**
-
-Index range for signal groups:
-
-
-.. table::
-   :class: tight-table
-
-   ==================== ==========
-   Group                Id
-   ==================== ==========
-   Dynamics             1...10
-   Algorithm            11...30
-   OpenScenarioActions  61...70
-   Special              71...80
-   Sensor               81...90
-   Parameters           91...99
-   ==================== ==========
-
-With corresponding defined indices:
-
-.. table::
-   :class: tight-table
-
-   ======================================= ==================== =====
-   Signal                                  Group                Id
-   ======================================= ==================== =====
-   Dynamics                                Dynamics             01
-   Longitudinal                            Algorithm            11
-   Steering                                Algorithm            12
-   Acceleration                            Algorithm            13
-   Lateral                                 Algorithm            14
-   SecondaryDriverTasks                    Algorithm            19
-   Trajectory                              OpenScenarioActions  71
-   AcquireGlobalPosition                   OpenScenarioActions  62
-   CustomParameters (CustomCommandAction)  OpenScenarioActions  63
-   SensorDriver                            Sensor               81
-   SensorData                              Sensor               90
-   ParametersVehicle                       Parameters           92
-   ======================================= ==================== =====
-
-.. _systemconfigblueprint_parameters:
-
-Parameters
-----------
-
-For more information on the type of parameters (especially stochastic distributions), please refer to the :ref:`ProfilesGroup section <profilescatalog_profilegroups>`.
-
-**Important Note:** The syntax for defining parameters in the SystemConfigBlueprint file differs from the ProfilesCatalog syntax.
-See the following example:
-
-.. code-block:: xml
-
-   <parameters>
-       <parameter>
-           <id>StringParameter</id>
-           <type>string</type>
-           <unit/>
-           <value>Lorem ipsum</value>
-       </parameter>
-       <parameter>
-           <id>RandomParameter</id>
-           <type>normalDistribution</type>
-           <unit/>
-           <value>
-               <mean>15.0</mean>
-               <sd>2.5</sd>
-               <min>10.0</min>
-               <max>20.0</max>
-           </value>
-       </parameter>
-   </parameters>
+..
+  *******************************************************************************
+  Copyright (c) 2021 in-tech GmbH
+                2023 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
+  http://www.eclipse.org/legal/epl-2.0.
+
+  SPDX-License-Identifier: EPL-2.0
+  *******************************************************************************
+
+.. _systemconfigblueprint:
+
+SystemConfigBlueprint
+=====================
+
+This file contains the possible agent modules and channels of a dynamically generated agent. The content of this file should only be adjusted by experienced users with knowledge of the simulation architecture. The SystemConfigBlueprint is a special SystemConfig and has the same schema. Only the system with id 0 is used for generating dynamic agents.
+If the simulation uses only statically configured agents (AgentProfile Type attribute is "Static"), this file isn't required.
+
+.. _systemconfigblueprint_agentComponents:
+
+AgentComponents
+---------------
+All components are listed here. An agent consists of a subset of this components.
+
+.. table::
+   :class: tight-table
+
+   =========== ===============================================================================
+   Attribute   Description
+   =========== ===============================================================================
+   Id          Used as key by the simulation to find the component
+   Priority    The module with the highest priority value gets executed first by the scheduler
+   Offset      Delay for the trigger method of each component in ms
+   Cycle       Interval in which the component gets triggered by the scheduler in ms
+   Response    Delay for the UpdateOutput method of each component in ms
+   Library     Library name of this component
+   Parameters  Parameters used by the component
+   =========== ===============================================================================
+
+Example:
+This example describes the Sensor_Driver module.
+
+.. literalinclude:: /../../../repo/sim/contrib/examples/Common/systemConfigBlueprint.xml
+   :language: xml
+   :dedent: 12
+   :lines: 28-38
+
+.. _systemconfigblueprint_priorities:
+
+Priorities
+----------
+
+Please refer to the :ref:`Components and channel communication diagram <component_channel_communication>` for assignment of a proper priority.
+Based on the signal flow, input relevant components like sensors need to be executed first. They provide data for consuming components (algorithms) like ADAS and drivers.
+Data is then handled by algorithms like Algorithm_Lateral.
+Output-relevant modules like dynamics and actions are executed last.
+
+Prioritizer can be applied on different levels depending on the modules/data they need to handle levels as following can be defined:
+
+- Level 1 describes data produced by ADAS and drivers
+- Level 2 describes data output by vehicle dynamic controllers
+- Level 3 describes data delivered by dynamics
+
+Priorities can be grouped (coarse) as following:
+Highest number indicates highest priority.
+
+.. table::
+   :class: tight-table
+
+   =========================== ===========
+   Scope                       Range
+   =========================== ===========
+   Parameters                  500
+   OpenScenarioActions         400
+   Sensor                      350...399
+   Event                       330
+   DriverMode                  310
+   ADAS                        250...299
+   ComponentController         200
+   Prioritizer (Lvl. 1)        150...199
+   VehicleDynamicsControllers  100...149
+   Prioritizer (Lvl. 2)        75...99
+   Dynamics                    50...74
+   Prioritizer (Lvl. 3)        25...49
+   Updater                     0...24
+   =========================== ===========
+
+The table below can be used as orientation when a new module is introduced.
+
+.. table::
+   :class: tight-table
+
+   ========================================= ======================================= ========= =========================== =======================================================================================================================
+   Name                                      Library                                 Priority  Scope                       Note
+   ========================================= ======================================= ========= =========================== =======================================================================================================================
+   ParametersAgentModules                    ParametersAgent                         500       Parameters                  Sets all init-data and is updated cyclically
+   OpenScenarioActions                       OpenScenarioActions                     400       ADAS                        Reads events from OpenSCENARIO Actions and forwards them to other components
+   SensorObjectDetector                      Sensor_OSI                              398       Sensor                      Gets instantiated multiple times (one time per sensor)
+   SensorAggregation                         SensorAggregation_OSI                   351       Sensor
+   SensorFusionErrorless                     SensorFusionErrorless_OSI               350       Sensor
+   AlgorithmAgentFollowingDriverModel        AlgorithmAgentFollowingDriverModel      310       DriverModels
+   AEB                                       AlgorithmAutonomousEmergencyBraking     250       ADAS
+   FMU1                                      AlgorithmFmuWrapper                     250       ADAS
+   FMU2                                      AlgorithmFmuWrapper                     250       ADAS
+   FMU3                                      AlgorithmFmuWrapper                     250       ADAS
+   SSP1                                      AlgorithmSspWrapper                     250       ADAS
+   ComponentController                       ComponentController                     200       ADAS                        Manages vehicle component states with regard to other vehicle component states and conditions and in response to events.
+   PrioritizerLaterDriver                    SignalPrioritizer                       150       Prioritizer
+   PrioritizerAccelerationDriver             SignalPrioritizer                       150       Prioritizer
+   PrioritizerTurningIndicator               SignalPrioritizer                       150       Prioritizer
+   PrioritizerSteeringVehicleComponents      SignalPrioritizer                       150       Prioritizer
+   PrioritizerAccelerationVehicleComponents  SignalPrioritizer                       150       Prioritizer
+   LimiterAccelerationVehicleComponents      LimiterAccelerationVehicleComponents    120       VehicleDynamicsControllers
+   AlgorithmLateralDriver                    AlgorithmLateralDriver                  100       VehicleDynamicsControllers
+   AlgorithmLongitudinalVehicleComponents    AlgorithmLongitudinalVehicleComponents  100       VehicleDynamicsControllers
+   AlgorithmLongitudinalDriver               AlgorithmLongitudinalDriver             100       VehicleDynamicsControllers
+   PrioritizerSteering                       SignalPrioritizer                       75        Prioritizer
+   PrioritizerLongitudinal                   SignalPrioritizer                       75        Prioritizer
+   DynamicsCollision                         DynamicsCollision                       50        Dynamics
+   DynamicsRegularDriving                    DynamicsRegularDriving                  50        Dynamics
+   DynamicsTrajectoryFollower                DynamicsTrajectoryFollower              50        Dynamics
+   PrioritizerDynamics                       SignalPrioritizer                       25        Prioritizer
+   ActionLongitudinalDriverModules           ActionLongitudinalDriver                3         Updater                     Will be expanded to ActionPrimary DriverTasks
+   ActionSecondaryDriverTasksModules         ActionSecondaryDriverTasks              3         Updater
+   AgentUpdater                              AgentUpdater                            1         Updater
+   ========================================= ======================================= ========= =========================== =======================================================================================================================
+
+.. _systemconfigblueprint_channelids:
+
+Channel-Ids
+-----------
+
+Channels allow components to communicate with each other.
+The signal flow is set explicitly via a channel-Id of 4 digits (see also :ref:`Components and channels communication diagram <component_channel_communication>`).
+
+The first two numbers define the sending module (XX 00).
+The other two digits define the type of signal that is sent (00 XX).
+
+Signals as well as modules can be grouped to allow explicit numbering (see tables below).
+
+Channel-Ids between Sensor and SensorFusion are an exception to this rule. For sensor/sensor fusion communication channel-ids are 9900 + x (incremented for every new sensor)
+
+Example:
+PrioritizerAccelerationDriver -> AlgorithmLongitudinalDriver with signal of type AccelerationSignal: 1813.
+
+
+**Ids for Modules (first two digits)**
+
+
+Index range for module groups:
+
+.. table::
+   :class: tight-table
+
+   ================= ==========
+   Group             Id
+   ================= ==========
+   Dynamics          1...10
+   Algorithm         11...30
+   DriverTasks       31...40
+   Driver            41...50
+   VehicleComponent  51...70
+   Special           81...89
+   Sensor            91...99
+   ================= ==========
+
+With corresponding defined indices:
+
+.. table::
+   :class: tight-table
+
+   ========================================= ================= =====
+   Module                                    Group             Id
+   ========================================= ================= =====
+   AgentUpdater                              Dynamics          1
+   Dynamics_TrajectoryFollower               Dynamics          2
+   Dynamics_RegularDriving                   Dynamics          3
+   Dynamics_Collision                        Dynamics          4
+   PrioritizerDynamics                       Dynamics          5
+   Dynamics_Scenario                         Dynamics          6
+   ControllerSwitch                          Dynamics          7
+   Algorithm_LongitudinalVehicleComponent    Algorithm         11
+   Algorithm_LongitudinalAfdm                Algorithm         12
+   Algorithm_SteeringVehicleComponent        Algorithm         14
+   Algorithm_LateralVehicleAfdm              Algorithm         15
+   LimiterAccelerationVehicleComponents      Algorithm         17
+   PrioritizerLongitudinal                   Algorithm         21
+   PrioritizerSteering                       Algorithm         22
+   PrioritizerAccelerationVehicleComponents  Algorithm         23
+   PrioritizerSteeringVehicleComponents      Algorithm         24
+   Action_LongitudinalDriver                 DriverTasks       31
+   Action_SecondaryDriverTasks               DriverTasks       32
+   PrioritizerTurningIndicator               DriverTasks       33
+   AlgorithmAgentFollowingDriverModel        Driver            41
+   AEB                                       VehicleComponent  52
+   FMU1                                      VehicleComponent  71
+   FMU2                                      VehicleComponent  72
+   FMU3                                      VehicleComponent  73
+   ComponentController                       Special           83
+   OpenScenarioActions                       Special           84
+   Parameter_Vehicle                         Sensor            92
+   SensorAggregation                         Sensor            93
+   SensorFusionErrorless                     Sensor            94
+   Sensor_Driver                             Sensor            95
+   SensorObjectDetector                      Sensor            98
+   ========================================= ================= =====
+
+**Ids for Signals (last two digits)**
+
+Index range for signal groups:
+
+
+.. table::
+   :class: tight-table
+
+   ==================== ==========
+   Group                Id
+   ==================== ==========
+   Dynamics             1...10
+   Algorithm            11...30
+   OpenScenarioActions  61...70
+   Special              71...80
+   Sensor               81...90
+   Parameters           91...99
+   ==================== ==========
+
+With corresponding defined indices:
+
+.. table::
+   :class: tight-table
+
+   ======================================= ==================== =====
+   Signal                                  Group                Id
+   ======================================= ==================== =====
+   Dynamics                                Dynamics             01
+   Longitudinal                            Algorithm            11
+   Steering                                Algorithm            12
+   Acceleration                            Algorithm            13
+   Lateral                                 Algorithm            14
+   SecondaryDriverTasks                    Algorithm            19
+   Trajectory                              OpenScenarioActions  71
+   AcquireGlobalPosition                   OpenScenarioActions  62
+   CustomParameters (CustomCommandAction)  OpenScenarioActions  63
+   SensorDriver                            Sensor               81
+   SensorData                              Sensor               90
+   ParametersVehicle                       Parameters           92
+   ======================================= ==================== =====
+
+.. _systemconfigblueprint_parameters:
+
+Parameters
+----------
+
+For more information on the type of parameters (especially stochastic distributions), please refer to the :ref:`ProfilesGroup section <profilescatalog_profilegroups>`.
+
+**Important Note:** The syntax for defining parameters in the SystemConfigBlueprint file differs from the ProfilesCatalog syntax.
+See the following example:
+
+.. code-block:: xml
+
+   <parameters>
+       <parameter>
+           <id>StringParameter</id>
+           <type>string</type>
+           <unit/>
+           <value>Lorem ipsum</value>
+       </parameter>
+       <parameter>
+           <id>RandomParameter</id>
+           <type>normalDistribution</type>
+           <unit/>
+           <value>
+               <mean>15.0</mean>
+               <sd>2.5</sd>
+               <min>10.0</min>
+               <max>20.0</max>
+           </value>
+       </parameter>
+   </parameters>
diff --git a/content/html/_sources/user_guide/outputs/observation_log.rst.txt b/content/html/_sources/user_guide/outputs/observation_log.rst.txt
index 65add62d97a9e52ab0a51a06f6756f5e75d0986d..19305eb9d3672d6996320c1c8f7550b1ddd3fbae 100644
--- a/content/html/_sources/user_guide/outputs/observation_log.rst.txt
+++ b/content/html/_sources/user_guide/outputs/observation_log.rst.txt
@@ -1,385 +1,361 @@
-..
-  *******************************************************************************
-  Copyright (c) 2021 in-tech GmbH
-                2023-2024 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
-  http://www.eclipse.org/legal/epl-2.0.
-
-  SPDX-License-Identifier: EPL-2.0
-  *******************************************************************************
-
-.. _observation_log:
-
-Observation_Log
-###############
-
-This section describes the parameters and outputs of the ``Observation_Log`` observer.
-
-.. _observationlog_parameterization:
-
-Parameterization
-================
-
-Following parameters are supported:
-
-.. table::
-   :class: tight-table
-
-   =================== ============= ==========================================================================
-   Parameter           Type          Description
-   =================== ============= ==========================================================================
-   OutputFilename      String        Name of the output file (normally ``simulationOutput.xml``)
-   LoggingCyclicsToCsv Bool          If ``true``, cyclics are written an additional file (one CSV file per run)
-   LoggingGroup_<NAME> StringVector  Defines which columns belong to the logging group named NAME
-   LoggingGroups       StringVector  Defines active logging groups
-   =================== ============= ==========================================================================
-
-The columns, defined by the ``LoggingGroup_<NAME>`` correspond to cyclic data entries written by the world and other components.
-Cyclics are named data values of a single agent during a specific timestep.
-Simulation components including agent components can write this values into the DataBuffer component using the PublisherInterface.
-The Observation_Log can then read this values and write them into the output.
-
-The world publishes the following cyclics (see source of ``AgentNetwork.cpp``):
-
-.. table::
-   :class: tight-table
-
-   ====================== ============== ===== =================================================================================================
-   Cyclics                Type           Unit  Description
-   ====================== ============== ===== =================================================================================================
-   XPosition              Double         m     Position x of the reference point (in world coordinates)
-   YPosition              Double         m     Position y of the reference point (in world coordinates)
-   VelocityEgo            Double         m/s   Absolute velocity (length of the velocity vector) at the reference point
-                                               (including spin caused by YawRate)
-   AccelerationEgo        Double         m/s²  Longitudinal acceleration (including angular acceleration) at the reference point.
-                                               Longitudinal refers to the angle of the vehicle regardless of the curvature of the road it is on.
-   YawAngle               Double         rad   Yaw angle w.r.t. x-axis
-   YawRate                Double         rad/s Yaw rate of the agent
-   SteeringAngle          Double         rad   Steering wheel angle
-   TotalDistanceTraveled  Double         m     Total traveled distance of all agents
-   PositionRoute\*        Double         m     Position of the agent's front center in **road's** s coordinate
-                                               (distance to the start of the road)
-   TCoordinate\*          Double         m     Position of the agent's front center in **lane's** t coordinate
-                                               (distance to the middle of the lane respecting intended driving direction)
-   Lane\*                 Integer              Id of the lane
-   Road\*                 String               OpenDRIVE id of the road on which the agent is on (i.e. the front center).
-   SecondaryLanes\*       IntegerVector        List of secondary lanes on a specific road
-   AgentInFront\*         Integer              Id of the next object on the agent's route
-   ====================== ============== ===== =================================================================================================
-
-The longitudinal driver publishes the following cyclics (see source of ``longitudinalDriver.cpp``):
-
-   ========================= ======= ========================================================
-   Cyclics                   Type    Description
-   ========================= ======= ========================================================
-   AccelerationPedalPosition Double  Position of the acceleration pedal position in percent
-   BrakePedalPosition        Double  Position of the brake pedal position in percent
-   Gear                      Integer Current gear position
-   ========================= ======= ========================================================
-
-The component Action_SecondaryDriverTasks publishes the following cyclics (see source of ``secondaryDriverTasks.cpp``):
-
-   ============== ======= ===================================================================
-   Cyclics        Type    Description
-   ============== ======= ===================================================================
-   BrakeLight     Boolean True if BrakeLight is on
-   IndicatorState Enum    State of the turning indicator (left, center/off, right)
-   LightStatus    Enum    State of the headlight (off, low beam, fog light, high beam, flash)
-   ============== ======= ===================================================================
-
-The component AgentUpdater publishes the following cyclics (see source of ``agentUpdaterImpl.cpp``):
-
-   ====================== ====== =================================================
-   Cyclics                Type   Description
-   ====================== ====== =================================================
-   LongitudinalController String Component that is active for longitudinal control
-   LateralController      String Component that is active for lateral control
-   ====================== ====== =================================================
-
-The component Dynamics_RegularDriving publishes the following cyclics (see source of ``regularDriving.cpp``):
-
-   ============= ====== ==== ===========================
-   Cyclics       Type   Unit Description
-   ============= ====== ==== ===========================
-   EngineMoment  Double Nm   Torque of the engine
-   SteeringAngle Double rad  Angle of the steering wheel
-   ============= ====== ==== ===========================
-
-The component Sensor_Driver publishes the following cyclics (see source of ``sensor_driverImpl.cpp``):
-
-   ============ ======= =======================
-   Cyclics      Type    Description
-   ============ ======= =======================
-   AgentInFront Integer Id of the agent infront
-   ============ ======= =======================
-
-The component Sensor_OSI publishes the following cyclics (see source of ``sensorCar2X.cpp``):
-
-   ============== ====== ==============================
-   Cyclics        Type   Description
-   ============== ====== ==============================
-   DetectedAgents String List of ids of detected agents
-   VisibleAgents  String List of ids of visible agents
-   ============== ====== ==============================
-
-.. admonition:: **Wildcards in LoggingGroup definitions**
-
-   | It is possible to use the wildcard character ``*`` in a ``LoggingGroup_<NAME>`` entry.
-   | The wildcard can be used only once per column reference.
-
-**Example**
-
-.. literalinclude:: /../../../repo/sim/contrib/examples/Common/simulationConfig.xml
-   :language: xml
-   :start-at: <Library>Observation_Log</Library>
-   :end-at: </Parameters>
-
-Output Files
-============
-
-.. _observationlog_simout:
-
-SimulationOutput
-~~~~~~~~~~~~~~~~
-
-Every successful run (single experiment) generates a single file, normally called ``simulationOutput.xml`` (see :ref:'observationlog_parameterization').
-The output can contain multiple invocations of the same configuration with different random seeds.
-For each invocation a RunResult is stored, which contains information about the agents and their parameters.
-As well as run specific events and parameters.
-
-.. code-block:: xml
-
-   <SimulationOutput>
-       <RunResults>
-           <RunResult RunId="0">
-               ...
-           </RunResult>
-           <RunResult RunId="1">
-               ...
-           </RunResult>
-       </RunResults>
-   </SimulationOutput>
-
-The RunResult consist out of the following parts:
-
-- :ref:`observationlog_runstatistics`
-- :ref:`observationlog_events`
-- :ref:`observationlog_agents`
-- :ref:`observationlog_cyclics`
-
-.. _observationlog_runstatistics:
-
-RunStatistics
--------------
-
-This section contains the RandomSeed and general statistics of the invocation.
-
-.. table::
-   :class: tight-table
-
-   ======================= ==================================================================
-   Tag                     Description
-   ======================= ==================================================================
-   RandomSeed              Random seed used for this invocation
-   VisibilityDistance      Visibility distance of the world
-   StopReason              Displays the reason why the simulation stopped.
-                           Currently only due to time out.
-   StopTime                Currently not used and set to -1
-   EgoAccident             Flag which shows whether the ego agent was involved in an accident
-   TotalDistanceTraveled   Total traveled distance of all agents
-   EgoDistanceTraveled     Total traveled distance of ego vehicle only
-   ======================= ==================================================================
-
-.. _observationlog_events:
-
-Events
-------
-
-This section contains all events that occurred during the invocation.
-Event can either be triggered by an EventDetector, Manipulator or by certain vehicle components.
-They are used to track special behavior in the simulation.
-
-.. table::
-   :class: tight-table
-
-   ====================== =====================================================================================
-   Attribute              Description
-   ====================== =====================================================================================
-   Time                   Time in ms when the event occurred.
-   Source                 Name of the component which created the event.
-                          ``OpenSCENARIO``, if triggered by an OpenSCENARIO condition.
-   Name                   In case of an OpenSCENARIO event, a path expression Story/Act/Sequence/Maneuver/Event
-                          using the names of the corresponding tags as described in the OpenSCENARIO file.
-                          Otherwise determined by the triggering component.
-   TriggeringEntities     List of entity IDs triggering this event.
-   AffectedEntities       List of entity IDs affected by this event.
-   Parameters             List of generic key/value string pairs.
-   ====================== =====================================================================================
-
-Important Events
-----------------
-
-Some of the Events are logged for other applications to use, for instance the |op| Visualizer.
-These Events can be identified by their Name and are listed below:
-
-.. table::
-   :class: tight-table
-
-   ====================== =====================================================================================
-   Attribute              Description
-   ====================== =====================================================================================
-   TrafficLight           TrafficLight Events are triggered once a TrafficLightController changes the state of it's
-                          Trafficlight bulbs. Parameters include the traffic_light_state and the opendrive_id which
-                          links to a dynamic signal in the scenery configuration. traffic_light_state is going to
-                          be used by the |op| Visualizer. The initial state of the ThreeSignalsTrafficLight is posted too.
-   ====================== =====================================================================================
-
-The change in the active component of longitudinal and/or lateral control is also logged as event with name "ActiveComponentChange".
-
-.. _observationlog_agents:
-
-Agents
-------
-
-This section contains some information on how each agent is configured.
-
-.. table::
-   :class: tight-table
-
-   ====================== ==============================================================
-   Attribute              Description
-   ====================== ==============================================================
-   Id                     Identification number
-   AgentTypeGroupName     The agent category. This can either be Ego, Scenario or Common
-   AgentTypeName          Name of the agent profile
-   VehicleModelType       Name of the vehicle model
-   DriverProfileName      Name of the driver profile
-   ====================== ==============================================================
-
-.. code-block:: xml
-
-   <Agent Id="0"
-          AgentTypeGroupName="Ego"
-          AgentTypeName="MiddleClassCarAgent"
-          VehicleModelType="car_bmw_7"
-          DriverProfileName="Regular">
-
-The VehicleAttributes tag lists basic information of the vehicle parameters.
-
-.. table::
-   :class: tight-table
-
-   ======================= =============================================================================
-   Attribute               Description
-   ======================= =============================================================================
-   Width                   Width of the vehicles bounding box
-   Length                  Length of the vehicles bounding box
-   Height                  Height of the vehicles bounding box
-   LongitudinalPivotOffset Distance between center of the bounding box and reference point of the agent.
-                           Positive distances are closer to the front of the vehicle.
-                           Negative distances are closer to the rear of the vehicle.
-   ======================= =============================================================================
-
-The Components tag lists all instantiated components from the SystemProfile.
-
-.. table::
-   :class: tight-table
-
-   ======================= =============================================================================
-   Attribute               Description
-   ======================= =============================================================================
-   Type                    Type of the component
-   Profile                 Name of the component profile
-   ======================= =============================================================================
-
-The Sensors tag lists all sensors of the agent and their parameters.
-
-.. table::
-   :class: tight-table
-
-   ======================= =====================================================================
-   Attribute               Description
-   ======================= =====================================================================
-   Name                    Name of the component
-   Model                   Type of the sensor
-   MountingPosLongitudinal Relative longitudinal position of the sensor in relation to the agent
-   MountingPosLateral      Relative lateral position of the sensor in relation to the agent
-   MountingPosHeight       Relative height of the sensor in relation to the agent
-   OrientationPitch        Pitch rotation of the sensor in relation to the agent
-   OrientationYaw          Yaw rotation of the sensor in relation to the agent
-   OpeningAngleH           Horizontal opening angle of the sensor
-   OpeningAngleV           Vertical opening angle of the sensor
-   DetectionRange          Range how far the sensor reaches in m
-   ======================= =====================================================================
-
-.. note::
-
-   Calculation of visual obstruction is currently supported only by the Geometric2D sensor.
-   See :ref:`systemconfigblueprint` for configuration.
-
-.. code-block:: xml
-
-   <Sensor Name="Geometric2DFront"
-           Model="Geometric2D"
-           MountingPosLongitudinal="0"
-           MountingPosLateral="0"
-           MountingPosHeight="0.5"
-           OrientationPitch="0"
-           OrientationYaw="0"
-           OpeningAngleH="20"
-           OpeningAngleV="-999"
-           DetectionRange="300" />
-
-.. _observationlog_cyclics:
-
-Cyclics
--------
-
-If the parameter ``LoggingCyclicsToCsv`` is set to ``false``, this section contains all logged parameters of the agents per time step.
-The tag ``header`` defines the layout of all samples.
-Each entry of the header consists of the agent id and the name of the logged value, in the form ``ID:SAMPLE_NAME``.
-A sample contains all information for one specific time step.
-If an agent does not exist at the current time step, the value is ' '.
-
-**Example**
-
-In this example exist two agents with the ids 0 and 1.
-Two time steps were being tracked, one at 0 seconds and one at 100 ms.
-Agent 0 has a constant velocity of 30 m/s and starts at the position X: 100 and Y: 50.
-Agent 1 has a initial velocity of 40 m/s and starts at the position X: 200 and Y: 50.
-
-.. code-block:: xml
-
-   <Cyclics>
-       <Header>00:VelocityEgo, 00:XPosition, 00:YPosition, 00:YawAngle, 01:VelocityEgo, 01:XPosition, 01:YPosition, 01:YawAngle</Header>
-       <Samples>
-           <Sample Time="0">30, 100, 50, 0, 40, 200, 50, 0</Sample>
-           <Sample Time="100">30, 103, 50, 0, 40, 204, 50, 0</Sample>
-       </Samples>
-   </Cyclics>
-
-If the parameter ``LoggingCyclicsToCsv`` is set to ``true``, this section only contains a reference to the corresponding CSV file, e.g.
-
-.. code-block:: xml
-
-   <Cyclics>
-       <CyclicsFile>Cyclics_Run_000.csv</CyclicsFile>
-   </Cyclics>
-
-For each invocation, the file number of the filename is incremented, starting with ``Cyclics_Run_000.csv``.
-
-Cyclics_Run_###
-~~~~~~~~~~~~~~~
-
-This file contains the samples as described in :ref:'observationlog_cyclics', but with the time step as leading column.
-
-**Example**
-
-======== ============== ============ ============ =========== ============== ============ ============ ===========
-Timestep 00:VelocityEgo 00:XPosition 00:YPosition 00:YawAngle 01:VelocityEgo 01:XPosition 01:YPosition 01:YawAngle
-======== ============== ============ ============ =========== ============== ============ ============ ===========
-0        30             100          50           0           40             200          50           0
-100      30             103          50           0           40             204          50           0
-======== ============== ============ ============ =========== ============== ============ ============ ===========
+..
+  *******************************************************************************
+  Copyright (c) 2021 in-tech GmbH
+                2023-2024 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
+  http://www.eclipse.org/legal/epl-2.0.
+
+  SPDX-License-Identifier: EPL-2.0
+  *******************************************************************************
+
+.. _observation_log:
+
+Observation_Log
+###############
+
+This section describes the parameters and outputs of the ``Observation_Log`` observer.
+
+.. _observationlog_parameterization:
+
+Parameterization
+================
+
+Following parameters are supported:
+
+.. table::
+   :class: tight-table
+
+   =================== ============= ==========================================================================
+   Parameter           Type          Description
+   =================== ============= ==========================================================================
+   OutputFilename      String        Name of the output file (normally ``simulationOutput.xml``)
+   LoggingCyclicsToCsv Bool          If ``true``, cyclics are written an additional file (one CSV file per run)
+   LoggingGroup_<NAME> StringVector  Defines which columns belong to the logging group named NAME
+   LoggingGroups       StringVector  Defines active logging groups
+   =================== ============= ==========================================================================
+
+The columns, defined by the ``LoggingGroup_<NAME>`` correspond to cyclic data entries written by the world and other components.
+Cyclics are named data values of a single agent during a specific timestep.
+Simulation components including agent components can write this values into the DataBuffer component using the PublisherInterface.
+The Observation_Log can then read this values and write them into the output.
+
+The world publishes the following cyclics (see source of ``AgentNetwork.cpp``):
+
+.. table::
+   :class: tight-table
+
+   ====================== ============== ===== =================================================================================================
+   Cyclics                Type           Unit  Description
+   ====================== ============== ===== =================================================================================================
+   XPosition              Double         m     Position x of the reference point (in world coordinates)
+   YPosition              Double         m     Position y of the reference point (in world coordinates)
+   VelocityEgo            Double         m/s   Absolute velocity (length of the velocity vector) at the reference point
+                                               (including spin caused by YawRate)
+   AccelerationEgo        Double         m/s²  Longitudinal acceleration (including angular acceleration) at the reference point.
+                                               Longitudinal refers to the angle of the vehicle regardless of the curvature of the road it is on.
+   YawAngle               Double         rad   Yaw angle w.r.t. x-axis
+   YawRate                Double         rad/s Yaw rate of the agent
+   SteeringWheelAngle     Double         rad   Steering wheel angle
+   TotalDistanceTraveled  Double         m     Total traveled distance of all agents
+   PositionRoute\*        Double         m     Position of the agent's front center in **road's** s coordinate
+                                               (distance to the start of the road)
+   TCoordinate\*          Double         m     Position of the agent's front center in **lane's** t coordinate
+                                               (distance to the middle of the lane respecting intended driving direction)
+   Lane\*                 Integer              Id of the lane
+   Road\*                 String               OpenDRIVE id of the road on which the agent is on (i.e. the front center).
+   SecondaryLanes\*       IntegerVector        List of secondary lanes on a specific road
+   AgentInFront\*         Integer              Id of the next object on the agent's route
+   ====================== ============== ===== =================================================================================================
+
+The longitudinal driver publishes the following cyclics (see source of ``longitudinalDriver.cpp``):
+
+   ========================= ======= ========================================================
+   Cyclics                   Type    Description
+   ========================= ======= ========================================================
+   AccelerationPedalPosition Double  Position of the acceleration pedal position in percent
+   BrakePedalPosition        Double  Position of the brake pedal position in percent
+   Gear                      Integer Current gear position
+   ========================= ======= ========================================================
+
+The component Action_SecondaryDriverTasks publishes the following cyclics (see source of ``secondaryDriverTasks.cpp``):
+
+   ============== ======= ===================================================================
+   Cyclics        Type    Description
+   ============== ======= ===================================================================
+   BrakeLight     Boolean True if BrakeLight is on
+   IndicatorState Enum    State of the turning indicator (left, center/off, right)
+   LightStatus    Enum    State of the headlight (off, low beam, fog light, high beam, flash)
+   ============== ======= ===================================================================
+
+The component AgentUpdater publishes the following cyclics (see source of ``agentUpdaterImpl.cpp``):
+
+   ====================== ====== =================================================
+   Cyclics                Type   Description
+   ====================== ====== =================================================
+   LongitudinalController String Component that is active for longitudinal control
+   LateralController      String Component that is active for lateral control
+   ====================== ====== =================================================
+
+The component Dynamics_RegularDriving publishes the following cyclics (see source of ``regularDriving.cpp``):
+
+   ============= ====== ==== ==============================
+   Cyclics       Type   Unit Description
+   ============= ====== ==== ==============================
+   EngineMoment  Double Nm   Torque of the engine
+   SteeringAngle Double rad  Steering angle of front wheels
+   ============= ====== ==== ==============================
+
+The component Sensor_Driver publishes the following cyclics (see source of ``sensor_driverImpl.cpp``):
+
+   ============ ======= =======================
+   Cyclics      Type    Description
+   ============ ======= =======================
+   AgentInFront Integer Id of the agent infront
+   ============ ======= =======================
+
+The component Sensor_OSI publishes the following cyclics (see source of ``sensorCar2X.cpp``):
+
+   ============== ====== ==============================
+   Cyclics        Type   Description
+   ============== ====== ==============================
+   DetectedAgents String List of ids of detected agents
+   VisibleAgents  String List of ids of visible agents
+   ============== ====== ==============================
+
+.. admonition:: **Wildcards in LoggingGroup definitions**
+
+   | It is possible to use the wildcard character ``*`` in a ``LoggingGroup_<NAME>`` entry.
+   | The wildcard can be used only once per column reference.
+
+**Example**
+
+.. literalinclude:: /../../../repo/sim/contrib/examples/Common/simulationConfig.xml
+   :language: xml
+   :start-at: <Library>Observation_Log</Library>
+   :end-at: </Parameters>
+
+Output Files
+============
+
+.. _observationlog_simout:
+
+SimulationOutput
+~~~~~~~~~~~~~~~~
+
+Every successful run (single experiment) generates a single file, normally called ``simulationOutput.xml`` (see :ref:'observationlog_parameterization').
+The output can contain multiple invocations of the same configuration with different random seeds.
+For each invocation a RunResult is stored, which contains information about the random seed, run id, the agents and their parameters.
+As well as run specific events and parameters.
+
+.. code-block:: xml
+
+   <SimulationOutput>
+       <RunResults>
+           <RunResult RunId="0" RandomSeed="5673465">
+               ...
+           </RunResult>
+           <RunResult RunId="1" RandomSeed="2634474">
+               ...
+           </RunResult>
+       </RunResults>
+   </SimulationOutput>
+
+The RunResult consist out of the following parts:
+
+- :ref:`observationlog_events`
+- :ref:`observationlog_agents`
+- :ref:`observationlog_cyclics`
+
+.. _observationlog_events:
+
+Events
+------
+
+This section contains all events that occurred during the invocation.
+Event can either be triggered by an EventDetector, Manipulator or by certain vehicle components.
+They are used to track special behavior in the simulation.
+
+.. table::
+   :class: tight-table
+
+   ====================== =====================================================================================
+   Attribute              Description
+   ====================== =====================================================================================
+   Time                   Time in ms when the event occurred.
+   Source                 Name of the component which created the event.
+                          ``OpenSCENARIO``, if triggered by an OpenSCENARIO condition.
+   Name                   In case of an OpenSCENARIO event, a path expression Story/Act/Sequence/Maneuver/Event
+                          using the names of the corresponding tags as described in the OpenSCENARIO file.
+                          Otherwise determined by the triggering component.
+   TriggeringEntities     List of entity IDs triggering this event.
+   AffectedEntities       List of entity IDs affected by this event.
+   Parameters             List of generic key/value string pairs.
+   ====================== =====================================================================================
+
+Important Events
+----------------
+
+Some of the Events are logged for other applications to use, for instance the |op| Visualizer.
+These Events can be identified by their Name and are listed below:
+
+.. table::
+   :class: tight-table
+
+   ====================== =====================================================================================
+   Attribute              Description
+   ====================== =====================================================================================
+   TrafficLight           TrafficLight Events are triggered once a TrafficLightController changes the state of it's
+                          Trafficlight bulbs. Parameters include the traffic_light_state and the opendrive_id which
+                          links to a dynamic signal in the scenery configuration. traffic_light_state is going to
+                          be used by the |op| Visualizer. The initial state of the ThreeSignalsTrafficLight is posted too.
+   ====================== =====================================================================================
+
+The change in the active component of longitudinal and/or lateral control is also logged as event with name "ActiveComponentChange".
+
+.. _observationlog_agents:
+
+Agents
+------
+
+This section contains some information on how each agent is configured.
+
+.. table::
+   :class: tight-table
+
+   ====================== ==============================================================
+   Attribute              Description
+   ====================== ==============================================================
+   Id                     Identification number
+   AgentTypeGroupName     The agent category. This can either be Ego, Scenario or Common
+   AgentTypeName          Name of the agent profile
+   VehicleModelType       Name of the vehicle model
+   DriverProfileName      Name of the driver profile
+   ====================== ==============================================================
+
+.. code-block:: xml
+
+   <Agent Id="0"
+          AgentTypeGroupName="Ego"
+          AgentTypeName="MiddleClassCarAgent"
+          VehicleModelType="car_bmw_7"
+          DriverProfileName="Regular">
+
+The VehicleAttributes tag lists basic information of the vehicle parameters.
+
+.. table::
+   :class: tight-table
+
+   ======================= =============================================================================
+   Attribute               Description
+   ======================= =============================================================================
+   Width                   Width of the vehicles bounding box
+   Length                  Length of the vehicles bounding box
+   Height                  Height of the vehicles bounding box
+   LongitudinalPivotOffset Distance between center of the bounding box and reference point of the agent.
+                           Positive distances are closer to the front of the vehicle.
+                           Negative distances are closer to the rear of the vehicle.
+   ======================= =============================================================================
+
+The Components tag lists all instantiated components from the SystemProfile.
+
+.. table::
+   :class: tight-table
+
+   ======================= =============================================================================
+   Attribute               Description
+   ======================= =============================================================================
+   Type                    Type of the component
+   Profile                 Name of the component profile
+   ======================= =============================================================================
+
+The Sensors tag lists all sensors of the agent and their parameters.
+
+.. table::
+   :class: tight-table
+
+   ======================= =====================================================================
+   Attribute               Description
+   ======================= =====================================================================
+   Name                    Name of the component
+   Model                   Type of the sensor
+   MountingPosLongitudinal Relative longitudinal position of the sensor in relation to the agent
+   MountingPosLateral      Relative lateral position of the sensor in relation to the agent
+   MountingPosHeight       Relative height of the sensor in relation to the agent
+   OrientationPitch        Pitch rotation of the sensor in relation to the agent
+   OrientationYaw          Yaw rotation of the sensor in relation to the agent
+   OpeningAngleH           Horizontal opening angle of the sensor
+   OpeningAngleV           Vertical opening angle of the sensor
+   DetectionRange          Range how far the sensor reaches in m
+   ======================= =====================================================================
+
+.. note::
+
+   Calculation of visual obstruction is currently supported only by the Geometric2D sensor.
+   See :ref:`systemconfigblueprint` for configuration.
+
+.. code-block:: xml
+
+   <Sensor Name="Geometric2DFront"
+           Model="Geometric2D"
+           MountingPosLongitudinal="0"
+           MountingPosLateral="0"
+           MountingPosHeight="0.5"
+           OrientationPitch="0"
+           OrientationYaw="0"
+           OpeningAngleH="20"
+           OpeningAngleV="-999"
+           DetectionRange="300" />
+
+.. _observationlog_cyclics:
+
+Cyclics
+-------
+
+If the parameter ``LoggingCyclicsToCsv`` is set to ``false``, this section contains all logged parameters of the agents per time step.
+The tag ``header`` defines the layout of all samples.
+Each entry of the header consists of the agent id and the name of the logged value, in the form ``ID:SAMPLE_NAME``.
+A sample contains all information for one specific time step.
+If an agent does not exist at the current time step, the value is ' '.
+
+**Example**
+
+In this example exist two agents with the ids 0 and 1.
+Two time steps were being tracked, one at 0 seconds and one at 100 ms.
+Agent 0 has a constant velocity of 30 m/s and starts at the position X: 100 and Y: 50.
+Agent 1 has a initial velocity of 40 m/s and starts at the position X: 200 and Y: 50.
+
+.. code-block:: xml
+
+   <Cyclics>
+       <Header>00:VelocityEgo, 00:XPosition, 00:YPosition, 00:YawAngle, 01:VelocityEgo, 01:XPosition, 01:YPosition, 01:YawAngle</Header>
+       <Samples>
+           <Sample Time="0">30, 100, 50, 0, 40, 200, 50, 0</Sample>
+           <Sample Time="100">30, 103, 50, 0, 40, 204, 50, 0</Sample>
+       </Samples>
+   </Cyclics>
+
+If the parameter ``LoggingCyclicsToCsv`` is set to ``true``, this section only contains a reference to the corresponding CSV file, e.g.
+
+.. code-block:: xml
+
+   <Cyclics>
+       <CyclicsFile>Cyclics_Run_000.csv</CyclicsFile>
+   </Cyclics>
+
+For each invocation, the file number of the filename is incremented, starting with ``Cyclics_Run_000.csv``.
+
+Cyclics_Run_###
+~~~~~~~~~~~~~~~
+
+This file contains the samples as described in :ref:'observationlog_cyclics', but with the time step as leading column.
+
+**Example**
+
+======== ============== ============ ============ =========== ============== ============ ============ ===========
+Timestep 00:VelocityEgo 00:XPosition 00:YPosition 00:YawAngle 01:VelocityEgo 01:XPosition 01:YPosition 01:YawAngle
+======== ============== ============ ============ =========== ============== ============ ============ ===========
+0        30             100          50           0           40             200          50           0
+100      30             103          50           0           40             204          50           0
+======== ============== ============ ============ =========== ============== ============ ============ ===========
diff --git a/content/html/_sources/user_guide/outputs/observation_repository.rst.txt b/content/html/_sources/user_guide/outputs/observation_repository.rst.txt
index 012593cc5ff9bc8b1dd039516704ca88eec9be3f..30127e6c5d37014ff4b15d81eccb5a2ad3b7faf3 100644
--- a/content/html/_sources/user_guide/outputs/observation_repository.rst.txt
+++ b/content/html/_sources/user_guide/outputs/observation_repository.rst.txt
@@ -1,129 +1,129 @@
-..
-  *******************************************************************************
-  Copyright (c) 2021 in-tech GmbH
-
-  This program and the accompanying materials are made available under the
-  terms of the Eclipse Public License 2.0 which is available at
-  http://www.eclipse.org/legal/epl-2.0.
-
-  SPDX-License-Identifier: EPL-2.0
-  *******************************************************************************
-
-.. _observation_entityrepository:
-
-Observation_EntityRepository
-############################
-
-This observer logs all entities generated for an experiment, split by run and/or persistence.
-In the following, the parametrization and generated outputs of the ``Observation_EntityRepository`` observer are described.
-
-.. _observation_entityrepository_parametrization:
-
-Parametrization
-===============
-
-Following parameters are supported:
-
-.. table::
-   :class: tight-table
-
-   ======================= ============= ===============================================================================================================
-   Parameter               Type          Description
-   ======================= ============= ===============================================================================================================
-   FilenamePrefix          String        (Optional) Prefix for the output files.
-                                         Defaults to ``Repository`` resulting e.g. in ``Repository_Run_00.csv``.
-   WritePersistentEntities String        Defines how persistent, ie cross-run entities such as stationary objects, are logged
-                                         
-                                         Options:
-
-                                         - **Consolidated** (default): Logged together with non persistent entities and hence duplicated for each run.
-                                         - **Separate**: Written once into ``{FilenamePrefix}_Persistent.csv``
-                                         - **Skip**: No output.
-   ======================= ============= ===============================================================================================================
-
-.. warning:: The visualization is searching for files with the default ``Repository`` prefix, so don't change it unless you have a reason to.
-
-**Example**
-
-.. literalinclude:: /../../../repo/sim/contrib/examples/Common/simulationConfig.xml
-   :language: xml
-   :start-at: <Library>Observation_EntityRepository</Library>
-   :end-at: </Parameters>
-
-Output Files
-============
-
-.. _observation_entityrepository_run:
-
-Repository_Run_###.csv
-~~~~~~~~~~~~~~~~~~~~~~
-
-This file contains information about entities, which exist only within the given run.
-In other words, ``Repository_Run_000.csv`` will contain all moving objects, spawned within the first run (zero-based index).
-
-**Example**
-
-.. csv-table::
-   :file: _static/Repository_Run_000.csv
-   :header-rows: 1
-   :delim: ;
-
-.. note:: By convention, moving objects start with id 0.
-
-If ``WritePersistentEntities`` is set to ``Consolidated``, each file will also contain information about stationary objects, described below.
-
-.. _observation_entityrepository_persistent:
-
-Repository_Persistent.csv
-~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. _OpenDRIVE: https://www.asam.net/standards/detail/opendrive/
-
-This file contains information about entities, which exist in every single run.
-This includes mainly both objects (starting at 100000) and road elements (starting at 200000), defined by the :ref:`scenery`.
-
-**Example**
-
-.. table::
-
-   ====== ================ ========= ======= ============ ============= =========== =======
-   id     group            source    version name         secondary id  type        subtype
-   ====== ================ ========= ======= ============ ============= =========== =======
-   100000 StationaryObject OpenDRIVE 1.6     Barrier      barrier_01    obstacle
-   100001 StationaryObject OpenDRIVE 1.6     GuardRail    guardrail_01  railing
-   100002 StationaryObject OpenDRIVE 1.6     GuardRail    guardrail_01  railing
-   100003 StationaryObject OpenDRIVE 1.6     GuardRail    guardrail_01  railing
-   100004 StationaryObject OpenDRIVE 1.6     GuardRail    guardrail_01  railing
-   100005 StationaryObject OpenDRIVE 1.6     GuardRail    guardrail_01  railing
-   100006 StationaryObject OpenDRIVE 1.6     GuardRail    guardrail_02  railing
-   100007 StationaryObject OpenDRIVE 1.6     GuardRail    guardrail_02  railing
-   100008 StationaryObject OpenDRIVE 1.6     GuardRail    guardrail_02  railing
-   100009 StationaryObject OpenDRIVE 1.6     GuardRail    guardrail_02  railing
-   100010 StationaryObject OpenDRIVE 1.6     GuardRail    guardrail_02  railing
-   200000 Others           OpenDRIVE 1.6     LaneRoadMark               Solid
-   200001 Others           OpenDRIVE 1.6     LaneRoadMark               Solid
-   200002 Others           OpenDRIVE 1.6     Lane         -3            Driving
-   200003 Others           OpenDRIVE 1.6     LaneRoadMark               Broken
-   200004 Others           OpenDRIVE 1.6     Lane         -2            Driving
-   200005 Others           OpenDRIVE 1.6     LaneRoadMark               Broken
-   200006 Others           OpenDRIVE 1.6     Lane         -1            Driving
-   ====== ================ ========= ======= ============ ============= =========== =======
-
-Information coming from the source `OpenDRIVE`_ are mapped in the following manner:
-
-.. table::
-
-   ========= ============
-   Attribute Column
-   ========= ============
-   name      name
-   id        secondary id
-   type      type
-   subtype   subtype
-   ========= ============
-
-.. note:: 
-
-   Repeated OpenDRIVE objects are internally split into individual objects.
-   E.g. a single guard rail object in OpenDRIVE, is split into individual openPASS objects having consecutive ids.
-   In the example above, the OpenDRIVE object with (secondary) id ``guardrail_01`` is split into 5 individual openPASS objects with the closed id range from 100001 to 100005.
+..
+  *******************************************************************************
+  Copyright (c) 2021 in-tech GmbH
+
+  This program and the accompanying materials are made available under the
+  terms of the Eclipse Public License 2.0 which is available at
+  http://www.eclipse.org/legal/epl-2.0.
+
+  SPDX-License-Identifier: EPL-2.0
+  *******************************************************************************
+
+.. _observation_entityrepository:
+
+Observation_EntityRepository
+############################
+
+This observer logs all entities generated for an experiment, split by run and/or persistence.
+In the following, the parametrization and generated outputs of the ``Observation_EntityRepository`` observer are described.
+
+.. _observation_entityrepository_parametrization:
+
+Parametrization
+===============
+
+Following parameters are supported:
+
+.. table::
+   :class: tight-table
+
+   ======================= ============= ===============================================================================================================
+   Parameter               Type          Description
+   ======================= ============= ===============================================================================================================
+   FilenamePrefix          String        (Optional) Prefix for the output files.
+                                         Defaults to ``Repository`` resulting e.g. in ``Repository_Run_00.csv``.
+   WritePersistentEntities String        Defines how persistent, ie cross-run entities such as stationary objects, are logged
+                                         
+                                         Options:
+
+                                         - **Consolidated** (default): Logged together with non persistent entities and hence duplicated for each run.
+                                         - **Separate**: Written once into ``{FilenamePrefix}_Persistent.csv``
+                                         - **Skip**: No output.
+   ======================= ============= ===============================================================================================================
+
+.. warning:: The visualization is searching for files with the default ``Repository`` prefix, so don't change it unless you have a reason to.
+
+**Example**
+
+.. literalinclude:: /../../../repo/sim/contrib/examples/Common/simulationConfig.xml
+   :language: xml
+   :start-at: <Library>Observation_EntityRepository</Library>
+   :end-at: </Parameters>
+
+Output Files
+============
+
+.. _observation_entityrepository_run:
+
+Repository_Run_###.csv
+~~~~~~~~~~~~~~~~~~~~~~
+
+This file contains information about entities, which exist only within the given run.
+In other words, ``Repository_Run_000.csv`` will contain all moving objects, spawned within the first run (zero-based index).
+
+**Example**
+
+.. csv-table::
+   :file: _static/Repository_Run_000.csv
+   :header-rows: 1
+   :delim: ;
+
+.. note:: By convention, moving objects start with id 0.
+
+If ``WritePersistentEntities`` is set to ``Consolidated``, each file will also contain information about stationary objects, described below.
+
+.. _observation_entityrepository_persistent:
+
+Repository_Persistent.csv
+~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. _OpenDRIVE: https://www.asam.net/standards/detail/opendrive/
+
+This file contains information about entities, which exist in every single run.
+This includes mainly both objects (starting at 100000) and road elements (starting at 200000), defined by the :ref:`scenery`.
+
+**Example**
+
+.. table::
+
+   ====== ================ ========= ======= ============ ============= =========== =======
+   id     group            source    version name         secondary id  type        subtype
+   ====== ================ ========= ======= ============ ============= =========== =======
+   100000 StationaryObject OpenDRIVE 1.6     Barrier      barrier_01    obstacle
+   100001 StationaryObject OpenDRIVE 1.6     GuardRail    guardrail_01  railing
+   100002 StationaryObject OpenDRIVE 1.6     GuardRail    guardrail_01  railing
+   100003 StationaryObject OpenDRIVE 1.6     GuardRail    guardrail_01  railing
+   100004 StationaryObject OpenDRIVE 1.6     GuardRail    guardrail_01  railing
+   100005 StationaryObject OpenDRIVE 1.6     GuardRail    guardrail_01  railing
+   100006 StationaryObject OpenDRIVE 1.6     GuardRail    guardrail_02  railing
+   100007 StationaryObject OpenDRIVE 1.6     GuardRail    guardrail_02  railing
+   100008 StationaryObject OpenDRIVE 1.6     GuardRail    guardrail_02  railing
+   100009 StationaryObject OpenDRIVE 1.6     GuardRail    guardrail_02  railing
+   100010 StationaryObject OpenDRIVE 1.6     GuardRail    guardrail_02  railing
+   200000 Others           OpenDRIVE 1.6     LaneRoadMark               Solid
+   200001 Others           OpenDRIVE 1.6     LaneRoadMark               Solid
+   200002 Others           OpenDRIVE 1.6     Lane         -3            Driving
+   200003 Others           OpenDRIVE 1.6     LaneRoadMark               Broken
+   200004 Others           OpenDRIVE 1.6     Lane         -2            Driving
+   200005 Others           OpenDRIVE 1.6     LaneRoadMark               Broken
+   200006 Others           OpenDRIVE 1.6     Lane         -1            Driving
+   ====== ================ ========= ======= ============ ============= =========== =======
+
+Information coming from the source `OpenDRIVE`_ are mapped in the following manner:
+
+.. table::
+
+   ========= ============
+   Attribute Column
+   ========= ============
+   name      name
+   id        secondary id
+   type      type
+   subtype   subtype
+   ========= ============
+
+.. note:: 
+
+   Repeated OpenDRIVE objects are internally split into individual objects.
+   E.g. a single guard rail object in OpenDRIVE, is split into individual openPASS objects having consecutive ids.
+   In the example above, the OpenDRIVE object with (secondary) id ``guardrail_01`` is split into 5 individual openPASS objects with the closed id range from 100001 to 100005.
diff --git a/content/html/_sources/user_guide/sim_user_guide/10_overview.rst.txt b/content/html/_sources/user_guide/sim_user_guide/10_overview.rst.txt
index c756a70c9df340fc84117c9e32fc9003a701e4e4..71e905cacb4c78431e78c83e83561ddb784f2041 100644
--- a/content/html/_sources/user_guide/sim_user_guide/10_overview.rst.txt
+++ b/content/html/_sources/user_guide/sim_user_guide/10_overview.rst.txt
@@ -1,27 +1,27 @@
-..
-  *******************************************************************************
-  Copyright (c) 2021 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
-                2021 in-tech GmbH
-
-  This program and the accompanying materials are made available under the
-  terms of the Eclipse Public License 2.0 which is available at
-  http://www.eclipse.org/legal/epl-2.0.
-
-  SPDX-License-Identifier: EPL-2.0
-  *******************************************************************************
-
-
-Overview
-========
-
-|Op| is a tool for executing a traffic based Monte-Carlo simulation and provides capabilities for the following two levels of variation:
-
-#. **Experiment:** Topmost, an experiment defines the domains of possible inputs, which shall be compared, such as *"traffic at high volume"* with *"traffic at low volume"*.
-   In this sense, a parameter variation is done at a very coarse level, resulting in two sets of inputs.
-   Note that this level is covered by the GUI (see :ref:`pcm_simulation_guide`).
-
-#. **Invocation:** When an input-set is available, |op| invokes a defined number of runs, resulting in a probabilistic sampling of the given state under parameterizable conditions.
-   For example, in the aforementioned situation *"traffic at high volume"*, it would generate participants at *"lower speeds"* and *"smaller gaps"*.
-   Thereby parameterizable means, that the user has the freedom to define probabilities defining *"lower speed"* and *"smaller gaps"*.
-   In each invocation, |op| samples from these probabilities to generate a possible traffic situation under the given parameter variation.
-
+..
+  *******************************************************************************
+  Copyright (c) 2021 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+                2021 in-tech GmbH
+
+  This program and the accompanying materials are made available under the
+  terms of the Eclipse Public License 2.0 which is available at
+  http://www.eclipse.org/legal/epl-2.0.
+
+  SPDX-License-Identifier: EPL-2.0
+  *******************************************************************************
+
+
+Overview
+========
+
+|Op| is a tool for executing a traffic based Monte-Carlo simulation and provides capabilities for the following two levels of variation:
+
+#. **Experiment:** Topmost, an experiment defines the domains of possible inputs, which shall be compared, such as *"traffic at high volume"* with *"traffic at low volume"*.
+   In this sense, a parameter variation is done at a very coarse level, resulting in two sets of inputs.
+   Note that this level is covered by the GUI (see :ref:`pcm_simulation_guide`).
+
+#. **Invocation:** When an input-set is available, |op| invokes a defined number of runs, resulting in a probabilistic sampling of the given state under parameterizable conditions.
+   For example, in the aforementioned situation *"traffic at high volume"*, it would generate participants at *"lower speeds"* and *"smaller gaps"*.
+   Thereby parameterizable means, that the user has the freedom to define probabilities defining *"lower speed"* and *"smaller gaps"*.
+   In each invocation, |op| samples from these probabilities to generate a possible traffic situation under the given parameter variation.
+
diff --git a/content/html/_sources/user_guide/sim_user_guide/20_components.rst.txt b/content/html/_sources/user_guide/sim_user_guide/20_components.rst.txt
index 16946d0efa9cbcc904d5ca7800b3340c6afc573d..15907e948f8382c150ec7faca3c62093fd12cd13 100644
--- a/content/html/_sources/user_guide/sim_user_guide/20_components.rst.txt
+++ b/content/html/_sources/user_guide/sim_user_guide/20_components.rst.txt
@@ -1,38 +1,38 @@
-..
-  *******************************************************************************
-  Copyright (c) 2021 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
-                2021 in-tech GmbH
-
-  This program and the accompanying materials are made available under the
-  terms of the Eclipse Public License 2.0 which is available at
-  http://www.eclipse.org/legal/epl-2.0.
-
-  SPDX-License-Identifier: EPL-2.0
-  *******************************************************************************
-
-
-Component View
-==============
-
-|Op| is divided into components, which can be roughly divided into **core components** and **model components**.
-The most interesting core components are the individual **spawners**, which are responsible for populating the world in a realistic fashion.
-Model components are again roughly divided into **drivers** and **vehicle components** and represent how an individual participant is composed.
-
-.. note::
-   
-   There are several additional components acting in the background, making sure things work as they should.
-   As a guideline, components parameterized through the **ProfilesCatalog** are scope of this guide, others not.
-
-   
-.. _simuserguide_components:
-
-Components in Depth
--------------------
-
-In the following, all available components are described.
-
-.. toctree::
-   :glob:
-   :maxdepth: 3
-
-   components/*
+..
+  *******************************************************************************
+  Copyright (c) 2021 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+                2021 in-tech GmbH
+
+  This program and the accompanying materials are made available under the
+  terms of the Eclipse Public License 2.0 which is available at
+  http://www.eclipse.org/legal/epl-2.0.
+
+  SPDX-License-Identifier: EPL-2.0
+  *******************************************************************************
+
+
+Component View
+==============
+
+|Op| is divided into components, which can be roughly divided into **core components** and **model components**.
+The most interesting core components are the individual **spawners**, which are responsible for populating the world in a realistic fashion.
+Model components are again roughly divided into **drivers** and **vehicle components** and represent how an individual participant is composed.
+
+.. note::
+   
+   There are several additional components acting in the background, making sure things work as they should.
+   As a guideline, components parameterized through the **ProfilesCatalog** are scope of this guide, others not.
+
+   
+.. _simuserguide_components:
+
+Components in Depth
+-------------------
+
+In the following, all available components are described.
+
+.. toctree::
+   :glob:
+   :maxdepth: 3
+
+   components/*
diff --git a/content/html/_sources/user_guide/sim_user_guide/components/algorithm_lateral.rst.txt b/content/html/_sources/user_guide/sim_user_guide/components/algorithm_lateral.rst.txt
index a4bff1b1b333027b09be115d32e43b973d0c5f21..6af0671168b8671a79f12dedc6b6b510bea7b1a9 100644
--- a/content/html/_sources/user_guide/sim_user_guide/components/algorithm_lateral.rst.txt
+++ b/content/html/_sources/user_guide/sim_user_guide/components/algorithm_lateral.rst.txt
@@ -1,299 +1,299 @@
-..
-  *******************************************************************************
-  Copyright (c) 2021-2024 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
-  http://www.eclipse.org/legal/epl-2.0.
-
-  SPDX-License-Identifier: EPL-2.0
-  *******************************************************************************
-
-.. _algorithm_lateral:
-
-Algorithm_Lateral
-#################
-
-
-This module is responsible for the control of the vehicle's lateral behavior.
-It converts the lateral input of the driver module into a steering wheel angle.
-The steering wheel angle can then be forwarded to a vehicle dynamics
-module like :ref:`dynamics_regular_driving`.
-
-.. _algorithm_lateral_detailed_description:
-
-Detailed description of the module's features
-=============================================
-
-Algorithm_Lateral receives its command variables from a driver behavior model (or an ADAS) 
-and generates the steering wheel angle of the driver to match these command
-variables. The steering wheel angle parts of all controllers are summed up to
-the overall steering wheel angle of the driver, which is then sent to a vehicle
-dynamics module like :ref:`dynamics_regular_driving`.
-The control loop is closed by the movement of the vehicle in the world, which is
-again monitored by the driver behavior model. This overall control loop of
-vehicle lateral guidance involving Algorithm_Lateral is illustrated in the following image with the following variables:
-
-* :math:`\kappa_{act}` is the actual curvature of the vehicle
-
-Four variables containing the information needed for the open-loop controller:
-
-
-* :math:`\kappa_{road}` is the curvature at the front center (i.e. center of the front of the bounding box) of the ego vehicle. It uses the vectors:
-* :math:`\kappa_{segment,near}` containing the curvatures of several segments starting at the front center up to 2m in front of the vehicles leading edge 
-* :math:`\kappa_{segment,far}` containing the curvatures of several segments starting 2m in front of the vehicle and ending 8m in front of it
-* :math:`\kappa_{manoeuvre}` containing the curvature of the planned trajectory relative to the road
-
-Other variables:
-
-
-* :math:`w_{act}` is the actual lateral position of the vehicle in the road coordinate system
-* :math:`\Delta` w is the lateral deviation
-* :math:`\phi_{act}` is the actual heading angle of the vehicle in the road coordinate system
-* :math:`\Delta`:math:`\phi` is the heading error
-* :math:`\delta_{h,\kappa}` is the steering wheel angle from the curvature controller
-* :math:`\delta_{h,w}` is the steering wheel angle from the lateral deviation controller
-* :math:`\delta_{h,\phi}` is the steering wheel angle from the heading error controller
-* :math:`\delta_h` is the overall steering wheel angle of the driver
-
-.. _image_LateralControllerSignalFlow:
-
-.. figure:: _static/images/LateralControllerSignalFlow.png
-   :alt: Components and signal flow of the lateral guidance control loop
-
-   Components and signal flow of the lateral guidance control loop
-
-The following subsections describe the theoretical background and the transfer
-functions of the different controllers.
-
-
-.. _algorithm_lateral_detailed_description_lateral_dynamics:
-
-Lateral dynamics
-----------------
-
-The lateral dynamics model is based on the Ackermann model which is a simple geometric 
-expression for the relationship between the steering angle at the front wheels and 
-the curvature the vehicle produces from it. It has several simplifications, where 
-the most notable is the reduction of the wheels of one axle to a single surrogate 
-wheel. This is suitable under the consideration that the steering angles of the front
-wheels are rather small and do not differ much between the left and the right
-front wheel. The first simplification may not hold up in city traffic with high
-curvatures. Therefore the closed-loop-controller must have increased gains in
-these situations. :math:`\kappa_{road}`, :math:`\kappa_{segment,near}` and :math:`\kappa_{segment,far}` are smoothed and weighted before adding :math:`\kappa_{manoeuvre}` to form :math:`\kappa_{target}`.
-
-The Ackermann model is illustrated in the following image with the following variables:
-
-
-* :math:`l` is the wheelbase of the vehicle
-* :math:`\delta` is the surrogate steering angle at the front wheels towards the vehicle's longitudinal axis
-* :math:`M` is the instantaneous centre of rotation, around which the vehicle is driving on a curve
-* :math:`r` is the radius of the curve, which the vehicle is driving around M
-* :math:`\kappa` is the curvature of this curve, which is simply the inverse of r
-
-.. _image_AckermannModel:
-
-.. figure:: _static/images/AckermannModel.svg
-   :alt: Illustration of the Ackermann model
-
-   Illustration of the Ackermann model
-
-In accordance to the current definitions of :ref:`coordinate systems <coordinatesystems>`,
-the coordinate reference point of the vehicle is considered to be the rear axle center.
-Therefore, the curvature of the vehicle is also expressed towards the rear axle center
-and not to the centre of gravity, which is why the centre of gravity is not
-depicted in illustration of the Ackermann model.
-
-The equation derived from the Ackermann model states the following
-relation between the surrogate steering angle :math:`\delta` of the front wheels and
-the curvature :math:`\kappa` described by the rear axle around the instantaneous
-centre of rotation :math:`M`:
-
-.. math::
-   \kappa = \frac{\tan(\delta)}{l}
-
-
-This equation can be inverted to express a required steering angle :math:`\delta` to
-adjust a specific curvature :math:`\kappa`:
-
-.. math::
-   \delta = \arctan(\kappa \cdot l)
-
-To convert this into the required steering wheel angle :math:`\delta_{h,\kappa}`,
-the ratio :math:`i_s` of the steering gear must be applied:
-
-.. math::
-   \delta_{h, \kappa} = i_{s} \cdot \arctan(\kappa \cdot l)
-
-
-The vehicle parameters :math:`l` and :math:`i_s` are received from the module :ref:`parameters_vehicle`.
-
-.. _algorithm_lateral_detailed_description_control_heading:
-
-Heading controller
-------------------
-
-The heading controller is designed as a simple proportional controller. 
-The general transfer function of a P-controller with the input signal heading 
-error :math:`\Delta\phi` and the output signal steering wheel angle :math:`\delta_{h,\phi}` 
-is described as:
-
-.. math::
-   \delta_{h, \phi} = P_{\phi} \cdot \Delta\phi
-
-
-The controller amplification :math:`P_\phi` is therefore described as the
-ratio between input signal and output signal:
-
-.. math::
-   P_{\phi} = \frac{\delta_{h,\phi}}{\Delta\phi}
-
-The controller amplification :math:`P_\phi` therefore expresses, how many
-degrees of steering wheel angle are generated by one degree heading error.
-The design of this controller amplification :math:`P_\phi` uses some
-considerations about plane driving kinematics of Kramer. First of all,
-the heading error :math:`\Delta\phi` is derived from the current curvature :math:`\kappa`
-of the vehicle over the change of distance :math:`ds` along the road's longitudinal
-coordinate :math:`s` in one time step:
-
-.. math::
-   \Delta\phi = \arctan(ds \cdot \kappa)
-
-Under the consideration of small angular changes in one time step, this equation
-can be linearized to:
-
-.. math::
-   \Delta\phi = ds \cdot \kappa
-
-The curvature :math:`\kappa` of the vehicle can be substituted by an Ackermann model
-(see :ref:`here<algorithm_lateral_detailed_description_lateral_dynamics>` for further information about that):
-
-
-.. math::
-   \Delta\phi = \frac{ds \cdot \tan(\delta)}{l}
-
-This equation can also be linearized under the consideration of small angles:
-
-.. math::
-   \Delta\phi = \frac{ds \cdot \delta} {l}
-
-The connection to the steering wheel angle :math:`\delta_{h,\phi}` can be
-applied by the ratio :math:`i_s` of the vehicle's steering gear:
-
-.. math::
-   \Delta\phi = \frac{ds \cdot \delta_{h,\phi}}{i_s \cdot l}
-
-This equation can be transformed to a similar form as the controller's transfer
-function above:
-
-.. math::
-   \frac{i_s \cdot l}{ds} = \frac{\delta_{h,\phi}}{\Delta\phi}
-
-The usage of the incremental difference :math:`ds` in this equation is problematic,
-because the controller amplification becomes dependent on the simulation step
-size. Because of this, the absolute change :math:`ds` of the longitudinal road
-coordinate :math:`s` is substituted by the vehicle's absolute velocity :math:`v` as a
-simplification, which is the change of travelled distance with respect to time:
-
-.. math::
-   \frac{i_s \cdot l}{v} = \frac{\delta_{h,\phi}}{\Delta\phi}
-
-To tune the absolute influence of the heading controller in the overall control
-loop, an additional gain factor :math:`\text{Gain}_{\Delta\phi}` is applied to this
-transfer function, which allows a situation dependent amplification of the
-heading controller by the driver behavior model:
-
-.. math::
-   \delta_{h,\phi} = \frac{\text{Gain}_{\Delta\phi} \cdot i_s \cdot l \cdot \Delta\phi}{v}
-
-The vehicle parameters :math:`l` and :math:`i_s` are received from the module :ref:`parameters_vehicle`, the vehicle's
-absolute velocity :math:`v` is received from the module :ref:`sensor_driver`,
-and the additional controller gain :math:`\text{Gain}_{\Delta\phi}` is received from
-a driver behavior model.
-
-
-.. _algorithm_lateral_detailed_description_control_deviation:
-
-Lateral deviation controller
-----------------------------
-
-The lateral deviation controller is designed as a simple proportional controller. The general transfer
-function of a P-controller with the input signal lateral deviation :math:`\Delta` w and
-the output signal steering wheel angle :math:`\delta_{h,w}` is described as:
-
-.. math::
-   \delta_{h,w} = P_w \cdot \Delta w
-
-The controller amplification :math:`P_w` is therefore described as the ratio
-between input signal and output signal:
-
-.. math::
-   P_w = \frac{\delta_{h,w}}{\Delta w}
-
-The controller amplification :math:`P_w` therefore expresses, how many degrees
-of steering wheel angle are generated by one metre of lateral deviation. The
-design of this controller amplification :math:`P_w` uses some considerations
-about plane driving kinematics of Kramer. First of all, the lateral deviation
-:math:`\Delta` w is derived from the current heading error :math:`\Delta\phi` over the change
-of distance :math:`ds` along the road's longitudinal coordinate :math:`s` in one time step:
-
-.. math::
-   \Delta w = ds \cdot \sin(\Delta\phi)
-
-The current heading error :math:`\Delta\phi` can further be substituted by an
-expression of :math:`ds` and the current curvature :math:`\kappa` of the vehicle
-(see :ref:`algorithm_lateral_detailed_description_control_heading` for that matter):
-
-.. math::
-   \Delta w = ds \cdot \sin(\arctan(ds \cdot \kappa))
-
-Under the consideration of small angular changes in one time step, this equation
-can be linearized to:
-
-.. math::
-   \Delta w = ds^2 \kappa
-
-The curvature :math:`\kappa` of the vehicle can be substituted by an Ackermann model
-(see :ref:`here<algorithm_lateral_detailed_description_lateral_dynamics>` for further information about that):
-
-.. math::
-   \Delta w = \frac{ds^2 \tan(\delta)}{l}
-
-This equation can also be linearized under the consideration of small angles:
-
-.. math::
-   \Delta w = \frac{ds^2 \cdot \delta}{l}
-
-The connection to the steering wheel angle :math:`\delta_{h,w}` can be applied
-by the ratio :math:`i_s` of the vehicle's steering gear:
-
-.. math::
-   \Delta w = \frac{ds^2 \cdot \delta_{h,w}}{i_s \cdot l}
-
-This equation can be transformed to a similar form as the controller's transfer
-function above:
-
-.. math:.
-   \frac{i_s \cdot l}{ds^2} = \frac{\delta_{h,w}}{\Delta w}
-
-The usage of the incremental difference :math:`ds` in this equation is problematic,
-because the controller amplification becomes dependent on the simulation step
-size. Because of this, the absolute change :math:`ds` of the longitudinal road
-coordinate :math:`s` is substituted by the vehicle's absolute velocity :math:`v` as a
-simplification, which is the change of travelled distance with respect to time:
-
-.. math:.
-   \frac{i_s \cdot l}{v^2} = \frac{\delta_{h,w}}{\Delta w}
-
-To tune the absolute influence of the lateral deviation controller in the
-overall control loop, an additional gain factor :math:`\text{Gain}_{\Delta w}` is
-applied to this transfer function, which allows a situation dependent
-amplification of the lateral deviation controller by the driver behavior model:
-
-.. math::
-   \delta_{h,w} = \frac{\text{Gain}_{\Delta w} \cdot i_s \cdot l \cdot \Delta w}{v^2}
-
-The vehicle parameters :math:`l` and :math:`i_s` are received from the module :ref:`parameters_vehicle`, the vehicle's
-absolute velocity :math:`v` is received from the module :ref:`sensor_driver`,
-and the additional controller gain :math:`\text{Gain}_{\Delta w}` is received from a
-driver behavior model.
+..
+  *******************************************************************************
+  Copyright (c) 2021-2024 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
+  http://www.eclipse.org/legal/epl-2.0.
+
+  SPDX-License-Identifier: EPL-2.0
+  *******************************************************************************
+
+.. _algorithm_lateral:
+
+Algorithm_Lateral
+#################
+
+
+This module is responsible for the control of the vehicle's lateral behavior.
+It converts the lateral input of the driver module into a steering wheel angle.
+The steering wheel angle can then be forwarded to a vehicle dynamics
+module like :ref:`dynamics_regular_driving`.
+
+.. _algorithm_lateral_detailed_description:
+
+Detailed description of the module's features
+=============================================
+
+Algorithm_Lateral receives its command variables from a driver behavior model (or an ADAS) 
+and generates the steering wheel angle of the driver to match these command
+variables. The steering wheel angle parts of all controllers are summed up to
+the overall steering wheel angle of the driver, which is then sent to a vehicle
+dynamics module like :ref:`dynamics_regular_driving`.
+The control loop is closed by the movement of the vehicle in the world, which is
+again monitored by the driver behavior model. This overall control loop of
+vehicle lateral guidance involving Algorithm_Lateral is illustrated in the following image with the following variables:
+
+* :math:`\kappa_{act}` is the actual curvature of the vehicle
+
+Four variables containing the information needed for the open-loop controller:
+
+
+* :math:`\kappa_{road}` is the curvature at the front center (i.e. center of the front of the bounding box) of the ego vehicle. It uses the vectors:
+* :math:`\kappa_{segment,near}` containing the curvatures of several segments starting at the front center up to 2m in front of the vehicles leading edge 
+* :math:`\kappa_{segment,far}` containing the curvatures of several segments starting 2m in front of the vehicle and ending 8m in front of it
+* :math:`\kappa_{manoeuvre}` containing the curvature of the planned trajectory relative to the road
+
+Other variables:
+
+
+* :math:`w_{act}` is the actual lateral position of the vehicle in the road coordinate system
+* :math:`\Delta` w is the lateral deviation
+* :math:`\phi_{act}` is the actual heading angle of the vehicle in the road coordinate system
+* :math:`\Delta`:math:`\phi` is the heading error
+* :math:`\delta_{h,\kappa}` is the steering wheel angle from the curvature controller
+* :math:`\delta_{h,w}` is the steering wheel angle from the lateral deviation controller
+* :math:`\delta_{h,\phi}` is the steering wheel angle from the heading error controller
+* :math:`\delta_h` is the overall steering wheel angle of the driver
+
+.. _image_LateralControllerSignalFlow:
+
+.. figure:: _static/images/LateralControllerSignalFlow.png
+   :alt: Components and signal flow of the lateral guidance control loop
+
+   Components and signal flow of the lateral guidance control loop
+
+The following subsections describe the theoretical background and the transfer
+functions of the different controllers.
+
+
+.. _algorithm_lateral_detailed_description_lateral_dynamics:
+
+Lateral dynamics
+----------------
+
+The lateral dynamics model is based on the Ackermann model which is a simple geometric 
+expression for the relationship between the steering angle at the front wheels and 
+the curvature the vehicle produces from it. It has several simplifications, where 
+the most notable is the reduction of the wheels of one axle to a single surrogate 
+wheel. This is suitable under the consideration that the steering angles of the front
+wheels are rather small and do not differ much between the left and the right
+front wheel. The first simplification may not hold up in city traffic with high
+curvatures. Therefore the closed-loop-controller must have increased gains in
+these situations. :math:`\kappa_{road}`, :math:`\kappa_{segment,near}` and :math:`\kappa_{segment,far}` are smoothed and weighted before adding :math:`\kappa_{manoeuvre}` to form :math:`\kappa_{target}`.
+
+The Ackermann model is illustrated in the following image with the following variables:
+
+
+* :math:`l` is the wheelbase of the vehicle
+* :math:`\delta` is the surrogate steering angle at the front wheels towards the vehicle's longitudinal axis
+* :math:`M` is the instantaneous centre of rotation, around which the vehicle is driving on a curve
+* :math:`r` is the radius of the curve, which the vehicle is driving around M
+* :math:`\kappa` is the curvature of this curve, which is simply the inverse of r
+
+.. _image_AckermannModel:
+
+.. figure:: _static/images/AckermannModel.svg
+   :alt: Illustration of the Ackermann model
+
+   Illustration of the Ackermann model
+
+In accordance to the current definitions of :ref:`coordinate systems <coordinatesystems>`,
+the coordinate reference point of the vehicle is considered to be the rear axle center.
+Therefore, the curvature of the vehicle is also expressed towards the rear axle center
+and not to the centre of gravity, which is why the centre of gravity is not
+depicted in illustration of the Ackermann model.
+
+The equation derived from the Ackermann model states the following
+relation between the surrogate steering angle :math:`\delta` of the front wheels and
+the curvature :math:`\kappa` described by the rear axle around the instantaneous
+centre of rotation :math:`M`:
+
+.. math::
+   \kappa = \frac{\tan(\delta)}{l}
+
+
+This equation can be inverted to express a required steering angle :math:`\delta` to
+adjust a specific curvature :math:`\kappa`:
+
+.. math::
+   \delta = \arctan(\kappa \cdot l)
+
+To convert this into the required steering wheel angle :math:`\delta_{h,\kappa}`,
+the ratio :math:`i_s` of the steering gear must be applied:
+
+.. math::
+   \delta_{h, \kappa} = i_{s} \cdot \arctan(\kappa \cdot l)
+
+
+The vehicle parameters :math:`l` and :math:`i_s` are received from the module :ref:`parameters_vehicle`.
+
+.. _algorithm_lateral_detailed_description_control_heading:
+
+Heading controller
+------------------
+
+The heading controller is designed as a simple proportional controller. 
+The general transfer function of a P-controller with the input signal heading 
+error :math:`\Delta\phi` and the output signal steering wheel angle :math:`\delta_{h,\phi}` 
+is described as:
+
+.. math::
+   \delta_{h, \phi} = P_{\phi} \cdot \Delta\phi
+
+
+The controller amplification :math:`P_\phi` is therefore described as the
+ratio between input signal and output signal:
+
+.. math::
+   P_{\phi} = \frac{\delta_{h,\phi}}{\Delta\phi}
+
+The controller amplification :math:`P_\phi` therefore expresses, how many
+degrees of steering wheel angle are generated by one degree heading error.
+The design of this controller amplification :math:`P_\phi` uses some
+considerations about plane driving kinematics of Kramer. First of all,
+the heading error :math:`\Delta\phi` is derived from the current curvature :math:`\kappa`
+of the vehicle over the change of distance :math:`ds` along the road's longitudinal
+coordinate :math:`s` in one time step:
+
+.. math::
+   \Delta\phi = \arctan(ds \cdot \kappa)
+
+Under the consideration of small angular changes in one time step, this equation
+can be linearized to:
+
+.. math::
+   \Delta\phi = ds \cdot \kappa
+
+The curvature :math:`\kappa` of the vehicle can be substituted by an Ackermann model
+(see :ref:`here<algorithm_lateral_detailed_description_lateral_dynamics>` for further information about that):
+
+
+.. math::
+   \Delta\phi = \frac{ds \cdot \tan(\delta)}{l}
+
+This equation can also be linearized under the consideration of small angles:
+
+.. math::
+   \Delta\phi = \frac{ds \cdot \delta} {l}
+
+The connection to the steering wheel angle :math:`\delta_{h,\phi}` can be
+applied by the ratio :math:`i_s` of the vehicle's steering gear:
+
+.. math::
+   \Delta\phi = \frac{ds \cdot \delta_{h,\phi}}{i_s \cdot l}
+
+This equation can be transformed to a similar form as the controller's transfer
+function above:
+
+.. math::
+   \frac{i_s \cdot l}{ds} = \frac{\delta_{h,\phi}}{\Delta\phi}
+
+The usage of the incremental difference :math:`ds` in this equation is problematic,
+because the controller amplification becomes dependent on the simulation step
+size. Because of this, the absolute change :math:`ds` of the longitudinal road
+coordinate :math:`s` is substituted by the vehicle's absolute velocity :math:`v` as a
+simplification, which is the change of travelled distance with respect to time:
+
+.. math::
+   \frac{i_s \cdot l}{v} = \frac{\delta_{h,\phi}}{\Delta\phi}
+
+To tune the absolute influence of the heading controller in the overall control
+loop, an additional gain factor :math:`\text{Gain}_{\Delta\phi}` is applied to this
+transfer function, which allows a situation dependent amplification of the
+heading controller by the driver behavior model:
+
+.. math::
+   \delta_{h,\phi} = \frac{\text{Gain}_{\Delta\phi} \cdot i_s \cdot l \cdot \Delta\phi}{v}
+
+The vehicle parameters :math:`l` and :math:`i_s` are received from the module :ref:`parameters_vehicle`, the vehicle's
+absolute velocity :math:`v` is received from the module :ref:`sensor_driver`,
+and the additional controller gain :math:`\text{Gain}_{\Delta\phi}` is received from
+a driver behavior model.
+
+
+.. _algorithm_lateral_detailed_description_control_deviation:
+
+Lateral deviation controller
+----------------------------
+
+The lateral deviation controller is designed as a simple proportional controller. The general transfer
+function of a P-controller with the input signal lateral deviation :math:`\Delta` w and
+the output signal steering wheel angle :math:`\delta_{h,w}` is described as:
+
+.. math::
+   \delta_{h,w} = P_w \cdot \Delta w
+
+The controller amplification :math:`P_w` is therefore described as the ratio
+between input signal and output signal:
+
+.. math::
+   P_w = \frac{\delta_{h,w}}{\Delta w}
+
+The controller amplification :math:`P_w` therefore expresses, how many degrees
+of steering wheel angle are generated by one metre of lateral deviation. The
+design of this controller amplification :math:`P_w` uses some considerations
+about plane driving kinematics of Kramer. First of all, the lateral deviation
+:math:`\Delta` w is derived from the current heading error :math:`\Delta\phi` over the change
+of distance :math:`ds` along the road's longitudinal coordinate :math:`s` in one time step:
+
+.. math::
+   \Delta w = ds \cdot \sin(\Delta\phi)
+
+The current heading error :math:`\Delta\phi` can further be substituted by an
+expression of :math:`ds` and the current curvature :math:`\kappa` of the vehicle
+(see :ref:`algorithm_lateral_detailed_description_control_heading` for that matter):
+
+.. math::
+   \Delta w = ds \cdot \sin(\arctan(ds \cdot \kappa))
+
+Under the consideration of small angular changes in one time step, this equation
+can be linearized to:
+
+.. math::
+   \Delta w = ds^2 \kappa
+
+The curvature :math:`\kappa` of the vehicle can be substituted by an Ackermann model
+(see :ref:`here<algorithm_lateral_detailed_description_lateral_dynamics>` for further information about that):
+
+.. math::
+   \Delta w = \frac{ds^2 \tan(\delta)}{l}
+
+This equation can also be linearized under the consideration of small angles:
+
+.. math::
+   \Delta w = \frac{ds^2 \cdot \delta}{l}
+
+The connection to the steering wheel angle :math:`\delta_{h,w}` can be applied
+by the ratio :math:`i_s` of the vehicle's steering gear:
+
+.. math::
+   \Delta w = \frac{ds^2 \cdot \delta_{h,w}}{i_s \cdot l}
+
+This equation can be transformed to a similar form as the controller's transfer
+function above:
+
+.. math:.
+   \frac{i_s \cdot l}{ds^2} = \frac{\delta_{h,w}}{\Delta w}
+
+The usage of the incremental difference :math:`ds` in this equation is problematic,
+because the controller amplification becomes dependent on the simulation step
+size. Because of this, the absolute change :math:`ds` of the longitudinal road
+coordinate :math:`s` is substituted by the vehicle's absolute velocity :math:`v` as a
+simplification, which is the change of travelled distance with respect to time:
+
+.. math:.
+   \frac{i_s \cdot l}{v^2} = \frac{\delta_{h,w}}{\Delta w}
+
+To tune the absolute influence of the lateral deviation controller in the
+overall control loop, an additional gain factor :math:`\text{Gain}_{\Delta w}` is
+applied to this transfer function, which allows a situation dependent
+amplification of the lateral deviation controller by the driver behavior model:
+
+.. math::
+   \delta_{h,w} = \frac{\text{Gain}_{\Delta w} \cdot i_s \cdot l \cdot \Delta w}{v^2}
+
+The vehicle parameters :math:`l` and :math:`i_s` are received from the module :ref:`parameters_vehicle`, the vehicle's
+absolute velocity :math:`v` is received from the module :ref:`sensor_driver`,
+and the additional controller gain :math:`\text{Gain}_{\Delta w}` is received from a
+driver behavior model.
diff --git a/content/html/_sources/user_guide/sim_user_guide/components/algorithm_longitudinal.rst.txt b/content/html/_sources/user_guide/sim_user_guide/components/algorithm_longitudinal.rst.txt
index 0b0b99a912b9329f3be9b222b0cdd6c4a2c41be9..cb5801393ae76f6fd722f7e6d4142f144b47d740 100644
--- a/content/html/_sources/user_guide/sim_user_guide/components/algorithm_longitudinal.rst.txt
+++ b/content/html/_sources/user_guide/sim_user_guide/components/algorithm_longitudinal.rst.txt
@@ -1,219 +1,219 @@
-..
-  *******************************************************************************
-  Copyright (c) 2021-2024 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
-  http://www.eclipse.org/legal/epl-2.0.
-
-  SPDX-License-Identifier: EPL-2.0
-  *******************************************************************************
-
-.. _algorithm_longitudinal:
-
-Algorithm_Longitudinal
-######################
-
-
-This module is responsible for the control of the vehicle's longitudinal
-behavior. It receives the command variables from a driver behavior model and generates 
-the accelerator and brake pedal position and the current gear of the driver to match
-these command variables. The pedal positions and the gear can then be forwarded
-to a vehicle dynamics module like :ref:`dynamics_regular_driving`.
-The actuation of the clutch pedal is currently not simulated by the modul
-
-.. _algorithm_longitudinal_detailed_description:
-
-Detailed description of the module's features
-=============================================
-
-.. _algorithm_longitudinal_detailed_description_inverted_dynamics_model_:
-
-Inverted longitudinal dynamics model
-------------------------------------
-
-The inverted longitudinal dynamics model produces :math:`act_{olc,stat}`
-by utilizing an inverted powertrain and brake system model. The powertrain model 
-and all of its parameters and state variables are illustrated in the following image. 
-The brake model is not worth illustrating, as it directly applies on the required acceleration 
-:math:`a_{set}` of the vehicle.
-
-.. _image_PowertrainModel1_:
-
-.. figure:: _static/images/PowertrainModel.svg
-   :alt: Illustration of the powertrain model and its parameters and state variables
-
-   Illustration of the powertrain model and its parameters and state variables
-
-
-The core element of all calculations in this model is speed and acceleration.
-The speed :math:`n_{wheel}` at the wheels is constraint by the current velocity
-:math:`v_{act}` of the vehicle and the static wheel radius :math:`r_{stat}`:
-
-.. math::
-   n_{wheel} = \frac{v_{act}}{r_{stat}} \cdot \frac{60}{2 \cdot \pi}
-   
-
-where :math:`n_{wheel}` is specified in :math:`rpm` (revolutions per minute) and :math:`v_{act}` is
-defined in :math:`m/s`, which requires the conversion term at the end of the equation.
-As the equation also illustrates, only a simple rolling relation defines the
-model and there is no simulation of tire-road-friction and tire slip involved.
-
-The speed :math:`n_{eng}` of the engine is constraint by the speed
-:math:`n_{wheel}` of the wheels, the ratio :math:`i_{a}` of the axle, and the
-current ratio :math:`i_{g}` of the gearbox, depending of the current gear:
-
-.. math::
-   n_{eng} = n_{wheel} \cdot i_{a} \cdot i_{g}
-   
-
-The required acceleration :math:`a_{set}` determines the torque :math:`M_{wheel}`
-at the wheels, as the overall mass :math:`m` of the vehicle has to be accelerated by
-this torque:
-
-.. math::
-   M_{wheel} = m \cdot a_{set} \cdot r_{stat}
-
-
-As the equation illustrates, no driving resistances other than the inertia of
-the vehicle are simulated by this model. The required torque :math:`M_{wheel}`
-at the wheels must be generated by the engine, considering the ratios of the
-powertrain:
-
-.. math::
-   M_{eng} = \frac{M_{wheel}}{i_{a} \cdot i_{g}}
-
-
-As the current speed :math:`n_{eng}` of the engine, the required acceleration
-:math:`a_{set}` of the vehicle, and the required torque :math:`M_{eng}` of the
-engine are known or defined by the above equations, this knowledge can be used
-to determine the estimated positions of the accelerator and the brake pedal or
-to calculate the optimal gear for the required acceleration :math:`a_{set}`,
-if a positive acceleration is needed. For the accelerator pedal and optimal gear
-calculation, there is still some missing knowledge about the engine itself.
-The relationship between the current engine speed :math:`n_{eng}` and the
-possible engine torque :math:`M_{eng}` is determined by a simple engine map,
-which is illustrated in the following image:
-
-.. _image_EngineMap_:
-
-.. figure:: _static/images/EngineMap.svg
-   :alt: Simplified engine map used for the inverted powertrain model
-
-   Simplified engine map used for the inverted powertrain model
-
-
-The engine map is defined by two characteristic curves:
-
-
-* :math:`M_{eng,max}` defines the maximum torque, which can be produced by the
-  engine at a specific engine speed :math:`n_{eng}`. This is directly connected
-  with the maximum possible actuation of the accelerator pedal.
-* :math:`M_{eng,drag}` defines the drag torque, which is produced by the engine
-  at a specific engine speed :math:`n_{eng}`, if the accelerator pedal is not
-  actuated at all.
-
-The two characteristic curves are only defined between the minimum and maximum
-possible speed of the engine. As the two characteristic curves are directly
-related to a full actuation (:math:`act_{olc,stat} = 1`) and no actuation
-(:math:`act_{olc,stat} = 0`) of the accelerator pedal, the estimated pedal
-position for the accelerator pedal :math:`act_{olc,stat}`, which produces the
-currently required engine torque :math:`M_{eng}`, can be calculated by linear
-interpolation between these two characteristic curves at the current engine
-speed :math:`n_{eng}`.
-
-Analogous for the brake pedal position:
-
-
-* The maximum actuation of the brake pedal (:math:`act_{olc,stat} = -1`) is
-  directly connected with the maximum possible deceleration of the vehicle, which
-  is simply set to 1G (:math:`= 9.81 m/s^2`).
-* No actuation of the brake pedal (:math:`act_{olc,stat} = 0`) also produces no
-  deceleration.
-
-Between these two possible decelerations, the estimated brake pedal position to
-produce the required acceleration :math:`a_{set}` is calculated by linear
-interpolation.
-
-The logic for the calculation of the static controller output :math:`act_{olc,stat}`,
-utilizing the considerations above, is defined as follows:
-
-If the required acceleration :math:`a_{set}` is smaller than zero, it can be
-produced by the engine drag torque or the brake system. If the engine drag
-torque :math:`M_{eng,drag}` at the current engine speed :math:`n_{eng}` is not
-strong enough to meet the engine torque :math:`M_{eng}`, which would be
-necessary to produce :math:`a_{set}`, an **additional** actuation of the brake
-pedal is applied (the driver does not open the clutch, so the engine drag torque
-is also applied to the wheels). This mechanism is not considering a change in
-gears, but uses the current gear of the gearbox (the driver does not consider to
-shift down for a stronger effect of the engine drag torque).
-
-If the required acceleration :math:`a_{set}` is greater than or equal to zero,
-it can only be produced by the powertrain. First of all, the optimal gear to
-produce the engine torque :math:`M_{eng}` required for :math:`a_{set}` is
-calculated, which is described in :ref:`the subsequent subsection<algorithm_longitudinal_openloop_optimal_gear_>`.
-With this chosen gear, the current engine speed :math:`n_{eng}` is calculated.
-:math:`n_{eng}` is used to determine the maximum engine torque :math:`M_{eng,max}`
-and the engine drag torque :math:`M_{eng,drag}` from the characteristic curves.
-As these two values are connected to a full actuation and no actuation of the
-accelerator pedal, the estimated accelerator pedal position, which is necessary
-to produce the required acceleration :math:`a_{set}`, can be calculated by
-linear interpolation.
-
-The state variable :math:`v_{act}` is received from the module :ref:`sensor_driver`,
-the required acceleration :math:`a_{set}` is received from a driver behavior
-model, and the vehicle parameters :math:`m`, :math:`r_{stat}`, :math:`i_{a}`, :math:`i_{g}` per gear,
-and the information about the engine map are received from the module :ref:`parameters_vehicle`.
-
-The calculations above are done in the function CalculatePedalPositions, which is called in 
-the function CalculatePedalPositionAndGear of Algorithm_Longitudinal.
-
-.. _algorithm_longitudinal_openloop_optimal_gear_:
-
-Algorithm for optimal gear determination
-----------------------------------------
-
-The algorithm for the determination of the optimal gear for the required
-acceleration :math:`a_{set}` is implemented in the function CalculateGearAndEngineSpeed. 
-It is called within the function CalculatePedalPositionAndGear of Algorithm_Longitudinal, 
-which applies the :ref:`inverted longitudinal dynamics model<algorithm_longitudinal_detailed_description_inverted_dynamics_model_>`. 
-The algorithm receives the current velocity :math:`v_{act}` of the vehicle and the required acceleration :math:`a_{set}`.
-
-Within a for-loop over all gears, the engine speed :math:`n_{eng}` is calculated
-for each gear, which would result from the current velocity :math:`v_{act}`,
-as well as the maximum engine torque :math:`M_{eng,max}` and the engine drag
-torque :math:`M_{eng,drag}` resulting from these engine speeds. Violating the
-minimum engine speed :math:`n_{eng,min}` and the maximum engine speed :math:`n_{eng,max}`
-is not considered in this step (resulting engine speeds are written as they result
-from the powertrain calculation and the engine torques are set to the lower or
-upper limits of the characteristic curves respectively, if the engine speed
-range is violated).
-
-The results above are further processed in a second for-loop over all gears.
-The following aspects are checked to determine, if a gear fits the current
-required state:
-
-
-* Is the resulting engine speed :math:`n_{eng}` within the range of :math:`n_{eng,min}`
-  and :math:`n_{eng,max}`?
-* Is the resulting engine torque :math:`M_{eng}` to produce the required
-  acceleration :math:`a_{set}` within the range of :math:`M_{eng,drag}` and :math:`M_{eng,max}`?
-
-The lowest gear that fits these criteria sets a Boolean foundGear true and the
-results (gear number and resulting engine speed :math:`n_{eng}`) are written in
-the result vector. This is done for all further gears, until a gear does not fit
-the requirements anymore. This initiates the return of the last sufficient gear
-and its resulting engine speed :math:`n_{eng}`. A short example should
-illustrate this logic:
-
-
-#. The 2nd gear activates the Boolean foundGear, because :math:`n_{eng}` does
-   not exceed :math:`n_{eng,max}` anymore
-#. The 4th gear activates the return of the results, because the required engine
-   torque :math:`M_{eng}` would exceed the maximum possible engine torque :math:`M_{eng,max}`
-   at the corresponding engine speed :math:`n_{eng}`
-#. The algorithm chooses the 3rd gear as optimum and returns it and its
-   corresponding engine speed :math:`n_{eng}`
-
-This logic therefore guarantees, that always the highest possible gear is chosen
-by the driver.
+..
+  *******************************************************************************
+  Copyright (c) 2021-2024 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
+  http://www.eclipse.org/legal/epl-2.0.
+
+  SPDX-License-Identifier: EPL-2.0
+  *******************************************************************************
+
+.. _algorithm_longitudinal:
+
+Algorithm_Longitudinal
+######################
+
+
+This module is responsible for the control of the vehicle's longitudinal
+behavior. It receives the command variables from a driver behavior model and generates 
+the accelerator and brake pedal position and the current gear of the driver to match
+these command variables. The pedal positions and the gear can then be forwarded
+to a vehicle dynamics module like :ref:`dynamics_regular_driving`.
+The actuation of the clutch pedal is currently not simulated by the modul
+
+.. _algorithm_longitudinal_detailed_description:
+
+Detailed description of the module's features
+=============================================
+
+.. _algorithm_longitudinal_detailed_description_inverted_dynamics_model_:
+
+Inverted longitudinal dynamics model
+------------------------------------
+
+The inverted longitudinal dynamics model produces :math:`act_{olc,stat}`
+by utilizing an inverted powertrain and brake system model. The powertrain model 
+and all of its parameters and state variables are illustrated in the following image. 
+The brake model is not worth illustrating, as it directly applies on the required acceleration 
+:math:`a_{set}` of the vehicle.
+
+.. _image_PowertrainModel1_:
+
+.. figure:: _static/images/PowertrainModel.svg
+   :alt: Illustration of the powertrain model and its parameters and state variables
+
+   Illustration of the powertrain model and its parameters and state variables
+
+
+The core element of all calculations in this model is speed and acceleration.
+The speed :math:`n_{wheel}` at the wheels is constraint by the current velocity
+:math:`v_{act}` of the vehicle and the static wheel radius :math:`r_{stat}`:
+
+.. math::
+   n_{wheel} = \frac{v_{act}}{r_{stat}} \cdot \frac{60}{2 \cdot \pi}
+   
+
+where :math:`n_{wheel}` is specified in :math:`rpm` (revolutions per minute) and :math:`v_{act}` is
+defined in :math:`m/s`, which requires the conversion term at the end of the equation.
+As the equation also illustrates, only a simple rolling relation defines the
+model and there is no simulation of tire-road-friction and tire slip involved.
+
+The speed :math:`n_{eng}` of the engine is constraint by the speed
+:math:`n_{wheel}` of the wheels, the ratio :math:`i_{a}` of the axle, and the
+current ratio :math:`i_{g}` of the gearbox, depending of the current gear:
+
+.. math::
+   n_{eng} = n_{wheel} \cdot i_{a} \cdot i_{g}
+   
+
+The required acceleration :math:`a_{set}` determines the torque :math:`M_{wheel}`
+at the wheels, as the overall mass :math:`m` of the vehicle has to be accelerated by
+this torque:
+
+.. math::
+   M_{wheel} = m \cdot a_{set} \cdot r_{stat}
+
+
+As the equation illustrates, no driving resistances other than the inertia of
+the vehicle are simulated by this model. The required torque :math:`M_{wheel}`
+at the wheels must be generated by the engine, considering the ratios of the
+powertrain:
+
+.. math::
+   M_{eng} = \frac{M_{wheel}}{i_{a} \cdot i_{g}}
+
+
+As the current speed :math:`n_{eng}` of the engine, the required acceleration
+:math:`a_{set}` of the vehicle, and the required torque :math:`M_{eng}` of the
+engine are known or defined by the above equations, this knowledge can be used
+to determine the estimated positions of the accelerator and the brake pedal or
+to calculate the optimal gear for the required acceleration :math:`a_{set}`,
+if a positive acceleration is needed. For the accelerator pedal and optimal gear
+calculation, there is still some missing knowledge about the engine itself.
+The relationship between the current engine speed :math:`n_{eng}` and the
+possible engine torque :math:`M_{eng}` is determined by a simple engine map,
+which is illustrated in the following image:
+
+.. _image_EngineMap_:
+
+.. figure:: _static/images/EngineMap.svg
+   :alt: Simplified engine map used for the inverted powertrain model
+
+   Simplified engine map used for the inverted powertrain model
+
+
+The engine map is defined by two characteristic curves:
+
+
+* :math:`M_{eng,max}` defines the maximum torque, which can be produced by the
+  engine at a specific engine speed :math:`n_{eng}`. This is directly connected
+  with the maximum possible actuation of the accelerator pedal.
+* :math:`M_{eng,drag}` defines the drag torque, which is produced by the engine
+  at a specific engine speed :math:`n_{eng}`, if the accelerator pedal is not
+  actuated at all.
+
+The two characteristic curves are only defined between the minimum and maximum
+possible speed of the engine. As the two characteristic curves are directly
+related to a full actuation (:math:`act_{olc,stat} = 1`) and no actuation
+(:math:`act_{olc,stat} = 0`) of the accelerator pedal, the estimated pedal
+position for the accelerator pedal :math:`act_{olc,stat}`, which produces the
+currently required engine torque :math:`M_{eng}`, can be calculated by linear
+interpolation between these two characteristic curves at the current engine
+speed :math:`n_{eng}`.
+
+Analogous for the brake pedal position:
+
+
+* The maximum actuation of the brake pedal (:math:`act_{olc,stat} = -1`) is
+  directly connected with the maximum possible deceleration of the vehicle, which
+  is simply set to 1G (:math:`= 9.81 m/s^2`).
+* No actuation of the brake pedal (:math:`act_{olc,stat} = 0`) also produces no
+  deceleration.
+
+Between these two possible decelerations, the estimated brake pedal position to
+produce the required acceleration :math:`a_{set}` is calculated by linear
+interpolation.
+
+The logic for the calculation of the static controller output :math:`act_{olc,stat}`,
+utilizing the considerations above, is defined as follows:
+
+If the required acceleration :math:`a_{set}` is smaller than zero, it can be
+produced by the engine drag torque or the brake system. If the engine drag
+torque :math:`M_{eng,drag}` at the current engine speed :math:`n_{eng}` is not
+strong enough to meet the engine torque :math:`M_{eng}`, which would be
+necessary to produce :math:`a_{set}`, an **additional** actuation of the brake
+pedal is applied (the driver does not open the clutch, so the engine drag torque
+is also applied to the wheels). This mechanism is not considering a change in
+gears, but uses the current gear of the gearbox (the driver does not consider to
+shift down for a stronger effect of the engine drag torque).
+
+If the required acceleration :math:`a_{set}` is greater than or equal to zero,
+it can only be produced by the powertrain. First of all, the optimal gear to
+produce the engine torque :math:`M_{eng}` required for :math:`a_{set}` is
+calculated, which is described in :ref:`the subsequent subsection<algorithm_longitudinal_openloop_optimal_gear_>`.
+With this chosen gear, the current engine speed :math:`n_{eng}` is calculated.
+:math:`n_{eng}` is used to determine the maximum engine torque :math:`M_{eng,max}`
+and the engine drag torque :math:`M_{eng,drag}` from the characteristic curves.
+As these two values are connected to a full actuation and no actuation of the
+accelerator pedal, the estimated accelerator pedal position, which is necessary
+to produce the required acceleration :math:`a_{set}`, can be calculated by
+linear interpolation.
+
+The state variable :math:`v_{act}` is received from the module :ref:`sensor_driver`,
+the required acceleration :math:`a_{set}` is received from a driver behavior
+model, and the vehicle parameters :math:`m`, :math:`r_{stat}`, :math:`i_{a}`, :math:`i_{g}` per gear,
+and the information about the engine map are received from the module :ref:`parameters_vehicle`.
+
+The calculations above are done in the function CalculatePedalPositions, which is called in 
+the function CalculatePedalPositionAndGear of Algorithm_Longitudinal.
+
+.. _algorithm_longitudinal_openloop_optimal_gear_:
+
+Algorithm for optimal gear determination
+----------------------------------------
+
+The algorithm for the determination of the optimal gear for the required
+acceleration :math:`a_{set}` is implemented in the function CalculateGearAndEngineSpeed. 
+It is called within the function CalculatePedalPositionAndGear of Algorithm_Longitudinal, 
+which applies the :ref:`inverted longitudinal dynamics model<algorithm_longitudinal_detailed_description_inverted_dynamics_model_>`. 
+The algorithm receives the current velocity :math:`v_{act}` of the vehicle and the required acceleration :math:`a_{set}`.
+
+Within a for-loop over all gears, the engine speed :math:`n_{eng}` is calculated
+for each gear, which would result from the current velocity :math:`v_{act}`,
+as well as the maximum engine torque :math:`M_{eng,max}` and the engine drag
+torque :math:`M_{eng,drag}` resulting from these engine speeds. Violating the
+minimum engine speed :math:`n_{eng,min}` and the maximum engine speed :math:`n_{eng,max}`
+is not considered in this step (resulting engine speeds are written as they result
+from the powertrain calculation and the engine torques are set to the lower or
+upper limits of the characteristic curves respectively, if the engine speed
+range is violated).
+
+The results above are further processed in a second for-loop over all gears.
+The following aspects are checked to determine, if a gear fits the current
+required state:
+
+
+* Is the resulting engine speed :math:`n_{eng}` within the range of :math:`n_{eng,min}`
+  and :math:`n_{eng,max}`?
+* Is the resulting engine torque :math:`M_{eng}` to produce the required
+  acceleration :math:`a_{set}` within the range of :math:`M_{eng,drag}` and :math:`M_{eng,max}`?
+
+The lowest gear that fits these criteria sets a Boolean foundGear true and the
+results (gear number and resulting engine speed :math:`n_{eng}`) are written in
+the result vector. This is done for all further gears, until a gear does not fit
+the requirements anymore. This initiates the return of the last sufficient gear
+and its resulting engine speed :math:`n_{eng}`. A short example should
+illustrate this logic:
+
+
+#. The 2nd gear activates the Boolean foundGear, because :math:`n_{eng}` does
+   not exceed :math:`n_{eng,max}` anymore
+#. The 4th gear activates the return of the results, because the required engine
+   torque :math:`M_{eng}` would exceed the maximum possible engine torque :math:`M_{eng,max}`
+   at the corresponding engine speed :math:`n_{eng}`
+#. The algorithm chooses the 3rd gear as optimum and returns it and its
+   corresponding engine speed :math:`n_{eng}`
+
+This logic therefore guarantees, that always the highest possible gear is chosen
+by the driver.
diff --git a/content/html/_sources/user_guide/sim_user_guide/components/driver.rst.txt b/content/html/_sources/user_guide/sim_user_guide/components/driver.rst.txt
index bf3f1ddb2c43283215efa15c5fbf233f6a41ffa4..9de4c01feae779226b26c7cc6511db8de6155750 100644
--- a/content/html/_sources/user_guide/sim_user_guide/components/driver.rst.txt
+++ b/content/html/_sources/user_guide/sim_user_guide/components/driver.rst.txt
@@ -1,107 +1,107 @@
-..
-  *******************************************************************************
-  Copyright (c) 2021 in-tech GmbH
-
-  This program and the accompanying materials are made available under the
-  terms of the Eclipse Public License 2.0 which is available at
-  http://www.eclipse.org/legal/epl-2.0.
-
-  SPDX-License-Identifier: EPL-2.0
-  *******************************************************************************
-
-.. _components_driver:
-
-Driver
-------
-
-.. _components_agentfollowingdrivermodel:
-
-AlgorithmAgentFollowingDriverModel
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-AlgorithmAgentFollowingDriverModel implements a simple driver model for longitudinal and lateral control.
-
-Lateral control
-^^^^^^^^^^^^^^^
-The lateral guidance always keeps the agent in the middle of the lane.
-
-Longitudinal control
-^^^^^^^^^^^^^^^^^^^^
-This driver type works according to the IDM (Intelligent Driver Model) and adapts its velocity to an agent in front and holds 
-a desired velocity if there's no front agent available (like adaptive cruise control).
-
-For a simplified version of the model, the Intelligent Driver Model acceleration :math:`a_{IDM}` is described by the following equation:
-
-.. math::
-   a_{IDM} = a_{max} \cdot (1 - (\frac{v_{vehicle}}{v_{wish}})^\delta - (\frac{s^*(v_{vehicle},\Delta v)}{s_{netDistance}})^2)
-
-with 
-
-.. math::
-   s^*(v_{vehicle},\Delta v) = s_{0} + v_{vehicle} \cdot T + \frac{v_{vehicle} \cdot \Delta v}{2 \cdot \sqrt{a_{max} \cdot b_{max}}}
-
-The calculation of :math:`\Delta v` is done by subtracting the absolute velocity :math:`v_{vehicle}` of the own vehicle 
-from the absolute velocity :math:`v_{frontAgent}` of the front agent:
-
-.. math::
-   \Delta v = v_{vehicle} - v_{frontAgent}
-
-The acceleration of the vehicle (Intelligent Driver Model acceleration) can be separated into 
-
-* free road term:
-
-.. math::
-   a_{max} \cdot (1 - (\frac{v_{vehicle}}{v_{wish}})^\delta)
-
-* interaction term:
-
-.. math::
-   -a_{max} \cdot (\frac{s^*(v_{vehicle},\Delta v)}{s_{netDistance}})^2 = -a_{max} \cdot (\frac{s_{0} + v_{vehicle} \cdot T}{s_{netDistance}} + \frac{v_{vehicle} \cdot \Delta v}{2 \cdot \sqrt{a_{max} \cdot b_{max}} \cdot s_{netDistance}})^2
-
-**Free road behavior:** On a free road, the distance to the front agent is huge and the vehicle's acceleration is controlled 
-by the free road term, which is approximately equal to :math:`a_{max}` for low velocities and vanishes as :math:`v_{vehicle}` approaches :math:`v_{wish}`.
-There will be some deviation to the actual vehicle velocity, due to the model not being aware of air drag or engine drag (which might be introduced by 
-subsequent agent components). AlgorithmAgentFollowingDriverModel just controls its velocity wish. 
-
-**Behavior at high approaching rates**: For large velocity differences, the interaction term is governed by: 
-
-.. math::
-   -a_{max} \cdot (\frac{v_{vehicle} \cdot \Delta v}{2 \cdot \sqrt{a_{max} \cdot b_{max}} \cdot s_{netDistance}})^2
-
-This leads to a driving behavior that compensates velocity differences while trying not to brake much harder than the maximum braking deceleration :math:`b_{max}`.
-
-**Behavior at small net distances**: For minor velocity differences and small net distances, the interaction term is approximately equal to:
-
-.. math::
-   -a_{max} \cdot (\frac{s_{0} + v_{vehicle} \cdot T}{s_{netDistance}})^2
-
-which resembles a simple repulsive force such that small net distances are quickly enlarged towards an equilibrium net distance.
-
-The following table and the DriverProfile snippet describe a whole DriverProfile. Type "AlgorithmAgentFollowingDriverModel" in 
-the DriverProfile snippet below determines that this set of parameters is active.
-
-.. table::
-   :class: tight-table
-
-   ================================ ========== ==== ====================================================================================================================== ============================
-   Parameter                        Type       Unit Description                                                                                                            Defaults to
-   ================================ ========== ==== ====================================================================================================================== ============================
-   AlgorithmLateralModule           String          Behavior model for the steering wheel angle of the driver                                                              Required value
-   AlgorithmLongitudinalModule      String          Behavior model for the accelerator, brake pedal position, and the current gear of the driver                           Required value
-   VelocityWish: :math:`v_{wish}`   Double     m/s  Desired speed                                                                                                          :abbr:`33.33 m/s (120 km/h)`
-   Delta: :math:`\delta`            Double          Free acceleration exponent characterizing how the acceleration decreases with velocity (1: linear, infinity: constant) 4.0
-   TGapWish: :math:`T`              Double     s    Desired time gap between ego and front agent                                                                           1.5 s
-   MinDistance: :math:`s_{0}`       Double     m    Minimum distance between ego and front (used at slow speeds); Also called jam distance                                 2.0 m
-   MaxAcceleration: :math:`a_{max}` Double     m/s² Maximum acceleration in satisfactory way, not vehicle possible acceleration                                            1.4 m/s²
-   MaxDeceleration: :math:`b_{max}` Double     m/s² Desired deceleration                                                                                                   2.0 m/s²
-   ================================ ========== ==== ====================================================================================================================== ============================
-
-.. literalinclude:: /../../../repo/sim/contrib/examples/Common/ProfilesCatalog.xml
-   :language: xml
-   :dedent: 4
-   :start-at: <Profile Name="Regular">
-   :end-at: </Profile>
-
-For further information, please refer to:
-
-Treiber, Martin; Hennecke, Ansgar; Helbing, Dirk (2000), "Congested traffic states in empirical observations and microscopic simulations", Physical Review E, 62 (2): 1805–1824, https://arxiv.org/pdf/cond-mat/0002177.pdf
+..
+  *******************************************************************************
+  Copyright (c) 2021 in-tech GmbH
+
+  This program and the accompanying materials are made available under the
+  terms of the Eclipse Public License 2.0 which is available at
+  http://www.eclipse.org/legal/epl-2.0.
+
+  SPDX-License-Identifier: EPL-2.0
+  *******************************************************************************
+
+.. _components_driver:
+
+Driver
+------
+
+.. _components_agentfollowingdrivermodel:
+
+AlgorithmAgentFollowingDriverModel
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+AlgorithmAgentFollowingDriverModel implements a simple driver model for longitudinal and lateral control.
+
+Lateral control
+^^^^^^^^^^^^^^^
+The lateral guidance always keeps the agent in the middle of the lane.
+
+Longitudinal control
+^^^^^^^^^^^^^^^^^^^^
+This driver type works according to the IDM (Intelligent Driver Model) and adapts its velocity to an agent in front and holds 
+a desired velocity if there's no front agent available (like adaptive cruise control).
+
+For a simplified version of the model, the Intelligent Driver Model acceleration :math:`a_{IDM}` is described by the following equation:
+
+.. math::
+   a_{IDM} = a_{max} \cdot (1 - (\frac{v_{vehicle}}{v_{wish}})^\delta - (\frac{s^*(v_{vehicle},\Delta v)}{s_{netDistance}})^2)
+
+with 
+
+.. math::
+   s^*(v_{vehicle},\Delta v) = s_{0} + v_{vehicle} \cdot T + \frac{v_{vehicle} \cdot \Delta v}{2 \cdot \sqrt{a_{max} \cdot b_{max}}}
+
+The calculation of :math:`\Delta v` is done by subtracting the absolute velocity :math:`v_{vehicle}` of the own vehicle 
+from the absolute velocity :math:`v_{frontAgent}` of the front agent:
+
+.. math::
+   \Delta v = v_{vehicle} - v_{frontAgent}
+
+The acceleration of the vehicle (Intelligent Driver Model acceleration) can be separated into 
+
+* free road term:
+
+.. math::
+   a_{max} \cdot (1 - (\frac{v_{vehicle}}{v_{wish}})^\delta)
+
+* interaction term:
+
+.. math::
+   -a_{max} \cdot (\frac{s^*(v_{vehicle},\Delta v)}{s_{netDistance}})^2 = -a_{max} \cdot (\frac{s_{0} + v_{vehicle} \cdot T}{s_{netDistance}} + \frac{v_{vehicle} \cdot \Delta v}{2 \cdot \sqrt{a_{max} \cdot b_{max}} \cdot s_{netDistance}})^2
+
+**Free road behavior:** On a free road, the distance to the front agent is huge and the vehicle's acceleration is controlled 
+by the free road term, which is approximately equal to :math:`a_{max}` for low velocities and vanishes as :math:`v_{vehicle}` approaches :math:`v_{wish}`.
+There will be some deviation to the actual vehicle velocity, due to the model not being aware of air drag or engine drag (which might be introduced by 
+subsequent agent components). AlgorithmAgentFollowingDriverModel just controls its velocity wish. 
+
+**Behavior at high approaching rates**: For large velocity differences, the interaction term is governed by: 
+
+.. math::
+   -a_{max} \cdot (\frac{v_{vehicle} \cdot \Delta v}{2 \cdot \sqrt{a_{max} \cdot b_{max}} \cdot s_{netDistance}})^2
+
+This leads to a driving behavior that compensates velocity differences while trying not to brake much harder than the maximum braking deceleration :math:`b_{max}`.
+
+**Behavior at small net distances**: For minor velocity differences and small net distances, the interaction term is approximately equal to:
+
+.. math::
+   -a_{max} \cdot (\frac{s_{0} + v_{vehicle} \cdot T}{s_{netDistance}})^2
+
+which resembles a simple repulsive force such that small net distances are quickly enlarged towards an equilibrium net distance.
+
+The following table and the DriverProfile snippet describe a whole DriverProfile. Type "AlgorithmAgentFollowingDriverModel" in 
+the DriverProfile snippet below determines that this set of parameters is active.
+
+.. table::
+   :class: tight-table
+
+   ================================ ========== ==== ====================================================================================================================== ============================
+   Parameter                        Type       Unit Description                                                                                                            Defaults to
+   ================================ ========== ==== ====================================================================================================================== ============================
+   AlgorithmLateralModule           String          Behavior model for the steering wheel angle of the driver                                                              Required value
+   AlgorithmLongitudinalModule      String          Behavior model for the accelerator, brake pedal position, and the current gear of the driver                           Required value
+   VelocityWish: :math:`v_{wish}`   Double     m/s  Desired speed                                                                                                          :abbr:`33.33 m/s (120 km/h)`
+   Delta: :math:`\delta`            Double          Free acceleration exponent characterizing how the acceleration decreases with velocity (1: linear, infinity: constant) 4.0
+   TGapWish: :math:`T`              Double     s    Desired time gap between ego and front agent                                                                           1.5 s
+   MinDistance: :math:`s_{0}`       Double     m    Minimum distance between ego and front (used at slow speeds); Also called jam distance                                 2.0 m
+   MaxAcceleration: :math:`a_{max}` Double     m/s² Maximum acceleration in satisfactory way, not vehicle possible acceleration                                            1.4 m/s²
+   MaxDeceleration: :math:`b_{max}` Double     m/s² Desired deceleration                                                                                                   2.0 m/s²
+   ================================ ========== ==== ====================================================================================================================== ============================
+
+.. literalinclude:: /../../../repo/sim/contrib/examples/Common/ProfilesCatalog.xml
+   :language: xml
+   :dedent: 4
+   :start-at: <Profile Name="Regular">
+   :end-at: </Profile>
+
+For further information, please refer to:
+
+Treiber, Martin; Hennecke, Ansgar; Helbing, Dirk (2000), "Congested traffic states in empirical observations and microscopic simulations", Physical Review E, 62 (2): 1805–1824, https://arxiv.org/pdf/cond-mat/0002177.pdf
diff --git a/content/html/_sources/user_guide/sim_user_guide/components/dynamics_regular_driving.rst.txt b/content/html/_sources/user_guide/sim_user_guide/components/dynamics_regular_driving.rst.txt
index ab03d414ccc09c03e2d910fdc40d192b774042dc..5f1212069d36a5087e64102808aefb6641c3d1c2 100644
--- a/content/html/_sources/user_guide/sim_user_guide/components/dynamics_regular_driving.rst.txt
+++ b/content/html/_sources/user_guide/sim_user_guide/components/dynamics_regular_driving.rst.txt
@@ -1,224 +1,224 @@
-..
-  *******************************************************************************
-  Copyright (c) 2021-2024 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
-  http://www.eclipse.org/legal/epl-2.0.
-
-  SPDX-License-Identifier: EPL-2.0
-  *******************************************************************************
-
-.. _dynamics_regular_driving:
-
-Dynamics_RegularDriving
-#######################
-
-
-This module is responsible for the vehicle dynamics under normal driving conditions.
-It receives a signal from the lateral dynamics module :ref:`algorithm_lateral` containing the steering wheel angle.
-Accelerator pedal position, brake pedal position and the currently engaged gear are fetched from the signal sent by the longitudinal dynamics module  :ref:`algorithm_longitudinal`.
-The module is using these inputs and the vehicle parameters from :ref:`parameters_vehicle` to determine the resulting vehicle speed, yaw angle and absolute position in the road coordinate system. 
-The calculated values are passed on to the simulation framework/WorldObjectInterface.
-
-Overview of the module's functionalities
-========================================
-
-
-Longitudinal dynamics
----------------------
-The core element of all longitudinal calculations in this model are speed and acceleration. To determine the change of speed :math:`\Delta v` and the vehicles velocity :math:`v_{act_{i}}` of the current time step :math:`i` the actual acceleration :math:`a_{act}` has to be known.
-
-The module uses a simplified longitudinal dynamics model e.g. it doesn't factor in rotational inertias.
-
-:math:`a_{act}` is dependend on the state variables and parameters shown in table 1.
-
-.. table::
-   :class: tight-table
-
-   ====================== ===================================== ====== =======================
-   Variable               Meaning                               Unit   Source
-   ====================== ===================================== ====== =======================
-   :math:`v_{act_{i-1}}`  currently saved velocity of agent     m/s    WorldObjectInterface
-   :math:`pos_{actuator}` position of accelerator/brake pedal          Algorithm_Longitudinal
-   :math:`gear`           chosen gear                                  Algorithm_Longitudinal
-   :math:`i_{g} (gear)`   gear ratio of current gear                   vehicleModelParameters
-   :math:`i_{a}`          gear ratio of axle                           vehicleModelParameters
-   :math:`M_{eng,max}`    maximum torque of the vehicle engine  Nm     vehicleModelParameters
-   :math:`n_{eng,max}`    maximum engine speed                  1/min  vehicleModelParameters
-   :math:`n_{eng,min}`    minimum engine speed                  1/min  vehicleModelParameters
-   :math:`r_{stat}`       static wheel radius                   m      vehicleModelParameters
-   :math:`m_{vehicle}`    vehicle mass                          kg     vehicleModelParameters
-   :math:`c_{W}`          air drag coefficient                         vehicleModelParameters
-   :math:`c_{R}`          rolling resistance tire                      vehicleModelParameters
-   :math:`A_{proj}`       front surface                         m²     vehicleModelParameters
-   ====================== ===================================== ====== =======================
-
-First variables are used to calculate the current engine speed :math:`n_{eng}` . 
-To do so the speed of the wheels :math:`n_{wheel}` is determined via the vehicle velocity and static wheel radius:
-
-.. math::
-
-   n_{wheel} = \frac{v_{act_{i-1}}}{r_{stat}} \cdot \frac{60}{2 \cdot \pi}
-
-The powertrain model in the following image is used to further derive the engine speed :math:`n_{eng}` using the gear ratio :math:`i_{g} (gear)` of the currently engaged gear and axle ratio :math:`i_{a}` .
-
-.. _image_PowertrainModel2_:
-
-.. figure:: _static/images/PowertrainModel.svg
-   :alt: Illustration of the powertrain model and its parameters and state variables
-
-   Illustration of the powertrain model and its parameters and state variables
-
-
-.. math::
-   n_{eng} = n_{wheel} \cdot i_{a} \cdot i_{g} (gear)
-
-
-The maximum torque :math:`M_{eng,max} (n_{eng})` at the current engine speed is determined using the engine torque map shown in the following image:
-
-.. figure:: _static/images/EngineMapCalculated.svg
-   :alt: Simplified Engine Map
-
-   Simplified Engine Map
-
-
-At this point the module differentiates between deceleration and acceleration by checking whether the value of :math:`pos_{actuator}` is positive or negative.
-Negative values indicate the use of the brake pedal between 0-100% while positive values represent the use of the accelerator pedal. 
-
-**Driving resistance:** There are driving resistances to be considered during the drive due to the rolling resistance of tires and air resistance which
-could be calculated according to the follwing relations in fluid mechanics, where :math:`\rho_{air}` stands for air density in :math:`kg / m^3` :
-
-.. math::
-   a_{AirDrag} = - \frac{\rho_{air} \cdot c_{w} \cdot A_{proj} \cdot v_{act_{i-a}}^2}{2 \cdot m_{vehicle}}
-
-.. math::
-   a_{RollingDrag} = c_{R} \cdot 9.81 \frac{m}{s^2}
-
-
-The rolling resistance of vehicle is currently set as a dummy value (0.0125), because the related value is not in the catalog of vehicle models yet and 
-therefore it still can not be tapped in interface.
-
-**Decelerating:** When decelerating :math:`a_{act}` is the sum of the acceleration resulting from engine drag :math:`a_{drag}` and acceleration from braking :math:`a_{brake}` .
-Whenever the driver is braking the module assumes that the engine is dragging with a moment equal to 10% of the maximum torque at the current engine speed.
-
-.. math::
-   M_{drag}(n_{eng}) = - 0.1 \cdot M_{eng,max}(n_{eng})
-
-.. math::
-   M_{wheel} = \frac{M_{drag}(n_{eng})}{i_{a} \cdot i_{g}(gear)}
-
-.. math::
-   F_{wheel} = \frac{M_{wheel}}{r_{stat}}
-   
-.. math::
-   a_{drag} = \frac{F_{wheel}}{m_{vehicle}}
-
-
-
-The maximum braking deceleration is set to :math:`a_{brake,max} = 9.81 m/s^2`. The actual braking power is proportional to the position of the braking pedal.
-
-.. math::
-   a_{brake} = pos_{actuator} \cdot a_{brake,max}
-
-.. math::
-   a_{act} = a_{drag} + a_{brake}
-
-
-**Acceleration:**  When the driver applies pressure on the accelerator the applied engine torque :math:`M_{eng,act}` is calculated as proportional to the accelerator pedal position and the span between engine drag and maximum engine torque :math:`M_{eng}`\ (:math:`n_{eng}` ) at the current engine speed.
-
-.. math::
-   M_{eng}(n_{eng}) = M_{drag}(n_eng) + pos_{actuator}(M_{eng,max}(n_{eng}) - M_{drag}(n_{eng}))
-   
-.. math::
-   M_{wheel} = \frac{M_{eng,act}}{i_{a} \cdot i_{g}(gear)}
-
-.. math::
-   F_{wheel} = \frac{M_{eng,act}}{r_{stat}}
-   
-.. math::
-   a_{act} = \frac{F_{wheel}}{m_{vehicle}}
-   
-
-Once the acceleration of the vehicle is known the change in velocity is determined by its discrete time integral.
-
-.. math::
-   \Delta v = a_{act} \cdot t_{cycle}
-
-
-
-The sum of the previous velocity and change in velocity result in the actual vehicle velocity of the current time step:
-
-.. math::
-   v_{act_{i}} = v_{act_{i-1}} + \Delta v
-
-
-
-Lateral dynamics
-----------------
-
-The lateral dynamics model is based on the Ackermann model which reduces the steering kinematics to a single surrogate front wheel. Considering the relatively small steering angles when driving on the highway this simplification is deemed suitable. 
-The heading is updated using the previous heading and the change in yaw due to the steering wheel angle which is converted into a yaw rate using the simplified Ackermann model shown in the following image.
-
-.. _image_AckermannModel_:
-
-.. figure:: _static/images/AckermannModel.svg
-   :alt: Illustration of the Ackermann model
-   
-   Illustration of the Ackermann model
-
-.. table::
-   :class: tight-table
-
-   ======================== ======================================= ====== ====================================
-   Variable                 Meaning                                 Unit   Source
-   ======================== ======================================= ====== ====================================
-   :math:`\delta_{h}`       steering wheel angle                    rad    Algorithm_Lateral
-   :math:`\Phi_{act_{i-1}}` heading at previous time step           rad    WorldObjectInterface
-   :math:`i_{s}`            steering ratio                                 vehicleModelParameters
-   :math:`l_{wheelbase}`    wheelbase                               m      vehicleModelParameters
-   :math:`\Delta s`         distance travelled since last time step m      previously calculated in the module
-   :math:`t_{cycle}`        cycle time                              ms     ModelInterface
-   ======================== ======================================= ====== ====================================
-
-The steering wheel angle :math:`\delta_{h}` is proportional to the front wheel angle :math:`\delta` :
-
-.. math::
-   \delta = \frac{\delta_{h}}{i_{s}}
-
-
-The Ackermann model provides the geometric connection between the front wheel angle and the resulting curvature :math:`\kappa` :
-
-.. math::
-   \kappa = \frac{tan(\delta)}{l_{wheelbase}}
-
-
-The combination of curvature :math:`\kappa` and driven distance at that curvature :math:`\Delta s` result in the change of the heading :math:`\Delta \Phi`:
-
-.. math::
-   \Delta \Phi = atan(\kappa \cdot \Delta s)
-   
-
-
-The new heading :math:`\Phi_{act_{i}}` is the old heading :math:`\Phi_{act{i-1}}` plus the previously calculated change in heading :math:`\Delta \Phi` :
-
-.. math::
-   \Phi_{act_{i}} = \Phi_{act_{i-1}} + \Delta \Phi
-
-
-Updating position
------------------
-
-Once the new vehicle speed :math:`v_{act_{i}}` is determined the distance travelled during the last timestep :math:`\Delta s` is determined:
-
-.. math::
-   \Delta s = v_{act_{i}} \cdot t_{cycle}
-   
-
-Using the actual vehicle yaw angle in the road coordinate :math:`\Phi_{act_{i-1}}` the vehicles new x- and y-coordinates are calculated:
-
-.. math::
-   x_{agent_{i}} = x_{agent_{i-1}} + \Delta s \cdot cos(\Phi_{act_{i-1}})
-   
-.. math::
-   y_{agent_{i}} = y_{agent_{i-1}} + \Delta s \cdot sin(\Phi_{act_{i-1}})
+..
+  *******************************************************************************
+  Copyright (c) 2021-2024 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
+  http://www.eclipse.org/legal/epl-2.0.
+
+  SPDX-License-Identifier: EPL-2.0
+  *******************************************************************************
+
+.. _dynamics_regular_driving:
+
+Dynamics_RegularDriving
+#######################
+
+
+This module is responsible for the vehicle dynamics under normal driving conditions.
+It receives a signal from the lateral dynamics module :ref:`algorithm_lateral` containing the steering wheel angle.
+Accelerator pedal position, brake pedal position and the currently engaged gear are fetched from the signal sent by the longitudinal dynamics module  :ref:`algorithm_longitudinal`.
+The module is using these inputs and the vehicle parameters from :ref:`parameters_vehicle` to determine the resulting vehicle speed, yaw angle and absolute position in the road coordinate system. 
+The calculated values are passed on to the simulation framework/WorldObjectInterface.
+
+Overview of the module's functionalities
+========================================
+
+
+Longitudinal dynamics
+---------------------
+The core element of all longitudinal calculations in this model are speed and acceleration. To determine the change of speed :math:`\Delta v` and the vehicles velocity :math:`v_{act_{i}}` of the current time step :math:`i` the actual acceleration :math:`a_{act}` has to be known.
+
+The module uses a simplified longitudinal dynamics model e.g. it doesn't factor in rotational inertias.
+
+:math:`a_{act}` is dependend on the state variables and parameters shown in table 1.
+
+.. table::
+   :class: tight-table
+
+   ====================== ===================================== ====== =======================
+   Variable               Meaning                               Unit   Source
+   ====================== ===================================== ====== =======================
+   :math:`v_{act_{i-1}}`  currently saved velocity of agent     m/s    WorldObjectInterface
+   :math:`pos_{actuator}` position of accelerator/brake pedal          Algorithm_Longitudinal
+   :math:`gear`           chosen gear                                  Algorithm_Longitudinal
+   :math:`i_{g} (gear)`   gear ratio of current gear                   vehicleModelParameters
+   :math:`i_{a}`          gear ratio of axle                           vehicleModelParameters
+   :math:`M_{eng,max}`    maximum torque of the vehicle engine  Nm     vehicleModelParameters
+   :math:`n_{eng,max}`    maximum engine speed                  1/min  vehicleModelParameters
+   :math:`n_{eng,min}`    minimum engine speed                  1/min  vehicleModelParameters
+   :math:`r_{stat}`       static wheel radius                   m      vehicleModelParameters
+   :math:`m_{vehicle}`    vehicle mass                          kg     vehicleModelParameters
+   :math:`c_{W}`          air drag coefficient                         vehicleModelParameters
+   :math:`c_{R}`          rolling resistance tire                      vehicleModelParameters
+   :math:`A_{proj}`       front surface                         m²     vehicleModelParameters
+   ====================== ===================================== ====== =======================
+
+First variables are used to calculate the current engine speed :math:`n_{eng}` . 
+To do so the speed of the wheels :math:`n_{wheel}` is determined via the vehicle velocity and static wheel radius:
+
+.. math::
+
+   n_{wheel} = \frac{v_{act_{i-1}}}{r_{stat}} \cdot \frac{60}{2 \cdot \pi}
+
+The powertrain model in the following image is used to further derive the engine speed :math:`n_{eng}` using the gear ratio :math:`i_{g} (gear)` of the currently engaged gear and axle ratio :math:`i_{a}` .
+
+.. _image_PowertrainModel2_:
+
+.. figure:: _static/images/PowertrainModel.svg
+   :alt: Illustration of the powertrain model and its parameters and state variables
+
+   Illustration of the powertrain model and its parameters and state variables
+
+
+.. math::
+   n_{eng} = n_{wheel} \cdot i_{a} \cdot i_{g} (gear)
+
+
+The maximum torque :math:`M_{eng,max} (n_{eng})` at the current engine speed is determined using the engine torque map shown in the following image:
+
+.. figure:: _static/images/EngineMapCalculated.svg
+   :alt: Simplified Engine Map
+
+   Simplified Engine Map
+
+
+At this point the module differentiates between deceleration and acceleration by checking whether the value of :math:`pos_{actuator}` is positive or negative.
+Negative values indicate the use of the brake pedal between 0-100% while positive values represent the use of the accelerator pedal. 
+
+**Driving resistance:** There are driving resistances to be considered during the drive due to the rolling resistance of tires and air resistance which
+could be calculated according to the follwing relations in fluid mechanics, where :math:`\rho_{air}` stands for air density in :math:`kg / m^3` :
+
+.. math::
+   a_{AirDrag} = - \frac{\rho_{air} \cdot c_{w} \cdot A_{proj} \cdot v_{act_{i-a}}^2}{2 \cdot m_{vehicle}}
+
+.. math::
+   a_{RollingDrag} = c_{R} \cdot 9.81 \frac{m}{s^2}
+
+
+The rolling resistance of vehicle is currently set as a dummy value (0.0125), because the related value is not in the catalog of vehicle models yet and 
+therefore it still can not be tapped in interface.
+
+**Decelerating:** When decelerating :math:`a_{act}` is the sum of the acceleration resulting from engine drag :math:`a_{drag}` and acceleration from braking :math:`a_{brake}` .
+Whenever the driver is braking the module assumes that the engine is dragging with a moment equal to 10% of the maximum torque at the current engine speed.
+
+.. math::
+   M_{drag}(n_{eng}) = - 0.1 \cdot M_{eng,max}(n_{eng})
+
+.. math::
+   M_{wheel} = \frac{M_{drag}(n_{eng})}{i_{a} \cdot i_{g}(gear)}
+
+.. math::
+   F_{wheel} = \frac{M_{wheel}}{r_{stat}}
+   
+.. math::
+   a_{drag} = \frac{F_{wheel}}{m_{vehicle}}
+
+
+
+The maximum braking deceleration is set to :math:`a_{brake,max} = 9.81 m/s^2`. The actual braking power is proportional to the position of the braking pedal.
+
+.. math::
+   a_{brake} = pos_{actuator} \cdot a_{brake,max}
+
+.. math::
+   a_{act} = a_{drag} + a_{brake}
+
+
+**Acceleration:**  When the driver applies pressure on the accelerator the applied engine torque :math:`M_{eng,act}` is calculated as proportional to the accelerator pedal position and the span between engine drag and maximum engine torque :math:`M_{eng}`\ (:math:`n_{eng}` ) at the current engine speed.
+
+.. math::
+   M_{eng}(n_{eng}) = M_{drag}(n_eng) + pos_{actuator}(M_{eng,max}(n_{eng}) - M_{drag}(n_{eng}))
+   
+.. math::
+   M_{wheel} = \frac{M_{eng,act}}{i_{a} \cdot i_{g}(gear)}
+
+.. math::
+   F_{wheel} = \frac{M_{eng,act}}{r_{stat}}
+   
+.. math::
+   a_{act} = \frac{F_{wheel}}{m_{vehicle}}
+   
+
+Once the acceleration of the vehicle is known the change in velocity is determined by its discrete time integral.
+
+.. math::
+   \Delta v = a_{act} \cdot t_{cycle}
+
+
+
+The sum of the previous velocity and change in velocity result in the actual vehicle velocity of the current time step:
+
+.. math::
+   v_{act_{i}} = v_{act_{i-1}} + \Delta v
+
+
+
+Lateral dynamics
+----------------
+
+The lateral dynamics model is based on the Ackermann model which reduces the steering kinematics to a single surrogate front wheel. Considering the relatively small steering angles when driving on the highway this simplification is deemed suitable. 
+The heading is updated using the previous heading and the change in yaw due to the steering wheel angle which is converted into a yaw rate using the simplified Ackermann model shown in the following image.
+
+.. _image_AckermannModel_:
+
+.. figure:: _static/images/AckermannModel.svg
+   :alt: Illustration of the Ackermann model
+   
+   Illustration of the Ackermann model
+
+.. table::
+   :class: tight-table
+
+   ======================== ======================================= ====== ====================================
+   Variable                 Meaning                                 Unit   Source
+   ======================== ======================================= ====== ====================================
+   :math:`\delta_{h}`       steering wheel angle                    rad    Algorithm_Lateral
+   :math:`\Phi_{act_{i-1}}` heading at previous time step           rad    WorldObjectInterface
+   :math:`i_{s}`            steering ratio                                 vehicleModelParameters
+   :math:`l_{wheelbase}`    wheelbase                               m      vehicleModelParameters
+   :math:`\Delta s`         distance travelled since last time step m      previously calculated in the module
+   :math:`t_{cycle}`        cycle time                              ms     ModelInterface
+   ======================== ======================================= ====== ====================================
+
+The steering wheel angle :math:`\delta_{h}` is proportional to the front wheel angle :math:`\delta` :
+
+.. math::
+   \delta = \frac{\delta_{h}}{i_{s}}
+
+
+The Ackermann model provides the geometric connection between the front wheel angle and the resulting curvature :math:`\kappa` :
+
+.. math::
+   \kappa = \frac{tan(\delta)}{l_{wheelbase}}
+
+
+The combination of curvature :math:`\kappa` and driven distance at that curvature :math:`\Delta s` result in the change of the heading :math:`\Delta \Phi`:
+
+.. math::
+   \Delta \Phi = atan(\kappa \cdot \Delta s)
+   
+
+
+The new heading :math:`\Phi_{act_{i}}` is the old heading :math:`\Phi_{act{i-1}}` plus the previously calculated change in heading :math:`\Delta \Phi` :
+
+.. math::
+   \Phi_{act_{i}} = \Phi_{act_{i-1}} + \Delta \Phi
+
+
+Updating position
+-----------------
+
+Once the new vehicle speed :math:`v_{act_{i}}` is determined the distance travelled during the last timestep :math:`\Delta s` is determined:
+
+.. math::
+   \Delta s = v_{act_{i}} \cdot t_{cycle}
+   
+
+Using the actual vehicle yaw angle in the road coordinate :math:`\Phi_{act_{i-1}}` the vehicles new x- and y-coordinates are calculated:
+
+.. math::
+   x_{agent_{i}} = x_{agent_{i-1}} + \Delta s \cdot cos(\Phi_{act_{i-1}})
+   
+.. math::
+   y_{agent_{i}} = y_{agent_{i-1}} + \Delta s \cdot sin(\Phi_{act_{i-1}})
diff --git a/content/html/_sources/user_guide/sim_user_guide/components/dynamics_scenario.rst.txt b/content/html/_sources/user_guide/sim_user_guide/components/dynamics_scenario.rst.txt
index ef832ba0ad1299e7d81dc1b5dc748ba6debc8413..13ec0c0662f4925570bb39e750069f2003cebf97 100644
--- a/content/html/_sources/user_guide/sim_user_guide/components/dynamics_scenario.rst.txt
+++ b/content/html/_sources/user_guide/sim_user_guide/components/dynamics_scenario.rst.txt
@@ -1,64 +1,64 @@
-.. _dynamics_scenario:
-
-Dynamics_Scenario
-=================
-
-This module acts as a direct implementation of external scenario actions, requested through `ControlStrategies` defined in the `Mantle API <https://gitlab.eclipse.org/eclipse/openpass/scenario_api>`.
-As the MantleAPI is not an official standard, the module currently follows a "standard conform" interpretation based on `openSCENARIO V1.1 <https://www.asam.net/standards/detail/openscenario/>`.
-
-.. note::
-
-   Due to the nature of |op| actions that are set by the scenario engine in one timestep, will be visible in the simulation output starting with the next timestep,
-   because all states are only syncronized at the end of a timestep
-
-In every timestep one strategy for each MovementDomain (longitudinal and lateral) is active.
-If the scenario engine sets a new strategy for a MovementDomain the previous strategy for this MovementDomain is stopped.
-A strategy can also apply to both MovementDomains (meaning it is the only active strategy).
-If a strategy is finished (except KeepVelocity and KeepLaneOffset which are never finished), this is reported back to the scenario engine.
-
-DefaultStrategies
------------------
-
-KeepVelocity - longitudinal
-~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-During this strategy the velocity is constant (same as at the time when this strategy is set).
-This is the default longitudinal strategy, if no other longitudinal strategy is set.
-
-KeepLaneOffset - lateral
-~~~~~~~~~~~~~~~~~~~~~~~~
-
-During this strategy the agent will drive along the lane with a constant offset (same as at the time when this strategy is set).
-This is the default lateral strategy, if no other lateral strategy is set.
-
-Strategies
-----------
-
-FollowVelocitySpline - longitudinal
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-A velocity spline defines a function over time of the agent velocity.
-This function is a piecewise polynomial of degree 3.
-This strategy will be set for SpeedActions with DynamicsShape other than step.
-
-PerformChangeLane - lateral
-~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-This strategy will have the agent switching lanes while keeping a constant longitudinal velocity (in s direction).
-It will be set for LaneChangeActions where the target lane is not the current lane.
-At the momement only DynamicsShape sinusoidal and DynamicsDimension distance or time is supported.
-
-.. note::
-
-   In the current implementation both movement domains are touched, even if a longitudinal movement controller is active.
-   This means that the velocity of the longitudinal is ignored while the lane change is executed.
-   This may result in a jump of the velocity at the end of the lane change.
-
-
-FollowTrajectory - both
-~~~~~~~~~~~~~~~~~~~~~~~~
-
-A trajectory defines the position and orientation of the agent at defined times.
-If a timestep lies between the trajectory points the position is linearly interpolated.
-This strategy will be set for FollowTrajectoryActions.
-TrajectoryFollowingMode is not supported and the agent will always strictly adhere to the trajectory.
+.. _dynamics_scenario:
+
+Dynamics_Scenario
+=================
+
+This module acts as a direct implementation of external scenario actions, requested through `ControlStrategies` defined in the `Mantle API <https://gitlab.eclipse.org/eclipse/openpass/scenario_api>`.
+As the MantleAPI is not an official standard, the module currently follows a "standard conform" interpretation based on `openSCENARIO V1.1 <https://www.asam.net/standards/detail/openscenario/>`.
+
+.. note::
+
+   Due to the nature of |op| actions that are set by the scenario engine in one timestep, will be visible in the simulation output starting with the next timestep,
+   because all states are only syncronized at the end of a timestep
+
+In every timestep one strategy for each MovementDomain (longitudinal and lateral) is active.
+If the scenario engine sets a new strategy for a MovementDomain the previous strategy for this MovementDomain is stopped.
+A strategy can also apply to both MovementDomains (meaning it is the only active strategy).
+If a strategy is finished (except KeepVelocity and KeepLaneOffset which are never finished), this is reported back to the scenario engine.
+
+DefaultStrategies
+-----------------
+
+KeepVelocity - longitudinal
+~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+During this strategy the velocity is constant (same as at the time when this strategy is set).
+This is the default longitudinal strategy, if no other longitudinal strategy is set.
+
+KeepLaneOffset - lateral
+~~~~~~~~~~~~~~~~~~~~~~~~
+
+During this strategy the agent will drive along the lane with a constant offset (same as at the time when this strategy is set).
+This is the default lateral strategy, if no other lateral strategy is set.
+
+Strategies
+----------
+
+FollowVelocitySpline - longitudinal
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+A velocity spline defines a function over time of the agent velocity.
+This function is a piecewise polynomial of degree 3.
+This strategy will be set for SpeedActions with DynamicsShape other than step.
+
+PerformChangeLane - lateral
+~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+This strategy will have the agent switching lanes while keeping a constant longitudinal velocity (in s direction).
+It will be set for LaneChangeActions where the target lane is not the current lane.
+At the momement only DynamicsShape sinusoidal and DynamicsDimension distance or time is supported.
+
+.. note::
+
+   In the current implementation both movement domains are touched, even if a longitudinal movement controller is active.
+   This means that the velocity of the longitudinal is ignored while the lane change is executed.
+   This may result in a jump of the velocity at the end of the lane change.
+
+
+FollowTrajectory - both
+~~~~~~~~~~~~~~~~~~~~~~~~
+
+A trajectory defines the position and orientation of the agent at defined times.
+If a timestep lies between the trajectory points the position is linearly interpolated.
+This strategy will be set for FollowTrajectoryActions.
+TrajectoryFollowingMode is not supported and the agent will always strictly adhere to the trajectory.
diff --git a/content/html/_sources/user_guide/sim_user_guide/components/sensor_driver.rst.txt b/content/html/_sources/user_guide/sim_user_guide/components/sensor_driver.rst.txt
index beec1cde022eca6174eff3e7dec740cb7cc05e6c..00b4b9c2138e8ba13835daa34b9a17dd5d03b187 100644
--- a/content/html/_sources/user_guide/sim_user_guide/components/sensor_driver.rst.txt
+++ b/content/html/_sources/user_guide/sim_user_guide/components/sensor_driver.rst.txt
@@ -1,166 +1,166 @@
-..
-  *******************************************************************************
-  Copyright (c) 2021-2024 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
-  http://www.eclipse.org/legal/epl-2.0.
-
-  SPDX-License-Identifier: EPL-2.0
-  *******************************************************************************
-
-.. _sensor_driver:
-
-Sensor_Driver
-#############
-
-This module collects and distributes data from the WorldInterface and AgentInterface concerning the own vehicle, traffic rule 
-and geometry information and surrounding object. It creates a data struct to store the world and agent data of the own vehicle, 
-traffic rule and geometry information, other objects and surrounding vehicles.
-
-Components of the module
-========================
-
-The information collected by SensorDriver consists of generally four different data structs:
-
-* :ref:`sensor_driver_own_vehicle_states_` includes all information about the vehicle of the driver (e.g. speed, acceleration, ...)
-* :ref:`sensor_driver_traffic_rule_information_` includes information about the static environment (e.g. traffic signs, lane markings, ...)
-* :ref:`sensor_driver_geometry_information_` includes information about surrounding lanes that describe its geometric features
-* :ref:`sensor_driver_surrounding_objects_` includes information about objects surrounding the own agent as seen by the driver
-
-.. _sensor_driver_own_vehicle_states_:
-
-OwnVehicleStates
-----------------
-
-The Information of the own vehicle are based on the following general **struct OwnVehicleInformation** :
-
-.. table::
-   :class: tight-table
-
-   ====================================== ======= ===== ================================================================================== =============
-   Variable                               Type    Unit  Description                                                                        Default value
-   ====================================== ======= ===== ================================================================================== =============
-   absoluteVelocity                       Double  m/s   Velocity of agent                                                                  -999
-   acceleration                           Double  m/s²  Acceleration of agent                                                              -999
-   lateralPosition                        Double  m     t-coordinate                                                                       -999
-   heading                                Double  rad   Heading relative to lane                                                           -999
-   steeringWheelAngle                     Double  rad   Angle of the steering wheel                                                        -999
-   distanceToLaneBoundaryLeft             Double  m     Distance between the left front point and the left boundary of the lane it is in   -999
-   distanceToLaneBoundaryRight            Double  m     Distance between the right front point and the right boundary of the lane it is in -999
-   collision                              Boolean       Whether this agent has collided with another object                                false
-   ====================================== ======= ===== ================================================================================== =============
-
-.. _sensor_driver_traffic_rule_information_:
-
-TrafficRuleInformation
-----------------------
-
-The struct TrafficRuleInformation contains infrastructure information of surrounding lanes that are used to establish traffic rules.
-
-The general structure is shown in the following table.
-
-.. table::
-   :class: tight-table
-
-   ============================== =====================================================================================
-   Variable                       Description                                                                        
-   ============================== =====================================================================================
-   laneLeft                       Data about the lane to left (in driving direction) of the mainLane                       
-   laneEgo                        Data about the lane the where the middle of the front of the agent is (i.e. mainLane)
-   laneRight                      Data about the lane to right (in driving direction) of the mainLane
-   laneMarkingsLeft               List of lane markings on the left side of mainLane
-   laneMarkingsRight              List of lane markings on the right side of mainLane
-   laneMarkingsLeftOfLeftLane     List of lane markings on the left side of lane to the left
-   laneMarkingsRightOfRightLane   List of lane markings on the right side of lane to the right
-   ============================== =====================================================================================
-
-The basis for the respective variables is the following general struct **LaneInformationTrafficRules**, which is used to trasport data of a lane concerning traffic rules as seen by the driver.
-
-.. table::
-   :class: tight-table
-
-   ============== ===============================================================================
-   Variable       Description                                                                        
-   ============== ===============================================================================
-   trafficSigns   Vector of all traffic signs valid for this lane inside the visibility distance                    
-   trafficLights  Vector of all traffic lights valid for this lane inside the visibility distance
-   ============== ===============================================================================
-
-.. _sensor_driver_geometry_information_:
-
-GeometryInformation
--------------------
-
-The struct GeometryInformation contains infrastructure information of surrounding lanes that describe its geometric features.
-
-The general structure is shown in the following table.
-
-.. table::
-   :class: tight-table
-
-   =================== =====================================================================================
-   Variable            Description                                                                        
-   =================== =====================================================================================
-   visibilityDistance  Current maximum visibility distance as specified by the world                      
-   laneLeft            Data about the lane to left (in driving direction) of the mainLane
-   laneEgo             Data about the lane the where the middle of the front of the agent is (i.e. mainLane)
-   laneRight           Data about the lane to right (in driving direction) of the mainLane
-   =================== =====================================================================================
-
-The basis for the respective variables is the following general struct **LaneInformationGeometry**, which is used to transport data of a lane concerning its geometric features as seen by the driver.
-
-.. table::
-   :class: tight-table
-
-   =================== ======= ===== ================================================================= =============
-   Variable            Type    Unit  Description                                                       Default value
-   =================== ======= ===== ================================================================= =============
-   exists              Boolean       Whether there is a lane on this position                          false
-   curvature           Double  1/m   Curvature at current s position (default if not existing)         -999 
-   width               Double  m     Width at current s position (default if not existing)             -999   
-   distanceToEndOfLane Double  m     Distance from current position to the end of the lane or          -999  
-                                     infinity if the end is farther away than the visibility distance      
-   =================== ======= ===== ================================================================= =============
-
-.. _sensor_driver_surrounding_objects_:
-
-SurroundingObjects
-------------------
-
-This struct SurroundingObjects contains data of the objects surrounding the own agent as seen by the driver. For all cases mainLaneId is used as own lane.
-
-.. table::
-   :class: tight-table
-
-   ================= ========================================================
-   Variable          Description                                             
-   ================= ========================================================
-   objectFront       Next object in the same lane
-   objectRear        Closest object behind the agent in the same lane
-   objectFrontLeft   Next object in the lane to the left
-   objectRearLeft    Closest object behind the agent in the lane to the left
-   objectFrontRight  Next object in the lane to the right
-   objectRearRight   Closest object behind the agent in the lane to the right
-   ================= ========================================================
-
-The basis for the respective variables is the following general struct **ObjectInformation**, which is used to transport data of an object as seen by the driver:
-
-.. table::
-   :class: tight-table
-
-   ====================================== ======= ===== ============================================================================================== =============================
-   Variable                               Type    Unit  Description                                                                                    Default value
-   ====================================== ======= ===== ============================================================================================== =============================
-   id                                     Integer       Id of the object                                                                               -1 (not existing)
-   exist                                  Boolean       False if there is no object in this position                                                   false
-   isStatic                               Boolean       True if stationary object, false if agent                                                      false
-   absoluteVelocity                       Double  m/s   Absolute velocity of the agent                                                                 -999 (object is not an agent)
-   acceleration                           Double  m/s²  Acceleration of the agent                                                                      -999 (object is not an agent)
-   heading                                Double  rad   Heading relative to the street                                                                 -999 (not existing)
-   length                                 Double  m     Length of object                                                                               -999 (not existing)
-   width                                  Double  m     Width of object                                                                                -999 (not existing)                           
-   height                                 Double  m     Heigth of object                                                                               -999 (not existing)                      
-   relativeLongitudinalDistance           Double  m     Relative distance along the road (i.e. in direction s) between own agent and object            -999 (not existing)                     
-   relativeLateralDistance                Double  m     Relative distance at right angle to the road (i.e in direction t) between own agent and object -999 (not existing)           
-   ====================================== ======= ===== ============================================================================================== =============================
+..
+  *******************************************************************************
+  Copyright (c) 2021-2024 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
+  http://www.eclipse.org/legal/epl-2.0.
+
+  SPDX-License-Identifier: EPL-2.0
+  *******************************************************************************
+
+.. _sensor_driver:
+
+Sensor_Driver
+#############
+
+This module collects and distributes data from the WorldInterface and AgentInterface concerning the own vehicle, traffic rule 
+and geometry information and surrounding object. It creates a data struct to store the world and agent data of the own vehicle, 
+traffic rule and geometry information, other objects and surrounding vehicles.
+
+Components of the module
+========================
+
+The information collected by SensorDriver consists of generally four different data structs:
+
+* :ref:`sensor_driver_own_vehicle_states_` includes all information about the vehicle of the driver (e.g. speed, acceleration, ...)
+* :ref:`sensor_driver_traffic_rule_information_` includes information about the static environment (e.g. traffic signs, lane markings, ...)
+* :ref:`sensor_driver_geometry_information_` includes information about surrounding lanes that describe its geometric features
+* :ref:`sensor_driver_surrounding_objects_` includes information about objects surrounding the own agent as seen by the driver
+
+.. _sensor_driver_own_vehicle_states_:
+
+OwnVehicleStates
+----------------
+
+The Information of the own vehicle are based on the following general **struct OwnVehicleInformation** :
+
+.. table::
+   :class: tight-table
+
+   ====================================== ======= ===== ================================================================================== =============
+   Variable                               Type    Unit  Description                                                                        Default value
+   ====================================== ======= ===== ================================================================================== =============
+   absoluteVelocity                       Double  m/s   Velocity of agent                                                                  -999
+   acceleration                           Double  m/s²  Acceleration of agent                                                              -999
+   lateralPosition                        Double  m     t-coordinate                                                                       -999
+   heading                                Double  rad   Heading relative to lane                                                           -999
+   steeringWheelAngle                     Double  rad   Angle of the steering wheel                                                        -999
+   distanceToLaneBoundaryLeft             Double  m     Distance between the left front point and the left boundary of the lane it is in   -999
+   distanceToLaneBoundaryRight            Double  m     Distance between the right front point and the right boundary of the lane it is in -999
+   collision                              Boolean       Whether this agent has collided with another object                                false
+   ====================================== ======= ===== ================================================================================== =============
+
+.. _sensor_driver_traffic_rule_information_:
+
+TrafficRuleInformation
+----------------------
+
+The struct TrafficRuleInformation contains infrastructure information of surrounding lanes that are used to establish traffic rules.
+
+The general structure is shown in the following table.
+
+.. table::
+   :class: tight-table
+
+   ============================== =====================================================================================
+   Variable                       Description                                                                        
+   ============================== =====================================================================================
+   laneLeft                       Data about the lane to left (in driving direction) of the mainLane                       
+   laneEgo                        Data about the lane the where the middle of the front of the agent is (i.e. mainLane)
+   laneRight                      Data about the lane to right (in driving direction) of the mainLane
+   laneMarkingsLeft               List of lane markings on the left side of mainLane
+   laneMarkingsRight              List of lane markings on the right side of mainLane
+   laneMarkingsLeftOfLeftLane     List of lane markings on the left side of lane to the left
+   laneMarkingsRightOfRightLane   List of lane markings on the right side of lane to the right
+   ============================== =====================================================================================
+
+The basis for the respective variables is the following general struct **LaneInformationTrafficRules**, which is used to trasport data of a lane concerning traffic rules as seen by the driver.
+
+.. table::
+   :class: tight-table
+
+   ============== ===============================================================================
+   Variable       Description                                                                        
+   ============== ===============================================================================
+   trafficSigns   Vector of all traffic signs valid for this lane inside the visibility distance                    
+   trafficLights  Vector of all traffic lights valid for this lane inside the visibility distance
+   ============== ===============================================================================
+
+.. _sensor_driver_geometry_information_:
+
+GeometryInformation
+-------------------
+
+The struct GeometryInformation contains infrastructure information of surrounding lanes that describe its geometric features.
+
+The general structure is shown in the following table.
+
+.. table::
+   :class: tight-table
+
+   =================== =====================================================================================
+   Variable            Description                                                                        
+   =================== =====================================================================================
+   visibilityDistance  Current maximum visibility distance as specified by the world                      
+   laneLeft            Data about the lane to left (in driving direction) of the mainLane
+   laneEgo             Data about the lane the where the middle of the front of the agent is (i.e. mainLane)
+   laneRight           Data about the lane to right (in driving direction) of the mainLane
+   =================== =====================================================================================
+
+The basis for the respective variables is the following general struct **LaneInformationGeometry**, which is used to transport data of a lane concerning its geometric features as seen by the driver.
+
+.. table::
+   :class: tight-table
+
+   =================== ======= ===== ================================================================= =============
+   Variable            Type    Unit  Description                                                       Default value
+   =================== ======= ===== ================================================================= =============
+   exists              Boolean       Whether there is a lane on this position                          false
+   curvature           Double  1/m   Curvature at current s position (default if not existing)         -999 
+   width               Double  m     Width at current s position (default if not existing)             -999   
+   distanceToEndOfLane Double  m     Distance from current position to the end of the lane or          -999  
+                                     infinity if the end is farther away than the visibility distance      
+   =================== ======= ===== ================================================================= =============
+
+.. _sensor_driver_surrounding_objects_:
+
+SurroundingObjects
+------------------
+
+This struct SurroundingObjects contains data of the objects surrounding the own agent as seen by the driver. For all cases mainLaneId is used as own lane.
+
+.. table::
+   :class: tight-table
+
+   ================= ========================================================
+   Variable          Description                                             
+   ================= ========================================================
+   objectFront       Next object in the same lane
+   objectRear        Closest object behind the agent in the same lane
+   objectFrontLeft   Next object in the lane to the left
+   objectRearLeft    Closest object behind the agent in the lane to the left
+   objectFrontRight  Next object in the lane to the right
+   objectRearRight   Closest object behind the agent in the lane to the right
+   ================= ========================================================
+
+The basis for the respective variables is the following general struct **ObjectInformation**, which is used to transport data of an object as seen by the driver:
+
+.. table::
+   :class: tight-table
+
+   ====================================== ======= ===== ============================================================================================== =============================
+   Variable                               Type    Unit  Description                                                                                    Default value
+   ====================================== ======= ===== ============================================================================================== =============================
+   id                                     Integer       Id of the object                                                                               -1 (not existing)
+   exist                                  Boolean       False if there is no object in this position                                                   false
+   isStatic                               Boolean       True if stationary object, false if agent                                                      false
+   absoluteVelocity                       Double  m/s   Absolute velocity of the agent                                                                 -999 (object is not an agent)
+   acceleration                           Double  m/s²  Acceleration of the agent                                                                      -999 (object is not an agent)
+   heading                                Double  rad   Heading relative to the street                                                                 -999 (not existing)
+   length                                 Double  m     Length of object                                                                               -999 (not existing)
+   width                                  Double  m     Width of object                                                                                -999 (not existing)                           
+   height                                 Double  m     Heigth of object                                                                               -999 (not existing)                      
+   relativeLongitudinalDistance           Double  m     Relative distance along the road (i.e. in direction s) between own agent and object            -999 (not existing)                     
+   relativeLateralDistance                Double  m     Relative distance at right angle to the road (i.e in direction t) between own agent and object -999 (not existing)           
+   ====================================== ======= ===== ============================================================================================== =============================
diff --git a/content/html/_sources/user_guide/sim_user_guide/components/spawner.rst.txt b/content/html/_sources/user_guide/sim_user_guide/components/spawner.rst.txt
index 89e8526751614bf47d06a2a18cd46f62092ebfd2..67f2c22bea538bd4507d36c6df563ab7761ba860 100644
--- a/content/html/_sources/user_guide/sim_user_guide/components/spawner.rst.txt
+++ b/content/html/_sources/user_guide/sim_user_guide/components/spawner.rst.txt
@@ -1,223 +1,223 @@
-..
-  *******************************************************************************
-  Copyright (c) 2021-2023 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
-                2021 in-tech GmbH
-
-  This program and the accompanying materials are made available under the
-  terms of the Eclipse Public License 2.0 which is available at
-  http://www.eclipse.org/legal/epl-2.0.
-
-  SPDX-License-Identifier: EPL-2.0
-  *******************************************************************************
-
-.. _components_spawner:
-
-Spawner
--------
-
-Spawners are responsible to populate the world.
-In order to do so, several spawners can be used.
-
-.. _components_prerunspawner:
-
-PreRunSpawner
-~~~~~~~~~~~~~
-
-.. _OpenDRIVE: https://www.asam.net/standards/detail/opendrive/
-
-The PreRunSpawner is responsible for populating the scenery/world with Common-Agents before the simulator starts.
-This Spawner only acts once before the simulator starts and is not active during the simulation run.
-The PreRunSpawner needs a list of SpawnZones that define where it will spawn agents and a list of weighted :ref:`components_trafficgroups` that defines the type and parameters of the spawned agents.
-The SpawnZones have the following parameters:
-
-.. table::
-   :class: tight-table
-
-   ========= ============ ==== ======== ==================================================================================
-   Parameter Type         Unit optional Description
-   ========= ============ ==== ======== ==================================================================================
-   Roads     StringVector      no       List of linked Roads on which to spawn Agents.
-                                        Intermediate roads may be omitted.
-                                        If a road is not linked to the previous in the list (or doesn't exist), this road and the roads after it are ignored.
-                                        This means in particular, that if the first road in the list does not exist, the entire SpawnZone is ignored.
-   Lanes     IntVector         yes      The LaneIDs of the Lanes of the Road on which to spawn Agents (given on SStart).
-                                        Inexistent lanes are ignored.
-                                        If omitted all lanes are used.
-   SStart    Double       m    yes      The S position on the first road specifying the start of the range within which to spawn Agents
-                                        If omitted the whole road is included
-   SEnd      Double       m    yes      The S position on the last road specifying the start of the range within which to spawn Agents
-   SLength   Double       m    yes      Length of spawned area calculated from SStart      
-                                        This is ignored if SEnd is explicitly defined.
-                                        If neither is given the whole road is included
-   ========= ============ ==== ======== ==================================================================================
-
-.. note::
-
-    Lanes of two SpawnZones should not intersect each other. The behavior in this case is undefined. The PreRunSpawner is not required to fill the SpawnZones in the given order.
-
-SStart, SEnd and SLength may be out of range for the road.
-In this case they are cropped such that the spawn range is maximum within the road's bounds.
-It is also possible to define the MinimumSeparationBuffer either as fixed parameter of type double or as stochastic distribution:
-
-.. table::
-   :class: tight-table
-
-   ======================= ======================================= ==== ======== ====================================================
-   Parameter               Type                                    Unit optional Description
-   ======================= ======================================= ==== ======== ====================================================
-   MinimumSeparationBuffer Double (or any stochastic distribution) m    yes      Required minimum distance on lane between two agents
-   ======================= ======================================= ==== ======== ====================================================
-
-If the MinimumSeparationBuffer isn't defined the default value of 5m is used.
-
-.. literalinclude:: /../../../repo/sim/contrib/examples/Common/ProfilesCatalog.xml
-   :language: xml
-   :dedent: 4
-   :start-at: <Profile Name="DefaultPreRunCommon">
-   :end-at: </Profile>
-
-The PreRunCommonSpawner will spawn common agents on the specified Lanes of the specified continuous Road sequence (= RoadStream) inside the specified s interval based on the parameters of the TrafficGroups.
-The following restrictions apply:
-
-- The PreRunCommonSpawner only spawns on the following `OpenDRIVE`_ lane types: 
-    - Driving
-    - OnRamp
-    - OffRamp
-    - ConnectingRamp
-
-- If the ScenarioSpawner spawned Scenario Agents (including the Ego agent) before this Spawner is triggered (in the intended order of these Spawners), ranges between the Scenario Agents are invalid for spawning by this Spawner.
-  The spawn ranges will only be augmented by Scenario Agents on the same Lane.
-  As such, there are 7 different potential scenarios that may arise in terms of how the valid spawn ranges of the spawner may be impacted:
-  
-  #) **Two Scenario Agents on the same Lane**
-
-     One before S-Start position and one after S-End position:
-     This invalidates the entirety of the spawning range; no agents may be spawned here
-
-  #) **Two Scenario Agents on the same Lane**
-  
-     One between S-Start position and S-End position and one either before S-Start or after S-End:
-     The only valid spawn range is that on the opposite side of the in-specified-range Agent from the outside-specified-range agent
-
-  #) **Two Scenario Agents on the same Lane**
-  
-     Both within the specified S-Start and S-End positions
-     The valid spawn ranges are between S-Start and the first car and between the second car and S-End
-
-  #) **Two Scenario Agents on the same Lane**
-  
-     Both outside the specified S-Start and S-End positions on the same side (both before S-Start or both after S-End):
-     The specified spawn range is entirely valid
-  
-  #) **One Scenario Agent on the same Lane**
-  
-     Within specified S-Start and S-End positions:
-     The valid spawn ranges include all but the bounds of the Agent within the specified S-Start and S-End positions
-     
-  #) **One Scenario Agent on the same Lane**
-     
-     Outside specified S-Start and S-End positions:
-     The specified spawn range is entirely valid
-
-  #) **No Scenario Agents on the same Lane**
-    
-     The specified spawn range is entirely valid
-
-- If only non-existent lanes on SStart are specified, no spawning will occur
-
-- If some specified lanes exist and some are non-existent, spawning will occur for the lanes which do exist
-
-Once the spawning ranges are determined the PreRunSpawner will spawn for each spawning area based on the following logic:
-
-#) First the agentprofile needs to be determined. If the current spawn position evaluate to a right lane, the pool from which the agentprofile is drafted is extended by all traffic groups which contain the RightLaneOnly flag set to true.
-
-#) Then the time gap between the new agent and the closest existing agent is sampled.
-
-#) Afterwards the velocity of the new agent is being sampled under consideration of the homogeneity.
-
-#) The gap and velocity are used to calculate the distance between the new agent and the next agent in this spawnarea. Here a minimum distance of 5m between agents is required.
-
-#) A random route is sampled starting at the appropriate road
-
-#) Based on the distance and the velocity the TTC (2s) conditions are evaluated.If the TTC is critical the spawn velocity is reduced to fulfill the TTC requirements.
-
-#) As a final step the spawnzone evaluates the spawncoordinates. If they are valid the agent is created, else the spawnzone moves on to the next spawning range.
-
-.. _components_runtimespawner:
-
-RuntimeSpawner
-~~~~~~~~~~~~~~
-
-The RuntimeSpawner (included in library "SpawnerRuntimeCommon_OSI") is responsible for maintaining a populated scenery throughout the simulation runtime.
-It acts at each timestep throughout the simulation run and attempts to spawn Common Agents at the specified location(s).
-The RuntimeSpawner needs a list of SpawnZones that define where it will spawn agents and a list of weighted :ref:`components_trafficgroups` that defines the type and parameters of the spawned agents.
-The SpawnZones have the following parameters:
-
-.. table::
-   :class: tight-table
-
-   ========== ============ ==== ==============================================================
-   Parameter  Type         Unit Description
-   ========== ============ ==== ==============================================================
-   Roads      StringVector      The RoadIDs of the Roads on which to spawn Agents
-   Lanes      IntVector         The LaneIDs of the Lanes of the Road on which to spawn Agents
-   S-Position Double       m    The S position specifying at which point to spawn Agents
-   ========== ============ ==== ==============================================================
-
-It is also possible to define the MinimumSeparationBuffer either as fixed parameter of type double or as stochastic distribution:
-
-.. table::
-   :class: tight-table
-
-   ======================= ======================================= ==== ======== ====================================================
-   Parameter               Type                                    Unit optional Description
-   ======================= ======================================= ==== ======== ====================================================
-   MinimumSeparationBuffer Double (or any stochastic distribution) m    yes      Required minimum distance on lane between two agents
-   ======================= ======================================= ==== ======== ====================================================
-
-If the MinimumSeparationBuffer isn't defined the default value of 5m is used.
-
-.. literalinclude:: /../../../repo/sim/contrib/examples/Common/ProfilesCatalog.xml
-   :language: xml
-   :dedent: 4
-   :start-at: <Profile Name="DefaultRuntimeCommon">
-   :end-at: </Profile>
-
-The RuntimeSpawner will spawn based on the following logic:
-
-- First the agentprofile needs to be determined. If the current spawn position evaluates to a right lane, the pool from which the agentprofile is drafted is extended by all traffic groups which contain the RightLaneOnly flag set to true.
-- Then the gap between the spawn time of the new agent and the previously spawned agent is sampled.
-- Afterwards the velocity of the new agent is being sampled under consideration of the homogeneity.
-- A random route is sampled starting at the appropriate road
-- Once the timely gap expires, the spawnpoint evaluate if the TTC (2s) conditions and a minimum required distance between agents (5m) are met. If the TTC is critical the spawn velocity is reduced to fullfill the TTC requriements. If the minimum distance is not fullfilled, the agent will be held back.
-- If all requirements were fullfilled the agent is spawned.
-
-The RuntimeSpawner only spawns on the following `OpenDRIVE`_ lane types: Driving, OnRamp
-
-.. _components_trafficgroups:
-
-TrafficGroups
-~~~~~~~~~~~~~
-
-Both the :ref:`components_prerunspawner` and the :ref:`components_runtimespawner` need one or more TrafficGroup.
-These are typically defined in a separate ProfileGroup of type "TrafficGroup" and then reference by the spawner profile.
-In this way both spawner can use the same TrafficGroups.
-
-.. table::
-   :class: tight-table
-
-   ============= ============= ==== =======================================================================================================================================================================
-   Parameter     Type          Unit Description
-   ============= ============= ==== =======================================================================================================================================================================
-   AgentProfiles <List>             A set of <ListItem>s which define potential AgentProfile values for the Agents spawned in the SpawnArea and the probability at which the TrafficVolume will be selected
-   Velocity      Distribution  m/s  A stochastic distribution describing the velocity of the spawned Agents
-   TGap          Distribution  s    A stochastic distribution describing the time gap between spawned Agents
-   Homogeneity   DoubleVector       OPTIONAL: A vector describing the velocity increments for left lanes
-   RightLaneOnly Bool               OPTIONAL: A flag determining whether this TrafficGroup can only be applied to the right most lane
-   ============= ============= ==== =======================================================================================================================================================================
-
-.. literalinclude:: /../../../repo/sim/contrib/examples/Common/ProfilesCatalog.xml
-   :language: xml
-   :dedent: 4
-   :start-at: <Profile Name="LightVehicles">
-   :end-at: </Profile>
+..
+  *******************************************************************************
+  Copyright (c) 2021-2023 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+                2021 in-tech GmbH
+
+  This program and the accompanying materials are made available under the
+  terms of the Eclipse Public License 2.0 which is available at
+  http://www.eclipse.org/legal/epl-2.0.
+
+  SPDX-License-Identifier: EPL-2.0
+  *******************************************************************************
+
+.. _components_spawner:
+
+Spawner
+-------
+
+Spawners are responsible to populate the world.
+In order to do so, several spawners can be used.
+
+.. _components_prerunspawner:
+
+PreRunSpawner
+~~~~~~~~~~~~~
+
+.. _OpenDRIVE: https://www.asam.net/standards/detail/opendrive/
+
+The PreRunSpawner is responsible for populating the scenery/world with Common-Agents before the simulator starts.
+This Spawner only acts once before the simulator starts and is not active during the simulation run.
+The PreRunSpawner needs a list of SpawnZones that define where it will spawn agents and a list of weighted :ref:`components_trafficgroups` that defines the type and parameters of the spawned agents.
+The SpawnZones have the following parameters:
+
+.. table::
+   :class: tight-table
+
+   ========= ============ ==== ======== ==================================================================================
+   Parameter Type         Unit optional Description
+   ========= ============ ==== ======== ==================================================================================
+   Roads     StringVector      no       List of linked Roads on which to spawn Agents.
+                                        Intermediate roads may be omitted.
+                                        If a road is not linked to the previous in the list (or doesn't exist), this road and the roads after it are ignored.
+                                        This means in particular, that if the first road in the list does not exist, the entire SpawnZone is ignored.
+   Lanes     IntVector         yes      The LaneIDs of the Lanes of the Road on which to spawn Agents (given on SStart).
+                                        Inexistent lanes are ignored.
+                                        If omitted all lanes are used.
+   SStart    Double       m    yes      The S position on the first road specifying the start of the range within which to spawn Agents
+                                        If omitted the whole road is included
+   SEnd      Double       m    yes      The S position on the last road specifying the start of the range within which to spawn Agents
+   SLength   Double       m    yes      Length of spawned area calculated from SStart      
+                                        This is ignored if SEnd is explicitly defined.
+                                        If neither is given the whole road is included
+   ========= ============ ==== ======== ==================================================================================
+
+.. note::
+
+    Lanes of two SpawnZones should not intersect each other. The behavior in this case is undefined. The PreRunSpawner is not required to fill the SpawnZones in the given order.
+
+SStart, SEnd and SLength may be out of range for the road.
+In this case they are cropped such that the spawn range is maximum within the road's bounds.
+It is also possible to define the MinimumSeparationBuffer either as fixed parameter of type double or as stochastic distribution:
+
+.. table::
+   :class: tight-table
+
+   ======================= ======================================= ==== ======== ====================================================
+   Parameter               Type                                    Unit optional Description
+   ======================= ======================================= ==== ======== ====================================================
+   MinimumSeparationBuffer Double (or any stochastic distribution) m    yes      Required minimum distance on lane between two agents
+   ======================= ======================================= ==== ======== ====================================================
+
+If the MinimumSeparationBuffer isn't defined the default value of 5m is used.
+
+.. literalinclude:: /../../../repo/sim/contrib/examples/Common/ProfilesCatalog.xml
+   :language: xml
+   :dedent: 4
+   :start-at: <Profile Name="DefaultPreRunCommon">
+   :end-at: </Profile>
+
+The PreRunCommonSpawner will spawn common agents on the specified Lanes of the specified continuous Road sequence (= RoadStream) inside the specified s interval based on the parameters of the TrafficGroups.
+The following restrictions apply:
+
+- The PreRunCommonSpawner only spawns on the following `OpenDRIVE`_ lane types: 
+    - Driving
+    - OnRamp
+    - OffRamp
+    - ConnectingRamp
+
+- If the ScenarioSpawner spawned Scenario Agents (including the Ego agent) before this Spawner is triggered (in the intended order of these Spawners), ranges between the Scenario Agents are invalid for spawning by this Spawner.
+  The spawn ranges will only be augmented by Scenario Agents on the same Lane.
+  As such, there are 7 different potential scenarios that may arise in terms of how the valid spawn ranges of the spawner may be impacted:
+  
+  #) **Two Scenario Agents on the same Lane**
+
+     One before S-Start position and one after S-End position:
+     This invalidates the entirety of the spawning range; no agents may be spawned here
+
+  #) **Two Scenario Agents on the same Lane**
+  
+     One between S-Start position and S-End position and one either before S-Start or after S-End:
+     The only valid spawn range is that on the opposite side of the in-specified-range Agent from the outside-specified-range agent
+
+  #) **Two Scenario Agents on the same Lane**
+  
+     Both within the specified S-Start and S-End positions
+     The valid spawn ranges are between S-Start and the first car and between the second car and S-End
+
+  #) **Two Scenario Agents on the same Lane**
+  
+     Both outside the specified S-Start and S-End positions on the same side (both before S-Start or both after S-End):
+     The specified spawn range is entirely valid
+  
+  #) **One Scenario Agent on the same Lane**
+  
+     Within specified S-Start and S-End positions:
+     The valid spawn ranges include all but the bounds of the Agent within the specified S-Start and S-End positions
+     
+  #) **One Scenario Agent on the same Lane**
+     
+     Outside specified S-Start and S-End positions:
+     The specified spawn range is entirely valid
+
+  #) **No Scenario Agents on the same Lane**
+    
+     The specified spawn range is entirely valid
+
+- If only non-existent lanes on SStart are specified, no spawning will occur
+
+- If some specified lanes exist and some are non-existent, spawning will occur for the lanes which do exist
+
+Once the spawning ranges are determined the PreRunSpawner will spawn for each spawning area based on the following logic:
+
+#) First the agentprofile needs to be determined. If the current spawn position evaluate to a right lane, the pool from which the agentprofile is drafted is extended by all traffic groups which contain the RightLaneOnly flag set to true.
+
+#) Then the time gap between the new agent and the closest existing agent is sampled.
+
+#) Afterwards the velocity of the new agent is being sampled under consideration of the homogeneity.
+
+#) The gap and velocity are used to calculate the distance between the new agent and the next agent in this spawnarea. Here a minimum distance of 5m between agents is required.
+
+#) A random route is sampled starting at the appropriate road
+
+#) Based on the distance and the velocity the TTC (2s) conditions are evaluated.If the TTC is critical the spawn velocity is reduced to fulfill the TTC requirements.
+
+#) As a final step the spawnzone evaluates the spawncoordinates. If they are valid the agent is created, else the spawnzone moves on to the next spawning range.
+
+.. _components_runtimespawner:
+
+RuntimeSpawner
+~~~~~~~~~~~~~~
+
+The RuntimeSpawner (included in library "SpawnerRuntimeCommon_OSI") is responsible for maintaining a populated scenery throughout the simulation runtime.
+It acts at each timestep throughout the simulation run and attempts to spawn Common Agents at the specified location(s).
+The RuntimeSpawner needs a list of SpawnZones that define where it will spawn agents and a list of weighted :ref:`components_trafficgroups` that defines the type and parameters of the spawned agents.
+The SpawnZones have the following parameters:
+
+.. table::
+   :class: tight-table
+
+   ========== ============ ==== ==============================================================
+   Parameter  Type         Unit Description
+   ========== ============ ==== ==============================================================
+   Roads      StringVector      The RoadIDs of the Roads on which to spawn Agents
+   Lanes      IntVector         The LaneIDs of the Lanes of the Road on which to spawn Agents
+   S-Position Double       m    The S position specifying at which point to spawn Agents
+   ========== ============ ==== ==============================================================
+
+It is also possible to define the MinimumSeparationBuffer either as fixed parameter of type double or as stochastic distribution:
+
+.. table::
+   :class: tight-table
+
+   ======================= ======================================= ==== ======== ====================================================
+   Parameter               Type                                    Unit optional Description
+   ======================= ======================================= ==== ======== ====================================================
+   MinimumSeparationBuffer Double (or any stochastic distribution) m    yes      Required minimum distance on lane between two agents
+   ======================= ======================================= ==== ======== ====================================================
+
+If the MinimumSeparationBuffer isn't defined the default value of 5m is used.
+
+.. literalinclude:: /../../../repo/sim/contrib/examples/Common/ProfilesCatalog.xml
+   :language: xml
+   :dedent: 4
+   :start-at: <Profile Name="DefaultRuntimeCommon">
+   :end-at: </Profile>
+
+The RuntimeSpawner will spawn based on the following logic:
+
+- First the agentprofile needs to be determined. If the current spawn position evaluates to a right lane, the pool from which the agentprofile is drafted is extended by all traffic groups which contain the RightLaneOnly flag set to true.
+- Then the gap between the spawn time of the new agent and the previously spawned agent is sampled.
+- Afterwards the velocity of the new agent is being sampled under consideration of the homogeneity.
+- A random route is sampled starting at the appropriate road
+- Once the timely gap expires, the spawnpoint evaluate if the TTC (2s) conditions and a minimum required distance between agents (5m) are met. If the TTC is critical the spawn velocity is reduced to fullfill the TTC requriements. If the minimum distance is not fullfilled, the agent will be held back.
+- If all requirements were fullfilled the agent is spawned.
+
+The RuntimeSpawner only spawns on the following `OpenDRIVE`_ lane types: Driving, OnRamp
+
+.. _components_trafficgroups:
+
+TrafficGroups
+~~~~~~~~~~~~~
+
+Both the :ref:`components_prerunspawner` and the :ref:`components_runtimespawner` need one or more TrafficGroup.
+These are typically defined in a separate ProfileGroup of type "TrafficGroup" and then reference by the spawner profile.
+In this way both spawner can use the same TrafficGroups.
+
+.. table::
+   :class: tight-table
+
+   ============= ============= ==== =======================================================================================================================================================================
+   Parameter     Type          Unit Description
+   ============= ============= ==== =======================================================================================================================================================================
+   AgentProfiles <List>             A set of <ListItem>s which define potential AgentProfile values for the Agents spawned in the SpawnArea and the probability at which the TrafficVolume will be selected
+   Velocity      Distribution  m/s  A stochastic distribution describing the velocity of the spawned Agents
+   TGap          Distribution  s    A stochastic distribution describing the time gap between spawned Agents
+   Homogeneity   DoubleVector       OPTIONAL: A vector describing the velocity increments for left lanes
+   RightLaneOnly Bool               OPTIONAL: A flag determining whether this TrafficGroup can only be applied to the right most lane
+   ============= ============= ==== =======================================================================================================================================================================
+
+.. literalinclude:: /../../../repo/sim/contrib/examples/Common/ProfilesCatalog.xml
+   :language: xml
+   :dedent: 4
+   :start-at: <Profile Name="LightVehicles">
+   :end-at: </Profile>
diff --git a/content/html/_sources/user_guide/sim_user_guide/components/vehicle.rst.txt b/content/html/_sources/user_guide/sim_user_guide/components/vehicle.rst.txt
index 1d68736305bbf3b6f25338e89347413b97dc17f4..0c821f156bf4c48038ea71cd10f10b621b8ccffd 100644
--- a/content/html/_sources/user_guide/sim_user_guide/components/vehicle.rst.txt
+++ b/content/html/_sources/user_guide/sim_user_guide/components/vehicle.rst.txt
@@ -1,794 +1,797 @@
-..
-  *******************************************************************************
-  Copyright (c) 2021 in-tech GmbH
-                2022-2024 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
-                2023-2024 Volkswagen AG
-
-  This program and the accompanying materials are made available under the
-  terms of the Eclipse Public License 2.0 which is available at
-  http://www.eclipse.org/legal/epl-2.0.
-
-  SPDX-License-Identifier: EPL-2.0
-  *******************************************************************************
-
-.. _components_vehiclecomponents:
-
-VehicleComponents
------------------
-
-.. _components_aeb:
-
-AEB
-~~~
-
-The Autonomous Emergency Braking system checks if a collision is likely to occur in the near future and, if necessary, brakes to avoid the collision.
-In each timestep, the system evaluates all objects detected by a Sensor and calculates the time to collision (TTC) for this object based on the perceived movement of the object.
-If, for any object, the TTC is lower than the threshold of the component, then the component gets activated. The system deactivates if the TTC is larger than 1,5 times the threshold of the component.
-
-.. table::
-   :class: tight-table
-
-   ====================================== ====== ==== ===================================================================================
-   Attribute                              Type   Unit Description
-   ====================================== ====== ==== ===================================================================================
-   CollisionDetectionLongitudinalBoundary Double m    Additional length added the vehicle boundary when checking for collision detection
-   CollisionDetectionLateralBoundary      Double m    Additional width added the vehicle boundary when checking for collision detection
-   TTC                                    Double s    Time to collision which is used to trigger AEB
-   Acceleration                           Double m/s² Braking acceleration when activated
-   ====================================== ====== ==== ===================================================================================
-
-.. code-block:: xml
-
-   <ProfileGroup Type="AEB">
-       <Profile Type="AEB" Name="AEB1">
-           <Double Key="CollisionDetectionLongitudinalBoundary" Value="4.0"/>
-           <Double Key="CollisionDetectionLateralBoundary" Value="1.5"/>
-           <Double Key="TTC" Value="2.0"/>
-           <Double Key="Acceleration" Value="-2"/>
-       </Profile>
-       ...
-   </ProfileGroup>
-
-.. _components_trajectoryfollower:
-
-DynamicsTrajectoryFollower
-~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. _OpenSCENARIO: https://www.asam.net/standards/detail/openscenario/
-
-This module forces agents to drive according to a specific trajectory. The trajectory is defined in the scenario. This module is disabled by default and is activated if a trajectory from `OpenSCENARIO`_ is triggered.
-It is always important that the trajectories matches the current scenery file, otherwise the Agent could be placed outside of valid lanes. If the agent gets placed on a invalid position, it will be deleted.
-
-All attributes are required.
-
-.. table::
-   :class: tight-table
-
-   ===================== ==== =======================================================================================================================
-   Attribute             Type Description
-   ===================== ==== =======================================================================================================================
-   AutomaticDeactivation Bool If true, the trajectory follower relinquishes control of the vehicle after the final instruction in the TrajectoryFile.
-                              If false, it stops at the last point of the trajectory.
-   EnforceTrajectory     Bool If true, the trajectory follower overrides external input related to the vehicle's travel.
-   ===================== ==== =======================================================================================================================
-
-.. code-block:: xml
-
-   <ProfileGroup Type="DynamicsTrajectoryFollower">
-       <Profile Name="BasicTrajectoryFollower">
-           <Bool Key="AutomaticDeactivation" Value="true"/>
-           <Bool Key="EnforceTrajectory" Value="true"/>
-       </Profile>
-   </ProfileGroup>
-
-.. _components_fmuwrapper:
-
-FMU Wrapper
-~~~~~~~~~~~
-
-The FMU Wrapper provides a connection to arbitrary FMUs (Functional Mock-up Unit).
-An FMU has to be compatible with the FMI 1.0 or the FMI 2.0 specification (Functional Mock-up Interface) and has to be ABI (Application Binary Interface) compatible with the opSimulation binary.
-
-Additional reading about FMI is provided by the FMI standard website at https://fmi-standard.org/.
-For interfacing the FMUs in openPASS, the Modelon FMI Library is used, which is recommended on the FMI standard website. See https://jmodelica.org/.
-
-**FMU package format**
-
-FMI defines a packaging format for FMUs.
-The used container format is ZIP.
-It basically contains - among other parts -  the compiled FMU code (as ``*.dll`` or ``*.so``, depending on the platform) and the ``modelDescription.xml``.
-Latter provides meta-data about the FMU, i. e.
-- Author information
-- Model name, identifier and description
-- Generation timestamp
-- Name and datatype of model variables (inputs and outputs)
-
-
-**Architectural overview**
-
-The wrapper is instantiated as a component of an agent.
-It reads the input variables for the FMU from the simulation and provides it the FMU and reads the output of the FMU and forwards it via signals to other agent components.
-
-.. image:: _static/images/FmuWrapperOverview.svg
-      :alt: |op| FMU wrapper architectural overview
-
-**Framework channels**
-
-The wrapper can use input and output signals via *Channels* as every other agent component does.
-Framework channels (signals) can provide data and can also be written to by the wrapper.
-In addition, the wrapper is able to access the \c AgentInterface and \c WorldInterface methods.
-
-**FMI variables**
-
-Communication with the FMU happens via FMI variables (inputs and outputs).
-The wrapper will read in available variables from ``modelDescription.xml`` in the FMU package.
-These variables need to be mapped to variables and signals of openPASS in the VehicleComponentProfile.
-
-FMI 1.0 supports these standard datatypes:
-- bool
-- integer
-- real
-- string
-
-By using OSMP, three integer values can be used to support full osi messages
-
-**Configuration**
-
-Configuration of a particular FMU takes place in ``ProfilesCatalog.xml``.
-An example of a static system configuration can be found here "sim/contrib/examples/Configurations/StaticOSMPSensorDataToTrafficUpdateStepper".
-
-The following parameters are always required for the FmuWrapper. Depending on the FmuHandler additional parameters may be needed.
-
-.. table::
-   :class: tight-table
-   :name: FmuWrapper basic configuration
-
-   ==================== ======= ======= ================================================================================================================================
-   Key                  Type    Default Description
-   ==================== ======= ======= ================================================================================================================================
-   FmuPath              string  \-       Path to FMU file, either absolute or relative to the simulator's configuration directory.
-   Logging              bool    true    If set to true, FMU initialization and execution task are logged to a text file.
-   CsvOutput            bool    true    If set to true, FMI outputs are logged to a CSV file.
-   ==================== ======= ======= ================================================================================================================================
-
-.. literalinclude:: /../../../repo/sim/contrib/examples/Configurations/DynamicOSMPSensorDataToTUStepper/ProfilesCatalog.xml
-   :language: xml
-   :dedent: 2
-   :start-at: <ProfileGroup Type="FMU1">
-   :end-at: </ProfileGroup>
-
-Upon instantiation of the FMU wrapper, it will extract the FMU ZIP file to a temporary directory.
-Then the ``modelDescription.xml`` is parsed and the FMU is checked for compatibility.
-
-If the parameter ``CsvOutput`` is set to `true`, a subfolder "FmuWrapper/Agent<ID>" will be created in the simulator's "results" directory.
-"<ID>" is replaced with the agent id.
-FMI output data will be logged to a file inside this directory.
-The filename consists of the FMU's name and extension "csv".
-This output can then be used for visualization in a spreadsheet application or it may be processed in any other way.
-
-Same goes for parameter ``Logging`` (having "log" as output file extension).
-
-**Primitive Datatypes**
-
-The FMU Wrapper allows to link Simulink models or any other FMU to |op|.
-It lets the user link any input variables of the FMU to values of the Agent in the simulation and any output values of the FMU to signals, that are forwarded to other |op| components.
-These mappings are defined with the following optional parameters.
-
-.. note::
-
-   Be careful with the size of integer data types when used in Matlab/Simulink. The FMU integer data type shall always be 32 bit or bigger, e.g. for IDs.
-
-.. table::
-   :class: tight-table
-
-   ===================================== ======= ==================================================================================================================
-   Key                                   Type    Description
-   ===================================== ======= ==================================================================================================================
-   Parameter\_\ *varName*                any     Mapping of a fixed value (bool, integer, double, string) to an FMU input:
-
-                                                 * ``varName`` references an FMI input variable.
-                                                 * The type of the parameter has to match the FMI variable type.
-
-   Parameter_AssignSpecial\_\ *varName*  any     Mapping of a specific value of the simulation to an FMU input, assigned only once at FMU initialization:
-
-                                                 * ``varName`` references an FMI input variable.
-                                                 * The parameter is always of type string.
-                                                 * The value of this parameter has to be one of the types specified in the `Special simulation values`_ table below,
-                                                   which will also determine the required type of the FMI variable.
-
-   Input\_\ *varName*                    string  Mapping of a specific value of the simulation to an FMU input:
-
-                                                 * ``varName`` references an FMI input variable.
-                                                 * The value of this parameter has to be one of the types specified in the `Input simulation values`_ table below.
-
-   Output\_\ *varName*                   string  Mapping of a FMU output to a specific field in a specific signal:
-
-                                                 * ``varName`` references an FMI output variable.
-                                                 * The value of this parameter has to be one of the types specified in the `Output simulation signals`_ table below.
-   ===================================== ======= ==================================================================================================================
-
-The allowed special simulation values are as follows:
-
-.. table::
-   :class: tight-table
-   :name: Special simulation values
-
-   ========================================= ================== ==================================================================================================
-   Type                                      FMU Variable Type  Calculation
-   ========================================= ================== ==================================================================================================
-   RandomSeed                                Integer            The random seed of the current simulation run.
-   ConfigPath                                String             Config directory supplied to opSimulation (or the corresponding default value)
-   OutputPath                                String             An output path unique to this FmuWrapper instance.
-                                                                The path will always refer to a directory below the simulator's current result folder.
-                                                                This directory is not necessarily created by the FmuWrapper, depending on the setting of
-                                                                `CsvOutput` and `Logging` parameters (see `FmuWrapper basic configuration`_).
-   MaxSteering                               Real               The `max_steering` property of an agent's front axle as defined in OpenSCENARIO (catalog).
-   SteeringRatio                             Real               The steering ratio of the vehicle model.
-                                                                Has to be defined in the properties of the Entity in the OpenSCENARIO catalog with the name
-                                                                ``SteeringRatio`` and the value has to be a valid floating point expression.
-   NumberOfGears                             Integer            The number of gears of the vehicle model.
-                                                                Has to be defined in the properties of the Entity in the OpenSCENARIO catalog with the name
-                                                                ``NumberOfGears`` and the value has to be a valid integer.
-   GearRatio\ *N*                            Real               The ratio of the Nth gear.
-                                                                Has to be defined in the properties of the Entity in the OpenSCENARIO catalog with the name
-                                                                ``GearRatioN`` and the value has to be a valid floating point expression.
-                                                                *N* is allowed to be in the range 1-9.
-   ========================================= ================== ==================================================================================================
-
-The allowed inputs (simulation values) are as follows:
-
-.. table::
-   :class: tight-table
-   :name: Input simulation values
-
-   ========================================= ================== ==================================================================================================
-   Type                                      FMU Variable Type  Calculation
-   ========================================= ================== ==================================================================================================
-   VelocityEgo                               Real               Absolute velocity (length of the velocity vector) at reference point
-   AccelerationEgo                           Real               Longitudinal acceleration at reference point
-   CentripetalAccelerationEgo                Real               Centripetal acceleration at reference point
-   SteeringWheelEgo                          Real               Angle of the steering wheel (in radian)
-   AccelerationPedalPositionEgo              Real               Position of the acceleration pedal in the interval [0, 1]
-   BrakePedalPositionEgo                     Real               Position of the brake pedal in the interval [0, 1]
-   DistanceRefToFrontEdgeEgo                 Real               Distance between the reference point and the front of the agent (static)
-   PositionXEgo                              Real               X position of the reference point
-   PositionYEgo                              Real               Y position of the reference point
-   YawEgo                                    Real               Yaw of the reference point
-   LaneEgo                                   Integer            Lane id of the front center on the route (0, if off route)
-   PositionSEgo                              Real               S position of the reference point on the route (0, if off route)
-   PositionTEgo                              Real               T position of the reference point on the route (0, if off route)
-   ExistenceFront                            Boolean            true, if there is a object in front on the own lane (any range), false otherwise
-   PositionXFront                            Real               X position of front object reference point (0, if no front object)
-   PositionYFront                            Real               Y position of front object reference point (0, if no front object)
-   YawFront                                  Real               Yaw of front object reference point (0, if no front object)
-   PositionSFront                            Real               S position of front object reference point on ego route (0, if no front object)
-   PositionTFront                            Real               T position of front object reference point on ego route (0, if no front object)
-   RelativeDistanceFront                     Real               Net distance to front object along route (0, if no front object)
-   WidthFront                                Real               Width of front object (0, if no front object)
-   LengthFront                               Real               Length of front object (0, if no front object)
-   DistanceRefToFrontEdgeFront               Real               Distance between the reference point and the front of the front object (0, if no front object)
-   VelocityFront                             Real               Absolute velocity of front object at reference point (0, if no front object)
-   LaneFront                                 Integer            Lane id of the reference point of the front object on the ego route (0, if no front object)
-   ExistenceFrontFront                       Boolean            true, if there are at least two objects in front on the own lane (any range), false otherwise
-   PositionXFrontFront                       Real               X position of second front object reference point (0, if no second front object)
-   PositionYFrontFront                       Real               Y position of second front object reference point (0, if no second front object)
-   RelativeDistanceFrontFront                Real               Net distance to second front object reference point (0, if no second front object)
-   VelocityFrontFront                        Real               Absolute velocity of second front object reference point (0, if no second front object)
-   LaneFrontFront                            Integer            Lane id of the reference point of second front object reference point (0, if no second front object)
-   LaneCountLeft                             Integer            Number of lanes to the left of front center of type Driving, Exit, Entry, OnRamp or OffRamp
-   LaneCountRight                            Integer            Number of lanes to the right of front center of type Driving, Exit, Entry, OnRamp or OffRamp
-   SpeedLimit\_\ *X*                         Real               Speed limit in effect in distance *X* meters from front center (999, if no speed limit)
-   RoadCurvature\_\ *X*                      Real               Road curvature in distance *X* meters from front center
-   ========================================= ================== ==================================================================================================
-
-* **reference point**: Center of the rear axle
-* **front center**: Center of the front of the bounding box of the object
-
-If the FmuWrapper is linked to at least one sensor with InputId "Camera", the following additional inputs are available.
-The objects seen by this sensor(s) are sorted by distance from the agent and accessed by indices starting from 0.
-For each object the values listed in the following table are available where *X* is the index of the object (between 0 and 9).
-If there are less objects than *X*, a default value is set (-1 for the Id, 0 for the other values).
-Only the list of objects is taken from the sensor.
-The values are then calculated by the FmuWrapper (not from the SensorData).
-
-.. table::
-   :class: tight-table
-
-   ============================================ ================== ========================================================================================================
-   Type                                         FMU Variable Type  Calculation
-   ============================================ ================== ========================================================================================================
-   SensorFusionObjectId\_\ *X*                  Integer            Id of the object
-   SensorFusionNumberOfDetectingSensors\_\ *X*  Integer            Number of sensors detecting the object
-   SensorFusionRelativeS\_\ *X*                 Real               Distance between reference points along route (NaN, if object not on route)
-   SensorFusionRelativeNetS\_\ *X*              Real               Net distance along route (NaN, if object not on route)
-   SensorFusionRelativeT\_\ *X*                 Real               Lateral obstruction for front center (NaN, if object not on route) (see :ref:`world_getobstruction`)
-   SensorFusionRelativeX\_\ *X*                 Real               Relative distance between reference points in x in world coordinates
-   SensorFusionRelativeY\_\ *X*                 Real               Relative distance between reference points in y in world coordinates
-   SensorFusionRelativeNetLeft\_\ *X*           Real               Lateral obstruction for leftmost point (NaN, if object not on route)
-   SensorFusionRelativeNetRight\_\ *X*          Real               Lateral obstruction for rightmost point (NaN, if object not on route)
-   SensorFusionRelativeNetX\_\ *X*              Real               Net distance between bounding boxes in x in world coordinates
-   SensorFusionRelativeNetY\_\ *X*              Real               Net distance between bounding boxes in y in world coordinates
-   SensorFusionLane\_\ *X*                      Integer            Lane of front center
-   SensorFusionVelocity\_\ *X*                  Real               Absolute velocity at reference point
-   SensorFusionVelocityX\_\ *X*                 Real               Velocity in x at reference point in world coordinates
-   SensorFusionVelocityY\_\ *X*                 Real               Velocity in y at reference point in world coordinates
-   SensorFusionYaw\_\ *X*                       Real               Yaw in world coordinates
-   ============================================ ================== ========================================================================================================
-
-The FMU wrapper can output one or more of these signals:
-AccelerationSignal, LongitudinalSignal, SteeringSignal and DynamicsSignal
-
-The name of the signal field has to be specified after the signal name.
-This means the output type is one of the following:
-
-.. table::
-   :class: tight-table
-   :name: Output simulation signals
-
-   ====================================== =================== =========================================
-   Type                                   FMU Variable Type   Enum Values
-   ====================================== =================== =========================================
-   ComponentState                         Enum                Undefined, Disabled, Armed, Acting
-   AccelerationSignal_Acceleration        Real
-   LongitudinalSignal_AccPedalPos         Real
-   LongitudinalSignal_BrakePedalPos       Real
-   LongitudinalSignal_Gear                Int
-   SteeringSignal_SteeringWheelAngle      Real
-   DynamicsSignal_Acceleration            Real
-   DynamicsSignal_Velocity                Real
-   DynamicsSignal_PositionX               Real
-   DynamicsSignal_PositionY               Real
-   DynamicsSignal_Yaw                     Real
-   DynamicsSignal_YawRate                 Real
-   DynamicsSignal_YawAcceleration         Real
-   DynamicsSignal_SteeringWheelAngle      Real
-   DynamicsSignal_CentripetalAcceleration Real
-   DynamicsSignal_TravelDistance          Real
-   CompCtrlSignal_MovementDomain          Enum                Undefined, Lateral, Longitudinal, Both
-   CompCtrlSignal_WarningActivity         Bool
-   CompCtrlSignal_WarningLevel            Enum                INFO, WARNING
-   CompCtrlSignal_WarningType             Enum                OPTIC, ACOUSTIC, HAPTIC
-   CompCtrlSignal_WarningIntensity        Enum                LOW, MEDIUM, HIGH
-   CompCtrlSignal_WarningDirection        Enum
-   ====================================== =================== =========================================
-
-If one of these fields of a signal (except ComponentState) is mapped to an FMU variable, all fields of this signal have to be mapped.
-If the ComponentState is mapped to a FMU variable, it is used for all signals, otherwise it defaults to Acting.
-
-**OSI Data**
-
-OSMP (OsiSensorModelPackaging) is a package layer specification for the Open Simulation Interface (OSI).
-It allows to pass input to the FMU as OSI messages as well as receive output as OSI message.
-For more information on OSMP see https://github.com/OpenSimulationInterface/osi-sensor-model-packaging.
-
-The FmuHandler has the following additional (optional) parameters:
-
-.. table::
-   :class: tight-table
-
-   ========================================================= ==================== ===============================================================================================================================================
-   Key                                                       Type                 Description
-   ========================================================= ==================== ===============================================================================================================================================
-   Init\_\ *var_name*                                        string               *var_name* references an FMU variable (as defined in FMU's modelDescription.xml) to which a specific OSI message is sent during initialization  Allowed values: `GroundTruth`
-   Input\_\ *var_name*                                       string               *var_name* references an FMU variable (as defined in FMU's modelDescription.xml) to which a specific OSI message is sent  Allowed values: `SensorView`, `SensorViewConfig`, `SensorData`, `TrafficCommand`
-   Output\_\ *var_name*                                      string               *var_name* references an FMU variable (as defined in FMU's modelDescription.xml) from which a specific OSI message is received  Allowed values: `SensorViewConfigRequest`, `SensorData`, `TrafficUpdate`
-   Parameter\_\ *var_name*                                   any                  The value of the parameter is assigned to the FMU variable *var_name*
-   Parameter\_\ *transformation*\ [*mapping* ]\_\ *name*     string/string/any\*  Same as Parameter\_\ *name* but with an preceding *transformation* according to a *mapping*. |br| Currently, only mappings between the same types are supported. |br| \*;When using `TransformList` as *transformation*, the type of the data is expected to be a string and the string must be a comma separated list of values. |br|  |br| Allowed values: |br| *transformation*: `Transform`, `TransformList` |br| *mapping*: `ScenarioName>Id` |br|  |br| Example: `Parameter_TransformList[ScenarioName>Id]\_\ *name*`
-   WriteJson\_\ *var_name*                                   bool                 If true the osi message specified by *var_name* is written to a json file
-   WriteTrace\_\ *var_name*                                  bool                 If true the osi message specified by *var_name* is written to the trace file
-   EnforceDoubleBuffering                                    bool                 If true the wrapper will throw an error if FMU doesn't use double buffering. Defaults to false.
-   ========================================================= ==================== ===============================================================================================================================================
-
-The type of OSI messages the FmuHandler sends and receives is defined by its parameters. Only messages for which an FMU variable is given in the configuration are sent/received.
-An additional parameter defines whether the message should be logged as JSON file for every agent and every timestep (see table above).
-
-Currently these messages are supported:
-
-* SensorView: SensorView generated from the GroundTruth with this agent is host vehicle.
-* SensorViewConfig, SensorViewConfigRequest: Configuration of a sensor according to OSMP.
-* TrafficCommand: Trajectory from `OpenSCENARIO`_, that will be converted into a TrafficCommand.
-* SensorData: Output of a sensor. Can be input and/or output of an FMU. Received SensorData is forwarded to other components as SensorDataSignal.
-* TrafficUpdate: Will be converted to a DynamicsSignal, AccelerationSignal, SteeringSignal or LongitudinalSignal. If the update is empty, the signal will have ComponentState::Disabled. If it is only partially filled, the missing values for the DynamicsSignal will be set to the current state.
-* GroundTruth: Will be used as groundtruth information for everything that exists in the simulation world.
-
-**FmuVariables**
-
-FmuVariables can have different variability and causality.
-
-* There are the following causalities: Input, Output, Parameter and CalculatedParameter
-* Input or outputs can have the variability constant, fixed, discrete or continuous
-* Parameter or CalculatedParameter can have the variability constant, fixed or tunable
-
-In openPASS we have the initialization phase, which is only called once. In that phase first readValues is called.
-Then parameter values are synchronized between different config files. The following priority is used for the synchronization:
-
-modelDescription < systemConfig < SSP config.
-
-Afterwards still in the initialization phase writeValues is called.
-During the whole simulation in openPASS all the trigger functions are called each time step.
-For the FMU component we call WriteValues before trigger and readValues afterwards.
-For the first two time steps we have the following calls for read- and writeValues:
-
-    1) ReadValues (Init)
-    2) WriteValues (Init)
-    3) WriteValues
-    4) Trigger
-    5) ReadValues
-    6) WriteValues
-    7) Trigger
-    8) ReadValues
-
-Depending on them, FmuVariables are written/read to/from the FMU on different occasions, which is shown in the following table.
-
-
-.. list-table:: Write- and ReadValues depending on variability and causality
-   :widths: 5 5 5 5 5
-   :header-rows: 1
-   :stub-columns: 1
-
-   * -
-     - ReadValues - Init
-     - WriteValues - Init
-     - WriteValues - Trigger
-     - ReadValues - Trigger
-   * - Input - fixed
-     - x
-     - x
-     -
-     -
-   * - Input - discrete or continuous
-     - x
-     - x
-     - x
-     -
-   * - Output - fixed
-     - x
-     -
-     -
-     -
-   * - Output - discrete or continuous
-     - x
-     -
-     -
-     - x
-   * - Parameter - fixed
-     - x
-     - x
-     -
-     -
-   * - Parameter - tunable
-     - x
-     - x
-     - x
-     -
-   * - CalculatedParameter - fixed
-     - x
-     -
-     -
-     -
-   * - CalculatedParameter - tunable
-     - x
-     -
-     -
-     - x
-
-.. note::
-   For alle kinds of Input, Output, Parameter and CalculatedParameter there exists the variablity "constant".
-   All constant values are only read into openPASS once at the initialization phase.
-   Never will these values be written onto the FMU.
-
-.. _components_geometric2d:
-
-SensorGeometric2D
-~~~~~~~~~~~~~~~~~
-
-This sensor is selected, when a sensor is parameterized as ProfileGroup "Geometric2D".
-
-.. table::
-   :class: tight-table
-
-   =============================== ====== ==== ==================================================================================================
-   Parameter                       Type   Unit Description
-   =============================== ====== ==== ==================================================================================================
-   DetectionRange                  Double m    Detection range
-   EnableVisualObstruction         Bool        Activates 2D sensor obstruction calculation
-   FailureProbability              Double      Probability object is not detected although it is visible
-   Latency                         Double s    Delay the sensor output
-   DetectionDelayTime              Double s    Time an object needs to be in detection range before it is detected (optional)
-   MaxDropOutTime                  Double s    Time after which delay for undetected object starts anew (optional)
-   OpeningAngleH                   Double rad  Horizontal opening angle
-   RequiredPercentageOfVisibleArea Double      Required percentage of an object within the sensor cone to trigger a detection
-   =============================== ====== ==== ==================================================================================================
-
-.. literalinclude:: /../../../repo/sim/contrib/examples/Configurations/ADAS_AEB_PreventingCollisionWithObstacle/ProfilesCatalog.xml
-   :language: xml
-   :dedent: 2
-   :start-at: <ProfileGroup Type="Geometric2D">
-   :end-at: </ProfileGroup>
-
-.. note::
-
-   Sensors also need a mounting position, defined w.r.t. the coordinate system of the vehicle (center of rear axis).
-   See also :ref:`profilescatalog_systemprofiles`.
-
-ReceiverCar2X
-~~~~~~~~~~~~~
-
-This type is selected, when a sensor is parameterized as ProfileGroup "ReceiverCar2X".
-
-.. table::
-   :class: tight-table
-
-   ================== ====== ==== ===========================================================================================
-   Parameter          Type   Unit Description
-   ================== ====== ==== ===========================================================================================
-   FailureProbability Double      Probability object is not detected although it is visible
-   Latency            Double s    Sensor latency
-   Sensitivity        Double W/m² Sensitivity of the sensor
-   ================== ====== ==== ===========================================================================================
-
-.. literalinclude:: /../../../repo/sim/contrib/examples/Configurations/ADAS_Car2X/ProfilesCatalog.xml
-   :language: xml
-   :dedent: 2
-   :start-at: <ProfileGroup Type="ReceiverCar2X">
-   :end-at: </ProfileGroup>
-
-The moving object is detected if the received SignalStrength is greater than the Sensitivity of the ReceiverCar2X .
-
-The received SignalStrength is calculated by :math:`ss_{\text{received}} = \frac {ss_{\text{sender}}} {4 \cdot pi \cdot d \cdot d}`, where the symbols meanings are:
-
-============================ ===================================================
-Symbol                       Description
-============================ ===================================================
-:math:`ss_{\text{received}}` Received strength of the signal [1/m²]
-:math:`ss_{\text{sender}}`   Sent strength of the signal [1/m²]
-:math:`d`                    Distance between the receiver agent and sender [m]
-============================ ===================================================
-
-.. note::
-
-   Sensors also need a mounting position, defined w.r.t. the coordinate system of the vehicle (center of rear axis).
-   See also :ref:`profilescatalog_systemprofiles`.
-
-SSP
-~~~
-
-A SSP can be added as vehicle component. It's a blackbox of one or multiple FMUs.
-
-.. table::
-   :class: tight-table
-
-   =============================== ====== ==== ==================================================================================================
-   Parameter                       Type   Unit Description
-   =============================== ====== ==== ==================================================================================================
-   SspPath                         String path config relative path to ssp archive
-   =============================== ====== ==== ==================================================================================================
-
-.. literalinclude:: /../../../repo/sim/contrib/examples/Configurations/DynamicSSPStepper/ProfilesCatalog.xml
-   :language: xml
-   :dedent: 2
-   :start-at: <ProfileGroup Type="SSP1">
-   :end-at: </ProfileGroup>
-
-.. note::
-
-   To add the ssp component to a system profile do the following:
-   See also :ref:`profilescatalog_systemprofiles`.
-
-.. literalinclude:: /../../../repo/sim/contrib/examples/Configurations/DynamicSSPStepper/ProfilesCatalog.xml
-   :language: xml
-   :dedent: 2
-   :start-at: <SystemProfile Name="EgoVehicle
-   :end-at: </SystemProfiles>
-
-.. |br| raw:: html
-
-      <br>
-
-VehicleDynamics
-~~~~~~~~~~~~~~~
-
-Components of this group can be used to model the vehicle dynamics. The vehicle dynamics model has a modular design. If necessary, the individual components can be replaced by the user with their own models. The vehicle dynamics model consists of six components listed below:
-
-
-.. table::
-   :class: tight-table
-
-   ================================  ==================================================================================================================================================================
-   Component                         Short Description
-   ================================  ==================================================================================================================================================================
-   :ref:`components_steeringsystem`  The steering model transfers the driver's input into the vehicle's wheel angle
-   :ref:`components_powertrain`      The powertrain model converts the accelerator pedal position into wheel drive torques, under consideration of the selected gear
-   :ref:`components_brakesystem`     The brake model converts the brake pedal position into wheel brake torques 
-   :ref:`components_tiremodel`       The tire model converts the predetermined drive and braking torques of the tires into tire longitudinal and lateral forces, under consideration of the wheel angles
-   :ref:`components_motionmodel`     The motion model calculates the translational and rotational vehicle movement with the calculated tire forces
-   :ref:`components_chassismodel`    The chassis model determines the dynamic wheel loads via the vehicle's longitudinal and lateral acceleration
-   ================================  ==================================================================================================================================================================
-
-
-The following figure gives an overview of the driving dynamics components and their signals:
-
-
-.. image:: _static/images/VehicleDynamicsOverview.svg
-      :alt: |op| Vehicle dynamics overview
-
-
-
-.. _components_steeringsystem:
-
-ActionSteeringSystem
-^^^^^^^^^^^^^^^^^^^^
-
-The steering model obtains the "SteeringRatio" property from the :ref:`scenario_vehiclemodels` and uses it to calculate the steering angle of the front wheels. 
-Both wheels are turned at the same angle. The following parameter can be used to set a static toe and the steering elasticity:
-
-.. table::
-   :class: tight-table
-
-   ========== ============ ====== =========================================================================================================================
-   Attribute  Type         Unit   Description
-   ========== ============ ====== =========================================================================================================================
-   StaticToe  VectorDouble rad    Static toe of the wheels (A positive value corresponds to a toe-in; one static toe per axis)
-   Elasticity VectorDouble rad/Nm Steering Elasticity (one elasticity per axis)
-   Caster     VectorDouble m      Overall Caster of steering system
-   ========== ============ ====== =========================================================================================================================
-
-.. _components_powertrain:
-
-ActionPowertrain
-^^^^^^^^^^^^^^^^
-
-The powertrain model contains an engine model and a gear model. The type of the powertrain can be set using the following parameters:
-
-.. table::
-   :class: tight-table
-
-   ============== ====== ==== =============================================================================================================================
-   Attribute      Type   Unit Description
-   ============== ====== ==== =============================================================================================================================
-   TypeDrivetrain String      Type of drivetrain; A selection can be made between front-wheel drive (FWD), rear-wheel drive (RWD) and all-wheel drive (AWD)
-   FrontRatioAWD  Double      Distribution of the drive torque to the front axle in the case of all-wheel drive (AWD); Range 0-1
-   ============== ====== ==== =============================================================================================================================
-
-The wheel speed is converted into an engine speed [Hz] according to the axle ratio and the transmission ratio of the selected gear.
-The axle ratio and gear ratios are obtained from the :ref:`scenario_vehiclemodels` ("AxleRatio" & "GearRatio"). The average value of the powered wheels is used for the determination of the engine speed.
-
-.. math::
-   \omega_{engine} = \omega_{wheels,avg} \cdot  i_{axle} \cdot i_{gear,selected}
-
-The maximum possible engine torque [Nm] is limited by the engine power [W] or the maximum engine torque [Nm].
-The engine power and the maximum engine torque are obtained from the :ref:`scenario_vehiclemodels` ("MaximumEnginePower" & "MaximumEngineTorque").
-
-.. math::
-   M_{engine,max,current} = \begin{cases}
-    \frac{P_{engine,max}}{\omega_{engine}}     & \text{ if } \frac{P_{engine,max}}{\omega_{engine}} < M_{engine,max} \\
-    M_{engine,max}  & \text{ if } \frac{P_{engine,max}}{\omega_{engine}} >= M_{engine,max}
-	\end{cases}
-
-When 98% of the maximum speed of the motor is reached ("MaximumEngineSpeed" in the :ref:`scenario_vehiclemodels`), the engine torque is linearly reduced to 0.
-
-The maximum engine torque is scaled via the accelerator pedal position (input). This value is calculated back to the total wheel drive torque via the gear ratio.
-
-.. math::
-   M_{wheels,current} = M_{engine,max,current} \cdot  position_{accelerator pedal} \cdot  i_{axle} \cdot  i_{gear,selected}
-
-The wheel total drive torque is evenly distributed to the wheels of an axle according to the definition of the drive type.
-With all-wheel drive, the entire wheel drive torque is distributed statically over the defined ratio.
-
-
-.. _components_brakesystem:
-
-ActionBrakeSystem
-^^^^^^^^^^^^^^^^^
-
-The brake model is a linearized model. The brake pedal position is used as input. As output, the model returns the braking torques of the wheels as a vector.
-The model considers a response time [ms] and linear factors [m/s³] for the increase and decrease of the braking force.The distribution of braking force between the front and rear axles can be defined statically.
-
-.. table::
-   :class: tight-table
-
-   ============================ ====== ==== ==============================================================================================================
-   Attribute                    Type   Unit Description
-   ============================ ====== ==== ==============================================================================================================
-   FrontAxlePercentage          Double      Distribution of the brake torque to the front axle in the case of all-wheel drive (AWD); Range 0-1
-   BrakeDecelerationInclineRate Double m/s³ Linear Rate of braking force increase
-   BrakeDecelerationDeclineRate Double m/s³ Linear Rate of braking force decrease
-   BrakeResponseTimeMs          Double ms   Brake response time
-   ============================ ====== ==== ==============================================================================================================
-
-
-The maximum braking force of the system is determined from the maximum possible deceleration and the mass of the vehicle and is scaled by the brake pedal position (Input). 
-The maximum possible deceleration and the vehicle mass are obtained from the :ref:`scenario_vehiclemodels` ("maxDeceleration" & "mass").
-
-.. math::
-   F_{brake,max} = a_{deceleration,max} \cdot m_{vehicle} \cdot  position_{brake pedal}
-
-When the brake is applied, a deceleration is calculated after the response time has elapsed. Then the braking force is built up linearly until the maximum or requested braking force has been reached.
-
-.. math::
-   F_{brake,current} = rate_{incline} \cdot (t_{brake} -  t_{response})
-
-When the brake is released, the braking force is dissipated with the decline rate until it has dropped to zero. After that, the response time builds up again.
-The braking force is divided among the axles according to the parameter "FrontAxlePercentage". Another input allows you to request a prefill that reduces the response time without braking
-
-
-.. _components_chassismodel:
-
-DynamicsChassis
-^^^^^^^^^^^^^^^
-
-The chassis model determines the vertical forces of the four wheels from the longitudinal and lateral acceleration of the vehicle. Constant spring and damper rates are taken into account, which can be defined by the following parameters per axis:
-
-.. table::
-   :class: tight-table
-
-   ============================ ============ ==== ==============================================================================================================
-   Attribute                    Type         Unit Description
-   ============================ ============ ==== ==============================================================================================================
-   SpringCoefficient            VectorDouble N/m  Constant spring coefficient for each axis
-   DamperCoefficient            VectorDouble Ns/m Constant damper coefficient for each axis 
-   ============================ ============ ==== ==============================================================================================================
-
-.. _components_tiremodel:
-
-DynamicsTireModel
-^^^^^^^^^^^^^^^^^
-
-The tire model is freely configurable and includes a degressive behaviour. The tire forces are modeled according to Rill using the TMEasy model. The following parameters can be set for the tire model per axis :
-
-.. table::
-   :class: tight-table
-
-   ==================== ============ ==== ==============================================================================================================
-   Attribute            Type         Unit Description
-   ==================== ============ ==== ==============================================================================================================
-   MuTireMaxXFRef       VectorDouble      Normalized scaling factor for maximum longitudinal force at reference vertical force
-   MuTireMaxX2FRef      VectorDouble      Normalized scaling factor for maximum longitudinal force at double reference vertical force
-   MuTireSlideXFRef     VectorDouble      Normalized scaling factor for sliding longitudinal force at reference vertical force
-   MuTireSlideX2FRef    VectorDouble      Normalized scaling factor for sliding longitudinal force at double reference vertical force
-   SlipTireMaxXFRef     VectorDouble      Longitudinal slip at maximum longitudinal force at reference vertical force
-   SlipTireMaxX2FRef    VectorDouble      Longitudinal slip at maximum longitudinal force at double reference vertical force
-   SlipTireSlideXFRef   VectorDouble      Longitudinal slip at sliding longitudinal force at reference vertical force
-   SlipTireSlideX2FRef  VectorDouble      Longitudinal slip at sliding longitudinal force at double reference vertical force
-   F0pXFRef             VectorDouble N    Initial slope of longitudinal force at reference force
-   F0pX2FRef            VectorDouble N    Initial slope of longitudinal force at  double reference force
-   MuTireMaxYFRef       VectorDouble      Normalized scaling factor for maximum lateral force at reference vertical force
-   MuTireMaxY2FRef      VectorDouble      Normalized scaling factor for maximum lateral force at double reference vertical force
-   MuTireSlideYFRef     VectorDouble      Normalized scaling factor for sliding lateral force at reference vertical force
-   MuTireSlideY2FRef    VectorDouble      Normalized scaling factor for sliding lateral force at double reference vertical force
-   SlipTireMaxYFRef     VectorDouble      Lateral slip at maximum lateral force at reference vertical force
-   SlipTireMaxY2FRef    VectorDouble      Lateral slip at maximum lateral force at double reference vertical force
-   SlipTireSlideYFRef   VectorDouble      Lateral slip at sliding lateral force at reference vertical force
-   SlipTireSlideY2FRef  VectorDouble      Lateral slip at sliding lateral force at double reference vertical force
-   F0pYFRef             VectorDouble N    Initial slope of lateral force at reference force
-   F0pY2FRef            VectorDouble N    Initial slope of lateral force at  double reference force
-   FRef                 VectorDouble N    Vertical reference force for the tire parameters
-   FRefNormalized       VectorBool        Should the reference force be scaled with the static vertical tire force?
-   Inertia              VectorDouble kgm² Inertia of tire
-   PneumaticTrail       VectorDouble m    Pneumatic trail of tire
-   ==================== ============ ==== ==============================================================================================================
-
-The normalized factors refer to the reference vertical force or to the double reference vertical force
-The input variables used by the model are tire drive and braking torques as well as the wheel angles and vertical wheel forces. All data is provided as vectors.
-The model determines tire forces in the longitudinal and lateral directions as well as the wheel self aligning torques. The wheel self aligning torque is formed from the product of the tire side force and the pneumatic trail.
-A linear interpolation is performed between the values for the reference force and the double reference force. If no degressive tire behavior is desired, the parameters for the double reference force must be set identically to the values for the reference force. 
-
-All forces are scaled with the coefficient of friction from the :ref:`scenario_vehiclemodels` ("FrictionCoefficient").
-
-All further information about the model can be found in the following sources:
-
-https://www.tmeasy.de/ 
-
-Rill, Georg. (2013). TMeasy -- A Handling Tire Model based on a three-dimensional slip approach. 
-
-
-.. _components_motionmodel:
-
-DynamicsMotionModel
-^^^^^^^^^^^^^^^^^^^
-The motion model converts the tire forces (input) into a translational and rotational movement of the vehicle. The air resistance of the vehicle is taken into account. For the dynamic calculation, the center of gravity position is taken from the :ref:`scenario_vehiclemodels` ("XPositionCOG","YPositionCOG"),
-which indicates the distance of the center of gravity to the center of the rear axle. If this data is not given, the center of gravity is positioned on half wheelbase. For air resistance, the properties "AirDragCoefficient" & "FrontSurface" from the :ref:`scenario_vehiclemodels` are used.
-
-For the equations of motion, see relevant vehicle dynamics books such as:
-
-Kücükay, Ferit (2022), "Grundlagen der Fahrzeugtechnik", page 1067 ff
+..
+  *******************************************************************************
+  Copyright (c) 2021 in-tech GmbH
+                2022-2024 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+                2023-2024 Volkswagen AG
+
+  This program and the accompanying materials are made available under the
+  terms of the Eclipse Public License 2.0 which is available at
+  http://www.eclipse.org/legal/epl-2.0.
+
+  SPDX-License-Identifier: EPL-2.0
+  *******************************************************************************
+
+.. _components_vehiclecomponents:
+
+VehicleComponents
+-----------------
+
+.. _components_aeb:
+
+AEB
+~~~
+
+The Autonomous Emergency Braking system checks if a collision is likely to occur in the near future and, if necessary, brakes to avoid the collision.
+In each timestep, the system evaluates all objects detected by a Sensor and calculates the time to collision (TTC) for this object based on the perceived movement of the object.
+If, for any object, the TTC is lower than the threshold of the component, then the component gets activated. The system deactivates if the TTC is larger than 1,5 times the threshold of the component.
+
+.. table::
+   :class: tight-table
+
+   ====================================== ====== ==== ===================================================================================
+   Attribute                              Type   Unit Description
+   ====================================== ====== ==== ===================================================================================
+   CollisionDetectionLongitudinalBoundary Double m    Additional length added the vehicle boundary when checking for collision detection
+   CollisionDetectionLateralBoundary      Double m    Additional width added the vehicle boundary when checking for collision detection
+   TTC                                    Double s    Time to collision which is used to trigger AEB
+   Acceleration                           Double m/s² Braking acceleration when activated
+   ====================================== ====== ==== ===================================================================================
+
+.. code-block:: xml
+
+   <ProfileGroup Type="AEB">
+       <Profile Type="AEB" Name="AEB1">
+           <Double Key="CollisionDetectionLongitudinalBoundary" Value="4.0"/>
+           <Double Key="CollisionDetectionLateralBoundary" Value="1.5"/>
+           <Double Key="TTC" Value="2.0"/>
+           <Double Key="Acceleration" Value="-2"/>
+       </Profile>
+       ...
+   </ProfileGroup>
+
+.. _components_trajectoryfollower:
+
+DynamicsTrajectoryFollower
+~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. _OpenSCENARIO: https://www.asam.net/standards/detail/openscenario/
+
+This module forces agents to drive according to a specific trajectory. The trajectory is defined in the scenario. This module is disabled by default and is activated if a trajectory from `OpenSCENARIO`_ is triggered.
+It is always important that the trajectories matches the current scenery file, otherwise the Agent could be placed outside of valid lanes. If the agent gets placed on a invalid position, it will be deleted.
+
+All attributes are required.
+
+.. table::
+   :class: tight-table
+
+   ===================== ==== =======================================================================================================================
+   Attribute             Type Description
+   ===================== ==== =======================================================================================================================
+   AutomaticDeactivation Bool If true, the trajectory follower relinquishes control of the vehicle after the final instruction in the TrajectoryFile.
+                              If false, it stops at the last point of the trajectory.
+   EnforceTrajectory     Bool If true, the trajectory follower overrides external input related to the vehicle's travel.
+   ===================== ==== =======================================================================================================================
+
+.. code-block:: xml
+
+   <ProfileGroup Type="DynamicsTrajectoryFollower">
+       <Profile Name="BasicTrajectoryFollower">
+           <Bool Key="AutomaticDeactivation" Value="true"/>
+           <Bool Key="EnforceTrajectory" Value="true"/>
+       </Profile>
+   </ProfileGroup>
+
+.. _components_fmuwrapper:
+
+FMU Wrapper
+~~~~~~~~~~~
+
+The FMU Wrapper provides a connection to arbitrary FMUs (Functional Mock-up Unit).
+An FMU has to be compatible with the FMI 1.0 or the FMI 2.0 specification (Functional Mock-up Interface) and has to be ABI (Application Binary Interface) compatible with the opSimulation binary.
+
+Additional reading about FMI is provided by the FMI standard website at https://fmi-standard.org/.
+For interfacing the FMUs in openPASS, the Modelon FMI Library is used, which is recommended on the FMI standard website. See https://jmodelica.org/.
+
+**FMU package format**
+
+FMI defines a packaging format for FMUs.
+The used container format is ZIP.
+It basically contains - among other parts -  the compiled FMU code (as ``*.dll`` or ``*.so``, depending on the platform) and the ``modelDescription.xml``.
+Latter provides meta-data about the FMU, i. e.
+- Author information
+- Model name, identifier and description
+- Generation timestamp
+- Name and datatype of model variables (inputs and outputs)
+
+
+**Architectural overview**
+
+The wrapper is instantiated as a component of an agent.
+It reads the input variables for the FMU from the simulation and provides it the FMU and reads the output of the FMU and forwards it via signals to other agent components.
+
+.. image:: _static/images/FmuWrapperOverview.svg
+      :alt: |op| FMU wrapper architectural overview
+
+**Framework channels**
+
+The wrapper can use input and output signals via *Channels* as every other agent component does.
+Framework channels (signals) can provide data and can also be written to by the wrapper.
+In addition, the wrapper is able to access the \c AgentInterface and \c WorldInterface methods.
+
+**FMI variables**
+
+Communication with the FMU happens via FMI variables (inputs and outputs).
+The wrapper will read in available variables from ``modelDescription.xml`` in the FMU package.
+These variables need to be mapped to variables and signals of openPASS in the VehicleComponentProfile.
+
+FMI 1.0 supports these standard datatypes:
+- bool
+- integer
+- real
+- string
+
+By using OSMP, three integer values can be used to support full osi messages
+
+**Configuration**
+
+Configuration of a particular FMU takes place in ``ProfilesCatalog.xml``.
+An example of a static system configuration can be found here "sim/contrib/examples/Configurations/StaticOSMPSensorDataToTrafficUpdateStepper".
+
+The following parameters are always required for the FmuWrapper. Depending on the FmuHandler additional parameters may be needed.
+
+.. table::
+   :class: tight-table
+   :name: FmuWrapper basic configuration
+
+   ==================== ======= ======= ================================================================================================================================
+   Key                  Type    Default Description
+   ==================== ======= ======= ================================================================================================================================
+   FmuPath              string  \-       Path to FMU file, either absolute or relative to the simulator's configuration directory.
+   Logging              bool    true    If set to true, FMU initialization and execution task are logged to a text file.
+   CsvOutput            bool    true    If set to true, FMI outputs are logged to a CSV file.
+   ==================== ======= ======= ================================================================================================================================
+
+.. literalinclude:: /../../../repo/sim/contrib/examples/Configurations/DynamicOSMPSensorDataToTUStepper/ProfilesCatalog.xml
+   :language: xml
+   :dedent: 2
+   :start-at: <ProfileGroup Type="FMU1">
+   :end-at: </ProfileGroup>
+
+Upon instantiation of the FMU wrapper, it will extract the FMU ZIP file to a temporary directory.
+Then the ``modelDescription.xml`` is parsed and the FMU is checked for compatibility.
+
+If the parameter ``CsvOutput`` is set to `true`, a subfolder "FmuWrapper/Agent<ID>" will be created in the simulator's "results" directory.
+"<ID>" is replaced with the agent id.
+FMI output data will be logged to a file inside this directory.
+The filename consists of the FMU's name and extension "csv".
+This output can then be used for visualization in a spreadsheet application or it may be processed in any other way.
+
+Same goes for parameter ``Logging`` (having "log" as output file extension).
+
+**Primitive Datatypes**
+
+The FMU Wrapper allows to link Simulink models or any other FMU to |op|.
+It lets the user link any input variables of the FMU to values of the Agent in the simulation and any output values of the FMU to signals, that are forwarded to other |op| components.
+These mappings are defined with the following optional parameters.
+
+.. note::
+
+   Be careful with the size of integer data types when used in Matlab/Simulink. The FMU integer data type shall always be 32 bit or bigger, e.g. for IDs.
+
+.. table::
+   :class: tight-table
+
+   ===================================== ======= ==================================================================================================================
+   Key                                   Type    Description
+   ===================================== ======= ==================================================================================================================
+   Parameter\_\ *varName*                any     Mapping of a fixed value (bool, integer, double, string) to an FMU input:
+
+                                                 * ``varName`` references an FMI input variable.
+                                                 * The type of the parameter has to match the FMI variable type.
+
+   Parameter_AssignSpecial\_\ *varName*  any     Mapping of a specific value of the simulation to an FMU input, assigned only once at FMU initialization:
+
+                                                 * ``varName`` references an FMI input variable.
+                                                 * The parameter is always of type string.
+                                                 * The value of this parameter has to be one of the types specified in the `Special simulation values`_ table below,
+                                                   which will also determine the required type of the FMI variable.
+
+   Input\_\ *varName*                    string  Mapping of a specific value of the simulation to an FMU input:
+
+                                                 * ``varName`` references an FMI input variable.
+                                                 * The value of this parameter has to be one of the types specified in the `Input simulation values`_ table below.
+
+   Output\_\ *varName*                   string  Mapping of a FMU output to a specific field in a specific signal:
+
+                                                 * ``varName`` references an FMI output variable.
+                                                 * The value of this parameter has to be one of the types specified in the `Output simulation signals`_ table below.
+   ===================================== ======= ==================================================================================================================
+
+The allowed special simulation values are as follows:
+
+.. table::
+   :class: tight-table
+   :name: Special simulation values
+
+   ========================================= ================== ==================================================================================================
+   Type                                      FMU Variable Type  Calculation
+   ========================================= ================== ==================================================================================================
+   RandomSeed                                Integer            The random seed of the current simulation run.
+   ConfigPath                                String             Config directory supplied to opSimulation (or the corresponding default value)
+   OutputPath                                String             An output path unique to this FmuWrapper instance.
+                                                                The path will always refer to a directory below the simulator's current result folder.
+                                                                This directory is not necessarily created by the FmuWrapper, depending on the setting of
+                                                                `CsvOutput` and `Logging` parameters (see `FmuWrapper basic configuration`_).
+   MaxSteering                               Real               The `max_steering` property of an agent's front axle as defined in OpenSCENARIO (catalog).
+   AxleRatio                                 Real               The axle ratio of the vehicle model.
+                                                                Has to be defined in the properties of the Entity in the OpenSCENARIO catalog with the name
+                                                                ``AxleRatio`` and the value has to be a valid floating point expression.
+   SteeringRatio                             Real               The steering ratio of the vehicle model.
+                                                                Has to be defined in the properties of the Entity in the OpenSCENARIO catalog with the name
+                                                                ``SteeringRatio`` and the value has to be a valid floating point expression.
+   NumberOfGears                             Integer            The number of gears of the vehicle model.
+                                                                Has to be defined in the properties of the Entity in the OpenSCENARIO catalog with the name
+                                                                ``NumberOfGears`` and the value has to be a valid integer.
+   GearRatio\ *N*                            Real               The ratio of the Nth gear.
+                                                                Has to be defined in the properties of the Entity in the OpenSCENARIO catalog with the name
+                                                                ``GearRatioN`` and the value has to be a valid floating point expression.
+                                                                *N* is allowed to be in the range 1-9.
+   ========================================= ================== ==================================================================================================
+
+The allowed inputs (simulation values) are as follows:
+
+.. table::
+   :class: tight-table
+   :name: Input simulation values
+
+   ========================================= ================== ==================================================================================================
+   Type                                      FMU Variable Type  Calculation
+   ========================================= ================== ==================================================================================================
+   VelocityEgo                               Real               Absolute velocity (length of the velocity vector) at reference point
+   AccelerationEgo                           Real               Longitudinal acceleration at reference point
+   CentripetalAccelerationEgo                Real               Centripetal acceleration at reference point
+   SteeringWheelEgo                          Real               Angle of the steering wheel (in radian)
+   AccelerationPedalPositionEgo              Real               Position of the acceleration pedal in the interval [0, 1]
+   BrakePedalPositionEgo                     Real               Position of the brake pedal in the interval [0, 1]
+   DistanceRefToFrontEdgeEgo                 Real               Distance between the reference point and the front of the agent (static)
+   PositionXEgo                              Real               X position of the reference point
+   PositionYEgo                              Real               Y position of the reference point
+   YawEgo                                    Real               Yaw of the reference point
+   LaneEgo                                   Integer            Lane id of the front center on the route (0, if off route)
+   PositionSEgo                              Real               S position of the reference point on the route (0, if off route)
+   PositionTEgo                              Real               T position of the reference point on the route (0, if off route)
+   ExistenceFront                            Boolean            true, if there is a object in front on the own lane (any range), false otherwise
+   PositionXFront                            Real               X position of front object reference point (0, if no front object)
+   PositionYFront                            Real               Y position of front object reference point (0, if no front object)
+   YawFront                                  Real               Yaw of front object reference point (0, if no front object)
+   PositionSFront                            Real               S position of front object reference point on ego route (0, if no front object)
+   PositionTFront                            Real               T position of front object reference point on ego route (0, if no front object)
+   RelativeDistanceFront                     Real               Net distance to front object along route (0, if no front object)
+   WidthFront                                Real               Width of front object (0, if no front object)
+   LengthFront                               Real               Length of front object (0, if no front object)
+   DistanceRefToFrontEdgeFront               Real               Distance between the reference point and the front of the front object (0, if no front object)
+   VelocityFront                             Real               Absolute velocity of front object at reference point (0, if no front object)
+   LaneFront                                 Integer            Lane id of the reference point of the front object on the ego route (0, if no front object)
+   ExistenceFrontFront                       Boolean            true, if there are at least two objects in front on the own lane (any range), false otherwise
+   PositionXFrontFront                       Real               X position of second front object reference point (0, if no second front object)
+   PositionYFrontFront                       Real               Y position of second front object reference point (0, if no second front object)
+   RelativeDistanceFrontFront                Real               Net distance to second front object reference point (0, if no second front object)
+   VelocityFrontFront                        Real               Absolute velocity of second front object reference point (0, if no second front object)
+   LaneFrontFront                            Integer            Lane id of the reference point of second front object reference point (0, if no second front object)
+   LaneCountLeft                             Integer            Number of lanes to the left of front center of type Driving, Exit, Entry, OnRamp or OffRamp
+   LaneCountRight                            Integer            Number of lanes to the right of front center of type Driving, Exit, Entry, OnRamp or OffRamp
+   SpeedLimit\_\ *X*                         Real               Speed limit in effect in distance *X* meters from front center (999, if no speed limit)
+   RoadCurvature\_\ *X*                      Real               Road curvature in distance *X* meters from front center
+   ========================================= ================== ==================================================================================================
+
+* **reference point**: Center of the rear axle
+* **front center**: Center of the front of the bounding box of the object
+
+If the FmuWrapper is linked to at least one sensor with InputId "Camera", the following additional inputs are available.
+The objects seen by this sensor(s) are sorted by distance from the agent and accessed by indices starting from 0.
+For each object the values listed in the following table are available where *X* is the index of the object (between 0 and 9).
+If there are less objects than *X*, a default value is set (-1 for the Id, 0 for the other values).
+Only the list of objects is taken from the sensor.
+The values are then calculated by the FmuWrapper (not from the SensorData).
+
+.. table::
+   :class: tight-table
+
+   ============================================ ================== ========================================================================================================
+   Type                                         FMU Variable Type  Calculation
+   ============================================ ================== ========================================================================================================
+   SensorFusionObjectId\_\ *X*                  Integer            Id of the object
+   SensorFusionNumberOfDetectingSensors\_\ *X*  Integer            Number of sensors detecting the object
+   SensorFusionRelativeS\_\ *X*                 Real               Distance between reference points along route (NaN, if object not on route)
+   SensorFusionRelativeNetS\_\ *X*              Real               Net distance along route (NaN, if object not on route)
+   SensorFusionRelativeT\_\ *X*                 Real               Lateral obstruction for front center (NaN, if object not on route) (see :ref:`world_getobstruction`)
+   SensorFusionRelativeX\_\ *X*                 Real               Relative distance between reference points in x in world coordinates
+   SensorFusionRelativeY\_\ *X*                 Real               Relative distance between reference points in y in world coordinates
+   SensorFusionRelativeNetLeft\_\ *X*           Real               Lateral obstruction for leftmost point (NaN, if object not on route)
+   SensorFusionRelativeNetRight\_\ *X*          Real               Lateral obstruction for rightmost point (NaN, if object not on route)
+   SensorFusionRelativeNetX\_\ *X*              Real               Net distance between bounding boxes in x in world coordinates
+   SensorFusionRelativeNetY\_\ *X*              Real               Net distance between bounding boxes in y in world coordinates
+   SensorFusionLane\_\ *X*                      Integer            Lane of front center
+   SensorFusionVelocity\_\ *X*                  Real               Absolute velocity at reference point
+   SensorFusionVelocityX\_\ *X*                 Real               Velocity in x at reference point in world coordinates
+   SensorFusionVelocityY\_\ *X*                 Real               Velocity in y at reference point in world coordinates
+   SensorFusionYaw\_\ *X*                       Real               Yaw in world coordinates
+   ============================================ ================== ========================================================================================================
+
+The FMU wrapper can output one or more of these signals:
+AccelerationSignal, LongitudinalSignal, SteeringSignal and DynamicsSignal
+
+The name of the signal field has to be specified after the signal name.
+This means the output type is one of the following:
+
+.. table::
+   :class: tight-table
+   :name: Output simulation signals
+
+   ====================================== =================== =========================================
+   Type                                   FMU Variable Type   Enum Values
+   ====================================== =================== =========================================
+   ComponentState                         Enum                Undefined, Disabled, Armed, Acting
+   AccelerationSignal_Acceleration        Real
+   LongitudinalSignal_AccPedalPos         Real
+   LongitudinalSignal_BrakePedalPos       Real
+   LongitudinalSignal_Gear                Int
+   SteeringSignal_SteeringWheelAngle      Real
+   DynamicsSignal_Acceleration            Real
+   DynamicsSignal_Velocity                Real
+   DynamicsSignal_PositionX               Real
+   DynamicsSignal_PositionY               Real
+   DynamicsSignal_Yaw                     Real
+   DynamicsSignal_YawRate                 Real
+   DynamicsSignal_YawAcceleration         Real
+   DynamicsSignal_SteeringWheelAngle      Real
+   DynamicsSignal_CentripetalAcceleration Real
+   DynamicsSignal_TravelDistance          Real
+   CompCtrlSignal_MovementDomain          Enum                Undefined, Lateral, Longitudinal, Both
+   CompCtrlSignal_WarningActivity         Bool
+   CompCtrlSignal_WarningLevel            Enum                INFO, WARNING
+   CompCtrlSignal_WarningType             Enum                OPTIC, ACOUSTIC, HAPTIC
+   CompCtrlSignal_WarningIntensity        Enum                LOW, MEDIUM, HIGH
+   CompCtrlSignal_WarningDirection        Enum
+   ====================================== =================== =========================================
+
+If one of these fields of a signal (except ComponentState) is mapped to an FMU variable, all fields of this signal have to be mapped.
+If the ComponentState is mapped to a FMU variable, it is used for all signals, otherwise it defaults to Acting.
+
+**OSI Data**
+
+OSMP (OsiSensorModelPackaging) is a package layer specification for the Open Simulation Interface (OSI).
+It allows to pass input to the FMU as OSI messages as well as receive output as OSI message.
+For more information on OSMP see https://github.com/OpenSimulationInterface/osi-sensor-model-packaging.
+
+The FmuHandler has the following additional (optional) parameters:
+
+.. table::
+   :class: tight-table
+
+   ========================================================= ==================== ===============================================================================================================================================
+   Key                                                       Type                 Description
+   ========================================================= ==================== ===============================================================================================================================================
+   Init\_\ *var_name*                                        string               *var_name* references an FMU variable (as defined in FMU's modelDescription.xml) to which a specific OSI message is sent during initialization  Allowed values: `GroundTruth`
+   Input\_\ *var_name*                                       string               *var_name* references an FMU variable (as defined in FMU's modelDescription.xml) to which a specific OSI message is sent  Allowed values: `SensorView`, `SensorViewConfig`, `SensorData`, `TrafficCommand`
+   Output\_\ *var_name*                                      string               *var_name* references an FMU variable (as defined in FMU's modelDescription.xml) from which a specific OSI message is received  Allowed values: `SensorViewConfigRequest`, `SensorData`, `TrafficUpdate`
+   Parameter\_\ *var_name*                                   any                  The value of the parameter is assigned to the FMU variable *var_name*
+   Parameter\_\ *transformation*\ [*mapping* ]\_\ *name*     string/string/any\*  Same as Parameter\_\ *name* but with an preceding *transformation* according to a *mapping*. |br| Currently, only mappings between the same types are supported. |br| \*;When using `TransformList` as *transformation*, the type of the data is expected to be a string and the string must be a comma separated list of values. |br|  |br| Allowed values: |br| *transformation*: `Transform`, `TransformList` |br| *mapping*: `ScenarioName>Id` |br|  |br| Example: `Parameter_TransformList[ScenarioName>Id]\_\ *name*`
+   WriteJson\_\ *var_name*                                   bool                 If true the osi message specified by *var_name* is written to a json file
+   WriteTrace\_\ *var_name*                                  bool                 If true the osi message specified by *var_name* is written to the trace file
+   EnforceDoubleBuffering                                    bool                 If true the wrapper will throw an error if FMU doesn't use double buffering. Defaults to false.
+   ========================================================= ==================== ===============================================================================================================================================
+
+The type of OSI messages the FmuHandler sends and receives is defined by its parameters. Only messages for which an FMU variable is given in the configuration are sent/received.
+An additional parameter defines whether the message should be logged as JSON file for every agent and every timestep (see table above).
+
+Currently these messages are supported:
+
+* SensorView: SensorView generated from the GroundTruth with this agent is host vehicle.
+* SensorViewConfig, SensorViewConfigRequest: Configuration of a sensor according to OSMP.
+* TrafficCommand: Trajectory from `OpenSCENARIO`_, that will be converted into a TrafficCommand.
+* SensorData: Output of a sensor. Can be input and/or output of an FMU. Received SensorData is forwarded to other components as SensorDataSignal.
+* TrafficUpdate: Will be converted to a DynamicsSignal, AccelerationSignal, SteeringSignal or LongitudinalSignal. If the update is empty, the signal will have ComponentState::Disabled. If it is only partially filled, the missing values for the DynamicsSignal will be set to the current state.
+* GroundTruth: Will be used as groundtruth information for everything that exists in the simulation world.
+
+**FmuVariables**
+
+FmuVariables can have different variability and causality.
+
+* There are the following causalities: Input, Output, Parameter and CalculatedParameter
+* Input or outputs can have the variability constant, fixed, discrete or continuous
+* Parameter or CalculatedParameter can have the variability constant, fixed or tunable
+
+In openPASS we have the initialization phase, which is only called once. In that phase first readValues is called.
+Then parameter values are synchronized between different config files. The following priority is used for the synchronization:
+
+modelDescription < systemConfig < SSP config.
+
+Afterwards still in the initialization phase writeValues is called.
+During the whole simulation in openPASS all the trigger functions are called each time step.
+For the FMU component we call WriteValues before trigger and readValues afterwards.
+For the first two time steps we have the following calls for read- and writeValues:
+
+    1) ReadValues (Init)
+    2) WriteValues (Init)
+    3) WriteValues
+    4) Trigger
+    5) ReadValues
+    6) WriteValues
+    7) Trigger
+    8) ReadValues
+
+Depending on them, FmuVariables are written/read to/from the FMU on different occasions, which is shown in the following table.
+
+
+.. list-table:: Write- and ReadValues depending on variability and causality
+   :widths: 5 5 5 5 5
+   :header-rows: 1
+   :stub-columns: 1
+
+   * -
+     - ReadValues - Init
+     - WriteValues - Init
+     - WriteValues - Trigger
+     - ReadValues - Trigger
+   * - Input - fixed
+     - x
+     - x
+     -
+     -
+   * - Input - discrete or continuous
+     - x
+     - x
+     - x
+     -
+   * - Output - fixed
+     - x
+     -
+     -
+     -
+   * - Output - discrete or continuous
+     - x
+     -
+     -
+     - x
+   * - Parameter - fixed
+     - x
+     - x
+     -
+     -
+   * - Parameter - tunable
+     - x
+     - x
+     - x
+     -
+   * - CalculatedParameter - fixed
+     - x
+     -
+     -
+     -
+   * - CalculatedParameter - tunable
+     - x
+     -
+     -
+     - x
+
+.. note::
+   For alle kinds of Input, Output, Parameter and CalculatedParameter there exists the variablity "constant".
+   All constant values are only read into openPASS once at the initialization phase.
+   Never will these values be written onto the FMU.
+
+.. _components_geometric2d:
+
+SensorGeometric2D
+~~~~~~~~~~~~~~~~~
+
+This sensor is selected, when a sensor is parameterized as ProfileGroup "Geometric2D".
+
+.. table::
+   :class: tight-table
+
+   =============================== ====== ==== ==================================================================================================
+   Parameter                       Type   Unit Description
+   =============================== ====== ==== ==================================================================================================
+   DetectionRange                  Double m    Detection range
+   EnableVisualObstruction         Bool        Activates 2D sensor obstruction calculation
+   FailureProbability              Double      Probability object is not detected although it is visible
+   Latency                         Double s    Delay the sensor output
+   DetectionDelayTime              Double s    Time an object needs to be in detection range before it is detected (optional)
+   MaxDropOutTime                  Double s    Time after which delay for undetected object starts anew (optional)
+   OpeningAngleH                   Double rad  Horizontal opening angle
+   RequiredPercentageOfVisibleArea Double      Required percentage of an object within the sensor cone to trigger a detection
+   =============================== ====== ==== ==================================================================================================
+
+.. literalinclude:: /../../../repo/sim/contrib/examples/Configurations/ADAS_AEB_PreventingCollisionWithObstacle/ProfilesCatalog.xml
+   :language: xml
+   :dedent: 2
+   :start-at: <ProfileGroup Type="Geometric2D">
+   :end-at: </ProfileGroup>
+
+.. note::
+
+   Sensors also need a mounting position, defined w.r.t. the coordinate system of the vehicle (center of rear axis).
+   See also :ref:`profilescatalog_systemprofiles`.
+
+ReceiverCar2X
+~~~~~~~~~~~~~
+
+This type is selected, when a sensor is parameterized as ProfileGroup "ReceiverCar2X".
+
+.. table::
+   :class: tight-table
+
+   ================== ====== ==== ===========================================================================================
+   Parameter          Type   Unit Description
+   ================== ====== ==== ===========================================================================================
+   FailureProbability Double      Probability object is not detected although it is visible
+   Latency            Double s    Sensor latency
+   Sensitivity        Double W/m² Sensitivity of the sensor
+   ================== ====== ==== ===========================================================================================
+
+.. literalinclude:: /../../../repo/sim/contrib/examples/Configurations/ADAS_Car2X/ProfilesCatalog.xml
+   :language: xml
+   :dedent: 2
+   :start-at: <ProfileGroup Type="ReceiverCar2X">
+   :end-at: </ProfileGroup>
+
+The moving object is detected if the received SignalStrength is greater than the Sensitivity of the ReceiverCar2X .
+
+The received SignalStrength is calculated by :math:`ss_{\text{received}} = \frac {ss_{\text{sender}}} {4 \cdot pi \cdot d \cdot d}`, where the symbols meanings are:
+
+============================ ===================================================
+Symbol                       Description
+============================ ===================================================
+:math:`ss_{\text{received}}` Received strength of the signal [1/m²]
+:math:`ss_{\text{sender}}`   Sent strength of the signal [1/m²]
+:math:`d`                    Distance between the receiver agent and sender [m]
+============================ ===================================================
+
+.. note::
+
+   Sensors also need a mounting position, defined w.r.t. the coordinate system of the vehicle (center of rear axis).
+   See also :ref:`profilescatalog_systemprofiles`.
+
+SSP
+~~~
+
+A SSP can be added as vehicle component. It's a blackbox of one or multiple FMUs.
+
+.. table::
+   :class: tight-table
+
+   =============================== ====== ==== ==================================================================================================
+   Parameter                       Type   Unit Description
+   =============================== ====== ==== ==================================================================================================
+   SspPath                         String path config relative path to ssp archive
+   =============================== ====== ==== ==================================================================================================
+
+.. literalinclude:: /../../../repo/sim/contrib/examples/Configurations/DynamicSSPStepper/ProfilesCatalog.xml
+   :language: xml
+   :dedent: 2
+   :start-at: <ProfileGroup Type="SSP1">
+   :end-at: </ProfileGroup>
+
+.. note::
+
+   To add the ssp component to a system profile do the following:
+   See also :ref:`profilescatalog_systemprofiles`.
+
+.. literalinclude:: /../../../repo/sim/contrib/examples/Configurations/DynamicSSPStepper/ProfilesCatalog.xml
+   :language: xml
+   :dedent: 2
+   :start-at: <SystemProfile Name="EgoVehicle
+   :end-at: </SystemProfiles>
+
+.. |br| raw:: html
+
+      <br>
+
+VehicleDynamics
+~~~~~~~~~~~~~~~
+
+Components of this group can be used to model the vehicle dynamics. The vehicle dynamics model has a modular design. If necessary, the individual components can be replaced by the user with their own models. The vehicle dynamics model consists of six components listed below:
+
+
+.. table::
+   :class: tight-table
+
+   ================================  ==================================================================================================================================================================
+   Component                         Short Description
+   ================================  ==================================================================================================================================================================
+   :ref:`components_steeringsystem`  The steering model transfers the driver's input into the vehicle's wheel angle
+   :ref:`components_powertrain`      The powertrain model converts the accelerator pedal position into wheel drive torques, under consideration of the selected gear
+   :ref:`components_brakesystem`     The brake model converts the brake pedal position into wheel brake torques
+   :ref:`components_tiremodel`       The tire model converts the predetermined drive and braking torques of the tires into tire longitudinal and lateral forces, under consideration of the wheel angles
+   :ref:`components_motionmodel`     The motion model calculates the translational and rotational vehicle movement with the calculated tire forces
+   :ref:`components_chassismodel`    The chassis model determines the dynamic wheel loads via the vehicle's longitudinal and lateral acceleration
+   ================================  ==================================================================================================================================================================
+
+
+The following figure gives an overview of the driving dynamics components and their signals:
+
+
+.. image:: _static/images/VehicleDynamicsOverview.svg
+      :alt: |op| Vehicle dynamics overview
+
+
+
+.. _components_steeringsystem:
+
+ActionSteeringSystem
+^^^^^^^^^^^^^^^^^^^^
+
+The steering model obtains the "SteeringRatio" property from the :ref:`scenario_vehiclemodels` and uses it to calculate the steering angle of the front wheels.
+Both wheels are turned at the same angle. The following parameter can be used to set a static toe and the steering elasticity:
+
+.. table::
+   :class: tight-table
+
+   ========== ============ ====== =========================================================================================================================
+   Attribute  Type         Unit   Description
+   ========== ============ ====== =========================================================================================================================
+   StaticToe  VectorDouble rad    Static toe of the wheels (A positive value corresponds to a toe-in; one static toe per axis)
+   Elasticity VectorDouble rad/Nm Steering Elasticity (one elasticity per axis)
+   Caster     VectorDouble m      Overall Caster of steering system
+   ========== ============ ====== =========================================================================================================================
+
+.. _components_powertrain:
+
+ActionPowertrain
+^^^^^^^^^^^^^^^^
+
+The powertrain model contains an engine model and a gear model. The type of the powertrain can be set using the following parameters:
+
+.. table::
+   :class: tight-table
+
+   ============== ====== ==== =============================================================================================================================
+   Attribute      Type   Unit Description
+   ============== ====== ==== =============================================================================================================================
+   TypeDrivetrain String      Type of drivetrain; A selection can be made between front-wheel drive (FWD), rear-wheel drive (RWD) and all-wheel drive (AWD)
+   FrontRatioAWD  Double      Distribution of the drive torque to the front axle in the case of all-wheel drive (AWD); Range 0-1
+   ============== ====== ==== =============================================================================================================================
+
+The wheel speed is converted into an engine speed [Hz] according to the axle ratio and the transmission ratio of the selected gear.
+The axle ratio and gear ratios are obtained from the :ref:`scenario_vehiclemodels` ("AxleRatio" & "GearRatio"). The average value of the powered wheels is used for the determination of the engine speed.
+
+.. math::
+   \omega_{engine} = \omega_{wheels,avg} \cdot  i_{axle} \cdot i_{gear,selected}
+
+The maximum possible engine torque [Nm] is limited by the engine power [W] or the maximum engine torque [Nm].
+The engine power and the maximum engine torque are obtained from the :ref:`scenario_vehiclemodels` ("MaximumEnginePower" & "MaximumEngineTorque").
+
+.. math::
+   M_{engine,max,current} = \begin{cases}
+    \frac{P_{engine,max}}{\omega_{engine}}     & \text{ if } \frac{P_{engine,max}}{\omega_{engine}} < M_{engine,max} \\
+    M_{engine,max}  & \text{ if } \frac{P_{engine,max}}{\omega_{engine}} >= M_{engine,max}
+	\end{cases}
+
+When 98% of the maximum speed of the motor is reached ("MaximumEngineSpeed" in the :ref:`scenario_vehiclemodels`), the engine torque is linearly reduced to 0.
+
+The maximum engine torque is scaled via the accelerator pedal position (input). This value is calculated back to the total wheel drive torque via the gear ratio.
+
+.. math::
+   M_{wheels,current} = M_{engine,max,current} \cdot  position_{accelerator pedal} \cdot  i_{axle} \cdot  i_{gear,selected}
+
+The wheel total drive torque is evenly distributed to the wheels of an axle according to the definition of the drive type.
+With all-wheel drive, the entire wheel drive torque is distributed statically over the defined ratio.
+
+
+.. _components_brakesystem:
+
+ActionBrakeSystem
+^^^^^^^^^^^^^^^^^
+
+The brake model is a linearized model. The brake pedal position is used as input. As output, the model returns the braking torques of the wheels as a vector.
+The model considers a response time [ms] and linear factors [m/s³] for the increase and decrease of the braking force.The distribution of braking force between the front and rear axles can be defined statically.
+
+.. table::
+   :class: tight-table
+
+   ============================ ====== ==== ==============================================================================================================
+   Attribute                    Type   Unit Description
+   ============================ ====== ==== ==============================================================================================================
+   FrontAxlePercentage          Double      Distribution of the brake torque to the front axle in the case of all-wheel drive (AWD); Range 0-1
+   BrakeDecelerationInclineRate Double m/s³ Linear Rate of braking force increase
+   BrakeDecelerationDeclineRate Double m/s³ Linear Rate of braking force decrease
+   BrakeResponseTimeMs          Double ms   Brake response time
+   ============================ ====== ==== ==============================================================================================================
+
+
+The maximum braking force of the system is determined from the maximum possible deceleration and the mass of the vehicle and is scaled by the brake pedal position (Input).
+The maximum possible deceleration and the vehicle mass are obtained from the :ref:`scenario_vehiclemodels` ("maxDeceleration" & "mass").
+
+.. math::
+   F_{brake,max} = a_{deceleration,max} \cdot m_{vehicle} \cdot  position_{brake pedal}
+
+When the brake is applied, a deceleration is calculated after the response time has elapsed. Then the braking force is built up linearly until the maximum or requested braking force has been reached.
+
+.. math::
+   F_{brake,current} = rate_{incline} \cdot (t_{brake} -  t_{response})
+
+When the brake is released, the braking force is dissipated with the decline rate until it has dropped to zero. After that, the response time builds up again.
+The braking force is divided among the axles according to the parameter "FrontAxlePercentage". Another input allows you to request a prefill that reduces the response time without braking
+
+
+.. _components_chassismodel:
+
+DynamicsChassis
+^^^^^^^^^^^^^^^
+
+The chassis model determines the vertical forces of the four wheels from the longitudinal and lateral acceleration of the vehicle. Constant spring and damper rates are taken into account, which can be defined by the following parameters per axis:
+
+.. table::
+   :class: tight-table
+
+   ============================ ============ ==== ==============================================================================================================
+   Attribute                    Type         Unit Description
+   ============================ ============ ==== ==============================================================================================================
+   SpringCoefficient            VectorDouble N/m  Constant spring coefficient for each axis
+   DamperCoefficient            VectorDouble Ns/m Constant damper coefficient for each axis
+   ============================ ============ ==== ==============================================================================================================
+
+.. _components_tiremodel:
+
+DynamicsTireModel
+^^^^^^^^^^^^^^^^^
+
+The tire model is freely configurable and includes a degressive behaviour. The tire forces are modeled according to Rill using the TMEasy model. The following parameters can be set for the tire model per axis :
+
+.. table::
+   :class: tight-table
+
+   ==================== ============ ==== ==============================================================================================================
+   Attribute            Type         Unit Description
+   ==================== ============ ==== ==============================================================================================================
+   MuTireMaxXFRef       VectorDouble      Normalized scaling factor for maximum longitudinal force at reference vertical force
+   MuTireMaxX2FRef      VectorDouble      Normalized scaling factor for maximum longitudinal force at double reference vertical force
+   MuTireSlideXFRef     VectorDouble      Normalized scaling factor for sliding longitudinal force at reference vertical force
+   MuTireSlideX2FRef    VectorDouble      Normalized scaling factor for sliding longitudinal force at double reference vertical force
+   SlipTireMaxXFRef     VectorDouble      Longitudinal slip at maximum longitudinal force at reference vertical force
+   SlipTireMaxX2FRef    VectorDouble      Longitudinal slip at maximum longitudinal force at double reference vertical force
+   SlipTireSlideXFRef   VectorDouble      Longitudinal slip at sliding longitudinal force at reference vertical force
+   SlipTireSlideX2FRef  VectorDouble      Longitudinal slip at sliding longitudinal force at double reference vertical force
+   F0pXFRef             VectorDouble N    Initial slope of longitudinal force at reference force
+   F0pX2FRef            VectorDouble N    Initial slope of longitudinal force at  double reference force
+   MuTireMaxYFRef       VectorDouble      Normalized scaling factor for maximum lateral force at reference vertical force
+   MuTireMaxY2FRef      VectorDouble      Normalized scaling factor for maximum lateral force at double reference vertical force
+   MuTireSlideYFRef     VectorDouble      Normalized scaling factor for sliding lateral force at reference vertical force
+   MuTireSlideY2FRef    VectorDouble      Normalized scaling factor for sliding lateral force at double reference vertical force
+   SlipTireMaxYFRef     VectorDouble      Lateral slip at maximum lateral force at reference vertical force
+   SlipTireMaxY2FRef    VectorDouble      Lateral slip at maximum lateral force at double reference vertical force
+   SlipTireSlideYFRef   VectorDouble      Lateral slip at sliding lateral force at reference vertical force
+   SlipTireSlideY2FRef  VectorDouble      Lateral slip at sliding lateral force at double reference vertical force
+   F0pYFRef             VectorDouble N    Initial slope of lateral force at reference force
+   F0pY2FRef            VectorDouble N    Initial slope of lateral force at  double reference force
+   FRef                 VectorDouble N    Vertical reference force for the tire parameters
+   FRefNormalized       VectorBool        Should the reference force be scaled with the static vertical tire force?
+   Inertia              VectorDouble kgm² Inertia of tire
+   PneumaticTrail       VectorDouble m    Pneumatic trail of tire
+   ==================== ============ ==== ==============================================================================================================
+
+The normalized factors refer to the reference vertical force or to the double reference vertical force
+The input variables used by the model are tire drive and braking torques as well as the wheel angles and vertical wheel forces. All data is provided as vectors.
+The model determines tire forces in the longitudinal and lateral directions as well as the wheel self aligning torques. The wheel self aligning torque is formed from the product of the tire side force and the pneumatic trail.
+A linear interpolation is performed between the values for the reference force and the double reference force. If no degressive tire behavior is desired, the parameters for the double reference force must be set identically to the values for the reference force.
+
+All forces are scaled with the coefficient of friction from the :ref:`scenario_vehiclemodels` ("FrictionCoefficient").
+
+All further information about the model can be found in the following sources:
+
+https://www.tmeasy.de/
+
+Rill, Georg. (2013). TMeasy -- A Handling Tire Model based on a three-dimensional slip approach.
+
+
+.. _components_motionmodel:
+
+DynamicsMotionModel
+^^^^^^^^^^^^^^^^^^^
+The motion model converts the tire forces (input) into a translational and rotational movement of the vehicle. The air resistance of the vehicle is taken into account. For the dynamic calculation, the center of gravity position is taken from the :ref:`scenario_vehiclemodels` ("XPositionCOG","YPositionCOG"),
+which indicates the distance of the center of gravity to the center of the rear axle. If this data is not given, the center of gravity is positioned on half wheelbase. For air resistance, the properties "AirDragCoefficient" & "FrontSurface" from the :ref:`scenario_vehiclemodels` are used.
+
+For the equations of motion, see relevant vehicle dynamics books such as:
+
+Kücükay, Ferit (2022), "Grundlagen der Fahrzeugtechnik", page 1067 ff
diff --git a/content/html/_sources/user_guide/tutorials/10_scenario_simulation.rst.txt b/content/html/_sources/user_guide/tutorials/10_scenario_simulation.rst.txt
index bce67bdf3e495f5c1bb49f58d9b3de6589a4865b..49331e901996694ee5c410d1ebac73ac766d2e8a 100644
--- a/content/html/_sources/user_guide/tutorials/10_scenario_simulation.rst.txt
+++ b/content/html/_sources/user_guide/tutorials/10_scenario_simulation.rst.txt
@@ -1,124 +1,123 @@
-..
-  *******************************************************************************
-  Copyright (c) 2021-2023 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
-                2021      in-tech GmbH
-                2023      Mercedes-Benz Tech Innovation GmbH
-
-  This program and the accompanying materials are made available under the
-  terms of the Eclipse Public License 2.0 which is available at
-  http://www.eclipse.org/legal/epl-2.0.
-
-  SPDX-License-Identifier: EPL-2.0
-  *******************************************************************************
-
-.. _scenario_based_simulation:
-
-Scenario-based simulation
-=========================
-
-This guide describes how to execute an exemplary simulation with openPASS.
-
-The simulation runs a scenario which is set up for triggering an AEB (Autonomous Emergency Break) system. 
-The scenario contains two agents: The ego agent and a scenario agent. 
-The ego vehicle is equipped with an AEB system (the system under test). 
-The scenario agent performs a cut-in and triggers as a result the AEB system of the ego agent. 
-To force this exact maneuver, the scenario agent is set up to follow a predefined trajectory.
-
-.. TODO:: Update this paragraph for the new react GUI.
-
-The GUI is not yet capable of configuring and executing a scenario based simulation as this is currently work in progress. 
-Thus, an existing simulation configuration is used and the simulation is started manually.
-
-**Step-by-step instructions**
-
-#. Navigate into the |op| install directory (e.g. ``C:\openPASS\bin\core``)
-
-#. The install directory should look like the following
-
-    ::
-
-        openPASS-Install-Dir
-        └── configs <-- this directory will be created in the next step
-        └── examples <-- if non existent, it can be copied from the openPASS checkout repository (see note)
-        │   ├── Common
-        │   └── Configurations
-        └── doc
-        └── examples
-        └── lib 
-        │   ...
-        └── opSimulation.exe
-    
-    .. note::
-
-	The folder ``examples`` might not be existent right after the installation. In this case one can find it in the checkout repository of openPASS under ``deps/os/sim/contrib``. From there one can copy it into the installation folder.
-
-#. Create a new folder named "configs" for the configuration files within the |op| install directory 
-
-#. Copy configuration files
-
-    Simulations for |op| are fully configured through configuration files. This is where the user defines the traffic scenario to be simulated by openPASS.
-    Examples for |op| configuration files are located in the directory ``examples`` and are divided into two groups: *default configurations* and *specific configurations*.
-
-    a. The *default configuration* files located under ``examples/Common`` contain the basis for any simulation. They represent the minimum input required, therefore:
-
-        i. Copy all files from the directory ``examples/Common`` to the previously created folder ``configs``.
-
-    b. The *specific configuration* files located under ``examples/Configurations`` complement the default configuration files. Examples are provided for different simulations.
-
-        i. Ensure all files from directory ``examples/Common`` have been copied to ``configs`` (this has been done in the previous step). Repeat this step every time another simulation is chosen. 
-                
-        ii. Navigate to the directory ``examples/Configurations``. Here, all folders contain special pre-configured simulations (which either can be used as demo cases or as end-to-end test cases primarily used for development). 
-
-        iii. Copy all files from the directory specifying the specific scenario you want to simulate (in our case all files from directory ``examples/Configurations/AEB_CutIn``) to the directory ``configs``. Overwrite existing files when prompted. 
-
-    .. note::
-
-	A detailed description of the various configuration files can be found under see :ref:`configs_in_depth`.
-
-#. Learn how to modify configuration files 
-
-    If one wants to edit the configurations (e.g. experiment set-up or parameters of specific scenario) placed under ``configs``, one can do so by changing any of the following files:
-    
-    ::
-
-        configs
-        ├── PedestrianModelsCatalog.xosc
-        ├── ProfilesCatalog.xml
-        ├── Scenario.xosc
-        ├── SceneryConfiguration.xodr
-        ├── simulationConfig.xml
-        ├── systemConfigBlueprint.xml
-        └── VehicleModelsCatalog.xosc
-
-
-   As an example, modifications of the configuration files that describe an AEB cut-in scenario are given.
-   The following list describes some relevant adjustments that may be useful.
-
-    a. ``ProfilesCatalog.xml``:
-    
-        * The AEB system and sensor parameters, e.g. „TTC“, „DetectionRange“, can be adjusted.
-        * The spawner parameters, such as the traffic volume or the velocity of the surrounding traffic, can be modified in the existing spawner profiles. 
-
-    b. ``Scenario.xosc``:
-
-        * The scenario set-up contains the initial positions und velocities of the ego and scenario agent.
-        * The trajectory that defines the cut-in maneuver of the scenario agent is defined and editable here.
-        * The overall simulation time, which determines the end condition of the simulation in seconds, can be adjusted.
-
-    c. ``simulationConfig.xml``:
-
-        * The number of invocations can be changed in case more than one run is desired to be simulated. This will incorporate stochastic variation (i.e. initial constellation of surrounding traffic)
-        * If surrounding traffic is not desired in the experiment, the spawner libraries "SpawnPointPreRunCommon" and "SpawnPointRuntimeCommon" can be deactivated by removing the corresponding sections. Only the "SpawnPointScenario" is mandatory to spawn the ego and scenario agent. More information on the functionality of spawners can be found in :ref:`components_spawner`.
-        * The output format can be modified by setting the parameter "LoggingCyclicsToCsv" to true.
-
-#. Start the simulation by double-clicking ``opSimulation.exe`` or from the console by calling the executable.
-
-#. Once the simulation is successfully completed, the following results can be found in the directory ``results``:
-
-    * ``simulationOutput.xml``: Contains general information about the experiment and an overview on all agents from the simulation. Further, an event log is contained. If the csv-output is set to false in the ``simulationConfig.xml``, the ``simulationOutput.xml`` will also include the „cyclics” (state in each time step) of the simulation.
-    * ``Cyclics_Run_xxx.csv``: In case the csv-output is activated, the „cyclics” of each run in the simulation are logged to a separated csv-file. This file is missing, if "cyclics" are written directly to the ``simulationOutput.xml`` (i.e. when "LoggingCyclicsToCsv" is set to false).
-    * ``Repository_Run_xxx.csv``: Overview of the agents and objects from the simulation as well as some details on scenery components like lane markings, guard rails, etc. 
-    
-    .. note::
-    
-     The outputs do not contain the ``SceneryConfiguration.xodr``, i.e. the static environment given in the scenery file in configs. In order to make the world around the simulation results available, we need to copy ``SceneryConfiguration.xodr`` file from ``configs`` to ``results``. 
+..
+  *******************************************************************************
+  Copyright (c) 2021-2023 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+                2021      in-tech GmbH
+                2023      Mercedes-Benz Tech Innovation GmbH
+
+  This program and the accompanying materials are made available under the
+  terms of the Eclipse Public License 2.0 which is available at
+  http://www.eclipse.org/legal/epl-2.0.
+
+  SPDX-License-Identifier: EPL-2.0
+  *******************************************************************************
+
+.. _scenario_based_simulation:
+
+Scenario-based simulation
+=========================
+
+This guide describes how to execute an exemplary simulation with openPASS.
+
+The simulation runs a scenario which is set up for triggering an AEB (Autonomous Emergency Break) system. 
+The scenario contains two agents: The ego agent and a scenario agent. 
+The ego vehicle is equipped with an AEB system (the system under test). 
+The scenario agent performs a cut-in and triggers as a result the AEB system of the ego agent. 
+To force this exact maneuver, the scenario agent is set up to follow a predefined trajectory.
+
+The opGUI is not yet capable of configuring and executing a scenario based simulation as this is currently work in progress. 
+Thus, an existing simulation configuration is used and the simulation is started manually.
+
+**Step-by-step instructions**
+
+#. Navigate into the |op| install directory (e.g. ``C:\openPASS\bin\core``)
+
+#. The install directory should look like the following
+
+    ::
+
+        openPASS-Install-Dir
+        └── configs <-- this directory will be created in the next step
+        └── examples <-- if non existent, it can be copied from the openPASS checkout repository (see note)
+        │   ├── Common
+        │   └── Configurations
+        └── doc
+        └── examples
+        └── lib 
+        │   ...
+        └── opSimulation.exe
+    
+    .. note::
+
+	The folder ``examples`` might not be existent right after the installation. In this case one can find it in the checkout repository of openPASS under ``deps/os/sim/contrib``. From there one can copy it into the installation folder.
+
+#. Create a new folder named "configs" for the configuration files within the |op| install directory 
+
+#. Copy configuration files
+
+    Simulations for |op| are fully configured through configuration files. This is where the user defines the traffic scenario to be simulated by openPASS.
+    Examples for |op| configuration files are located in the directory ``examples`` and are divided into two groups: *default configurations* and *specific configurations*.
+
+    a. The *default configuration* files located under ``examples/Common`` contain the basis for any simulation. They represent the minimum input required, therefore:
+
+        i. Copy all files from the directory ``examples/Common`` to the previously created folder ``configs``.
+
+    b. The *specific configuration* files located under ``examples/Configurations`` complement the default configuration files. Examples are provided for different simulations.
+
+        i. Ensure all files from directory ``examples/Common`` have been copied to ``configs`` (this has been done in the previous step). Repeat this step every time another simulation is chosen. 
+                
+        ii. Navigate to the directory ``examples/Configurations``. Here, all folders contain special pre-configured simulations (which either can be used as demo cases or as end-to-end test cases primarily used for development). 
+
+        iii. Copy all files from the directory specifying the specific scenario you want to simulate (in our case all files from directory ``examples/Configurations/AEB_CutIn``) to the directory ``configs``. Overwrite existing files when prompted. The catalogs for vehicles or pedestrian parameters must be stored in a child folder ``Vehicles``.
+
+    .. note::
+
+	A detailed description of the various configuration files can be found under see :ref:`configs_in_depth`.
+
+#. Learn how to modify configuration files 
+
+    If one wants to edit the configurations (e.g. experiment set-up or parameters of specific scenario) placed under ``configs``, one can do so by changing any of the following files:
+    
+    ::
+
+        configs
+        ├── Vehicles
+        │   ├── VehicleModelsCatalog.xosc
+        │   └── PedestrianModelsCatalog.xosc
+        ├── ProfilesCatalog.xml
+        ├── Scenario.xosc
+        ├── SceneryConfiguration.xodr
+        ├── simulationConfig.xml
+        └── systemConfigBlueprint.xml
+
+
+   As an example, modifications of the configuration files that describe an AEB cut-in scenario are given.
+   The following list describes some relevant adjustments that may be useful.
+
+    a. ``ProfilesCatalog.xml``:
+    
+        * The AEB system and sensor parameters, e.g. „TTC“, „DetectionRange“, can be adjusted.
+        * The spawner parameters, such as the traffic volume or the velocity of the surrounding traffic, can be modified in the existing spawner profiles. 
+
+    b. ``Scenario.xosc``:
+
+        * The scenario set-up contains the initial positions und velocities of the ego and scenario agent.
+        * The trajectory that defines the cut-in maneuver of the scenario agent is defined and editable here.
+        * The overall simulation time, which determines the end condition of the simulation in seconds, can be adjusted.
+
+    c. ``simulationConfig.xml``:
+
+        * The number of invocations can be changed in case more than one run is desired to be simulated. This will incorporate stochastic variation (i.e. initial constellation of surrounding traffic)
+        * If surrounding traffic is not desired in the experiment, the spawner libraries "SpawnPointPreRunCommon" and "SpawnPointRuntimeCommon" can be deactivated by removing the corresponding sections. Only the "SpawnPointScenario" is mandatory to spawn the ego and scenario agent. More information on the functionality of spawners can be found in :ref:`components_spawner`.
+        * The output format can be modified by setting the parameter "LoggingCyclicsToCsv" to true.
+
+#. Start the simulation by double-clicking ``opSimulation.exe`` or from the console by calling the executable.
+
+#. Once the simulation is successfully completed, the following results can be found in the directory ``results``:
+
+    * ``simulationOutput.xml``: Contains general information about the experiment and an overview on all agents from the simulation. Further, an event log is contained. If the csv-output is set to false in the ``simulationConfig.xml``, the ``simulationOutput.xml`` will also include the „cyclics” (state in each time step) of the simulation.
+    * ``Cyclics_Run_xxx.csv``: In case the csv-output is activated, the „cyclics” of each run in the simulation are logged to a separated csv-file. This file is missing, if "cyclics" are written directly to the ``simulationOutput.xml`` (i.e. when "LoggingCyclicsToCsv" is set to false).
+    * ``Repository_Run_xxx.csv``: Overview of the agents and objects from the simulation as well as some details on scenery components like lane markings, guard rails, etc. 
+    
+    .. note::
+    
+     The outputs do not contain the ``SceneryConfiguration.xodr``, i.e. the static environment given in the scenery file in configs. In order to make the world around the simulation results available, we need to copy ``SceneryConfiguration.xodr`` file from ``configs`` to ``results``. 
diff --git a/content/html/_sources/user_guide/tutorials/20_pcm_simulation.rst.txt b/content/html/_sources/user_guide/tutorials/20_pcm_simulation.rst.txt
index 9ef165d974cd5b42d3c04ea3d6c9d3e33a318502..0664fb07a484a9222c0f834110e944871152bbe3 100644
--- a/content/html/_sources/user_guide/tutorials/20_pcm_simulation.rst.txt
+++ b/content/html/_sources/user_guide/tutorials/20_pcm_simulation.rst.txt
@@ -1,18 +1,18 @@
-..
-  *******************************************************************************
-  Copyright (c) 2021 ITK Engineering GmbH
-
-  This program and the accompanying materials are made available under the
-  terms of the Eclipse Public License 2.0 which is available at
-  http://www.eclipse.org/legal/epl-2.0.
-
-  SPDX-License-Identifier: EPL-2.0
-  *******************************************************************************
-
-.. _pcm_simulation_guide:
-
-PCM Simulation
-==============
-
-.. todo::
-   Write tutorial for PCM simulation
+..
+  *******************************************************************************
+  Copyright (c) 2021 ITK Engineering GmbH
+
+  This program and the accompanying materials are made available under the
+  terms of the Eclipse Public License 2.0 which is available at
+  http://www.eclipse.org/legal/epl-2.0.
+
+  SPDX-License-Identifier: EPL-2.0
+  *******************************************************************************
+
+.. _pcm_simulation_guide:
+
+PCM Simulation
+==============
+
+.. todo::
+   Include link and explaination to opGUI documentation how to run PCM simulations
diff --git a/content/html/_static/basic.css b/content/html/_static/basic.css
index d1901937a9b4bdb849c624aa0ce3400549ab9623..30fee9d0f76a47aec5ef23e46adbf6bab4671eac 100644
--- a/content/html/_static/basic.css
+++ b/content/html/_static/basic.css
@@ -1,925 +1,925 @@
-/*
- * basic.css
- * ~~~~~~~~~
- *
- * Sphinx stylesheet -- basic theme.
- *
- * :copyright: Copyright 2007-2023 by the Sphinx team, see AUTHORS.
- * :license: BSD, see LICENSE for details.
- *
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-
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+}
+
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+}
+
+/* -- index page ------------------------------------------------------------ */
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+    margin-left: auto;
+    margin-right: auto;
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+    font-size: 90%;
+}
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+}
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+}
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+    margin: 1em 0 1em 0;
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+}
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+    -moz-hyphens: auto;
+    -ms-hyphens: auto;
+    -webkit-hyphens: auto;
+    hyphens: auto;
+}
+
+a.headerlink {
+    visibility: hidden;
+}
+
+a:visited {
+    color: #551A8B;
+}
+
+h1:hover > a.headerlink,
+h2:hover > a.headerlink,
+h3:hover > a.headerlink,
+h4:hover > a.headerlink,
+h5:hover > a.headerlink,
+h6:hover > a.headerlink,
+dt:hover > a.headerlink,
+caption:hover > a.headerlink,
+p.caption:hover > a.headerlink,
+div.code-block-caption:hover > a.headerlink {
+    visibility: visible;
+}
+
+div.body p.caption {
+    text-align: inherit;
+}
+
+div.body td {
+    text-align: left;
+}
+
+.first {
+    margin-top: 0 !important;
+}
+
+p.rubric {
+    margin-top: 30px;
+    font-weight: bold;
+}
+
+img.align-left, figure.align-left, .figure.align-left, object.align-left {
+    clear: left;
+    float: left;
+    margin-right: 1em;
+}
+
+img.align-right, figure.align-right, .figure.align-right, object.align-right {
+    clear: right;
+    float: right;
+    margin-left: 1em;
+}
+
+img.align-center, figure.align-center, .figure.align-center, object.align-center {
+  display: block;
+  margin-left: auto;
+  margin-right: auto;
+}
+
+img.align-default, figure.align-default, .figure.align-default {
+  display: block;
+  margin-left: auto;
+  margin-right: auto;
+}
+
+.align-left {
+    text-align: left;
+}
+
+.align-center {
+    text-align: center;
+}
+
+.align-default {
+    text-align: center;
+}
+
+.align-right {
+    text-align: right;
+}
+
+/* -- sidebars -------------------------------------------------------------- */
+
+div.sidebar,
+aside.sidebar {
+    margin: 0 0 0.5em 1em;
+    border: 1px solid #ddb;
+    padding: 7px;
+    background-color: #ffe;
+    width: 40%;
+    float: right;
+    clear: right;
+    overflow-x: auto;
+}
+
+p.sidebar-title {
+    font-weight: bold;
+}
+
+nav.contents,
+aside.topic,
+div.admonition, div.topic, blockquote {
+    clear: left;
+}
+
+/* -- topics ---------------------------------------------------------------- */
+
+nav.contents,
+aside.topic,
+div.topic {
+    border: 1px solid #ccc;
+    padding: 7px;
+    margin: 10px 0 10px 0;
+}
+
+p.topic-title {
+    font-size: 1.1em;
+    font-weight: bold;
+    margin-top: 10px;
+}
+
+/* -- admonitions ----------------------------------------------------------- */
+
+div.admonition {
+    margin-top: 10px;
+    margin-bottom: 10px;
+    padding: 7px;
+}
+
+div.admonition dt {
+    font-weight: bold;
+}
+
+p.admonition-title {
+    margin: 0px 10px 5px 0px;
+    font-weight: bold;
+}
+
+div.body p.centered {
+    text-align: center;
+    margin-top: 25px;
+}
+
+/* -- content of sidebars/topics/admonitions -------------------------------- */
+
+div.sidebar > :last-child,
+aside.sidebar > :last-child,
+nav.contents > :last-child,
+aside.topic > :last-child,
+div.topic > :last-child,
+div.admonition > :last-child {
+    margin-bottom: 0;
+}
+
+div.sidebar::after,
+aside.sidebar::after,
+nav.contents::after,
+aside.topic::after,
+div.topic::after,
+div.admonition::after,
+blockquote::after {
+    display: block;
+    content: '';
+    clear: both;
+}
+
+/* -- tables ---------------------------------------------------------------- */
+
+table.docutils {
+    margin-top: 10px;
+    margin-bottom: 10px;
+    border: 0;
+    border-collapse: collapse;
+}
+
+table.align-center {
+    margin-left: auto;
+    margin-right: auto;
+}
+
+table.align-default {
+    margin-left: auto;
+    margin-right: auto;
+}
+
+table caption span.caption-number {
+    font-style: italic;
+}
+
+table caption span.caption-text {
+}
+
+table.docutils td, table.docutils th {
+    padding: 1px 8px 1px 5px;
+    border-top: 0;
+    border-left: 0;
+    border-right: 0;
+    border-bottom: 1px solid #aaa;
+}
+
+th {
+    text-align: left;
+    padding-right: 5px;
+}
+
+table.citation {
+    border-left: solid 1px gray;
+    margin-left: 1px;
+}
+
+table.citation td {
+    border-bottom: none;
+}
+
+th > :first-child,
+td > :first-child {
+    margin-top: 0px;
+}
+
+th > :last-child,
+td > :last-child {
+    margin-bottom: 0px;
+}
+
+/* -- figures --------------------------------------------------------------- */
+
+div.figure, figure {
+    margin: 0.5em;
+    padding: 0.5em;
+}
+
+div.figure p.caption, figcaption {
+    padding: 0.3em;
+}
+
+div.figure p.caption span.caption-number,
+figcaption span.caption-number {
+    font-style: italic;
+}
+
+div.figure p.caption span.caption-text,
+figcaption span.caption-text {
+}
+
+/* -- field list styles ----------------------------------------------------- */
+
+table.field-list td, table.field-list th {
+    border: 0 !important;
+}
+
+.field-list ul {
+    margin: 0;
+    padding-left: 1em;
+}
+
+.field-list p {
+    margin: 0;
+}
+
+.field-name {
+    -moz-hyphens: manual;
+    -ms-hyphens: manual;
+    -webkit-hyphens: manual;
+    hyphens: manual;
+}
+
+/* -- hlist styles ---------------------------------------------------------- */
+
+table.hlist {
+    margin: 1em 0;
+}
+
+table.hlist td {
+    vertical-align: top;
+}
+
+/* -- object description styles --------------------------------------------- */
+
+.sig {
+	font-family: 'Consolas', 'Menlo', 'DejaVu Sans Mono', 'Bitstream Vera Sans Mono', monospace;
+}
+
+.sig-name, code.descname {
+    background-color: transparent;
+    font-weight: bold;
+}
+
+.sig-name {
+	font-size: 1.1em;
+}
+
+code.descname {
+    font-size: 1.2em;
+}
+
+.sig-prename, code.descclassname {
+    background-color: transparent;
+}
+
+.optional {
+    font-size: 1.3em;
+}
+
+.sig-paren {
+    font-size: larger;
+}
+
+.sig-param.n {
+	font-style: italic;
+}
+
+/* C++ specific styling */
+
+.sig-inline.c-texpr,
+.sig-inline.cpp-texpr {
+	font-family: unset;
+}
+
+.sig.c   .k, .sig.c   .kt,
+.sig.cpp .k, .sig.cpp .kt {
+	color: #0033B3;
+}
+
+.sig.c   .m,
+.sig.cpp .m {
+	color: #1750EB;
+}
+
+.sig.c   .s, .sig.c   .sc,
+.sig.cpp .s, .sig.cpp .sc {
+	color: #067D17;
+}
+
+
+/* -- other body styles ----------------------------------------------------- */
+
+ol.arabic {
+    list-style: decimal;
+}
+
+ol.loweralpha {
+    list-style: lower-alpha;
+}
+
+ol.upperalpha {
+    list-style: upper-alpha;
+}
+
+ol.lowerroman {
+    list-style: lower-roman;
+}
+
+ol.upperroman {
+    list-style: upper-roman;
+}
+
+:not(li) > ol > li:first-child > :first-child,
+:not(li) > ul > li:first-child > :first-child {
+    margin-top: 0px;
+}
+
+:not(li) > ol > li:last-child > :last-child,
+:not(li) > ul > li:last-child > :last-child {
+    margin-bottom: 0px;
+}
+
+ol.simple ol p,
+ol.simple ul p,
+ul.simple ol p,
+ul.simple ul p {
+    margin-top: 0;
+}
+
+ol.simple > li:not(:first-child) > p,
+ul.simple > li:not(:first-child) > p {
+    margin-top: 0;
+}
+
+ol.simple p,
+ul.simple p {
+    margin-bottom: 0;
+}
+
+aside.footnote > span,
+div.citation > span {
+    float: left;
+}
+aside.footnote > span:last-of-type,
+div.citation > span:last-of-type {
+  padding-right: 0.5em;
+}
+aside.footnote > p {
+  margin-left: 2em;
+}
+div.citation > p {
+  margin-left: 4em;
+}
+aside.footnote > p:last-of-type,
+div.citation > p:last-of-type {
+    margin-bottom: 0em;
+}
+aside.footnote > p:last-of-type:after,
+div.citation > p:last-of-type:after {
+    content: "";
+    clear: both;
+}
+
+dl.field-list {
+    display: grid;
+    grid-template-columns: fit-content(30%) auto;
+}
+
+dl.field-list > dt {
+    font-weight: bold;
+    word-break: break-word;
+    padding-left: 0.5em;
+    padding-right: 5px;
+}
+
+dl.field-list > dd {
+    padding-left: 0.5em;
+    margin-top: 0em;
+    margin-left: 0em;
+    margin-bottom: 0em;
+}
+
+dl {
+    margin-bottom: 15px;
+}
+
+dd > :first-child {
+    margin-top: 0px;
+}
+
+dd ul, dd table {
+    margin-bottom: 10px;
+}
+
+dd {
+    margin-top: 3px;
+    margin-bottom: 10px;
+    margin-left: 30px;
+}
+
+.sig dd {
+    margin-top: 0px;
+    margin-bottom: 0px;
+}
+
+.sig dl {
+    margin-top: 0px;
+    margin-bottom: 0px;
+}
+
+dl > dd:last-child,
+dl > dd:last-child > :last-child {
+    margin-bottom: 0;
+}
+
+dt:target, span.highlighted {
+    background-color: #fbe54e;
+}
+
+rect.highlighted {
+    fill: #fbe54e;
+}
+
+dl.glossary dt {
+    font-weight: bold;
+    font-size: 1.1em;
+}
+
+.versionmodified {
+    font-style: italic;
+}
+
+.system-message {
+    background-color: #fda;
+    padding: 5px;
+    border: 3px solid red;
+}
+
+.footnote:target  {
+    background-color: #ffa;
+}
+
+.line-block {
+    display: block;
+    margin-top: 1em;
+    margin-bottom: 1em;
+}
+
+.line-block .line-block {
+    margin-top: 0;
+    margin-bottom: 0;
+    margin-left: 1.5em;
+}
+
+.guilabel, .menuselection {
+    font-family: sans-serif;
+}
+
+.accelerator {
+    text-decoration: underline;
+}
+
+.classifier {
+    font-style: oblique;
+}
+
+.classifier:before {
+    font-style: normal;
+    margin: 0 0.5em;
+    content: ":";
+    display: inline-block;
+}
+
+abbr, acronym {
+    border-bottom: dotted 1px;
+    cursor: help;
+}
+
+.translated {
+    background-color: rgba(207, 255, 207, 0.2)
+}
+
+.untranslated {
+    background-color: rgba(255, 207, 207, 0.2)
+}
+
+/* -- code displays --------------------------------------------------------- */
+
+pre {
+    overflow: auto;
+    overflow-y: hidden;  /* fixes display issues on Chrome browsers */
+}
+
+pre, div[class*="highlight-"] {
+    clear: both;
+}
+
+span.pre {
+    -moz-hyphens: none;
+    -ms-hyphens: none;
+    -webkit-hyphens: none;
+    hyphens: none;
+    white-space: nowrap;
+}
+
+div[class*="highlight-"] {
+    margin: 1em 0;
+}
+
+td.linenos pre {
+    border: 0;
+    background-color: transparent;
+    color: #aaa;
+}
+
+table.highlighttable {
+    display: block;
+}
+
+table.highlighttable tbody {
+    display: block;
+}
+
+table.highlighttable tr {
+    display: flex;
+}
+
+table.highlighttable td {
+    margin: 0;
+    padding: 0;
+}
+
+table.highlighttable td.linenos {
+    padding-right: 0.5em;
+}
+
+table.highlighttable td.code {
+    flex: 1;
+    overflow: hidden;
+}
+
+.highlight .hll {
+    display: block;
+}
+
+div.highlight pre,
+table.highlighttable pre {
+    margin: 0;
+}
+
+div.code-block-caption + div {
+    margin-top: 0;
+}
+
+div.code-block-caption {
+    margin-top: 1em;
+    padding: 2px 5px;
+    font-size: small;
+}
+
+div.code-block-caption code {
+    background-color: transparent;
+}
+
+table.highlighttable td.linenos,
+span.linenos,
+div.highlight span.gp {  /* gp: Generic.Prompt */
+  user-select: none;
+  -webkit-user-select: text; /* Safari fallback only */
+  -webkit-user-select: none; /* Chrome/Safari */
+  -moz-user-select: none; /* Firefox */
+  -ms-user-select: none; /* IE10+ */
+}
+
+div.code-block-caption span.caption-number {
+    padding: 0.1em 0.3em;
+    font-style: italic;
+}
+
+div.code-block-caption span.caption-text {
+}
+
+div.literal-block-wrapper {
+    margin: 1em 0;
+}
+
+code.xref, a code {
+    background-color: transparent;
+    font-weight: bold;
+}
+
+h1 code, h2 code, h3 code, h4 code, h5 code, h6 code {
+    background-color: transparent;
+}
+
+.viewcode-link {
+    float: right;
+}
+
+.viewcode-back {
+    float: right;
+    font-family: sans-serif;
+}
+
+div.viewcode-block:target {
+    margin: -1px -10px;
+    padding: 0 10px;
+}
+
+/* -- math display ---------------------------------------------------------- */
+
+img.math {
+    vertical-align: middle;
+}
+
+div.body div.math p {
+    text-align: center;
+}
+
+span.eqno {
+    float: right;
+}
+
+span.eqno a.headerlink {
+    position: absolute;
+    z-index: 1;
+}
+
+div.math:hover a.headerlink {
+    visibility: visible;
+}
+
+/* -- printout stylesheet --------------------------------------------------- */
+
+@media print {
+    div.document,
+    div.documentwrapper,
+    div.bodywrapper {
+        margin: 0 !important;
+        width: 100%;
+    }
+
+    div.sphinxsidebar,
+    div.related,
+    div.footer,
+    #top-link {
+        display: none;
+    }
 }
\ No newline at end of file
diff --git a/content/html/_static/css/custom.css b/content/html/_static/css/custom.css
index 6a9eda3da41a2339975a1a9f3644d965647207b6..5fccaa2c2157dec55f536171770415f4793282c1 100644
--- a/content/html/_static/css/custom.css
+++ b/content/html/_static/css/custom.css
@@ -1,4 +1,4 @@
-/* see https://knowyourtoolset.com/2018/02/controlling-the-width-of-a-table-with-read-the-docs/ */
-.tight-table td {
-    white-space: normal !important;
-}
+/* see https://knowyourtoolset.com/2018/02/controlling-the-width-of-a-table-with-read-the-docs/ */
+.tight-table td {
+    white-space: normal !important;
+}
diff --git a/content/html/_static/documentation_options.js b/content/html/_static/documentation_options.js
index 3f2f2b823e69c123522df4ac177114608f2c174c..3f42394035b9a75ca22ae78ee1b4f65f91cc3196 100644
--- a/content/html/_static/documentation_options.js
+++ b/content/html/_static/documentation_options.js
@@ -1,13 +1,13 @@
-const DOCUMENTATION_OPTIONS = {
-    VERSION: '1.1.0',
-    LANGUAGE: 'en',
-    COLLAPSE_INDEX: false,
-    BUILDER: 'html',
-    FILE_SUFFIX: '.html',
-    LINK_SUFFIX: '.html',
-    HAS_SOURCE: true,
-    SOURCELINK_SUFFIX: '.txt',
-    NAVIGATION_WITH_KEYS: false,
-    SHOW_SEARCH_SUMMARY: true,
-    ENABLE_SEARCH_SHORTCUTS: true,
+const DOCUMENTATION_OPTIONS = {
+    VERSION: '1.2.0',
+    LANGUAGE: 'en',
+    COLLAPSE_INDEX: false,
+    BUILDER: 'html',
+    FILE_SUFFIX: '.html',
+    LINK_SUFFIX: '.html',
+    HAS_SOURCE: true,
+    SOURCELINK_SUFFIX: '.txt',
+    NAVIGATION_WITH_KEYS: false,
+    SHOW_SEARCH_SUMMARY: true,
+    ENABLE_SEARCH_SHORTCUTS: true,
 };
\ No newline at end of file
diff --git a/content/html/_static/language_data.js b/content/html/_static/language_data.js
index 53c120fecc6cad88c869c4618ebb4454132092ec..250f5665fa64b70c822190199b3b804b10f8b9d8 100644
--- a/content/html/_static/language_data.js
+++ b/content/html/_static/language_data.js
@@ -1,199 +1,199 @@
-/*
- * language_data.js
- * ~~~~~~~~~~~~~~~~
- *
- * This script contains the language-specific data used by searchtools.js,
- * namely the list of stopwords, stemmer, scorer and splitter.
- *
- * :copyright: Copyright 2007-2023 by the Sphinx team, see AUTHORS.
- * :license: BSD, see LICENSE for details.
- *
- */
-
-var stopwords = ["a", "and", "are", "as", "at", "be", "but", "by", "for", "if", "in", "into", "is", "it", "near", "no", "not", "of", "on", "or", "such", "that", "the", "their", "then", "there", "these", "they", "this", "to", "was", "will", "with"];
-
-
-/* Non-minified version is copied as a separate JS file, is available */
-
-/**
- * Porter Stemmer
- */
-var Stemmer = function() {
-
-  var step2list = {
-    ational: 'ate',
-    tional: 'tion',
-    enci: 'ence',
-    anci: 'ance',
-    izer: 'ize',
-    bli: 'ble',
-    alli: 'al',
-    entli: 'ent',
-    eli: 'e',
-    ousli: 'ous',
-    ization: 'ize',
-    ation: 'ate',
-    ator: 'ate',
-    alism: 'al',
-    iveness: 'ive',
-    fulness: 'ful',
-    ousness: 'ous',
-    aliti: 'al',
-    iviti: 'ive',
-    biliti: 'ble',
-    logi: 'log'
-  };
-
-  var step3list = {
-    icate: 'ic',
-    ative: '',
-    alize: 'al',
-    iciti: 'ic',
-    ical: 'ic',
-    ful: '',
-    ness: ''
-  };
-
-  var c = "[^aeiou]";          // consonant
-  var v = "[aeiouy]";          // vowel
-  var C = c + "[^aeiouy]*";    // consonant sequence
-  var V = v + "[aeiou]*";      // vowel sequence
-
-  var mgr0 = "^(" + C + ")?" + V + C;                      // [C]VC... is m>0
-  var meq1 = "^(" + C + ")?" + V + C + "(" + V + ")?$";    // [C]VC[V] is m=1
-  var mgr1 = "^(" + C + ")?" + V + C + V + C;              // [C]VCVC... is m>1
-  var s_v   = "^(" + C + ")?" + v;                         // vowel in stem
-
-  this.stemWord = function (w) {
-    var stem;
-    var suffix;
-    var firstch;
-    var origword = w;
-
-    if (w.length < 3)
-      return w;
-
-    var re;
-    var re2;
-    var re3;
-    var re4;
-
-    firstch = w.substr(0,1);
-    if (firstch == "y")
-      w = firstch.toUpperCase() + w.substr(1);
-
-    // Step 1a
-    re = /^(.+?)(ss|i)es$/;
-    re2 = /^(.+?)([^s])s$/;
-
-    if (re.test(w))
-      w = w.replace(re,"$1$2");
-    else if (re2.test(w))
-      w = w.replace(re2,"$1$2");
-
-    // Step 1b
-    re = /^(.+?)eed$/;
-    re2 = /^(.+?)(ed|ing)$/;
-    if (re.test(w)) {
-      var fp = re.exec(w);
-      re = new RegExp(mgr0);
-      if (re.test(fp[1])) {
-        re = /.$/;
-        w = w.replace(re,"");
-      }
-    }
-    else if (re2.test(w)) {
-      var fp = re2.exec(w);
-      stem = fp[1];
-      re2 = new RegExp(s_v);
-      if (re2.test(stem)) {
-        w = stem;
-        re2 = /(at|bl|iz)$/;
-        re3 = new RegExp("([^aeiouylsz])\\1$");
-        re4 = new RegExp("^" + C + v + "[^aeiouwxy]$");
-        if (re2.test(w))
-          w = w + "e";
-        else if (re3.test(w)) {
-          re = /.$/;
-          w = w.replace(re,"");
-        }
-        else if (re4.test(w))
-          w = w + "e";
-      }
-    }
-
-    // Step 1c
-    re = /^(.+?)y$/;
-    if (re.test(w)) {
-      var fp = re.exec(w);
-      stem = fp[1];
-      re = new RegExp(s_v);
-      if (re.test(stem))
-        w = stem + "i";
-    }
-
-    // Step 2
-    re = /^(.+?)(ational|tional|enci|anci|izer|bli|alli|entli|eli|ousli|ization|ation|ator|alism|iveness|fulness|ousness|aliti|iviti|biliti|logi)$/;
-    if (re.test(w)) {
-      var fp = re.exec(w);
-      stem = fp[1];
-      suffix = fp[2];
-      re = new RegExp(mgr0);
-      if (re.test(stem))
-        w = stem + step2list[suffix];
-    }
-
-    // Step 3
-    re = /^(.+?)(icate|ative|alize|iciti|ical|ful|ness)$/;
-    if (re.test(w)) {
-      var fp = re.exec(w);
-      stem = fp[1];
-      suffix = fp[2];
-      re = new RegExp(mgr0);
-      if (re.test(stem))
-        w = stem + step3list[suffix];
-    }
-
-    // Step 4
-    re = /^(.+?)(al|ance|ence|er|ic|able|ible|ant|ement|ment|ent|ou|ism|ate|iti|ous|ive|ize)$/;
-    re2 = /^(.+?)(s|t)(ion)$/;
-    if (re.test(w)) {
-      var fp = re.exec(w);
-      stem = fp[1];
-      re = new RegExp(mgr1);
-      if (re.test(stem))
-        w = stem;
-    }
-    else if (re2.test(w)) {
-      var fp = re2.exec(w);
-      stem = fp[1] + fp[2];
-      re2 = new RegExp(mgr1);
-      if (re2.test(stem))
-        w = stem;
-    }
-
-    // Step 5
-    re = /^(.+?)e$/;
-    if (re.test(w)) {
-      var fp = re.exec(w);
-      stem = fp[1];
-      re = new RegExp(mgr1);
-      re2 = new RegExp(meq1);
-      re3 = new RegExp("^" + C + v + "[^aeiouwxy]$");
-      if (re.test(stem) || (re2.test(stem) && !(re3.test(stem))))
-        w = stem;
-    }
-    re = /ll$/;
-    re2 = new RegExp(mgr1);
-    if (re.test(w) && re2.test(w)) {
-      re = /.$/;
-      w = w.replace(re,"");
-    }
-
-    // and turn initial Y back to y
-    if (firstch == "y")
-      w = firstch.toLowerCase() + w.substr(1);
-    return w;
-  }
-}
-
+/*
+ * language_data.js
+ * ~~~~~~~~~~~~~~~~
+ *
+ * This script contains the language-specific data used by searchtools.js,
+ * namely the list of stopwords, stemmer, scorer and splitter.
+ *
+ * :copyright: Copyright 2007-2023 by the Sphinx team, see AUTHORS.
+ * :license: BSD, see LICENSE for details.
+ *
+ */
+
+var stopwords = ["a", "and", "are", "as", "at", "be", "but", "by", "for", "if", "in", "into", "is", "it", "near", "no", "not", "of", "on", "or", "such", "that", "the", "their", "then", "there", "these", "they", "this", "to", "was", "will", "with"];
+
+
+/* Non-minified version is copied as a separate JS file, is available */
+
+/**
+ * Porter Stemmer
+ */
+var Stemmer = function() {
+
+  var step2list = {
+    ational: 'ate',
+    tional: 'tion',
+    enci: 'ence',
+    anci: 'ance',
+    izer: 'ize',
+    bli: 'ble',
+    alli: 'al',
+    entli: 'ent',
+    eli: 'e',
+    ousli: 'ous',
+    ization: 'ize',
+    ation: 'ate',
+    ator: 'ate',
+    alism: 'al',
+    iveness: 'ive',
+    fulness: 'ful',
+    ousness: 'ous',
+    aliti: 'al',
+    iviti: 'ive',
+    biliti: 'ble',
+    logi: 'log'
+  };
+
+  var step3list = {
+    icate: 'ic',
+    ative: '',
+    alize: 'al',
+    iciti: 'ic',
+    ical: 'ic',
+    ful: '',
+    ness: ''
+  };
+
+  var c = "[^aeiou]";          // consonant
+  var v = "[aeiouy]";          // vowel
+  var C = c + "[^aeiouy]*";    // consonant sequence
+  var V = v + "[aeiou]*";      // vowel sequence
+
+  var mgr0 = "^(" + C + ")?" + V + C;                      // [C]VC... is m>0
+  var meq1 = "^(" + C + ")?" + V + C + "(" + V + ")?$";    // [C]VC[V] is m=1
+  var mgr1 = "^(" + C + ")?" + V + C + V + C;              // [C]VCVC... is m>1
+  var s_v   = "^(" + C + ")?" + v;                         // vowel in stem
+
+  this.stemWord = function (w) {
+    var stem;
+    var suffix;
+    var firstch;
+    var origword = w;
+
+    if (w.length < 3)
+      return w;
+
+    var re;
+    var re2;
+    var re3;
+    var re4;
+
+    firstch = w.substr(0,1);
+    if (firstch == "y")
+      w = firstch.toUpperCase() + w.substr(1);
+
+    // Step 1a
+    re = /^(.+?)(ss|i)es$/;
+    re2 = /^(.+?)([^s])s$/;
+
+    if (re.test(w))
+      w = w.replace(re,"$1$2");
+    else if (re2.test(w))
+      w = w.replace(re2,"$1$2");
+
+    // Step 1b
+    re = /^(.+?)eed$/;
+    re2 = /^(.+?)(ed|ing)$/;
+    if (re.test(w)) {
+      var fp = re.exec(w);
+      re = new RegExp(mgr0);
+      if (re.test(fp[1])) {
+        re = /.$/;
+        w = w.replace(re,"");
+      }
+    }
+    else if (re2.test(w)) {
+      var fp = re2.exec(w);
+      stem = fp[1];
+      re2 = new RegExp(s_v);
+      if (re2.test(stem)) {
+        w = stem;
+        re2 = /(at|bl|iz)$/;
+        re3 = new RegExp("([^aeiouylsz])\\1$");
+        re4 = new RegExp("^" + C + v + "[^aeiouwxy]$");
+        if (re2.test(w))
+          w = w + "e";
+        else if (re3.test(w)) {
+          re = /.$/;
+          w = w.replace(re,"");
+        }
+        else if (re4.test(w))
+          w = w + "e";
+      }
+    }
+
+    // Step 1c
+    re = /^(.+?)y$/;
+    if (re.test(w)) {
+      var fp = re.exec(w);
+      stem = fp[1];
+      re = new RegExp(s_v);
+      if (re.test(stem))
+        w = stem + "i";
+    }
+
+    // Step 2
+    re = /^(.+?)(ational|tional|enci|anci|izer|bli|alli|entli|eli|ousli|ization|ation|ator|alism|iveness|fulness|ousness|aliti|iviti|biliti|logi)$/;
+    if (re.test(w)) {
+      var fp = re.exec(w);
+      stem = fp[1];
+      suffix = fp[2];
+      re = new RegExp(mgr0);
+      if (re.test(stem))
+        w = stem + step2list[suffix];
+    }
+
+    // Step 3
+    re = /^(.+?)(icate|ative|alize|iciti|ical|ful|ness)$/;
+    if (re.test(w)) {
+      var fp = re.exec(w);
+      stem = fp[1];
+      suffix = fp[2];
+      re = new RegExp(mgr0);
+      if (re.test(stem))
+        w = stem + step3list[suffix];
+    }
+
+    // Step 4
+    re = /^(.+?)(al|ance|ence|er|ic|able|ible|ant|ement|ment|ent|ou|ism|ate|iti|ous|ive|ize)$/;
+    re2 = /^(.+?)(s|t)(ion)$/;
+    if (re.test(w)) {
+      var fp = re.exec(w);
+      stem = fp[1];
+      re = new RegExp(mgr1);
+      if (re.test(stem))
+        w = stem;
+    }
+    else if (re2.test(w)) {
+      var fp = re2.exec(w);
+      stem = fp[1] + fp[2];
+      re2 = new RegExp(mgr1);
+      if (re2.test(stem))
+        w = stem;
+    }
+
+    // Step 5
+    re = /^(.+?)e$/;
+    if (re.test(w)) {
+      var fp = re.exec(w);
+      stem = fp[1];
+      re = new RegExp(mgr1);
+      re2 = new RegExp(meq1);
+      re3 = new RegExp("^" + C + v + "[^aeiouwxy]$");
+      if (re.test(stem) || (re2.test(stem) && !(re3.test(stem))))
+        w = stem;
+    }
+    re = /ll$/;
+    re2 = new RegExp(mgr1);
+    if (re.test(w) && re2.test(w)) {
+      re = /.$/;
+      w = w.replace(re,"");
+    }
+
+    // and turn initial Y back to y
+    if (firstch == "y")
+      w = firstch.toLowerCase() + w.substr(1);
+    return w;
+  }
+}
+
diff --git a/content/html/_static/pygments.css b/content/html/_static/pygments.css
index 26c5c65205b0524baad03d36db8c5d7db4fb034e..6f8b210a1c9a4c763cd4c1a669999d3d0594b576 100644
--- a/content/html/_static/pygments.css
+++ b/content/html/_static/pygments.css
@@ -1,75 +1,75 @@
-pre { line-height: 125%; }
-td.linenos .normal { color: inherit; background-color: transparent; padding-left: 5px; padding-right: 5px; }
-span.linenos { color: inherit; background-color: transparent; padding-left: 5px; padding-right: 5px; }
-td.linenos .special { color: #000000; background-color: #ffffc0; padding-left: 5px; padding-right: 5px; }
-span.linenos.special { color: #000000; background-color: #ffffc0; padding-left: 5px; padding-right: 5px; }
-.highlight .hll { background-color: #ffffcc }
-.highlight { background: #f8f8f8; }
-.highlight .c { color: #3D7B7B; font-style: italic } /* Comment */
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-.highlight .k { color: #008000; font-weight: bold } /* Keyword */
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-.highlight .kr { color: #008000; font-weight: bold } /* Keyword.Reserved */
-.highlight .kt { color: #B00040 } /* Keyword.Type */
-.highlight .m { color: #666666 } /* Literal.Number */
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-.highlight .sc { color: #BA2121 } /* Literal.String.Char */
-.highlight .dl { color: #BA2121 } /* Literal.String.Delimiter */
-.highlight .sd { color: #BA2121; font-style: italic } /* Literal.String.Doc */
-.highlight .s2 { color: #BA2121 } /* Literal.String.Double */
-.highlight .se { color: #AA5D1F; font-weight: bold } /* Literal.String.Escape */
-.highlight .sh { color: #BA2121 } /* Literal.String.Heredoc */
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-.highlight .vm { color: #19177C } /* Name.Variable.Magic */
-.highlight .il { color: #666666 } /* Literal.Number.Integer.Long */
\ No newline at end of file
+pre { line-height: 125%; }
+td.linenos .normal { color: inherit; background-color: transparent; padding-left: 5px; padding-right: 5px; }
+span.linenos { color: inherit; background-color: transparent; padding-left: 5px; padding-right: 5px; }
+td.linenos .special { color: #000000; background-color: #ffffc0; padding-left: 5px; padding-right: 5px; }
+span.linenos.special { color: #000000; background-color: #ffffc0; padding-left: 5px; padding-right: 5px; }
+.highlight .hll { background-color: #ffffcc }
+.highlight { background: #f8f8f8; }
+.highlight .c { color: #3D7B7B; font-style: italic } /* Comment */
+.highlight .err { border: 1px solid #F00 } /* Error */
+.highlight .k { color: #008000; font-weight: bold } /* Keyword */
+.highlight .o { color: #666 } /* Operator */
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+.highlight .cm { color: #3D7B7B; font-style: italic } /* Comment.Multiline */
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+.highlight .gs { font-weight: bold } /* Generic.Strong */
+.highlight .gu { color: #800080; font-weight: bold } /* Generic.Subheading */
+.highlight .gt { color: #04D } /* Generic.Traceback */
+.highlight .kc { color: #008000; font-weight: bold } /* Keyword.Constant */
+.highlight .kd { color: #008000; font-weight: bold } /* Keyword.Declaration */
+.highlight .kn { color: #008000; font-weight: bold } /* Keyword.Namespace */
+.highlight .kp { color: #008000 } /* Keyword.Pseudo */
+.highlight .kr { color: #008000; font-weight: bold } /* Keyword.Reserved */
+.highlight .kt { color: #B00040 } /* Keyword.Type */
+.highlight .m { color: #666 } /* Literal.Number */
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+.highlight .no { color: #800 } /* Name.Constant */
+.highlight .nd { color: #A2F } /* Name.Decorator */
+.highlight .ni { color: #717171; font-weight: bold } /* Name.Entity */
+.highlight .ne { color: #CB3F38; font-weight: bold } /* Name.Exception */
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diff --git a/content/html/advanced_topics/20_simulator_advanced.html b/content/html/advanced_topics/20_simulator_advanced.html
index d59945212b6b697497489a2c44de47d0e20fcc27..90a5b75a7a6f71518eed11d26f7c9f66d2f8e833 100644
--- a/content/html/advanced_topics/20_simulator_advanced.html
+++ b/content/html/advanced_topics/20_simulator_advanced.html
@@ -1,285 +1,288 @@
-<!DOCTYPE html>
-<html class="writer-html5" lang="en" >
-<head>
-  <meta charset="utf-8" /><meta name="viewport" content="width=device-width, initial-scale=1" />
-
-  <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-  <title>Simulator &mdash; openPASS Documentation</title>
-      <link rel="stylesheet" href="../_static/pygments.css" type="text/css" />
-      <link rel="stylesheet" href="../_static/css/theme.css" type="text/css" />
-      <link rel="stylesheet" href="../_static/css/custom.css" type="text/css" />
-      <link rel="stylesheet" href="../_static/tabs.css" type="text/css" />
-    <link rel="shortcut icon" href="../_static/openPASS.ico"/>
-  <!--[if lt IE 9]>
-    <script src="../_static/js/html5shiv.min.js"></script>
-  <![endif]-->
-  
-        <script src="../_static/jquery.js?v=5d32c60e"></script>
-        <script src="../_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
-        <script src="../_static/documentation_options.js?v=afa6e5cd"></script>
-        <script src="../_static/doctools.js?v=888ff710"></script>
-        <script src="../_static/sphinx_highlight.js?v=dc90522c"></script>
-    <script src="../_static/js/theme.js"></script>
-    <link rel="index" title="Index" href="../genindex.html" />
-    <link rel="search" title="Search" href="../search.html" />
-    <link rel="next" title="Agent Components" href="simulator/agent_components.html" />
-    <link rel="prev" title="VehicleComponents" href="../user_guide/sim_user_guide/components/vehicle.html" /> 
-</head>
-
-<body class="wy-body-for-nav"> 
-  <div class="wy-grid-for-nav">
-    <nav data-toggle="wy-nav-shift" class="wy-nav-side">
-      <div class="wy-side-scroll">
-        <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../index.html" class="icon icon-home">
-            openPASS
-              <img src="../_static/openPASS.png" class="logo" alt="Logo"/>
-          </a>
-              <div class="version">
-                1.1.0
-              </div>
-<div role="search">
-  <form id="rtd-search-form" class="wy-form" action="../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
-    <input type="hidden" name="check_keywords" value="yes" />
-    <input type="hidden" name="area" value="default" />
-  </form>
-</div>
-        </div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="Navigation menu">
-              <p class="caption" role="heading"><span class="caption-text">Installation Guide</span></p>
-<ul>
-<li class="toctree-l1"><a class="reference internal" href="../installation_guide/10_getting_started.html">Getting Started</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../installation_guide/15_system_requirements.html">System Requirements</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../installation_guide/20_install_prerequisites.html">Installing Prerequisites</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../installation_guide/30_install_openpass.html">Installing openPASS</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../installation_guide/50_further_guidance.html">Further Guidance</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../installation_guide/60_conan.html">Building with Conan</a></li>
-</ul>
-<p class="caption" role="heading"><span class="caption-text">User Guides</span></p>
-<ul>
-<li class="toctree-l1"><a class="reference internal" href="../user_guide/10_overview.html">Overview</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../user_guide/20_tutorials.html">Tutorials</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../user_guide/30_configs_in_depth.html">Configs in Depth</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../user_guide/40_outputs_in_depth.html">Outputs in Depth</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../user_guide/50_scenario_simulation.html">Simulator</a></li>
-</ul>
-<p class="caption" role="heading"><span class="caption-text">Advanced topics</span></p>
-<ul class="current">
-<li class="toctree-l1 current"><a class="current reference internal" href="#">Simulator</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="simulator/agent_components.html">Agent Components</a></li>
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+<li class="toctree-l3"><a class="reference internal" href="simulator/spawner_features.html#spawning-on-roads-lanes-and-ranges">Spawning on roads, lanes and ranges</a></li>
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+<li class="toctree-l3"><a class="reference internal" href="simulator/spawner_features.html#id8">Traffic parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="simulator/spawner_features.html#id11">Stochastics</a></li>
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+</li>
+<li class="toctree-l1"><a class="reference internal" href="simulator/system_structure_and_parameterization_%28SSP%29.html">System Structure and Parameterization (SSP)</a><ul>
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+<li class="toctree-l3"><a class="reference internal" href="simulator/system_structure_and_parameterization_%28SSP%29.html#ssd-system-structure-definition">SSD - System Structure Definition</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="simulator/system_structure_and_parameterization_%28SSP%29.html#implementation">Implementation</a><ul>
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+<li class="toctree-l3"><a class="reference internal" href="simulator/system_structure_and_parameterization_%28SSP%29.html#object-structure">Object Structure</a></li>
+<li class="toctree-l3"><a class="reference internal" href="simulator/system_structure_and_parameterization_%28SSP%29.html#ssp-and-op">SSP and <strong>openPASS</strong></a></li>
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+<li class="toctree-l3"><a class="reference internal" href="simulator/system_structure_and_parameterization_%28SSP%29.html#writemessageparameters">WriteMessageParameters</a></li>
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diff --git a/content/html/advanced_topics/30_testing.html b/content/html/advanced_topics/30_testing.html
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-  <section id="endtoend-test-framework">
-<span id="testing-endtoend"></span><h1>EndToEnd Test Framework<a class="headerlink" href="#endtoend-test-framework" title="Link to this heading"></a></h1>
-<p><strong>pyOpenPASS</strong></p>
-<p>This tool acts as configurable executor for complete sets of configs for the openPASS simulation.
-The test framework is located at <code class="docutils literal notranslate"><span class="pre">sim/tests/endToEndTests/pyOpenPASS</span></code>.</p>
-<section id="prerequisites">
-<h2>Prerequisites<a class="headerlink" href="#prerequisites" title="Link to this heading"></a></h2>
-<p>The test framework is based on Python and some additional Python modules.
-Installation of the required modules can be accomplished using <code class="docutils literal notranslate"><span class="pre">pip</span></code>.
-Please refer to the file <code class="docutils literal notranslate"><span class="pre">requirements.txt</span></code> located in the source code repository at <code class="docutils literal notranslate"><span class="pre">sim/tests/endToEndTests/pyOpenPASS</span></code> for a list of dependencies.
-See <a class="reference internal" href="../installation_guide/30_install_openpass.html#download-and-install-openpass"><span class="std std-ref">Installing openPASS</span></a> for instructions on repository checkout.</p>
-<p>The requirements file can be directly passed to <code class="docutils literal notranslate"><span class="pre">pip</span></code> for installation:</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">pip</span> <span class="n">install</span> <span class="o">-</span><span class="n">r</span> <span class="n">requirements</span><span class="o">.</span><span class="n">txt</span>
-</pre></div>
-</div>
-<p>(executed from <code class="docutils literal notranslate"><span class="pre">sim/tests/endToEndTests/pyOpenPASS</span></code>)</p>
-<div class="admonition warning">
-<p class="admonition-title">Warning</p>
-<p><img alt="win_only" src="../_images/win_only.png" />
-<code class="docutils literal notranslate"><span class="pre">pip</span> <span class="pre">install</span></code> will try to fetch precompiled packages by default.
-If it is unable to locate a binary package for the current environment, packages will be compiled from source.
-This step fails for the <code class="docutils literal notranslate"><span class="pre">numpy</span></code> package when being built from the MSYS2 environment.
-Thus, it is recommended to set up a native Windows Python environment and perform the installation there.
-To force the usage of a specific Python environment, the variable <code class="docutils literal notranslate"><span class="pre">Python3_EXECUTABLE</span></code> can be set to the indended Python interpreter executable during cmake configuration (see <a class="reference internal" href="../installation_guide/30_install_openpass.html#download-and-install-openpass"><span class="std std-ref">Installing openPASS</span></a>).</p>
-</div>
-</section>
-<section id="execution">
-<h2>Execution<a class="headerlink" href="#execution" title="Link to this heading"></a></h2>
-<p>As pyOpenPASS is a pytest plugin (and is not yet a standalone-plugin) it will be automatically executed, when pytest finds its entry-point <code class="docutils literal notranslate"><span class="pre">conftest.py</span></code> (= local-pytest-plugin) next to files named <code class="docutils literal notranslate"><span class="pre">test_*.json</span></code>.
-So test files must be copied into the pyOpenPASS directory before execution.</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>pytest
-<span class="w">  </span>--simulation<span class="o">=</span>SIMULATION_EXE<span class="w">                </span><span class="c1"># path to simulation executable, e.g. /openPASS/bin/opSimulation</span>
-<span class="w">  </span>--mutual<span class="o">=</span>MUTUAL_RESOURCES_PATH<span class="w">             </span><span class="c1"># path to mutual config files for all runs, e.g. /openPASS/bin/examples/common</span>
-<span class="w">  </span>--resources<span class="o">=</span>RESOURCES_PATH<span class="w">                 </span><span class="c1"># path from where configs are retrieved - override common files if necessary</span>
-<span class="w">  </span>--report-path<span class="o">=</span>REPORT_PATH<span class="w">                  </span><span class="c1"># path to where the report shall be stored</span>
-<span class="w">  </span>--allowed-warnings<span class="o">=</span>ALLOWED_WARNINGS_PATH<span class="w">   </span><span class="c1"># path to file which contains the list of warnings that can be ignored</span>
-<span class="w">  </span>TEST_FILE<span class="w">                       </span><span class="c1"># file under test, named `test_*.json`</span>
-</pre></div>
-</div>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>You can use additional pytest arguments, such as <code class="docutils literal notranslate"><span class="pre">-v</span></code> for verbose output, <code class="docutils literal notranslate"><span class="pre">--collect-only</span></code> for listing the available tests and so on (see <a class="reference external" href="https://docs.pytest.org">https://docs.pytest.org</a>).</p>
-</div>
-<p>In addition pyOpenPASS supports the following optional arguments:</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>--configs-path<span class="o">=</span>INPUT<span class="w">             </span><span class="c1"># path for providing configs during testing</span>
---results-path<span class="o">=</span>OUTPUT<span class="w">            </span><span class="c1"># path for collecting test results during testing</span>
---artifacts-path<span class="o">=</span>ARTIFACTS<span class="w">       </span><span class="c1"># path for collecting test artifacts during testing</span>
-</pre></div>
-</div>
-<p>For each specified <code class="docutils literal notranslate"><span class="pre">test_*.json</span></code> a corresponding <code class="docutils literal notranslate"><span class="pre">test_*.html</span></code> will be generated.</p>
-<div class="admonition warning">
-<p class="admonition-title">Warning</p>
-<p><img alt="win_only" src="../_images/win_only.png" />
-Depending on the names of the config file sets and test cases configured in the JSON file, the resulting collection of artifacts might conflict with a specific path length limit.
-This limit can be increased by setting the Windows Registry key variable <code class="docutils literal notranslate"><span class="pre">LongPathsEnabled</span></code> to 1.
-The variable can be accessed at <code class="docutils literal notranslate"><span class="pre">Computer\HKEY_LOCAL_MACHINE\SYSTEM\CurrentControlSet\Control\FileSystem\LongPathsEnabled</span></code>.
-Please note that the limit cannot be disabled completely.
-Resulting error messages are often misleading (e.g. <code class="docutils literal notranslate"><span class="pre">File</span> <span class="pre">not</span> <span class="pre">found</span></code> where the file actually exists or <code class="docutils literal notranslate"><span class="pre">shutil.py</span> <span class="pre">2</span></code>, etc.).</p>
-</div>
-</section>
-<section id="parallel-execution">
-<h2>Parallel Execution<a class="headerlink" href="#parallel-execution" title="Link to this heading"></a></h2>
-<p>If <code class="docutils literal notranslate"><span class="pre">pytest-xdist</span></code> is installed, pyOpenPASS can be invoked with the addition parameter <code class="docutils literal notranslate"><span class="pre">-n</span> <span class="pre">auto</span></code> (or similar - see <a class="reference external" href="https://pypi.org/project/pytest-xdist/">https://pypi.org/project/pytest-xdist/</a>).
-In this case, pyOpenPASS will execute the given tests on <code class="docutils literal notranslate"><span class="pre">n</span></code> parallel worker.</p>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>Running tests in parallel will result in the report displaying results in an arbitrary order, with only the executed tests listed (disabled tests will not be shown).</p>
-</div>
-</section>
-<section id="test-configuration">
-<h2>Test Configuration<a class="headerlink" href="#test-configuration" title="Link to this heading"></a></h2>
-<p>Test configuration is done by the test-json file, individually for each test.
-Depending on the users choice, three different tests runners are executed:</p>
-<ol class="arabic simple">
-<li><p>Determinism: Check executability of configs + Determinism test (<em>1 x n</em> vs <em>n x 1</em> tests).</p></li>
-<li><p>Parameterized: Check executability of configs using different parameters.</p></li>
-<li><p>Query: Execute config and check for specific results in the output of the simulator, given one or more queries.</p></li>
-</ol>
-<p>In general, the test-json splits into two sections:</p>
-<ol class="arabic simple">
-<li><p>Definition of <code class="docutils literal notranslate"><span class="pre">Configuration</span> <span class="pre">Sets</span></code></p></li>
-<li><p>Definition of <code class="docutils literal notranslate"><span class="pre">Tests</span></code> using the <code class="docutils literal notranslate"><span class="pre">Configuration</span> <span class="pre">Sets</span></code> or a single <code class="docutils literal notranslate"><span class="pre">Config</span></code> directly</p></li>
-</ol>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>Whenever possible, pyOpenPASS re-uses the results to speed up result analysis.</p>
-</div>
-<div class="highlight-js notranslate"><div class="highlight"><pre><span></span><span class="p">{</span>
-<span class="w">    </span><span class="s2">&quot;config_sets&quot;</span><span class="o">:</span><span class="w"> </span><span class="p">{</span>
-<span class="w">        </span><span class="s2">&quot;Config_Set_1&quot;</span><span class="o">:</span><span class="w"> </span><span class="p">[</span><span class="w"> </span><span class="c1">// user defined name</span>
-<span class="w">            </span><span class="s2">&quot;Config_Folder_1&quot;</span><span class="p">,</span>
-<span class="w">            </span><span class="s2">&quot;Config_Folder_2&quot;</span>
-<span class="w">        </span><span class="p">],</span>
-<span class="w">        </span><span class="s2">&quot;Config_Set_2&quot;</span><span class="o">:</span><span class="w"> </span><span class="p">[</span>
-<span class="w">            </span><span class="s2">&quot;Config_Folder_2&quot;</span><span class="p">,</span>
-<span class="w">            </span><span class="s2">&quot;Config_Folder_3&quot;</span>
-<span class="w">        </span><span class="p">],</span>
-<span class="w">        </span><span class="s2">&quot;Config_Set_3&quot;</span><span class="o">:</span><span class="w"> </span><span class="p">[</span>
-<span class="w">            </span><span class="s2">&quot;Config_Folder_4&quot;</span>
-<span class="w">        </span><span class="p">]</span>
-<span class="w">    </span><span class="p">},</span>
-<span class="w">    </span><span class="s2">&quot;tests&quot;</span><span class="o">:</span><span class="w"> </span><span class="p">{</span>
-<span class="w">        </span><span class="s2">&quot;Execution and Determinism&quot;</span><span class="o">:</span><span class="w"> </span><span class="p">{</span>
-<span class="w">            </span><span class="s2">&quot;config_sets&quot;</span><span class="o">:</span><span class="w"> </span><span class="p">[</span>
-<span class="w">                </span><span class="s2">&quot;Config_Set_1&quot;</span><span class="p">,</span>
-<span class="w">                </span><span class="s2">&quot;Config_Set_2&quot;</span><span class="p">,</span>
-<span class="w">                </span><span class="s2">&quot;Config_Set_3&quot;</span>
-<span class="w">            </span><span class="p">],</span>
-<span class="w">            </span><span class="s2">&quot;determinism&quot;</span><span class="o">:</span><span class="w"> </span><span class="kc">true</span><span class="p">,</span><span class="w"> </span><span class="c1">// ACTIVATES DETERMINISM</span>
-<span class="w">            </span><span class="s2">&quot;duration&quot;</span><span class="o">:</span><span class="w"> </span><span class="mf">30</span><span class="p">,</span><span class="w"> </span><span class="c1">// how long shall be simulated</span>
-<span class="w">            </span><span class="s2">&quot;invocations&quot;</span><span class="o">:</span><span class="w"> </span><span class="mf">3</span><span class="w"> </span><span class="c1">// compare 1x3 run with 3x1 runs</span>
-<span class="w">        </span><span class="p">},</span>
-<span class="w">        </span><span class="s2">&quot;Parameterization&quot;</span><span class="o">:</span><span class="w"> </span><span class="p">{</span>
-<span class="w">            </span><span class="s2">&quot;config_sets&quot;</span><span class="o">:</span><span class="w"> </span><span class="p">[</span>
-<span class="w">                </span><span class="s2">&quot;Config_Set_2&quot;</span>
-<span class="w">            </span><span class="p">],</span>
-<span class="w">            </span><span class="s2">&quot;parameterization&quot;</span><span class="o">:</span><span class="w"> </span><span class="p">{</span><span class="w"> </span><span class="c1">// ACTIVATES PARAMETERIZATION</span>
-<span class="w">                </span><span class="s2">&quot;file&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;systemConfigFmu.xml&quot;</span><span class="p">,</span><span class="w"> </span><span class="c1">// Name of config, which shall be parameterized</span>
-<span class="w">                </span><span class="s2">&quot;xpath&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;//value[../id=&#39;FmuPath&#39;]&quot;</span><span class="p">,</span><span class="w"> </span><span class="c1">// XPath, where values needs to be replaced</span>
-<span class="w">                </span><span class="s2">&quot;values&quot;</span><span class="o">:</span><span class="w"> </span><span class="p">[</span><span class="w"> </span><span class="c1">// Values, which shall be set</span>
-<span class="w">                    </span><span class="s2">&quot;resources/FMU1_StaticFMU.fmu&quot;</span><span class="p">,</span>
-<span class="w">                    </span><span class="s2">&quot;resources/FMU2_StaticFMU.fmu&quot;</span>
-<span class="w">                </span><span class="p">],</span>
-<span class="w">                </span><span class="s2">&quot;duration&quot;</span><span class="o">:</span><span class="w"> </span><span class="mf">10</span><span class="p">,</span>
-<span class="w">                </span><span class="s2">&quot;invocations&quot;</span><span class="o">:</span><span class="w"> </span><span class="mf">100</span>
-<span class="w">            </span><span class="p">},</span>
-<span class="w">            </span><span class="s2">&quot;Querying&quot;</span><span class="o">:</span><span class="w"> </span><span class="p">{</span>
-<span class="w">                </span><span class="s2">&quot;config&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;Config_Folder_2&quot;</span><span class="w"> </span><span class="c1">// single config specification</span>
-<span class="w">                </span><span class="p">],</span>
-<span class="w">                </span><span class="s2">&quot;queries&quot;</span><span class="o">:</span><span class="w"> </span><span class="p">[</span><span class="w"> </span><span class="c1">// ACTIVATES QUERYING</span>
-<span class="w">                    </span><span class="s2">&quot;count(AgentId | AgentId == 0 and Timestep == 10000 and VelocityEgo &gt;= 30) == 1&quot;</span><span class="p">,</span>
-<span class="w">                    </span><span class="s2">&quot;mean(VelocityEgo | AgentId != 0) &gt; 30&quot;</span>
-<span class="w">                </span><span class="p">],</span>
-<span class="w">                </span><span class="s2">&quot;success_rate&quot;</span><span class="o">:</span><span class="w"> </span><span class="mf">0.8</span><span class="p">,</span><span class="w"> </span><span class="c1">// 80% of 60 invocations needs to pass</span>
-<span class="w">                </span><span class="s2">&quot;duration&quot;</span><span class="o">:</span><span class="w"> </span><span class="mf">10</span><span class="p">,</span>
-<span class="w">                </span><span class="s2">&quot;invocations&quot;</span><span class="o">:</span><span class="w"> </span><span class="mf">60</span><span class="p">,</span>
-<span class="w">                </span><span class="s2">&quot;ram_limit&quot;</span><span class="o">:</span><span class="w"> </span><span class="mf">512.0</span><span class="p">,</span><span class="w"> </span><span class="c1">// Optional RAM Limit in MB, measured for each invocation</span>
-<span class="w">                </span><span class="s2">&quot;description&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;Optional description&quot;</span>
-<span class="w">            </span><span class="p">}</span>
-<span class="w">        </span><span class="p">}</span>
-<span class="w">    </span><span class="p">}</span>
-<span class="p">}</span>
-</pre></div>
-</div>
-<ul>
-<li><p>If the <cite>success_rate</cite> is specified, its values must be between 0 and 1.</p></li>
-<li><p>It is also possible to define a range of success (e.g. for excluding 100%) by using the following syntax:</p>
-<div class="highlight-js notranslate"><div class="highlight"><pre><span></span><span class="s2">&quot;success_rate&quot;</span><span class="o">:</span><span class="w"> </span><span class="p">[</span><span class="mf">0.8</span><span class="p">,</span><span class="w"> </span><span class="mf">0.99</span><span class="p">]</span><span class="w"> </span><span class="c1">// 80% to 99% need to pass</span>
-</pre></div>
-</div>
-</li>
-<li><p>If the <cite>ram_limit</cite> is specified, its values are measured in MB</p></li>
-</ul>
-</section>
-<section id="querying-results">
-<h2>Querying Results<a class="headerlink" href="#querying-results" title="Link to this heading"></a></h2>
-<p>Internally, pyOpenPASS uses DataFrames to aggregate data.
-This data is then accessed using a custom query language described below.
-Before the query is executed, pyOpenPASS gathers data from the relevant simulation output folder.</p>
-<p>Typically, the following files are expected:</p>
-<ul class="simple">
-<li><p><code class="docutils literal notranslate"><span class="pre">simulationOutput.xml</span></code>: This file is the source for events (see below for more details).</p></li>
-<li><p><code class="docutils literal notranslate"><span class="pre">Cyclics_Run&lt;run_id&gt;.csv</span></code>: Here, <code class="docutils literal notranslate"><span class="pre">&lt;run_id&gt;</span></code> is a placeholder for the number of the corresponding invocation.
-This file contains cyclic data, such as x-position, y-position, or velocity.</p></li>
-</ul>
-<p>OpenPASS also allows for independent output of controllers in subfolders, where these subfolders follow the pattern <code class="docutils literal notranslate"><span class="pre">run&lt;run_id&gt;/entity&lt;entity_id&gt;/&lt;controller&gt;</span></code>.
-If pyOpenPASS discovers such subfolders, it will look recursilvy for CSV files within them.
-For every CSV file, pyOpenPASS checks if the belowstanding conditions are satisfied.
-If they are, the file is merged with the corresponding <cite>Cyclics_Run&lt;runId&gt;.csv</cite> file.</p>
-<ul>
-<li><p>The file must contain a column named <code class="docutils literal notranslate"><span class="pre">Timestep</span></code>.</p></li>
-<li><p>Every other column must start with the corresponding entity id, matching the entity id in the subfolder name.
-For example, <code class="docutils literal notranslate"><span class="pre">00:DetectedObjects</span></code>.</p>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>If a column name follows the pattern <code class="docutils literal notranslate"><span class="pre">&lt;id&gt;:&lt;Prefix&gt;.&lt;ColumnName&gt;</span></code> it will be shortened to <code class="docutils literal notranslate"><span class="pre">&lt;ColumnName&gt;</span></code>.</p>
-</div>
-<div class="admonition warning">
-<p class="admonition-title">Warning</p>
-<p>pyOpenPASS does not take care of columns with duplicate names.
-If such columns are found, duplicate names will be suffixed (see <a class="reference external" href="https://pandas.pydata.org/pandas-docs/version/1.3.1/user_guide/merging.html#database-style-dataframe-or-named-series-joining-merging">here</a> for details).</p>
-</div>
-</li>
-</ul>
-<p>When merging succeeds, columns from the additional controllers can be queried like every other column in the queries described below.</p>
-<section id="basic-syntax">
-<h3>Basic Syntax<a class="headerlink" href="#basic-syntax" title="Link to this heading"></a></h3>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="p">[</span><span class="n">aggregate</span><span class="p">]([</span><span class="n">column</span><span class="p">]</span> <span class="o">|</span> <span class="p">[</span><span class="nb">filter</span><span class="p">])</span> <span class="p">[</span><span class="n">operator</span><span class="p">]</span> <span class="p">[</span><span class="n">value</span><span class="p">]</span>
-</pre></div>
-</div>
-<ul>
-<li><p>Aggregate:
-Everything pandas supports on dataframes, such as <a class="reference external" href="https://pandas.pydata.org/pandas-docs/stable/reference/api/pandas.DataFrame.count.html?highlight=count#pandas.DataFrame.count">pandas.DataFrame.count</a>, min, max, mean</p></li>
-<li><p>Column:
-A column on which the aggregate should operate.</p>
-<p>Columns are generally given by the simulation outputs cyclic columns, such as <code class="docutils literal notranslate"><span class="pre">PositionRoute</span></code>.
-In addition the following columns are available:</p>
-<ul class="simple">
-<li><p><code class="docutils literal notranslate"><span class="pre">AgentId</span></code></p></li>
-<li><p>From the tag <code class="docutils literal notranslate"><span class="pre">Agents</span></code> (see <code class="docutils literal notranslate"><span class="pre">simulationOutput.xml</span></code>):</p>
-<ul>
-<li><p><code class="docutils literal notranslate"><span class="pre">AgentTypeGroupName</span></code></p></li>
-<li><p><code class="docutils literal notranslate"><span class="pre">AgentTypeName</span></code></p></li>
-<li><p><code class="docutils literal notranslate"><span class="pre">VehicleModelType</span></code></p></li>
-<li><p><code class="docutils literal notranslate"><span class="pre">DriverProfileName</span></code></p></li>
-<li><p><code class="docutils literal notranslate"><span class="pre">AgentType</span></code></p></li>
-</ul>
-</li>
-<li><p>Everything from the tag <code class="docutils literal notranslate"><span class="pre">RunStatistics</span></code> (see <code class="docutils literal notranslate"><span class="pre">simulationOutput.xml</span></code>), which is currently:</p>
-<ul>
-<li><p><code class="docutils literal notranslate"><span class="pre">RandomSeed</span></code></p></li>
-<li><p><code class="docutils literal notranslate"><span class="pre">VisibilityDistance</span></code></p></li>
-<li><p><code class="docutils literal notranslate"><span class="pre">StopReason</span></code></p></li>
-<li><p><code class="docutils literal notranslate"><span class="pre">StopTime</span></code></p></li>
-<li><p><code class="docutils literal notranslate"><span class="pre">EgoAccident</span></code></p></li>
-<li><p><code class="docutils literal notranslate"><span class="pre">TotalDistanceTraveled</span></code></p></li>
-<li><p><code class="docutils literal notranslate"><span class="pre">EgoDistanceTraveled</span></code></p></li>
-</ul>
-</li>
-</ul>
-</li>
-<li><p>Filter:
-A filter based on <a class="reference external" href="https://pandas.pydata.org/pandas-docs/stable/reference/api/pandas.DataFrame.filter.html?highlight=filter#pandas.DataFrame.filter">pandas.DataFrame.filter</a> syntax using the available columns.</p></li>
-<li><p>Operator:
-A comparison operator from the following list: ==, &lt;=, &gt;=, &lt;, &gt;, !=, ~= (approximate).
-The approximate operator allows <code class="docutils literal notranslate"><span class="pre">1*e-6</span> <span class="pre">x</span> <span class="pre">value</span></code> as maximum deviation from value.</p></li>
-<li><p>Value:
-A number</p></li>
-</ul>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>In seldom cases, the filter can be skipped, e.g. when securing that no agent has been spawned: <code class="docutils literal notranslate"><span class="pre">count(AgentId)</span> <span class="pre">==</span> <span class="pre">0</span></code>.</p>
-</div>
-<p><strong>Example</strong></p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">count</span><span class="p">(</span><span class="n">AgentId</span> <span class="o">|</span> <span class="n">PositionRoute</span> <span class="o">&gt;=</span> <span class="mi">800</span> <span class="ow">and</span> <span class="n">Lane</span> <span class="o">!=</span> <span class="o">-</span><span class="mi">3</span><span class="p">)</span> <span class="o">==</span> <span class="mi">0</span>
-</pre></div>
-</div>
-</section>
-<section id="using-events-in-filter">
-<h3>Using Events in Filter<a class="headerlink" href="#using-events-in-filter" title="Link to this heading"></a></h3>
-<p>In order to query for a specific event, use <code class="docutils literal notranslate"><span class="pre">#(EVENT)</span></code> within the filter syntax.</p>
-<p><strong>Example</strong></p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">count</span><span class="p">(</span><span class="n">AgentId</span> <span class="o">|</span> <span class="n">PositionRoute</span> <span class="o">&gt;=</span> <span class="mi">800</span> <span class="ow">and</span> <span class="c1">#(Collision) == True) == 0</span>
-</pre></div>
-</div>
-<section id="event-payload">
-<h4>Event Payload<a class="headerlink" href="#event-payload" title="Link to this heading"></a></h4>
-<p>Each event is associated with a set of triggering entity ids, affected entity ids, and arbitrary key/value pairs (please refer to the openPASS documentation for details).
-This information is transformed into a “per agent” scope.</p>
-<p>In the following the <code class="docutils literal notranslate"><span class="pre">Collision</span></code> event is taken as example.</p>
-<p><strong>TriggeringEntity</strong></p>
-<p>All agents, flagged as triggering become <code class="docutils literal notranslate"><span class="pre">IsTriggering</span></code></p>
-<p>Query: <code class="docutils literal notranslate"><span class="pre">#(Collision):IsTriggering</span> <span class="pre">==</span> <span class="pre">True</span></code></p>
-<p><strong>AffectedEntity</strong></p>
-<p>All agents, flagged as affected become <code class="docutils literal notranslate"><span class="pre">IsAffected</span></code></p>
-<p>Query: <code class="docutils literal notranslate"><span class="pre">#(Collision):IsAffected</span> <span class="pre">==</span> <span class="pre">True</span></code></p>
-<p><strong>Key/Value Pairs</strong></p>
-<p>If an event publishes additional payload with the key <code class="docutils literal notranslate"><span class="pre">XYZ</span></code>, it will can be queried by <code class="docutils literal notranslate"><span class="pre">#(EVENT):XYZ</span></code>.</p>
-<p>Query: <code class="docutils literal notranslate"><span class="pre">#(Collision):WithAgent</span></code></p>
-<div class="admonition warning">
-<p class="admonition-title">Warning</p>
-<p>Keys carrying the event name as prefix, such as in <code class="docutils literal notranslate"><span class="pre">#(Collision):CollisionWithAgent</span></code>, will be stripped to <code class="docutils literal notranslate"><span class="pre">Collision:WithAgent</span></code></p>
-</div>
-</section>
-<section id="query-example">
-<h4>Query Example<a class="headerlink" href="#query-example" title="Link to this heading"></a></h4>
-<div class="line-block">
-<div class="line"><em>No agent should collide with agent 0:</em></div>
-<div class="line"><code class="docutils literal notranslate"><span class="pre">count(AgentId</span> <span class="pre">|</span> <span class="pre">AgentId</span> <span class="pre">==</span> <span class="pre">0</span> <span class="pre">and</span> <span class="pre">#(Collision):WithAgent</span> <span class="pre">==</span> <span class="pre">1)</span> <span class="pre">==</span> <span class="pre">0</span></code></div>
-</div>
-</section>
-</section>
-<section id="using-openscenario-events">
-<h3>Using OpenSCENARIO Events<a class="headerlink" href="#using-openscenario-events" title="Link to this heading"></a></h3>
-<p>OpenSCENARIO events are processed in the same manner as regular events (see above).</p>
-<p>This allows to query for occurrences of OpenSCENARIO events with a name specified within the following xpath:
-<code class="docutils literal notranslate"><span class="pre">OpenSCENARIO/Story/Act/Sequence/Maneuver/Event/&#64;name</span></code></p>
-<p><strong>OpenSCENARIO Event Definition</strong></p>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;Story</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;TheStory&quot;</span><span class="nt">&gt;</span>
-<span class="w">  </span><span class="nt">&lt;Act</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;TheAct&quot;</span><span class="nt">&gt;</span>
-<span class="w">    </span><span class="nt">&lt;Sequence</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;TheSequence&quot;</span><span class="w"> </span><span class="na">numberOfExecutions=</span><span class="s">&quot;1&quot;</span><span class="nt">&gt;</span>
-<span class="w">      </span>...
-<span class="w">      </span><span class="nt">&lt;Maneuver</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;TheManeuver&quot;</span><span class="nt">&gt;</span>
-<span class="w">        </span>...
-<span class="w">        </span><span class="cm">&lt;!-- example name &quot;ttc_event&quot;--&gt;</span>
-<span class="w">        </span><span class="nt">&lt;Event</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;ttc_event&quot;</span><span class="w"> </span><span class="na">priority=</span><span class="s">&quot;overwrite&quot;</span><span class="nt">&gt;</span>
-<span class="w">        </span>...
-<span class="w">          </span><span class="nt">&lt;StartConditions&gt;</span>
-<span class="w">            </span><span class="nt">&lt;ConditionGroup&gt;</span>
-<span class="w">              </span><span class="nt">&lt;Condition</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;Conditional&quot;</span><span class="nt">&gt;</span>
-<span class="w">                </span><span class="nt">&lt;ByEntity&gt;</span>
-<span class="w">                  </span>...
-<span class="w">                  </span><span class="nt">&lt;EntityCondition&gt;</span>
-<span class="w">                     </span><span class="nt">&lt;TimeToCollision&gt;</span>
-<span class="w">                       </span>...
-<span class="w">                     </span><span class="nt">&lt;/TimeToCollision&gt;</span>
-<span class="w">                  </span><span class="nt">&lt;/EntityCondition&gt;</span>
-<span class="w">                </span><span class="nt">&lt;/ByEntity&gt;</span>
-<span class="w">              </span><span class="nt">&lt;/Condition&gt;</span>
-<span class="w">            </span><span class="nt">&lt;/ConditionGroup&gt;</span>
-<span class="w">          </span><span class="nt">&lt;/StartConditions&gt;</span>
-<span class="w">        </span><span class="nt">&lt;/Event&gt;</span>
-<span class="w">        </span>...
-<span class="w">      </span><span class="nt">&lt;/Maneuver&gt;</span>
-<span class="w">    </span><span class="nt">&lt;/Sequence&gt;</span>
-<span class="w">  </span><span class="nt">&lt;/Act&gt;</span>
-<span class="nt">&lt;/Story&gt;</span>
-</pre></div>
-</div>
-<p><strong>Example openPASS Output</strong></p>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;Event</span><span class="w"> </span><span class="na">Time=</span><span class="s">&quot;0&quot;</span><span class="w"> </span><span class="na">Source=</span><span class="s">&quot;OpenSCENARIO&quot;</span><span class="w"> </span><span class="na">Name=</span><span class="s">&quot;TheStory/TheAct/TheSequence/TheManeuver/ttc_event&quot;</span><span class="nt">&gt;</span>
-<span class="w">    </span><span class="nt">&lt;TriggeringEntities/&gt;</span>
-<span class="w">    </span><span class="nt">&lt;AffectedEntities&gt;</span>
-<span class="w">        </span><span class="nt">&lt;Entity</span><span class="w"> </span><span class="na">Id=</span><span class="s">&quot;1&quot;</span><span class="nt">/&gt;</span>
-<span class="w">    </span><span class="nt">&lt;/AffectedEntities&gt;</span>
-<span class="w">    </span><span class="nt">&lt;Parameters/&gt;</span>
-<span class="nt">&lt;/Event&gt;</span>
-</pre></div>
-</div>
-<p><strong>Query</strong></p>
-<p><code class="docutils literal notranslate"><span class="pre">count(AgentId</span> <span class="pre">|</span> <span class="pre">#(TheStory/TheAct/TheSequence/TheManeuver/ttc_event)</span> <span class="pre">==</span> <span class="pre">True</span> <span class="pre">)</span> <span class="pre">&gt;</span> <span class="pre">0</span></code></p>
-</section>
-<section id="querying-transitions">
-<h3>Querying Transitions<a class="headerlink" href="#querying-transitions" title="Link to this heading"></a></h3>
-<p>Sometimes it is necessary to check, whether a transition happened, such as counting agents, passing a certain position.</p>
-<p>This can be achieved by shifting individual columns by <code class="docutils literal notranslate"><span class="pre">N</span></code> time steps.</p>
-<p><strong>Time Shift Syntax</strong></p>
-<p><code class="docutils literal notranslate"><span class="pre">Column-Shift</span></code> =&gt;  <code class="docutils literal notranslate"><span class="pre">PositionRoute-1</span></code> means PositionRoute at one time step earlier</p>
-<p><strong>Example Use Case</strong></p>
-<p>Counting agents passing <code class="docutils literal notranslate"><span class="pre">PositionRoute</span> <span class="pre">==</span> <span class="pre">350</span></code> on <code class="docutils literal notranslate"><span class="pre">LaneId</span> <span class="pre">==</span> <span class="pre">-1</span></code></p>
-<p><strong>Query</strong></p>
-<p><code class="docutils literal notranslate"><span class="pre">count(AgentId</span> <span class="pre">|</span> <span class="pre">LaneId</span> <span class="pre">==</span> <span class="pre">-1</span> <span class="pre">and</span> <span class="pre">PositionRoute-1</span> <span class="pre">&lt;</span> <span class="pre">350</span> <span class="pre">and</span> <span class="pre">PositionRoute</span> <span class="pre">&gt;=</span> <span class="pre">350</span> <span class="pre">)</span> <span class="pre">&gt;</span> <span class="pre">0</span></code></p>
-<div class="admonition warning">
-<p class="admonition-title">Warning</p>
-<p>In seldom cases,  a result column happens to have a name like <code class="docutils literal notranslate"><span class="pre">Name-N</span></code> where <code class="docutils literal notranslate"><span class="pre">N</span></code> is an integer.
-Querying this column would automatically apply time shifting (default behavior) leading to a parsing error.
-In such cases, escape the column name with single quotes (e.g. <code class="docutils literal notranslate"><span class="pre">'Name-1'</span></code>).</p>
-</div>
-</section>
-<section id="querying-spawning-time">
-<h3>Querying Spawning Time<a class="headerlink" href="#querying-spawning-time" title="Link to this heading"></a></h3>
-<p>Queries can be restricted to the spawning time:</p>
-<p><strong>Query</strong></p>
-<p><code class="docutils literal notranslate"><span class="pre">count(AgentId</span> <span class="pre">|</span> <span class="pre">Timestep</span> <span class="pre">==</span> <span class="pre">{first}</span> <span class="pre">and</span> <span class="pre">Velocity</span> <span class="pre">&lt;</span> <span class="pre">30)</span> <span class="pre">==</span> <span class="pre">0</span></code></p>
-<div class="admonition warning">
-<p class="admonition-title">Warning</p>
-<p><code class="docutils literal notranslate"><span class="pre">Timestep</span> <span class="pre">==</span> <span class="pre">{first}</span></code> must be the first parameter in the filter and can only succeeded by <code class="docutils literal notranslate"><span class="pre">and</span></code>.</p>
-</div>
-</section>
-<section id="explicit-datatypes">
-<h3>Explicit Datatypes<a class="headerlink" href="#explicit-datatypes" title="Link to this heading"></a></h3>
-<p>pyOpenPASS uses Pandas DataFrames internally.
-Pandas will try to detect the datatype of the individual cyclic columns automatically.
-This won’t fit the user’s intention in some cases, such as when the column holds a semicolon separated list of integers but every list contains just one element.
-In such cases it is impossible to distinguish between integers and strings based on the data.</p>
-<p>For this reason, datatypes can be specified explicitly along with a query:</p>
-<div class="highlight-js notranslate"><div class="highlight"><pre><span></span><span class="s2">&quot;queries&quot;</span><span class="o">:</span><span class="w"> </span><span class="p">[</span><span class="w"> </span><span class="p">...</span><span class="w"> </span><span class="p">],</span>
-<span class="s2">&quot;datatypes&quot;</span><span class="o">:</span><span class="w"> </span><span class="p">{</span>
-<span class="w">    </span><span class="s2">&quot;Sensor0_DetectedAgents&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;str&quot;</span><span class="w"> </span><span class="c1">// string with &quot;missing value&quot; support</span>
-<span class="p">}</span>
-</pre></div>
-</div>
-</section>
-</section>
-<section id="dev-notes">
-<h2>Dev Notes<a class="headerlink" href="#dev-notes" title="Link to this heading"></a></h2>
-<p>If you want to execute/debug pyOpenPASS in VS-Code, you can add a configuration, similar to the one shown below, to the <code class="docutils literal notranslate"><span class="pre">launch.json</span></code> after opening pyOpenPASS as VS-Code project:</p>
-<div class="highlight-json notranslate"><div class="highlight"><pre><span></span><span class="nt">&quot;configurations&quot;</span><span class="p">:</span><span class="w"> </span><span class="p">[</span>
-<span class="p">{</span>
-<span class="w">    </span><span class="nt">&quot;name&quot;</span><span class="p">:</span><span class="w"> </span><span class="s2">&quot;pytest-openpass&quot;</span><span class="p">,</span>
-<span class="w">    </span><span class="nt">&quot;type&quot;</span><span class="p">:</span><span class="w"> </span><span class="s2">&quot;python&quot;</span><span class="p">,</span>
-<span class="w">    </span><span class="nt">&quot;module&quot;</span><span class="p">:</span><span class="w"> </span><span class="s2">&quot;pytest&quot;</span><span class="p">,</span>
-<span class="w">    </span><span class="nt">&quot;args&quot;</span><span class="p">:</span><span class="w"> </span><span class="p">[</span>
-<span class="w">        </span><span class="s2">&quot;--simulation=/openPASS/bin/core/opSimulation&quot;</span><span class="p">,</span>
-<span class="w">        </span><span class="s2">&quot;--mutual=/openPASS/bin/core/examples/OSS/Common/&quot;</span><span class="p">,</span>
-<span class="w">        </span><span class="s2">&quot;--resources=/openPASS/bin/core/examples/OSS/Configurations/&quot;</span><span class="p">,</span>
-<span class="w">        </span><span class="s2">&quot;--report-path=/openPASS/reports&quot;</span><span class="p">,</span>
-<span class="w">        </span><span class="s2">&quot;--allowed-warnings=/repo/sim/tests/endToEndTests/allowed_end_to_end_warnings.txt&quot;</span><span class="p">,</span>
-<span class="w">        </span><span class="s2">&quot;test_end_to_end.json&quot;</span><span class="p">,</span>
-<span class="w">        </span><span class="s2">&quot;-v&quot;</span><span class="p">],</span>
-<span class="w">    </span><span class="nt">&quot;request&quot;</span><span class="p">:</span><span class="w"> </span><span class="s2">&quot;launch&quot;</span><span class="p">,</span>
-<span class="w">    </span><span class="nt">&quot;console&quot;</span><span class="p">:</span><span class="w"> </span><span class="s2">&quot;integratedTerminal&quot;</span>
-<span class="p">}]</span>
-</pre></div>
-</div>
-</section>
-</section>
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+<li class="toctree-l2"><a class="reference internal" href="#prerequisites">Prerequisites</a></li>
+<li class="toctree-l2"><a class="reference internal" href="#execution">Execution</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="#querying-results">Querying Results</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="#basic-syntax">Basic Syntax</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#using-events-in-filter">Using Events in Filter</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="#event-payload">Event Payload</a></li>
+<li class="toctree-l4"><a class="reference internal" href="#query-example">Query Example</a></li>
+</ul>
+</li>
+<li class="toctree-l3"><a class="reference internal" href="#using-openscenario-events">Using OpenSCENARIO Events</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#querying-transitions">Querying Transitions</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#querying-spawning-time">Querying Spawning Time</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#explicit-datatypes">Explicit Datatypes</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="#dev-notes">Dev Notes</a></li>
+</ul>
+</li>
+</ul>
+<p class="caption" role="heading"><span class="caption-text">Developer Information</span></p>
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="../developer_information/10_ide_support.html">IDE Support</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../developer_information/20_documentation.html">Documentation Concept</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../developer_information/30_coding_conventions.html">Coding Guidelines</a></li>
+</ul>
+<p class="caption" role="heading"><span class="caption-text">Other Information</span></p>
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="../other_information/10_external_dependencies.html">External Dependencies</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../other_information/20_glossary.html">Glossary</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../other_information/30_gui_plugins.html">GUI Plugins</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../other_information/40_license.html">License</a></li>
+</ul>
+
+        </div>
+      </div>
+    </nav>
+
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+             
+  <section id="endtoend-test-framework">
+<span id="testing-endtoend"></span><h1>EndToEnd Test Framework<a class="headerlink" href="#endtoend-test-framework" title="Link to this heading"></a></h1>
+<p><strong>pyOpenPASS</strong></p>
+<p>This tool acts as configurable executor for complete sets of configs for the openPASS simulation.
+The test framework is located at <code class="docutils literal notranslate"><span class="pre">sim/tests/endToEndTests/pyOpenPASS</span></code>.</p>
+<section id="prerequisites">
+<h2>Prerequisites<a class="headerlink" href="#prerequisites" title="Link to this heading"></a></h2>
+<p>The test framework is based on Python and some additional Python modules.
+Installation of the required modules can be accomplished using <code class="docutils literal notranslate"><span class="pre">pip</span></code>.
+Please refer to the file <code class="docutils literal notranslate"><span class="pre">requirements.txt</span></code> located in the source code repository at <code class="docutils literal notranslate"><span class="pre">sim/tests/endToEndTests/pyOpenPASS</span></code> for a list of dependencies.
+See <a class="reference internal" href="../installation_guide/30_install_openpass.html#download-and-install-openpass"><span class="std std-ref">Installing openPASS</span></a> for instructions on repository checkout.</p>
+<p>The requirements file can be directly passed to <code class="docutils literal notranslate"><span class="pre">pip</span></code> for installation:</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">pip</span> <span class="n">install</span> <span class="o">-</span><span class="n">r</span> <span class="n">requirements</span><span class="o">.</span><span class="n">txt</span>
+</pre></div>
+</div>
+<p>(executed from <code class="docutils literal notranslate"><span class="pre">sim/tests/endToEndTests/pyOpenPASS</span></code>)</p>
+<div class="admonition warning">
+<p class="admonition-title">Warning</p>
+<p><img alt="win_only" src="../_images/win_only.png" />
+<code class="docutils literal notranslate"><span class="pre">pip</span> <span class="pre">install</span></code> will try to fetch precompiled packages by default.
+If it is unable to locate a binary package for the current environment, packages will be compiled from source.
+This step fails for the <code class="docutils literal notranslate"><span class="pre">numpy</span></code> package when being built from the MSYS2 environment.
+Thus, it is recommended to set up a native Windows Python environment and perform the installation there.
+To force the usage of a specific Python environment, the variable <code class="docutils literal notranslate"><span class="pre">Python3_EXECUTABLE</span></code> can be set to the indended Python interpreter executable during cmake configuration (see <a class="reference internal" href="../installation_guide/30_install_openpass.html#download-and-install-openpass"><span class="std std-ref">Installing openPASS</span></a>).</p>
+</div>
+</section>
+<section id="execution">
+<h2>Execution<a class="headerlink" href="#execution" title="Link to this heading"></a></h2>
+<p>As pyOpenPASS is a pytest plugin (and is not yet a standalone-plugin) it will be automatically executed, when pytest finds its entry-point <code class="docutils literal notranslate"><span class="pre">conftest.py</span></code> (= local-pytest-plugin) next to files named <code class="docutils literal notranslate"><span class="pre">test_*.json</span></code>.
+So test files must be copied into the pyOpenPASS directory before execution.</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>pytest
+<span class="w">  </span>--simulation<span class="o">=</span>SIMULATION_EXE<span class="w">                </span><span class="c1"># path to simulation executable, e.g. /openPASS/bin/opSimulation</span>
+<span class="w">  </span>--mutual<span class="o">=</span>MUTUAL_RESOURCES_PATH<span class="w">             </span><span class="c1"># path to mutual config files for all runs, e.g. /openPASS/bin/examples/common</span>
+<span class="w">  </span>--resources<span class="o">=</span>RESOURCES_PATH<span class="w">                 </span><span class="c1"># path from where configs are retrieved - override common files if necessary</span>
+<span class="w">  </span>--report-path<span class="o">=</span>REPORT_PATH<span class="w">                  </span><span class="c1"># path to where the report shall be stored</span>
+<span class="w">  </span>--allowed-warnings<span class="o">=</span>ALLOWED_WARNINGS_PATH<span class="w">   </span><span class="c1"># path to file which contains the list of warnings that can be ignored</span>
+<span class="w">  </span>TEST_FILE<span class="w">                       </span><span class="c1"># file under test, named `test_*.json`</span>
+</pre></div>
+</div>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>You can use additional pytest arguments, such as <code class="docutils literal notranslate"><span class="pre">-v</span></code> for verbose output, <code class="docutils literal notranslate"><span class="pre">--collect-only</span></code> for listing the available tests and so on (see <a class="reference external" href="https://docs.pytest.org">https://docs.pytest.org</a>).</p>
+</div>
+<p>In addition pyOpenPASS supports the following optional arguments:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>--configs-path<span class="o">=</span>INPUT<span class="w">             </span><span class="c1"># path for providing configs during testing</span>
+--results-path<span class="o">=</span>OUTPUT<span class="w">            </span><span class="c1"># path for collecting test results during testing</span>
+--artifacts-path<span class="o">=</span>ARTIFACTS<span class="w">       </span><span class="c1"># path for collecting test artifacts during testing</span>
+</pre></div>
+</div>
+<p>For each specified <code class="docutils literal notranslate"><span class="pre">test_*.json</span></code> a corresponding <code class="docutils literal notranslate"><span class="pre">test_*.html</span></code> will be generated.</p>
+<div class="admonition warning">
+<p class="admonition-title">Warning</p>
+<p><img alt="win_only" src="../_images/win_only.png" />
+Depending on the names of the config file sets and test cases configured in the JSON file, the resulting collection of artifacts might conflict with a specific path length limit.
+This limit can be increased by setting the Windows Registry key variable <code class="docutils literal notranslate"><span class="pre">LongPathsEnabled</span></code> to 1.
+The variable can be accessed at <code class="docutils literal notranslate"><span class="pre">Computer\HKEY_LOCAL_MACHINE\SYSTEM\CurrentControlSet\Control\FileSystem\LongPathsEnabled</span></code>.
+Please note that the limit cannot be disabled completely.
+Resulting error messages are often misleading (e.g. <code class="docutils literal notranslate"><span class="pre">File</span> <span class="pre">not</span> <span class="pre">found</span></code> where the file actually exists or <code class="docutils literal notranslate"><span class="pre">shutil.py</span> <span class="pre">2</span></code>, etc.).</p>
+</div>
+</section>
+<section id="parallel-execution">
+<h2>Parallel Execution<a class="headerlink" href="#parallel-execution" title="Link to this heading"></a></h2>
+<p>If <code class="docutils literal notranslate"><span class="pre">pytest-xdist</span></code> is installed, pyOpenPASS can be invoked with the addition parameter <code class="docutils literal notranslate"><span class="pre">-n</span> <span class="pre">auto</span></code> (or similar - see <a class="reference external" href="https://pypi.org/project/pytest-xdist/">https://pypi.org/project/pytest-xdist/</a>).
+In this case, pyOpenPASS will execute the given tests on <code class="docutils literal notranslate"><span class="pre">n</span></code> parallel worker.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>Running tests in parallel will result in the report displaying results in an arbitrary order, with only the executed tests listed (disabled tests will not be shown).</p>
+</div>
+</section>
+<section id="test-configuration">
+<h2>Test Configuration<a class="headerlink" href="#test-configuration" title="Link to this heading"></a></h2>
+<p>Test configuration is done by the test-json file, individually for each test.
+Depending on the users choice, three different tests runners are executed:</p>
+<ol class="arabic simple">
+<li><p>Determinism: Check executability of configs + Determinism test (<em>1 x n</em> vs <em>n x 1</em> tests).</p></li>
+<li><p>Parameterized: Check executability of configs using different parameters.</p></li>
+<li><p>Query: Execute config and check for specific results in the output of the simulator, given one or more queries.</p></li>
+</ol>
+<p>In general, the test-json splits into two sections:</p>
+<ol class="arabic simple">
+<li><p>Definition of <code class="docutils literal notranslate"><span class="pre">Configuration</span> <span class="pre">Sets</span></code></p></li>
+<li><p>Definition of <code class="docutils literal notranslate"><span class="pre">Tests</span></code> using the <code class="docutils literal notranslate"><span class="pre">Configuration</span> <span class="pre">Sets</span></code> or a single <code class="docutils literal notranslate"><span class="pre">Config</span></code> directly</p></li>
+</ol>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>Whenever possible, pyOpenPASS re-uses the results to speed up result analysis.</p>
+</div>
+<div class="highlight-js notranslate"><div class="highlight"><pre><span></span><span class="p">{</span>
+<span class="w">    </span><span class="s2">&quot;config_sets&quot;</span><span class="o">:</span><span class="w"> </span><span class="p">{</span>
+<span class="w">        </span><span class="s2">&quot;Config_Set_1&quot;</span><span class="o">:</span><span class="w"> </span><span class="p">[</span><span class="w"> </span><span class="c1">// user defined name</span>
+<span class="w">            </span><span class="s2">&quot;Config_Folder_1&quot;</span><span class="p">,</span>
+<span class="w">            </span><span class="s2">&quot;Config_Folder_2&quot;</span>
+<span class="w">        </span><span class="p">],</span>
+<span class="w">        </span><span class="s2">&quot;Config_Set_2&quot;</span><span class="o">:</span><span class="w"> </span><span class="p">[</span>
+<span class="w">            </span><span class="s2">&quot;Config_Folder_2&quot;</span><span class="p">,</span>
+<span class="w">            </span><span class="s2">&quot;Config_Folder_3&quot;</span>
+<span class="w">        </span><span class="p">],</span>
+<span class="w">        </span><span class="s2">&quot;Config_Set_3&quot;</span><span class="o">:</span><span class="w"> </span><span class="p">[</span>
+<span class="w">            </span><span class="s2">&quot;Config_Folder_4&quot;</span>
+<span class="w">        </span><span class="p">]</span>
+<span class="w">    </span><span class="p">},</span>
+<span class="w">    </span><span class="s2">&quot;tests&quot;</span><span class="o">:</span><span class="w"> </span><span class="p">{</span>
+<span class="w">        </span><span class="s2">&quot;Execution and Determinism&quot;</span><span class="o">:</span><span class="w"> </span><span class="p">{</span>
+<span class="w">            </span><span class="s2">&quot;config_sets&quot;</span><span class="o">:</span><span class="w"> </span><span class="p">[</span>
+<span class="w">                </span><span class="s2">&quot;Config_Set_1&quot;</span><span class="p">,</span>
+<span class="w">                </span><span class="s2">&quot;Config_Set_2&quot;</span><span class="p">,</span>
+<span class="w">                </span><span class="s2">&quot;Config_Set_3&quot;</span>
+<span class="w">            </span><span class="p">],</span>
+<span class="w">            </span><span class="s2">&quot;determinism&quot;</span><span class="o">:</span><span class="w"> </span><span class="kc">true</span><span class="p">,</span><span class="w"> </span><span class="c1">// ACTIVATES DETERMINISM</span>
+<span class="w">            </span><span class="s2">&quot;duration&quot;</span><span class="o">:</span><span class="w"> </span><span class="mf">30</span><span class="p">,</span><span class="w"> </span><span class="c1">// how long shall be simulated</span>
+<span class="w">            </span><span class="s2">&quot;invocations&quot;</span><span class="o">:</span><span class="w"> </span><span class="mf">3</span><span class="w"> </span><span class="c1">// compare 1x3 run with 3x1 runs</span>
+<span class="w">        </span><span class="p">},</span>
+<span class="w">        </span><span class="s2">&quot;Parameterization&quot;</span><span class="o">:</span><span class="w"> </span><span class="p">{</span>
+<span class="w">            </span><span class="s2">&quot;config_sets&quot;</span><span class="o">:</span><span class="w"> </span><span class="p">[</span>
+<span class="w">                </span><span class="s2">&quot;Config_Set_2&quot;</span>
+<span class="w">            </span><span class="p">],</span>
+<span class="w">            </span><span class="s2">&quot;parameterization&quot;</span><span class="o">:</span><span class="w"> </span><span class="p">{</span><span class="w"> </span><span class="c1">// ACTIVATES PARAMETERIZATION</span>
+<span class="w">                </span><span class="s2">&quot;file&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;systemConfigFmu.xml&quot;</span><span class="p">,</span><span class="w"> </span><span class="c1">// Name of config, which shall be parameterized</span>
+<span class="w">                </span><span class="s2">&quot;xpath&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;//value[../id=&#39;FmuPath&#39;]&quot;</span><span class="p">,</span><span class="w"> </span><span class="c1">// XPath, where values needs to be replaced</span>
+<span class="w">                </span><span class="s2">&quot;values&quot;</span><span class="o">:</span><span class="w"> </span><span class="p">[</span><span class="w"> </span><span class="c1">// Values, which shall be set</span>
+<span class="w">                    </span><span class="s2">&quot;resources/FMU1_StaticFMU.fmu&quot;</span><span class="p">,</span>
+<span class="w">                    </span><span class="s2">&quot;resources/FMU2_StaticFMU.fmu&quot;</span>
+<span class="w">                </span><span class="p">],</span>
+<span class="w">                </span><span class="s2">&quot;duration&quot;</span><span class="o">:</span><span class="w"> </span><span class="mf">10</span><span class="p">,</span>
+<span class="w">                </span><span class="s2">&quot;invocations&quot;</span><span class="o">:</span><span class="w"> </span><span class="mf">100</span>
+<span class="w">            </span><span class="p">},</span>
+<span class="w">            </span><span class="s2">&quot;Querying&quot;</span><span class="o">:</span><span class="w"> </span><span class="p">{</span>
+<span class="w">                </span><span class="s2">&quot;config&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;Config_Folder_2&quot;</span><span class="w"> </span><span class="c1">// single config specification</span>
+<span class="w">                </span><span class="p">],</span>
+<span class="w">                </span><span class="s2">&quot;queries&quot;</span><span class="o">:</span><span class="w"> </span><span class="p">[</span><span class="w"> </span><span class="c1">// ACTIVATES QUERYING</span>
+<span class="w">                    </span><span class="s2">&quot;count(AgentId | AgentId == 0 and Timestep == 10000 and VelocityEgo &gt;= 30) == 1&quot;</span><span class="p">,</span>
+<span class="w">                    </span><span class="s2">&quot;mean(VelocityEgo | AgentId != 0) &gt; 30&quot;</span>
+<span class="w">                </span><span class="p">],</span>
+<span class="w">                </span><span class="s2">&quot;success_rate&quot;</span><span class="o">:</span><span class="w"> </span><span class="mf">0.8</span><span class="p">,</span><span class="w"> </span><span class="c1">// 80% of 60 invocations needs to pass</span>
+<span class="w">                </span><span class="s2">&quot;duration&quot;</span><span class="o">:</span><span class="w"> </span><span class="mf">10</span><span class="p">,</span>
+<span class="w">                </span><span class="s2">&quot;invocations&quot;</span><span class="o">:</span><span class="w"> </span><span class="mf">60</span><span class="p">,</span>
+<span class="w">                </span><span class="s2">&quot;ram_limit&quot;</span><span class="o">:</span><span class="w"> </span><span class="mf">512.0</span><span class="p">,</span><span class="w"> </span><span class="c1">// Optional RAM Limit in MB, measured for each invocation</span>
+<span class="w">                </span><span class="s2">&quot;description&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;Optional description&quot;</span>
+<span class="w">            </span><span class="p">}</span>
+<span class="w">        </span><span class="p">}</span>
+<span class="w">    </span><span class="p">}</span>
+<span class="p">}</span>
+</pre></div>
+</div>
+<ul>
+<li><p>If the <cite>success_rate</cite> is specified, its values must be between 0 and 1.</p></li>
+<li><p>It is also possible to define a range of success (e.g. for excluding 100%) by using the following syntax:</p>
+<div class="highlight-js notranslate"><div class="highlight"><pre><span></span><span class="s2">&quot;success_rate&quot;</span><span class="o">:</span><span class="w"> </span><span class="p">[</span><span class="mf">0.8</span><span class="p">,</span><span class="w"> </span><span class="mf">0.99</span><span class="p">]</span><span class="w"> </span><span class="c1">// 80% to 99% need to pass</span>
+</pre></div>
+</div>
+</li>
+<li><p>If the <cite>ram_limit</cite> is specified, its values are measured in MB</p></li>
+</ul>
+</section>
+<section id="querying-results">
+<h2>Querying Results<a class="headerlink" href="#querying-results" title="Link to this heading"></a></h2>
+<p>Internally, pyOpenPASS uses DataFrames to aggregate data.
+This data is then accessed using a custom query language described below.
+Before the query is executed, pyOpenPASS gathers data from the relevant simulation output folder.</p>
+<p>Typically, the following files are expected:</p>
+<ul class="simple">
+<li><p><code class="docutils literal notranslate"><span class="pre">simulationOutput.xml</span></code>: This file is the source for events (see below for more details).</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">Cyclics_Run&lt;run_id&gt;.csv</span></code>: Here, <code class="docutils literal notranslate"><span class="pre">&lt;run_id&gt;</span></code> is a placeholder for the number of the corresponding invocation.
+This file contains cyclic data, such as x-position, y-position, or velocity.</p></li>
+</ul>
+<p>OpenPASS also allows for independent output of controllers in subfolders, where these subfolders follow the pattern <code class="docutils literal notranslate"><span class="pre">run&lt;run_id&gt;/entity&lt;entity_id&gt;/&lt;controller&gt;</span></code>.
+If pyOpenPASS discovers such subfolders, it will look recursilvy for CSV files within them.
+For every CSV file, pyOpenPASS checks if the belowstanding conditions are satisfied.
+If they are, the file is merged with the corresponding <cite>Cyclics_Run&lt;runId&gt;.csv</cite> file.</p>
+<ul>
+<li><p>The file must contain a column named <code class="docutils literal notranslate"><span class="pre">Timestep</span></code>.</p></li>
+<li><p>Every other column must start with the corresponding entity id, matching the entity id in the subfolder name.
+For example, <code class="docutils literal notranslate"><span class="pre">00:DetectedObjects</span></code>.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>If a column name follows the pattern <code class="docutils literal notranslate"><span class="pre">&lt;id&gt;:&lt;Prefix&gt;.&lt;ColumnName&gt;</span></code> it will be shortened to <code class="docutils literal notranslate"><span class="pre">&lt;ColumnName&gt;</span></code>.</p>
+</div>
+<div class="admonition warning">
+<p class="admonition-title">Warning</p>
+<p>pyOpenPASS does not take care of columns with duplicate names.
+If such columns are found, duplicate names will be suffixed (see <a class="reference external" href="https://pandas.pydata.org/pandas-docs/version/2.2.2/user_guide/merging.html#database-style-dataframe-or-named-series-joining-merging">here</a> for details).</p>
+</div>
+</li>
+</ul>
+<p>When merging succeeds, columns from the additional controllers can be queried like every other column in the queries described below.</p>
+<section id="basic-syntax">
+<h3>Basic Syntax<a class="headerlink" href="#basic-syntax" title="Link to this heading"></a></h3>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="p">[</span><span class="n">aggregate</span><span class="p">]([</span><span class="n">column</span><span class="p">]</span> <span class="o">|</span> <span class="p">[</span><span class="nb">filter</span><span class="p">])</span> <span class="p">[</span><span class="n">operator</span><span class="p">]</span> <span class="p">[</span><span class="n">value</span><span class="p">]</span>
+</pre></div>
+</div>
+<ul>
+<li><p>Aggregate:
+Everything pandas supports on dataframes, such as <a class="reference external" href="https://pandas.pydata.org/pandas-docs/stable/reference/api/pandas.DataFrame.count.html?highlight=count#pandas.DataFrame.count">pandas.DataFrame.count</a>, min, max, mean</p></li>
+<li><p>Column:
+A column on which the aggregate should operate.</p>
+<p>Columns are generally given by the simulation outputs cyclic columns, such as <code class="docutils literal notranslate"><span class="pre">PositionRoute</span></code>.
+In addition the following columns are available:</p>
+<ul class="simple">
+<li><p><code class="docutils literal notranslate"><span class="pre">AgentId</span></code></p></li>
+<li><p>From the tag <code class="docutils literal notranslate"><span class="pre">Agents</span></code> (see <code class="docutils literal notranslate"><span class="pre">simulationOutput.xml</span></code>):</p>
+<ul>
+<li><p><code class="docutils literal notranslate"><span class="pre">AgentTypeGroupName</span></code></p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">AgentTypeName</span></code></p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">VehicleModelType</span></code></p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">DriverProfileName</span></code></p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">AgentType</span></code></p></li>
+</ul>
+</li>
+</ul>
+</li>
+<li><p>Filter:
+A filter based on <a class="reference external" href="https://pandas.pydata.org/pandas-docs/stable/reference/api/pandas.DataFrame.filter.html?highlight=filter#pandas.DataFrame.filter">pandas.DataFrame.filter</a> syntax using the available columns.</p></li>
+<li><p>Operator:
+A comparison operator from the following list: ==, &lt;=, &gt;=, &lt;, &gt;, !=, ~= (approximate).
+The approximate operator allows <code class="docutils literal notranslate"><span class="pre">1*e-6</span> <span class="pre">x</span> <span class="pre">value</span></code> as maximum deviation from value.</p></li>
+<li><p>Value:
+A number</p></li>
+</ul>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>In seldom cases, the filter can be skipped, e.g. when securing that no agent has been spawned: <code class="docutils literal notranslate"><span class="pre">count(AgentId)</span> <span class="pre">==</span> <span class="pre">0</span></code>.</p>
+</div>
+<p><strong>Example</strong></p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">count</span><span class="p">(</span><span class="n">AgentId</span> <span class="o">|</span> <span class="n">PositionRoute</span> <span class="o">&gt;=</span> <span class="mi">800</span> <span class="ow">and</span> <span class="n">Lane</span> <span class="o">!=</span> <span class="o">-</span><span class="mi">3</span><span class="p">)</span> <span class="o">==</span> <span class="mi">0</span>
+</pre></div>
+</div>
+</section>
+<section id="using-events-in-filter">
+<h3>Using Events in Filter<a class="headerlink" href="#using-events-in-filter" title="Link to this heading"></a></h3>
+<p>In order to query for a specific event, use <code class="docutils literal notranslate"><span class="pre">#(EVENT)</span></code> within the filter syntax.</p>
+<p><strong>Example</strong></p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">count</span><span class="p">(</span><span class="n">AgentId</span> <span class="o">|</span> <span class="n">PositionRoute</span> <span class="o">&gt;=</span> <span class="mi">800</span> <span class="ow">and</span> <span class="c1">#(Collision) == True) == 0</span>
+</pre></div>
+</div>
+<section id="event-payload">
+<h4>Event Payload<a class="headerlink" href="#event-payload" title="Link to this heading"></a></h4>
+<p>Each event is associated with a set of triggering entity ids, affected entity ids, and arbitrary key/value pairs (please refer to the openPASS documentation for details).
+This information is transformed into a “per agent” scope.</p>
+<p>In the following the <code class="docutils literal notranslate"><span class="pre">Collision</span></code> event is taken as example.</p>
+<p><strong>TriggeringEntity</strong></p>
+<p>All agents, flagged as triggering become <code class="docutils literal notranslate"><span class="pre">IsTriggering</span></code></p>
+<p>Query: <code class="docutils literal notranslate"><span class="pre">#(Collision):IsTriggering</span> <span class="pre">==</span> <span class="pre">True</span></code></p>
+<p><strong>AffectedEntity</strong></p>
+<p>All agents, flagged as affected become <code class="docutils literal notranslate"><span class="pre">IsAffected</span></code></p>
+<p>Query: <code class="docutils literal notranslate"><span class="pre">#(Collision):IsAffected</span> <span class="pre">==</span> <span class="pre">True</span></code></p>
+<p><strong>Key/Value Pairs</strong></p>
+<p>If an event publishes additional payload with the key <code class="docutils literal notranslate"><span class="pre">XYZ</span></code>, it will can be queried by <code class="docutils literal notranslate"><span class="pre">#(EVENT):XYZ</span></code>.</p>
+<p>Query: <code class="docutils literal notranslate"><span class="pre">#(Collision):WithAgent</span></code></p>
+<div class="admonition warning">
+<p class="admonition-title">Warning</p>
+<p>Keys carrying the event name as prefix, such as in <code class="docutils literal notranslate"><span class="pre">#(Collision):CollisionWithAgent</span></code>, will be stripped to <code class="docutils literal notranslate"><span class="pre">Collision:WithAgent</span></code></p>
+</div>
+</section>
+<section id="query-example">
+<h4>Query Example<a class="headerlink" href="#query-example" title="Link to this heading"></a></h4>
+<div class="line-block">
+<div class="line"><em>No agent should collide with agent 0:</em></div>
+<div class="line"><code class="docutils literal notranslate"><span class="pre">count(AgentId</span> <span class="pre">|</span> <span class="pre">AgentId</span> <span class="pre">==</span> <span class="pre">0</span> <span class="pre">and</span> <span class="pre">#(Collision):WithAgent</span> <span class="pre">==</span> <span class="pre">1)</span> <span class="pre">==</span> <span class="pre">0</span></code></div>
+</div>
+</section>
+</section>
+<section id="using-openscenario-events">
+<h3>Using OpenSCENARIO Events<a class="headerlink" href="#using-openscenario-events" title="Link to this heading"></a></h3>
+<p>OpenSCENARIO events are processed in the same manner as regular events (see above).</p>
+<p>This allows to query for occurrences of OpenSCENARIO events with a name specified within the following xpath:
+<code class="docutils literal notranslate"><span class="pre">OpenSCENARIO/Story/Act/Sequence/Maneuver/Event/&#64;name</span></code></p>
+<p><strong>OpenSCENARIO Event Definition</strong></p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;Story</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;TheStory&quot;</span><span class="nt">&gt;</span>
+<span class="w">  </span><span class="nt">&lt;Act</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;TheAct&quot;</span><span class="nt">&gt;</span>
+<span class="w">    </span><span class="nt">&lt;Sequence</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;TheSequence&quot;</span><span class="w"> </span><span class="na">numberOfExecutions=</span><span class="s">&quot;1&quot;</span><span class="nt">&gt;</span>
+<span class="w">      </span>...
+<span class="w">      </span><span class="nt">&lt;Maneuver</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;TheManeuver&quot;</span><span class="nt">&gt;</span>
+<span class="w">        </span>...
+<span class="w">        </span><span class="cm">&lt;!-- example name &quot;ttc_event&quot;--&gt;</span>
+<span class="w">        </span><span class="nt">&lt;Event</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;ttc_event&quot;</span><span class="w"> </span><span class="na">priority=</span><span class="s">&quot;overwrite&quot;</span><span class="nt">&gt;</span>
+<span class="w">        </span>...
+<span class="w">          </span><span class="nt">&lt;StartConditions&gt;</span>
+<span class="w">            </span><span class="nt">&lt;ConditionGroup&gt;</span>
+<span class="w">              </span><span class="nt">&lt;Condition</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;Conditional&quot;</span><span class="nt">&gt;</span>
+<span class="w">                </span><span class="nt">&lt;ByEntity&gt;</span>
+<span class="w">                  </span>...
+<span class="w">                  </span><span class="nt">&lt;EntityCondition&gt;</span>
+<span class="w">                     </span><span class="nt">&lt;TimeToCollision&gt;</span>
+<span class="w">                       </span>...
+<span class="w">                     </span><span class="nt">&lt;/TimeToCollision&gt;</span>
+<span class="w">                  </span><span class="nt">&lt;/EntityCondition&gt;</span>
+<span class="w">                </span><span class="nt">&lt;/ByEntity&gt;</span>
+<span class="w">              </span><span class="nt">&lt;/Condition&gt;</span>
+<span class="w">            </span><span class="nt">&lt;/ConditionGroup&gt;</span>
+<span class="w">          </span><span class="nt">&lt;/StartConditions&gt;</span>
+<span class="w">        </span><span class="nt">&lt;/Event&gt;</span>
+<span class="w">        </span>...
+<span class="w">      </span><span class="nt">&lt;/Maneuver&gt;</span>
+<span class="w">    </span><span class="nt">&lt;/Sequence&gt;</span>
+<span class="w">  </span><span class="nt">&lt;/Act&gt;</span>
+<span class="nt">&lt;/Story&gt;</span>
+</pre></div>
+</div>
+<p><strong>Example openPASS Output</strong></p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;Event</span><span class="w"> </span><span class="na">Time=</span><span class="s">&quot;0&quot;</span><span class="w"> </span><span class="na">Source=</span><span class="s">&quot;OpenSCENARIO&quot;</span><span class="w"> </span><span class="na">Name=</span><span class="s">&quot;TheStory/TheAct/TheSequence/TheManeuver/ttc_event&quot;</span><span class="nt">&gt;</span>
+<span class="w">    </span><span class="nt">&lt;TriggeringEntities/&gt;</span>
+<span class="w">    </span><span class="nt">&lt;AffectedEntities&gt;</span>
+<span class="w">        </span><span class="nt">&lt;Entity</span><span class="w"> </span><span class="na">Id=</span><span class="s">&quot;1&quot;</span><span class="nt">/&gt;</span>
+<span class="w">    </span><span class="nt">&lt;/AffectedEntities&gt;</span>
+<span class="w">    </span><span class="nt">&lt;Parameters/&gt;</span>
+<span class="nt">&lt;/Event&gt;</span>
+</pre></div>
+</div>
+<p><strong>Query</strong></p>
+<p><code class="docutils literal notranslate"><span class="pre">count(AgentId</span> <span class="pre">|</span> <span class="pre">#(TheStory/TheAct/TheSequence/TheManeuver/ttc_event)</span> <span class="pre">==</span> <span class="pre">True</span> <span class="pre">)</span> <span class="pre">&gt;</span> <span class="pre">0</span></code></p>
+</section>
+<section id="querying-transitions">
+<h3>Querying Transitions<a class="headerlink" href="#querying-transitions" title="Link to this heading"></a></h3>
+<p>Sometimes it is necessary to check, whether a transition happened, such as counting agents, passing a certain position.</p>
+<p>This can be achieved by shifting individual columns by <code class="docutils literal notranslate"><span class="pre">N</span></code> time steps.</p>
+<p><strong>Time Shift Syntax</strong></p>
+<p><code class="docutils literal notranslate"><span class="pre">Column-Shift</span></code> =&gt;  <code class="docutils literal notranslate"><span class="pre">PositionRoute-1</span></code> means PositionRoute at one time step earlier</p>
+<p><strong>Example Use Case</strong></p>
+<p>Counting agents passing <code class="docutils literal notranslate"><span class="pre">PositionRoute</span> <span class="pre">==</span> <span class="pre">350</span></code> on <code class="docutils literal notranslate"><span class="pre">LaneId</span> <span class="pre">==</span> <span class="pre">-1</span></code></p>
+<p><strong>Query</strong></p>
+<p><code class="docutils literal notranslate"><span class="pre">count(AgentId</span> <span class="pre">|</span> <span class="pre">LaneId</span> <span class="pre">==</span> <span class="pre">-1</span> <span class="pre">and</span> <span class="pre">PositionRoute-1</span> <span class="pre">&lt;</span> <span class="pre">350</span> <span class="pre">and</span> <span class="pre">PositionRoute</span> <span class="pre">&gt;=</span> <span class="pre">350</span> <span class="pre">)</span> <span class="pre">&gt;</span> <span class="pre">0</span></code></p>
+<div class="admonition warning">
+<p class="admonition-title">Warning</p>
+<p>In seldom cases,  a result column happens to have a name like <code class="docutils literal notranslate"><span class="pre">Name-N</span></code> where <code class="docutils literal notranslate"><span class="pre">N</span></code> is an integer.
+Querying this column would automatically apply time shifting (default behavior) leading to a parsing error.
+In such cases, escape the column name with single quotes (e.g. <code class="docutils literal notranslate"><span class="pre">'Name-1'</span></code>).</p>
+</div>
+</section>
+<section id="querying-spawning-time">
+<h3>Querying Spawning Time<a class="headerlink" href="#querying-spawning-time" title="Link to this heading"></a></h3>
+<p>Queries can be restricted to the spawning time:</p>
+<p><strong>Query</strong></p>
+<p><code class="docutils literal notranslate"><span class="pre">count(AgentId</span> <span class="pre">|</span> <span class="pre">Timestep</span> <span class="pre">==</span> <span class="pre">{first}</span> <span class="pre">and</span> <span class="pre">Velocity</span> <span class="pre">&lt;</span> <span class="pre">30)</span> <span class="pre">==</span> <span class="pre">0</span></code></p>
+<div class="admonition warning">
+<p class="admonition-title">Warning</p>
+<p><code class="docutils literal notranslate"><span class="pre">Timestep</span> <span class="pre">==</span> <span class="pre">{first}</span></code> must be the first parameter in the filter and can only succeeded by <code class="docutils literal notranslate"><span class="pre">and</span></code>.</p>
+</div>
+</section>
+<section id="explicit-datatypes">
+<h3>Explicit Datatypes<a class="headerlink" href="#explicit-datatypes" title="Link to this heading"></a></h3>
+<p>pyOpenPASS uses Pandas DataFrames internally.
+Pandas will try to detect the datatype of the individual cyclic columns automatically.
+This won’t fit the user’s intention in some cases, such as when the column holds a semicolon separated list of integers but every list contains just one element.
+In such cases it is impossible to distinguish between integers and strings based on the data.</p>
+<p>For this reason, datatypes can be specified explicitly along with a query:</p>
+<div class="highlight-js notranslate"><div class="highlight"><pre><span></span><span class="s2">&quot;queries&quot;</span><span class="o">:</span><span class="w"> </span><span class="p">[</span><span class="w"> </span><span class="p">...</span><span class="w"> </span><span class="p">],</span>
+<span class="s2">&quot;datatypes&quot;</span><span class="o">:</span><span class="w"> </span><span class="p">{</span>
+<span class="w">    </span><span class="s2">&quot;Sensor0_DetectedAgents&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;str&quot;</span><span class="w"> </span><span class="c1">// string with &quot;missing value&quot; support</span>
+<span class="p">}</span>
+</pre></div>
+</div>
+</section>
+</section>
+<section id="dev-notes">
+<h2>Dev Notes<a class="headerlink" href="#dev-notes" title="Link to this heading"></a></h2>
+<p>If you want to execute/debug pyOpenPASS in VS-Code, you can add a configuration, similar to the one shown below, to the <code class="docutils literal notranslate"><span class="pre">launch.json</span></code> after opening pyOpenPASS as VS-Code project:</p>
+<div class="highlight-json notranslate"><div class="highlight"><pre><span></span><span class="nt">&quot;configurations&quot;</span><span class="p">:</span><span class="w"> </span><span class="p">[</span>
+<span class="p">{</span>
+<span class="w">    </span><span class="nt">&quot;name&quot;</span><span class="p">:</span><span class="w"> </span><span class="s2">&quot;pytest-openpass&quot;</span><span class="p">,</span>
+<span class="w">    </span><span class="nt">&quot;type&quot;</span><span class="p">:</span><span class="w"> </span><span class="s2">&quot;python&quot;</span><span class="p">,</span>
+<span class="w">    </span><span class="nt">&quot;module&quot;</span><span class="p">:</span><span class="w"> </span><span class="s2">&quot;pytest&quot;</span><span class="p">,</span>
+<span class="w">    </span><span class="nt">&quot;args&quot;</span><span class="p">:</span><span class="w"> </span><span class="p">[</span>
+<span class="w">        </span><span class="s2">&quot;--simulation=/openPASS/bin/core/opSimulation&quot;</span><span class="p">,</span>
+<span class="w">        </span><span class="s2">&quot;--mutual=/openPASS/bin/core/examples/OSS/Common/&quot;</span><span class="p">,</span>
+<span class="w">        </span><span class="s2">&quot;--resources=/openPASS/bin/core/examples/OSS/Configurations/&quot;</span><span class="p">,</span>
+<span class="w">        </span><span class="s2">&quot;--report-path=/openPASS/reports&quot;</span><span class="p">,</span>
+<span class="w">        </span><span class="s2">&quot;--allowed-warnings=/repo/sim/tests/endToEndTests/allowed_end_to_end_warnings.txt&quot;</span><span class="p">,</span>
+<span class="w">        </span><span class="s2">&quot;test_end_to_end.json&quot;</span><span class="p">,</span>
+<span class="w">        </span><span class="s2">&quot;-v&quot;</span><span class="p">],</span>
+<span class="w">    </span><span class="nt">&quot;request&quot;</span><span class="p">:</span><span class="w"> </span><span class="s2">&quot;launch&quot;</span><span class="p">,</span>
+<span class="w">    </span><span class="nt">&quot;console&quot;</span><span class="p">:</span><span class="w"> </span><span class="s2">&quot;integratedTerminal&quot;</span>
+<span class="p">}]</span>
+</pre></div>
+</div>
+</section>
+</section>
+
+
+           </div>
+          </div>
+          <footer><div class="rst-footer-buttons" role="navigation" aria-label="Footer">
+        <a href="simulator/world_osi.html" class="btn btn-neutral float-left" title="World_OSI" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> Previous</a>
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diff --git a/content/html/advanced_topics/simulator/agent_components.html b/content/html/advanced_topics/simulator/agent_components.html
index d4074ab53451b6272a3430a7f6d55808fe2dae7b..dcfa581a13ce5b5fb54645d5d02b683de29811c1 100644
--- a/content/html/advanced_topics/simulator/agent_components.html
+++ b/content/html/advanced_topics/simulator/agent_components.html
@@ -1,965 +1,966 @@
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-  <meta charset="utf-8" /><meta name="viewport" content="width=device-width, initial-scale=1" />
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-  <section id="agent-components">
-<span id="agentcomponents"></span><h1>Agent Components<a class="headerlink" href="#agent-components" title="Link to this heading"></a></h1>
-<p>An agent in openPASS is composed of multiple modules, which are connected by corresponding signals.
-As shown in the next figure, the modules can be roughly divided into the groups drivers, vehicle components, algorithms, dynamic modules, and prioritizers.
-Thereby, modules can consist of several submodules, such as sensor (reading from an interface) and action (writing to an interface).</p>
-<figure class="align-default" id="id2">
-<img alt="../../_images/DynamicsModules.png" src="../../_images/DynamicsModules.png" />
-<figcaption>
-<p><span class="caption-text">Modules for longitudinal and lateral dynamics</span><a class="headerlink" href="#id2" title="Link to this image"></a></p>
-</figcaption>
-</figure>
-<p>By statistic means, based on corresponding probabilities defined in the <a class="reference internal" href="../../user_guide/configs/profilescatalog.html#profilescatalog"><span class="std std-ref">ProfilesCatalog</span></a>, each individual agent is composed from a superset of all possible (valid) combinations, which is defined by the <a class="reference internal" href="../../user_guide/configs/systemconfigblueprint.html#systemconfigblueprint"><span class="std std-ref">SystemConfigBlueprint</span></a>.
-This config defines all available framework modules and agent modules and connects them by corresponding channels, which in turn have a specific signal type.</p>
-<p>The next figure gives an exhaustive overview over the current superset:</p>
-<figure class="align-default" id="id3">
-<span id="component-channel-communication"></span><img alt="../../_images/ComponentsChannelCommunicationDiagram.png" src="../../_images/ComponentsChannelCommunicationDiagram.png" />
-<figcaption>
-<p><span class="caption-text">Components and channel communication</span><a class="headerlink" href="#id3" title="Link to this image"></a></p>
-</figcaption>
-</figure>
-<p><a class="reference download internal" download="" href="../../_downloads/a4a21311d2dff77fb2513fe86367853b/ComponentsChannelCommunicationDiagram.drawio"><code class="xref download docutils literal notranslate"><span class="pre">./draw.io/ComponentsChannelCommunicationDiagram.drawio</span></code></a></p>
-<p>Modules that can be parametrized by the user are explained in the <a class="reference internal" href="../../user_guide/sim_user_guide/20_components.html#simuserguide-components"><span class="std std-ref">Simulation User Guide</span></a>.
-Therefor the following section only contains the components not listed in the user guide.</p>
-<section id="action-longitudinaldriver">
-<h2>Action_LongitudinalDriver<a class="headerlink" href="#action-longitudinaldriver" title="Link to this heading"></a></h2>
-<p>Updates the agents pedal positions and gear.
-The input for this module is prepared by the AlgorithmLongitudinal Module.</p>
-</section>
-<section id="action-secondarydriver">
-<h2>Action_SecondaryDriver<a class="headerlink" href="#action-secondarydriver" title="Link to this heading"></a></h2>
-<p>Updates the agents braking light, indicator, horn and all light switches (headlight, high beam, flasher).
-The input for this module is prepared by the driver module.</p>
-<p><strong>Overview of the module’s functionalities</strong></p>
-<p>Action_SecondaryDriver gathers the secondary driving tasks and transfers them to output signals. Three graded driving tasks are defined and exampled as follows:</p>
-<p><strong>Primary driving tasks:</strong> direct control of vehicle movements, like steering, pedal operation, shifting, etc.</p>
-<p><strong>Secondary driving tasks:</strong> indirect control of vehicle movements, but supporting and complementing driving actions, like activation of indicator, horn, light, etc.</p>
-<p><strong>Tertiary driving tasks:</strong> all the other activities, which are not related to vehicle control, like radio operation, etc.</p>
-<p>Table list of the input paramemter:</p>
-<table class="docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Variable</p></th>
-<th class="head"><p>Description</p></th>
-<th class="head"><p>Value</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>in_indicatorState</p></td>
-<td><p>State of the indicator</p></td>
-<td><p>left, center/off, right, warn</p></td>
-</tr>
-<tr class="row-odd"><td><p>in_hornSwitch</p></td>
-<td><p>Horn activation</p></td>
-<td><p>true/false</p></td>
-</tr>
-<tr class="row-even"><td><p>in_headLightSwitch</p></td>
-<td><p>Light activation</p></td>
-<td><p>true/false</p></td>
-</tr>
-<tr class="row-odd"><td><p>in_highBeamLightSwitch</p></td>
-<td><p>High beam light activation</p></td>
-<td><p>true/false</p></td>
-</tr>
-<tr class="row-even"><td><p>in_flasherSwitch</p></td>
-<td><p>Flasher activation</p></td>
-<td><p>true/false</p></td>
-</tr>
-</tbody>
-</table>
-</section>
-<section id="agentupdater">
-<h2>AgentUpdater<a class="headerlink" href="#agentupdater" title="Link to this heading"></a></h2>
-<p>The AgentUpdater executes all Set-Methods of the agent dynamics after the DynamicsPrioritizer. This includes position, velocity, acceleration and rotation.</p>
-</section>
-<section id="algorithm-lateral">
-<h2>Algorithm_Lateral<a class="headerlink" href="#algorithm-lateral" title="Link to this heading"></a></h2>
-<p>This module converts the lateral input of the driver module into a steering wheel angle.</p>
-<p>See <a class="reference internal" href="../../user_guide/sim_user_guide/components/algorithm_lateral.html#algorithm-lateral"><span class="std std-ref">Algorithm_Lateral</span></a>.</p>
-</section>
-<section id="algorithm-longitudinal">
-<h2>Algorithm_Longitudinal<a class="headerlink" href="#algorithm-longitudinal" title="Link to this heading"></a></h2>
-<p>This module converts the acceleration input of the driver module into pedal positions and gear.</p>
-<p>See <a class="reference internal" href="../../user_guide/sim_user_guide/components/algorithm_longitudinal.html#algorithm-longitudinal"><span class="std std-ref">Algorithm_Longitudinal</span></a>.</p>
-</section>
-<section id="algorithmcar2xsender">
-<h2>AlgorithmCar2XSender<a class="headerlink" href="#algorithmcar2xsender" title="Link to this heading"></a></h2>
-<p>This module publishes the below mentioned parameters in each timestep via the RadioInterface provided by the World.</p>
-<table class="docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Parameter</p></th>
-<th class="head"><p>Type</p></th>
-<th class="head"><p>Unit</p></th>
-<th class="head"><p>Description</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>SignalStrength</p></td>
-<td><p>Double</p></td>
-<td><p>W</p></td>
-<td><p>Singal strength of the Car2XSender</p></td>
-</tr>
-<tr class="row-odd"><td><p>SendPositionXEnabled</p></td>
-<td><p>Boolean</p></td>
-<td></td>
-<td><p>If true, the x-coordinate of the agent is sent</p></td>
-</tr>
-<tr class="row-even"><td><p>SendPositionYEnabled</p></td>
-<td><p>Boolean</p></td>
-<td></td>
-<td><p>If true, the y-coordinate of the agent is sent</p></td>
-</tr>
-<tr class="row-odd"><td><p>SendVelocityEnabled</p></td>
-<td><p>Boolean</p></td>
-<td></td>
-<td><p>If true, the velocity of the agent is sent</p></td>
-</tr>
-<tr class="row-even"><td><p>SendAccelerationEnabled</p></td>
-<td><p>Boolean</p></td>
-<td></td>
-<td><p>If true, the acceleration of the agent is sent</p></td>
-</tr>
-<tr class="row-odd"><td><p>SendYawEnabled</p></td>
-<td><p>Boolean</p></td>
-<td></td>
-<td><p>If true, the yaw angle of the agent is sent</p></td>
-</tr>
-</tbody>
-</table>
-</section>
-<section id="dynamics-collision">
-<h2>Dynamics_Collision<a class="headerlink" href="#dynamics-collision" title="Link to this heading"></a></h2>
-<p>If the number of collision partners of the agent is bigger than in the previous time step, the DynamicsCollision module calculates the collision.
-Currently the collision is implemented fully inelastic, i.e. all agents will have the same velocity after the collision, while the momentum is conserved.
-After the collision the agents slow down with a fixed deceleration until fully stopped.</p>
-</section>
-<section id="dynamics-scenario">
-<h2>Dynamics_Scenario<a class="headerlink" href="#dynamics-scenario" title="Link to this heading"></a></h2>
-<p>See <a class="reference internal" href="../../user_guide/sim_user_guide/components/dynamics_scenario.html#dynamics-scenario"><span class="std std-ref">Dynamics_Scenario</span></a>.</p>
-</section>
-<section id="dynamics-regulardriving">
-<h2>Dynamics_RegularDriving<a class="headerlink" href="#dynamics-regulardriving" title="Link to this heading"></a></h2>
-<p>The module takes care that the motion of the agent fit to the physical limitations, such as friction or maximum possible acceleration based on the current gear.
-This module uses both the world friction and the vehicle model parameter friction.
-Thereby it calculates the dynamics of the agents in every time step.
-The currently covered  dynamics are <em>Acceleration</em>, <em>Velocity</em>, and consequently <em>Position</em>, <em>Yaw angle</em> and <em>Yaw rate</em>.
-The input for this module is the steering wheel angle and the new acceleration of the vehicle.</p>
-<p>See <a class="reference internal" href="../../user_guide/sim_user_guide/components/dynamics_regular_driving.html#dynamics-regular-driving"><span class="std std-ref">Dynamics_RegularDriving</span></a>.</p>
-</section>
-<section id="limiteraccelerationvehiclecomponents">
-<h2>LimiterAccelerationVehicleComponents<a class="headerlink" href="#limiteraccelerationvehiclecomponents" title="Link to this heading"></a></h2>
-<p>This module limits the AccelerationSignal from the PrioritizerAccelerationVehicleComponents to the constraints given by the vehicle. The DynamicsTrajectoryFollower can then use this signal to calculate a trajectory.</p>
-<p>The limit is calculated by <img class="math" src="../../_images/math/b8e905e7f040e6ca0fbde1ee281a2e9e6aedd42c.png" alt="a_{\text{lim}} = \frac {F_{\text{wheel}} - F_{\text{roll}} - F_{\text{air}}} {m_{\text{veh}}}"/>, where the symbols meanings are:</p>
-<table class="docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Symbol</p></th>
-<th class="head"><p>Description</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p><img class="math" src="../../_images/math/dd0e45b188dfaf5d28adc454675a19893741bc0a.png" alt="a_{\text{lim}}"/></p></td>
-<td><p>Resulting acceleration limit [m/s²]</p></td>
-</tr>
-<tr class="row-odd"><td><p><img class="math" src="../../_images/math/8c8c50e079ddcffe6c37e396fda0def610aec805.png" alt="F_{\text{wheel}}"/></p></td>
-<td><p>Force at wheel (provided by drivetrain) [N]</p></td>
-</tr>
-<tr class="row-even"><td><p><img class="math" src="../../_images/math/4a145fae91306b362ee66953323a41d79fe3b613.png" alt="F_{\text{roll}}"/></p></td>
-<td><p>Force resulting from rolling resistance [N]</p></td>
-</tr>
-<tr class="row-odd"><td><p><img class="math" src="../../_images/math/0522178ee32098e5415d0f7841ccc877c72d437b.png" alt="F_{\text{air}}"/></p></td>
-<td><p>Force resulting from air drag [N]</p></td>
-</tr>
-<tr class="row-even"><td><p><img class="math" src="../../_images/math/1b9bc4cf466a822e0b8b1dc14b2787c6777cd1e8.png" alt="m_{\text{veh}}"/></p></td>
-<td><p>Mass of the vehicle [kg]</p></td>
-</tr>
-</tbody>
-</table>
-<p>The components are calculated as follows:</p>
-<p><strong>Driving force</strong></p>
-<p><img class="math" src="../../_images/math/3b016a9e92ffb9f0909c19ff956ccc459864df7d.png" alt="F_{\text{wheel}} = \frac {T_{\text{engine}} \cdot r_{\text{axle}}} {r_{\text{wheel}}}"/></p>
-<table class="docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Symbol</p></th>
-<th class="head"><p>Description</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p><img class="math" src="../../_images/math/692e2731d37983a19fd2b39c8101cf15d882ff35.png" alt="T_{\text{engine}}"/></p></td>
-<td><p>Resulting torque from drivetrain at current velocity (assuming best gearing selected) [Nm]</p></td>
-</tr>
-<tr class="row-odd"><td><p><img class="math" src="../../_images/math/c424381a86be77f896401b0158f6d5634461dd46.png" alt="r_{\text{axle}}"/></p></td>
-<td><p>Axle transmission ratio [1]</p></td>
-</tr>
-<tr class="row-even"><td><p><img class="math" src="../../_images/math/a019586eb6dacb7b6496d07fefdbb7cc2395329c.png" alt="r_{\text{wheel}}"/></p></td>
-<td><p>Static radius of the wheels [m]</p></td>
-</tr>
-</tbody>
-</table>
-<p>The engine torque <img class="math" src="../../_images/math/692e2731d37983a19fd2b39c8101cf15d882ff35.png" alt="T_{\text{engine}}"/> is calculated by a simple model, where the torque scales proportional with the current engine speed between 1350 and 5000 rpm, up to maximum engine torque.
-From minimum engine speed up to 1350 rpm the torque scales proportional with the engine speed up to half the maximum torque.
-From 5000 rpm up to maximum engine speed, the torque scales with 5000 / maxEngineSpeed, up to maximum torque.</p>
-<p><strong>Rolling resistance</strong></p>
-<p><img class="math" src="../../_images/math/d39bed6c7ca56cec556eaa950eb8054adbb6cf47.png" alt="F_{\text{roll}} = m_{\text{veh}} \cdot c_{\text{fric}} \cdot g"/></p>
-<table class="docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Symbol</p></th>
-<th class="head"><p>Description</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p><img class="math" src="../../_images/math/1b9bc4cf466a822e0b8b1dc14b2787c6777cd1e8.png" alt="m_{\text{veh}}"/></p></td>
-<td><p>Mass of the vehicle [kg]</p></td>
-</tr>
-<tr class="row-odd"><td><p><img class="math" src="../../_images/math/44252e11753151d0fa1d037d8714c6f9a338302b.png" alt="c_{\text{fric}}"/></p></td>
-<td><p>Rolling friction coefficient (constant 0.015) [1]</p></td>
-</tr>
-</tbody>
-</table>
-<p><strong>Air drag</strong></p>
-<p><img class="math" src="../../_images/math/47d2f130adc5dfa8b9c3ae6852ad32b265775aa8.png" alt="F_{\text{air}} = \frac {\rho_{\text{air}}} {2} \cdot A_{\text{front}} \cdot c_w \cdot v^2"/></p>
-<table class="docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Symbol</p></th>
-<th class="head"><p>Description</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p><img class="math" src="../../_images/math/ec29cdf2a0665b368b2c84668db684adce27d0f6.png" alt="\rho_{\text{air}}"/></p></td>
-<td><p>Density of air [kg/m³]</p></td>
-</tr>
-<tr class="row-odd"><td><p><img class="math" src="../../_images/math/25da9109e1ebaa46fe7b79f67874d66957079266.png" alt="A_{\text{front}}"/></p></td>
-<td><p>Vehicle front surface area [m²]</p></td>
-</tr>
-<tr class="row-even"><td><p><img class="math" src="../../_images/math/7ebeba54263779b2dc506f0fad06feb2089eee73.png" alt="c_w"/></p></td>
-<td><p>Drag coefficient [1]</p></td>
-</tr>
-<tr class="row-odd"><td><p><img class="math" src="../../_images/math/02d98909b5d6acd6a7ff927d4d42790bdd407d58.png" alt="v"/></p></td>
-<td><p>Vehicle’s current velocity [m/s]</p></td>
-</tr>
-</tbody>
-</table>
-</section>
-<section id="openscenarioactions">
-<h2>OpenScenarioActions<a class="headerlink" href="#openscenarioactions" title="Link to this heading"></a></h2>
-<p>As defined by <a class="reference external" href="https://www.asam.net/standards/detail/openscenario/">OpenSCENARIO</a>, OpenScenarioActions is the relaying module for:</p>
-<ul class="simple">
-<li><p>Trajectory-actions</p></li>
-<li><p>LaneChange-actions</p></li>
-<li><p>UserDefined-actions.</p></li>
-</ul>
-<p>If a</p>
-<ul class="simple">
-<li><p>TrajectoryManipulator</p></li>
-<li><p>LaneChangeManipulator</p></li>
-</ul>
-<p>or a user defined manipulator</p>
-<p>raises such an event for the specified agent, the module forwards it as signal to all interested module of the corresponding agent. The modules can than react on the signals content without time delay.</p>
-</section>
-<section id="parameters-vehicle">
-<span id="id1"></span><h2>Parameters_Vehicle<a class="headerlink" href="#parameters-vehicle" title="Link to this heading"></a></h2>
-<p>The ParametersVehicle module forwards the VehicleModelParameters to all other modules that need them via the ParametersVehicleSignal.</p>
-<p>This section includes all vehicle system related parameters, powertrain system related parameters and steering system related parameters.
-Relevant parameters are presented in the following three tables with the corresponding explanations.</p>
-<section id="vehicle-model-related-parameters">
-<h3>Vehicle model related parameters<a class="headerlink" href="#vehicle-model-related-parameters" title="Link to this heading"></a></h3>
-<table class="tight-table docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Variable</p></th>
-<th class="head"><p>Type</p></th>
-<th class="head"><p>Unit</p></th>
-<th class="head"><p>Description</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>width</p></td>
-<td><p>Double</p></td>
-<td><p>m</p></td>
-<td><p>Maximum width of the vehicle</p></td>
-</tr>
-<tr class="row-odd"><td><p>length</p></td>
-<td><p>Double</p></td>
-<td><p>m</p></td>
-<td><p>Maximum length of the vehicle</p></td>
-</tr>
-<tr class="row-even"><td><p>height</p></td>
-<td><p>Double</p></td>
-<td><p>m</p></td>
-<td><p>Maximum height of the vehicle</p></td>
-</tr>
-<tr class="row-odd"><td><p>wheelbase</p></td>
-<td><p>Double</p></td>
-<td><p>m</p></td>
-<td><p>Wheelbase of the vehicle</p></td>
-</tr>
-<tr class="row-even"><td><p>trackwidth</p></td>
-<td><p>Double</p></td>
-<td><p>m</p></td>
-<td><p>Trackwidth of the vehicle</p></td>
-</tr>
-<tr class="row-odd"><td><p>distanceCOGtoLeadingEdge</p></td>
-<td><p>Double</p></td>
-<td><p>m</p></td>
-<td><p>Distance between the COG and the front bumper</p></td>
-</tr>
-<tr class="row-even"><td><p>distanceCOGtoFrontAxle</p></td>
-<td><p>Double</p></td>
-<td><p>m</p></td>
-<td><p>Distance between the COG and the front axle</p></td>
-</tr>
-<tr class="row-odd"><td><p>heightCOG</p></td>
-<td><p>Double</p></td>
-<td><p>m</p></td>
-<td><p>Height of the center of gravity above ground</p></td>
-</tr>
-<tr class="row-even"><td><p>weight</p></td>
-<td><p>Double</p></td>
-<td><p>kg</p></td>
-<td><p>Overall mass of the vehicle</p></td>
-</tr>
-<tr class="row-odd"><td><p>momentInertiaRoll</p></td>
-<td><p>Double</p></td>
-<td><p>kgm²</p></td>
-<td><p>Moment of inertia along the vehicle’s longitudinal axis</p></td>
-</tr>
-<tr class="row-even"><td><p>momentInertiaPitch</p></td>
-<td><p>Double</p></td>
-<td><p>kgm²</p></td>
-<td><p>Moment of inertia along the vehicle’s lateral axis</p></td>
-</tr>
-<tr class="row-odd"><td><p>momentInertiaYaw</p></td>
-<td><p>Double</p></td>
-<td><p>kgm²</p></td>
-<td><p>Moment of inertia along the vehicle’s vertical axis</p></td>
-</tr>
-<tr class="row-even"><td><p>frontSurface</p></td>
-<td><p>Double</p></td>
-<td><p>m²</p></td>
-<td><p>Projected front surface of the vehicle</p></td>
-</tr>
-<tr class="row-odd"><td><p>airDragCoefficient</p></td>
-<td><p>Double</p></td>
-<td></td>
-<td><p>Air drag coefficient of the vehicle</p></td>
-</tr>
-</tbody>
-</table>
-</section>
-<section id="powertrain-related-parameters">
-<h3>Powertrain related parameters<a class="headerlink" href="#powertrain-related-parameters" title="Link to this heading"></a></h3>
-<table class="tight-table docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Variable</p></th>
-<th class="head"><p>Type</p></th>
-<th class="head"><p>Unit</p></th>
-<th class="head"><p>Description</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>minimumEngineSpeed</p></td>
-<td><p>Double</p></td>
-<td><p>1/min</p></td>
-<td><p>Idle speed of the engine</p></td>
-</tr>
-<tr class="row-odd"><td><p>maximumEngineSpeed</p></td>
-<td><p>Double</p></td>
-<td><p>1/min</p></td>
-<td><p>Maximum engine speed</p></td>
-</tr>
-<tr class="row-even"><td><p>minimumEngineTorque</p></td>
-<td><p>Double</p></td>
-<td><p>Nm</p></td>
-<td><p>Minimum torque of the engine</p></td>
-</tr>
-<tr class="row-odd"><td><p>maximumEngineTorque</p></td>
-<td><p>Double</p></td>
-<td><p>Nm</p></td>
-<td><p>Maximum torque of the engine</p></td>
-</tr>
-<tr class="row-even"><td><p>numberOfGears</p></td>
-<td><p>Integer</p></td>
-<td></td>
-<td><p>Number of gears in the gearbox</p></td>
-</tr>
-<tr class="row-odd"><td><p>axleRatio</p></td>
-<td><p>Double</p></td>
-<td></td>
-<td><p>Ratio of the axle gear</p></td>
-</tr>
-<tr class="row-even"><td><p>decelerationFromPowertrainDrag</p></td>
-<td><p>Double</p></td>
-<td><p>m/s²</p></td>
-<td><p>Deceleration caused by the overall powertrain drag torque</p></td>
-</tr>
-</tbody>
-</table>
-</section>
-<section id="steering-related-parameters">
-<h3>Steering related parameters<a class="headerlink" href="#steering-related-parameters" title="Link to this heading"></a></h3>
-<table class="tight-table docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Variable</p></th>
-<th class="head"><p>Type</p></th>
-<th class="head"><p>Unit</p></th>
-<th class="head"><p>Description</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>steeringRatio</p></td>
-<td><p>Double</p></td>
-<td></td>
-<td><p>Ratio of the steering gear</p></td>
-</tr>
-<tr class="row-odd"><td><p>maximumSteeringWheelAngleAmplitude</p></td>
-<td><p>Double</p></td>
-<td><p>degree</p></td>
-<td><p>Maximum amplitude of the steering wheel angle</p></td>
-</tr>
-</tbody>
-</table>
-</section>
-</section>
-<section id="sensor-driver">
-<h2>Sensor_Driver<a class="headerlink" href="#sensor-driver" title="Link to this heading"></a></h2>
-<p>The Sensor_Driver performs queries on the AgentInterface to gather information about the own agent and its surroundings.
-These are forwarded to the driver modules and the Algorithm modules, which use them for their calculations.</p>
-<p>See <a class="reference internal" href="../../user_guide/sim_user_guide/components/sensor_driver.html#sensor-driver"><span class="std std-ref">Sensor_Driver</span></a>.</p>
-</section>
-<section id="sensor-osi">
-<h2>Sensor_OSI<a class="headerlink" href="#sensor-osi" title="Link to this heading"></a></h2>
-<p>This module is a representation of various sensors and uses OSI for its input and output.
-Currently, two types of sensors (SensorGeometric2D and ReceiverCar2X) are available.</p>
-<section id="sensorgeometric2d">
-<h3>SensorGeometric2D<a class="headerlink" href="#sensorgeometric2d" title="Link to this heading"></a></h3>
-<p>The SensorGeometric2D detects all objects in a sector with specified range and opening angle.
-The input of the sensor is a OSI SensorView generated by the OSI World and its output is a OSI SensorData structure.</p>
-<p>For generation of the SensorView, a SensorViewConfiguration has to be provided by the sensor to the OSI World. See image for a visualization of the
-dataflow.</p>
-<figure class="align-default" id="id4">
-<img alt="../../_images/SensorView_Dataflow.png" src="../../_images/SensorView_Dataflow.png" />
-<figcaption>
-<p><span class="caption-text">OSI SensorView dataflow</span><a class="headerlink" href="#id4" title="Link to this image"></a></p>
-</figcaption>
-</figure>
-<p>From OSI development perspective, the OSI World would have to send back a SensorViewConfiguration to the sensor, with the contents describing the
-actual configuration of the SensorView (since the World is maybe notable to provide the requested information).
-As we have full control over the simulation environment, this back-channel is skipped and SensorView according to the sensor’S SensorView configuration
-will always be provided.</p>
-<p>To test whether an object is inside our sector we check
-1. if it is inside the circle around the sensor with radius the detection range and
-2. if it intersects a suitable polygon</p>
-<p>Depending on the opening-angle the polygon in 2) has either four (angle &lt; 180°) or five corners (angle &gt;= 180°).</p>
-<figure class="align-default" id="id5">
-<img alt="../../_images/sensor2d_kite_polygon.svg" src="../../_images/sensor2d_kite_polygon.svg" /><figcaption>
-<p><span class="caption-text">four-corner kite polygon for angle lower than 180°</span><a class="headerlink" href="#id5" title="Link to this image"></a></p>
-</figcaption>
-</figure>
-<table class="docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Object</p></th>
-<th class="head"><p>intersects circle</p></th>
-<th class="head"><p>intersects polygon</p></th>
-<th class="head"><p>detected</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>A</p></td>
-<td><p>true</p></td>
-<td><p>false</p></td>
-<td><p>false</p></td>
-</tr>
-<tr class="row-odd"><td><p>B</p></td>
-<td><p>true</p></td>
-<td><p>true</p></td>
-<td><p>true</p></td>
-</tr>
-<tr class="row-even"><td><p>C</p></td>
-<td><p>false</p></td>
-<td><p>true</p></td>
-<td><p>false</p></td>
-</tr>
-<tr class="row-odd"><td><p>D</p></td>
-<td><p>false</p></td>
-<td><p>false</p></td>
-<td><p>false</p></td>
-</tr>
-<tr class="row-even"><td><p>E</p></td>
-<td><p>true</p></td>
-<td><p>true</p></td>
-<td><p>true</p></td>
-</tr>
-</tbody>
-</table>
-<figure class="align-default" id="id6">
-<img alt="../../_images/sensor2d_five_corner_polygon.svg" src="../../_images/sensor2d_five_corner_polygon.svg" /><figcaption>
-<p><span class="caption-text">five-corner polygon for angle greater or equal 180° and greater 360°</span><a class="headerlink" href="#id6" title="Link to this image"></a></p>
-</figcaption>
-</figure>
-<table class="docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Object</p></th>
-<th class="head"><p>intersects circle</p></th>
-<th class="head"><p>intersects polygon</p></th>
-<th class="head"><p>detected</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>A</p></td>
-<td><p>false</p></td>
-<td><p>true</p></td>
-<td><p>false</p></td>
-</tr>
-<tr class="row-odd"><td><p>B</p></td>
-<td><p>true</p></td>
-<td><p>true</p></td>
-<td><p>true</p></td>
-</tr>
-<tr class="row-even"><td><p>C</p></td>
-<td><p>true</p></td>
-<td><p>true</p></td>
-<td><p>true</p></td>
-</tr>
-<tr class="row-odd"><td><p>D</p></td>
-<td><p>true</p></td>
-<td><p>false</p></td>
-<td><p>false</p></td>
-</tr>
-<tr class="row-even"><td><p>E</p></td>
-<td><p>false</p></td>
-<td><p>false</p></td>
-<td><p>false</p></td>
-</tr>
-</tbody>
-</table>
-<p>For convex BBoxes the above will give correct detection results.</p>
-<p>Both polygons are constructed from corner-points consisting out of the intersection between the opening-angle boundaries at maximum detection range and their corresponding tangents.</p>
-</section>
-<section id="function">
-<h3>Function<a class="headerlink" href="#function" title="Link to this heading"></a></h3>
-<ol class="arabic simple">
-<li><p>Construct the polygon based on the opening-angle</p></li>
-<li><p>Check if detection-field (polygon) intersects with any BBox (object-detection)</p></li>
-<li><p>Calculate the distance between sensor and object</p></li>
-<li><p>if (dist &lt;= range &amp;&amp; isIntersecting) -&gt; object is in circular sector (object validation)</p></li>
-</ol>
-</section>
-<section id="cases">
-<h3>Cases<a class="headerlink" href="#cases" title="Link to this heading"></a></h3>
-<ul class="simple">
-<li><p>For angles &lt; 1.0 * pi a four-corner (kite) polygon can be constructed out of two radiuses and two tangents.</p></li>
-<li><p>For angles &gt; = 1.0 * pi and &lt; 2.0 * pi a five-corner polygon can be constructed of two radiuses an three tangents.</p></li>
-<li><p>For opening-angle of exactly 2.0 * pi the distance information suffices. No polygon is needed.</p></li>
-</ul>
-</section>
-<section id="visual-obstruction">
-<h3>Visual Obstruction<a class="headerlink" href="#visual-obstruction" title="Link to this heading"></a></h3>
-<p>Objects in front of others block the sensors line of sight.
-If an object is large enough it might visually obstruct others.
-To check if one or multiple objects in combination “shadow” other objects the flag <code class="docutils literal notranslate"><span class="pre">EnableVisualObstruction</span></code> can be set.
-Also the minimum required percentage of the visible area of an object to be detected can be specified.
-The implemented algorithm uses the concept of shadow-casting, where the sensor cone is assumed to be the light source and the resulting shadow is calculated for each object.
-If an object is shadowed too much, it is removed from the list of detected objects.</p>
-<p>Shadow casting is calculated as follows:</p>
-<ol class="arabic simple">
-<li><p>Approximate detection field as circular sector.</p></li>
-<li><p>Calculate the casted shadow of each object inside the detection field.</p></li>
-<li><p>Remove bounding box of object from shadow, so that it can be detected.</p></li>
-<li><p>Remove the casted shadow from the detection field.</p></li>
-<li><p>For each object, check if remaining area is inside the remaining polygon.</p></li>
-<li><p>Remove objects, if relation <code class="docutils literal notranslate"><span class="pre">covered</span> <span class="pre">object</span> <span class="pre">area/total</span> <span class="pre">object</span> <span class="pre">area</span></code> is smaller than a parameterizable threshold.</p></li>
-</ol>
-<p><strong>Example</strong></p>
-<p>Assume that the vehicle ahead is fully captured by the following vehicle’s sensor cone.
-The outer points of the bounding box define the cone of the shadow.</p>
-<figure class="align-default" id="id7">
-<img alt="../../_images/shadow_casting_step01.svg" src="../../_images/shadow_casting_step01.svg" /><figcaption>
-<p><span class="caption-text">Vehicle within sensor range</span><a class="headerlink" href="#id7" title="Link to this image"></a></p>
-</figcaption>
-</figure>
-<p>For calculation of the shadow polygon, these boundary vectors needs to be extended w.r.t. detection range.</p>
-<p>In order to calculate the shadow polygon, the bounding vectors needs to be scaled with regard to the detection area.
-Note that extending only to the edges of the detection area would produce too small a shadow.</p>
-<figure class="align-default" id="id8">
-<img alt="../../_images/shadow_casting_step02.svg" src="../../_images/shadow_casting_step02.svg" /><figcaption>
-<p><span class="caption-text">Too small shadow with missing area in red</span><a class="headerlink" href="#id8" title="Link to this image"></a></p>
-</figcaption>
-</figure>
-<p>To avoid numerical scaling problems related to the length of the bounding vectors, the shadow is not stretched to a fixed size.
-Instead, the internal algorithm overestimates the size of the shadow, with the detection range as a guaranteed lower limit.</p>
-<figure class="align-default" id="id9">
-<img alt="../../_images/shadow_casting_step03.svg" src="../../_images/shadow_casting_step03.svg" /><figcaption>
-<p><span class="caption-text">Overestimated shadow</span><a class="headerlink" href="#id9" title="Link to this image"></a></p>
-</figcaption>
-</figure>
-<p>For this guarantee, the actual detection area must be approximated along the edge of the ideal circle (rather than by a tangential approximation).
-With regard to typical object sizes and detection areas, the error can be considered negligible.</p>
-<figure class="align-default" id="id10">
-<img alt="../../_images/shadow_casting_step04.svg" src="../../_images/shadow_casting_step04.svg" /><figcaption>
-<p><span class="caption-text">Approximation of the sensor cone</span><a class="headerlink" href="#id10" title="Link to this image"></a></p>
-</figcaption>
-</figure>
-<p>Next, the object’s bounding box is removed from the shadow.</p>
-<figure class="align-default" id="id11">
-<img alt="../../_images/shadow_casting_step05.svg" src="../../_images/shadow_casting_step05.svg" /><figcaption>
-<p><span class="caption-text">Approximated sensor cone and shadow with removed bounding box</span><a class="headerlink" href="#id11" title="Link to this image"></a></p>
-</figcaption>
-</figure>
-<p>Finally, the shadow is subtracted from the sensor cone.</p>
-<figure class="align-default" id="id12">
-<img alt="../../_images/shadow_casting_step06.svg" src="../../_images/shadow_casting_step06.svg" /><figcaption>
-<p><span class="caption-text">Sensor cone with removed shadow</span><a class="headerlink" href="#id12" title="Link to this image"></a></p>
-</figcaption>
-</figure>
-<p>The process is repeated for each object in the detection area.</p>
-<figure class="align-default" id="id13">
-<img alt="../../_images/shadow_casting_step07.svg" src="../../_images/shadow_casting_step07.svg" /><figcaption>
-<p><span class="caption-text">Shadow of partially occluded vehicle</span><a class="headerlink" href="#id13" title="Link to this image"></a></p>
-</figcaption>
-</figure>
-<figure class="align-default" id="id14">
-<img alt="../../_images/shadow_casting_step08.svg" src="../../_images/shadow_casting_step08.svg" /><figcaption>
-<p><span class="caption-text">Sensor cone with removed shadow of partially occluded vehicle</span><a class="headerlink" href="#id14" title="Link to this image"></a></p>
-</figcaption>
-</figure>
-<p>Note that the order of shadow calculation and subtraction is irrelevant.</p>
-</section>
-</section>
-<section id="sensorfusionosi">
-<h2>SensorFusionOSI<a class="headerlink" href="#sensorfusionosi" title="Link to this heading"></a></h2>
-<p>The SensorFusionOSI module allows unsorted aggregation of any data provided by sensors. All sampled detected objects can then be broadcasted to connected ADAS.</p>
-<p>It collects all SensorDataSignals and merges them into a single SensorDataSignal.</p>
-</section>
-<section id="signalprioritizer">
-<span id="agentcomponents-signalprioritizer"></span><h2>SignalPrioritizer<a class="headerlink" href="#signalprioritizer" title="Link to this heading"></a></h2>
-<p>All channels can only have one source.
-If one module can have the same input type from multiple sources a prioritizer module is needed in between.
-All sources then get an output channel to the prioritizer module and the prioritizer gets an output to the module, which uses this signal.
-If more than an component sends an active signal during the same timestep, the prioritizer forwards only the signal from the input channel with the highest priority.
-These priorities are set as parameters in the systemconfigblueprint.xml, where the key corresponds the the id of the input channel and the value is the priority (higher value is prioritized).
-In the following example the channel with id 102 has the highest priority (3) and the channel with id 100 has the lowest priority (1).</p>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;component&gt;</span>
-<span class="w">  </span><span class="nt">&lt;id&gt;</span>PrioritizerName<span class="nt">&lt;/id&gt;</span>
-<span class="w">  </span><span class="nt">&lt;schedule&gt;</span>
-<span class="w">    </span><span class="nt">&lt;priority&gt;</span>150<span class="nt">&lt;/priority&gt;</span>
-<span class="w">    </span><span class="nt">&lt;offset&gt;</span>0<span class="nt">&lt;/offset&gt;</span>
-<span class="w">    </span><span class="nt">&lt;cycle&gt;</span>100<span class="nt">&lt;/cycle&gt;</span>
-<span class="w">    </span><span class="nt">&lt;response&gt;</span>0<span class="nt">&lt;/response&gt;</span>
-<span class="w">  </span><span class="nt">&lt;/schedule&gt;</span>
-<span class="w">  </span><span class="nt">&lt;library&gt;</span>SignalPrioritizer<span class="nt">&lt;/library&gt;</span>
-<span class="w">  </span><span class="nt">&lt;parameters&gt;</span>
-<span class="w">    </span><span class="nt">&lt;parameter&gt;</span>
-<span class="w">      </span><span class="nt">&lt;id&gt;</span>100<span class="nt">&lt;/id&gt;</span>
-<span class="w">      </span><span class="nt">&lt;type&gt;</span>int<span class="nt">&lt;/type&gt;</span>
-<span class="w">      </span><span class="nt">&lt;unit/&gt;</span>
-<span class="w">      </span><span class="nt">&lt;value&gt;</span>1<span class="nt">&lt;/value&gt;</span>
-<span class="w">    </span><span class="nt">&lt;/parameter&gt;</span>
-<span class="w">    </span><span class="nt">&lt;parameter&gt;</span>
-<span class="w">      </span><span class="nt">&lt;id&gt;</span>101<span class="nt">&lt;/id&gt;</span>
-<span class="w">      </span><span class="nt">&lt;type&gt;</span>int<span class="nt">&lt;/type&gt;</span>
-<span class="w">      </span><span class="nt">&lt;unit/&gt;</span>
-<span class="w">      </span><span class="nt">&lt;value&gt;</span>2<span class="nt">&lt;/value&gt;</span>
-<span class="w">    </span><span class="nt">&lt;/parameter&gt;</span>
-<span class="w">    </span><span class="nt">&lt;parameter&gt;</span>
-<span class="w">      </span><span class="nt">&lt;id&gt;</span>102<span class="nt">&lt;/id&gt;</span>
-<span class="w">      </span><span class="nt">&lt;type&gt;</span>int<span class="nt">&lt;/type&gt;</span>
-<span class="w">      </span><span class="nt">&lt;unit/&gt;</span>
-<span class="w">      </span><span class="nt">&lt;value&gt;</span>3<span class="nt">&lt;/value&gt;</span>
-<span class="w">    </span><span class="nt">&lt;/parameter&gt;</span>
-<span class="w">  </span><span class="nt">&lt;/parameters&gt;</span>
-<span class="nt">&lt;/component&gt;</span>
-</pre></div>
-</div>
-<p>One prioritizer module can only handle signals of the same type and the signal class must be derived from ComponentStateSignal.
-If there is no signal in one time step, then the signal of the previous time step is hold.</p>
-<p><strong>Existing prioritizer modules</strong></p>
-<ul class="simple">
-<li><p>PrioritizerAccelerationVehicleComponents</p></li>
-<li><p>PrioritizerSteeringVehicleComponents</p></li>
-<li><p>PrioritizerTurningIndicator</p></li>
-<li><p>PrioritizerLongitudinal</p></li>
-<li><p>PrioritizerSteering</p></li>
-<li><p>PrioritizerDynamics</p></li>
-</ul>
-</section>
-<section id="componentcontroller">
-<span id="agentcomponents-componentcontroller"></span><h2>ComponentController<a class="headerlink" href="#componentcontroller" title="Link to this heading"></a></h2>
-<section id="overview">
-<h3>Overview<a class="headerlink" href="#overview" title="Link to this heading"></a></h3>
-<p>The ComponentController (CC) is used to configure and handle dependencies between other vehicle components.</p>
-<p>Example use cases could be:</p>
-<ul class="simple">
-<li><p>Cruise control:</p>
-<ul>
-<li><p>driver requesting higher acceleration than cruise control overrides the latter</p></li>
-<li><p>driver braking deactivates cruise control</p></li>
-</ul>
-</li>
-<li><p>Lane keeping assistant:</p>
-<ul>
-<li><p>cannot be activated by driver, if emergency braking is currently active</p></li>
-<li><p>stays active, when emergency braking occurs (i. e. by other ADAS)</p></li>
-</ul>
-</li>
-</ul>
-<p>The responsibilies of the CC are:</p>
-<ul class="simple">
-<li><p>Handling of all dependencies between <em>VehicleComponents</em> in case a component wants to activate</p></li>
-<li><p>Make information about driver, <em>TrajectoryFollower</em> and other <em>VehicleComponents</em> available to each other</p></li>
-<li><p>Determine the highest allowed activation state of a component and notify the affected component about this state</p></li>
-</ul>
-<p>To achieve this tasks, each component is assigned a maximum allowed state in each time step. This state is of type ComponentState,
-which defines <em>Disabled</em>, <em>Armed</em> or <em>Active</em> as allowed states.
-Drivers can be in a state of either <em>Active</em> or <em>Passive</em>.</p>
-</section>
-<section id="state-handling-inside-vehicle-component">
-<h3>State handling inside Vehicle Component<a class="headerlink" href="#state-handling-inside-vehicle-component" title="Link to this heading"></a></h3>
-<p>Within a vehicle component, the information flow should be implemented as follows:</p>
-<ol class="arabic simple">
-<li><p>The vehicle component retrieves the information of other components and the current maximum allowed state from the CC.
-Other components include drivers, trajectory followers and all other vehicle components connected to the CC.</p></li>
-<li><p>Based on that information the vehicle component determines its current desired state.</p></li>
-<li><p>The desired state is sent to the CC.</p></li>
-</ol>
-<p>The CC handles all the dependencies between different components and determines the maximum allowed state for each component based
-on the configuration of the CC.</p>
-</section>
-<section id="used-signals">
-<h3>Used signals<a class="headerlink" href="#used-signals" title="Link to this heading"></a></h3>
-<p>The CC communicates with the controlled components via framework signals.</p>
-<p>Inputs to the ComponentController:</p>
-<table class="tight-table docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Source</p></th>
-<th class="head"><p>Contents</p></th>
-<th class="head"><p>Signal</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>TrajectoryFollower</p></td>
-<td><p>Current state</p></td>
-<td><p>ComponentStateSignal</p></td>
-</tr>
-<tr class="row-odd"><td><p>Driver</p></td>
-<td><p>Current state, pedal activity</p></td>
-<td><p>DriverStateSignal</p></td>
-</tr>
-<tr class="row-even"><td><p>VehicleComponent</p></td>
-<td><p>Current state, desired state, generic ADAS parameters</p></td>
-<td><p>VehicleCompToCompCtrlSignal</p></td>
-</tr>
-</tbody>
-</table>
-<p>Output to other components:</p>
-<table class="tight-table docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Destination</p></th>
-<th class="head"><p>Contents</p></th>
-<th class="head"><p>Signal</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>TrajectoryFollower</p></td>
-<td><p>Current max. reachable state</p></td>
-<td><p>ComponentStateSignal</p></td>
-</tr>
-<tr class="row-odd"><td><p>Driver</p></td>
-<td><p>List of all ADAS with names, stati and types</p></td>
-<td><p>AdasStateSignal</p></td>
-</tr>
-<tr class="row-even"><td><p>VehicleComponent</p></td>
-<td><p>Current max. reachable state, list of all ADAS with names, stati and types</p></td>
-<td><p>CompCtrlToVehicleCompSignal</p></td>
-</tr>
-</tbody>
-</table>
-</section>
-</section>
-</section>
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+<li class="toctree-l2 current"><a class="current reference internal" href="#">Agent Components</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="#action-longitudinaldriver">Action_LongitudinalDriver</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#action-secondarydriver">Action_SecondaryDriver</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#agentupdater">AgentUpdater</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#algorithm-lateral">Algorithm_Lateral</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#algorithm-longitudinal">Algorithm_Longitudinal</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#algorithmcar2xsender">AlgorithmCar2XSender</a></li>
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+</ul>
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+<li class="toctree-l4"><a class="reference internal" href="#overview">Overview</a></li>
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+<li class="toctree-l4"><a class="reference internal" href="#used-signals">Used signals</a></li>
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+           <div itemprop="articleBody">
+             
+  <section id="agent-components">
+<span id="agentcomponents"></span><h1>Agent Components<a class="headerlink" href="#agent-components" title="Link to this heading"></a></h1>
+<p>An agent in openPASS is composed of multiple modules, which are connected by corresponding signals.
+As shown in the next figure, the modules can be roughly divided into the groups drivers, vehicle components, algorithms, dynamic modules, and prioritizers.
+Thereby, modules can consist of several submodules, such as sensor (reading from an interface) and action (writing to an interface).</p>
+<figure class="align-default" id="id2">
+<img alt="../../_images/DynamicsModules.png" src="../../_images/DynamicsModules.png" />
+<figcaption>
+<p><span class="caption-text">Modules for longitudinal and lateral dynamics</span><a class="headerlink" href="#id2" title="Link to this image"></a></p>
+</figcaption>
+</figure>
+<p>By statistic means, based on corresponding probabilities defined in the <a class="reference internal" href="../../user_guide/configs/profilescatalog.html#profilescatalog"><span class="std std-ref">ProfilesCatalog</span></a>, each individual agent is composed from a superset of all possible (valid) combinations, which is defined by the <a class="reference internal" href="../../user_guide/configs/systemconfigblueprint.html#systemconfigblueprint"><span class="std std-ref">SystemConfigBlueprint</span></a>.
+This config defines all available framework modules and agent modules and connects them by corresponding channels, which in turn have a specific signal type.</p>
+<p>The next figure gives an exhaustive overview over the current superset:</p>
+<figure class="align-default" id="id3">
+<span id="component-channel-communication"></span><img alt="../../_images/ComponentsChannelCommunicationDiagram.png" src="../../_images/ComponentsChannelCommunicationDiagram.png" />
+<figcaption>
+<p><span class="caption-text">Components and channel communication</span><a class="headerlink" href="#id3" title="Link to this image"></a></p>
+</figcaption>
+</figure>
+<p><a class="reference download internal" download="" href="../../_downloads/a4a21311d2dff77fb2513fe86367853b/ComponentsChannelCommunicationDiagram.drawio"><code class="xref download docutils literal notranslate"><span class="pre">./draw.io/ComponentsChannelCommunicationDiagram.drawio</span></code></a></p>
+<p>Modules that can be parametrized by the user are explained in the <a class="reference internal" href="../../user_guide/sim_user_guide/20_components.html#simuserguide-components"><span class="std std-ref">Simulation User Guide</span></a>.
+Therefor the following section only contains the components not listed in the user guide.</p>
+<section id="action-longitudinaldriver">
+<h2>Action_LongitudinalDriver<a class="headerlink" href="#action-longitudinaldriver" title="Link to this heading"></a></h2>
+<p>Updates the agents pedal positions and gear.
+The input for this module is prepared by the AlgorithmLongitudinal Module.</p>
+</section>
+<section id="action-secondarydriver">
+<h2>Action_SecondaryDriver<a class="headerlink" href="#action-secondarydriver" title="Link to this heading"></a></h2>
+<p>Updates the agents braking light, indicator, horn and all light switches (headlight, high beam, flasher).
+The input for this module is prepared by the driver module.</p>
+<p><strong>Overview of the module’s functionalities</strong></p>
+<p>Action_SecondaryDriver gathers the secondary driving tasks and transfers them to output signals. Three graded driving tasks are defined and exampled as follows:</p>
+<p><strong>Primary driving tasks:</strong> direct control of vehicle movements, like steering, pedal operation, shifting, etc.</p>
+<p><strong>Secondary driving tasks:</strong> indirect control of vehicle movements, but supporting and complementing driving actions, like activation of indicator, horn, light, etc.</p>
+<p><strong>Tertiary driving tasks:</strong> all the other activities, which are not related to vehicle control, like radio operation, etc.</p>
+<p>Table list of the input paramemter:</p>
+<table class="docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Variable</p></th>
+<th class="head"><p>Description</p></th>
+<th class="head"><p>Value</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>in_indicatorState</p></td>
+<td><p>State of the indicator</p></td>
+<td><p>left, center/off, right, warn</p></td>
+</tr>
+<tr class="row-odd"><td><p>in_hornSwitch</p></td>
+<td><p>Horn activation</p></td>
+<td><p>true/false</p></td>
+</tr>
+<tr class="row-even"><td><p>in_headLightSwitch</p></td>
+<td><p>Light activation</p></td>
+<td><p>true/false</p></td>
+</tr>
+<tr class="row-odd"><td><p>in_highBeamLightSwitch</p></td>
+<td><p>High beam light activation</p></td>
+<td><p>true/false</p></td>
+</tr>
+<tr class="row-even"><td><p>in_flasherSwitch</p></td>
+<td><p>Flasher activation</p></td>
+<td><p>true/false</p></td>
+</tr>
+</tbody>
+</table>
+</section>
+<section id="agentupdater">
+<h2>AgentUpdater<a class="headerlink" href="#agentupdater" title="Link to this heading"></a></h2>
+<p>The AgentUpdater executes all Set-Methods of the agent dynamics after the DynamicsPrioritizer. This includes position, velocity, acceleration and rotation.</p>
+</section>
+<section id="algorithm-lateral">
+<h2>Algorithm_Lateral<a class="headerlink" href="#algorithm-lateral" title="Link to this heading"></a></h2>
+<p>This module converts the lateral input of the driver module into a steering wheel angle.</p>
+<p>See <a class="reference internal" href="../../user_guide/sim_user_guide/components/algorithm_lateral.html#algorithm-lateral"><span class="std std-ref">Algorithm_Lateral</span></a>.</p>
+</section>
+<section id="algorithm-longitudinal">
+<h2>Algorithm_Longitudinal<a class="headerlink" href="#algorithm-longitudinal" title="Link to this heading"></a></h2>
+<p>This module converts the acceleration input of the driver module into pedal positions and gear.</p>
+<p>See <a class="reference internal" href="../../user_guide/sim_user_guide/components/algorithm_longitudinal.html#algorithm-longitudinal"><span class="std std-ref">Algorithm_Longitudinal</span></a>.</p>
+</section>
+<section id="algorithmcar2xsender">
+<h2>AlgorithmCar2XSender<a class="headerlink" href="#algorithmcar2xsender" title="Link to this heading"></a></h2>
+<p>This module publishes the below mentioned parameters in each timestep via the RadioInterface provided by the World.</p>
+<table class="docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Parameter</p></th>
+<th class="head"><p>Type</p></th>
+<th class="head"><p>Unit</p></th>
+<th class="head"><p>Description</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>SignalStrength</p></td>
+<td><p>Double</p></td>
+<td><p>W</p></td>
+<td><p>Singal strength of the Car2XSender</p></td>
+</tr>
+<tr class="row-odd"><td><p>SendPositionXEnabled</p></td>
+<td><p>Boolean</p></td>
+<td></td>
+<td><p>If true, the x-coordinate of the agent is sent</p></td>
+</tr>
+<tr class="row-even"><td><p>SendPositionYEnabled</p></td>
+<td><p>Boolean</p></td>
+<td></td>
+<td><p>If true, the y-coordinate of the agent is sent</p></td>
+</tr>
+<tr class="row-odd"><td><p>SendVelocityEnabled</p></td>
+<td><p>Boolean</p></td>
+<td></td>
+<td><p>If true, the velocity of the agent is sent</p></td>
+</tr>
+<tr class="row-even"><td><p>SendAccelerationEnabled</p></td>
+<td><p>Boolean</p></td>
+<td></td>
+<td><p>If true, the acceleration of the agent is sent</p></td>
+</tr>
+<tr class="row-odd"><td><p>SendYawEnabled</p></td>
+<td><p>Boolean</p></td>
+<td></td>
+<td><p>If true, the yaw angle of the agent is sent</p></td>
+</tr>
+</tbody>
+</table>
+</section>
+<section id="dynamics-collision">
+<h2>Dynamics_Collision<a class="headerlink" href="#dynamics-collision" title="Link to this heading"></a></h2>
+<p>If the number of collision partners of the agent is bigger than in the previous time step, the DynamicsCollision module calculates the collision.
+Currently the collision is implemented fully inelastic, i.e. all agents will have the same velocity after the collision, while the momentum is conserved.
+After the collision the agents slow down with a fixed deceleration until fully stopped.</p>
+</section>
+<section id="dynamics-scenario">
+<h2>Dynamics_Scenario<a class="headerlink" href="#dynamics-scenario" title="Link to this heading"></a></h2>
+<p>See <a class="reference internal" href="../../user_guide/sim_user_guide/components/dynamics_scenario.html#dynamics-scenario"><span class="std std-ref">Dynamics_Scenario</span></a>.</p>
+</section>
+<section id="dynamics-regulardriving">
+<h2>Dynamics_RegularDriving<a class="headerlink" href="#dynamics-regulardriving" title="Link to this heading"></a></h2>
+<p>The module takes care that the motion of the agent fit to the physical limitations, such as friction or maximum possible acceleration based on the current gear.
+This module uses both the world friction and the vehicle model parameter friction.
+Thereby it calculates the dynamics of the agents in every time step.
+The currently covered  dynamics are <em>Acceleration</em>, <em>Velocity</em>, and consequently <em>Position</em>, <em>Yaw angle</em> and <em>Yaw rate</em>.
+The input for this module is the steering wheel angle and the new acceleration of the vehicle.</p>
+<p>See <a class="reference internal" href="../../user_guide/sim_user_guide/components/dynamics_regular_driving.html#dynamics-regular-driving"><span class="std std-ref">Dynamics_RegularDriving</span></a>.</p>
+</section>
+<section id="limiteraccelerationvehiclecomponents">
+<h2>LimiterAccelerationVehicleComponents<a class="headerlink" href="#limiteraccelerationvehiclecomponents" title="Link to this heading"></a></h2>
+<p>This module limits the AccelerationSignal from the PrioritizerAccelerationVehicleComponents to the constraints given by the vehicle. The DynamicsTrajectoryFollower can then use this signal to calculate a trajectory.</p>
+<p>The limit is calculated by <img class="math" src="../../_images/math/b8e905e7f040e6ca0fbde1ee281a2e9e6aedd42c.png" alt="a_{\text{lim}} = \frac {F_{\text{wheel}} - F_{\text{roll}} - F_{\text{air}}} {m_{\text{veh}}}"/>, where the symbols meanings are:</p>
+<table class="docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Symbol</p></th>
+<th class="head"><p>Description</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p><img class="math" src="../../_images/math/dd0e45b188dfaf5d28adc454675a19893741bc0a.png" alt="a_{\text{lim}}"/></p></td>
+<td><p>Resulting acceleration limit [m/s²]</p></td>
+</tr>
+<tr class="row-odd"><td><p><img class="math" src="../../_images/math/8c8c50e079ddcffe6c37e396fda0def610aec805.png" alt="F_{\text{wheel}}"/></p></td>
+<td><p>Force at wheel (provided by drivetrain) [N]</p></td>
+</tr>
+<tr class="row-even"><td><p><img class="math" src="../../_images/math/4a145fae91306b362ee66953323a41d79fe3b613.png" alt="F_{\text{roll}}"/></p></td>
+<td><p>Force resulting from rolling resistance [N]</p></td>
+</tr>
+<tr class="row-odd"><td><p><img class="math" src="../../_images/math/0522178ee32098e5415d0f7841ccc877c72d437b.png" alt="F_{\text{air}}"/></p></td>
+<td><p>Force resulting from air drag [N]</p></td>
+</tr>
+<tr class="row-even"><td><p><img class="math" src="../../_images/math/1b9bc4cf466a822e0b8b1dc14b2787c6777cd1e8.png" alt="m_{\text{veh}}"/></p></td>
+<td><p>Mass of the vehicle [kg]</p></td>
+</tr>
+</tbody>
+</table>
+<p>The components are calculated as follows:</p>
+<p><strong>Driving force</strong></p>
+<p><img class="math" src="../../_images/math/3b016a9e92ffb9f0909c19ff956ccc459864df7d.png" alt="F_{\text{wheel}} = \frac {T_{\text{engine}} \cdot r_{\text{axle}}} {r_{\text{wheel}}}"/></p>
+<table class="docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Symbol</p></th>
+<th class="head"><p>Description</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p><img class="math" src="../../_images/math/692e2731d37983a19fd2b39c8101cf15d882ff35.png" alt="T_{\text{engine}}"/></p></td>
+<td><p>Resulting torque from drivetrain at current velocity (assuming best gearing selected) [Nm]</p></td>
+</tr>
+<tr class="row-odd"><td><p><img class="math" src="../../_images/math/c424381a86be77f896401b0158f6d5634461dd46.png" alt="r_{\text{axle}}"/></p></td>
+<td><p>Axle transmission ratio [1]</p></td>
+</tr>
+<tr class="row-even"><td><p><img class="math" src="../../_images/math/a019586eb6dacb7b6496d07fefdbb7cc2395329c.png" alt="r_{\text{wheel}}"/></p></td>
+<td><p>Static radius of the wheels [m]</p></td>
+</tr>
+</tbody>
+</table>
+<p>The engine torque <img class="math" src="../../_images/math/692e2731d37983a19fd2b39c8101cf15d882ff35.png" alt="T_{\text{engine}}"/> is calculated by a simple model, where the torque scales proportional with the current engine speed between 1350 and 5000 rpm, up to maximum engine torque.
+From minimum engine speed up to 1350 rpm the torque scales proportional with the engine speed up to half the maximum torque.
+From 5000 rpm up to maximum engine speed, the torque scales with 5000 / maxEngineSpeed, up to maximum torque.</p>
+<p><strong>Rolling resistance</strong></p>
+<p><img class="math" src="../../_images/math/d39bed6c7ca56cec556eaa950eb8054adbb6cf47.png" alt="F_{\text{roll}} = m_{\text{veh}} \cdot c_{\text{fric}} \cdot g"/></p>
+<table class="docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Symbol</p></th>
+<th class="head"><p>Description</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p><img class="math" src="../../_images/math/1b9bc4cf466a822e0b8b1dc14b2787c6777cd1e8.png" alt="m_{\text{veh}}"/></p></td>
+<td><p>Mass of the vehicle [kg]</p></td>
+</tr>
+<tr class="row-odd"><td><p><img class="math" src="../../_images/math/44252e11753151d0fa1d037d8714c6f9a338302b.png" alt="c_{\text{fric}}"/></p></td>
+<td><p>Rolling friction coefficient (constant 0.015) [1]</p></td>
+</tr>
+</tbody>
+</table>
+<p><strong>Air drag</strong></p>
+<p><img class="math" src="../../_images/math/47d2f130adc5dfa8b9c3ae6852ad32b265775aa8.png" alt="F_{\text{air}} = \frac {\rho_{\text{air}}} {2} \cdot A_{\text{front}} \cdot c_w \cdot v^2"/></p>
+<table class="docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Symbol</p></th>
+<th class="head"><p>Description</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p><img class="math" src="../../_images/math/ec29cdf2a0665b368b2c84668db684adce27d0f6.png" alt="\rho_{\text{air}}"/></p></td>
+<td><p>Density of air [kg/m³]</p></td>
+</tr>
+<tr class="row-odd"><td><p><img class="math" src="../../_images/math/25da9109e1ebaa46fe7b79f67874d66957079266.png" alt="A_{\text{front}}"/></p></td>
+<td><p>Vehicle front surface area [m²]</p></td>
+</tr>
+<tr class="row-even"><td><p><img class="math" src="../../_images/math/7ebeba54263779b2dc506f0fad06feb2089eee73.png" alt="c_w"/></p></td>
+<td><p>Drag coefficient [1]</p></td>
+</tr>
+<tr class="row-odd"><td><p><img class="math" src="../../_images/math/02d98909b5d6acd6a7ff927d4d42790bdd407d58.png" alt="v"/></p></td>
+<td><p>Vehicle’s current velocity [m/s]</p></td>
+</tr>
+</tbody>
+</table>
+</section>
+<section id="openscenarioactions">
+<h2>OpenScenarioActions<a class="headerlink" href="#openscenarioactions" title="Link to this heading"></a></h2>
+<p>As defined by <a class="reference external" href="https://www.asam.net/standards/detail/openscenario/">OpenSCENARIO</a>, OpenScenarioActions is the relaying module for:</p>
+<ul class="simple">
+<li><p>Trajectory-actions</p></li>
+<li><p>LaneChange-actions</p></li>
+<li><p>UserDefined-actions.</p></li>
+</ul>
+<p>If a</p>
+<ul class="simple">
+<li><p>TrajectoryManipulator</p></li>
+<li><p>LaneChangeManipulator</p></li>
+</ul>
+<p>or a user defined manipulator</p>
+<p>raises such an event for the specified agent, the module forwards it as signal to all interested module of the corresponding agent. The modules can than react on the signals content without time delay.</p>
+</section>
+<section id="parameters-vehicle">
+<span id="id1"></span><h2>Parameters_Vehicle<a class="headerlink" href="#parameters-vehicle" title="Link to this heading"></a></h2>
+<p>The ParametersVehicle module forwards the VehicleModelParameters to all other modules that need them via the ParametersVehicleSignal.</p>
+<p>This section includes all vehicle system related parameters, powertrain system related parameters and steering system related parameters.
+Relevant parameters are presented in the following three tables with the corresponding explanations.</p>
+<section id="vehicle-model-related-parameters">
+<h3>Vehicle model related parameters<a class="headerlink" href="#vehicle-model-related-parameters" title="Link to this heading"></a></h3>
+<table class="tight-table docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Variable</p></th>
+<th class="head"><p>Type</p></th>
+<th class="head"><p>Unit</p></th>
+<th class="head"><p>Description</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>width</p></td>
+<td><p>Double</p></td>
+<td><p>m</p></td>
+<td><p>Maximum width of the vehicle</p></td>
+</tr>
+<tr class="row-odd"><td><p>length</p></td>
+<td><p>Double</p></td>
+<td><p>m</p></td>
+<td><p>Maximum length of the vehicle</p></td>
+</tr>
+<tr class="row-even"><td><p>height</p></td>
+<td><p>Double</p></td>
+<td><p>m</p></td>
+<td><p>Maximum height of the vehicle</p></td>
+</tr>
+<tr class="row-odd"><td><p>wheelbase</p></td>
+<td><p>Double</p></td>
+<td><p>m</p></td>
+<td><p>Wheelbase of the vehicle</p></td>
+</tr>
+<tr class="row-even"><td><p>trackwidth</p></td>
+<td><p>Double</p></td>
+<td><p>m</p></td>
+<td><p>Trackwidth of the vehicle</p></td>
+</tr>
+<tr class="row-odd"><td><p>distanceCOGtoLeadingEdge</p></td>
+<td><p>Double</p></td>
+<td><p>m</p></td>
+<td><p>Distance between the COG and the front bumper</p></td>
+</tr>
+<tr class="row-even"><td><p>distanceCOGtoFrontAxle</p></td>
+<td><p>Double</p></td>
+<td><p>m</p></td>
+<td><p>Distance between the COG and the front axle</p></td>
+</tr>
+<tr class="row-odd"><td><p>heightCOG</p></td>
+<td><p>Double</p></td>
+<td><p>m</p></td>
+<td><p>Height of the center of gravity above ground</p></td>
+</tr>
+<tr class="row-even"><td><p>weight</p></td>
+<td><p>Double</p></td>
+<td><p>kg</p></td>
+<td><p>Overall mass of the vehicle</p></td>
+</tr>
+<tr class="row-odd"><td><p>momentInertiaRoll</p></td>
+<td><p>Double</p></td>
+<td><p>kgm²</p></td>
+<td><p>Moment of inertia along the vehicle’s longitudinal axis</p></td>
+</tr>
+<tr class="row-even"><td><p>momentInertiaPitch</p></td>
+<td><p>Double</p></td>
+<td><p>kgm²</p></td>
+<td><p>Moment of inertia along the vehicle’s lateral axis</p></td>
+</tr>
+<tr class="row-odd"><td><p>momentInertiaYaw</p></td>
+<td><p>Double</p></td>
+<td><p>kgm²</p></td>
+<td><p>Moment of inertia along the vehicle’s vertical axis</p></td>
+</tr>
+<tr class="row-even"><td><p>frontSurface</p></td>
+<td><p>Double</p></td>
+<td><p>m²</p></td>
+<td><p>Projected front surface of the vehicle</p></td>
+</tr>
+<tr class="row-odd"><td><p>airDragCoefficient</p></td>
+<td><p>Double</p></td>
+<td></td>
+<td><p>Air drag coefficient of the vehicle</p></td>
+</tr>
+</tbody>
+</table>
+</section>
+<section id="powertrain-related-parameters">
+<h3>Powertrain related parameters<a class="headerlink" href="#powertrain-related-parameters" title="Link to this heading"></a></h3>
+<table class="tight-table docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Variable</p></th>
+<th class="head"><p>Type</p></th>
+<th class="head"><p>Unit</p></th>
+<th class="head"><p>Description</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>minimumEngineSpeed</p></td>
+<td><p>Double</p></td>
+<td><p>1/min</p></td>
+<td><p>Idle speed of the engine</p></td>
+</tr>
+<tr class="row-odd"><td><p>maximumEngineSpeed</p></td>
+<td><p>Double</p></td>
+<td><p>1/min</p></td>
+<td><p>Maximum engine speed</p></td>
+</tr>
+<tr class="row-even"><td><p>minimumEngineTorque</p></td>
+<td><p>Double</p></td>
+<td><p>Nm</p></td>
+<td><p>Minimum torque of the engine</p></td>
+</tr>
+<tr class="row-odd"><td><p>maximumEngineTorque</p></td>
+<td><p>Double</p></td>
+<td><p>Nm</p></td>
+<td><p>Maximum torque of the engine</p></td>
+</tr>
+<tr class="row-even"><td><p>numberOfGears</p></td>
+<td><p>Integer</p></td>
+<td></td>
+<td><p>Number of gears in the gearbox</p></td>
+</tr>
+<tr class="row-odd"><td><p>axleRatio</p></td>
+<td><p>Double</p></td>
+<td></td>
+<td><p>Ratio of the axle gear</p></td>
+</tr>
+<tr class="row-even"><td><p>decelerationFromPowertrainDrag</p></td>
+<td><p>Double</p></td>
+<td><p>m/s²</p></td>
+<td><p>Deceleration caused by the overall powertrain drag torque</p></td>
+</tr>
+</tbody>
+</table>
+</section>
+<section id="steering-related-parameters">
+<h3>Steering related parameters<a class="headerlink" href="#steering-related-parameters" title="Link to this heading"></a></h3>
+<table class="tight-table docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Variable</p></th>
+<th class="head"><p>Type</p></th>
+<th class="head"><p>Unit</p></th>
+<th class="head"><p>Description</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>steeringRatio</p></td>
+<td><p>Double</p></td>
+<td></td>
+<td><p>Ratio of the steering gear</p></td>
+</tr>
+<tr class="row-odd"><td><p>maximumSteeringWheelAngleAmplitude</p></td>
+<td><p>Double</p></td>
+<td><p>degree</p></td>
+<td><p>Maximum amplitude of the steering wheel angle</p></td>
+</tr>
+</tbody>
+</table>
+</section>
+</section>
+<section id="sensor-driver">
+<h2>Sensor_Driver<a class="headerlink" href="#sensor-driver" title="Link to this heading"></a></h2>
+<p>The Sensor_Driver performs queries on the AgentInterface to gather information about the own agent and its surroundings.
+These are forwarded to the driver modules and the Algorithm modules, which use them for their calculations.</p>
+<p>See <a class="reference internal" href="../../user_guide/sim_user_guide/components/sensor_driver.html#sensor-driver"><span class="std std-ref">Sensor_Driver</span></a>.</p>
+</section>
+<section id="sensor-osi">
+<h2>Sensor_OSI<a class="headerlink" href="#sensor-osi" title="Link to this heading"></a></h2>
+<p>This module is a representation of various sensors and uses OSI for its input and output.
+Currently, two types of sensors (SensorGeometric2D and ReceiverCar2X) are available.</p>
+<section id="sensorgeometric2d">
+<h3>SensorGeometric2D<a class="headerlink" href="#sensorgeometric2d" title="Link to this heading"></a></h3>
+<p>The SensorGeometric2D detects all objects in a sector with specified range and opening angle.
+The input of the sensor is a OSI SensorView generated by the OSI World and its output is a OSI SensorData structure.</p>
+<p>For generation of the SensorView, a SensorViewConfiguration has to be provided by the sensor to the OSI World. See image for a visualization of the
+dataflow.</p>
+<figure class="align-default" id="id4">
+<img alt="../../_images/SensorView_Dataflow.png" src="../../_images/SensorView_Dataflow.png" />
+<figcaption>
+<p><span class="caption-text">OSI SensorView dataflow</span><a class="headerlink" href="#id4" title="Link to this image"></a></p>
+</figcaption>
+</figure>
+<p>From OSI development perspective, the OSI World would have to send back a SensorViewConfiguration to the sensor, with the contents describing the
+actual configuration of the SensorView (since the World is maybe notable to provide the requested information).
+As we have full control over the simulation environment, this back-channel is skipped and SensorView according to the sensor’S SensorView configuration
+will always be provided.</p>
+<p>To test whether an object is inside our sector we check
+1. if it is inside the circle around the sensor with radius the detection range and
+2. if it intersects a suitable polygon</p>
+<p>Depending on the opening-angle the polygon in 2) has either four (angle &lt; 180°) or five corners (angle &gt;= 180°).</p>
+<figure class="align-default" id="id5">
+<img alt="../../_images/sensor2d_kite_polygon.svg" src="../../_images/sensor2d_kite_polygon.svg" /><figcaption>
+<p><span class="caption-text">four-corner kite polygon for angle lower than 180°</span><a class="headerlink" href="#id5" title="Link to this image"></a></p>
+</figcaption>
+</figure>
+<table class="docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Object</p></th>
+<th class="head"><p>intersects circle</p></th>
+<th class="head"><p>intersects polygon</p></th>
+<th class="head"><p>detected</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>A</p></td>
+<td><p>true</p></td>
+<td><p>false</p></td>
+<td><p>false</p></td>
+</tr>
+<tr class="row-odd"><td><p>B</p></td>
+<td><p>true</p></td>
+<td><p>true</p></td>
+<td><p>true</p></td>
+</tr>
+<tr class="row-even"><td><p>C</p></td>
+<td><p>false</p></td>
+<td><p>true</p></td>
+<td><p>false</p></td>
+</tr>
+<tr class="row-odd"><td><p>D</p></td>
+<td><p>false</p></td>
+<td><p>false</p></td>
+<td><p>false</p></td>
+</tr>
+<tr class="row-even"><td><p>E</p></td>
+<td><p>true</p></td>
+<td><p>true</p></td>
+<td><p>true</p></td>
+</tr>
+</tbody>
+</table>
+<figure class="align-default" id="id6">
+<img alt="../../_images/sensor2d_five_corner_polygon.svg" src="../../_images/sensor2d_five_corner_polygon.svg" /><figcaption>
+<p><span class="caption-text">five-corner polygon for angle greater or equal 180° and greater 360°</span><a class="headerlink" href="#id6" title="Link to this image"></a></p>
+</figcaption>
+</figure>
+<table class="docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Object</p></th>
+<th class="head"><p>intersects circle</p></th>
+<th class="head"><p>intersects polygon</p></th>
+<th class="head"><p>detected</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>A</p></td>
+<td><p>false</p></td>
+<td><p>true</p></td>
+<td><p>false</p></td>
+</tr>
+<tr class="row-odd"><td><p>B</p></td>
+<td><p>true</p></td>
+<td><p>true</p></td>
+<td><p>true</p></td>
+</tr>
+<tr class="row-even"><td><p>C</p></td>
+<td><p>true</p></td>
+<td><p>true</p></td>
+<td><p>true</p></td>
+</tr>
+<tr class="row-odd"><td><p>D</p></td>
+<td><p>true</p></td>
+<td><p>false</p></td>
+<td><p>false</p></td>
+</tr>
+<tr class="row-even"><td><p>E</p></td>
+<td><p>false</p></td>
+<td><p>false</p></td>
+<td><p>false</p></td>
+</tr>
+</tbody>
+</table>
+<p>For convex BBoxes the above will give correct detection results.</p>
+<p>Both polygons are constructed from corner-points consisting out of the intersection between the opening-angle boundaries at maximum detection range and their corresponding tangents.</p>
+</section>
+<section id="function">
+<h3>Function<a class="headerlink" href="#function" title="Link to this heading"></a></h3>
+<ol class="arabic simple">
+<li><p>Construct the polygon based on the opening-angle</p></li>
+<li><p>Check if detection-field (polygon) intersects with any BBox (object-detection)</p></li>
+<li><p>Calculate the distance between sensor and object</p></li>
+<li><p>if (dist &lt;= range &amp;&amp; isIntersecting) -&gt; object is in circular sector (object validation)</p></li>
+</ol>
+</section>
+<section id="cases">
+<h3>Cases<a class="headerlink" href="#cases" title="Link to this heading"></a></h3>
+<ul class="simple">
+<li><p>For angles &lt; 1.0 * pi a four-corner (kite) polygon can be constructed out of two radiuses and two tangents.</p></li>
+<li><p>For angles &gt; = 1.0 * pi and &lt; 2.0 * pi a five-corner polygon can be constructed of two radiuses an three tangents.</p></li>
+<li><p>For opening-angle of exactly 2.0 * pi the distance information suffices. No polygon is needed.</p></li>
+</ul>
+</section>
+<section id="visual-obstruction">
+<h3>Visual Obstruction<a class="headerlink" href="#visual-obstruction" title="Link to this heading"></a></h3>
+<p>Objects in front of others block the sensors line of sight.
+If an object is large enough it might visually obstruct others.
+To check if one or multiple objects in combination “shadow” other objects the flag <code class="docutils literal notranslate"><span class="pre">EnableVisualObstruction</span></code> can be set.
+Also the minimum required percentage of the visible area of an object to be detected can be specified.
+The implemented algorithm uses the concept of shadow-casting, where the sensor cone is assumed to be the light source and the resulting shadow is calculated for each object.
+If an object is shadowed too much, it is removed from the list of detected objects.</p>
+<p>Shadow casting is calculated as follows:</p>
+<ol class="arabic simple">
+<li><p>Approximate detection field as circular sector.</p></li>
+<li><p>Calculate the casted shadow of each object inside the detection field.</p></li>
+<li><p>Remove bounding box of object from shadow, so that it can be detected.</p></li>
+<li><p>Remove the casted shadow from the detection field.</p></li>
+<li><p>For each object, check if remaining area is inside the remaining polygon.</p></li>
+<li><p>Remove objects, if relation <code class="docutils literal notranslate"><span class="pre">covered</span> <span class="pre">object</span> <span class="pre">area/total</span> <span class="pre">object</span> <span class="pre">area</span></code> is smaller than a parameterizable threshold.</p></li>
+</ol>
+<p><strong>Example</strong></p>
+<p>Assume that the vehicle ahead is fully captured by the following vehicle’s sensor cone.
+The outer points of the bounding box define the cone of the shadow.</p>
+<figure class="align-default" id="id7">
+<img alt="../../_images/shadow_casting_step01.svg" src="../../_images/shadow_casting_step01.svg" /><figcaption>
+<p><span class="caption-text">Vehicle within sensor range</span><a class="headerlink" href="#id7" title="Link to this image"></a></p>
+</figcaption>
+</figure>
+<p>For calculation of the shadow polygon, these boundary vectors needs to be extended w.r.t. detection range.</p>
+<p>In order to calculate the shadow polygon, the bounding vectors needs to be scaled with regard to the detection area.
+Note that extending only to the edges of the detection area would produce too small a shadow.</p>
+<figure class="align-default" id="id8">
+<img alt="../../_images/shadow_casting_step02.svg" src="../../_images/shadow_casting_step02.svg" /><figcaption>
+<p><span class="caption-text">Too small shadow with missing area in red</span><a class="headerlink" href="#id8" title="Link to this image"></a></p>
+</figcaption>
+</figure>
+<p>To avoid numerical scaling problems related to the length of the bounding vectors, the shadow is not stretched to a fixed size.
+Instead, the internal algorithm overestimates the size of the shadow, with the detection range as a guaranteed lower limit.</p>
+<figure class="align-default" id="id9">
+<img alt="../../_images/shadow_casting_step03.svg" src="../../_images/shadow_casting_step03.svg" /><figcaption>
+<p><span class="caption-text">Overestimated shadow</span><a class="headerlink" href="#id9" title="Link to this image"></a></p>
+</figcaption>
+</figure>
+<p>For this guarantee, the actual detection area must be approximated along the edge of the ideal circle (rather than by a tangential approximation).
+With regard to typical object sizes and detection areas, the error can be considered negligible.</p>
+<figure class="align-default" id="id10">
+<img alt="../../_images/shadow_casting_step04.svg" src="../../_images/shadow_casting_step04.svg" /><figcaption>
+<p><span class="caption-text">Approximation of the sensor cone</span><a class="headerlink" href="#id10" title="Link to this image"></a></p>
+</figcaption>
+</figure>
+<p>Next, the object’s bounding box is removed from the shadow.</p>
+<figure class="align-default" id="id11">
+<img alt="../../_images/shadow_casting_step05.svg" src="../../_images/shadow_casting_step05.svg" /><figcaption>
+<p><span class="caption-text">Approximated sensor cone and shadow with removed bounding box</span><a class="headerlink" href="#id11" title="Link to this image"></a></p>
+</figcaption>
+</figure>
+<p>Finally, the shadow is subtracted from the sensor cone.</p>
+<figure class="align-default" id="id12">
+<img alt="../../_images/shadow_casting_step06.svg" src="../../_images/shadow_casting_step06.svg" /><figcaption>
+<p><span class="caption-text">Sensor cone with removed shadow</span><a class="headerlink" href="#id12" title="Link to this image"></a></p>
+</figcaption>
+</figure>
+<p>The process is repeated for each object in the detection area.</p>
+<figure class="align-default" id="id13">
+<img alt="../../_images/shadow_casting_step07.svg" src="../../_images/shadow_casting_step07.svg" /><figcaption>
+<p><span class="caption-text">Shadow of partially occluded vehicle</span><a class="headerlink" href="#id13" title="Link to this image"></a></p>
+</figcaption>
+</figure>
+<figure class="align-default" id="id14">
+<img alt="../../_images/shadow_casting_step08.svg" src="../../_images/shadow_casting_step08.svg" /><figcaption>
+<p><span class="caption-text">Sensor cone with removed shadow of partially occluded vehicle</span><a class="headerlink" href="#id14" title="Link to this image"></a></p>
+</figcaption>
+</figure>
+<p>Note that the order of shadow calculation and subtraction is irrelevant.</p>
+</section>
+</section>
+<section id="sensorfusionosi">
+<h2>SensorFusionOSI<a class="headerlink" href="#sensorfusionosi" title="Link to this heading"></a></h2>
+<p>The SensorFusionOSI module allows unsorted aggregation of any data provided by sensors. All sampled detected objects can then be broadcasted to connected ADAS.</p>
+<p>It collects all SensorDataSignals and merges them into a single SensorDataSignal.</p>
+</section>
+<section id="signalprioritizer">
+<span id="agentcomponents-signalprioritizer"></span><h2>SignalPrioritizer<a class="headerlink" href="#signalprioritizer" title="Link to this heading"></a></h2>
+<p>All channels can only have one source.
+If one module can have the same input type from multiple sources a prioritizer module is needed in between.
+All sources then get an output channel to the prioritizer module and the prioritizer gets an output to the module, which uses this signal.
+If more than an component sends an active signal during the same timestep, the prioritizer forwards only the signal from the input channel with the highest priority.
+These priorities are set as parameters in the systemconfigblueprint.xml, where the key corresponds the the id of the input channel and the value is the priority (higher value is prioritized).
+In the following example the channel with id 102 has the highest priority (3) and the channel with id 100 has the lowest priority (1).</p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;component&gt;</span>
+<span class="w">  </span><span class="nt">&lt;id&gt;</span>PrioritizerName<span class="nt">&lt;/id&gt;</span>
+<span class="w">  </span><span class="nt">&lt;schedule&gt;</span>
+<span class="w">    </span><span class="nt">&lt;priority&gt;</span>150<span class="nt">&lt;/priority&gt;</span>
+<span class="w">    </span><span class="nt">&lt;offset&gt;</span>0<span class="nt">&lt;/offset&gt;</span>
+<span class="w">    </span><span class="nt">&lt;cycle&gt;</span>100<span class="nt">&lt;/cycle&gt;</span>
+<span class="w">    </span><span class="nt">&lt;response&gt;</span>0<span class="nt">&lt;/response&gt;</span>
+<span class="w">  </span><span class="nt">&lt;/schedule&gt;</span>
+<span class="w">  </span><span class="nt">&lt;library&gt;</span>SignalPrioritizer<span class="nt">&lt;/library&gt;</span>
+<span class="w">  </span><span class="nt">&lt;parameters&gt;</span>
+<span class="w">    </span><span class="nt">&lt;parameter&gt;</span>
+<span class="w">      </span><span class="nt">&lt;id&gt;</span>100<span class="nt">&lt;/id&gt;</span>
+<span class="w">      </span><span class="nt">&lt;type&gt;</span>int<span class="nt">&lt;/type&gt;</span>
+<span class="w">      </span><span class="nt">&lt;unit/&gt;</span>
+<span class="w">      </span><span class="nt">&lt;value&gt;</span>1<span class="nt">&lt;/value&gt;</span>
+<span class="w">    </span><span class="nt">&lt;/parameter&gt;</span>
+<span class="w">    </span><span class="nt">&lt;parameter&gt;</span>
+<span class="w">      </span><span class="nt">&lt;id&gt;</span>101<span class="nt">&lt;/id&gt;</span>
+<span class="w">      </span><span class="nt">&lt;type&gt;</span>int<span class="nt">&lt;/type&gt;</span>
+<span class="w">      </span><span class="nt">&lt;unit/&gt;</span>
+<span class="w">      </span><span class="nt">&lt;value&gt;</span>2<span class="nt">&lt;/value&gt;</span>
+<span class="w">    </span><span class="nt">&lt;/parameter&gt;</span>
+<span class="w">    </span><span class="nt">&lt;parameter&gt;</span>
+<span class="w">      </span><span class="nt">&lt;id&gt;</span>102<span class="nt">&lt;/id&gt;</span>
+<span class="w">      </span><span class="nt">&lt;type&gt;</span>int<span class="nt">&lt;/type&gt;</span>
+<span class="w">      </span><span class="nt">&lt;unit/&gt;</span>
+<span class="w">      </span><span class="nt">&lt;value&gt;</span>3<span class="nt">&lt;/value&gt;</span>
+<span class="w">    </span><span class="nt">&lt;/parameter&gt;</span>
+<span class="w">  </span><span class="nt">&lt;/parameters&gt;</span>
+<span class="nt">&lt;/component&gt;</span>
+</pre></div>
+</div>
+<p>One prioritizer module can only handle signals of the same type and the signal class must be derived from ComponentStateSignal.
+If there is no signal in one time step, then the signal of the previous time step is hold.</p>
+<p><strong>Existing prioritizer modules</strong></p>
+<ul class="simple">
+<li><p>PrioritizerAccelerationVehicleComponents</p></li>
+<li><p>PrioritizerSteeringVehicleComponents</p></li>
+<li><p>PrioritizerTurningIndicator</p></li>
+<li><p>PrioritizerLongitudinal</p></li>
+<li><p>PrioritizerSteering</p></li>
+<li><p>PrioritizerDynamics</p></li>
+</ul>
+</section>
+<section id="componentcontroller">
+<span id="agentcomponents-componentcontroller"></span><h2>ComponentController<a class="headerlink" href="#componentcontroller" title="Link to this heading"></a></h2>
+<section id="overview">
+<h3>Overview<a class="headerlink" href="#overview" title="Link to this heading"></a></h3>
+<p>The ComponentController (CC) is used to configure and handle dependencies between other vehicle components.</p>
+<p>Example use cases could be:</p>
+<ul class="simple">
+<li><p>Cruise control:</p>
+<ul>
+<li><p>driver requesting higher acceleration than cruise control overrides the latter</p></li>
+<li><p>driver braking deactivates cruise control</p></li>
+</ul>
+</li>
+<li><p>Lane keeping assistant:</p>
+<ul>
+<li><p>cannot be activated by driver, if emergency braking is currently active</p></li>
+<li><p>stays active, when emergency braking occurs (i. e. by other ADAS)</p></li>
+</ul>
+</li>
+</ul>
+<p>The responsibilies of the CC are:</p>
+<ul class="simple">
+<li><p>Handling of all dependencies between <em>VehicleComponents</em> in case a component wants to activate</p></li>
+<li><p>Make information about driver, <em>TrajectoryFollower</em> and other <em>VehicleComponents</em> available to each other</p></li>
+<li><p>Determine the highest allowed activation state of a component and notify the affected component about this state</p></li>
+</ul>
+<p>To achieve this tasks, each component is assigned a maximum allowed state in each time step. This state is of type ComponentState,
+which defines <em>Disabled</em>, <em>Armed</em> or <em>Active</em> as allowed states.
+Drivers can be in a state of either <em>Active</em> or <em>Passive</em>.</p>
+</section>
+<section id="state-handling-inside-vehicle-component">
+<h3>State handling inside Vehicle Component<a class="headerlink" href="#state-handling-inside-vehicle-component" title="Link to this heading"></a></h3>
+<p>Within a vehicle component, the information flow should be implemented as follows:</p>
+<ol class="arabic simple">
+<li><p>The vehicle component retrieves the information of other components and the current maximum allowed state from the CC.
+Other components include drivers, trajectory followers and all other vehicle components connected to the CC.</p></li>
+<li><p>Based on that information the vehicle component determines its current desired state.</p></li>
+<li><p>The desired state is sent to the CC.</p></li>
+</ol>
+<p>The CC handles all the dependencies between different components and determines the maximum allowed state for each component based
+on the configuration of the CC.</p>
+</section>
+<section id="used-signals">
+<h3>Used signals<a class="headerlink" href="#used-signals" title="Link to this heading"></a></h3>
+<p>The CC communicates with the controlled components via framework signals.</p>
+<p>Inputs to the ComponentController:</p>
+<table class="tight-table docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Source</p></th>
+<th class="head"><p>Contents</p></th>
+<th class="head"><p>Signal</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>TrajectoryFollower</p></td>
+<td><p>Current state</p></td>
+<td><p>ComponentStateSignal</p></td>
+</tr>
+<tr class="row-odd"><td><p>Driver</p></td>
+<td><p>Current state, pedal activity</p></td>
+<td><p>DriverStateSignal</p></td>
+</tr>
+<tr class="row-even"><td><p>VehicleComponent</p></td>
+<td><p>Current state, desired state, generic ADAS parameters</p></td>
+<td><p>VehicleCompToCompCtrlSignal</p></td>
+</tr>
+</tbody>
+</table>
+<p>Output to other components:</p>
+<table class="tight-table docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Destination</p></th>
+<th class="head"><p>Contents</p></th>
+<th class="head"><p>Signal</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>TrajectoryFollower</p></td>
+<td><p>Current max. reachable state</p></td>
+<td><p>ComponentStateSignal</p></td>
+</tr>
+<tr class="row-odd"><td><p>Driver</p></td>
+<td><p>List of all ADAS with names, stati and types</p></td>
+<td><p>AdasStateSignal</p></td>
+</tr>
+<tr class="row-even"><td><p>VehicleComponent</p></td>
+<td><p>Current max. reachable state, list of all ADAS with names, stati and types</p></td>
+<td><p>CompCtrlToVehicleCompSignal</p></td>
+</tr>
+</tbody>
+</table>
+</section>
+</section>
+</section>
+
+
+           </div>
+          </div>
+          <footer><div class="rst-footer-buttons" role="navigation" aria-label="Footer">
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-  <section id="coordinate-systems">
-<span id="coordinatesystems"></span><h1>Coordinate Systems<a class="headerlink" href="#coordinate-systems" title="Link to this heading"></a></h1>
-<p><strong>openPASS</strong> uses three different coordinate systems.
-All systems rotate counterclockwise and use radian.</p>
-<section id="world-coordinate-system">
-<span id="coordinatesystems-world"></span><h2>World Coordinate System<a class="headerlink" href="#world-coordinate-system" title="Link to this heading"></a></h2>
-<p>The world coordinate system is absolute.
-It is the parent coordinate system and all other systems are relative to the world coordinate system.
-This system consists of <em>x</em>, <em>y</em> and <em>z</em> (<em>z</em> is currently unused).</p>
-<figure class="align-default" id="id1">
-<img alt="../../_images/WorldCoordinateSystem.svg" src="../../_images/WorldCoordinateSystem.svg" /><figcaption>
-<p><span class="caption-text">World Coordinate System</span><a class="headerlink" href="#id1" title="Link to this image"></a></p>
-</figcaption>
-</figure>
-</section>
-<section id="road-coordinate-system">
-<span id="coordinatesystems-road"></span><h2>Road Coordinate System<a class="headerlink" href="#road-coordinate-system" title="Link to this heading"></a></h2>
-<p>The road coordinate system is relative to the position of the road in the world coordinate system.
-It consists of <em>s</em> and <em>t</em> coordinates, where <em>s</em> describes the longitudinal position along the road.
-At the beginning of the road <em>s</em> = 0, increasing with the downstream direction of the road.
-The coordinate <em>t</em> describes the lateral position relative to the center of the road, where <em>t</em> &gt; 0 indicates left side and <em>t</em> &lt; 0 right side of the road with respect to the road direction.</p>
-<figure class="align-default" id="id2">
-<img alt="../../_images/RoadCoordinateSystem.svg" src="../../_images/RoadCoordinateSystem.svg" /><figcaption>
-<p><span class="caption-text">Road Coordinate System</span><a class="headerlink" href="#id2" title="Link to this image"></a></p>
-</figcaption>
-</figure>
-<section id="agent-coordinate-system">
-<span id="coordinatesystems-agent"></span><h3>Agent Coordinate System<a class="headerlink" href="#agent-coordinate-system" title="Link to this heading"></a></h3>
-<p>The agent coordinate system is relative to the position of the agent in the world coordinate system.
-It uses longitudinal, lateral and height (height currently unused).
-The system originates at the <em>reference point</em>, which is located at the center of the rear axle.
-The longitudinal axis is parallel to the length of the car and the lateral axis is parallel to the width of the car</p>
-<figure class="align-default" id="id3">
-<img alt="../../_images/AgentCoordinateSystem.svg" src="../../_images/AgentCoordinateSystem.svg" /><figcaption>
-<p><span class="caption-text">Agent Coordinate System</span><a class="headerlink" href="#id3" title="Link to this image"></a></p>
-</figcaption>
-</figure>
-</section>
-</section>
-<section id="sensor-coordinate-system">
-<span id="coordinatesystems-sensor"></span><h2>Sensor Coordinate System<a class="headerlink" href="#sensor-coordinate-system" title="Link to this heading"></a></h2>
-<p>Each sensor has its own coordinate system whose origin is the mounting position of the sensor.
-The <em>x</em> axis points in the direction of the sensor as defined by the mounting orientation.
-All values in the OSI SensorData generated by a sensor are in its sensor coordinate system.
-Vectorial values such as velocity and acceleration are relative to the own vehicle’s velocity and acceleration at the sensor position.</p>
-<section id="conversions-between-sensordata-coordinate-systems">
-<span id="coordinatesystems-sensor-transformation"></span><h3>Conversions between SensorData coordinate systems<a class="headerlink" href="#conversions-between-sensordata-coordinate-systems" title="Link to this heading"></a></h3>
-<p>Since all values in the SensorData are relative to the sensor the following conversions are needed.</p>
-<p>In the Sensor_OSI where the SensorData is written, data for other objects is calculated according to these steps:</p>
-<ol class="arabic simple">
-<li><p>Get position, velocity and acceleration from the SensorView in world coordinates</p></li>
-<li><dl class="simple">
-<dt>For the position:</dt><dd><ol class="arabic simple">
-<li><p>Translation by the sensor position (in world coordinates, inverse)</p></li>
-<li><p>Rotation by the sensor orientation (in world coordinates, inverse)</p></li>
-</ol>
-</dd>
-</dl>
-</li>
-<li><dl class="simple">
-<dt>For the velocity and acceleration (vectorial):</dt><dd><ol class="arabic simple">
-<li><p>Subtract own velocity / acceleration at sensor position</p></li>
-<li><p>Rotation by the sensor orientation (in world coordinates, inverse)</p></li>
-</ol>
-</dd>
-</dl>
-</li>
-</ol>
-<p>ADAS using SensorData may need to convert the values back to the agent coordinate system.
-The SensorFusion_Errorless also converts the merged SensorData to agent coordinate and sets the mounting position to the agents reference point.
-This calculation follows the following steps:</p>
-<ol class="arabic simple">
-<li><p>Get position, velocity and acceleration from the SensorData in sensor coordinates</p></li>
-<li><dl class="simple">
-<dt>For the position:</dt><dd><ol class="arabic simple">
-<li><p>Rotation by the sensor orientation (mounting position in agent coordinates)</p></li>
-<li><p>Translation by the sensor position (mounting position in agent coordinates)</p></li>
-</ol>
-</dd>
-</dl>
-</li>
-<li><dl class="simple">
-<dt>For the velocity and acceleration (vectorial):</dt><dd><ol class="arabic simple">
-<li><p>Calculate the difference between the ego velocity / acceleration at the sensor position to the reference point (in world coordinates)</p></li>
-<li><p>Rotation of this difference by the inverse agent orientation</p></li>
-<li><p>Rotation of objects’ velocity / acceleration by the sensor orientation (mounting position in agent coordinates)</p></li>
-<li><p>Add results of the two previous steps</p></li>
-</ol>
-</dd>
-</dl>
-</li>
-</ol>
-</section>
-</section>
-</section>
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+<li class="toctree-l2 current"><a class="current reference internal" href="#">Coordinate Systems</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="#world-coordinate-system">World Coordinate System</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#road-coordinate-system">Road Coordinate System</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="#agent-coordinate-system">Agent Coordinate System</a></li>
+</ul>
+</li>
+<li class="toctree-l3"><a class="reference internal" href="#sensor-coordinate-system">Sensor Coordinate System</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="#conversions-between-sensordata-coordinate-systems">Conversions between SensorData coordinate systems</a></li>
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+             
+  <section id="coordinate-systems">
+<span id="coordinatesystems"></span><h1>Coordinate Systems<a class="headerlink" href="#coordinate-systems" title="Link to this heading"></a></h1>
+<p><strong>openPASS</strong> uses three different coordinate systems.
+All systems rotate counterclockwise and use radian.</p>
+<section id="world-coordinate-system">
+<span id="coordinatesystems-world"></span><h2>World Coordinate System<a class="headerlink" href="#world-coordinate-system" title="Link to this heading"></a></h2>
+<p>The world coordinate system is absolute.
+It is the parent coordinate system and all other systems are relative to the world coordinate system.
+This system consists of <em>x</em>, <em>y</em> and <em>z</em> (<em>z</em> is currently unused).</p>
+<figure class="align-default" id="id1">
+<img alt="../../_images/WorldCoordinateSystem.svg" src="../../_images/WorldCoordinateSystem.svg" /><figcaption>
+<p><span class="caption-text">World Coordinate System</span><a class="headerlink" href="#id1" title="Link to this image"></a></p>
+</figcaption>
+</figure>
+</section>
+<section id="road-coordinate-system">
+<span id="coordinatesystems-road"></span><h2>Road Coordinate System<a class="headerlink" href="#road-coordinate-system" title="Link to this heading"></a></h2>
+<p>The road coordinate system is relative to the position of the road in the world coordinate system.
+It consists of <em>s</em> and <em>t</em> coordinates, where <em>s</em> describes the longitudinal position along the road.
+At the beginning of the road <em>s</em> = 0, increasing with the downstream direction of the road.
+The coordinate <em>t</em> describes the lateral position relative to the center of the road, where <em>t</em> &gt; 0 indicates left side and <em>t</em> &lt; 0 right side of the road with respect to the road direction.</p>
+<figure class="align-default" id="id2">
+<img alt="../../_images/RoadCoordinateSystem.svg" src="../../_images/RoadCoordinateSystem.svg" /><figcaption>
+<p><span class="caption-text">Road Coordinate System</span><a class="headerlink" href="#id2" title="Link to this image"></a></p>
+</figcaption>
+</figure>
+<section id="agent-coordinate-system">
+<span id="coordinatesystems-agent"></span><h3>Agent Coordinate System<a class="headerlink" href="#agent-coordinate-system" title="Link to this heading"></a></h3>
+<p>The agent coordinate system is relative to the position of the agent in the world coordinate system.
+It uses longitudinal, lateral and height (height currently unused).
+The system originates at the <em>reference point</em>, which is located at the center of the rear axle.
+The longitudinal axis is parallel to the length of the car and the lateral axis is parallel to the width of the car</p>
+<figure class="align-default" id="id3">
+<img alt="../../_images/AgentCoordinateSystem.svg" src="../../_images/AgentCoordinateSystem.svg" /><figcaption>
+<p><span class="caption-text">Agent Coordinate System</span><a class="headerlink" href="#id3" title="Link to this image"></a></p>
+</figcaption>
+</figure>
+</section>
+</section>
+<section id="sensor-coordinate-system">
+<span id="coordinatesystems-sensor"></span><h2>Sensor Coordinate System<a class="headerlink" href="#sensor-coordinate-system" title="Link to this heading"></a></h2>
+<p>Each sensor has its own coordinate system whose origin is the mounting position of the sensor.
+The <em>x</em> axis points in the direction of the sensor as defined by the mounting orientation.
+All values in the OSI SensorData generated by a sensor are in its sensor coordinate system.
+Vectorial values such as velocity and acceleration are relative to the own vehicle’s velocity and acceleration at the sensor position.</p>
+<section id="conversions-between-sensordata-coordinate-systems">
+<span id="coordinatesystems-sensor-transformation"></span><h3>Conversions between SensorData coordinate systems<a class="headerlink" href="#conversions-between-sensordata-coordinate-systems" title="Link to this heading"></a></h3>
+<p>Since all values in the SensorData are relative to the sensor the following conversions are needed.</p>
+<p>In the Sensor_OSI where the SensorData is written, data for other objects is calculated according to these steps:</p>
+<ol class="arabic simple">
+<li><p>Get position, velocity and acceleration from the SensorView in world coordinates</p></li>
+<li><dl class="simple">
+<dt>For the position:</dt><dd><ol class="arabic simple">
+<li><p>Translation by the sensor position (in world coordinates, inverse)</p></li>
+<li><p>Rotation by the sensor orientation (in world coordinates, inverse)</p></li>
+</ol>
+</dd>
+</dl>
+</li>
+<li><dl class="simple">
+<dt>For the velocity and acceleration (vectorial):</dt><dd><ol class="arabic simple">
+<li><p>Subtract own velocity / acceleration at sensor position</p></li>
+<li><p>Rotation by the sensor orientation (in world coordinates, inverse)</p></li>
+</ol>
+</dd>
+</dl>
+</li>
+</ol>
+<p>ADAS using SensorData may need to convert the values back to the agent coordinate system.
+The SensorFusion_Errorless also converts the merged SensorData to agent coordinate and sets the mounting position to the agents reference point.
+This calculation follows the following steps:</p>
+<ol class="arabic simple">
+<li><p>Get position, velocity and acceleration from the SensorData in sensor coordinates</p></li>
+<li><dl class="simple">
+<dt>For the position:</dt><dd><ol class="arabic simple">
+<li><p>Rotation by the sensor orientation (mounting position in agent coordinates)</p></li>
+<li><p>Translation by the sensor position (mounting position in agent coordinates)</p></li>
+</ol>
+</dd>
+</dl>
+</li>
+<li><dl class="simple">
+<dt>For the velocity and acceleration (vectorial):</dt><dd><ol class="arabic simple">
+<li><p>Calculate the difference between the ego velocity / acceleration at the sensor position to the reference point (in world coordinates)</p></li>
+<li><p>Rotation of this difference by the inverse agent orientation</p></li>
+<li><p>Rotation of objects’ velocity / acceleration by the sensor orientation (mounting position in agent coordinates)</p></li>
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-  <section id="eventdetector">
-<span id="id1"></span><h1>EventDetector<a class="headerlink" href="#eventdetector" title="Link to this heading"></a></h1>
-<p>EventDetectors are executed at the beginning of each timestep.
-A detector uses its access to the world and the framework to detect specific events.
-After detection, the event is usually forwarded to the EventNetwork.</p>
-<p>There are multiple EventDetectors available, all of them sharing a common interface.</p>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>Each instance of an EventDetector can have its own cycle time.</p>
-</div>
-<section id="collisiondetector">
-<span id="eventdetector-collisiondetector"></span><h2>CollisionDetector<a class="headerlink" href="#collisiondetector" title="Link to this heading"></a></h2>
-<p>The CollisionDetector checks whether a collision has occurred.
-Moving and stationary objects are taken into account.
-Objects are considered as collided, if their two-dimensional bounding boxes intersect.</p>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>The calculation of the bounding box itself considers a potential inclination by the roll angle of an object (projection onto the xy-plane).</p>
-</div>
-<p>In case of a collision, a CollisionEvent containing the participating object Ids is created.
-This type of event is picked up by the CollisionManipulator, which updates the state of the collided objects accordingly.</p>
-<p>The geometric parameters of the crash configuration in terms of collision angles are determined according to Wagstrom et. al. (<a class="reference external" href="https://www-esv.nhtsa.dot.gov/Proceedings/26/26ESV-000177.pdf">https://www-esv.nhtsa.dot.gov/Proceedings/26/26ESV-000177.pdf</a>). In addition, collision velocities are stored.</p>
-<figure class="align-default">
-<img alt="../../_images/crash_config.svg" src="../../_images/crash_config.svg" /></figure>
-<p>Furthermore, the CollisionDetector contains an impact evaluation which estimates based on momentum the changes in velocities due to the collision, considering vehicle mass ratio and initial crash configuration, e.h. <cite>VelocityChange</cite>. The impact model behind these calculations was developed and tested with full-overlap vehicle-to-vehicle collisions.</p>
-<p>The concept was described in detail at ESAR 2016 in Kolk et. al. (<a class="reference external" href="https://bast.opus.hbz-nrw.de/opus45-bast/frontdoor/deliver/index/docId/1825/file/F117_21.pdf">https://bast.opus.hbz-nrw.de/opus45-bast/frontdoor/deliver/index/docId/1825/file/F117_21.pdf</a>).</p>
-<p>The parameters stored for each collision are listed in detail in the table below.</p>
-<table class="docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Parameter</p></th>
-<th class="head"><p>Description</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>CollisionVelocity</p></td>
-<td><p>velocity of host prior to the collision</p></td>
-</tr>
-<tr class="row-odd"><td><p>CollisionWithAgent</p></td>
-<td><p>true (1) / false (0) if collision occured with another agent</p></td>
-</tr>
-<tr class="row-even"><td><p>HCPA</p></td>
-<td><p>host collision point angle in degree</p></td>
-</tr>
-<tr class="row-odd"><td><p>HCPAo</p></td>
-<td><p>normalized HCPA</p></td>
-</tr>
-<tr class="row-even"><td><p>OCPA</p></td>
-<td><p>opponent collision point angle</p></td>
-</tr>
-<tr class="row-odd"><td><p>OCPAo</p></td>
-<td><p>normalized OCPA</p></td>
-</tr>
-<tr class="row-even"><td><p>OYA</p></td>
-<td><p>opponent yaw angle</p></td>
-</tr>
-<tr class="row-odd"><td><p>OpponentCollisionVelocity</p></td>
-<td><p>velocity of opponent prior to the collision</p></td>
-</tr>
-<tr class="row-even"><td><p>OpponentPointOfContactLocalX</p></td>
-<td><p>X-coordinate of opponent point of contact in local coordinate system</p></td>
-</tr>
-<tr class="row-odd"><td><p>OpponentPointOfContactLocalY</p></td>
-<td><p>Y-coordinate of opponent point of contact in local coordinate system</p></td>
-</tr>
-<tr class="row-even"><td><p>OpponentVelocity</p></td>
-<td><p>velocity of opponent after the collision</p></td>
-</tr>
-<tr class="row-odd"><td><p>OpponentVelocityChange</p></td>
-<td><p>velocity change of opponent due to collision</p></td>
-</tr>
-<tr class="row-even"><td><p>OpponentVelocityDirection</p></td>
-<td><p>velocity direction</p></td>
-</tr>
-<tr class="row-odd"><td><p>OpponentYawVelocity</p></td>
-<td><p>opponent yaw velocity</p></td>
-</tr>
-<tr class="row-even"><td><p>PointOfContactLocalX</p></td>
-<td><p>X-coordinate of  point of contact in local coordinate system</p></td>
-</tr>
-<tr class="row-odd"><td><p>PointOfContactLocalY</p></td>
-<td><p>Y-coordinate of opponent point of contact in local coordinate system</p></td>
-</tr>
-<tr class="row-even"><td><p>Velocity</p></td>
-<td><p>velocity of host after the collision</p></td>
-</tr>
-<tr class="row-odd"><td><p>VelocityChange</p></td>
-<td><p>velocity change of host due to collision</p></td>
-</tr>
-</tbody>
-</table>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>Both geometric interpretation and impact calculation only work for collisions between two car agents. A more general application is work in progress.</p>
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+  <section id="eventdetector">
+<span id="id1"></span><h1>EventDetector<a class="headerlink" href="#eventdetector" title="Link to this heading"></a></h1>
+<p>EventDetectors are executed at the beginning of each timestep.
+A detector uses its access to the world and the framework to detect specific events.
+After detection, the event is usually forwarded to the EventNetwork.</p>
+<p>There are multiple EventDetectors available, all of them sharing a common interface.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>Each instance of an EventDetector can have its own cycle time.</p>
+</div>
+<section id="collisiondetector">
+<span id="eventdetector-collisiondetector"></span><h2>CollisionDetector<a class="headerlink" href="#collisiondetector" title="Link to this heading"></a></h2>
+<p>The CollisionDetector checks whether a collision has occurred.
+Moving and stationary objects are taken into account.
+Objects are considered as collided, if their two-dimensional bounding boxes intersect.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The calculation of the bounding box itself considers a potential inclination by the roll angle of an object (projection onto the xy-plane).</p>
+</div>
+<p>In case of a collision, a CollisionEvent containing the participating object Ids is created.
+This type of event is picked up by the CollisionManipulator, which updates the state of the collided objects accordingly.</p>
+<p>The geometric parameters of the crash configuration in terms of collision angles are determined according to Wagstrom et. al. (<a class="reference external" href="https://www-esv.nhtsa.dot.gov/Proceedings/26/26ESV-000177.pdf">https://www-esv.nhtsa.dot.gov/Proceedings/26/26ESV-000177.pdf</a>). In addition, collision velocities are stored.</p>
+<figure class="align-default">
+<img alt="../../_images/crash_config.svg" src="../../_images/crash_config.svg" /></figure>
+<p>Furthermore, the CollisionDetector contains an impact evaluation which estimates based on momentum the changes in velocities due to the collision, considering vehicle mass ratio and initial crash configuration, e.h. <cite>VelocityChange</cite>. The impact model behind these calculations was developed and tested with full-overlap vehicle-to-vehicle collisions.</p>
+<p>The concept was described in detail at ESAR 2016 in Kolk et. al. (<a class="reference external" href="https://bast.opus.hbz-nrw.de/opus45-bast/frontdoor/deliver/index/docId/1825/file/F117_21.pdf">https://bast.opus.hbz-nrw.de/opus45-bast/frontdoor/deliver/index/docId/1825/file/F117_21.pdf</a>).</p>
+<p>The parameters stored for each collision are listed in detail in the table below.</p>
+<table class="docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Parameter</p></th>
+<th class="head"><p>Description</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>CollisionVelocity</p></td>
+<td><p>velocity of host prior to the collision</p></td>
+</tr>
+<tr class="row-odd"><td><p>CollisionWithAgent</p></td>
+<td><p>true (1) / false (0) if collision occured with another agent</p></td>
+</tr>
+<tr class="row-even"><td><p>HCPA</p></td>
+<td><p>host collision point angle in degree</p></td>
+</tr>
+<tr class="row-odd"><td><p>HCPAo</p></td>
+<td><p>normalized HCPA</p></td>
+</tr>
+<tr class="row-even"><td><p>OCPA</p></td>
+<td><p>opponent collision point angle</p></td>
+</tr>
+<tr class="row-odd"><td><p>OCPAo</p></td>
+<td><p>normalized OCPA</p></td>
+</tr>
+<tr class="row-even"><td><p>OYA</p></td>
+<td><p>opponent yaw angle</p></td>
+</tr>
+<tr class="row-odd"><td><p>OpponentCollisionVelocity</p></td>
+<td><p>velocity of opponent prior to the collision</p></td>
+</tr>
+<tr class="row-even"><td><p>OpponentPointOfContactLocalX</p></td>
+<td><p>X-coordinate of opponent point of contact in local coordinate system</p></td>
+</tr>
+<tr class="row-odd"><td><p>OpponentPointOfContactLocalY</p></td>
+<td><p>Y-coordinate of opponent point of contact in local coordinate system</p></td>
+</tr>
+<tr class="row-even"><td><p>OpponentVelocity</p></td>
+<td><p>velocity of opponent after the collision</p></td>
+</tr>
+<tr class="row-odd"><td><p>OpponentVelocityChange</p></td>
+<td><p>velocity change of opponent due to collision</p></td>
+</tr>
+<tr class="row-even"><td><p>OpponentVelocityDirection</p></td>
+<td><p>velocity direction</p></td>
+</tr>
+<tr class="row-odd"><td><p>OpponentYawVelocity</p></td>
+<td><p>opponent yaw velocity</p></td>
+</tr>
+<tr class="row-even"><td><p>PointOfContactLocalX</p></td>
+<td><p>X-coordinate of  point of contact in local coordinate system</p></td>
+</tr>
+<tr class="row-odd"><td><p>PointOfContactLocalY</p></td>
+<td><p>Y-coordinate of opponent point of contact in local coordinate system</p></td>
+</tr>
+<tr class="row-even"><td><p>Velocity</p></td>
+<td><p>velocity of host after the collision</p></td>
+</tr>
+<tr class="row-odd"><td><p>VelocityChange</p></td>
+<td><p>velocity change of host due to collision</p></td>
+</tr>
+</tbody>
+</table>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>Both geometric interpretation and impact calculation only work for collisions between two car agents. A more general application is work in progress.</p>
+</div>
+</section>
+</section>
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diff --git a/content/html/advanced_topics/simulator/scenario_actions.html b/content/html/advanced_topics/simulator/scenario_actions.html
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-  <section id="mapping-of-openscenario-actions">
-<span id="mapping-scenario-actions"></span><h1>Mapping of OpenSCENARIO Actions<a class="headerlink" href="#mapping-of-openscenario-actions" title="Link to this heading"></a></h1>
-<table class="tight-table docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Layer/Component</p></th>
-<th class="head"><p>API/Datatype</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>OpenScenarioEngine</p></td>
-<td><p>mantle_api</p></td>
-</tr>
-<tr class="row-odd"><td><p>opSimualtion</p></td>
-<td><p>openPASS</p></td>
-</tr>
-<tr class="row-even"><td><p>FMU Interface</p></td>
-<td><p>osi3</p></td>
-</tr>
-</tbody>
-</table>
-<section id="acquirepositionaction">
-<h2>AcquirePositionAction<a class="headerlink" href="#acquirepositionaction" title="Link to this heading"></a></h2>
-<table class="tight-table docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>API/Datatype</p></th>
-<th class="head"><p>Used Methods/Classes/API</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>OpenSCENARIO</p></td>
-<td><p><strong>AcquirePositionAction</strong></p></td>
-</tr>
-<tr class="row-odd"><td><p>mantle_api</p></td>
-<td><p>Entity::AssignRoute(UniqueId, RouteDefinition)
-Entity::GetPosition()
-GeometryHelper::TranslateGlobalPositionLocally()</p></td>
-</tr>
-<tr class="row-even"><td rowspan="2"><p>openPASS</p></td>
-<td><p>SpawnParameter
-AgentInterface::GetPositionX()
-AgentInterface::GetPositionY()
-AgentInterface::GetYaw()</p></td>
-</tr>
-<tr class="row-odd"><td><p>RouteSamplerInterface::CalculateRouteFromWaypoints(std::vector&lt;mantle_api::RouteWaypoint&gt;)
-EgoAgentInterface::SetRoadGraph(RoadGraph, RoadGraphVertex, RoadGraphVertex)</p></td>
-</tr>
-<tr class="row-even"><td><p>osi3</p></td>
-<td><p>x – not implemented</p></td>
-</tr>
-</tbody>
-</table>
-</section>
-<section id="assignrouteaction">
-<h2>AssignRouteAction<a class="headerlink" href="#assignrouteaction" title="Link to this heading"></a></h2>
-<table class="tight-table docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>API/Datatype</p></th>
-<th class="head"><p>Used Methods/Classes/API</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>OpenSCENARIO</p></td>
-<td><p><strong>AssignRouteAction</strong></p></td>
-</tr>
-<tr class="row-odd"><td><p>mantle_api</p></td>
-<td><p>Entity::AssignRoute(UniqueId, RouteDefinition)</p></td>
-</tr>
-<tr class="row-even"><td><p>openPASS</p></td>
-<td><p>RouteSamplerInterface::CalculateRouteFromWaypoints(std::vector&lt;mantle_api::RouteWaypoint&gt;)
-EgoAgentInterface::SetRoadGraph(RoadGraph, RoadGraphVertex, RoadGraphVertex)</p></td>
-</tr>
-<tr class="row-odd"><td><p>osi3</p></td>
-<td><p>x – not relevant</p></td>
-</tr>
-</tbody>
-</table>
-</section>
-<section id="customcommandaction">
-<h2>CustomCommandAction<a class="headerlink" href="#customcommandaction" title="Link to this heading"></a></h2>
-<table class="tight-table docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>API/Datatype</p></th>
-<th class="head"><p>Used Methods/Classes/API</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>OpenSCENARIO</p></td>
-<td><p><strong>CustomCommandAction</strong></p></td>
-</tr>
-<tr class="row-odd"><td><p>mantle_api</p></td>
-<td><p>ExecuteCustomCommand(actors, type, command)</p></td>
-</tr>
-<tr class="row-even"><td><p>openPASS</p></td>
-<td><p>AddCustomCommand(command)
-GetCustomCommands()
-ComponentControllerImplementation::Trigger(time)
-TrajectoryFollowerCommonBase::Trigger(time)</p></td>
-</tr>
-<tr class="row-odd"><td><p>osi3</p></td>
-<td><p>osi3::TrafficAction::CustomAction
-TrafficAction::mutable_custom_action()
-TrafficAction_CustomAction::set_command(command)</p></td>
-</tr>
-</tbody>
-</table>
-</section>
-<section id="followtrajectoryaction">
-<h2>FollowTrajectoryAction<a class="headerlink" href="#followtrajectoryaction" title="Link to this heading"></a></h2>
-<table class="tight-table docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>API/Datatype</p></th>
-<th class="head"><p>Used Methods/Classes/API</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>OpenSCENARIO</p></td>
-<td><p><strong>FollowTrajectoryAction</strong></p></td>
-</tr>
-<tr class="row-odd"><td><p>mantle_api</p></td>
-<td><p>UpdateControlStrategies(FollowTrajectoryControlStrategy)
-HasControlStrategyGoalBeenReached(ControlStrategyType::kFollowTrajectory)
-GeometryHelper::TranslateGlobalPositionLocally(PolyLine)
-MovementDomain::kBoth</p></td>
-</tr>
-<tr class="row-even"><td><p>openPASS</p></td>
-<td><p>SetStrategies(MovementDomain::kBoth, ControlStrategyType::kFollowTrajectory)
-Algorithm_Routecontrol_Implementation::ReadWayPointData()
-DynamicsScenarioImplementation::ReadWayPointData()
-TrajectoryFollowerImplementation::Trigger(time)
-FmuHelper::AddTrafficCommandActionFromOpenScenarioTrajectory(TrafficCommand::add_action(), Trajectory)</p></td>
-</tr>
-<tr class="row-odd"><td rowspan="2"><p>osi3</p></td>
-<td><p><strong>osi3::TrafficAction::FollowTrajectoryAction</strong></p>
-<p>TrafficAction::mutable_follow_trajectory_action()
-TrafficAction_FollowTrajectoryAction::add_trajectory_point()</p>
-</td>
-</tr>
-<tr class="row-even"><td><p><strong>osi3::TrafficAction::FollowPathAction</strong></p>
-<p>TrafficAction::mutable_follow_path_action()
-TrafficAction_FollowPathAction::add_path_point()</p>
-</td>
-</tr>
-</tbody>
-</table>
-</section>
-<section id="lanechangeaction">
-<h2>LaneChangeAction<a class="headerlink" href="#lanechangeaction" title="Link to this heading"></a></h2>
-<table class="tight-table docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>API/Datatype</p></th>
-<th class="head"><p>Used Methods/Classes/API</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td rowspan="3"><p>OpenSCENARIO</p></td>
-<td><p><strong>LaneChangeAction</strong></p>
-<p>LaneChangeActionImpl::GetLaneChangeTarget()
-ConvertScenarioLaneChangeTarget(ILaneChangeTarget) -&gt; mantle_api::LaneId</p>
-</td>
-</tr>
-<tr class="row-odd"><td><p><strong>RelativeTargetLane</strong></p>
-<p>LaneChangeTargetImpl::GetRelativeTargetLane()
-ConvertScenarioRelativeTargetLane(IRelativeTargetLane) -&gt; mantle_api::LaneId</p>
-</td>
-</tr>
-<tr class="row-even"><td><p><strong>AbsoluteTargetLane</strong></p>
-<p>LaneChangeTargetImpl::GetAbsoluteTargetLane()
-ConvertScenarioAbsoluteTargetLane(IAbsoluteTargetLane) -&gt; mantle_api::LaneId</p>
-</td>
-</tr>
-<tr class="row-odd"><td rowspan="2"><p>mantle_api</p></td>
-<td><p>UpdateControlStrategies(PerformLaneChangeControlStrategy)
-(ControlStrategyType::kPerformLaneChange)</p></td>
-</tr>
-<tr class="row-even"><td><p><strong>Relative</strong></p>
-<p>LaneLocationQueryService::GetRelativeLaneId()</p>
-</td>
-</tr>
-<tr class="row-odd"><td><p>openPASS</p></td>
-<td><p>SetStrategies(MovementDomain::kLateral, ControlStrategyType::kPerformLaneChange)
-DynamicsScenarioImplementation::CalculateSinusiodalLaneChange(PerformLaneChangeControlStrategy)
-DynamicsScenarioImplementation::ReadWayPointData()</p></td>
-</tr>
-<tr class="row-even"><td><p>osi3</p></td>
-<td><p>x – not implemented</p></td>
-</tr>
-</tbody>
-</table>
-</section>
-<section id="speedaction">
-<h2>SpeedAction<a class="headerlink" href="#speedaction" title="Link to this heading"></a></h2>
-<table class="tight-table docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>API/Datatype</p></th>
-<th class="head"><p>Used Methods/Classes/API</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>OpenSCENARIO</p></td>
-<td><p><strong>SpeedAction</strong>
-SetLinearVelocitySplineControlStrategy(std::string)</p></td>
-</tr>
-<tr class="row-odd"><td><p>mantle_api</p></td>
-<td><p>UpdateControlStrategies(FollowVelocitySplineControlStrategy)
-HasControlStrategyGoalBeenReached(ControlStrategyType::kFollowVelocitySpline)
-SetSpeed(IEntity, units::velocity::meters_per_second_t)
-MovementDomain::kLongitudinal</p></td>
-</tr>
-<tr class="row-even"><td><p>openPASS</p></td>
-<td><p>SetStrategies(MovementDomain::kLongitudinal, ControlStrategyType::kFollowVelocitySpline)
-ControlStrategies::HasNewLongitudinalStrategy()
-DynamicsScenarioImplementation::GetVelocityFromSplines()</p></td>
-</tr>
-<tr class="row-odd"><td><p>osi3</p></td>
-<td><p>osi3::TrafficAction::SpeedAction
-TrafficAction::mutable_speed_action()
-TrafficAction_CustomAction::set_absolute_target_speed(targetSpeed)</p></td>
-</tr>
-</tbody>
-</table>
-</section>
-<section id="teleportaction">
-<h2>TeleportAction<a class="headerlink" href="#teleportaction" title="Link to this heading"></a></h2>
-<table class="tight-table docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>API/Datatype</p></th>
-<th class="head"><p>Used Methods/Classes/API</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>OpenSCENARIO</p></td>
-<td><p><strong>TeleportAction</strong></p></td>
-</tr>
-<tr class="row-odd"><td><p>mantle_api</p></td>
-<td><p>Entity::SetPosition(Vec3&lt;units::length::meter_t&gt;)
-Entity::SetOrientation(Orientation3&lt;units::angle::radian_t&gt;)
-Entity::SetAssignedLaneIds(std::vector&lt;uint64_t&gt;)
-GeometryHelper::TranslateGlobalPositionLocally(…)
-LaneLocationQueryService::GetUpwardsShiftedLanePosition(…)
-LaneLocationQueryService::GetLaneIdsAtPosition(…)</p></td>
-</tr>
-<tr class="row-even"><td><p>openPASS</p></td>
-<td><p>RouteSampler::Sample(mantle_api::Vec3&lt;units::length::meter_t&gt;, units::angle::radian_t)
-AgentInterface::SetPositionX(units::length::meter_t)
-AgentInterface::SetPositionY(units::length::meter_t)
-AgentInterface:SetYaw(units::angle::radian_t)</p></td>
-</tr>
-<tr class="row-odd"><td><p>osi3</p></td>
-<td><p>x – not relevant</p></td>
-</tr>
-</tbody>
-</table>
-</section>
-<section id="trafficsignalaction">
-<h2>TrafficSignalAction<a class="headerlink" href="#trafficsignalaction" title="Link to this heading"></a></h2>
-<table class="tight-table docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>API/Datatype</p></th>
-<th class="head"><p>Used Methods/Classes/API</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>OpenSCENARIO</p></td>
-<td><p><strong>TrafficSignalAction</strong></p></td>
-</tr>
-<tr class="row-odd"><td><p>mantle_api</p></td>
-<td><p>SetTrafficSignalState(std::string name, std::string state)</p></td>
-</tr>
-<tr class="row-even"><td><p>openPASS</p></td>
-<td><p>WorldData::GetTrafficSignIdMapping()
-WorldData::GetSignalType(Id)
-WorldData::GetTrafficLight(Id)
-ThreeSignalsTrafficLight::SetState(CommonTrafficLight::State)
-TwoSignalsTrafficLight::SetState(CommonTrafficLight::State)
-OneSignalsTrafficLight::SetState(CommonTrafficLight::State)
-DataBuffer::PutAcyclic</p></td>
-</tr>
-<tr class="row-odd"><td><p>osi3</p></td>
-<td><p>TrafficLight_Classification::set_mode(::osi3::TrafficLight_Classification_Mode)</p></td>
-</tr>
-</tbody>
-</table>
-</section>
-<section id="trafficsignalstateaction">
-<h2>TrafficSignalStateAction<a class="headerlink" href="#trafficsignalstateaction" title="Link to this heading"></a></h2>
-<table class="tight-table docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>API/Datatype</p></th>
-<th class="head"><p>Used Methods/Classes/API</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>OpenSCENARIO</p></td>
-<td><p><strong>TrafficSignalStateAction</strong></p></td>
-</tr>
-<tr class="row-odd"><td><p>mantle_api</p></td>
-<td><p>SetTrafficSignalState(std::string name, std::string state)</p></td>
-</tr>
-<tr class="row-even"><td><p>openPASS</p></td>
-<td><p>WorldData::GetTrafficSignIdMapping()
-WorldData::GetSignalType(Id)
-WorldData::GetTrafficLight(Id)
-ThreeSignalsTrafficLight::SetState(CommonTrafficLight::State)
-TwoSignalsTrafficLight::SetState(CommonTrafficLight::State)
-OneSignalsTrafficLight::SetState(CommonTrafficLight::State)
-DataBuffer::PutAcyclic</p></td>
-</tr>
-<tr class="row-odd"><td><p>osi3</p></td>
-<td><p>TrafficLight_Classification::set_mode(::osi3::TrafficLight_Classification_Mode)</p></td>
-</tr>
-</tbody>
-</table>
-</section>
-<section id="trafficsinkaction">
-<h2>TrafficSinkAction<a class="headerlink" href="#trafficsinkaction" title="Link to this heading"></a></h2>
-<table class="tight-table docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>API/Datatype</p></th>
-<th class="head"><p>Used Methods/Classes/API</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>OpenSCENARIO</p></td>
-<td><p><strong>TrafficSinkAction</strong></p>
-<p>ConvertScenarioTrafficDefinition(NET_ASAM_OPENSCENARIO::v1_1::ITrafficDefinition)</p>
-</td>
-</tr>
-<tr class="row-odd"><td><p>mantle_api</p></td>
-<td><p>Entity::GetPosition()
-GeometryHelper::TranslateGlobalPositionLocally()</p></td>
-</tr>
-<tr class="row-even"><td rowspan="2"><p>openPASS</p></td>
-<td><p>SpawnParameter</p></td>
-</tr>
-<tr class="row-odd"><td><p>AgentInterface::GetPositionX()
-AgentInterface::GetPositionY()
-AgentInterface:GetYaw()</p></td>
-</tr>
-<tr class="row-even"><td><p>osi3</p></td>
-<td><p>x – not relevant</p></td>
-</tr>
-</tbody>
-</table>
-</section>
-<section id="visibilityaction">
-<h2>VisibilityAction<a class="headerlink" href="#visibilityaction" title="Link to this heading"></a></h2>
-<table class="tight-table docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>API/Datatype</p></th>
-<th class="head"><p>Used Methods/Classes/API</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>OpenSCENARIO</p></td>
-<td><p><strong>VisibilityAction</strong></p></td>
-</tr>
-<tr class="row-odd"><td><p>mantle_api</p></td>
-<td><p>SetVisibility(EntityVisibilityConfig)</p></td>
-</tr>
-<tr class="row-even"><td><p>openPASS</p></td>
-<td><p>x – not implemented</p></td>
-</tr>
-<tr class="row-odd"><td><p>osi3</p></td>
-<td><p>x – not implemented</p></td>
-</tr>
-</tbody>
-</table>
-</section>
-</section>
-
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+<li class="toctree-l2"><a class="reference internal" href="agent_components.html">Agent Components</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="event_detector.html">EventDetector</a></li>
+<li class="toctree-l2 current"><a class="current reference internal" href="#">Mapping of OpenSCENARIO Actions</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="#acquirepositionaction">AcquirePositionAction</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#assignrouteaction">AssignRouteAction</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#customcommandaction">CustomCommandAction</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#followtrajectoryaction">FollowTrajectoryAction</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#lanechangeaction">LaneChangeAction</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#lightstateaction">LightStateAction</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#speedaction">SpeedAction</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#teleportaction">TeleportAction</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#trafficsignalaction">TrafficSignalAction</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#trafficsignalstateaction">TrafficSignalStateAction</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#trafficsinkaction">TrafficSinkAction</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#visibilityaction">VisibilityAction</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#id1">LightStateAction</a></li>
+</ul>
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+           <div itemprop="articleBody">
+             
+  <section id="mapping-of-openscenario-actions">
+<span id="mapping-scenario-actions"></span><h1>Mapping of OpenSCENARIO Actions<a class="headerlink" href="#mapping-of-openscenario-actions" title="Link to this heading"></a></h1>
+<table class="tight-table docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Layer/Component</p></th>
+<th class="head"><p>API/Datatype</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>OpenScenarioEngine</p></td>
+<td><p>mantle_api</p></td>
+</tr>
+<tr class="row-odd"><td><p>opSimualtion</p></td>
+<td><p>openPASS</p></td>
+</tr>
+<tr class="row-even"><td><p>FMU Interface</p></td>
+<td><p>osi3</p></td>
+</tr>
+</tbody>
+</table>
+<section id="acquirepositionaction">
+<h2>AcquirePositionAction<a class="headerlink" href="#acquirepositionaction" title="Link to this heading"></a></h2>
+<table class="tight-table docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>API/Datatype</p></th>
+<th class="head"><p>Used Methods/Classes/API</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>OpenSCENARIO</p></td>
+<td><p><strong>AcquirePositionAction</strong></p></td>
+</tr>
+<tr class="row-odd"><td><p>mantle_api</p></td>
+<td><p>Entity::AssignRoute(UniqueId, RouteDefinition)
+Entity::GetPosition()
+GeometryHelper::TranslateGlobalPositionLocally()</p></td>
+</tr>
+<tr class="row-even"><td rowspan="2"><p>openPASS</p></td>
+<td><p>SpawnParameter
+AgentInterface::GetPositionX()
+AgentInterface::GetPositionY()
+AgentInterface::GetYaw()</p></td>
+</tr>
+<tr class="row-odd"><td><p>RouteSamplerInterface::CalculateRouteFromWaypoints(std::vector&lt;mantle_api::RouteWaypoint&gt;)
+EgoAgentInterface::SetRoadGraph(RoadGraph, RoadGraphVertex, RoadGraphVertex)</p></td>
+</tr>
+<tr class="row-even"><td><p>osi3</p></td>
+<td><p>x – not implemented</p></td>
+</tr>
+</tbody>
+</table>
+</section>
+<section id="assignrouteaction">
+<h2>AssignRouteAction<a class="headerlink" href="#assignrouteaction" title="Link to this heading"></a></h2>
+<table class="tight-table docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>API/Datatype</p></th>
+<th class="head"><p>Used Methods/Classes/API</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>OpenSCENARIO</p></td>
+<td><p><strong>AssignRouteAction</strong></p></td>
+</tr>
+<tr class="row-odd"><td><p>mantle_api</p></td>
+<td><p>Entity::AssignRoute(UniqueId, RouteDefinition)</p></td>
+</tr>
+<tr class="row-even"><td><p>openPASS</p></td>
+<td><p>RouteSamplerInterface::CalculateRouteFromWaypoints(std::vector&lt;mantle_api::RouteWaypoint&gt;)
+EgoAgentInterface::SetRoadGraph(RoadGraph, RoadGraphVertex, RoadGraphVertex)</p></td>
+</tr>
+<tr class="row-odd"><td><p>osi3</p></td>
+<td><p>x – not relevant</p></td>
+</tr>
+</tbody>
+</table>
+</section>
+<section id="customcommandaction">
+<h2>CustomCommandAction<a class="headerlink" href="#customcommandaction" title="Link to this heading"></a></h2>
+<table class="tight-table docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>API/Datatype</p></th>
+<th class="head"><p>Used Methods/Classes/API</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>OpenSCENARIO</p></td>
+<td><p><strong>CustomCommandAction</strong></p></td>
+</tr>
+<tr class="row-odd"><td><p>mantle_api</p></td>
+<td><p>ExecuteCustomCommand(actors, type, command)</p></td>
+</tr>
+<tr class="row-even"><td><p>openPASS</p></td>
+<td><p>AddCustomCommand(command)
+GetCustomCommands()
+ComponentControllerImplementation::Trigger(time)
+TrajectoryFollowerCommonBase::Trigger(time)</p></td>
+</tr>
+<tr class="row-odd"><td><p>osi3</p></td>
+<td><p>osi3::TrafficAction::CustomAction
+TrafficAction::mutable_custom_action()
+TrafficAction_CustomAction::set_command(command)</p></td>
+</tr>
+</tbody>
+</table>
+</section>
+<section id="followtrajectoryaction">
+<h2>FollowTrajectoryAction<a class="headerlink" href="#followtrajectoryaction" title="Link to this heading"></a></h2>
+<table class="tight-table docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>API/Datatype</p></th>
+<th class="head"><p>Used Methods/Classes/API</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>OpenSCENARIO</p></td>
+<td><p><strong>FollowTrajectoryAction</strong></p></td>
+</tr>
+<tr class="row-odd"><td><p>mantle_api</p></td>
+<td><p>UpdateControlStrategies(FollowTrajectoryControlStrategy)
+HasControlStrategyGoalBeenReached(ControlStrategyType::kFollowTrajectory)
+GeometryHelper::TranslateGlobalPositionLocally(PolyLine)
+MovementDomain::kBoth</p></td>
+</tr>
+<tr class="row-even"><td><p>openPASS</p></td>
+<td><p>SetStrategies(MovementDomain::kBoth, ControlStrategyType::kFollowTrajectory)
+Algorithm_Routecontrol_Implementation::ReadWayPointData()
+DynamicsScenarioImplementation::ReadWayPointData()
+TrajectoryFollowerImplementation::Trigger(time)
+FmuHelper::AddTrafficCommandActionFromOpenScenarioTrajectory(TrafficCommand::add_action(), Trajectory)</p></td>
+</tr>
+<tr class="row-odd"><td rowspan="2"><p>osi3</p></td>
+<td><p><strong>osi3::TrafficAction::FollowTrajectoryAction</strong></p>
+<p>TrafficAction::mutable_follow_trajectory_action()
+TrafficAction_FollowTrajectoryAction::add_trajectory_point()</p>
+</td>
+</tr>
+<tr class="row-even"><td><p><strong>osi3::TrafficAction::FollowPathAction</strong></p>
+<p>TrafficAction::mutable_follow_path_action()
+TrafficAction_FollowPathAction::add_path_point()</p>
+</td>
+</tr>
+</tbody>
+</table>
+</section>
+<section id="lanechangeaction">
+<h2>LaneChangeAction<a class="headerlink" href="#lanechangeaction" title="Link to this heading"></a></h2>
+<table class="tight-table docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>API/Datatype</p></th>
+<th class="head"><p>Used Methods/Classes/API</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td rowspan="3"><p>OpenSCENARIO</p></td>
+<td><p><strong>LaneChangeAction</strong></p>
+<p>LaneChangeActionImpl::GetLaneChangeTarget()
+ConvertScenarioLaneChangeTarget(ILaneChangeTarget) -&gt; mantle_api::LaneId</p>
+</td>
+</tr>
+<tr class="row-odd"><td><p><strong>RelativeTargetLane</strong></p>
+<p>LaneChangeTargetImpl::GetRelativeTargetLane()
+ConvertScenarioRelativeTargetLane(IRelativeTargetLane) -&gt; mantle_api::LaneId</p>
+</td>
+</tr>
+<tr class="row-even"><td><p><strong>AbsoluteTargetLane</strong></p>
+<p>LaneChangeTargetImpl::GetAbsoluteTargetLane()
+ConvertScenarioAbsoluteTargetLane(IAbsoluteTargetLane) -&gt; mantle_api::LaneId</p>
+</td>
+</tr>
+<tr class="row-odd"><td rowspan="2"><p>mantle_api</p></td>
+<td><p>UpdateControlStrategies(PerformLaneChangeControlStrategy)
+(ControlStrategyType::kPerformLaneChange)</p></td>
+</tr>
+<tr class="row-even"><td><p><strong>Relative</strong></p>
+<p>LaneLocationQueryService::GetRelativeLaneId()</p>
+</td>
+</tr>
+<tr class="row-odd"><td><p>openPASS</p></td>
+<td><p>SetStrategies(MovementDomain::kLateral, ControlStrategyType::kPerformLaneChange)
+DynamicsScenarioImplementation::CalculateSinusiodalLaneChange(PerformLaneChangeControlStrategy)
+DynamicsScenarioImplementation::ReadWayPointData()</p></td>
+</tr>
+<tr class="row-even"><td><p>osi3</p></td>
+<td><p>x – not implemented</p></td>
+</tr>
+</tbody>
+</table>
+</section>
+<section id="lightstateaction">
+<h2>LightStateAction<a class="headerlink" href="#lightstateaction" title="Link to this heading"></a></h2>
+<table class="tight-table docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>API/Datatype</p></th>
+<th class="head"><p>Used Methods/Classes/API</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>OpenSCENARIO</p></td>
+<td><p><strong>LightStateAction</strong></p></td>
+</tr>
+<tr class="row-odd"><td><p>mantle_api</p></td>
+<td><p>UpdateControlStrategies(FollowVelocitySplineControlStrategy)</p></td>
+</tr>
+<tr class="row-even"><td><p>openPASS</p></td>
+<td><p>SetStrategies(std::vector&lt;std::shared_ptr&lt;mantle_api::ControlStrategy&gt;&gt;)</p></td>
+</tr>
+<tr class="row-odd"><td><p>osi3</p></td>
+<td><p>osi3::TrafficAction::CustomAction
+CustomAction::command_type(“UpdateLightState &lt;LightType&gt;”)
+CustomAction::command(“&lt;LightState&gt;”)</p></td>
+</tr>
+</tbody>
+</table>
+</section>
+<section id="speedaction">
+<h2>SpeedAction<a class="headerlink" href="#speedaction" title="Link to this heading"></a></h2>
+<table class="tight-table docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>API/Datatype</p></th>
+<th class="head"><p>Used Methods/Classes/API</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>OpenSCENARIO</p></td>
+<td><p><strong>SpeedAction</strong>
+SetLinearVelocitySplineControlStrategy(std::string)</p></td>
+</tr>
+<tr class="row-odd"><td><p>mantle_api</p></td>
+<td><p>UpdateControlStrategies(FollowVelocitySplineControlStrategy)
+HasControlStrategyGoalBeenReached(ControlStrategyType::kFollowVelocitySpline)
+SetSpeed(IEntity, units::velocity::meters_per_second_t)
+MovementDomain::kLongitudinal</p></td>
+</tr>
+<tr class="row-even"><td><p>openPASS</p></td>
+<td><p>SetStrategies(MovementDomain::kLongitudinal, ControlStrategyType::kFollowVelocitySpline)
+ControlStrategies::HasNewLongitudinalStrategy()
+DynamicsScenarioImplementation::GetVelocityFromSplines()</p></td>
+</tr>
+<tr class="row-odd"><td><p>osi3</p></td>
+<td><p>osi3::TrafficAction::SpeedAction
+TrafficAction::mutable_speed_action()
+TrafficAction_CustomAction::set_absolute_target_speed(targetSpeed)</p></td>
+</tr>
+</tbody>
+</table>
+</section>
+<section id="teleportaction">
+<h2>TeleportAction<a class="headerlink" href="#teleportaction" title="Link to this heading"></a></h2>
+<table class="tight-table docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>API/Datatype</p></th>
+<th class="head"><p>Used Methods/Classes/API</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>OpenSCENARIO</p></td>
+<td><p><strong>TeleportAction</strong></p></td>
+</tr>
+<tr class="row-odd"><td><p>mantle_api</p></td>
+<td><p>Entity::SetPosition(Vec3&lt;units::length::meter_t&gt;)
+Entity::SetOrientation(Orientation3&lt;units::angle::radian_t&gt;)
+Entity::SetAssignedLaneIds(std::vector&lt;uint64_t&gt;)
+GeometryHelper::TranslateGlobalPositionLocally(…)
+LaneLocationQueryService::GetUpwardsShiftedLanePosition(…)
+LaneLocationQueryService::GetLaneIdsAtPosition(…)</p></td>
+</tr>
+<tr class="row-even"><td><p>openPASS</p></td>
+<td><p>RouteSampler::Sample(mantle_api::Vec3&lt;units::length::meter_t&gt;, units::angle::radian_t)
+AgentInterface::SetPositionX(units::length::meter_t)
+AgentInterface::SetPositionY(units::length::meter_t)
+AgentInterface:SetYaw(units::angle::radian_t)</p></td>
+</tr>
+<tr class="row-odd"><td><p>osi3</p></td>
+<td><p>x – not relevant</p></td>
+</tr>
+</tbody>
+</table>
+</section>
+<section id="trafficsignalaction">
+<h2>TrafficSignalAction<a class="headerlink" href="#trafficsignalaction" title="Link to this heading"></a></h2>
+<table class="tight-table docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>API/Datatype</p></th>
+<th class="head"><p>Used Methods/Classes/API</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>OpenSCENARIO</p></td>
+<td><p><strong>TrafficSignalAction</strong></p></td>
+</tr>
+<tr class="row-odd"><td><p>mantle_api</p></td>
+<td><p>SetTrafficSignalState(std::string name, std::string state)</p></td>
+</tr>
+<tr class="row-even"><td><p>openPASS</p></td>
+<td><p>WorldData::GetTrafficSignIdMapping()
+WorldData::GetSignalType(Id)
+WorldData::GetTrafficLight(Id)
+ThreeSignalsTrafficLight::SetState(CommonTrafficLight::State)
+TwoSignalsTrafficLight::SetState(CommonTrafficLight::State)
+OneSignalsTrafficLight::SetState(CommonTrafficLight::State)
+DataBuffer::PutAcyclic</p></td>
+</tr>
+<tr class="row-odd"><td><p>osi3</p></td>
+<td><p>TrafficLight_Classification::set_mode(::osi3::TrafficLight_Classification_Mode)</p></td>
+</tr>
+</tbody>
+</table>
+</section>
+<section id="trafficsignalstateaction">
+<h2>TrafficSignalStateAction<a class="headerlink" href="#trafficsignalstateaction" title="Link to this heading"></a></h2>
+<table class="tight-table docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>API/Datatype</p></th>
+<th class="head"><p>Used Methods/Classes/API</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>OpenSCENARIO</p></td>
+<td><p><strong>TrafficSignalStateAction</strong></p></td>
+</tr>
+<tr class="row-odd"><td><p>mantle_api</p></td>
+<td><p>SetTrafficSignalState(std::string name, std::string state)</p></td>
+</tr>
+<tr class="row-even"><td><p>openPASS</p></td>
+<td><p>WorldData::GetTrafficSignIdMapping()
+WorldData::GetSignalType(Id)
+WorldData::GetTrafficLight(Id)
+ThreeSignalsTrafficLight::SetState(CommonTrafficLight::State)
+TwoSignalsTrafficLight::SetState(CommonTrafficLight::State)
+OneSignalsTrafficLight::SetState(CommonTrafficLight::State)
+DataBuffer::PutAcyclic</p></td>
+</tr>
+<tr class="row-odd"><td><p>osi3</p></td>
+<td><p>TrafficLight_Classification::set_mode(::osi3::TrafficLight_Classification_Mode)</p></td>
+</tr>
+</tbody>
+</table>
+</section>
+<section id="trafficsinkaction">
+<h2>TrafficSinkAction<a class="headerlink" href="#trafficsinkaction" title="Link to this heading"></a></h2>
+<table class="tight-table docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>API/Datatype</p></th>
+<th class="head"><p>Used Methods/Classes/API</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>OpenSCENARIO</p></td>
+<td><p><strong>TrafficSinkAction</strong></p>
+<p>ConvertScenarioTrafficDefinition(NET_ASAM_OPENSCENARIO::v1_1::ITrafficDefinition)</p>
+</td>
+</tr>
+<tr class="row-odd"><td><p>mantle_api</p></td>
+<td><p>Entity::GetPosition()
+GeometryHelper::TranslateGlobalPositionLocally()</p></td>
+</tr>
+<tr class="row-even"><td rowspan="2"><p>openPASS</p></td>
+<td><p>SpawnParameter</p></td>
+</tr>
+<tr class="row-odd"><td><p>AgentInterface::GetPositionX()
+AgentInterface::GetPositionY()
+AgentInterface:GetYaw()</p></td>
+</tr>
+<tr class="row-even"><td><p>osi3</p></td>
+<td><p>x – not relevant</p></td>
+</tr>
+</tbody>
+</table>
+</section>
+<section id="visibilityaction">
+<h2>VisibilityAction<a class="headerlink" href="#visibilityaction" title="Link to this heading"></a></h2>
+<table class="tight-table docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>API/Datatype</p></th>
+<th class="head"><p>Used Methods/Classes/API</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>OpenSCENARIO</p></td>
+<td><p><strong>VisibilityAction</strong></p></td>
+</tr>
+<tr class="row-odd"><td><p>mantle_api</p></td>
+<td><p>SetVisibility(EntityVisibilityConfig)</p></td>
+</tr>
+<tr class="row-even"><td><p>openPASS</p></td>
+<td><p>x – not implemented</p></td>
+</tr>
+<tr class="row-odd"><td><p>osi3</p></td>
+<td><p>x – not implemented</p></td>
+</tr>
+</tbody>
+</table>
+</section>
+<section id="id1">
+<h2>LightStateAction<a class="headerlink" href="#id1" title="Link to this heading"></a></h2>
+<table class="tight-table docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>API/Datatype</p></th>
+<th class="head"><p>Used Methods/Classes/API</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>OpenSCENARIO</p></td>
+<td><p><strong>LightStateAction</strong></p></td>
+</tr>
+<tr class="row-odd"><td><p>mantle_api</p></td>
+<td><p>UpdateControlStrategies(VehicleLightStatesControlStrategy)
+MovementDomain::kNone</p></td>
+</tr>
+<tr class="row-even"><td><p>openPASS</p></td>
+<td><p>Entity::SetVehicleLightState(mantle_api::LightState, mantle_api::LightType)</p></td>
+</tr>
+<tr class="row-odd"><td><p>osi3</p></td>
+<td><p>osi3::TrafficAction_CustomAction</p></td>
+</tr>
+</tbody>
+</table>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>Currently only indicatorLeft, indicatorRight and warningLights of OpenSCENARIO VehicleLightType are supported in openPASS.
+OpenSCENARIO LightStateAction attribute, transitionTime is not received from the OSE</p>
+</div>
+</section>
+</section>
+
+
+           </div>
+          </div>
+          <footer><div class="rst-footer-buttons" role="navigation" aria-label="Footer">
+        <a href="event_detector.html" class="btn btn-neutral float-left" title="EventDetector" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> Previous</a>
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+  <div role="contentinfo">
+    <p>&#169; Copyright 2025 openPASS Working Group.</p>
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diff --git a/content/html/advanced_topics/simulator/simulation.html b/content/html/advanced_topics/simulator/simulation.html
index 5be57a0c385826695bc4a57b093d80bf07998488..90a06d56d4e70a1caac2e849f887447d2bd1769a 100644
--- a/content/html/advanced_topics/simulator/simulation.html
+++ b/content/html/advanced_topics/simulator/simulation.html
@@ -1,303 +1,306 @@
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-<html class="writer-html5" lang="en" >
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-  <meta charset="utf-8" /><meta name="viewport" content="width=device-width, initial-scale=1" />
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-  <title>Simulation &mdash; openPASS Documentation</title>
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-  <section id="simulation">
-<span id="id1"></span><h1>Simulation<a class="headerlink" href="#simulation" title="Link to this heading"></a></h1>
-<section id="command-line-arguments">
-<span id="simulation-commandlinearguments"></span><h2>Command Line Arguments<a class="headerlink" href="#command-line-arguments" title="Link to this heading"></a></h2>
-<p>The simulation can be configured by applying the following command line arguments.
-Unspecified arguments will be defaulted (<em>default values in []</em>).</p>
-<p>The simulation supports the following arguments:</p>
-<ul class="simple">
-<li><p><em>--logLevel</em> [0] :
-Logging level between 0 (minimum) and 5 (maximum - debug core)</p></li>
-<li><p><em>--logFile</em> [opSimulation.log]* :
-Name of the log file</p></li>
-<li><p><em>--lib</em> [modules] :
-Path of the libraries (relative or absolute)</p></li>
-<li><p><em>--configs</em> [configs] :
-Path for writing outputs (relative or absolute)</p></li>
-<li><p><em>--results</em> [results] :
-Path for writing outputs (relative or absolute)</p></li>
-</ul>
-</section>
-<section id="scheduler">
-<span id="simulation-scheduler"></span><h2>Scheduler<a class="headerlink" href="#scheduler" title="Link to this heading"></a></h2>
-<p>The Scheduler handles the sequence of agent based and common tasks before, during and after simulation.</p>
-<section id="executing-phases">
-<h3>Executing phases<a class="headerlink" href="#executing-phases" title="Link to this heading"></a></h3>
-<p>Each simulation run splits up into 3 phases: Bootstrap tasks, Stepping and Finalize tasks.</p>
-<ol class="arabic simple">
-<li><p>Initial task are grouped within the bootstrap tasks and are executed first and only once.
-This includes updating the Observation modules and triggering all PreRun Spawners.</p></li>
-<li><p>After this Spawning, PreAgent, NonRecurring, Recurring and Syncronize Tasks are processed for each timestep.
-First all Runtime Spawners are triggered.
-Whenever a new agent is spawned, all its components are parsed to <em>Trigger</em> and <em>Update</em> tasks, grouped and sorted by execution time as non-recurring and recurring tasks.
-Next all PreAgents task are executed, which includes publishing the world state to the DataBuffer in triggering all EventDetectors and Manipulators
-Non-recurring tasks are executed just once and will be deleted afterwards (<em>init</em> flag in ComponentRepository).
-Right after execution of all agent-based tasks, the Syncronize phase synchronizes all changes to the world as world state for the next timestep.</p></li>
-<li><p>The last phase is finalizing task, executed when an end condition is reached, such as end of simulation duration. Within this phase all EventDetectors and Manipulators are triggered and the Observation modules are updated one last time.</p></li>
-</ol>
-</section>
-<section id="task-type-description">
-<h3>Task type description<a class="headerlink" href="#task-type-description" title="Link to this heading"></a></h3>
-<p>The scheduler handles 8 different task types:</p>
-<ul class="simple">
-<li><p><strong>Spawning</strong> - triggers agent spawning</p></li>
-<li><p><strong>EventDetector</strong> - execute event detector</p></li>
-<li><p><strong>Manipulator</strong> - execute manipulator</p></li>
-<li><p><strong>Observation</strong> - update observation modules</p></li>
-<li><p><strong>Trigger</strong> - execute trigger function of connected component</p></li>
-<li><p><strong>Update</strong> - execute update output of connected component and resulting input</p></li>
-<li><p><strong>SyncWorld</strong> - update world</p></li>
-</ul>
-<p>The following table gives an overview to all phases.</p>
-<table class="tight-table docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Phase</p></th>
-<th class="head"><p>Changeable</p></th>
-<th class="head"><p>Task types</p></th>
-<th class="head"><p>Notes</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>Bootstrap</p></td>
-<td><p>no</p></td>
-<td><p>Spawning (PreRun), Observation</p></td>
-<td></td>
-</tr>
-<tr class="row-odd"><td><p>Spawning</p></td>
-<td><p>no</p></td>
-<td><p>Spawning (Runtime), Observation</p></td>
-<td></td>
-</tr>
-<tr class="row-even"><td><p>PreAgent</p></td>
-<td><p>no</p></td>
-<td><p>SyncWorld (publishing), EventDetector, Manipulator</p></td>
-<td></td>
-</tr>
-<tr class="row-odd"><td><p>Non recurring</p></td>
-<td><p>yes</p></td>
-<td><p>Trigger, Update</p></td>
-<td><p>Only components defined as “Init”</p></td>
-</tr>
-<tr class="row-even"><td><p>Recurring</p></td>
-<td><p>yes</p></td>
-<td><p>Trigger, Update</p></td>
-<td><p>Non Init components</p></td>
-</tr>
-<tr class="row-odd"><td><p>Syncronize</p></td>
-<td><p>no</p></td>
-<td><p>SyncWorld</p></td>
-<td><p>Update the state of the agents and the virtual world (e.g. due to agent movements).</p></td>
-</tr>
-<tr class="row-even"><td><p>Finalize</p></td>
-<td><p>no</p></td>
-<td><p>EventDetector, Manipulator, Observation</p></td>
-<td></td>
-</tr>
-</tbody>
-</table>
-</section>
-<section id="task-priorities">
-<h3>Task priorities<a class="headerlink" href="#task-priorities" title="Link to this heading"></a></h3>
-<p>The order of the tasks within one phase depends on component priority and task type.
-All tasks for a given timestamp are ordered by the SchedulerTasks priority, and divided into the aformentioned phases.</p>
-<p>The following table shows the priorities for the non-component task types:</p>
-<table class="tight-table docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Task type</p></th>
-<th class="head"><p>Priority</p></th>
-<th class="head"><p>Notes</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>Spawning</p></td>
-<td><p>4</p></td>
-<td><p>Highest priority, nothing can happen before any agent is instantiated.</p></td>
-</tr>
-<tr class="row-odd"><td><p>EventDetector</p></td>
-<td><p>3</p></td>
-<td></td>
-</tr>
-<tr class="row-even"><td><p>Manipulator</p></td>
-<td><p>2</p></td>
-<td><p>The manipulator task uses the event detector tasks as input. Therefore it is called afterwards.</p></td>
-</tr>
-<tr class="row-odd"><td><p>SyncGlobalData</p></td>
-<td><p>1</p></td>
-<td></td>
-</tr>
-<tr class="row-even"><td><p>Observation</p></td>
-<td><p>0</p></td>
-<td><p>Observation tasks have to be execute at the end.</p></td>
-</tr>
-</tbody>
-</table>
-<p>The priority of trigger and update tasks depend on the priority within the SystemConfig.
-They are independent of non-component priorities.
-Since trigger tasks prepare output signals, output tasks are right called after the corresponding trigger tasks.</p>
-</section>
-</section>
-</section>
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+             
+  <section id="simulation">
+<span id="id1"></span><h1>Simulation<a class="headerlink" href="#simulation" title="Link to this heading"></a></h1>
+<section id="command-line-arguments">
+<span id="simulation-commandlinearguments"></span><h2>Command Line Arguments<a class="headerlink" href="#command-line-arguments" title="Link to this heading"></a></h2>
+<p>The simulation can be configured by applying the following command line arguments.
+Unspecified arguments will be defaulted (<em>default values in []</em>).</p>
+<p>The simulation supports the following arguments:</p>
+<ul class="simple">
+<li><p><em>--clearResultsPath</em>: [false] :
+If set, the results path will be cleared before the simulation starts.</p></li>
+<li><p><em>--logLevel</em> [0] :
+Logging level between 0 (minimum) and 5 (maximum - debug core)</p></li>
+<li><p><em>--logFile</em> [opSimulation.log]* :
+Name of the log file</p></li>
+<li><p><em>--lib</em> [modules] :
+Path of the libraries (relative or absolute)</p></li>
+<li><p><em>--configs</em> [configs] :
+Path for writing outputs (relative or absolute)</p></li>
+<li><p><em>--results</em> [results] :
+Path for writing outputs (relative or absolute)</p></li>
+</ul>
+</section>
+<section id="scheduler">
+<span id="simulation-scheduler"></span><h2>Scheduler<a class="headerlink" href="#scheduler" title="Link to this heading"></a></h2>
+<p>The Scheduler handles the sequence of agent based and common tasks before, during and after simulation.</p>
+<section id="executing-phases">
+<h3>Executing phases<a class="headerlink" href="#executing-phases" title="Link to this heading"></a></h3>
+<p>Each simulation run splits up into 3 phases: Bootstrap tasks, Stepping and Finalize tasks.</p>
+<ol class="arabic simple">
+<li><p>Initial task are grouped within the bootstrap tasks and are executed first and only once.
+This includes updating the Observation modules and triggering all PreRun Spawners.</p></li>
+<li><p>After this Spawning, PreAgent, NonRecurring, Recurring and Syncronize Tasks are processed for each timestep.
+First all Runtime Spawners are triggered.
+Whenever a new agent is spawned, all its components are parsed to <em>Trigger</em> and <em>Update</em> tasks, grouped and sorted by execution time as non-recurring and recurring tasks.
+Next all PreAgents task are executed, which includes publishing the world state to the DataBuffer in triggering all EventDetectors and Manipulators
+Non-recurring tasks are executed just once and will be deleted afterwards (<em>init</em> flag in ComponentRepository).
+Right after execution of all agent-based tasks, the Syncronize phase synchronizes all changes to the world as world state for the next timestep.</p></li>
+<li><p>The last phase is finalizing task, executed when an end condition is reached, such as end of simulation duration. Within this phase all EventDetectors and Manipulators are triggered and the Observation modules are updated one last time.</p></li>
+</ol>
+</section>
+<section id="task-type-description">
+<h3>Task type description<a class="headerlink" href="#task-type-description" title="Link to this heading"></a></h3>
+<p>The scheduler handles 8 different task types:</p>
+<ul class="simple">
+<li><p><strong>Spawning</strong> - triggers agent spawning</p></li>
+<li><p><strong>EventDetector</strong> - execute event detector</p></li>
+<li><p><strong>Manipulator</strong> - execute manipulator</p></li>
+<li><p><strong>Observation</strong> - update observation modules</p></li>
+<li><p><strong>Trigger</strong> - execute trigger function of connected component</p></li>
+<li><p><strong>Update</strong> - execute update output of connected component and resulting input</p></li>
+<li><p><strong>SyncWorld</strong> - update world</p></li>
+</ul>
+<p>The following table gives an overview to all phases.</p>
+<table class="tight-table docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Phase</p></th>
+<th class="head"><p>Changeable</p></th>
+<th class="head"><p>Task types</p></th>
+<th class="head"><p>Notes</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>Bootstrap</p></td>
+<td><p>no</p></td>
+<td><p>Spawning (PreRun), Observation</p></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>Spawning</p></td>
+<td><p>no</p></td>
+<td><p>Spawning (Runtime), Observation</p></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>PreAgent</p></td>
+<td><p>no</p></td>
+<td><p>SyncWorld (publishing), EventDetector, Manipulator</p></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>Non recurring</p></td>
+<td><p>yes</p></td>
+<td><p>Trigger, Update</p></td>
+<td><p>Only components defined as “Init”</p></td>
+</tr>
+<tr class="row-even"><td><p>Recurring</p></td>
+<td><p>yes</p></td>
+<td><p>Trigger, Update</p></td>
+<td><p>Non Init components</p></td>
+</tr>
+<tr class="row-odd"><td><p>Syncronize</p></td>
+<td><p>no</p></td>
+<td><p>SyncWorld</p></td>
+<td><p>Update the state of the agents and the virtual world (e.g. due to agent movements).</p></td>
+</tr>
+<tr class="row-even"><td><p>Finalize</p></td>
+<td><p>no</p></td>
+<td><p>EventDetector, Manipulator, Observation</p></td>
+<td></td>
+</tr>
+</tbody>
+</table>
+</section>
+<section id="task-priorities">
+<h3>Task priorities<a class="headerlink" href="#task-priorities" title="Link to this heading"></a></h3>
+<p>The order of the tasks within one phase depends on component priority and task type.
+All tasks for a given timestamp are ordered by the SchedulerTasks priority, and divided into the aformentioned phases.</p>
+<p>The following table shows the priorities for the non-component task types:</p>
+<table class="tight-table docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Task type</p></th>
+<th class="head"><p>Priority</p></th>
+<th class="head"><p>Notes</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>Spawning</p></td>
+<td><p>4</p></td>
+<td><p>Highest priority, nothing can happen before any agent is instantiated.</p></td>
+</tr>
+<tr class="row-odd"><td><p>EventDetector</p></td>
+<td><p>3</p></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>Manipulator</p></td>
+<td><p>2</p></td>
+<td><p>The manipulator task uses the event detector tasks as input. Therefore it is called afterwards.</p></td>
+</tr>
+<tr class="row-odd"><td><p>SyncGlobalData</p></td>
+<td><p>1</p></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>Observation</p></td>
+<td><p>0</p></td>
+<td><p>Observation tasks have to be execute at the end.</p></td>
+</tr>
+</tbody>
+</table>
+<p>The priority of trigger and update tasks depend on the priority within the SystemConfig.
+They are independent of non-component priorities.
+Since trigger tasks prepare output signals, output tasks are right called after the corresponding trigger tasks.</p>
+</section>
+</section>
+</section>
+
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-  <section id="spawner-features">
-<span id="id1"></span><h1>Spawner Features<a class="headerlink" href="#spawner-features" title="Link to this heading"></a></h1>
-<section id="prerunspawner">
-<span id="spawner-features-prerun"></span><h2>PreRunSpawner<a class="headerlink" href="#prerunspawner" title="Link to this heading"></a></h2>
-<section id="spawning-on-roads-lanes-and-ranges">
-<h3>Spawning on roads, lanes and ranges<a class="headerlink" href="#spawning-on-roads-lanes-and-ranges" title="Link to this heading"></a></h3>
-<section id="non-existent-roads">
-<h4>Non-existent roads<a class="headerlink" href="#non-existent-roads" title="Link to this heading"></a></h4>
-<dl class="simple">
-<dt>Requirement</dt><dd><p>Road IDs specified in the configuration, but not part of the scenery file are igored.</p>
-</dd>
-<dt>Verified by</dt><dd><p>Unit Test SpawnerPreRunCommonParameterExtractor_GetWayToNextRoad_NoPossibleWay</p>
-</dd>
-</dl>
-</section>
-<section id="single-road">
-<span id="spawner-features-prerun-on-roads-single-road"></span><h4>Single road<a class="headerlink" href="#single-road" title="Link to this heading"></a></h4>
-<dl class="simple">
-<dt>Requirement</dt><dd><p>Spawning on the given road takes place.</p>
-</dd>
-<dt>Requirement</dt><dd><p>No agents are spawned on other roads in the scenery.</p>
-</dd>
-<dt>Verified by</dt><dd><p>End-to-end Test SpawnerPreRun_Highway_SingleRoad</p>
-</dd>
-</dl>
-</section>
-<section id="consecutive-roads">
-<span id="spawner-features-prerun-on-roads-consecutive-roads"></span><h4>Consecutive roads<a class="headerlink" href="#consecutive-roads" title="Link to this heading"></a></h4>
-<dl class="simple">
-<dt>Precondition</dt><dd><p>Spawner configuration specifies a list of consecutively connected roads in a single ListItem.</p>
-</dd>
-<dt>Requirement</dt><dd><p>Spawning on the given roads takes place.</p>
-</dd>
-<dt>Requirement</dt><dd><p>No agents spawned on other roads in the scenery.</p>
-</dd>
-<dt>Requirement</dt><dd><p>Agents are spawned on all drivable lanes (which are part of the roads being specified in the configuration).</p>
-</dd>
-<dt>Requirement</dt><dd><p>Agents are spawned in the correct driving direction.</p>
-</dd>
-<dt>Verified by</dt><dd><p>End-to-end Test SpawnerPreRun_Highway_FullStream
-End-to-end Test SpawnerPreRun_SingleRoad_DrivingDirection</p>
-</dd>
-</dl>
-</section>
-<section id="non-consecutive-roads">
-<h4>Non-consecutive roads<a class="headerlink" href="#non-consecutive-roads" title="Link to this heading"></a></h4>
-<dl class="simple">
-<dt>Precondition</dt><dd><p>Spawner configuration specifies a list of non-consecutively connected roads.</p>
-</dd>
-<dt>Requirement</dt><dd><p>Spawning on the given roads takes place.</p>
-</dd>
-<dt>Requirement</dt><dd><p>Missing roads between the specified ones are automatically determined by the Spawner and handled like they were specified in the configuration in the first place.
-The resulting path being spawned on is arbitrary if multiple solutions exist for a scenery, but only one path shall be used.</p>
-</dd>
-<dt>Verified by</dt><dd><p>Covered by <a class="reference internal" href="#spawner-features-prerun-on-roads-across-junction"><span class="std std-ref">Roads across junction</span></a></p>
-</dd>
-</dl>
-</section>
-<section id="roads-across-junction">
-<span id="spawner-features-prerun-on-roads-across-junction"></span><h4>Roads across junction<a class="headerlink" href="#roads-across-junction" title="Link to this heading"></a></h4>
-<dl class="simple">
-<dt>Precondition</dt><dd><p>Spawner configuration specifies a list of (not necessarily consecutively) connected roads in a single ListItem.</p>
-</dd>
-<dt>Precondition</dt><dd><p>The chain of roads specified has to cross a single junction.</p>
-</dd>
-<dt>Requirement</dt><dd><p>Spawning on the given roads takes place.</p>
-</dd>
-<dt>Requirement</dt><dd><p>Missing roads between the specified ones are automatically determined by the Spawner and handled like they were specified in the configuration in the first place.
-The resulting path being spawned on is arbitrary if multiple solutions exist for a scenery, but only one path shall be used.</p>
-</dd>
-<dt>Verified by</dt><dd><p>End-to-end Test SpawnerPreRun_Highway_EntryExit</p>
-</dd>
-</dl>
-</section>
-<section id="multiple-roads-including-non-existent-ids">
-<h4>Multiple roads (including non existent IDs)<a class="headerlink" href="#multiple-roads-including-non-existent-ids" title="Link to this heading"></a></h4>
-<dl class="simple">
-<dt>Precondition</dt><dd><p>Spawner configuration specifies a list of (at least partially) consecutively connected roads in a single ListItem.</p>
-</dd>
-<dt>Precondition</dt><dd><p>At least one road id given in the configuration is not present in the scenery.</p>
-</dd>
-<dt>Requirement</dt><dd><p>Spawning on the given roads takes place up to the first non-existent road that is encountered.</p>
-</dd>
-<dt>Requirement</dt><dd><p>No spawning takes place, if the first road of the list doesn’t exist.</p>
-</dd>
-<dt>Verified by</dt><dd><p>End-to-end Test SpawnerPreRun_Highway_IncorrectStreamBegin
-End-to-end Test SpawnerPreRun_Highway_IncorrectStreamMid</p>
-</dd>
-</dl>
-</section>
-<section id="specified-lanes">
-<h4>Specified lanes<a class="headerlink" href="#specified-lanes" title="Link to this heading"></a></h4>
-<dl class="simple">
-<dt>Precondition</dt><dd><p>Basic setup as as in <a class="reference internal" href="#spawner-features-prerun-on-roads-consecutive-roads"><span class="std std-ref">Consecutive roads</span></a>.</p>
-</dd>
-<dt>Precondition</dt><dd><p>A list of lanes to be spawned on is specified in the Spawner configuration.</p>
-</dd>
-<dt>Precondition</dt><dd><p>The list of lanes contains at least one lane IDs which exist for the first specified road.</p>
-</dd>
-<dt>Precondition</dt><dd><p>The list of lanes contains at least one lane IDs which doesn’t exist for the first specified road.</p>
-</dd>
-<dt>Requirement</dt><dd><p>Spawning takes place on the specified lane IDs (on drivable lanes).</p>
-</dd>
-<dt>Requirement</dt><dd><p>Spawning does not take place on other lane IDs.</p>
-</dd>
-<dt>Requirement</dt><dd><p>Lane IDs not present for one or more roads do not lead to an error.</p>
-</dd>
-<dt>Verified by</dt><dd><p>End-to-end Test SpawnerPreRun_SingleRoad_SpecifiedLanes</p>
-</dd>
-</dl>
-</section>
-<section id="multiple-overlapping-road-streams">
-<h4>Multiple overlapping road streams<a class="headerlink" href="#multiple-overlapping-road-streams" title="Link to this heading"></a></h4>
-<dl class="simple">
-<dt>Precondition</dt><dd><p>Two road streams are specified in the Spawner configuration (as in <a class="reference internal" href="#spawner-features-prerun-on-roads-consecutive-roads"><span class="std std-ref">Consecutive roads</span></a>).</p>
-</dd>
-<dt>Precondition</dt><dd><p>The two road streams have at least one road in common.</p>
-</dd>
-<dt>Precondition</dt><dd><p>The Spawner configuration specifies the lanes to spawn on in such a way that there are no overlapping lanes (on the road being common to both streams).</p>
-</dd>
-<dt>Requirement</dt><dd><p>Spawning on the given roads and all given lanes takes place.</p>
-</dd>
-<dt>Verified by</dt><dd><p>End-to-end Test SpawnerPreRun_Highway_RoadOverlap</p>
-</dd>
-</dl>
-</section>
-<section id="spawning-on-range-sstart-send-within-road-boundaries">
-<h4>Spawning on range (SStart + SEnd within road boundaries)<a class="headerlink" href="#spawning-on-range-sstart-send-within-road-boundaries" title="Link to this heading"></a></h4>
-<dl class="simple">
-<dt>Precondition</dt><dd><p>Basic setup as as in <a class="reference internal" href="#spawner-features-prerun-on-roads-consecutive-roads"><span class="std std-ref">Consecutive roads</span></a>.</p>
-</dd>
-<dt>Precondition</dt><dd><p>SStart and SEnd are set to values within the road boundaries (with the effective start s-coordinate being lower than the effective end s-coordinate when taking the whole road stream into account).</p>
-</dd>
-<dt>Requirement</dt><dd><p>Agents are spawned within the specified range.</p>
-</dd>
-<dt>Requirement</dt><dd><p>No agents are spawned outside of the specified range.</p>
-</dd>
-<dt>Verified by</dt><dd><p>Unit Test SpawnerPreRunCommonParameterExtractor_ExtractSpawnAreas_AllOptionalParameters
-End-to-end Test SpawnerPreRun_SingleRoad_SpecifiedRange</p>
-</dd>
-</dl>
-</section>
-<section id="spawning-on-range-sstart-slength-within-road-boundaries">
-<h4>Spawning on range (SStart + SLength within road boundaries)<a class="headerlink" href="#spawning-on-range-sstart-slength-within-road-boundaries" title="Link to this heading"></a></h4>
-<dl class="simple">
-<dt>Precondition</dt><dd><p>Basic setup as as in <a class="reference internal" href="#spawner-features-prerun-on-roads-consecutive-roads"><span class="std std-ref">Consecutive roads</span></a>.</p>
-</dd>
-<dt>Precondition</dt><dd><p>SStart and SLength are set to values within the road boundaries (with the effective start s-coordinate being lower than the effective end s-coordinate when taking the whole road stream into account).</p>
-</dd>
-<dt>Requirement</dt><dd><p>Agents are spawned within the specified range.</p>
-</dd>
-<dt>Requirement</dt><dd><p>No agents are spawned outside of the specified range.</p>
-</dd>
-<dt>Verified by</dt><dd><p>Unit Test SpawnerPreRunCommonParameterExtractor_ExtractSpawnAreas_AllOptionalParameters</p>
-</dd>
-</dl>
-</section>
-<section id="spawning-on-range-send-outside-of-road-boundaries">
-<h4>Spawning on range (SEnd outside of road boundaries)<a class="headerlink" href="#spawning-on-range-send-outside-of-road-boundaries" title="Link to this heading"></a></h4>
-<dl class="simple">
-<dt>Precondition</dt><dd><p>Basic setup as as in <a class="reference internal" href="#spawner-features-prerun-on-roads-consecutive-roads"><span class="std std-ref">Consecutive roads</span></a>.</p>
-</dd>
-<dt>Precondition</dt><dd><p>SStart is set set to a value within the road boundaries, SEnd is set greater than the length of the last road given.</p>
-</dd>
-<dt>Requirement</dt><dd><p>Agents are spawned within the specified range.</p>
-</dd>
-<dt>Requirement</dt><dd><p>The specified range is capped to the length of the last road.</p>
-</dd>
-<dt>Verified by</dt><dd><p>Unit Test SpawnerPreRunCommonParameterExtractor_ExtractSpawnAreasWithSOutOfRange_ReturnsValidS</p>
-</dd>
-</dl>
-</section>
-<section id="spawning-on-range-slength-outside-of-road-boundaries">
-<h4>Spawning on range (SLength outside of road boundaries)<a class="headerlink" href="#spawning-on-range-slength-outside-of-road-boundaries" title="Link to this heading"></a></h4>
-<dl class="simple">
-<dt>Precondition</dt><dd><p>Basic setup as as in <a class="reference internal" href="#spawner-features-prerun-on-roads-consecutive-roads"><span class="std std-ref">Consecutive roads</span></a>.</p>
-</dd>
-<dt>Precondition</dt><dd><p>SStart is set set to a value within the road boundaries, SLength is set greater than the accumulated length of all roads given.</p>
-</dd>
-<dt>Requirement</dt><dd><p>Agents are spawned within the specified range.</p>
-</dd>
-<dt>Requirement</dt><dd><p>The specified range is capped to the length of the roads.</p>
-</dd>
-<dt>Verified by</dt><dd><p>Unit Test SpawnerPreRunCommonParameterExtractor_ExtractSpawnAreasWithSOutOfRange_ReturnsValidS</p>
-</dd>
-</dl>
-</section>
-<section id="right-lane-only">
-<h4>Right lane only<a class="headerlink" href="#right-lane-only" title="Link to this heading"></a></h4>
-<dl class="simple">
-<dt>Precondition</dt><dd><p>Basic setup as as in <a class="reference internal" href="#spawner-features-prerun-on-roads-consecutive-roads"><span class="std std-ref">Consecutive roads</span></a>.</p>
-</dd>
-<dt>Precondition</dt><dd><p><code class="docutils literal notranslate"><span class="pre">RightLaneOnly</span></code> set to <code class="docutils literal notranslate"><span class="pre">true</span></code> in the Spawner configuration.</p>
-</dd>
-<dt>Requirement</dt><dd><p>Spawning takes place on the specified roads.</p>
-</dd>
-<dt>Requirement</dt><dd><p>Spawning takes place on the rightmost lanes only.</p>
-</dd>
-<dt>Verified by</dt><dd><p>End-to-end Test SpawnerPreRun_SingleRoad_RightLaneOnly</p>
-</dd>
-</dl>
-</section>
-</section>
-<section id="traffic-parameters">
-<h3>Traffic parameters<a class="headerlink" href="#traffic-parameters" title="Link to this heading"></a></h3>
-<section id="separation-buffer-specified">
-<h4>Separation buffer specified<a class="headerlink" href="#separation-buffer-specified" title="Link to this heading"></a></h4>
-<dl class="simple">
-<dt>Precondition</dt><dd><p>Basic setup as as in <a class="reference internal" href="#spawner-features-prerun-on-roads-single-road"><span class="std std-ref">Single road</span></a>.</p>
-</dd>
-<dt>Precondition</dt><dd><p><code class="docutils literal notranslate"><span class="pre">MinimumSeparationBuffer</span></code> is set in the Spawner configuration.</p>
-</dd>
-<dt>Requirement</dt><dd><p>No two agents are spawned with a net distance lower than the specified separation buffer.</p>
-</dd>
-<dt>Verified by</dt><dd><p>UNTESTED</p>
-</dd>
-</dl>
-</section>
-<section id="separation-buffer-not-specified">
-<h4>Separation buffer not specified<a class="headerlink" href="#separation-buffer-not-specified" title="Link to this heading"></a></h4>
-<dl class="simple">
-<dt>Precondition</dt><dd><p>Basic setup as as in <a class="reference internal" href="#spawner-features-prerun-on-roads-single-road"><span class="std std-ref">Single road</span></a>.</p>
-</dd>
-<dt>Precondition</dt><dd><p><code class="docutils literal notranslate"><span class="pre">MinimumSeparationBuffer</span></code> is not set in the Spawner configuration.</p>
-</dd>
-<dt>Requirement</dt><dd><p>No two agents are spawned with a net distance lower than 5 m.</p>
-</dd>
-<dt>Verified by</dt><dd><p>UNTESTED</p>
-</dd>
-</dl>
-</section>
-<section id="time-to-collision">
-<h4>Time to collision<a class="headerlink" href="#time-to-collision" title="Link to this heading"></a></h4>
-<dl class="simple">
-<dt>Precondition</dt><dd><p>Basic setup as as in <a class="reference internal" href="#spawner-features-prerun-on-roads-single-road"><span class="std std-ref">Single road</span></a>.</p>
-</dd>
-<dt>Requirement</dt><dd><p>No agent is spawned with a TTC lower than the configured threshold (with respect to end of lane).</p>
-</dd>
-<dt>Verified by</dt><dd><p>UNTESTED
-Also has to be checked by analysis of simulation output by an external tool</p>
-</dd>
-</dl>
-</section>
-</section>
-<section id="stochastics">
-<h3>Stochastics<a class="headerlink" href="#stochastics" title="Link to this heading"></a></h3>
-<section id="traffic-groups">
-<h4>Traffic groups<a class="headerlink" href="#traffic-groups" title="Link to this heading"></a></h4>
-<dl class="simple">
-<dt>Requirement</dt><dd><p>The selection of traffic groups is randomized using a uniform distribution.</p>
-</dd>
-<dt>Verified by</dt><dd><p>UNTESTED</p>
-</dd>
-</dl>
-</section>
-<section id="agent-profiles">
-<h4>Agent profiles<a class="headerlink" href="#agent-profiles" title="Link to this heading"></a></h4>
-<dl class="simple">
-<dt>Requirement</dt><dd><p>The selection of agent profiles is randomized using a uniform distribution.</p>
-</dd>
-<dt>Verified by</dt><dd><p>UNTESTED</p>
-</dd>
-</dl>
-</section>
-<section id="velocity-distribution">
-<h4>Velocity distribution<a class="headerlink" href="#velocity-distribution" title="Link to this heading"></a></h4>
-<dl class="simple">
-<dt>Requirement</dt><dd><p>The distribution of the velocities of a traffic group has to match the configured distribution.</p>
-</dd>
-<dt>Verified by</dt><dd><p>UNTESTED
-Also has to be checked by analysis of simulation output by an external tool</p>
-</dd>
-</dl>
-</section>
-<section id="tgap-distribution">
-<h4>TGap distribution<a class="headerlink" href="#tgap-distribution" title="Link to this heading"></a></h4>
-<dl class="simple">
-<dt>Requirement</dt><dd><p>The distribution of the TGaps of a traffic group has to match the configured distribution.</p>
-</dd>
-<dt>Verified by</dt><dd><p>UNTESTED
-Also has to be checked by analysis of simulation output by an external tool</p>
-</dd>
-</dl>
-</section>
-</section>
-</section>
-<section id="runtimespawner">
-<span id="spawner-features-runtime"></span><h2>RuntimeSpawner<a class="headerlink" href="#runtimespawner" title="Link to this heading"></a></h2>
-<section id="id2">
-<h3>Spawning on roads, lanes and ranges<a class="headerlink" href="#id2" title="Link to this heading"></a></h3>
-<section id="id3">
-<h4>Non-existent roads<a class="headerlink" href="#id3" title="Link to this heading"></a></h4>
-<dl class="simple">
-<dt>Requirement</dt><dd><p>Road IDs specified in the configuration, but not part of the scenery file are igored.</p>
-</dd>
-<dt>Verified by</dt><dd><p>UNTESTED</p>
-</dd>
-</dl>
-</section>
-<section id="spawner-features-runtime-on-roads-single-road">
-<span id="id4"></span><h4>Single road<a class="headerlink" href="#spawner-features-runtime-on-roads-single-road" title="Link to this heading"></a></h4>
-<dl class="simple">
-<dt>Requirement</dt><dd><p>Spawning on the given road takes place.</p>
-</dd>
-<dt>Requirement</dt><dd><p>No agents are spawned on other roads in the scenery.</p>
-</dd>
-<dt>Requirement</dt><dd><p>Agents are spawned in the correct driving direction.</p>
-</dd>
-<dt>Verified by</dt><dd><p>End-to-end Test SpawnerRuntime_Highway_SingleRoad</p>
-</dd>
-</dl>
-</section>
-<section id="driving-direction">
-<h4>Driving direction<a class="headerlink" href="#driving-direction" title="Link to this heading"></a></h4>
-<dl class="simple">
-<dt>Requirement</dt><dd><p>Agents are spawned in the correct driving direction (matching lane direction).</p>
-</dd>
-<dt>Verified by</dt><dd><p>End-to-end Test SpawnerRuntime_Highway_SingleRoad_DrivingDirection</p>
-</dd>
-</dl>
-</section>
-<section id="id5">
-<h4>Multiple roads (including non existent IDs)<a class="headerlink" href="#id5" title="Link to this heading"></a></h4>
-<dl class="simple">
-<dt>Precondition</dt><dd><p>Spawner configuration specifies a list of roads in a single ListItem.</p>
-</dd>
-<dt>Precondition</dt><dd><p>At least one road id given in the configuration is not present in the scenery.</p>
-</dd>
-<dt>Requirement</dt><dd><p>Spawning on the given roads takes place.</p>
-</dd>
-<dt>Requirement</dt><dd><p>Non-existent road IDs are ignored.</p>
-</dd>
-<dt>Verified by</dt><dd><p>End-to-end Test SpawnerRuntime_Highway_MultipleRoads</p>
-</dd>
-</dl>
-</section>
-<section id="id6">
-<h4>Specified lanes<a class="headerlink" href="#id6" title="Link to this heading"></a></h4>
-<dl class="simple">
-<dt>Precondition</dt><dd><p>Basic setup as as in <a class="reference internal" href="#spawner-features-runtime-on-roads-single-road"><span class="std std-ref">Single road</span></a>.</p>
-</dd>
-<dt>Precondition</dt><dd><p>A list of lanes to be spawned on is specified in the Spawner configuration.</p>
-</dd>
-<dt>Precondition</dt><dd><p>The list of lanes contains lane IDs which don’t exist for the specified road.</p>
-</dd>
-<dt>Requirement</dt><dd><p>Spawning takes place on the specified lane IDs (on drivable lanes).</p>
-</dd>
-<dt>Requirement</dt><dd><p>Spawning does not take place on other lane IDs.</p>
-</dd>
-<dt>Requirement</dt><dd><p>Lane IDs not present for the specified road do not lead to an error.</p>
-</dd>
-<dt>Verified by</dt><dd><p>End-to-end Test SpawnerRuntime_SingleRoad_SpecifiedLanes</p>
-</dd>
-</dl>
-</section>
-<section id="id7">
-<h4>Right lane only<a class="headerlink" href="#id7" title="Link to this heading"></a></h4>
-<dl class="simple">
-<dt>Precondition</dt><dd><p>Basic setup as as in <a class="reference internal" href="#spawner-features-runtime-on-roads-single-road"><span class="std std-ref">Single road</span></a>.</p>
-</dd>
-<dt>Precondition</dt><dd><p><code class="docutils literal notranslate"><span class="pre">RightLaneOnly</span></code> set to <code class="docutils literal notranslate"><span class="pre">true</span></code> in the Spawner configuration.</p>
-</dd>
-<dt>Requirement</dt><dd><p>Spawning takes place on the specified road.</p>
-</dd>
-<dt>Requirement</dt><dd><p>Spawning takes place on the rightmost lane only.</p>
-</dd>
-<dt>Verified by</dt><dd><p>End-to-end Test SpawnerRuntime_SingleRoad_RightLaneOnly</p>
-</dd>
-</dl>
-</section>
-</section>
-<section id="id8">
-<h3>Traffic parameters<a class="headerlink" href="#id8" title="Link to this heading"></a></h3>
-<section id="id9">
-<h4>Separation buffer specified<a class="headerlink" href="#id9" title="Link to this heading"></a></h4>
-<dl class="simple">
-<dt>Precondition</dt><dd><p>Basic setup as as in <a class="reference internal" href="#spawner-features-runtime-on-roads-single-road"><span class="std std-ref">Single road</span></a>.</p>
-</dd>
-<dt>Precondition</dt><dd><p><code class="docutils literal notranslate"><span class="pre">MinimumSeparationBuffer</span></code> is set in the Spawner configuration.</p>
-</dd>
-<dt>Requirement</dt><dd><p>No two agents are spawned with a net distance lower than the specified separation buffer.</p>
-</dd>
-<dt>Verified by</dt><dd><p>Unit Test SpawnerRuntimeCommonParameterExtractor_ExtractMinimumSeparationBuffer_FixedValue</p>
-</dd>
-</dl>
-</section>
-<section id="id10">
-<h4>Separation buffer not specified<a class="headerlink" href="#id10" title="Link to this heading"></a></h4>
-<dl class="simple">
-<dt>Precondition</dt><dd><p>Basic setup as as in <a class="reference internal" href="#spawner-features-runtime-on-roads-single-road"><span class="std std-ref">Single road</span></a>.</p>
-</dd>
-<dt>Precondition</dt><dd><p><code class="docutils literal notranslate"><span class="pre">MinimumSeparationBuffer</span></code> is not set in the Spawner configuration.</p>
-</dd>
-<dt>Requirement</dt><dd><p>No two agents are spawned with a net distance lower than 5 m.</p>
-</dd>
-<dt>Verified by</dt><dd><p>Unit Test SpawnerRuntimeCommonParameterExtractor_ExtractMinimumSeparationBuffer_NoValue_SetsDefault</p>
-</dd>
-</dl>
-</section>
-</section>
-<section id="id11">
-<h3>Stochastics<a class="headerlink" href="#id11" title="Link to this heading"></a></h3>
-<section id="id12">
-<h4>Traffic groups<a class="headerlink" href="#id12" title="Link to this heading"></a></h4>
-<dl class="simple">
-<dt>Requirement</dt><dd><p>The selection of traffic groups is randomized using a uniform distribution.</p>
-</dd>
-<dt>Verified by</dt><dd><p>UNTESTED</p>
-</dd>
-</dl>
-</section>
-<section id="id13">
-<h4>Agent profiles<a class="headerlink" href="#id13" title="Link to this heading"></a></h4>
-<dl class="simple">
-<dt>Requirement</dt><dd><p>The selection of agent profiles is randomized using a uniform distribution.</p>
-</dd>
-<dt>Verified by</dt><dd><p>UNTESTED</p>
-</dd>
-</dl>
-</section>
-<section id="id14">
-<h4>Velocity distribution<a class="headerlink" href="#id14" title="Link to this heading"></a></h4>
-<dl class="simple">
-<dt>Requirement</dt><dd><p>The distribution of the velocities of a traffic group has to match the configured distribution.</p>
-</dd>
-<dt>Verified by</dt><dd><p>UNTESTED
-Also has to be checked by analysis of simulation output by an external tool</p>
-</dd>
-</dl>
-</section>
-<section id="id15">
-<h4>TGap distribution<a class="headerlink" href="#id15" title="Link to this heading"></a></h4>
-<dl class="simple">
-<dt>Requirement</dt><dd><p>The distribution of the TGaps of a traffic group has to match the configured distribution.</p>
-</dd>
-<dt>Verified by</dt><dd><p>UNTESTED
-Also has to be checked by analysis of simulation output by an external tool</p>
-</dd>
-</dl>
-</section>
-</section>
-</section>
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+<li class="toctree-l2 current"><a class="current reference internal" href="#">Spawner Features</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="#prerunspawner">PreRunSpawner</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="#spawning-on-roads-lanes-and-ranges">Spawning on roads, lanes and ranges</a></li>
+<li class="toctree-l4"><a class="reference internal" href="#traffic-parameters">Traffic parameters</a></li>
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+<li class="toctree-l4"><a class="reference internal" href="#id2">Spawning on roads, lanes and ranges</a></li>
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+             
+  <section id="spawner-features">
+<span id="id1"></span><h1>Spawner Features<a class="headerlink" href="#spawner-features" title="Link to this heading"></a></h1>
+<section id="prerunspawner">
+<span id="spawner-features-prerun"></span><h2>PreRunSpawner<a class="headerlink" href="#prerunspawner" title="Link to this heading"></a></h2>
+<section id="spawning-on-roads-lanes-and-ranges">
+<h3>Spawning on roads, lanes and ranges<a class="headerlink" href="#spawning-on-roads-lanes-and-ranges" title="Link to this heading"></a></h3>
+<section id="non-existent-roads">
+<h4>Non-existent roads<a class="headerlink" href="#non-existent-roads" title="Link to this heading"></a></h4>
+<dl class="simple">
+<dt>Requirement</dt><dd><p>Road IDs specified in the configuration, but not part of the scenery file are igored.</p>
+</dd>
+<dt>Verified by</dt><dd><p>Unit Test SpawnerPreRunCommonParameterExtractor_GetWayToNextRoad_NoPossibleWay</p>
+</dd>
+</dl>
+</section>
+<section id="single-road">
+<span id="spawner-features-prerun-on-roads-single-road"></span><h4>Single road<a class="headerlink" href="#single-road" title="Link to this heading"></a></h4>
+<dl class="simple">
+<dt>Requirement</dt><dd><p>Spawning on the given road takes place.</p>
+</dd>
+<dt>Requirement</dt><dd><p>No agents are spawned on other roads in the scenery.</p>
+</dd>
+<dt>Verified by</dt><dd><p>End-to-end Test SpawnerPreRun_Highway_SingleRoad</p>
+</dd>
+</dl>
+</section>
+<section id="consecutive-roads">
+<span id="spawner-features-prerun-on-roads-consecutive-roads"></span><h4>Consecutive roads<a class="headerlink" href="#consecutive-roads" title="Link to this heading"></a></h4>
+<dl class="simple">
+<dt>Precondition</dt><dd><p>Spawner configuration specifies a list of consecutively connected roads in a single ListItem.</p>
+</dd>
+<dt>Requirement</dt><dd><p>Spawning on the given roads takes place.</p>
+</dd>
+<dt>Requirement</dt><dd><p>No agents spawned on other roads in the scenery.</p>
+</dd>
+<dt>Requirement</dt><dd><p>Agents are spawned on all drivable lanes (which are part of the roads being specified in the configuration).</p>
+</dd>
+<dt>Requirement</dt><dd><p>Agents are spawned in the correct driving direction.</p>
+</dd>
+<dt>Verified by</dt><dd><p>End-to-end Test SpawnerPreRun_Highway_FullStream
+End-to-end Test SpawnerPreRun_SingleRoad_DrivingDirection</p>
+</dd>
+</dl>
+</section>
+<section id="non-consecutive-roads">
+<h4>Non-consecutive roads<a class="headerlink" href="#non-consecutive-roads" title="Link to this heading"></a></h4>
+<dl class="simple">
+<dt>Precondition</dt><dd><p>Spawner configuration specifies a list of non-consecutively connected roads.</p>
+</dd>
+<dt>Requirement</dt><dd><p>Spawning on the given roads takes place.</p>
+</dd>
+<dt>Requirement</dt><dd><p>Missing roads between the specified ones are automatically determined by the Spawner and handled like they were specified in the configuration in the first place.
+The resulting path being spawned on is arbitrary if multiple solutions exist for a scenery, but only one path shall be used.</p>
+</dd>
+<dt>Verified by</dt><dd><p>Covered by <a class="reference internal" href="#spawner-features-prerun-on-roads-across-junction"><span class="std std-ref">Roads across junction</span></a></p>
+</dd>
+</dl>
+</section>
+<section id="roads-across-junction">
+<span id="spawner-features-prerun-on-roads-across-junction"></span><h4>Roads across junction<a class="headerlink" href="#roads-across-junction" title="Link to this heading"></a></h4>
+<dl class="simple">
+<dt>Precondition</dt><dd><p>Spawner configuration specifies a list of (not necessarily consecutively) connected roads in a single ListItem.</p>
+</dd>
+<dt>Precondition</dt><dd><p>The chain of roads specified has to cross a single junction.</p>
+</dd>
+<dt>Requirement</dt><dd><p>Spawning on the given roads takes place.</p>
+</dd>
+<dt>Requirement</dt><dd><p>Missing roads between the specified ones are automatically determined by the Spawner and handled like they were specified in the configuration in the first place.
+The resulting path being spawned on is arbitrary if multiple solutions exist for a scenery, but only one path shall be used.</p>
+</dd>
+<dt>Verified by</dt><dd><p>End-to-end Test SpawnerPreRun_Highway_EntryExit</p>
+</dd>
+</dl>
+</section>
+<section id="multiple-roads-including-non-existent-ids">
+<h4>Multiple roads (including non existent IDs)<a class="headerlink" href="#multiple-roads-including-non-existent-ids" title="Link to this heading"></a></h4>
+<dl class="simple">
+<dt>Precondition</dt><dd><p>Spawner configuration specifies a list of (at least partially) consecutively connected roads in a single ListItem.</p>
+</dd>
+<dt>Precondition</dt><dd><p>At least one road id given in the configuration is not present in the scenery.</p>
+</dd>
+<dt>Requirement</dt><dd><p>Spawning on the given roads takes place up to the first non-existent road that is encountered.</p>
+</dd>
+<dt>Requirement</dt><dd><p>No spawning takes place, if the first road of the list doesn’t exist.</p>
+</dd>
+<dt>Verified by</dt><dd><p>End-to-end Test SpawnerPreRun_Highway_IncorrectStreamBegin
+End-to-end Test SpawnerPreRun_Highway_IncorrectStreamMid</p>
+</dd>
+</dl>
+</section>
+<section id="specified-lanes">
+<h4>Specified lanes<a class="headerlink" href="#specified-lanes" title="Link to this heading"></a></h4>
+<dl class="simple">
+<dt>Precondition</dt><dd><p>Basic setup as as in <a class="reference internal" href="#spawner-features-prerun-on-roads-consecutive-roads"><span class="std std-ref">Consecutive roads</span></a>.</p>
+</dd>
+<dt>Precondition</dt><dd><p>A list of lanes to be spawned on is specified in the Spawner configuration.</p>
+</dd>
+<dt>Precondition</dt><dd><p>The list of lanes contains at least one lane IDs which exist for the first specified road.</p>
+</dd>
+<dt>Precondition</dt><dd><p>The list of lanes contains at least one lane IDs which doesn’t exist for the first specified road.</p>
+</dd>
+<dt>Requirement</dt><dd><p>Spawning takes place on the specified lane IDs (on drivable lanes).</p>
+</dd>
+<dt>Requirement</dt><dd><p>Spawning does not take place on other lane IDs.</p>
+</dd>
+<dt>Requirement</dt><dd><p>Lane IDs not present for one or more roads do not lead to an error.</p>
+</dd>
+<dt>Verified by</dt><dd><p>End-to-end Test SpawnerPreRun_SingleRoad_SpecifiedLanes</p>
+</dd>
+</dl>
+</section>
+<section id="multiple-overlapping-road-streams">
+<h4>Multiple overlapping road streams<a class="headerlink" href="#multiple-overlapping-road-streams" title="Link to this heading"></a></h4>
+<dl class="simple">
+<dt>Precondition</dt><dd><p>Two road streams are specified in the Spawner configuration (as in <a class="reference internal" href="#spawner-features-prerun-on-roads-consecutive-roads"><span class="std std-ref">Consecutive roads</span></a>).</p>
+</dd>
+<dt>Precondition</dt><dd><p>The two road streams have at least one road in common.</p>
+</dd>
+<dt>Precondition</dt><dd><p>The Spawner configuration specifies the lanes to spawn on in such a way that there are no overlapping lanes (on the road being common to both streams).</p>
+</dd>
+<dt>Requirement</dt><dd><p>Spawning on the given roads and all given lanes takes place.</p>
+</dd>
+<dt>Verified by</dt><dd><p>End-to-end Test SpawnerPreRun_Highway_RoadOverlap</p>
+</dd>
+</dl>
+</section>
+<section id="spawning-on-range-sstart-send-within-road-boundaries">
+<h4>Spawning on range (SStart + SEnd within road boundaries)<a class="headerlink" href="#spawning-on-range-sstart-send-within-road-boundaries" title="Link to this heading"></a></h4>
+<dl class="simple">
+<dt>Precondition</dt><dd><p>Basic setup as as in <a class="reference internal" href="#spawner-features-prerun-on-roads-consecutive-roads"><span class="std std-ref">Consecutive roads</span></a>.</p>
+</dd>
+<dt>Precondition</dt><dd><p>SStart and SEnd are set to values within the road boundaries (with the effective start s-coordinate being lower than the effective end s-coordinate when taking the whole road stream into account).</p>
+</dd>
+<dt>Requirement</dt><dd><p>Agents are spawned within the specified range.</p>
+</dd>
+<dt>Requirement</dt><dd><p>No agents are spawned outside of the specified range.</p>
+</dd>
+<dt>Verified by</dt><dd><p>Unit Test SpawnerPreRunCommonParameterExtractor_ExtractSpawnAreas_AllOptionalParameters
+End-to-end Test SpawnerPreRun_SingleRoad_SpecifiedRange</p>
+</dd>
+</dl>
+</section>
+<section id="spawning-on-range-sstart-slength-within-road-boundaries">
+<h4>Spawning on range (SStart + SLength within road boundaries)<a class="headerlink" href="#spawning-on-range-sstart-slength-within-road-boundaries" title="Link to this heading"></a></h4>
+<dl class="simple">
+<dt>Precondition</dt><dd><p>Basic setup as as in <a class="reference internal" href="#spawner-features-prerun-on-roads-consecutive-roads"><span class="std std-ref">Consecutive roads</span></a>.</p>
+</dd>
+<dt>Precondition</dt><dd><p>SStart and SLength are set to values within the road boundaries (with the effective start s-coordinate being lower than the effective end s-coordinate when taking the whole road stream into account).</p>
+</dd>
+<dt>Requirement</dt><dd><p>Agents are spawned within the specified range.</p>
+</dd>
+<dt>Requirement</dt><dd><p>No agents are spawned outside of the specified range.</p>
+</dd>
+<dt>Verified by</dt><dd><p>Unit Test SpawnerPreRunCommonParameterExtractor_ExtractSpawnAreas_AllOptionalParameters</p>
+</dd>
+</dl>
+</section>
+<section id="spawning-on-range-send-outside-of-road-boundaries">
+<h4>Spawning on range (SEnd outside of road boundaries)<a class="headerlink" href="#spawning-on-range-send-outside-of-road-boundaries" title="Link to this heading"></a></h4>
+<dl class="simple">
+<dt>Precondition</dt><dd><p>Basic setup as as in <a class="reference internal" href="#spawner-features-prerun-on-roads-consecutive-roads"><span class="std std-ref">Consecutive roads</span></a>.</p>
+</dd>
+<dt>Precondition</dt><dd><p>SStart is set set to a value within the road boundaries, SEnd is set greater than the length of the last road given.</p>
+</dd>
+<dt>Requirement</dt><dd><p>Agents are spawned within the specified range.</p>
+</dd>
+<dt>Requirement</dt><dd><p>The specified range is capped to the length of the last road.</p>
+</dd>
+<dt>Verified by</dt><dd><p>Unit Test SpawnerPreRunCommonParameterExtractor_ExtractSpawnAreasWithSOutOfRange_ReturnsValidS</p>
+</dd>
+</dl>
+</section>
+<section id="spawning-on-range-slength-outside-of-road-boundaries">
+<h4>Spawning on range (SLength outside of road boundaries)<a class="headerlink" href="#spawning-on-range-slength-outside-of-road-boundaries" title="Link to this heading"></a></h4>
+<dl class="simple">
+<dt>Precondition</dt><dd><p>Basic setup as as in <a class="reference internal" href="#spawner-features-prerun-on-roads-consecutive-roads"><span class="std std-ref">Consecutive roads</span></a>.</p>
+</dd>
+<dt>Precondition</dt><dd><p>SStart is set set to a value within the road boundaries, SLength is set greater than the accumulated length of all roads given.</p>
+</dd>
+<dt>Requirement</dt><dd><p>Agents are spawned within the specified range.</p>
+</dd>
+<dt>Requirement</dt><dd><p>The specified range is capped to the length of the roads.</p>
+</dd>
+<dt>Verified by</dt><dd><p>Unit Test SpawnerPreRunCommonParameterExtractor_ExtractSpawnAreasWithSOutOfRange_ReturnsValidS</p>
+</dd>
+</dl>
+</section>
+<section id="right-lane-only">
+<h4>Right lane only<a class="headerlink" href="#right-lane-only" title="Link to this heading"></a></h4>
+<dl class="simple">
+<dt>Precondition</dt><dd><p>Basic setup as as in <a class="reference internal" href="#spawner-features-prerun-on-roads-consecutive-roads"><span class="std std-ref">Consecutive roads</span></a>.</p>
+</dd>
+<dt>Precondition</dt><dd><p><code class="docutils literal notranslate"><span class="pre">RightLaneOnly</span></code> set to <code class="docutils literal notranslate"><span class="pre">true</span></code> in the Spawner configuration.</p>
+</dd>
+<dt>Requirement</dt><dd><p>Spawning takes place on the specified roads.</p>
+</dd>
+<dt>Requirement</dt><dd><p>Spawning takes place on the rightmost lanes only.</p>
+</dd>
+<dt>Verified by</dt><dd><p>End-to-end Test SpawnerPreRun_SingleRoad_RightLaneOnly</p>
+</dd>
+</dl>
+</section>
+</section>
+<section id="traffic-parameters">
+<h3>Traffic parameters<a class="headerlink" href="#traffic-parameters" title="Link to this heading"></a></h3>
+<section id="separation-buffer-specified">
+<h4>Separation buffer specified<a class="headerlink" href="#separation-buffer-specified" title="Link to this heading"></a></h4>
+<dl class="simple">
+<dt>Precondition</dt><dd><p>Basic setup as as in <a class="reference internal" href="#spawner-features-prerun-on-roads-single-road"><span class="std std-ref">Single road</span></a>.</p>
+</dd>
+<dt>Precondition</dt><dd><p><code class="docutils literal notranslate"><span class="pre">MinimumSeparationBuffer</span></code> is set in the Spawner configuration.</p>
+</dd>
+<dt>Requirement</dt><dd><p>No two agents are spawned with a net distance lower than the specified separation buffer.</p>
+</dd>
+<dt>Verified by</dt><dd><p>UNTESTED</p>
+</dd>
+</dl>
+</section>
+<section id="separation-buffer-not-specified">
+<h4>Separation buffer not specified<a class="headerlink" href="#separation-buffer-not-specified" title="Link to this heading"></a></h4>
+<dl class="simple">
+<dt>Precondition</dt><dd><p>Basic setup as as in <a class="reference internal" href="#spawner-features-prerun-on-roads-single-road"><span class="std std-ref">Single road</span></a>.</p>
+</dd>
+<dt>Precondition</dt><dd><p><code class="docutils literal notranslate"><span class="pre">MinimumSeparationBuffer</span></code> is not set in the Spawner configuration.</p>
+</dd>
+<dt>Requirement</dt><dd><p>No two agents are spawned with a net distance lower than 5 m.</p>
+</dd>
+<dt>Verified by</dt><dd><p>UNTESTED</p>
+</dd>
+</dl>
+</section>
+<section id="time-to-collision">
+<h4>Time to collision<a class="headerlink" href="#time-to-collision" title="Link to this heading"></a></h4>
+<dl class="simple">
+<dt>Precondition</dt><dd><p>Basic setup as as in <a class="reference internal" href="#spawner-features-prerun-on-roads-single-road"><span class="std std-ref">Single road</span></a>.</p>
+</dd>
+<dt>Requirement</dt><dd><p>No agent is spawned with a TTC lower than the configured threshold (with respect to end of lane).</p>
+</dd>
+<dt>Verified by</dt><dd><p>UNTESTED
+Also has to be checked by analysis of simulation output by an external tool</p>
+</dd>
+</dl>
+</section>
+</section>
+<section id="stochastics">
+<h3>Stochastics<a class="headerlink" href="#stochastics" title="Link to this heading"></a></h3>
+<section id="traffic-groups">
+<h4>Traffic groups<a class="headerlink" href="#traffic-groups" title="Link to this heading"></a></h4>
+<dl class="simple">
+<dt>Requirement</dt><dd><p>The selection of traffic groups is randomized using a uniform distribution.</p>
+</dd>
+<dt>Verified by</dt><dd><p>UNTESTED</p>
+</dd>
+</dl>
+</section>
+<section id="agent-profiles">
+<h4>Agent profiles<a class="headerlink" href="#agent-profiles" title="Link to this heading"></a></h4>
+<dl class="simple">
+<dt>Requirement</dt><dd><p>The selection of agent profiles is randomized using a uniform distribution.</p>
+</dd>
+<dt>Verified by</dt><dd><p>UNTESTED</p>
+</dd>
+</dl>
+</section>
+<section id="velocity-distribution">
+<h4>Velocity distribution<a class="headerlink" href="#velocity-distribution" title="Link to this heading"></a></h4>
+<dl class="simple">
+<dt>Requirement</dt><dd><p>The distribution of the velocities of a traffic group has to match the configured distribution.</p>
+</dd>
+<dt>Verified by</dt><dd><p>UNTESTED
+Also has to be checked by analysis of simulation output by an external tool</p>
+</dd>
+</dl>
+</section>
+<section id="tgap-distribution">
+<h4>TGap distribution<a class="headerlink" href="#tgap-distribution" title="Link to this heading"></a></h4>
+<dl class="simple">
+<dt>Requirement</dt><dd><p>The distribution of the TGaps of a traffic group has to match the configured distribution.</p>
+</dd>
+<dt>Verified by</dt><dd><p>UNTESTED
+Also has to be checked by analysis of simulation output by an external tool</p>
+</dd>
+</dl>
+</section>
+</section>
+</section>
+<section id="runtimespawner">
+<span id="spawner-features-runtime"></span><h2>RuntimeSpawner<a class="headerlink" href="#runtimespawner" title="Link to this heading"></a></h2>
+<section id="id2">
+<h3>Spawning on roads, lanes and ranges<a class="headerlink" href="#id2" title="Link to this heading"></a></h3>
+<section id="id3">
+<h4>Non-existent roads<a class="headerlink" href="#id3" title="Link to this heading"></a></h4>
+<dl class="simple">
+<dt>Requirement</dt><dd><p>Road IDs specified in the configuration, but not part of the scenery file are igored.</p>
+</dd>
+<dt>Verified by</dt><dd><p>UNTESTED</p>
+</dd>
+</dl>
+</section>
+<section id="spawner-features-runtime-on-roads-single-road">
+<span id="id4"></span><h4>Single road<a class="headerlink" href="#spawner-features-runtime-on-roads-single-road" title="Link to this heading"></a></h4>
+<dl class="simple">
+<dt>Requirement</dt><dd><p>Spawning on the given road takes place.</p>
+</dd>
+<dt>Requirement</dt><dd><p>No agents are spawned on other roads in the scenery.</p>
+</dd>
+<dt>Requirement</dt><dd><p>Agents are spawned in the correct driving direction.</p>
+</dd>
+<dt>Verified by</dt><dd><p>End-to-end Test SpawnerRuntime_Highway_SingleRoad</p>
+</dd>
+</dl>
+</section>
+<section id="driving-direction">
+<h4>Driving direction<a class="headerlink" href="#driving-direction" title="Link to this heading"></a></h4>
+<dl class="simple">
+<dt>Requirement</dt><dd><p>Agents are spawned in the correct driving direction (matching lane direction).</p>
+</dd>
+<dt>Verified by</dt><dd><p>End-to-end Test SpawnerRuntime_Highway_SingleRoad_DrivingDirection</p>
+</dd>
+</dl>
+</section>
+<section id="id5">
+<h4>Multiple roads (including non existent IDs)<a class="headerlink" href="#id5" title="Link to this heading"></a></h4>
+<dl class="simple">
+<dt>Precondition</dt><dd><p>Spawner configuration specifies a list of roads in a single ListItem.</p>
+</dd>
+<dt>Precondition</dt><dd><p>At least one road id given in the configuration is not present in the scenery.</p>
+</dd>
+<dt>Requirement</dt><dd><p>Spawning on the given roads takes place.</p>
+</dd>
+<dt>Requirement</dt><dd><p>Non-existent road IDs are ignored.</p>
+</dd>
+<dt>Verified by</dt><dd><p>End-to-end Test SpawnerRuntime_Highway_MultipleRoads</p>
+</dd>
+</dl>
+</section>
+<section id="id6">
+<h4>Specified lanes<a class="headerlink" href="#id6" title="Link to this heading"></a></h4>
+<dl class="simple">
+<dt>Precondition</dt><dd><p>Basic setup as as in <a class="reference internal" href="#spawner-features-runtime-on-roads-single-road"><span class="std std-ref">Single road</span></a>.</p>
+</dd>
+<dt>Precondition</dt><dd><p>A list of lanes to be spawned on is specified in the Spawner configuration.</p>
+</dd>
+<dt>Precondition</dt><dd><p>The list of lanes contains lane IDs which don’t exist for the specified road.</p>
+</dd>
+<dt>Requirement</dt><dd><p>Spawning takes place on the specified lane IDs (on drivable lanes).</p>
+</dd>
+<dt>Requirement</dt><dd><p>Spawning does not take place on other lane IDs.</p>
+</dd>
+<dt>Requirement</dt><dd><p>Lane IDs not present for the specified road do not lead to an error.</p>
+</dd>
+<dt>Verified by</dt><dd><p>End-to-end Test SpawnerRuntime_SingleRoad_SpecifiedLanes</p>
+</dd>
+</dl>
+</section>
+<section id="id7">
+<h4>Right lane only<a class="headerlink" href="#id7" title="Link to this heading"></a></h4>
+<dl class="simple">
+<dt>Precondition</dt><dd><p>Basic setup as as in <a class="reference internal" href="#spawner-features-runtime-on-roads-single-road"><span class="std std-ref">Single road</span></a>.</p>
+</dd>
+<dt>Precondition</dt><dd><p><code class="docutils literal notranslate"><span class="pre">RightLaneOnly</span></code> set to <code class="docutils literal notranslate"><span class="pre">true</span></code> in the Spawner configuration.</p>
+</dd>
+<dt>Requirement</dt><dd><p>Spawning takes place on the specified road.</p>
+</dd>
+<dt>Requirement</dt><dd><p>Spawning takes place on the rightmost lane only.</p>
+</dd>
+<dt>Verified by</dt><dd><p>End-to-end Test SpawnerRuntime_SingleRoad_RightLaneOnly</p>
+</dd>
+</dl>
+</section>
+</section>
+<section id="id8">
+<h3>Traffic parameters<a class="headerlink" href="#id8" title="Link to this heading"></a></h3>
+<section id="id9">
+<h4>Separation buffer specified<a class="headerlink" href="#id9" title="Link to this heading"></a></h4>
+<dl class="simple">
+<dt>Precondition</dt><dd><p>Basic setup as as in <a class="reference internal" href="#spawner-features-runtime-on-roads-single-road"><span class="std std-ref">Single road</span></a>.</p>
+</dd>
+<dt>Precondition</dt><dd><p><code class="docutils literal notranslate"><span class="pre">MinimumSeparationBuffer</span></code> is set in the Spawner configuration.</p>
+</dd>
+<dt>Requirement</dt><dd><p>No two agents are spawned with a net distance lower than the specified separation buffer.</p>
+</dd>
+<dt>Verified by</dt><dd><p>Unit Test SpawnerRuntimeCommonParameterExtractor_ExtractMinimumSeparationBuffer_FixedValue</p>
+</dd>
+</dl>
+</section>
+<section id="id10">
+<h4>Separation buffer not specified<a class="headerlink" href="#id10" title="Link to this heading"></a></h4>
+<dl class="simple">
+<dt>Precondition</dt><dd><p>Basic setup as as in <a class="reference internal" href="#spawner-features-runtime-on-roads-single-road"><span class="std std-ref">Single road</span></a>.</p>
+</dd>
+<dt>Precondition</dt><dd><p><code class="docutils literal notranslate"><span class="pre">MinimumSeparationBuffer</span></code> is not set in the Spawner configuration.</p>
+</dd>
+<dt>Requirement</dt><dd><p>No two agents are spawned with a net distance lower than 5 m.</p>
+</dd>
+<dt>Verified by</dt><dd><p>Unit Test SpawnerRuntimeCommonParameterExtractor_ExtractMinimumSeparationBuffer_NoValue_SetsDefault</p>
+</dd>
+</dl>
+</section>
+</section>
+<section id="id11">
+<h3>Stochastics<a class="headerlink" href="#id11" title="Link to this heading"></a></h3>
+<section id="id12">
+<h4>Traffic groups<a class="headerlink" href="#id12" title="Link to this heading"></a></h4>
+<dl class="simple">
+<dt>Requirement</dt><dd><p>The selection of traffic groups is randomized using a uniform distribution.</p>
+</dd>
+<dt>Verified by</dt><dd><p>UNTESTED</p>
+</dd>
+</dl>
+</section>
+<section id="id13">
+<h4>Agent profiles<a class="headerlink" href="#id13" title="Link to this heading"></a></h4>
+<dl class="simple">
+<dt>Requirement</dt><dd><p>The selection of agent profiles is randomized using a uniform distribution.</p>
+</dd>
+<dt>Verified by</dt><dd><p>UNTESTED</p>
+</dd>
+</dl>
+</section>
+<section id="id14">
+<h4>Velocity distribution<a class="headerlink" href="#id14" title="Link to this heading"></a></h4>
+<dl class="simple">
+<dt>Requirement</dt><dd><p>The distribution of the velocities of a traffic group has to match the configured distribution.</p>
+</dd>
+<dt>Verified by</dt><dd><p>UNTESTED
+Also has to be checked by analysis of simulation output by an external tool</p>
+</dd>
+</dl>
+</section>
+<section id="id15">
+<h4>TGap distribution<a class="headerlink" href="#id15" title="Link to this heading"></a></h4>
+<dl class="simple">
+<dt>Requirement</dt><dd><p>The distribution of the TGaps of a traffic group has to match the configured distribution.</p>
+</dd>
+<dt>Verified by</dt><dd><p>UNTESTED
+Also has to be checked by analysis of simulation output by an external tool</p>
+</dd>
+</dl>
+</section>
+</section>
+</section>
+</section>
+
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-  <section id="system-structure-and-parameterization-ssp">
-<span id="ssp"></span><h1>System Structure and Parameterization (SSP)<a class="headerlink" href="#system-structure-and-parameterization-ssp" title="Link to this heading"></a></h1>
-<p>System Structure and Parameterization (SSP) is a tool independent standard to define
-complete systems consisting of one or more FMUs
-(see Functional-Mockup-Interface [LINK: <a class="reference external" href="https://fmi-standard.org/">https://fmi-standard.org/</a>])
-including its parameterization that can be transferred between simulation tools.
-Official content is available under: <a class="reference external" href="https://ssp-standard.org/">https://ssp-standard.org/</a> .</p>
-<p>In <strong>openPASS</strong> we use SSP to connect FMUs with each other,
-especially those which need communication during one simulation time step.
-The whole SSP is appended as vehicle component.</p>
-<section id="inputs-ssp-structure">
-<span id="ssp-input"></span><h2>Inputs / SSP Structure<a class="headerlink" href="#inputs-ssp-structure" title="Link to this heading"></a></h2>
-<p>The following image displays the example ConnectionTest.ssp. This SSP contains one root SSD-System,
-the subsystem OSMPConnectionTest and two SSD-Components, that are connected with each other.</p>
-<figure class="align-default" id="osmpconnectiontest-visual">
-<img alt="../../_images/%5BB2%5DOsmpConnectionTest_Visual.png" src="../../_images/%5BB2%5DOsmpConnectionTest_Visual.png" />
-</figure>
-<p>FMUs are wrapped within a SSD-Component. The example consists of two FMU’s “DummySensor” and “OSMPTrafficUpdateStepper”.
-To allow these two to exchange data within one timestep, they need a connection, which consists of two connectors.
-Either a connector gets data from outside of the SSP-System, for instance <strong>openPASS</strong>.
-Or two connectors which are directly connected within the SSP-System.
-These connections are only one directional.
-The example shows a common usecase of SSP: A sensor Component transfers SensorData to the TrafficUpdateStepper,
-which writes a DynamicSignal. This signal leaves this SSP to animate the agent.</p>
-<section id="system-structure-package-ssp">
-<h3>System Structure Package SSP<a class="headerlink" href="#system-structure-package-ssp" title="Link to this heading"></a></h3>
-<p>On the filesystem, a SSP is a zip file, which includes one or more .ssd files together with related resources.</p>
-<p>In our example the unpacked zip looks like this:</p>
-<blockquote>
-<div><div class="highlight-default notranslate"><div class="highlight"><pre><span></span>..\ConnectionTest.ssp
-├── SystemStructure.ssd (mandatory !)
-├── OSMPConnectionTest.ssd
-├── ParameterValues.ssv
-├── Resources
-│  ├── DummySensor.fmu
-│  └── OsmpTrafficUpdateStepper.fmu
-</pre></div>
-</div>
-<p>In the folder structure above:</p>
-<ul class="simple">
-<li><p><code class="docutils literal notranslate"><span class="pre">SystemStructure.ssd</span></code> can be perceived as the root of the SSP. It contains the root system.</p></li>
-<li><p><code class="docutils literal notranslate"><span class="pre">OSMPConnectionTest.ssd</span></code> A system within the root system</p></li>
-<li><p><code class="docutils literal notranslate"><span class="pre">ParameterValues.ssv</span></code> Alternative way to describe the values of SSP parameters (<a class="reference internal" href="#ssvfiles"><span class="std std-ref">ref</span></a>)</p></li>
-<li><p><code class="docutils literal notranslate"><span class="pre">Resources</span></code> The Resources folder is for additional data, like FMUs.</p></li>
-</ul>
-</div></blockquote>
-<p>Resources can be referenced FMUs.
-Any SSP specific files should be located in the zip root directory.
-SSP files are referenced from the System Structure Description file(s) through relative URIs (cf. RFC 3986).
-SystemStructure.ssd is the root file of the zip archive. System structure definitions (*.ssd) describe entities called Systems.
-Additional entries may include Parameter Values (*.ssv), Parameter Mappings (*.ssm) or Signal Dictionaries (*.ssb).</p>
-<p><strong>System Structure description (.ssd files)</strong></p>
-<p>The file “SystemStructure.ssd” is mandatory because it defines to root of the SSP.
-Other (*).ssd can be used to make use of more then one system, or for organisation purpose.
-Subsystems that are hierarchically within the root system should be listed in that SSD.
-Subsystems which are only present as (*).ssd but are not connected with the root. More on that in section <a class="reference internal" href="#ssd"><span class="std std-ref">SSD - System Structure Definition</span></a>.</p>
-<p id="ssvfiles"><strong>System Structure Parameter Values (.ssv files)</strong></p>
-<p>Not mandatory. Is supported in the current version of <strong>openPASS</strong>.
-Parameter Values describes a collection of ssd:ParameterSet
-A ParameterSet is a collection of parameters grouped under a name.
-Parameter Values can be added in two ways:</p>
-<ol class="arabic simple">
-<li><p>directly define it within the .ssd file in ssd:ParameterValues</p></li>
-<li><p>create a .ssv file and reference it within the .ssd under ssd:ParameterValues</p></li>
-</ol>
-<p><strong>System Structure Parameter Mapping (.ssm files)</strong></p>
-<p>Not mandatory. Not yet implemented in current <strong>openPASS</strong> version.
-A parameter mapping describes a mapping between parameters.
-A parameter mapping can be added in two ways:</p>
-<ol class="arabic simple">
-<li><p>directly define it within the .ssd file in one ssd:ParameterMapping</p></li>
-<li><p>create a .ssm file and reference it within the .ssd in one ssd:ParameterMappings</p></li>
-</ol>
-<p><strong>System Structure Signal Dictionaries (.ssb files)</strong></p>
-<p>Is not mandatory. Not yet implemented in current <strong>openPASS</strong> version.
-A signal dictionary is a collection of signals.
-There are two ways to define a signal dictionary:</p>
-<ol class="arabic simple">
-<li><p>directly define it within the .ssd file in ssd:ParameterMappings</p></li>
-<li><p>create a .ssb file and reference it within the .ssd in ssd:ParameterMappings</p></li>
-</ol>
-</section>
-<section id="ssd-system-structure-definition">
-<span id="ssd"></span><h3>SSD - System Structure Definition<a class="headerlink" href="#ssd-system-structure-definition" title="Link to this heading"></a></h3>
-<p>The following example shows the definition of a system “OSMPConnectionTest”.</p>
-<figure class="align-default" id="id1">
-<span id="osmpconnectiontest-schema"></span><img alt="../../_images/OsmpConnectionTest.ssd_Schemaansicht.png" src="../../_images/OsmpConnectionTest.ssd_Schemaansicht.png" />
-<figcaption>
-<p><span class="caption-text">Schematic representation of OSMPConnection.ssd</span><a class="headerlink" href="#id1" title="Link to this image"></a></p>
-</figcaption>
-</figure>
-<p>In the root System, OSMPConnectionTest is defined as an Element.
-So this System is a subsystem of the root System.
-The file “OSMPConnectionTest.ssd” defines the subsystem, which consists of two Components “DummySensor” and “TrafficUpdateStepper”.
-Notice, how Components are listed as Elements. In general, Elements of a System can either be a System or a Component.
-You can think of it as a filestructure, in our example we keep it simple with just two Components in the Elements of OSMPConnectionTest.</p>
-<p><strong>In General</strong></p>
-<p>Each System consists of zero to many Elements and zero to many Connections
-A Element can either be a Component, a SignalDictionaryReference or a System (Subsystem).
-Each Element can have zero to many connectors, which are used to define Connections.
-Connectors can interface with the FMU model description.
-A Connector has a certain type (data type), and can have zero two many Annotations
-An Annotation is used to give additional information for any model entity, which we are using in <strong>openPASS</strong> to make OSMPConnectors (see <a class="reference internal" href="#ssp-osmpconnector"><span class="std std-ref">OSI Connectors</span></a>)
-Furthermore each Element has zero to many ParameterBindings.
-The parametrization of the FMUs is handled with a ParameterSet.</p>
-<p><strong>OSMP Connectors</strong></p>
-<p>By using an Annotation, we can combine three Connectors to be able to handle OSI messages. Notice, that Annotations
-are a valid way to extend the standard with features, which are not part of SSP yet.</p>
-<blockquote>
-<div><div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="w">                        </span><span class="nt">&lt;ssd:Annotations&gt;</span>
-<span class="w">                            </span><span class="nt">&lt;ssc:Annotation</span><span class="w"> </span><span class="na">type=</span><span class="s">&quot;net.pmsf.osmp&quot;</span><span class="nt">&gt;</span>
-<span class="w">                                </span><span class="nt">&lt;osmp:osmp-binary-variable</span>
-<span class="w">                                        </span><span class="na">xmlns:osmp=</span><span class="s">&quot;http://xsd.pmsf.net/OSISensorModelPackaging&quot;</span>
-<span class="w">                                        </span><span class="na">mime-type=</span><span class="s">&quot;application/x-open-simulation-interface; type=SensorData; version=3.2.1&quot;</span>
-<span class="w">                                        </span><span class="na">name=</span><span class="s">&quot;OSMPSensorDataOut&quot;</span>
-<span class="w">                                        </span><span class="na">role=</span><span class="s">&quot;size&quot;</span><span class="nt">/&gt;</span>
-<span class="w">                            </span><span class="nt">&lt;/ssc:Annotation&gt;</span>
-<span class="w">                        </span><span class="nt">&lt;/ssd:Annotations&gt;</span>
-</pre></div>
-</div>
-</div></blockquote>
-<p>Three Connectors combine with an Annotation of type “net.psmf.osmp”, by having the same name inside the osmp:osmp-binary-variable.
-osmp:osmp-binary-variable comes always in the same shape.
-Each triple of connectors must have the three following roles: base.lo, base.hi and size.
-base.lo and base.hi make a memory pointer, where the OSI message is allocated during simulation.
-size contains the memory size of the message. In combination of the three connectors the message can be passed between components
-Also, notice how mime-type contains crucial information. Type specifies the type of the OSI message. Version is specified as well.</p>
-<p><strong>FMU Parameters</strong></p>
-<p>The FMU inside the ssd component needs parametrization as well. These are the same parameters as the parameters of the Algorithm_FmuWrapper.
-To parametrize the FMU inside ssd, we define a ParameterSet inside the ParameterBindings. Important is the name attribute of the ParameterSet (name=”FMUParameters”):</p>
-<blockquote>
-<div><div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="w">                            </span><span class="nt">&lt;ssv:ParameterSet</span><span class="w"> </span><span class="na">version=</span><span class="s">&quot;1.0&quot;</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;FmuParameters&quot;</span><span class="nt">&gt;</span>
-<span class="w">                                </span><span class="nt">&lt;ssv:Parameters&gt;</span>
-<span class="w">                                    </span><span class="nt">&lt;ssv:Parameter</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;Logging&quot;</span><span class="nt">&gt;</span>
-<span class="w">                                        </span><span class="nt">&lt;ssv:Boolean</span><span class="w"> </span><span class="na">value=</span><span class="s">&quot;true&quot;</span><span class="nt">/&gt;</span>
-<span class="w">                                    </span><span class="nt">&lt;/ssv:Parameter&gt;</span>
-<span class="w">                                    </span><span class="nt">&lt;ssv:Parameter</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;CsvOutput&quot;</span><span class="nt">&gt;</span>
-<span class="w">                                        </span><span class="nt">&lt;ssv:Boolean</span><span class="w"> </span><span class="na">value=</span><span class="s">&quot;true&quot;</span><span class="nt">/&gt;</span>
-<span class="w">                                    </span><span class="nt">&lt;/ssv:Parameter&gt;</span>
-<span class="w">                                    </span><span class="nt">&lt;ssv:Parameter</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;UnzipOncePerInstance&quot;</span><span class="nt">&gt;</span>
-<span class="w">                                        </span><span class="nt">&lt;ssv:Boolean</span><span class="w"> </span><span class="na">value=</span><span class="s">&quot;false&quot;</span><span class="nt">/&gt;</span>
-<span class="w">                                    </span><span class="nt">&lt;/ssv:Parameter&gt;</span>
-<span class="w">                                    </span><span class="nt">&lt;ssv:Parameter</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;WriteJson_SensorView&quot;</span><span class="nt">&gt;</span>
-<span class="w">                                        </span><span class="nt">&lt;ssv:Boolean</span><span class="w"> </span><span class="na">value=</span><span class="s">&quot;true&quot;</span><span class="nt">/&gt;</span>
-<span class="w">                                    </span><span class="nt">&lt;/ssv:Parameter&gt;</span>
-<span class="w">									</span><span class="nt">&lt;ssv:Parameter</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;WriteTrace_SensorView&quot;</span><span class="nt">&gt;</span>
-<span class="w">                                        </span><span class="nt">&lt;ssv:Boolean</span><span class="w"> </span><span class="na">value=</span><span class="s">&quot;true&quot;</span><span class="nt">/&gt;</span>
-<span class="w">                                    </span><span class="nt">&lt;/ssv:Parameter&gt;</span>
-<span class="w">                                    </span><span class="nt">&lt;ssv:Parameter</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;Input_OSMPSensorViewIn&quot;</span><span class="nt">&gt;</span>
-<span class="w">                                        </span><span class="nt">&lt;ssv:String</span><span class="w"> </span><span class="na">value=</span><span class="s">&quot;SensorView&quot;</span><span class="nt">/&gt;</span>
-<span class="w">                                    </span><span class="nt">&lt;/ssv:Parameter&gt;</span>
-<span class="w">                                </span><span class="nt">&lt;/ssv:Parameters&gt;</span>
-<span class="w">                            </span><span class="nt">&lt;/ssv:ParameterSet&gt;</span>
-</pre></div>
-</div>
-</div></blockquote>
-<p>Each ssv::parameter has a sub object of the parameter type, with the attribute value containing the actual value.
-SSP support the following types: Real (float value), Integer, Boolean, String, Enumeration and Binary.</p>
-<p><strong>PriorityParameter</strong>
-The priority of the component is set through an annotation on component level
-With a higher priority, a FMU component triggers earlier then others.</p>
-<blockquote>
-<div><div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="w">                    </span><span class="nt">&lt;ssc:Annotation</span><span class="w"> </span><span class="na">type=</span><span class="s">&quot;de.setlevel.ssp.scheduling&quot;</span><span class="nt">&gt;</span>
-<span class="w">                        </span><span class="cm">&lt;!--Standard priority is 0. Same prio is schduled parallel--&gt;</span>
-<span class="w">                        </span><span class="nt">&lt;slex:co-simulation</span>
-<span class="w">                            </span><span class="na">priority=</span><span class="s">&quot;42&quot;</span><span class="nt">/&gt;</span>
-<span class="w">                    </span><span class="nt">&lt;/ssc:Annotation&gt;</span>
-</pre></div>
-</div>
-</div></blockquote>
-</section>
-</section>
-<section id="implementation">
-<span id="ssp-implementation"></span><h2>Implementation<a class="headerlink" href="#implementation" title="Link to this heading"></a></h2>
-<section id="parsing">
-<h3>Parsing<a class="headerlink" href="#parsing" title="Link to this heading"></a></h3>
-<p>The first implementation detail of Algorithm SSP Wrapper, a selected SSP is loaded as vehicle component.
-The following picture illustrates how files are parsed and interpreted in Algorithm_SspWrapper.</p>
-<figure class="align-default" id="ssp-parsing">
-<img alt="../../_images/%5BI1%5DParsing.png" src="../../_images/%5BI1%5DParsing.png" />
-</figure>
-<p>Algorithm_SspWrapper is initialized by parsing one .ssp. The zip folded contents of the .ssp is unpacked to a temporary folder
-and the contents are scanned for ssd files, such as the mandatory “SystemStructure.ssd”.
-The System described by “SystemStructure.ssd” makes the root system,
-any other fully parsed system is included as subsystem of that root system.</p>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>One parsed ssd. System includes GroupConnectors, which contain all outer accessible connectors.
-A Connector is only visible from outside if it is connected with a connection. More on that in section <a class="reference internal" href="#ssp-objectstructure"><span class="std std-ref">Object Structure</span></a></p>
-</div>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>Should there be systems which are described by .ssd files, they must be in the elements array of the root system,
-or in any other system related to the root system. Is a .ssd not in any relation to the root, it is ignored!</p>
-</div>
-<p>The process of interpreting the connections is part of the system creation.
-Another feature of system creation is the formation of OSI Connectors we discuss in the next chapter:</p>
-</section>
-<section id="osi-connectors">
-<span id="ssp-osmpconnector"></span><h3>OSI Connectors<a class="headerlink" href="#osi-connectors" title="Link to this heading"></a></h3>
-<p>The next figure describes how triples of connectors form a OSI Connector.</p>
-<figure class="align-default">
-<img alt="../../_images/%5BI2%5DOsmpConnector.png" src="../../_images/%5BI2%5DOsmpConnector.png" />
-</figure>
-<p>OSI connectors come in triples since OSI messages are represented with 3 integers.
-The integers base.lo and base.hi specify the memory location of the OSI message. base.size describes the buffer length.
-Through the osmp annotation, a triple of connectors are joined together.
-In the figures of this documentation, OSI Connectors are signaled by the purple color.</p>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>The name attribute in the annotation joins the triple, whereas the connector name is relevant for the ssd system.</p>
-</div>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>To connect OSI connectors, they require 3 connections in the .ssd. Once the file is parsed,
-the 3 connections forms a complete connection in the system.</p>
-</div>
-<p>OSI connectors are responsible for writing messages. Should the OSI message of a OSI connector change,
-and the connector parametrized to write output, it writes the new message as soon as it changes.
-While json messages can be written to file directly, binary traces contain the serialized messages of much timesteps in one file.
-Because of that, osi messages append binary traces to message containers in their SSP system. It’s contents are written
-to file as soon the system destructs.</p>
-</section>
-<section id="object-structure">
-<span id="ssp-objectstructure"></span><h3>Object Structure<a class="headerlink" href="#object-structure" title="Link to this heading"></a></h3>
-<p>The implementation of SSP follows the relation of objects which the standard imposes.
-Mainly the SSP contains at least one System. Each System contains Elements and Connectors.
-Since Systems are Elements, Systems can include other Systems as subelements.</p>
-<p>Another type of Elements are Components. One common used Component is the FMUComponent.
-It is good practice that FMUComponents don’t contain further subelements.</p>
-<p>The System originating from the mandatory SystemStructure.ssd makes the root System object,
-containing all of it’s subsystems.</p>
-<p>The Following picture shows ConnectionTest.ssp with two connected FMU’s.</p>
-<figure class="align-default" id="ssp-connectiontestdetail">
-<img alt="../../_images/%5BI3%5DOSMPConnectionTestDetail.png" src="../../_images/%5BI3%5DOSMPConnectionTestDetail.png" />
-</figure>
-<p>After parsing, Algorithm_SspWrapper holds only one SSP System, which is the root System defined by the systemstructure.ssd
-In our example, we have one subsystem: OSMPConnection, which is a Element of the root System.
-Within the Elements of the System OSMPConnection are two components, which are of the type FMUComponent.
-Each of these Components hold an instance of Algorithm_FmuWrapper.
-The two FMUs are connected by two OSI Connectors. To establish a connection, the following requirements need to be fulfilled:</p>
-<ul class="simple">
-<li><p>SensorDataOut has to be a OSI connector (see section <a class="reference internal" href="#ssp-osmpconnector"><span class="std std-ref">OSI Connectors</span></a>)</p></li>
-<li><p>SensorDataOut should be an output connector of SensorDummy and SensorDataIn should be an input connector of TrafficUpdateStepper. Their kind is specified as a connector attribute in the ssd file.</p></li>
-<li><p>both connectors are connected by the connection depicted with ‘*’ in the figure.</p></li>
-</ul>
-<p>The OSI connector SensorDataOut will propagate its SensorData to the other connector SensorDataIn.
-Each System can have connections, which can connect connectors of two different elements.
-Hence, each Connection is just a tuple of : (elementStartName, startConnectorName) -&gt; (elementEndName, endConnectorName)</p>
-<blockquote>
-<div><div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>While OSI Connectors are abstracted as singular units in the figure, they appear as triple in the ssd. files.
-Hence they require three connections in the ssd. file as well</p>
-</div>
-</div></blockquote>
-<dl>
-<dt>Example Connection between two components within the SSP (Connection ‘*’)</dt><dd><div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="w">            </span><span class="cm">&lt;!-- DummySensor &lt;-&gt; TrafficStepper --&gt;</span>
-<span class="w">		    </span><span class="nt">&lt;ssd:Connection</span><span class="w"> </span><span class="na">startElement=</span><span class="s">&quot;DummySensor&quot;</span>
-<span class="w">                            </span><span class="na">startConnector=</span><span class="s">&quot;SensorDataOut.size&quot;</span>
-<span class="w">                            </span><span class="na">endElement=</span><span class="s">&quot;TrafficStepper&quot;</span>
-<span class="w">                            </span><span class="na">endConnector=</span><span class="s">&quot;SensorDataIn.size&quot;</span>
-<span class="w">                            </span><span class="na">suppressUnitConversion=</span><span class="s">&quot;false&quot;</span><span class="nt">/&gt;</span>
-</pre></div>
-</div>
-</dd>
-<dt>Example Connection from outside the system(e.g. openPASS or another system) to a component in the system (Connection ‘**’)</dt><dd><div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="w">            </span><span class="cm">&lt;!-- System &lt;-&gt; TrafficStepper --&gt;</span>
-<span class="w">            </span><span class="nt">&lt;ssd:Connection</span><span class="w"> </span><span class="na">startElement=</span><span class="s">&quot;TrafficStepper&quot;</span>
-<span class="w">                            </span><span class="na">startConnector=</span><span class="s">&quot;TrafficUpdateOut.size&quot;</span>
-<span class="w">                            </span><span class="na">endConnector=</span><span class="s">&quot;TrafficUpdateOut.size&quot;</span>
-<span class="w">                            </span><span class="na">suppressUnitConversion=</span><span class="s">&quot;false&quot;</span><span class="nt">/&gt;</span>
-</pre></div>
-</div>
-</dd>
-</dl>
-<p id="ssp-connections">Notice that the connectors SensorDataIn, SensorDataOut and TrafficUpdate belong to their Components.
-In the case of OSMPConnection, we are interested in the TrafficUpdate OSI message as output of the whole SSP.
-Therefore, it needs a connection outwards.
-This connection is represented by the connection ‘**’ in the figure. As you can see in the figure above, the second connection
-connects connector TrafficUpdateOut with the GroupConnector systemOutput. To make the connection work, the following is necessary:
-- TrafficUpdateOut has to be a OSI connector (see section <a class="reference internal" href="#ssp-osmpconnector"><span class="std std-ref">OSI Connectors</span></a>)
-- TrafficUpdateOut should be an output connector of TrafficUpdate and there must be three output connectors at the system OSMPConnection. These mirror the names of the three connectors forming the OSI connector on TrafficUpdateStepper.
-- Both connectors are connected by a connection depicted with ** in the figure.</p>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>For the connectors of system level, the most minimal connectors are necessary.
-These only require the attribute name that mirrors the name of the connectors forming the OSI Connector.</p>
-</div>
-<p>If all conditions are met, the output connector is emplaced in the GroupConnector systemOutput.
-In this example there are no input connectors which are accessible form outside.</p>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>Again TrafficUpdateOut makes up a pair of three connectors in the .ssd files. Notice that, if connectors inside sub elements
-are only accessible from outside by well defined connections.</p>
-</div>
-<p>Let’s see how these outside accessible connectors are utilized by <strong>openPASS</strong> in the next section.</p>
-</section>
-<section id="ssp-and-op">
-<h3>SSP and <strong>openPASS</strong><a class="headerlink" href="#ssp-and-op" title="Link to this heading"></a></h3>
-<p>From <strong>openPASS</strong>, the Algorithm SspWrapper receives three events: UpdateInput, UpdateOutput and Trigger.
-For each of these events, the SSP Wrapper implementation handles them by creating Visitors following the Visitor software pattern.
-These Visitors visiting Elements, and allow the Elements to implement the behaviour for each visitor based on if the element is a System or a Component.</p>
-<p>In general, we have two types of Visitors: ConnectorVisitors and ElementVisitors.
-In the following figure, you can see how the Visitors traverse through our OSMPConnectionExample</p>
-<figure class="align-default" id="id2">
-<span id="ssp-connectiontestdetailwithopenpass"></span><img alt="../../_images/%5BI4%5DOSMPConnectionTestDetailwithOpenPass.png" src="../../_images/%5BI4%5DOSMPConnectionTestDetailwithOpenPass.png" />
-<figcaption>
-<p><span class="caption-text">Components and channel communication</span><a class="headerlink" href="#id2" title="Link to this image"></a></p>
-</figcaption>
-</figure>
-<p>Trigger is an event that manifests as ElementVisitor in the Algorithm SSP Wrapper.
-Each Element in the root System is visited by the TriggerVisitor. A system accepts the Visitor by passing it to further subsystems
-and by creating a queue of FMUComponents that are stored inside the system’s elements array.
-Each component has a priority which is used to order the queue.
-Then, the queue is processed and Trigger is called on the Algorithm_FmuWrapper instances which are stored inside the FMUComponents.
-After each Trigger, all output Connectors are visited by the PropagateDataVisitor, which propagates OSI messages from one Connector to the next.</p>
-<p>UpdateInput and UpdateOutput are ConnectorVisitors. For each System in the root system, they visit the SystemConnectors
-systemInput and systemOutput. GroupConnectors can be connected to other connectors (see <a class="reference internal" href="#ssp-connections"><span class="std std-ref">SSP Connections</span></a>).
-Their job is to delegate ConnectorVisitors to their connected counterparts.
-The UpdateInputVisitor and UpdateOutputVisitor follow the GroupConnectors systemInput/systemOutput down to it’s OSI Connectors.
-Once these Visitors visit a OSIConnector, they can perform UpdateInput and UpdateOutput, if the OSI Connector is a connector of a FMUComponent.</p>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>UpdateInput and UpdateOutput handling is still experimental. Since we need to decide to continue in calling UpdateInput/UpdateOutput on the FMU,
-or to refactor OSMPFmuHandler.</p>
-</div>
-<p>At the beginning of the simulation, the Init Visitor is a unique ElementVisitor, which will traverse through the System and trigger on every FMU the init procedure.</p>
-</section>
-</section>
-<section id="limits">
-<span id="ssp-output"></span><h2>Limits<a class="headerlink" href="#limits" title="Link to this heading"></a></h2>
-<p>The current implementation of SSP in the SSP Wrapper is not a full implementation of the SSP Standard
-but rather a solution to connect more then one FMUs together.
-Currently, these SSP features are not part of Algorithm SspWrapper :</p>
-<ul class="simple">
-<li><p>The standard allows usage of ids that can be used to refer any BaseElement in SSP</p></li>
-<li><p>Other annotations besides OSMP Connectors and the component priority are ignored</p></li>
-<li><p>Top Level meta data is not parsed</p></li>
-<li><p>units and transformation between units are not supported</p></li>
-<li><p>XML Element Choice : “Transformation Choice” as GType choice (for Connections) is not supported</p></li>
-<li><p>SSP as component of Systems is not implemented</p></li>
-<li><p>ParameterMapping (SSM) for automatic unit-mapping and name transformations in parameter binding is not implemented</p></li>
-<li><p>Signal directories (SSB) as element of systems for cross hierarchical signal pools (e.g for buses) (and Signal Directory Reference) are not implemented</p></li>
-<li><p>Default Experiment (with startTime and StopTime) is not used and ignored, the experiment control comes through <strong>openPASS</strong> events</p></li>
-<li><p>Connectors of type string and binary data are not supported</p></li>
-</ul>
-</section>
-<section id="outputs">
-<h2>Outputs<a class="headerlink" href="#outputs" title="Link to this heading"></a></h2>
-<p>For debugging purposes we allow to write out intermediate results during Simulation.</p>
-<section id="folderstructure">
-<h3>FolderStructure<a class="headerlink" href="#folderstructure" title="Link to this heading"></a></h3>
-<p>The following folder structure shows the output files of our example.</p>
-<blockquote>
-<div><div class="highlight-default notranslate"><div class="highlight"><pre><span></span>..\results
-├── ssp
-│  ├── Agent0xxx
-│  │   ├──OsmpConnectionTest
-│  │   │   ├── DummySensor
-│  │   │   │  ├── JsonFiles
-│  │   │   │  └── BinaryTraceFiles
-│  │   │   ├── TrafficUpdateStepper
-│  │   │   │   ├── JsonFiles
-│  │   │   │   └── BinaryTraceFiles
-│  │   │   └──
-│  │   └──
-│  └──
-└──
-</pre></div>
-</div>
-</div></blockquote>
-<dl class="simple">
-<dt>In the folder structure above:</dt><dd><ul class="simple">
-<li><p><code class="docutils literal notranslate"><span class="pre">ssp</span></code> is always the root of the output structure</p></li>
-<li><p><code class="docutils literal notranslate"><span class="pre">Agent0xxx</span></code>: the output is grouped by the agent who produced it (Agent0 -&gt; Agent0000, Agent1 -&gt; Agent0001)</p></li>
-<li><p>the output is grouped by its producing System name</p></li>
-<li><p>Further, the output is grouped by Components</p></li>
-<li><p>There are two different possible output files: Json and BinaryTrace</p></li>
-</ul>
-</dd>
-</dl>
-<p>Json files for
-- For every timestep a json file containing the connector’s OSI message will be created</p>
-<p>BinaryTrace files for
-- Serialized OSI message as string from a specified connector</p>
-</section>
-<section id="writemessageparameters">
-<h3>WriteMessageParameters<a class="headerlink" href="#writemessageparameters" title="Link to this heading"></a></h3>
-<p>We can specify for each component if json and/or binary traces are written to a file by using the parameter set
-“WriteMessageParameters”. The following shows an example:</p>
-<blockquote>
-<div><div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="w">                            </span><span class="nt">&lt;ssv:ParameterSet</span><span class="w"> </span><span class="na">version=</span><span class="s">&quot;1.0&quot;</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;WriteMessageParameters&quot;</span><span class="nt">&gt;</span>
-<span class="w">                                </span><span class="nt">&lt;ssv:Parameters&gt;</span>
-<span class="w">                                    </span><span class="cm">&lt;!-- &lt;ssv:Parameter name=&quot;WriteJson_SensorData&quot;&gt;</span>
-<span class="cm">                                        &lt;ssv:String value=&quot;OSMPSensorDataOut&quot;/&gt;</span>
-<span class="cm">                                    &lt;/ssv:Parameter&gt;</span>
-<span class="cm">									&lt;ssv:Parameter name=&quot;WriteTrace_SensorData&quot;&gt;</span>
-<span class="cm">                                        &lt;ssv:String value=&quot;OSMPSensorDataOut&quot;/&gt;</span>
-<span class="cm">                                    &lt;/ssv:Parameter&gt; --&gt;</span>
-<span class="w">                                </span><span class="nt">&lt;/ssv:Parameters&gt;</span>
-<span class="w">                            </span><span class="nt">&lt;/ssv:ParameterSet&gt;</span>
-</pre></div>
-</div>
-</div></blockquote>
-<p>How to read these parameters:
-- WriteJson_SensorData: We write json outputs for the connector triple “OSMPSensorDataOut”
-- WriteTrace_SensorData: We write binary traces for the connector triple “OSMPSensorDataOut”</p>
-</section>
-</section>
-</section>
-
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+  <section id="system-structure-and-parameterization-ssp">
+<span id="ssp"></span><h1>System Structure and Parameterization (SSP)<a class="headerlink" href="#system-structure-and-parameterization-ssp" title="Link to this heading"></a></h1>
+<p>System Structure and Parameterization (SSP) is a tool independent standard to define
+complete systems consisting of one or more FMUs
+(see Functional-Mockup-Interface [LINK: <a class="reference external" href="https://fmi-standard.org/">https://fmi-standard.org/</a>])
+including its parameterization that can be transferred between simulation tools.
+Official content is available under: <a class="reference external" href="https://ssp-standard.org/">https://ssp-standard.org/</a> .</p>
+<p>In <strong>openPASS</strong> we use SSP to connect FMUs with each other,
+especially those which need communication during one simulation time step.
+The whole SSP is appended as vehicle component.</p>
+<section id="inputs-ssp-structure">
+<span id="ssp-input"></span><h2>Inputs / SSP Structure<a class="headerlink" href="#inputs-ssp-structure" title="Link to this heading"></a></h2>
+<p>The following image displays the example ConnectionTest.ssp. This SSP contains one root SSD-System,
+the subsystem OSMPConnectionTest and two SSD-Components, that are connected with each other.</p>
+<figure class="align-default" id="osmpconnectiontest-visual">
+<img alt="../../_images/%5BB2%5DOsmpConnectionTest_Visual.png" src="../../_images/%5BB2%5DOsmpConnectionTest_Visual.png" />
+</figure>
+<p>FMUs are wrapped within a SSD-Component. The example consists of two FMU’s “DummySensor” and “OSMPTrafficUpdateStepper”.
+To allow these two to exchange data within one timestep, they need a connection, which consists of two connectors.
+Either a connector gets data from outside of the SSP-System, for instance <strong>openPASS</strong>.
+Or two connectors which are directly connected within the SSP-System.
+These connections are only one directional.
+The example shows a common usecase of SSP: A sensor Component transfers SensorData to the TrafficUpdateStepper,
+which writes a DynamicSignal. This signal leaves this SSP to animate the agent.</p>
+<section id="system-structure-package-ssp">
+<h3>System Structure Package SSP<a class="headerlink" href="#system-structure-package-ssp" title="Link to this heading"></a></h3>
+<p>On the filesystem, a SSP is a zip file, which includes one or more .ssd files together with related resources.</p>
+<p>In our example the unpacked zip looks like this:</p>
+<blockquote>
+<div><div class="highlight-default notranslate"><div class="highlight"><pre><span></span>..\ConnectionTest.ssp
+├── SystemStructure.ssd (mandatory !)
+├── OSMPConnectionTest.ssd
+├── ParameterValues.ssv
+├── Resources
+│  ├── DummySensor.fmu
+│  └── OsmpTrafficUpdateStepper.fmu
+</pre></div>
+</div>
+<p>In the folder structure above:</p>
+<ul class="simple">
+<li><p><code class="docutils literal notranslate"><span class="pre">SystemStructure.ssd</span></code> can be perceived as the root of the SSP. It contains the root system.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">OSMPConnectionTest.ssd</span></code> A system within the root system</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">ParameterValues.ssv</span></code> Alternative way to describe the values of SSP parameters (<a class="reference internal" href="#ssvfiles"><span class="std std-ref">ref</span></a>)</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">Resources</span></code> The Resources folder is for additional data, like FMUs.</p></li>
+</ul>
+</div></blockquote>
+<p>Resources can be referenced FMUs.
+Any SSP specific files should be located in the zip root directory.
+SSP files are referenced from the System Structure Description file(s) through relative URIs (cf. RFC 3986).
+SystemStructure.ssd is the root file of the zip archive. System structure definitions (*.ssd) describe entities called Systems.
+Additional entries may include Parameter Values (*.ssv), Parameter Mappings (*.ssm) or Signal Dictionaries (*.ssb).</p>
+<p><strong>System Structure description (.ssd files)</strong></p>
+<p>The file “SystemStructure.ssd” is mandatory because it defines to root of the SSP.
+Other (*).ssd can be used to make use of more then one system, or for organisation purpose.
+Subsystems that are hierarchically within the root system should be listed in that SSD.
+Subsystems which are only present as (*).ssd but are not connected with the root. More on that in section <a class="reference internal" href="#ssd"><span class="std std-ref">SSD - System Structure Definition</span></a>.</p>
+<p id="ssvfiles"><strong>System Structure Parameter Values (.ssv files)</strong></p>
+<p>Not mandatory. Is supported in the current version of <strong>openPASS</strong>.
+Parameter Values describes a collection of ssd:ParameterSet
+A ParameterSet is a collection of parameters grouped under a name.
+Parameter Values can be added in two ways:</p>
+<ol class="arabic simple">
+<li><p>directly define it within the .ssd file in ssd:ParameterValues</p></li>
+<li><p>create a .ssv file and reference it within the .ssd under ssd:ParameterValues</p></li>
+</ol>
+<p><strong>System Structure Parameter Mapping (.ssm files)</strong></p>
+<p>Not mandatory. Not yet implemented in current <strong>openPASS</strong> version.
+A parameter mapping describes a mapping between parameters.
+A parameter mapping can be added in two ways:</p>
+<ol class="arabic simple">
+<li><p>directly define it within the .ssd file in one ssd:ParameterMapping</p></li>
+<li><p>create a .ssm file and reference it within the .ssd in one ssd:ParameterMappings</p></li>
+</ol>
+<p><strong>System Structure Signal Dictionaries (.ssb files)</strong></p>
+<p>Is not mandatory. Not yet implemented in current <strong>openPASS</strong> version.
+A signal dictionary is a collection of signals.
+There are two ways to define a signal dictionary:</p>
+<ol class="arabic simple">
+<li><p>directly define it within the .ssd file in ssd:ParameterMappings</p></li>
+<li><p>create a .ssb file and reference it within the .ssd in ssd:ParameterMappings</p></li>
+</ol>
+</section>
+<section id="ssd-system-structure-definition">
+<span id="ssd"></span><h3>SSD - System Structure Definition<a class="headerlink" href="#ssd-system-structure-definition" title="Link to this heading"></a></h3>
+<p>The following example shows the definition of a system “OSMPConnectionTest”.</p>
+<figure class="align-default" id="id1">
+<span id="osmpconnectiontest-schema"></span><img alt="../../_images/OsmpConnectionTest.ssd_Schemaansicht.png" src="../../_images/OsmpConnectionTest.ssd_Schemaansicht.png" />
+<figcaption>
+<p><span class="caption-text">Schematic representation of OSMPConnection.ssd</span><a class="headerlink" href="#id1" title="Link to this image"></a></p>
+</figcaption>
+</figure>
+<p>In the root System, OSMPConnectionTest is defined as an Element.
+So this System is a subsystem of the root System.
+The file “OSMPConnectionTest.ssd” defines the subsystem, which consists of two Components “DummySensor” and “TrafficUpdateStepper”.
+Notice, how Components are listed as Elements. In general, Elements of a System can either be a System or a Component.
+You can think of it as a filestructure, in our example we keep it simple with just two Components in the Elements of OSMPConnectionTest.</p>
+<p><strong>In General</strong></p>
+<p>Each System consists of zero to many Elements and zero to many Connections
+A Element can either be a Component, a SignalDictionaryReference or a System (Subsystem).
+Each Element can have zero to many connectors, which are used to define Connections.
+Connectors can interface with the FMU model description.
+A Connector has a certain type (data type), and can have zero two many Annotations
+An Annotation is used to give additional information for any model entity, which we are using in <strong>openPASS</strong> to make OSMPConnectors (see <a class="reference internal" href="#ssp-osmpconnector"><span class="std std-ref">OSI Connectors</span></a>)
+Furthermore each Element has zero to many ParameterBindings.
+The parametrization of the FMUs is handled with a ParameterSet.</p>
+<p><strong>OSMP Connectors</strong></p>
+<p>By using an Annotation, we can combine three Connectors to be able to handle OSI messages. Notice, that Annotations
+are a valid way to extend the standard with features, which are not part of SSP yet.</p>
+<blockquote>
+<div><div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="w">                        </span><span class="nt">&lt;ssd:Annotations&gt;</span>
+<span class="w">                            </span><span class="nt">&lt;ssc:Annotation</span><span class="w"> </span><span class="na">type=</span><span class="s">&quot;net.pmsf.osmp&quot;</span><span class="nt">&gt;</span>
+<span class="w">                                </span><span class="nt">&lt;osmp:osmp-binary-variable</span>
+<span class="w">                                        </span><span class="na">xmlns:osmp=</span><span class="s">&quot;http://xsd.pmsf.net/OSISensorModelPackaging&quot;</span>
+<span class="w">                                        </span><span class="na">mime-type=</span><span class="s">&quot;application/x-open-simulation-interface; type=SensorData; version=3.2.1&quot;</span>
+<span class="w">                                        </span><span class="na">name=</span><span class="s">&quot;OSMPSensorDataOut&quot;</span>
+<span class="w">                                        </span><span class="na">role=</span><span class="s">&quot;size&quot;</span><span class="nt">/&gt;</span>
+<span class="w">                            </span><span class="nt">&lt;/ssc:Annotation&gt;</span>
+<span class="w">                        </span><span class="nt">&lt;/ssd:Annotations&gt;</span>
+</pre></div>
+</div>
+</div></blockquote>
+<p>Three Connectors combine with an Annotation of type “net.psmf.osmp”, by having the same name inside the osmp:osmp-binary-variable.
+osmp:osmp-binary-variable comes always in the same shape.
+Each triple of connectors must have the three following roles: base.lo, base.hi and size.
+base.lo and base.hi make a memory pointer, where the OSI message is allocated during simulation.
+size contains the memory size of the message. In combination of the three connectors the message can be passed between components
+Also, notice how mime-type contains crucial information. Type specifies the type of the OSI message. Version is specified as well.</p>
+<p><strong>FMU Parameters</strong></p>
+<p>The FMU inside the ssd component needs parametrization as well. These are the same parameters as the parameters of the Algorithm_FmuWrapper.
+To parametrize the FMU inside ssd, we define a ParameterSet inside the ParameterBindings. Important is the name attribute of the ParameterSet (name=”FMUParameters”):</p>
+<blockquote>
+<div><div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="w">                            </span><span class="nt">&lt;ssv:ParameterSet</span><span class="w"> </span><span class="na">version=</span><span class="s">&quot;1.0&quot;</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;FmuParameters&quot;</span><span class="nt">&gt;</span>
+<span class="w">                                </span><span class="nt">&lt;ssv:Parameters&gt;</span>
+<span class="w">                                    </span><span class="nt">&lt;ssv:Parameter</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;Logging&quot;</span><span class="nt">&gt;</span>
+<span class="w">                                        </span><span class="nt">&lt;ssv:Boolean</span><span class="w"> </span><span class="na">value=</span><span class="s">&quot;true&quot;</span><span class="nt">/&gt;</span>
+<span class="w">                                    </span><span class="nt">&lt;/ssv:Parameter&gt;</span>
+<span class="w">                                    </span><span class="nt">&lt;ssv:Parameter</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;CsvOutput&quot;</span><span class="nt">&gt;</span>
+<span class="w">                                        </span><span class="nt">&lt;ssv:Boolean</span><span class="w"> </span><span class="na">value=</span><span class="s">&quot;true&quot;</span><span class="nt">/&gt;</span>
+<span class="w">                                    </span><span class="nt">&lt;/ssv:Parameter&gt;</span>
+<span class="w">                                    </span><span class="nt">&lt;ssv:Parameter</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;UnzipOncePerInstance&quot;</span><span class="nt">&gt;</span>
+<span class="w">                                        </span><span class="nt">&lt;ssv:Boolean</span><span class="w"> </span><span class="na">value=</span><span class="s">&quot;false&quot;</span><span class="nt">/&gt;</span>
+<span class="w">                                    </span><span class="nt">&lt;/ssv:Parameter&gt;</span>
+<span class="w">                                    </span><span class="nt">&lt;ssv:Parameter</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;WriteJson_SensorView&quot;</span><span class="nt">&gt;</span>
+<span class="w">                                        </span><span class="nt">&lt;ssv:Boolean</span><span class="w"> </span><span class="na">value=</span><span class="s">&quot;true&quot;</span><span class="nt">/&gt;</span>
+<span class="w">                                    </span><span class="nt">&lt;/ssv:Parameter&gt;</span>
+<span class="w">									</span><span class="nt">&lt;ssv:Parameter</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;WriteTrace_SensorView&quot;</span><span class="nt">&gt;</span>
+<span class="w">                                        </span><span class="nt">&lt;ssv:Boolean</span><span class="w"> </span><span class="na">value=</span><span class="s">&quot;true&quot;</span><span class="nt">/&gt;</span>
+<span class="w">                                    </span><span class="nt">&lt;/ssv:Parameter&gt;</span>
+<span class="w">                                    </span><span class="nt">&lt;ssv:Parameter</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;Input_OSMPSensorViewIn&quot;</span><span class="nt">&gt;</span>
+<span class="w">                                        </span><span class="nt">&lt;ssv:String</span><span class="w"> </span><span class="na">value=</span><span class="s">&quot;SensorView&quot;</span><span class="nt">/&gt;</span>
+<span class="w">                                    </span><span class="nt">&lt;/ssv:Parameter&gt;</span>
+<span class="w">                                </span><span class="nt">&lt;/ssv:Parameters&gt;</span>
+<span class="w">                            </span><span class="nt">&lt;/ssv:ParameterSet&gt;</span>
+</pre></div>
+</div>
+</div></blockquote>
+<p>Each ssv::parameter has a sub object of the parameter type, with the attribute value containing the actual value.
+SSP support the following types: Real (float value), Integer, Boolean, String, Enumeration and Binary.</p>
+<p><strong>PriorityParameter</strong>
+The priority of the component is set through an annotation on component level
+With a higher priority, a FMU component triggers earlier then others.</p>
+<blockquote>
+<div><div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="w">                    </span><span class="nt">&lt;ssc:Annotation</span><span class="w"> </span><span class="na">type=</span><span class="s">&quot;de.setlevel.ssp.scheduling&quot;</span><span class="nt">&gt;</span>
+<span class="w">                        </span><span class="cm">&lt;!--Standard priority is 0. Same prio is schduled parallel--&gt;</span>
+<span class="w">                        </span><span class="nt">&lt;slex:co-simulation</span>
+<span class="w">                            </span><span class="na">priority=</span><span class="s">&quot;42&quot;</span><span class="nt">/&gt;</span>
+<span class="w">                    </span><span class="nt">&lt;/ssc:Annotation&gt;</span>
+</pre></div>
+</div>
+</div></blockquote>
+</section>
+</section>
+<section id="implementation">
+<span id="ssp-implementation"></span><h2>Implementation<a class="headerlink" href="#implementation" title="Link to this heading"></a></h2>
+<section id="parsing">
+<h3>Parsing<a class="headerlink" href="#parsing" title="Link to this heading"></a></h3>
+<p>The first implementation detail of Algorithm SSP Wrapper, a selected SSP is loaded as vehicle component.
+The following picture illustrates how files are parsed and interpreted in Algorithm_SspWrapper.</p>
+<figure class="align-default" id="ssp-parsing">
+<img alt="../../_images/%5BI1%5DParsing.png" src="../../_images/%5BI1%5DParsing.png" />
+</figure>
+<p>Algorithm_SspWrapper is initialized by parsing one .ssp. The zip folded contents of the .ssp is unpacked to a temporary folder
+and the contents are scanned for ssd files, such as the mandatory “SystemStructure.ssd”.
+The System described by “SystemStructure.ssd” makes the root system,
+any other fully parsed system is included as subsystem of that root system.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>One parsed ssd. System includes GroupConnectors, which contain all outer accessible connectors.
+A Connector is only visible from outside if it is connected with a connection. More on that in section <a class="reference internal" href="#ssp-objectstructure"><span class="std std-ref">Object Structure</span></a></p>
+</div>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>Should there be systems which are described by .ssd files, they must be in the elements array of the root system,
+or in any other system related to the root system. Is a .ssd not in any relation to the root, it is ignored!</p>
+</div>
+<p>The process of interpreting the connections is part of the system creation.
+Another feature of system creation is the formation of OSI Connectors we discuss in the next chapter:</p>
+</section>
+<section id="osi-connectors">
+<span id="ssp-osmpconnector"></span><h3>OSI Connectors<a class="headerlink" href="#osi-connectors" title="Link to this heading"></a></h3>
+<p>The next figure describes how triples of connectors form a OSI Connector.</p>
+<figure class="align-default">
+<img alt="../../_images/%5BI2%5DOsmpConnector.png" src="../../_images/%5BI2%5DOsmpConnector.png" />
+</figure>
+<p>OSI connectors come in triples since OSI messages are represented with 3 integers.
+The integers base.lo and base.hi specify the memory location of the OSI message. base.size describes the buffer length.
+Through the osmp annotation, a triple of connectors are joined together.
+In the figures of this documentation, OSI Connectors are signaled by the purple color.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The name attribute in the annotation joins the triple, whereas the connector name is relevant for the ssd system.</p>
+</div>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>To connect OSI connectors, they require 3 connections in the .ssd. Once the file is parsed,
+the 3 connections forms a complete connection in the system.</p>
+</div>
+<p>OSI connectors are responsible for writing messages. Should the OSI message of a OSI connector change,
+and the connector parametrized to write output, it writes the new message as soon as it changes.
+While json messages can be written to file directly, binary traces contain the serialized messages of much timesteps in one file.
+Because of that, osi messages append binary traces to message containers in their SSP system. It’s contents are written
+to file as soon the system destructs.</p>
+</section>
+<section id="object-structure">
+<span id="ssp-objectstructure"></span><h3>Object Structure<a class="headerlink" href="#object-structure" title="Link to this heading"></a></h3>
+<p>The implementation of SSP follows the relation of objects which the standard imposes.
+Mainly the SSP contains at least one System. Each System contains Elements and Connectors.
+Since Systems are Elements, Systems can include other Systems as subelements.</p>
+<p>Another type of Elements are Components. One common used Component is the FMUComponent.
+It is good practice that FMUComponents don’t contain further subelements.</p>
+<p>The System originating from the mandatory SystemStructure.ssd makes the root System object,
+containing all of it’s subsystems.</p>
+<p>The Following picture shows ConnectionTest.ssp with two connected FMU’s.</p>
+<figure class="align-default" id="ssp-connectiontestdetail">
+<img alt="../../_images/%5BI3%5DOSMPConnectionTestDetail.png" src="../../_images/%5BI3%5DOSMPConnectionTestDetail.png" />
+</figure>
+<p>After parsing, Algorithm_SspWrapper holds only one SSP System, which is the root System defined by the systemstructure.ssd
+In our example, we have one subsystem: OSMPConnection, which is a Element of the root System.
+Within the Elements of the System OSMPConnection are two components, which are of the type FMUComponent.
+Each of these Components hold an instance of Algorithm_FmuWrapper.
+The two FMUs are connected by two OSI Connectors. To establish a connection, the following requirements need to be fulfilled:</p>
+<ul class="simple">
+<li><p>SensorDataOut has to be a OSI connector (see section <a class="reference internal" href="#ssp-osmpconnector"><span class="std std-ref">OSI Connectors</span></a>)</p></li>
+<li><p>SensorDataOut should be an output connector of SensorDummy and SensorDataIn should be an input connector of TrafficUpdateStepper. Their kind is specified as a connector attribute in the ssd file.</p></li>
+<li><p>both connectors are connected by the connection depicted with ‘*’ in the figure.</p></li>
+</ul>
+<p>The OSI connector SensorDataOut will propagate its SensorData to the other connector SensorDataIn.
+Each System can have connections, which can connect connectors of two different elements.
+Hence, each Connection is just a tuple of : (elementStartName, startConnectorName) -&gt; (elementEndName, endConnectorName)</p>
+<blockquote>
+<div><div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>While OSI Connectors are abstracted as singular units in the figure, they appear as triple in the ssd. files.
+Hence they require three connections in the ssd. file as well</p>
+</div>
+</div></blockquote>
+<dl>
+<dt>Example Connection between two components within the SSP (Connection ‘*’)</dt><dd><div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="w">            </span><span class="cm">&lt;!-- DummySensor &lt;-&gt; TrafficStepper --&gt;</span>
+<span class="w">		    </span><span class="nt">&lt;ssd:Connection</span><span class="w"> </span><span class="na">startElement=</span><span class="s">&quot;DummySensor&quot;</span>
+<span class="w">                            </span><span class="na">startConnector=</span><span class="s">&quot;SensorDataOut.size&quot;</span>
+<span class="w">                            </span><span class="na">endElement=</span><span class="s">&quot;TrafficStepper&quot;</span>
+<span class="w">                            </span><span class="na">endConnector=</span><span class="s">&quot;SensorDataIn.size&quot;</span>
+<span class="w">                            </span><span class="na">suppressUnitConversion=</span><span class="s">&quot;false&quot;</span><span class="nt">/&gt;</span>
+</pre></div>
+</div>
+</dd>
+<dt>Example Connection from outside the system(e.g. openPASS or another system) to a component in the system (Connection ‘**’)</dt><dd><div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="w">            </span><span class="cm">&lt;!-- System &lt;-&gt; TrafficStepper --&gt;</span>
+<span class="w">            </span><span class="nt">&lt;ssd:Connection</span><span class="w"> </span><span class="na">startElement=</span><span class="s">&quot;TrafficStepper&quot;</span>
+<span class="w">                            </span><span class="na">startConnector=</span><span class="s">&quot;TrafficUpdateOut.size&quot;</span>
+<span class="w">                            </span><span class="na">endConnector=</span><span class="s">&quot;TrafficUpdateOut.size&quot;</span>
+<span class="w">                            </span><span class="na">suppressUnitConversion=</span><span class="s">&quot;false&quot;</span><span class="nt">/&gt;</span>
+</pre></div>
+</div>
+</dd>
+</dl>
+<p id="ssp-connections">Notice that the connectors SensorDataIn, SensorDataOut and TrafficUpdate belong to their Components.
+In the case of OSMPConnection, we are interested in the TrafficUpdate OSI message as output of the whole SSP.
+Therefore, it needs a connection outwards.
+This connection is represented by the connection ‘**’ in the figure. As you can see in the figure above, the second connection
+connects connector TrafficUpdateOut with the GroupConnector systemOutput. To make the connection work, the following is necessary:
+- TrafficUpdateOut has to be a OSI connector (see section <a class="reference internal" href="#ssp-osmpconnector"><span class="std std-ref">OSI Connectors</span></a>)
+- TrafficUpdateOut should be an output connector of TrafficUpdate and there must be three output connectors at the system OSMPConnection. These mirror the names of the three connectors forming the OSI connector on TrafficUpdateStepper.
+- Both connectors are connected by a connection depicted with ** in the figure.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>For the connectors of system level, the most minimal connectors are necessary.
+These only require the attribute name that mirrors the name of the connectors forming the OSI Connector.</p>
+</div>
+<p>If all conditions are met, the output connector is emplaced in the GroupConnector systemOutput.
+In this example there are no input connectors which are accessible form outside.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>Again TrafficUpdateOut makes up a pair of three connectors in the .ssd files. Notice that, if connectors inside sub elements
+are only accessible from outside by well defined connections.</p>
+</div>
+<p>Let’s see how these outside accessible connectors are utilized by <strong>openPASS</strong> in the next section.</p>
+</section>
+<section id="ssp-and-op">
+<h3>SSP and <strong>openPASS</strong><a class="headerlink" href="#ssp-and-op" title="Link to this heading"></a></h3>
+<p>From <strong>openPASS</strong>, the Algorithm SspWrapper receives three events: UpdateInput, UpdateOutput and Trigger.
+For each of these events, the SSP Wrapper implementation handles them by creating Visitors following the Visitor software pattern.
+These Visitors visiting Elements, and allow the Elements to implement the behaviour for each visitor based on if the element is a System or a Component.</p>
+<p>In general, we have two types of Visitors: ConnectorVisitors and ElementVisitors.
+In the following figure, you can see how the Visitors traverse through our OSMPConnectionExample</p>
+<figure class="align-default" id="id2">
+<span id="ssp-connectiontestdetailwithopenpass"></span><img alt="../../_images/%5BI4%5DOSMPConnectionTestDetailwithOpenPass.png" src="../../_images/%5BI4%5DOSMPConnectionTestDetailwithOpenPass.png" />
+<figcaption>
+<p><span class="caption-text">Components and channel communication</span><a class="headerlink" href="#id2" title="Link to this image"></a></p>
+</figcaption>
+</figure>
+<p>Trigger is an event that manifests as ElementVisitor in the Algorithm SSP Wrapper.
+Each Element in the root System is visited by the TriggerVisitor. A system accepts the Visitor by passing it to further subsystems
+and by creating a queue of FMUComponents that are stored inside the system’s elements array.
+Each component has a priority which is used to order the queue.
+Then, the queue is processed and Trigger is called on the Algorithm_FmuWrapper instances which are stored inside the FMUComponents.
+After each Trigger, all output Connectors are visited by the PropagateDataVisitor, which propagates OSI messages from one Connector to the next.</p>
+<p>UpdateInput and UpdateOutput are ConnectorVisitors. For each System in the root system, they visit the SystemConnectors
+systemInput and systemOutput. GroupConnectors can be connected to other connectors (see <a class="reference internal" href="#ssp-connections"><span class="std std-ref">SSP Connections</span></a>).
+Their job is to delegate ConnectorVisitors to their connected counterparts.
+The UpdateInputVisitor and UpdateOutputVisitor follow the GroupConnectors systemInput/systemOutput down to it’s OSI Connectors.
+Once these Visitors visit a OSIConnector, they can perform UpdateInput and UpdateOutput, if the OSI Connector is a connector of a FMUComponent.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>UpdateInput and UpdateOutput handling is still experimental. Since we need to decide to continue in calling UpdateInput/UpdateOutput on the FMU,
+or to refactor OSMPFmuHandler.</p>
+</div>
+<p>At the beginning of the simulation, the Init Visitor is a unique ElementVisitor, which will traverse through the System and trigger on every FMU the init procedure.</p>
+</section>
+</section>
+<section id="limits">
+<span id="ssp-output"></span><h2>Limits<a class="headerlink" href="#limits" title="Link to this heading"></a></h2>
+<p>The current implementation of SSP in the SSP Wrapper is not a full implementation of the SSP Standard
+but rather a solution to connect more then one FMUs together.
+Currently, these SSP features are not part of Algorithm SspWrapper :</p>
+<ul class="simple">
+<li><p>The standard allows usage of ids that can be used to refer any BaseElement in SSP</p></li>
+<li><p>Other annotations besides OSMP Connectors and the component priority are ignored</p></li>
+<li><p>Top Level meta data is not parsed</p></li>
+<li><p>units and transformation between units are not supported</p></li>
+<li><p>XML Element Choice : “Transformation Choice” as GType choice (for Connections) is not supported</p></li>
+<li><p>SSP as component of Systems is not implemented</p></li>
+<li><p>ParameterMapping (SSM) for automatic unit-mapping and name transformations in parameter binding is not implemented</p></li>
+<li><p>Signal directories (SSB) as element of systems for cross hierarchical signal pools (e.g for buses) (and Signal Directory Reference) are not implemented</p></li>
+<li><p>Default Experiment (with startTime and StopTime) is not used and ignored, the experiment control comes through <strong>openPASS</strong> events</p></li>
+<li><p>Connectors of type string and binary data are not supported</p></li>
+</ul>
+</section>
+<section id="outputs">
+<h2>Outputs<a class="headerlink" href="#outputs" title="Link to this heading"></a></h2>
+<p>For debugging purposes we allow to write out intermediate results during Simulation.</p>
+<section id="folderstructure">
+<h3>FolderStructure<a class="headerlink" href="#folderstructure" title="Link to this heading"></a></h3>
+<p>The following folder structure shows the output files of our example.</p>
+<blockquote>
+<div><div class="highlight-default notranslate"><div class="highlight"><pre><span></span>..\results
+├── ssp
+│  ├── Agent0xxx
+│  │   ├──OsmpConnectionTest
+│  │   │   ├── DummySensor
+│  │   │   │  ├── JsonFiles
+│  │   │   │  └── BinaryTraceFiles
+│  │   │   ├── TrafficUpdateStepper
+│  │   │   │   ├── JsonFiles
+│  │   │   │   └── BinaryTraceFiles
+│  │   │   └──
+│  │   └──
+│  └──
+└──
+</pre></div>
+</div>
+</div></blockquote>
+<dl class="simple">
+<dt>In the folder structure above:</dt><dd><ul class="simple">
+<li><p><code class="docutils literal notranslate"><span class="pre">ssp</span></code> is always the root of the output structure</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">Agent0xxx</span></code>: the output is grouped by the agent who produced it (Agent0 -&gt; Agent0000, Agent1 -&gt; Agent0001)</p></li>
+<li><p>the output is grouped by its producing System name</p></li>
+<li><p>Further, the output is grouped by Components</p></li>
+<li><p>There are two different possible output files: Json and BinaryTrace</p></li>
+</ul>
+</dd>
+</dl>
+<p>Json files for
+- For every timestep a json file containing the connector’s OSI message will be created</p>
+<p>BinaryTrace files for
+- Serialized OSI message as string from a specified connector</p>
+</section>
+<section id="writemessageparameters">
+<h3>WriteMessageParameters<a class="headerlink" href="#writemessageparameters" title="Link to this heading"></a></h3>
+<p>We can specify for each component if json and/or binary traces are written to a file by using the parameter set
+“WriteMessageParameters”. The following shows an example:</p>
+<blockquote>
+<div><div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="w">                            </span><span class="nt">&lt;ssv:ParameterSet</span><span class="w"> </span><span class="na">version=</span><span class="s">&quot;1.0&quot;</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;WriteMessageParameters&quot;</span><span class="nt">&gt;</span>
+<span class="w">                                </span><span class="nt">&lt;ssv:Parameters&gt;</span>
+<span class="w">                                    </span><span class="cm">&lt;!-- &lt;ssv:Parameter name=&quot;WriteJson_SensorData&quot;&gt;</span>
+<span class="cm">                                        &lt;ssv:String value=&quot;OSMPSensorDataOut&quot;/&gt;</span>
+<span class="cm">                                    &lt;/ssv:Parameter&gt;</span>
+<span class="cm">									&lt;ssv:Parameter name=&quot;WriteTrace_SensorData&quot;&gt;</span>
+<span class="cm">                                        &lt;ssv:String value=&quot;OSMPSensorDataOut&quot;/&gt;</span>
+<span class="cm">                                    &lt;/ssv:Parameter&gt; --&gt;</span>
+<span class="w">                                </span><span class="nt">&lt;/ssv:Parameters&gt;</span>
+<span class="w">                            </span><span class="nt">&lt;/ssv:ParameterSet&gt;</span>
+</pre></div>
+</div>
+</div></blockquote>
+<p>How to read these parameters:
+- WriteJson_SensorData: We write json outputs for the connector triple “OSMPSensorDataOut”
+- WriteTrace_SensorData: We write binary traces for the connector triple “OSMPSensorDataOut”</p>
+</section>
+</section>
+</section>
+
+
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-  <section id="world-osi">
-<span id="id1"></span><h1>World_OSI<a class="headerlink" href="#world-osi" title="Link to this heading"></a></h1>
-<section id="sampling-of-world-geometries">
-<span id="world-sampling"></span><h2>Sampling of World Geometries<a class="headerlink" href="#sampling-of-world-geometries" title="Link to this heading"></a></h2>
-<p>Roads are described following the <a class="reference external" href="https://www.asam.net/standards/detail/opendrive/">OpenDRIVE</a> specification.
-There the geometry of a road is defined algebraically as lines, clothoids and by means of cubic polynomials, whereby primarily only one reference line is defined.
-The lanes can be understood as a stack of parallel lanes, which are given by the width and the offset, now in relation to this reference line, which acts as the underlying coordinate system (‘s/t’ road coordinates with s along the road).
-Here, too, width and offset are defined algebraically, which means that almost any boundary lines can be defined.</p>
-<p>When the world is initialized, these boundary definitions (i.e. algebraic geometries) are converted into piecewise linear elements, which is called sampling.
-The road is scanned at a constant interval along ‘s’, which leads to four-sided (quadrangular) sections of the lanes at common ‘s’ coordinates, so-called lane elements (see LaneElement).
-The scanning is carried out at a scanning rate of 10 centimeters with the aim of achieving a total scanning error of less than 5 centimeters, as required by the representation used internally (c.f. <a class="reference external" href="https://github.com/OpenSimulationInterface">open simulation interface</a>).
-Note that this error is only guaranteed if geometries do not exhibit extreme curvatures, i.e. a deviation of more than 5 cm within two sampling points (10 cm along s).
-The scanned points define so-called joints, which contain all scanned points at an ‘s’ coordinate across all lane boundaries of the given road.
-The number of these joints is reduced by a <a class="reference external" href="https://en.wikipedia.org/wiki/Ramer%E2%80%93Douglas%E2%80%93Peucker_algorithm">Ramer-Douglas-Peucker algorithm</a>, which ensures that the maximum lateral error of each individual point within a joint is less than 5 cm compared to the originally scanned points.
-Note that (a) the boundary points of geometries are always retained and (b) additional points for lane marking transitions are also retained to ensure the maximum accuracy of these edge cases.
-The lane elements are generated with two successive connections, which are ultimately used in the localization at runtime (see <a class="reference internal" href="#world-localization"><span class="std std-ref">Localization</span></a>).</p>
-<p>Internally, each lane element receives a constant direction, which is defined by the direction of the vector spanned between the centers of the corresponding connections.
-Each joint also holds the corresponding curvature of the road, so that the curvature can be interpolated linearly within a lane element along the ‘s’ coordinate.</p>
-</section>
-<section id="localization">
-<span id="world-localization"></span><h2>Localization<a class="headerlink" href="#localization" title="Link to this heading"></a></h2>
-<p>Generally, the position of an agent is stored with respect to <a class="reference internal" href="coordinate_systems.html#coordinatesystems-world"><span class="std std-ref">world coordinates (x,y)</span></a>.
-As queries on the world operates in <a class="reference internal" href="coordinate_systems.html#coordinatesystems-road"><span class="std std-ref">road coordinates (s,t)</span></a>, the position of the agent needs to be transformed.</p>
-<p>This section describes the translation of coordinates (x,y) of an agent into RoadCoordinate (s,t), whereas the notion of (s,t) comes from the <cite>OpenDRIVE</cite> _ standard.</p>
-<section id="basics">
-<h3>Basics<a class="headerlink" href="#basics" title="Link to this heading"></a></h3>
-<p>The following image depics the basic principes of the localization which is rooted on the specifics of the OSI World Layer (aka OWL).</p>
-<figure class="align-default" id="id2">
-<img alt="../../_images/LocalizationBasics.svg" src="../../_images/LocalizationBasics.svg" /><figcaption>
-<p><span class="caption-text">Localization Basics</span><a class="headerlink" href="#id2" title="Link to this image"></a></p>
-</figcaption>
-</figure>
-<p>Given is a point P in cartesian coordinates (x/y).
-The task is to assign the point to a lane, defined by a general road geometry and calculate the transformed Point P’ in road coordinates (s/t).</p>
-<p>Road geometry (based on <a class="reference external" href="https://www.asam.net/standards/detail/opendrive/">OpenDRIVE</a>):</p>
-<blockquote>
-<div><ul class="simple">
-<li><p>A road consists of several sections</p></li>
-<li><p>Each section consists of several lanes</p></li>
-<li><p>Within a section, the number of lanes is constant</p></li>
-<li><p>Lanes can have one predecessor and one successor</p></li>
-<li><p>The road follows a reference line, which is the reference for the <em>s</em>-coordinate.
-The <em>t</em>-coordinate is perpendicular to this line.</p></li>
-</ul>
-</div></blockquote>
-<p>OWL specifics:</p>
-<blockquote>
-<div><ul class="simple">
-<li><p>All lanes are sampled, generating a stream of generic quadrilaterals (LaneGeometryElements).</p></li>
-<li><p>Within a section, the number of quads per lane is equal, and all lanes have the same length in s.</p></li>
-<li><p>This is realized by a variable sampling width, determined by a constant sampling width along the longest arc.</p></li>
-<li><p>Consequently, points perpendicular to the reference line (<em>t</em>-axis) have the same <em>s</em>-coordinate.</p></li>
-</ul>
-</div></blockquote>
-<p>Note, that the final <em>t</em>-coordinate is calculated with respect to a virtual reference line for each lane.
-This means, that points on the center of a lane have <em>t</em>-coordinate of 0.</p>
-</section>
-<section id="localization-sequence">
-<h3>Localization Sequence<a class="headerlink" href="#localization-sequence" title="Link to this heading"></a></h3>
-<p>The following outlines the localization process implemented in openPASS, using a specific example of a bus changing lanes on a widening road.</p>
-<figure class="align-default" id="id3">
-<img alt="../../_images/localization_with_bus_step0.svg" src="../../_images/localization_with_bus_step0.svg" /><figcaption>
-<p><span class="caption-text">Bus changing lanes on a widening road</span><a class="headerlink" href="#id3" title="Link to this image"></a></p>
-</figcaption>
-</figure>
-<p>First, as described above LaneGeometryElements are generated for the road, here shown as a simplified red grid:</p>
-<figure class="align-default" id="id4">
-<img alt="../../_images/localization_with_bus_step1.svg" src="../../_images/localization_with_bus_step1.svg" /><figcaption>
-<p><span class="caption-text">LaneGeometryElements and bounding box of the bus</span><a class="headerlink" href="#id4" title="Link to this image"></a></p>
-</figcaption>
-</figure>
-<p>All geometries are internally managed by an <a class="reference external" href="https://www.boost.org/doc/libs/1_65_0/libs/geometry/doc/html/geometry/reference/spatial_indexes/boost__geometry__index__rtree.html">r-tree</a>, used to check for overlaps between the bounding box of the bus and all stored objects in the tree, making checks for overlap extremely fast.
-However, the r-tree comes with the restriction that all stored objects are stored by boxes orthogonal to <code class="docutils literal notranslate"><span class="pre">x</span></code> and <code class="docutils literal notranslate"><span class="pre">y</span></code> (= maximum Cartesian coordinates of the boundary points).</p>
-<figure class="align-default" id="id5">
-<img alt="../../_images/localization_with_bus_step2.svg" src="../../_images/localization_with_bus_step2.svg" /><figcaption>
-<p><span class="caption-text">r-Tree representation of the Bus and a single LaneGeometryElement</span><a class="headerlink" href="#id5" title="Link to this image"></a></p>
-</figcaption>
-</figure>
-<figure class="align-default" id="id6">
-<img alt="../../_images/localization_with_bus_step3.svg" src="../../_images/localization_with_bus_step3.svg" /><figcaption>
-<p><span class="caption-text">r-Tree representation of all participating geometries</span><a class="headerlink" href="#id6" title="Link to this image"></a></p>
-</figcaption>
-</figure>
-<p>This introduces additional overlaps, resulting in false positives where the bus is located on segments it does not actually touch.</p>
-<figure class="align-default" id="id7">
-<img alt="../../_images/localization_with_bus_step4.svg" src="../../_images/localization_with_bus_step4.svg" /><figcaption>
-<p><span class="caption-text">Found overlaps with false positives</span><a class="headerlink" href="#id7" title="Link to this image"></a></p>
-</figcaption>
-</figure>
-<p>This is justified because the subsequent filtering can be carried out quickly since the possible geometries allow a simplified intersection check.
-Finally, for each point of a non-empty intersection polygon, the <code class="docutils literal notranslate"><span class="pre">s</span></code> and <code class="docutils literal notranslate"><span class="pre">t</span></code> coordinates are calculated and aggregated with respect to the underlying lane.
-For each touched lane, the minimum and maximum <code class="docutils literal notranslate"><span class="pre">s</span></code> coordinate, and the minimum and maximum lane remainder (delta t) is stored.</p>
-<figure class="align-default" id="id8">
-<img alt="../../_images/localization_with_bus_step5.svg" src="../../_images/localization_with_bus_step5.svg" /><figcaption>
-<p><span class="caption-text">Example for the calculation of s_min, s_max and delta_right</span><a class="headerlink" href="#id8" title="Link to this image"></a></p>
-</figcaption>
-</figure>
-<p>In addition, if the reference point (i.e. the middle of the rear axle) or the mainLaneLocator (i.e. the middle of the agent front) are located within a LaneGeometryElement, <code class="docutils literal notranslate"><span class="pre">s/t/yaw</span></code> is calculated of each point, respectively.
-Further aggregation is done with respect to each road by calculating the minimum and maximum <code class="docutils literal notranslate"><span class="pre">s</span></code> for each road the agent intersects with.
-For the current route of an agent, the following information is stored: <code class="docutils literal notranslate"><span class="pre">s/t/yaw</span></code> of the reference point and mainLaneLocator on the route (roads along a route are not allowed to intersect), distance from the lane boundary to the left and right for the road(s) along the route, and OpenDRIVE Ids of the lanes on the route that the agent touches.
-The results also holds information whether both the reference point and the mainLaneLocator lay on the route.
-In the current implementation, these points must be located - otherwise the agent is despawened, as the agent cannot execute distance queries without a relation to its current route.</p>
-</section>
-</section>
-<section id="traffic-signs-road-markings-and-trafficlights">
-<span id="world-trafficsigns"></span><h2>Traffic Signs, Road Markings and TrafficLights<a class="headerlink" href="#traffic-signs-road-markings-and-trafficlights" title="Link to this heading"></a></h2>
-<p>The world currently supports a variety of traffic signs, road markings and traffic lights.
-All of these are defined in <a class="reference external" href="https://www.asam.net/standards/detail/opendrive/">OpenDRIVE</a> as “RoadSignal”.
-At the moment it can interpret traffic signs and road markings according to the German regulations, US regulations, and China regulations and traffic lights according the the <a class="reference external" href="https://www.asam.net/standards/detail/opendrive/">OpenDRIVE</a> appendix.
-Traffic signs can contain optional supplementary traffic signs. Supplementary signs are dependent on a main traffic sign and contain additional information.</p>
-<p>For Germany the types are based on the StVO (see: <a class="reference external" href="https://www.bast.de/BASt_2017/DE/Verkehrstechnik/Fachthemen/v1-verkehrszeichen/vz-download.html">https://www.bast.de/BASt_2017/DE/Verkehrstechnik/Fachthemen/v1-verkehrszeichen/vz-download.html</a>).
-The following traffic signs are supported for Germany:</p>
-<table class="tight-table docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>TrafficSign</p></th>
-<th class="head"><p>Image</p></th>
-<th class="head"><p>StVo Type</p></th>
-<th class="head"><p>Subtype</p></th>
-<th class="head"><p>Value and Units</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>GiveWay</p></td>
-<td><figure class="align-default">
-<a class="reference internal image-reference" href="../../_images/GiveWay_205.svg"><img alt="../../_images/GiveWay_205.svg" src="../../_images/GiveWay_205.svg" width="400" /></a>
-</figure>
-</td>
-<td><p>205</p></td>
-<td></td>
-<td></td>
-</tr>
-<tr class="row-odd"><td><p>Stop</p></td>
-<td><figure class="align-default">
-<a class="reference internal image-reference" href="../../_images/Stop_206.svg"><img alt="../../_images/Stop_206.svg" src="../../_images/Stop_206.svg" width="400" /></a>
-</figure>
-</td>
-<td><p>206</p></td>
-<td></td>
-<td></td>
-</tr>
-<tr class="row-even"><td><p>DoNotEnter</p></td>
-<td><figure class="align-default">
-<a class="reference internal image-reference" href="../../_images/DoNotEnter_267.svg"><img alt="../../_images/DoNotEnter_267.svg" src="../../_images/DoNotEnter_267.svg" width="400" /></a>
-</figure>
-</td>
-<td><p>267</p></td>
-<td></td>
-<td></td>
-</tr>
-<tr class="row-odd"><td><p>EnvironmentalZoneBegin</p></td>
-<td><figure class="align-default">
-<a class="reference internal image-reference" href="../../_images/EnvironmentalZoneBegin_270.1.svg"><img alt="../../_images/EnvironmentalZoneBegin_270.1.svg" src="../../_images/EnvironmentalZoneBegin_270.1.svg" width="400" /></a>
-</figure>
-</td>
-<td><p>270.1</p></td>
-<td></td>
-<td></td>
-</tr>
-<tr class="row-even"><td><p>EnvironmentalZoneEnd</p></td>
-<td><figure class="align-default">
-<a class="reference internal image-reference" href="../../_images/EnvironmentalZoneEnd_270.2.svg"><img alt="../../_images/EnvironmentalZoneEnd_270.2.svg" src="../../_images/EnvironmentalZoneEnd_270.2.svg" width="400" /></a>
-</figure>
-</td>
-<td><p>270.2</p></td>
-<td></td>
-<td></td>
-</tr>
-<tr class="row-odd"><td><p>MaximumSpeedLimit</p></td>
-<td><figure class="align-default">
-<a class="reference internal image-reference" href="../../_images/MaximumSpeedLimit_274-5.svg"><img alt="../../_images/MaximumSpeedLimit_274-5.svg" src="../../_images/MaximumSpeedLimit_274-5.svg" width="400" /></a>
-</figure>
-<figure class="align-default">
-<a class="reference internal image-reference" href="../../_images/MaximumSpeedLimit_274-130.svg"><img alt="../../_images/MaximumSpeedLimit_274-130.svg" src="../../_images/MaximumSpeedLimit_274-130.svg" width="400" /></a>
-</figure>
-</td>
-<td><p>274</p></td>
-<td><p>X</p></td>
-<td><p>The subtype “X” is used to define the speedlimit in km/h.
-Afterwards the world converts it to m/s.</p></td>
-</tr>
-<tr class="row-even"><td><p>SpeedLimitZoneBegin</p></td>
-<td><figure class="align-default">
-<a class="reference internal image-reference" href="../../_images/SpeedLimitZoneBegin_274.1.svg"><img alt="../../_images/SpeedLimitZoneBegin_274.1.svg" src="../../_images/SpeedLimitZoneBegin_274.1.svg" width="400" /></a>
-</figure>
-<figure class="align-default">
-<a class="reference internal image-reference" href="../../_images/SpeedLimitZoneBegin_274.1-20.svg"><img alt="../../_images/SpeedLimitZoneBegin_274.1-20.svg" src="../../_images/SpeedLimitZoneBegin_274.1-20.svg" width="400" /></a>
-</figure>
-</td>
-<td><p>274.1</p></td>
-<td><p>-/20</p></td>
-<td><p>The subtype is used to define the speedlimit in km/h.
-Afterwards the world converts it to m/s.
-No subtype = 30km/h, 20 = 20km/h</p></td>
-</tr>
-<tr class="row-odd"><td><p>SpeedLimitZoneEnd</p></td>
-<td><figure class="align-default">
-<a class="reference internal image-reference" href="../../_images/SpeedLimitZoneEnd_274.2.svg"><img alt="../../_images/SpeedLimitZoneEnd_274.2.svg" src="../../_images/SpeedLimitZoneEnd_274.2.svg" width="400" /></a>
-</figure>
-<figure class="align-default">
-<a class="reference internal image-reference" href="../../_images/SpeedLimitZoneEnd_274.2-20.svg"><img alt="../../_images/SpeedLimitZoneEnd_274.2-20.svg" src="../../_images/SpeedLimitZoneEnd_274.2-20.svg" width="400" /></a>
-</figure>
-</td>
-<td><p>274.2</p></td>
-<td><p>-/20</p></td>
-<td><p>The subtype is used to define the speedlimit in km/h.
-Afterwards the world converts it to m/s.
-No subtype = 30km/h, 20 = 20km/h</p></td>
-</tr>
-<tr class="row-even"><td><p>MinimumSpeedLimit</p></td>
-<td><figure class="align-default">
-<a class="reference internal image-reference" href="../../_images/MinimumSpeedLimit_275.svg"><img alt="../../_images/MinimumSpeedLimit_275.svg" src="../../_images/MinimumSpeedLimit_275.svg" width="400" /></a>
-</figure>
-</td>
-<td><p>275</p></td>
-<td><p>X</p></td>
-<td><p>The subtype is used to define the speedlimit in km/h.
-Afterwards the world converts it to m/s.</p></td>
-</tr>
-<tr class="row-odd"><td><p>OvertakingBanBegin</p></td>
-<td><figure class="align-default">
-<a class="reference internal image-reference" href="../../_images/OvertakingBanBegin_276.svg"><img alt="../../_images/OvertakingBanBegin_276.svg" src="../../_images/OvertakingBanBegin_276.svg" width="400" /></a>
-</figure>
-</td>
-<td><p>276</p></td>
-<td></td>
-<td></td>
-</tr>
-<tr class="row-even"><td><p>OvertakingBanTrucksBegin</p></td>
-<td><figure class="align-default">
-<a class="reference internal image-reference" href="../../_images/OvertakingBanTrucksBegin_277.svg"><img alt="../../_images/OvertakingBanTrucksBegin_277.svg" src="../../_images/OvertakingBanTrucksBegin_277.svg" width="400" /></a>
-</figure>
-</td>
-<td><p>277</p></td>
-<td></td>
-<td></td>
-</tr>
-<tr class="row-odd"><td><p>EndOfMaximumSpeedLimit</p></td>
-<td><figure class="align-default">
-<a class="reference internal image-reference" href="../../_images/EndOfMaximumSpeedLimit_278-5.svg"><img alt="../../_images/EndOfMaximumSpeedLimit_278-5.svg" src="../../_images/EndOfMaximumSpeedLimit_278-5.svg" width="400" /></a>
-</figure>
-<figure class="align-default">
-<a class="reference internal image-reference" href="../../_images/EndOfMaximumSpeedLimit_278-130.svg"><img alt="../../_images/EndOfMaximumSpeedLimit_278-130.svg" src="../../_images/EndOfMaximumSpeedLimit_278-130.svg" width="400" /></a>
-</figure>
-</td>
-<td><p>278</p></td>
-<td><p>X</p></td>
-<td><p>The subtype “X” is used to define the speedlimit in km/h.
-Afterwards the world converts it to m/s.</p></td>
-</tr>
-<tr class="row-even"><td><p>EndOfMinimumSpeedLimit</p></td>
-<td><figure class="align-default">
-<a class="reference internal image-reference" href="../../_images/EndOfMinimumSpeedLimit_279.svg"><img alt="../../_images/EndOfMinimumSpeedLimit_279.svg" src="../../_images/EndOfMinimumSpeedLimit_279.svg" width="400" /></a>
-</figure>
-</td>
-<td><p>279</p></td>
-<td><p>X</p></td>
-<td><p>The subtype “X” is used to define the speedlimit in km/h.
-Afterwards the world converts it to m/s.</p></td>
-</tr>
-<tr class="row-odd"><td><p>OvertakingBanEnd</p></td>
-<td><figure class="align-default">
-<a class="reference internal image-reference" href="../../_images/OvertakingBanEnd_280.svg"><img alt="../../_images/OvertakingBanEnd_280.svg" src="../../_images/OvertakingBanEnd_280.svg" width="400" /></a>
-</figure>
-</td>
-<td><p>280</p></td>
-<td></td>
-<td></td>
-</tr>
-<tr class="row-even"><td><p>OvertakingBanTrucksEnd</p></td>
-<td><figure class="align-default">
-<a class="reference internal image-reference" href="../../_images/OvertakingBanTrucksEnd_281.svg"><img alt="../../_images/OvertakingBanTrucksEnd_281.svg" src="../../_images/OvertakingBanTrucksEnd_281.svg" width="400" /></a>
-</figure>
-</td>
-<td><p>281</p></td>
-<td></td>
-<td></td>
-</tr>
-<tr class="row-odd"><td><p>EndOffAllSpeedLimitsAndOvertakingRestrictions</p></td>
-<td><figure class="align-default">
-<a class="reference internal image-reference" href="../../_images/EndOffAllSpeedLimitsAndOvertakingRestrictions_282.svg"><img alt="../../_images/EndOffAllSpeedLimitsAndOvertakingRestrictions_282.svg" src="../../_images/EndOffAllSpeedLimitsAndOvertakingRestrictions_282.svg" width="400" /></a>
-</figure>
-</td>
-<td><p>282</p></td>
-<td></td>
-<td></td>
-</tr>
-<tr class="row-even"><td><p>RightOfWayNextIntersection</p></td>
-<td><figure class="align-default">
-<a class="reference internal image-reference" href="../../_images/RightOfWayNextIntersection_301.svg"><img alt="../../_images/RightOfWayNextIntersection_301.svg" src="../../_images/RightOfWayNextIntersection_301.svg" width="400" /></a>
-</figure>
-</td>
-<td><p>301</p></td>
-<td></td>
-<td></td>
-</tr>
-<tr class="row-odd"><td><p>RightOfWayBegin</p></td>
-<td><figure class="align-default">
-<a class="reference internal image-reference" href="../../_images/RightOfWayBegin_306.svg"><img alt="../../_images/RightOfWayBegin_306.svg" src="../../_images/RightOfWayBegin_306.svg" width="400" /></a>
-</figure>
-</td>
-<td><p>306</p></td>
-<td></td>
-<td></td>
-</tr>
-<tr class="row-even"><td><p>RightOfWayEnd</p></td>
-<td><figure class="align-default">
-<a class="reference internal image-reference" href="../../_images/RightOfWayEnd_307.svg"><img alt="../../_images/RightOfWayEnd_307.svg" src="../../_images/RightOfWayEnd_307.svg" width="400" /></a>
-</figure>
-</td>
-<td><p>307</p></td>
-<td></td>
-<td></td>
-</tr>
-<tr class="row-odd"><td><p>TownBegin</p></td>
-<td><figure class="align-default">
-<a class="reference internal image-reference" href="../../_images/TownBegin_310.svg"><img alt="../../_images/TownBegin_310.svg" src="../../_images/TownBegin_310.svg" width="400" /></a>
-</figure>
-</td>
-<td><p>310</p></td>
-<td></td>
-<td><p>This sign contains a text describing the name of the town</p></td>
-</tr>
-<tr class="row-even"><td><p>TownEnd</p></td>
-<td><figure class="align-default">
-<a class="reference internal image-reference" href="../../_images/TownEnd_311.svg"><img alt="../../_images/TownEnd_311.svg" src="../../_images/TownEnd_311.svg" width="400" /></a>
-</figure>
-</td>
-<td><p>311</p></td>
-<td></td>
-<td><p>This sign contains a text describing the name of the town</p></td>
-</tr>
-<tr class="row-odd"><td><p>TrafficCalmedDistrictBegin</p></td>
-<td><figure class="align-default">
-<a class="reference internal image-reference" href="../../_images/TrafficCalmedDistrictBegin_325.1.svg"><img alt="../../_images/TrafficCalmedDistrictBegin_325.1.svg" src="../../_images/TrafficCalmedDistrictBegin_325.1.svg" width="400" /></a>
-</figure>
-</td>
-<td><p>325.1</p></td>
-<td></td>
-<td></td>
-</tr>
-<tr class="row-even"><td><p>TrafficCalmedDistrictEnd</p></td>
-<td><figure class="align-default">
-<a class="reference internal image-reference" href="../../_images/TrafficCalmedDistrictEnd_325.2.svg"><img alt="../../_images/TrafficCalmedDistrictEnd_325.2.svg" src="../../_images/TrafficCalmedDistrictEnd_325.2.svg" width="400" /></a>
-</figure>
-</td>
-<td><p>325.2</p></td>
-<td></td>
-<td></td>
-</tr>
-<tr class="row-odd"><td><p>HighWayBegin</p></td>
-<td><figure class="align-default">
-<a class="reference internal image-reference" href="../../_images/HighWayBegin_330.1.svg"><img alt="../../_images/HighWayBegin_330.1.svg" src="../../_images/HighWayBegin_330.1.svg" width="400" /></a>
-</figure>
-</td>
-<td><p>330.1</p></td>
-<td></td>
-<td></td>
-</tr>
-<tr class="row-even"><td><p>HighWayEnd</p></td>
-<td><figure class="align-default">
-<a class="reference internal image-reference" href="../../_images/HighWayEnd_330.2.svg"><img alt="../../_images/HighWayEnd_330.2.svg" src="../../_images/HighWayEnd_330.2.svg" width="400" /></a>
-</figure>
-</td>
-<td><p>330.2</p></td>
-<td></td>
-<td></td>
-</tr>
-<tr class="row-odd"><td><p>HighWayExit</p></td>
-<td><figure class="align-default">
-<a class="reference internal image-reference" href="../../_images/HighWayExit_333.svg"><img alt="../../_images/HighWayExit_333.svg" src="../../_images/HighWayExit_333.svg" width="400" /></a>
-</figure>
-</td>
-<td><p>333</p></td>
-<td></td>
-<td></td>
-</tr>
-<tr class="row-even"><td><p>AnnounceHighwayExit</p></td>
-<td><figure class="align-default">
-<a class="reference internal image-reference" href="../../_images/AnnounceHighwayExit_448.svg"><img alt="../../_images/AnnounceHighwayExit_448.svg" src="../../_images/AnnounceHighwayExit_448.svg" width="400" /></a>
-</figure>
-</td>
-<td><p>448</p></td>
-<td></td>
-<td></td>
-</tr>
-<tr class="row-odd"><td><p>PreannounceHighwayExitDirections</p></td>
-<td><figure class="align-default">
-<a class="reference internal image-reference" href="../../_images/AnnounceHighwayExit_449.svg"><img alt="../../_images/AnnounceHighwayExit_449.svg" src="../../_images/AnnounceHighwayExit_449.svg" width="400" /></a>
-</figure>
-</td>
-<td><p>449</p></td>
-<td></td>
-<td></td>
-</tr>
-<tr class="row-even"><td><p>HighwayExitPole</p></td>
-<td><figure class="align-default">
-<a class="reference internal image-reference" href="../../_images/HighwayExitPole_450-50.svg"><img alt="../../_images/HighwayExitPole_450-50.svg" src="../../_images/HighwayExitPole_450-50.svg" width="400" /></a>
-</figure>
-<figure class="align-default">
-<a class="reference internal image-reference" href="../../_images/HighwayExitPole_450-51.svg"><img alt="../../_images/HighwayExitPole_450-51.svg" src="../../_images/HighwayExitPole_450-51.svg" width="400" /></a>
-</figure>
-<figure class="align-default">
-<a class="reference internal image-reference" href="../../_images/HighwayExitPole_450-52.svg"><img alt="../../_images/HighwayExitPole_450-52.svg" src="../../_images/HighwayExitPole_450-52.svg" width="400" /></a>
-</figure>
-</td>
-<td><p>450</p></td>
-<td><p>50/51/52</p></td>
-<td><p>The subtype describes the distance to the highway exit in m.
-50 = 100m, 51 = 200m, 52 = 300m</p></td>
-</tr>
-<tr class="row-odd"><td><p>AnnounceRightLaneEnd</p></td>
-<td><figure class="align-default">
-<a class="reference internal image-reference" href="../../_images/AnnounceRightLaneEnd_531-10.svg"><img alt="../../_images/AnnounceRightLaneEnd_531-10.svg" src="../../_images/AnnounceRightLaneEnd_531-10.svg" width="400" /></a>
-</figure>
-<figure class="align-default">
-<a class="reference internal image-reference" href="../../_images/AnnounceRightLaneEnd_531-11.svg"><img alt="../../_images/AnnounceRightLaneEnd_531-11.svg" src="../../_images/AnnounceRightLaneEnd_531-11.svg" width="400" /></a>
-</figure>
-<figure class="align-default">
-<a class="reference internal image-reference" href="../../_images/AnnounceRightLaneEnd_531-12.svg"><img alt="../../_images/AnnounceRightLaneEnd_531-12.svg" src="../../_images/AnnounceRightLaneEnd_531-12.svg" width="400" /></a>
-</figure>
-<figure class="align-default">
-<a class="reference internal image-reference" href="../../_images/AnnounceRightLaneEnd_531-13.svg"><img alt="../../_images/AnnounceRightLaneEnd_531-13.svg" src="../../_images/AnnounceRightLaneEnd_531-13.svg" width="400" /></a>
-</figure>
-</td>
-<td><p>531</p></td>
-<td><p>10/11/12/13</p></td>
-<td><p>The subtype describes the number of continuing lanes after the right lane ends.
-10 = 1 lane, 11 = 2 lanes, 12 = 3 lanes, 13 = 4 lanes</p></td>
-</tr>
-<tr class="row-even"><td><p>AnnounceLeftLaneEnd</p></td>
-<td><figure class="align-default">
-<a class="reference internal image-reference" href="../../_images/AnnounceLeftLaneEnd_531-20.svg"><img alt="../../_images/AnnounceLeftLaneEnd_531-20.svg" src="../../_images/AnnounceLeftLaneEnd_531-20.svg" width="400" /></a>
-</figure>
-<figure class="align-default">
-<a class="reference internal image-reference" href="../../_images/AnnounceLeftLaneEnd_531-21.svg"><img alt="../../_images/AnnounceLeftLaneEnd_531-21.svg" src="../../_images/AnnounceLeftLaneEnd_531-21.svg" width="400" /></a>
-</figure>
-<figure class="align-default">
-<a class="reference internal image-reference" href="../../_images/AnnounceLeftLaneEnd_531-22.svg"><img alt="../../_images/AnnounceLeftLaneEnd_531-22.svg" src="../../_images/AnnounceLeftLaneEnd_531-22.svg" width="400" /></a>
-</figure>
-<figure class="align-default">
-<a class="reference internal image-reference" href="../../_images/AnnounceLeftLaneEnd_531-23.svg"><img alt="../../_images/AnnounceLeftLaneEnd_531-23.svg" src="../../_images/AnnounceLeftLaneEnd_531-23.svg" width="400" /></a>
-</figure>
-</td>
-<td><p>531</p></td>
-<td><p>20/21/22/23</p></td>
-<td><p>The subtype describes the number of continuing lanes after the left lane ends.
-10 = 1 lane, 11 = 2 lanes, 12 = 3 lanes, 13 = 4 lanes</p></td>
-</tr>
-<tr class="row-odd"><td><p>DistanceIndication</p></td>
-<td><figure class="align-default">
-<a class="reference internal image-reference" href="../../_images/DistanceIndication_1004-30.svg"><img alt="../../_images/DistanceIndication_1004-30.svg" src="../../_images/DistanceIndication_1004-30.svg" width="400" /></a>
-</figure>
-<figure class="align-default">
-<a class="reference internal image-reference" href="../../_images/DistanceIndication_1004-31.svg"><img alt="../../_images/DistanceIndication_1004-31.svg" src="../../_images/DistanceIndication_1004-31.svg" width="400" /></a>
-</figure>
-<figure class="align-default">
-<a class="reference internal image-reference" href="../../_images/DistanceIndication_1004-32.svg"><img alt="../../_images/DistanceIndication_1004-32.svg" src="../../_images/DistanceIndication_1004-32.svg" width="400" /></a>
-</figure>
-</td>
-<td><p>1004</p></td>
-<td><p>30/31/32</p></td>
-<td><p>For subtype 30 the value describes the distance in m.
-For subtype 31 the value describes the distance in km.
-Subtype 32 has a STOP in 100m.</p></td>
-</tr>
-</tbody>
-</table>
-<p>The following road markings are supported for Germany:</p>
-<table class="tight-table docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>RoadMarking</p></th>
-<th class="head"><p>Image</p></th>
-<th class="head"><p>StVo Type</p></th>
-<th class="head"><p>Subtype</p></th>
-<th class="head"><p>Value and Units</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>PedestrianCrossing</p></td>
-<td><figure class="align-default">
-<a class="reference internal image-reference" href="../../_images/PedestrianCrossing_293.svg"><img alt="../../_images/PedestrianCrossing_293.svg" src="../../_images/PedestrianCrossing_293.svg" width="400" /></a>
-</figure>
-</td>
-<td><p>293</p></td>
-<td></td>
-<td></td>
-</tr>
-<tr class="row-odd"><td><p>Stop line</p></td>
-<td><figure class="align-default">
-<a class="reference internal image-reference" href="../../_images/Stop_line_294.svg"><img alt="../../_images/Stop_line_294.svg" src="../../_images/Stop_line_294.svg" width="400" /></a>
-</figure>
-</td>
-<td><p>294</p></td>
-<td></td>
-<td></td>
-</tr>
-</tbody>
-</table>
-<p>The pedestrian crossing can also be defined in <a class="reference external" href="https://www.asam.net/standards/detail/opendrive/">OpenDRIVE</a> as object with type “crosswalk”.</p>
-<p>For United States the types are based on the “Manual on Uniform Traffic Control Devices” (see: <a class="reference external" href="https://mutcd.fhwa.dot.gov/pdfs/2009r1r2/pdf_index.htm">https://mutcd.fhwa.dot.gov/pdfs/2009r1r2/pdf_index.htm</a>).
-The following traffic signs are supported for United States:</p>
-<table class="docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>TrafficSign</p></th>
-<th class="head"><p>Image</p></th>
-<th class="head"><p>Type</p></th>
-<th class="head"><p>Value and Units</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>HighWayExit</p></td>
-<td><figure class="align-default">
-<a class="reference internal image-reference" href="../../_images/HighWayExit_E5-1.svg"><img alt="../../_images/HighWayExit_E5-1.svg" src="../../_images/HighWayExit_E5-1.svg" width="400" /></a>
-</figure>
-</td>
-<td><p>E5-1</p></td>
-<td></td>
-</tr>
-<tr class="row-odd"><td><p>HighWayExit</p></td>
-<td><figure class="align-default">
-<a class="reference internal image-reference" href="../../_images/HighWayExit_E2-5.svg"><img alt="../../_images/HighWayExit_E2-5.svg" src="../../_images/HighWayExit_E2-5.svg" width="400" /></a>
-</figure>
-</td>
-<td><p>E2-5</p></td>
-<td></td>
-</tr>
-<tr class="row-even"><td><p>AnnounceHighwayExit</p></td>
-<td><figure class="align-default">
-<a class="reference internal image-reference" href="../../_images/AnnounceHighwayExit_E1-2.svg"><img alt="../../_images/AnnounceHighwayExit_E1-2.svg" src="../../_images/AnnounceHighwayExit_E1-2.svg" width="400" /></a>
-</figure>
-</td>
-<td><p>E1-2</p></td>
-<td></td>
-</tr>
-<tr class="row-odd"><td><p>PreannounceHighwayExit</p></td>
-<td><figure class="align-default">
-<a class="reference internal image-reference" href="../../_images/PreannounceHighwayExit_E1-2a.svg"><img alt="../../_images/PreannounceHighwayExit_E1-2a.svg" src="../../_images/PreannounceHighwayExit_E1-2a.svg" width="400" /></a>
-</figure>
-</td>
-<td><p>E1-2a</p></td>
-<td></td>
-</tr>
-<tr class="row-even"><td><p>Stop</p></td>
-<td><figure class="align-default">
-<a class="reference internal image-reference" href="../../_images/Stop_R1-1.svg"><img alt="../../_images/Stop_R1-1.svg" src="../../_images/Stop_R1-1.svg" width="400" /></a>
-</figure>
-</td>
-<td><p>R1-1</p></td>
-<td></td>
-</tr>
-<tr class="row-odd"><td><p>GiveWay</p></td>
-<td><figure class="align-default">
-<a class="reference internal image-reference" href="../../_images/GiveWay_R1-2.svg"><img alt="../../_images/GiveWay_R1-2.svg" src="../../_images/GiveWay_R1-2.svg" width="400" /></a>
-</figure>
-</td>
-<td><p>R1-2</p></td>
-<td></td>
-</tr>
-<tr class="row-even"><td><p>MaximumSpeedLimit</p></td>
-<td><figure class="align-default">
-<a class="reference internal image-reference" href="../../_images/MaximumSpeedLimit_R2-1.svg"><img alt="../../_images/MaximumSpeedLimit_R2-1.svg" src="../../_images/MaximumSpeedLimit_R2-1.svg" width="400" /></a>
-</figure>
-</td>
-<td><p>R2-1</p></td>
-<td><p>as defined via the “value” and “unit” attributes</p></td>
-</tr>
-<tr class="row-odd"><td><p>DoNotPass (OvertakingBan)</p></td>
-<td><figure class="align-default">
-<a class="reference internal image-reference" href="../../_images/DoNotPass_R4-1.svg"><img alt="../../_images/DoNotPass_R4-1.svg" src="../../_images/DoNotPass_R4-1.svg" width="400" /></a>
-</figure>
-</td>
-<td><p>R4-1</p></td>
-<td></td>
-</tr>
-<tr class="row-even"><td><p>DoNotEnter</p></td>
-<td><figure class="align-default">
-<a class="reference internal image-reference" href="../../_images/DoNotEnter_R5-1.svg"><img alt="../../_images/DoNotEnter_R5-1.svg" src="../../_images/DoNotEnter_R5-1.svg" width="400" /></a>
-</figure>
-</td>
-<td><p>R5-1</p></td>
-<td></td>
-</tr>
-<tr class="row-odd"><td><p>RightLaneEnd</p></td>
-<td><figure class="align-default">
-<a class="reference internal image-reference" href="../../_images/RightLaneEnd_W4-2R.svg"><img alt="../../_images/RightLaneEnd_W4-2R.svg" src="../../_images/RightLaneEnd_W4-2R.svg" width="400" /></a>
-</figure>
-</td>
-<td><p>W4-2R</p></td>
-<td></td>
-</tr>
-<tr class="row-even"><td><p>LeftLaneEnd</p></td>
-<td><figure class="align-default">
-<a class="reference internal image-reference" href="../../_images/LeftLaneEnd_W4-2L.svg"><img alt="../../_images/LeftLaneEnd_W4-2L.svg" src="../../_images/LeftLaneEnd_W4-2L.svg" width="400" /></a>
-</figure>
-</td>
-<td><p>W4-2L</p></td>
-<td></td>
-</tr>
-</tbody>
-</table>
-<p>For China the types are based on the <a class="reference external" href="https://upload.wikimedia.org/wikipedia/commons/8/8c/China_GB_5768.2-2009.pdf">https://upload.wikimedia.org/wikipedia/commons/8/8c/China_GB_5768.2-2009.pdf</a>.
-The following traffic signs are supported for China:</p>
-<table class="docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>TrafficSign</p></th>
-<th class="head"><p>Image</p></th>
-<th class="head"><p>Type</p></th>
-<th class="head"><p>Subtype</p></th>
-<th class="head"><p>Value and Units</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>AnnounceRightLaneEnd</p></td>
-<td><figure class="align-default">
-<a class="reference internal image-reference" href="../../_images/EndofLaneRight-32a.svg"><img alt="../../_images/EndofLaneRight-32a.svg" src="../../_images/EndofLaneRight-32a.svg" width="400" /></a>
-</figure>
-<figure class="align-default">
-<a class="reference internal image-reference" href="../../_images/EndofLaneRight-32b.svg"><img alt="../../_images/EndofLaneRight-32b.svg" src="../../_images/EndofLaneRight-32b.svg" width="400" /></a>
-</figure>
-</td>
-<td><p>EndofLane-32</p></td>
-<td><p>a/b</p></td>
-<td><p>The subtype describes the number of continuing lanes after the right lane ends.
-a = 2 lanes, b = 3 lanes</p></td>
-</tr>
-<tr class="row-odd"><td><p>AnnounceLeftLaneEnd</p></td>
-<td><figure class="align-default">
-<a class="reference internal image-reference" href="../../_images/EndofLaneLeft-32c.svg"><img alt="../../_images/EndofLaneLeft-32c.svg" src="../../_images/EndofLaneLeft-32c.svg" width="400" /></a>
-</figure>
-<figure class="align-default">
-<a class="reference internal image-reference" href="../../_images/EndofLaneLeft-32d.svg"><img alt="../../_images/EndofLaneLeft-32d.svg" src="../../_images/EndofLaneLeft-32d.svg" width="400" /></a>
-</figure>
-</td>
-<td><p>EndofLane-32</p></td>
-<td><p>c/d</p></td>
-<td><p>The subtype describes the number of continuing lanes after the left lane ends.
-c = 2 lanes, d = 3 lanes</p></td>
-</tr>
-<tr class="row-even"><td><p>MaximumSpeedLimit</p></td>
-<td><figure class="align-default">
-<a class="reference internal image-reference" href="../../_images/MaximumSpeedLimit-38.svg"><img alt="../../_images/MaximumSpeedLimit-38.svg" src="../../_images/MaximumSpeedLimit-38.svg" width="400" /></a>
-</figure>
-</td>
-<td><p>SpeedLimit-38</p></td>
-<td></td>
-<td><p>as defined via the “value” and “unit” attributes</p></td>
-</tr>
-<tr class="row-odd"><td><p>EndOfMaximumSpeedLimit</p></td>
-<td><figure class="align-default">
-<a class="reference internal image-reference" href="../../_images/EndOfMaximumSpeedLimit-39.svg"><img alt="../../_images/EndOfMaximumSpeedLimit-39.svg" src="../../_images/EndOfMaximumSpeedLimit-39.svg" width="400" /></a>
-</figure>
-</td>
-<td><p>EndOfSpeedLimit-39</p></td>
-<td></td>
-<td><p>as defined via the “value” and “unit” attributes</p></td>
-</tr>
-<tr class="row-even"><td><p>AnnounceHighwayExit (1km)</p></td>
-<td><figure class="align-default">
-<a class="reference internal image-reference" href="../../_images/AnnouceHighwayExit1km-50b.svg"><img alt="../../_images/AnnouceHighwayExit1km-50b.svg" src="../../_images/AnnouceHighwayExit1km-50b.svg" width="400" /></a>
-</figure>
-</td>
-<td><p>AnnounceHighwayExit-50b</p></td>
-<td></td>
-<td></td>
-</tr>
-<tr class="row-odd"><td><p>AnnounceHighwayExit (500m)</p></td>
-<td><figure class="align-default">
-<a class="reference internal image-reference" href="../../_images/AnnouceHighwayExit500m-50c.svg"><img alt="../../_images/AnnouceHighwayExit500m-50c.svg" src="../../_images/AnnouceHighwayExit500m-50c.svg" width="400" /></a>
-</figure>
-</td>
-<td><p>AnnounceHighwayExit-50c</p></td>
-<td></td>
-<td></td>
-</tr>
-<tr class="row-even"><td><p>HighWayExit</p></td>
-<td><figure class="align-default">
-<a class="reference internal image-reference" href="../../_images/HighwayExit-50d.svg"><img alt="../../_images/HighwayExit-50d.svg" src="../../_images/HighwayExit-50d.svg" width="400" /></a>
-</figure>
-</td>
-<td><p>HighwayExit-50d</p></td>
-<td></td>
-<td></td>
-</tr>
-</tbody>
-</table>
-<p>The following traffic lights are supported:</p>
-<table class="tight-table docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>TrafficLight</p></th>
-<th class="head"><p>OpenDRIVE Type</p></th>
-<th class="head"><p>Subtype</p></th>
-<th class="head"><p>Value and Units</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>Standard traffic light (red, yellow, green)</p></td>
-<td><p>1.000.001</p></td>
-<td><p>-</p></td>
-<td><p>-</p></td>
-</tr>
-<tr class="row-odd"><td><p>Left arrows</p></td>
-<td><p>1.000.011</p></td>
-<td><p>10</p></td>
-<td><p>-</p></td>
-</tr>
-<tr class="row-even"><td><p>Right arrows</p></td>
-<td><p>1.000.011</p></td>
-<td><p>20</p></td>
-<td><p>-</p></td>
-</tr>
-<tr class="row-odd"><td><p>Upwards arrows</p></td>
-<td><p>1.000.011</p></td>
-<td><p>30</p></td>
-<td><p>-</p></td>
-</tr>
-<tr class="row-even"><td><p>Left und upwards arrows</p></td>
-<td><p>1.000.011</p></td>
-<td><p>40</p></td>
-<td><p>-</p></td>
-</tr>
-<tr class="row-odd"><td><p>Right und upwards arrows</p></td>
-<td><p>1.000.011</p></td>
-<td><p>50</p></td>
-<td><p>-</p></td>
-</tr>
-</tbody>
-</table>
-<p>These traffic lights are controlled by <a class="reference external" href="https://www.asam.net/standards/detail/openscenario/">OpenSCENARIO</a>.</p>
-</section>
-<section id="lane-markings">
-<span id="world-lanemarkings"></span><h2>Lane Markings<a class="headerlink" href="#lane-markings" title="Link to this heading"></a></h2>
-<p>The world also supports lane markings (i.e. printed lines between two lanes) according to the <a class="reference external" href="https://www.asam.net/standards/detail/opendrive/">OpenDRIVE</a> standard.
-The following attributes of the “roadMark” tag in the scenery file are stored in the world and can be retrieved by the GetLaneMarkings query: sOffset, type, weight, color.
-The weight is converted into a width in meter: 0.15 for standard and 0.3 for bold. Lane markings are also converted to OSI LaneBoundaries.
-For the OpenDRIVE type “solid solid”, “solid broken”, “broken solid”, and “broken broken” two LaneBoundaries are created in OSI with a fixed lateral distance of 0.15m.</p>
-</section>
-<section id="getobstruction">
-<span id="world-getobstruction"></span><h2>GetObstruction<a class="headerlink" href="#getobstruction" title="Link to this heading"></a></h2>
-<p>The GetObstruction function calculates the lateral distance an agent must travel in order to align with either the left or right boundary of a target object occupying the same lane.</p>
-<p>The calculation adheres to the following process:</p>
-<ol class="arabic simple">
-<li><p>Project the agent’s MainLaneLocator along the lane to the nearest and furthest s-coordinate of the target object, capturing the projected points</p></li>
-<li><p>Create a straight line from the two captured points</p></li>
-<li><p>Calculate the Euclidean distance of each of the target object’s corners to the created line</p></li>
-<li><p>Return the left-most and right-most points with respect to the created line</p></li>
-</ol>
-<p>If the first step fails, because the ego lane does not extend to the object’s position (i.e. it ends prematurely or the objects is outside the ego’s route), then the result is invalid, which is indicated by a separate valid flag.</p>
-<figure class="align-default" id="id9">
-<img alt="../../_images/GetObstruction.svg" src="../../_images/GetObstruction.svg" /><figcaption>
-<p><span class="caption-text">Example for the calculation of GetObstruction</span><a class="headerlink" href="#id9" title="Link to this image"></a></p>
-</figcaption>
-</figure>
-</section>
-</section>
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+<li class="toctree-l3"><a class="reference internal" href="#sampling-of-world-geometries">Sampling of World Geometries</a></li>
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+  <section id="world-osi">
+<span id="id1"></span><h1>World_OSI<a class="headerlink" href="#world-osi" title="Link to this heading"></a></h1>
+<section id="sampling-of-world-geometries">
+<span id="world-sampling"></span><h2>Sampling of World Geometries<a class="headerlink" href="#sampling-of-world-geometries" title="Link to this heading"></a></h2>
+<p>Roads are described following the <a class="reference external" href="https://www.asam.net/standards/detail/opendrive/">OpenDRIVE</a> specification.
+There the geometry of a road is defined algebraically as lines, clothoids and by means of cubic polynomials, whereby primarily only one reference line is defined.
+The lanes can be understood as a stack of parallel lanes, which are given by the width and the offset, now in relation to this reference line, which acts as the underlying coordinate system (‘s/t’ road coordinates with s along the road).
+Here, too, width and offset are defined algebraically, which means that almost any boundary lines can be defined.</p>
+<p>When the world is initialized, these boundary definitions (i.e. algebraic geometries) are converted into piecewise linear elements, which is called sampling.
+The road is scanned at a constant interval along ‘s’, which leads to four-sided (quadrangular) sections of the lanes at common ‘s’ coordinates, so-called lane elements (see LaneElement).
+The scanning is carried out at a scanning rate of 10 centimeters with the aim of achieving a total scanning error of less than 5 centimeters, as required by the representation used internally (c.f. <a class="reference external" href="https://github.com/OpenSimulationInterface">open simulation interface</a>).
+Note that this error is only guaranteed if geometries do not exhibit extreme curvatures, i.e. a deviation of more than 5 cm within two sampling points (10 cm along s).
+The scanned points define so-called joints, which contain all scanned points at an ‘s’ coordinate across all lane boundaries of the given road.
+The number of these joints is reduced by a <a class="reference external" href="https://en.wikipedia.org/wiki/Ramer%E2%80%93Douglas%E2%80%93Peucker_algorithm">Ramer-Douglas-Peucker algorithm</a>, which ensures that the maximum lateral error of each individual point within a joint is less than 5 cm compared to the originally scanned points.
+Note that (a) the boundary points of geometries are always retained and (b) additional points for lane marking transitions are also retained to ensure the maximum accuracy of these edge cases.
+The lane elements are generated with two successive connections, which are ultimately used in the localization at runtime (see <a class="reference internal" href="#world-localization"><span class="std std-ref">Localization</span></a>).</p>
+<p>Internally, each lane element receives a constant direction, which is defined by the direction of the vector spanned between the centers of the corresponding connections.
+Each joint also holds the corresponding curvature of the road, so that the curvature can be interpolated linearly within a lane element along the ‘s’ coordinate.</p>
+</section>
+<section id="localization">
+<span id="world-localization"></span><h2>Localization<a class="headerlink" href="#localization" title="Link to this heading"></a></h2>
+<p>Generally, the position of an agent is stored with respect to <a class="reference internal" href="coordinate_systems.html#coordinatesystems-world"><span class="std std-ref">world coordinates (x,y)</span></a>.
+As queries on the world operates in <a class="reference internal" href="coordinate_systems.html#coordinatesystems-road"><span class="std std-ref">road coordinates (s,t)</span></a>, the position of the agent needs to be transformed.</p>
+<p>This section describes the translation of coordinates (x,y) of an agent into RoadCoordinate (s,t), whereas the notion of (s,t) comes from the <cite>OpenDRIVE</cite> _ standard.</p>
+<section id="basics">
+<h3>Basics<a class="headerlink" href="#basics" title="Link to this heading"></a></h3>
+<p>The following image depics the basic principes of the localization which is rooted on the specifics of the OSI World Layer (aka OWL).</p>
+<figure class="align-default" id="id2">
+<img alt="../../_images/LocalizationBasics.svg" src="../../_images/LocalizationBasics.svg" /><figcaption>
+<p><span class="caption-text">Localization Basics</span><a class="headerlink" href="#id2" title="Link to this image"></a></p>
+</figcaption>
+</figure>
+<p>Given is a point P in cartesian coordinates (x/y).
+The task is to assign the point to a lane, defined by a general road geometry and calculate the transformed Point P’ in road coordinates (s/t).</p>
+<p>Road geometry (based on <a class="reference external" href="https://www.asam.net/standards/detail/opendrive/">OpenDRIVE</a>):</p>
+<blockquote>
+<div><ul class="simple">
+<li><p>A road consists of several sections</p></li>
+<li><p>Each section consists of several lanes</p></li>
+<li><p>Within a section, the number of lanes is constant</p></li>
+<li><p>Lanes can have one predecessor and one successor</p></li>
+<li><p>The road follows a reference line, which is the reference for the <em>s</em>-coordinate.
+The <em>t</em>-coordinate is perpendicular to this line.</p></li>
+</ul>
+</div></blockquote>
+<p>OWL specifics:</p>
+<blockquote>
+<div><ul class="simple">
+<li><p>All lanes are sampled, generating a stream of generic quadrilaterals (LaneGeometryElements).</p></li>
+<li><p>Within a section, the number of quads per lane is equal, and all lanes have the same length in s.</p></li>
+<li><p>This is realized by a variable sampling width, determined by a constant sampling width along the longest arc.</p></li>
+<li><p>Consequently, points perpendicular to the reference line (<em>t</em>-axis) have the same <em>s</em>-coordinate.</p></li>
+</ul>
+</div></blockquote>
+<p>Note, that the final <em>t</em>-coordinate is calculated with respect to a virtual reference line for each lane.
+This means, that points on the center of a lane have <em>t</em>-coordinate of 0.</p>
+</section>
+<section id="localization-sequence">
+<h3>Localization Sequence<a class="headerlink" href="#localization-sequence" title="Link to this heading"></a></h3>
+<p>The following outlines the localization process implemented in openPASS, using a specific example of a bus changing lanes on a widening road.</p>
+<figure class="align-default" id="id3">
+<img alt="../../_images/localization_with_bus_step0.svg" src="../../_images/localization_with_bus_step0.svg" /><figcaption>
+<p><span class="caption-text">Bus changing lanes on a widening road</span><a class="headerlink" href="#id3" title="Link to this image"></a></p>
+</figcaption>
+</figure>
+<p>First, as described above LaneGeometryElements are generated for the road, here shown as a simplified red grid:</p>
+<figure class="align-default" id="id4">
+<img alt="../../_images/localization_with_bus_step1.svg" src="../../_images/localization_with_bus_step1.svg" /><figcaption>
+<p><span class="caption-text">LaneGeometryElements and bounding box of the bus</span><a class="headerlink" href="#id4" title="Link to this image"></a></p>
+</figcaption>
+</figure>
+<p>All geometries are internally managed by an <a class="reference external" href="https://www.boost.org/doc/libs/1_65_0/libs/geometry/doc/html/geometry/reference/spatial_indexes/boost__geometry__index__rtree.html">r-tree</a>, used to check for overlaps between the bounding box of the bus and all stored objects in the tree, making checks for overlap extremely fast.
+However, the r-tree comes with the restriction that all stored objects are stored by boxes orthogonal to <code class="docutils literal notranslate"><span class="pre">x</span></code> and <code class="docutils literal notranslate"><span class="pre">y</span></code> (= maximum Cartesian coordinates of the boundary points).</p>
+<figure class="align-default" id="id5">
+<img alt="../../_images/localization_with_bus_step2.svg" src="../../_images/localization_with_bus_step2.svg" /><figcaption>
+<p><span class="caption-text">r-Tree representation of the Bus and a single LaneGeometryElement</span><a class="headerlink" href="#id5" title="Link to this image"></a></p>
+</figcaption>
+</figure>
+<figure class="align-default" id="id6">
+<img alt="../../_images/localization_with_bus_step3.svg" src="../../_images/localization_with_bus_step3.svg" /><figcaption>
+<p><span class="caption-text">r-Tree representation of all participating geometries</span><a class="headerlink" href="#id6" title="Link to this image"></a></p>
+</figcaption>
+</figure>
+<p>This introduces additional overlaps, resulting in false positives where the bus is located on segments it does not actually touch.</p>
+<figure class="align-default" id="id7">
+<img alt="../../_images/localization_with_bus_step4.svg" src="../../_images/localization_with_bus_step4.svg" /><figcaption>
+<p><span class="caption-text">Found overlaps with false positives</span><a class="headerlink" href="#id7" title="Link to this image"></a></p>
+</figcaption>
+</figure>
+<p>This is justified because the subsequent filtering can be carried out quickly since the possible geometries allow a simplified intersection check.
+Finally, for each point of a non-empty intersection polygon, the <code class="docutils literal notranslate"><span class="pre">s</span></code> and <code class="docutils literal notranslate"><span class="pre">t</span></code> coordinates are calculated and aggregated with respect to the underlying lane.
+For each touched lane, the minimum and maximum <code class="docutils literal notranslate"><span class="pre">s</span></code> coordinate, and the minimum and maximum lane remainder (delta t) is stored.</p>
+<figure class="align-default" id="id8">
+<img alt="../../_images/localization_with_bus_step5.svg" src="../../_images/localization_with_bus_step5.svg" /><figcaption>
+<p><span class="caption-text">Example for the calculation of s_min, s_max and delta_right</span><a class="headerlink" href="#id8" title="Link to this image"></a></p>
+</figcaption>
+</figure>
+<p>In addition, if the reference point (i.e. the middle of the rear axle) or the mainLaneLocator (i.e. the middle of the agent front) are located within a LaneGeometryElement, <code class="docutils literal notranslate"><span class="pre">s/t/yaw</span></code> is calculated of each point, respectively.
+Further aggregation is done with respect to each road by calculating the minimum and maximum <code class="docutils literal notranslate"><span class="pre">s</span></code> for each road the agent intersects with.
+For the current route of an agent, the following information is stored: <code class="docutils literal notranslate"><span class="pre">s/t/yaw</span></code> of the reference point and mainLaneLocator on the route (roads along a route are not allowed to intersect), distance from the lane boundary to the left and right for the road(s) along the route, and OpenDRIVE Ids of the lanes on the route that the agent touches.
+The results also holds information whether both the reference point and the mainLaneLocator lay on the route.
+In the current implementation, these points must be located - otherwise the agent is despawened, as the agent cannot execute distance queries without a relation to its current route.</p>
+</section>
+</section>
+<section id="traffic-signs-road-markings-and-trafficlights">
+<span id="world-trafficsigns"></span><h2>Traffic Signs, Road Markings and TrafficLights<a class="headerlink" href="#traffic-signs-road-markings-and-trafficlights" title="Link to this heading"></a></h2>
+<p>The world currently supports a variety of traffic signs, road markings and traffic lights.
+All of these are defined in <a class="reference external" href="https://www.asam.net/standards/detail/opendrive/">OpenDRIVE</a> as “RoadSignal”.
+At the moment it can interpret traffic signs and road markings according to the German regulations, US regulations, and China regulations and traffic lights according the the <a class="reference external" href="https://www.asam.net/standards/detail/opendrive/">OpenDRIVE</a> appendix.
+Traffic signs can contain optional supplementary traffic signs. Supplementary signs are dependent on a main traffic sign and contain additional information.</p>
+<p>For Germany the types are based on the StVO (see: <a class="reference external" href="https://www.bast.de/BASt_2017/DE/Verkehrstechnik/Fachthemen/v1-verkehrszeichen/vz-download.html">https://www.bast.de/BASt_2017/DE/Verkehrstechnik/Fachthemen/v1-verkehrszeichen/vz-download.html</a>).
+The following traffic signs are supported for Germany:</p>
+<table class="tight-table docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>TrafficSign</p></th>
+<th class="head"><p>Image</p></th>
+<th class="head"><p>StVo Type</p></th>
+<th class="head"><p>Subtype</p></th>
+<th class="head"><p>Value and Units</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>GiveWay</p></td>
+<td><figure class="align-default">
+<a class="reference internal image-reference" href="../../_images/GiveWay_205.svg"><img alt="../../_images/GiveWay_205.svg" src="../../_images/GiveWay_205.svg" width="400" /></a>
+</figure>
+</td>
+<td><p>205</p></td>
+<td></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>Stop</p></td>
+<td><figure class="align-default">
+<a class="reference internal image-reference" href="../../_images/Stop_206.svg"><img alt="../../_images/Stop_206.svg" src="../../_images/Stop_206.svg" width="400" /></a>
+</figure>
+</td>
+<td><p>206</p></td>
+<td></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>DoNotEnter</p></td>
+<td><figure class="align-default">
+<a class="reference internal image-reference" href="../../_images/DoNotEnter_267.svg"><img alt="../../_images/DoNotEnter_267.svg" src="../../_images/DoNotEnter_267.svg" width="400" /></a>
+</figure>
+</td>
+<td><p>267</p></td>
+<td></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>EnvironmentalZoneBegin</p></td>
+<td><figure class="align-default">
+<a class="reference internal image-reference" href="../../_images/EnvironmentalZoneBegin_270.1.svg"><img alt="../../_images/EnvironmentalZoneBegin_270.1.svg" src="../../_images/EnvironmentalZoneBegin_270.1.svg" width="400" /></a>
+</figure>
+</td>
+<td><p>270.1</p></td>
+<td></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>EnvironmentalZoneEnd</p></td>
+<td><figure class="align-default">
+<a class="reference internal image-reference" href="../../_images/EnvironmentalZoneEnd_270.2.svg"><img alt="../../_images/EnvironmentalZoneEnd_270.2.svg" src="../../_images/EnvironmentalZoneEnd_270.2.svg" width="400" /></a>
+</figure>
+</td>
+<td><p>270.2</p></td>
+<td></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>MaximumSpeedLimit</p></td>
+<td><figure class="align-default">
+<a class="reference internal image-reference" href="../../_images/MaximumSpeedLimit_274-5.svg"><img alt="../../_images/MaximumSpeedLimit_274-5.svg" src="../../_images/MaximumSpeedLimit_274-5.svg" width="400" /></a>
+</figure>
+<figure class="align-default">
+<a class="reference internal image-reference" href="../../_images/MaximumSpeedLimit_274-130.svg"><img alt="../../_images/MaximumSpeedLimit_274-130.svg" src="../../_images/MaximumSpeedLimit_274-130.svg" width="400" /></a>
+</figure>
+</td>
+<td><p>274</p></td>
+<td><p>X</p></td>
+<td><p>The subtype “X” is used to define the speedlimit in km/h.
+Afterwards the world converts it to m/s.</p></td>
+</tr>
+<tr class="row-even"><td><p>SpeedLimitZoneBegin</p></td>
+<td><figure class="align-default">
+<a class="reference internal image-reference" href="../../_images/SpeedLimitZoneBegin_274.1.svg"><img alt="../../_images/SpeedLimitZoneBegin_274.1.svg" src="../../_images/SpeedLimitZoneBegin_274.1.svg" width="400" /></a>
+</figure>
+<figure class="align-default">
+<a class="reference internal image-reference" href="../../_images/SpeedLimitZoneBegin_274.1-20.svg"><img alt="../../_images/SpeedLimitZoneBegin_274.1-20.svg" src="../../_images/SpeedLimitZoneBegin_274.1-20.svg" width="400" /></a>
+</figure>
+</td>
+<td><p>274.1</p></td>
+<td><p>-/20</p></td>
+<td><p>The subtype is used to define the speedlimit in km/h.
+Afterwards the world converts it to m/s.
+No subtype = 30km/h, 20 = 20km/h</p></td>
+</tr>
+<tr class="row-odd"><td><p>SpeedLimitZoneEnd</p></td>
+<td><figure class="align-default">
+<a class="reference internal image-reference" href="../../_images/SpeedLimitZoneEnd_274.2.svg"><img alt="../../_images/SpeedLimitZoneEnd_274.2.svg" src="../../_images/SpeedLimitZoneEnd_274.2.svg" width="400" /></a>
+</figure>
+<figure class="align-default">
+<a class="reference internal image-reference" href="../../_images/SpeedLimitZoneEnd_274.2-20.svg"><img alt="../../_images/SpeedLimitZoneEnd_274.2-20.svg" src="../../_images/SpeedLimitZoneEnd_274.2-20.svg" width="400" /></a>
+</figure>
+</td>
+<td><p>274.2</p></td>
+<td><p>-/20</p></td>
+<td><p>The subtype is used to define the speedlimit in km/h.
+Afterwards the world converts it to m/s.
+No subtype = 30km/h, 20 = 20km/h</p></td>
+</tr>
+<tr class="row-even"><td><p>MinimumSpeedLimit</p></td>
+<td><figure class="align-default">
+<a class="reference internal image-reference" href="../../_images/MinimumSpeedLimit_275.svg"><img alt="../../_images/MinimumSpeedLimit_275.svg" src="../../_images/MinimumSpeedLimit_275.svg" width="400" /></a>
+</figure>
+</td>
+<td><p>275</p></td>
+<td><p>X</p></td>
+<td><p>The subtype is used to define the speedlimit in km/h.
+Afterwards the world converts it to m/s.</p></td>
+</tr>
+<tr class="row-odd"><td><p>OvertakingBanBegin</p></td>
+<td><figure class="align-default">
+<a class="reference internal image-reference" href="../../_images/OvertakingBanBegin_276.svg"><img alt="../../_images/OvertakingBanBegin_276.svg" src="../../_images/OvertakingBanBegin_276.svg" width="400" /></a>
+</figure>
+</td>
+<td><p>276</p></td>
+<td></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>OvertakingBanTrucksBegin</p></td>
+<td><figure class="align-default">
+<a class="reference internal image-reference" href="../../_images/OvertakingBanTrucksBegin_277.svg"><img alt="../../_images/OvertakingBanTrucksBegin_277.svg" src="../../_images/OvertakingBanTrucksBegin_277.svg" width="400" /></a>
+</figure>
+</td>
+<td><p>277</p></td>
+<td></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>EndOfMaximumSpeedLimit</p></td>
+<td><figure class="align-default">
+<a class="reference internal image-reference" href="../../_images/EndOfMaximumSpeedLimit_278-5.svg"><img alt="../../_images/EndOfMaximumSpeedLimit_278-5.svg" src="../../_images/EndOfMaximumSpeedLimit_278-5.svg" width="400" /></a>
+</figure>
+<figure class="align-default">
+<a class="reference internal image-reference" href="../../_images/EndOfMaximumSpeedLimit_278-130.svg"><img alt="../../_images/EndOfMaximumSpeedLimit_278-130.svg" src="../../_images/EndOfMaximumSpeedLimit_278-130.svg" width="400" /></a>
+</figure>
+</td>
+<td><p>278</p></td>
+<td><p>X</p></td>
+<td><p>The subtype “X” is used to define the speedlimit in km/h.
+Afterwards the world converts it to m/s.</p></td>
+</tr>
+<tr class="row-even"><td><p>EndOfMinimumSpeedLimit</p></td>
+<td><figure class="align-default">
+<a class="reference internal image-reference" href="../../_images/EndOfMinimumSpeedLimit_279.svg"><img alt="../../_images/EndOfMinimumSpeedLimit_279.svg" src="../../_images/EndOfMinimumSpeedLimit_279.svg" width="400" /></a>
+</figure>
+</td>
+<td><p>279</p></td>
+<td><p>X</p></td>
+<td><p>The subtype “X” is used to define the speedlimit in km/h.
+Afterwards the world converts it to m/s.</p></td>
+</tr>
+<tr class="row-odd"><td><p>OvertakingBanEnd</p></td>
+<td><figure class="align-default">
+<a class="reference internal image-reference" href="../../_images/OvertakingBanEnd_280.svg"><img alt="../../_images/OvertakingBanEnd_280.svg" src="../../_images/OvertakingBanEnd_280.svg" width="400" /></a>
+</figure>
+</td>
+<td><p>280</p></td>
+<td></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>OvertakingBanTrucksEnd</p></td>
+<td><figure class="align-default">
+<a class="reference internal image-reference" href="../../_images/OvertakingBanTrucksEnd_281.svg"><img alt="../../_images/OvertakingBanTrucksEnd_281.svg" src="../../_images/OvertakingBanTrucksEnd_281.svg" width="400" /></a>
+</figure>
+</td>
+<td><p>281</p></td>
+<td></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>EndOffAllSpeedLimitsAndOvertakingRestrictions</p></td>
+<td><figure class="align-default">
+<a class="reference internal image-reference" href="../../_images/EndOffAllSpeedLimitsAndOvertakingRestrictions_282.svg"><img alt="../../_images/EndOffAllSpeedLimitsAndOvertakingRestrictions_282.svg" src="../../_images/EndOffAllSpeedLimitsAndOvertakingRestrictions_282.svg" width="400" /></a>
+</figure>
+</td>
+<td><p>282</p></td>
+<td></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>RightOfWayNextIntersection</p></td>
+<td><figure class="align-default">
+<a class="reference internal image-reference" href="../../_images/RightOfWayNextIntersection_301.svg"><img alt="../../_images/RightOfWayNextIntersection_301.svg" src="../../_images/RightOfWayNextIntersection_301.svg" width="400" /></a>
+</figure>
+</td>
+<td><p>301</p></td>
+<td></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>RightOfWayBegin</p></td>
+<td><figure class="align-default">
+<a class="reference internal image-reference" href="../../_images/RightOfWayBegin_306.svg"><img alt="../../_images/RightOfWayBegin_306.svg" src="../../_images/RightOfWayBegin_306.svg" width="400" /></a>
+</figure>
+</td>
+<td><p>306</p></td>
+<td></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>RightOfWayEnd</p></td>
+<td><figure class="align-default">
+<a class="reference internal image-reference" href="../../_images/RightOfWayEnd_307.svg"><img alt="../../_images/RightOfWayEnd_307.svg" src="../../_images/RightOfWayEnd_307.svg" width="400" /></a>
+</figure>
+</td>
+<td><p>307</p></td>
+<td></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>TownBegin</p></td>
+<td><figure class="align-default">
+<a class="reference internal image-reference" href="../../_images/TownBegin_310.svg"><img alt="../../_images/TownBegin_310.svg" src="../../_images/TownBegin_310.svg" width="400" /></a>
+</figure>
+</td>
+<td><p>310</p></td>
+<td></td>
+<td><p>This sign contains a text describing the name of the town</p></td>
+</tr>
+<tr class="row-even"><td><p>TownEnd</p></td>
+<td><figure class="align-default">
+<a class="reference internal image-reference" href="../../_images/TownEnd_311.svg"><img alt="../../_images/TownEnd_311.svg" src="../../_images/TownEnd_311.svg" width="400" /></a>
+</figure>
+</td>
+<td><p>311</p></td>
+<td></td>
+<td><p>This sign contains a text describing the name of the town</p></td>
+</tr>
+<tr class="row-odd"><td><p>TrafficCalmedDistrictBegin</p></td>
+<td><figure class="align-default">
+<a class="reference internal image-reference" href="../../_images/TrafficCalmedDistrictBegin_325.1.svg"><img alt="../../_images/TrafficCalmedDistrictBegin_325.1.svg" src="../../_images/TrafficCalmedDistrictBegin_325.1.svg" width="400" /></a>
+</figure>
+</td>
+<td><p>325.1</p></td>
+<td></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>TrafficCalmedDistrictEnd</p></td>
+<td><figure class="align-default">
+<a class="reference internal image-reference" href="../../_images/TrafficCalmedDistrictEnd_325.2.svg"><img alt="../../_images/TrafficCalmedDistrictEnd_325.2.svg" src="../../_images/TrafficCalmedDistrictEnd_325.2.svg" width="400" /></a>
+</figure>
+</td>
+<td><p>325.2</p></td>
+<td></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>HighWayBegin</p></td>
+<td><figure class="align-default">
+<a class="reference internal image-reference" href="../../_images/HighWayBegin_330.1.svg"><img alt="../../_images/HighWayBegin_330.1.svg" src="../../_images/HighWayBegin_330.1.svg" width="400" /></a>
+</figure>
+</td>
+<td><p>330.1</p></td>
+<td></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>HighWayEnd</p></td>
+<td><figure class="align-default">
+<a class="reference internal image-reference" href="../../_images/HighWayEnd_330.2.svg"><img alt="../../_images/HighWayEnd_330.2.svg" src="../../_images/HighWayEnd_330.2.svg" width="400" /></a>
+</figure>
+</td>
+<td><p>330.2</p></td>
+<td></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>HighWayExit</p></td>
+<td><figure class="align-default">
+<a class="reference internal image-reference" href="../../_images/HighWayExit_333.svg"><img alt="../../_images/HighWayExit_333.svg" src="../../_images/HighWayExit_333.svg" width="400" /></a>
+</figure>
+</td>
+<td><p>333</p></td>
+<td></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>AnnounceHighwayExit</p></td>
+<td><figure class="align-default">
+<a class="reference internal image-reference" href="../../_images/AnnounceHighwayExit_448.svg"><img alt="../../_images/AnnounceHighwayExit_448.svg" src="../../_images/AnnounceHighwayExit_448.svg" width="400" /></a>
+</figure>
+</td>
+<td><p>448</p></td>
+<td></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>PreannounceHighwayExitDirections</p></td>
+<td><figure class="align-default">
+<a class="reference internal image-reference" href="../../_images/AnnounceHighwayExit_449.svg"><img alt="../../_images/AnnounceHighwayExit_449.svg" src="../../_images/AnnounceHighwayExit_449.svg" width="400" /></a>
+</figure>
+</td>
+<td><p>449</p></td>
+<td></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>HighwayExitPole</p></td>
+<td><figure class="align-default">
+<a class="reference internal image-reference" href="../../_images/HighwayExitPole_450-50.svg"><img alt="../../_images/HighwayExitPole_450-50.svg" src="../../_images/HighwayExitPole_450-50.svg" width="400" /></a>
+</figure>
+<figure class="align-default">
+<a class="reference internal image-reference" href="../../_images/HighwayExitPole_450-51.svg"><img alt="../../_images/HighwayExitPole_450-51.svg" src="../../_images/HighwayExitPole_450-51.svg" width="400" /></a>
+</figure>
+<figure class="align-default">
+<a class="reference internal image-reference" href="../../_images/HighwayExitPole_450-52.svg"><img alt="../../_images/HighwayExitPole_450-52.svg" src="../../_images/HighwayExitPole_450-52.svg" width="400" /></a>
+</figure>
+</td>
+<td><p>450</p></td>
+<td><p>50/51/52</p></td>
+<td><p>The subtype describes the distance to the highway exit in m.
+50 = 100m, 51 = 200m, 52 = 300m</p></td>
+</tr>
+<tr class="row-odd"><td><p>AnnounceRightLaneEnd</p></td>
+<td><figure class="align-default">
+<a class="reference internal image-reference" href="../../_images/AnnounceRightLaneEnd_531-10.svg"><img alt="../../_images/AnnounceRightLaneEnd_531-10.svg" src="../../_images/AnnounceRightLaneEnd_531-10.svg" width="400" /></a>
+</figure>
+<figure class="align-default">
+<a class="reference internal image-reference" href="../../_images/AnnounceRightLaneEnd_531-11.svg"><img alt="../../_images/AnnounceRightLaneEnd_531-11.svg" src="../../_images/AnnounceRightLaneEnd_531-11.svg" width="400" /></a>
+</figure>
+<figure class="align-default">
+<a class="reference internal image-reference" href="../../_images/AnnounceRightLaneEnd_531-12.svg"><img alt="../../_images/AnnounceRightLaneEnd_531-12.svg" src="../../_images/AnnounceRightLaneEnd_531-12.svg" width="400" /></a>
+</figure>
+<figure class="align-default">
+<a class="reference internal image-reference" href="../../_images/AnnounceRightLaneEnd_531-13.svg"><img alt="../../_images/AnnounceRightLaneEnd_531-13.svg" src="../../_images/AnnounceRightLaneEnd_531-13.svg" width="400" /></a>
+</figure>
+</td>
+<td><p>531</p></td>
+<td><p>10/11/12/13</p></td>
+<td><p>The subtype describes the number of continuing lanes after the right lane ends.
+10 = 1 lane, 11 = 2 lanes, 12 = 3 lanes, 13 = 4 lanes</p></td>
+</tr>
+<tr class="row-even"><td><p>AnnounceLeftLaneEnd</p></td>
+<td><figure class="align-default">
+<a class="reference internal image-reference" href="../../_images/AnnounceLeftLaneEnd_531-20.svg"><img alt="../../_images/AnnounceLeftLaneEnd_531-20.svg" src="../../_images/AnnounceLeftLaneEnd_531-20.svg" width="400" /></a>
+</figure>
+<figure class="align-default">
+<a class="reference internal image-reference" href="../../_images/AnnounceLeftLaneEnd_531-21.svg"><img alt="../../_images/AnnounceLeftLaneEnd_531-21.svg" src="../../_images/AnnounceLeftLaneEnd_531-21.svg" width="400" /></a>
+</figure>
+<figure class="align-default">
+<a class="reference internal image-reference" href="../../_images/AnnounceLeftLaneEnd_531-22.svg"><img alt="../../_images/AnnounceLeftLaneEnd_531-22.svg" src="../../_images/AnnounceLeftLaneEnd_531-22.svg" width="400" /></a>
+</figure>
+<figure class="align-default">
+<a class="reference internal image-reference" href="../../_images/AnnounceLeftLaneEnd_531-23.svg"><img alt="../../_images/AnnounceLeftLaneEnd_531-23.svg" src="../../_images/AnnounceLeftLaneEnd_531-23.svg" width="400" /></a>
+</figure>
+</td>
+<td><p>531</p></td>
+<td><p>20/21/22/23</p></td>
+<td><p>The subtype describes the number of continuing lanes after the left lane ends.
+10 = 1 lane, 11 = 2 lanes, 12 = 3 lanes, 13 = 4 lanes</p></td>
+</tr>
+<tr class="row-odd"><td><p>DistanceIndication</p></td>
+<td><figure class="align-default">
+<a class="reference internal image-reference" href="../../_images/DistanceIndication_1004-30.svg"><img alt="../../_images/DistanceIndication_1004-30.svg" src="../../_images/DistanceIndication_1004-30.svg" width="400" /></a>
+</figure>
+<figure class="align-default">
+<a class="reference internal image-reference" href="../../_images/DistanceIndication_1004-31.svg"><img alt="../../_images/DistanceIndication_1004-31.svg" src="../../_images/DistanceIndication_1004-31.svg" width="400" /></a>
+</figure>
+<figure class="align-default">
+<a class="reference internal image-reference" href="../../_images/DistanceIndication_1004-32.svg"><img alt="../../_images/DistanceIndication_1004-32.svg" src="../../_images/DistanceIndication_1004-32.svg" width="400" /></a>
+</figure>
+</td>
+<td><p>1004</p></td>
+<td><p>30/31/32</p></td>
+<td><p>For subtype 30 the value describes the distance in m.
+For subtype 31 the value describes the distance in km.
+Subtype 32 has a STOP in 100m.</p></td>
+</tr>
+</tbody>
+</table>
+<p>The following road markings are supported for Germany:</p>
+<table class="tight-table docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>RoadMarking</p></th>
+<th class="head"><p>Image</p></th>
+<th class="head"><p>StVo Type</p></th>
+<th class="head"><p>Subtype</p></th>
+<th class="head"><p>Value and Units</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>PedestrianCrossing</p></td>
+<td><figure class="align-default">
+<a class="reference internal image-reference" href="../../_images/PedestrianCrossing_293.svg"><img alt="../../_images/PedestrianCrossing_293.svg" src="../../_images/PedestrianCrossing_293.svg" width="400" /></a>
+</figure>
+</td>
+<td><p>293</p></td>
+<td></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>Stop line</p></td>
+<td><figure class="align-default">
+<a class="reference internal image-reference" href="../../_images/Stop_line_294.svg"><img alt="../../_images/Stop_line_294.svg" src="../../_images/Stop_line_294.svg" width="400" /></a>
+</figure>
+</td>
+<td><p>294</p></td>
+<td></td>
+<td></td>
+</tr>
+</tbody>
+</table>
+<p>The pedestrian crossing can also be defined in <a class="reference external" href="https://www.asam.net/standards/detail/opendrive/">OpenDRIVE</a> as object with type “crosswalk”.</p>
+<p>For United States the types are based on the “Manual on Uniform Traffic Control Devices” (see: <a class="reference external" href="https://mutcd.fhwa.dot.gov/pdfs/2009r1r2/pdf_index.htm">https://mutcd.fhwa.dot.gov/pdfs/2009r1r2/pdf_index.htm</a>).
+The following traffic signs are supported for United States:</p>
+<table class="docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>TrafficSign</p></th>
+<th class="head"><p>Image</p></th>
+<th class="head"><p>Type</p></th>
+<th class="head"><p>Value and Units</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>HighWayExit</p></td>
+<td><figure class="align-default">
+<a class="reference internal image-reference" href="../../_images/HighWayExit_E5-1.svg"><img alt="../../_images/HighWayExit_E5-1.svg" src="../../_images/HighWayExit_E5-1.svg" width="400" /></a>
+</figure>
+</td>
+<td><p>E5-1</p></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>HighWayExit</p></td>
+<td><figure class="align-default">
+<a class="reference internal image-reference" href="../../_images/HighWayExit_E2-5.svg"><img alt="../../_images/HighWayExit_E2-5.svg" src="../../_images/HighWayExit_E2-5.svg" width="400" /></a>
+</figure>
+</td>
+<td><p>E2-5</p></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>AnnounceHighwayExit</p></td>
+<td><figure class="align-default">
+<a class="reference internal image-reference" href="../../_images/AnnounceHighwayExit_E1-2.svg"><img alt="../../_images/AnnounceHighwayExit_E1-2.svg" src="../../_images/AnnounceHighwayExit_E1-2.svg" width="400" /></a>
+</figure>
+</td>
+<td><p>E1-2</p></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>PreannounceHighwayExit</p></td>
+<td><figure class="align-default">
+<a class="reference internal image-reference" href="../../_images/PreannounceHighwayExit_E1-2a.svg"><img alt="../../_images/PreannounceHighwayExit_E1-2a.svg" src="../../_images/PreannounceHighwayExit_E1-2a.svg" width="400" /></a>
+</figure>
+</td>
+<td><p>E1-2a</p></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>Stop</p></td>
+<td><figure class="align-default">
+<a class="reference internal image-reference" href="../../_images/Stop_R1-1.svg"><img alt="../../_images/Stop_R1-1.svg" src="../../_images/Stop_R1-1.svg" width="400" /></a>
+</figure>
+</td>
+<td><p>R1-1</p></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>GiveWay</p></td>
+<td><figure class="align-default">
+<a class="reference internal image-reference" href="../../_images/GiveWay_R1-2.svg"><img alt="../../_images/GiveWay_R1-2.svg" src="../../_images/GiveWay_R1-2.svg" width="400" /></a>
+</figure>
+</td>
+<td><p>R1-2</p></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>MaximumSpeedLimit</p></td>
+<td><figure class="align-default">
+<a class="reference internal image-reference" href="../../_images/MaximumSpeedLimit_R2-1.svg"><img alt="../../_images/MaximumSpeedLimit_R2-1.svg" src="../../_images/MaximumSpeedLimit_R2-1.svg" width="400" /></a>
+</figure>
+</td>
+<td><p>R2-1</p></td>
+<td><p>as defined via the “value” and “unit” attributes</p></td>
+</tr>
+<tr class="row-odd"><td><p>DoNotPass (OvertakingBan)</p></td>
+<td><figure class="align-default">
+<a class="reference internal image-reference" href="../../_images/DoNotPass_R4-1.svg"><img alt="../../_images/DoNotPass_R4-1.svg" src="../../_images/DoNotPass_R4-1.svg" width="400" /></a>
+</figure>
+</td>
+<td><p>R4-1</p></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>DoNotEnter</p></td>
+<td><figure class="align-default">
+<a class="reference internal image-reference" href="../../_images/DoNotEnter_R5-1.svg"><img alt="../../_images/DoNotEnter_R5-1.svg" src="../../_images/DoNotEnter_R5-1.svg" width="400" /></a>
+</figure>
+</td>
+<td><p>R5-1</p></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>RightLaneEnd</p></td>
+<td><figure class="align-default">
+<a class="reference internal image-reference" href="../../_images/RightLaneEnd_W4-2R.svg"><img alt="../../_images/RightLaneEnd_W4-2R.svg" src="../../_images/RightLaneEnd_W4-2R.svg" width="400" /></a>
+</figure>
+</td>
+<td><p>W4-2R</p></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>LeftLaneEnd</p></td>
+<td><figure class="align-default">
+<a class="reference internal image-reference" href="../../_images/LeftLaneEnd_W4-2L.svg"><img alt="../../_images/LeftLaneEnd_W4-2L.svg" src="../../_images/LeftLaneEnd_W4-2L.svg" width="400" /></a>
+</figure>
+</td>
+<td><p>W4-2L</p></td>
+<td></td>
+</tr>
+</tbody>
+</table>
+<p>For China the types are based on the <a class="reference external" href="https://upload.wikimedia.org/wikipedia/commons/8/8c/China_GB_5768.2-2009.pdf">https://upload.wikimedia.org/wikipedia/commons/8/8c/China_GB_5768.2-2009.pdf</a>.
+The following traffic signs are supported for China:</p>
+<table class="docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>TrafficSign</p></th>
+<th class="head"><p>Image</p></th>
+<th class="head"><p>Type</p></th>
+<th class="head"><p>Subtype</p></th>
+<th class="head"><p>Value and Units</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>AnnounceRightLaneEnd</p></td>
+<td><figure class="align-default">
+<a class="reference internal image-reference" href="../../_images/EndofLaneRight-32a.svg"><img alt="../../_images/EndofLaneRight-32a.svg" src="../../_images/EndofLaneRight-32a.svg" width="400" /></a>
+</figure>
+<figure class="align-default">
+<a class="reference internal image-reference" href="../../_images/EndofLaneRight-32b.svg"><img alt="../../_images/EndofLaneRight-32b.svg" src="../../_images/EndofLaneRight-32b.svg" width="400" /></a>
+</figure>
+</td>
+<td><p>EndofLane-32</p></td>
+<td><p>a/b</p></td>
+<td><p>The subtype describes the number of continuing lanes after the right lane ends.
+a = 2 lanes, b = 3 lanes</p></td>
+</tr>
+<tr class="row-odd"><td><p>AnnounceLeftLaneEnd</p></td>
+<td><figure class="align-default">
+<a class="reference internal image-reference" href="../../_images/EndofLaneLeft-32c.svg"><img alt="../../_images/EndofLaneLeft-32c.svg" src="../../_images/EndofLaneLeft-32c.svg" width="400" /></a>
+</figure>
+<figure class="align-default">
+<a class="reference internal image-reference" href="../../_images/EndofLaneLeft-32d.svg"><img alt="../../_images/EndofLaneLeft-32d.svg" src="../../_images/EndofLaneLeft-32d.svg" width="400" /></a>
+</figure>
+</td>
+<td><p>EndofLane-32</p></td>
+<td><p>c/d</p></td>
+<td><p>The subtype describes the number of continuing lanes after the left lane ends.
+c = 2 lanes, d = 3 lanes</p></td>
+</tr>
+<tr class="row-even"><td><p>MaximumSpeedLimit</p></td>
+<td><figure class="align-default">
+<a class="reference internal image-reference" href="../../_images/MaximumSpeedLimit-38.svg"><img alt="../../_images/MaximumSpeedLimit-38.svg" src="../../_images/MaximumSpeedLimit-38.svg" width="400" /></a>
+</figure>
+</td>
+<td><p>SpeedLimit-38</p></td>
+<td></td>
+<td><p>as defined via the “value” and “unit” attributes</p></td>
+</tr>
+<tr class="row-odd"><td><p>EndOfMaximumSpeedLimit</p></td>
+<td><figure class="align-default">
+<a class="reference internal image-reference" href="../../_images/EndOfMaximumSpeedLimit-39.svg"><img alt="../../_images/EndOfMaximumSpeedLimit-39.svg" src="../../_images/EndOfMaximumSpeedLimit-39.svg" width="400" /></a>
+</figure>
+</td>
+<td><p>EndOfSpeedLimit-39</p></td>
+<td></td>
+<td><p>as defined via the “value” and “unit” attributes</p></td>
+</tr>
+<tr class="row-even"><td><p>AnnounceHighwayExit (1km)</p></td>
+<td><figure class="align-default">
+<a class="reference internal image-reference" href="../../_images/AnnouceHighwayExit1km-50b.svg"><img alt="../../_images/AnnouceHighwayExit1km-50b.svg" src="../../_images/AnnouceHighwayExit1km-50b.svg" width="400" /></a>
+</figure>
+</td>
+<td><p>AnnounceHighwayExit-50b</p></td>
+<td></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>AnnounceHighwayExit (500m)</p></td>
+<td><figure class="align-default">
+<a class="reference internal image-reference" href="../../_images/AnnouceHighwayExit500m-50c.svg"><img alt="../../_images/AnnouceHighwayExit500m-50c.svg" src="../../_images/AnnouceHighwayExit500m-50c.svg" width="400" /></a>
+</figure>
+</td>
+<td><p>AnnounceHighwayExit-50c</p></td>
+<td></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>HighWayExit</p></td>
+<td><figure class="align-default">
+<a class="reference internal image-reference" href="../../_images/HighwayExit-50d.svg"><img alt="../../_images/HighwayExit-50d.svg" src="../../_images/HighwayExit-50d.svg" width="400" /></a>
+</figure>
+</td>
+<td><p>HighwayExit-50d</p></td>
+<td></td>
+<td></td>
+</tr>
+</tbody>
+</table>
+<p>The following traffic lights are supported:</p>
+<table class="tight-table docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>TrafficLight</p></th>
+<th class="head"><p>OpenDRIVE Type</p></th>
+<th class="head"><p>Subtype</p></th>
+<th class="head"><p>Value and Units</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>Standard traffic light (red, yellow, green)</p></td>
+<td><p>1.000.001</p></td>
+<td><p>-</p></td>
+<td><p>-</p></td>
+</tr>
+<tr class="row-odd"><td><p>Left arrows</p></td>
+<td><p>1.000.011</p></td>
+<td><p>10</p></td>
+<td><p>-</p></td>
+</tr>
+<tr class="row-even"><td><p>Right arrows</p></td>
+<td><p>1.000.011</p></td>
+<td><p>20</p></td>
+<td><p>-</p></td>
+</tr>
+<tr class="row-odd"><td><p>Upwards arrows</p></td>
+<td><p>1.000.011</p></td>
+<td><p>30</p></td>
+<td><p>-</p></td>
+</tr>
+<tr class="row-even"><td><p>Left und upwards arrows</p></td>
+<td><p>1.000.011</p></td>
+<td><p>40</p></td>
+<td><p>-</p></td>
+</tr>
+<tr class="row-odd"><td><p>Right und upwards arrows</p></td>
+<td><p>1.000.011</p></td>
+<td><p>50</p></td>
+<td><p>-</p></td>
+</tr>
+</tbody>
+</table>
+<p>These traffic lights are controlled by <a class="reference external" href="https://www.asam.net/standards/detail/openscenario/">OpenSCENARIO</a>.</p>
+</section>
+<section id="lane-markings">
+<span id="world-lanemarkings"></span><h2>Lane Markings<a class="headerlink" href="#lane-markings" title="Link to this heading"></a></h2>
+<p>The world also supports lane markings (i.e. printed lines between two lanes) according to the <a class="reference external" href="https://www.asam.net/standards/detail/opendrive/">OpenDRIVE</a> standard.
+The following attributes of the “roadMark” tag in the scenery file are stored in the world and can be retrieved by the GetLaneMarkings query: sOffset, type, weight, color.
+The weight is converted into a width in meter: 0.15 for standard and 0.3 for bold. Lane markings are also converted to OSI LaneBoundaries.
+For the OpenDRIVE type “solid solid”, “solid broken”, “broken solid”, and “broken broken” two LaneBoundaries are created in OSI with a fixed lateral distance of 0.15m.</p>
+</section>
+<section id="getobstruction">
+<span id="world-getobstruction"></span><h2>GetObstruction<a class="headerlink" href="#getobstruction" title="Link to this heading"></a></h2>
+<p>The GetObstruction function calculates the lateral distance an agent must travel in order to align with either the left or right boundary of a target object occupying the same lane.</p>
+<p>The calculation adheres to the following process:</p>
+<ol class="arabic simple">
+<li><p>Project the agent’s MainLaneLocator along the lane to the nearest and furthest s-coordinate of the target object, capturing the projected points</p></li>
+<li><p>Create a straight line from the two captured points</p></li>
+<li><p>Calculate the Euclidean distance of each of the target object’s corners to the created line</p></li>
+<li><p>Return the left-most and right-most points with respect to the created line</p></li>
+</ol>
+<p>If the first step fails, because the ego lane does not extend to the object’s position (i.e. it ends prematurely or the objects is outside the ego’s route), then the result is invalid, which is indicated by a separate valid flag.</p>
+<figure class="align-default" id="id9">
+<img alt="../../_images/GetObstruction.svg" src="../../_images/GetObstruction.svg" /><figcaption>
+<p><span class="caption-text">Example for the calculation of GetObstruction</span><a class="headerlink" href="#id9" title="Link to this image"></a></p>
+</figcaption>
+</figure>
+</section>
+</section>
+
+
+           </div>
+          </div>
+          <footer><div class="rst-footer-buttons" role="navigation" aria-label="Footer">
+        <a href="system_structure_and_parameterization_%28SSP%29.html" class="btn btn-neutral float-left" title="System Structure and Parameterization (SSP)" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> Previous</a>
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diff --git a/content/html/developer_information/10_ide_support.html b/content/html/developer_information/10_ide_support.html
index 49a36acb4632146853957e35ab6abced1b632bbe..10d98d115a42296b8a0112d23ab997302c9546b2 100644
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+<li class="toctree-l1"><a class="reference internal" href="../installation_guide/20_install_prerequisites.html">Installing Prerequisites</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../installation_guide/30_install_openpass.html">Installing openPASS</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../installation_guide/50_further_guidance.html">Further Guidance</a></li>
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+<li class="toctree-l1"><a class="reference internal" href="../user_guide/10_overview.html">Overview</a></li>
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+<li class="toctree-l1"><a class="reference internal" href="../user_guide/30_configs_in_depth.html">Configs in Depth</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../user_guide/40_outputs_in_depth.html">Outputs in Depth</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../user_guide/50_scenario_simulation.html">Simulator</a></li>
+</ul>
+<p class="caption" role="heading"><span class="caption-text">Advanced topics</span></p>
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="../advanced_topics/20_simulator_advanced.html">Simulator</a></li>
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+</ul>
+<p class="caption" role="heading"><span class="caption-text">Developer Information</span></p>
+<ul class="current">
+<li class="toctree-l1 current"><a class="current reference internal" href="#">IDE Support</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="ide_support/30_vscode.html">Working with Visual Studio Code</a></li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="20_documentation.html">Documentation Concept</a></li>
+<li class="toctree-l1"><a class="reference internal" href="30_coding_conventions.html">Coding Guidelines</a></li>
+</ul>
+<p class="caption" role="heading"><span class="caption-text">Other Information</span></p>
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="../other_information/10_external_dependencies.html">External Dependencies</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../other_information/20_glossary.html">Glossary</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../other_information/30_gui_plugins.html">GUI Plugins</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../other_information/40_license.html">License</a></li>
+</ul>
+
+        </div>
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+             
+  <section id="ide-support">
+<span id="id1"></span><h1>IDE Support<a class="headerlink" href="#ide-support" title="Link to this heading"></a></h1>
+<p>Development of <strong>openPASS</strong> is often done in Visual Studio Code. This section provides guides to set up your build environment.</p>
+<div class="toctree-wrapper compound">
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="ide_support/30_vscode.html">Working with Visual Studio Code</a></li>
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+        <a href="../advanced_topics/30_testing.html" class="btn btn-neutral float-left" title="EndToEnd Test Framework" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> Previous</a>
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diff --git a/content/html/developer_information/20_documentation.html b/content/html/developer_information/20_documentation.html
index 382e445f134b1cd2471632c2cea2f0f6e68bf5a2..66d0fb677c055952f5c722d667fc67522128eee1 100644
--- a/content/html/developer_information/20_documentation.html
+++ b/content/html/developer_information/20_documentation.html
@@ -1,313 +1,315 @@
-<!DOCTYPE html>
-<html class="writer-html5" lang="en" >
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-  <meta charset="utf-8" /><meta name="viewport" content="width=device-width, initial-scale=1" />
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-  <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-  <title>Documentation Concept &mdash; openPASS Documentation</title>
-      <link rel="stylesheet" href="../_static/pygments.css" type="text/css" />
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-          <a href="../index.html" class="icon icon-home">
-            openPASS
-              <img src="../_static/openPASS.png" class="logo" alt="Logo"/>
-          </a>
-              <div class="version">
-                1.1.0
-              </div>
-<div role="search">
-  <form id="rtd-search-form" class="wy-form" action="../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
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-              <p class="caption" role="heading"><span class="caption-text">Installation Guide</span></p>
-<ul>
-<li class="toctree-l1"><a class="reference internal" href="../installation_guide/10_getting_started.html">Getting Started</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../installation_guide/15_system_requirements.html">System Requirements</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../installation_guide/20_install_prerequisites.html">Installing Prerequisites</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../installation_guide/30_install_openpass.html">Installing openPASS</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../installation_guide/50_further_guidance.html">Further Guidance</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../installation_guide/60_conan.html">Building with Conan</a></li>
-</ul>
-<p class="caption" role="heading"><span class="caption-text">User Guides</span></p>
-<ul>
-<li class="toctree-l1"><a class="reference internal" href="../user_guide/10_overview.html">Overview</a></li>
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-<li class="toctree-l1"><a class="reference internal" href="../user_guide/30_configs_in_depth.html">Configs in Depth</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../user_guide/40_outputs_in_depth.html">Outputs in Depth</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../user_guide/50_scenario_simulation.html">Simulator</a></li>
-</ul>
-<p class="caption" role="heading"><span class="caption-text">Advanced topics</span></p>
-<ul>
-<li class="toctree-l1"><a class="reference internal" href="../advanced_topics/20_simulator_advanced.html">Simulator</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../advanced_topics/30_testing.html">EndToEnd Test Framework</a></li>
-</ul>
-<p class="caption" role="heading"><span class="caption-text">Developer Information</span></p>
-<ul class="current">
-<li class="toctree-l1"><a class="reference internal" href="10_ide_support.html">IDE Support</a></li>
-<li class="toctree-l1 current"><a class="current reference internal" href="#">Documentation Concept</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="#basic-build-mechanics">Basic Build Mechanics</a></li>
-<li class="toctree-l2"><a class="reference internal" href="#openpass-as-submodule">openPASS as Submodule</a></li>
-<li class="toctree-l2"><a class="reference internal" href="#docker-image">Docker Image</a></li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="30_coding_conventions.html">Coding Guidelines</a></li>
-</ul>
-<p class="caption" role="heading"><span class="caption-text">Other Information</span></p>
-<ul>
-<li class="toctree-l1"><a class="reference internal" href="../other_information/10_external_dependencies.html">External Dependencies</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../other_information/20_glossary.html">Glossary</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../other_information/30_gui_plugins.html">GUI Plugins</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../other_information/40_license.html">License</a></li>
-</ul>
-
-        </div>
-      </div>
-    </nav>
-
-    <section data-toggle="wy-nav-shift" class="wy-nav-content-wrap"><nav class="wy-nav-top" aria-label="Mobile navigation menu" >
-          <i data-toggle="wy-nav-top" class="fa fa-bars"></i>
-          <a href="../index.html">openPASS</a>
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-      <div class="wy-nav-content">
-        <div class="rst-content">
-          <div role="navigation" aria-label="Page navigation">
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-      <li class="breadcrumb-item active">Documentation Concept</li>
-      <li class="wy-breadcrumbs-aside">
-            <a href="../_sources/developer_information/20_documentation.rst.txt" rel="nofollow"> View page source</a>
-      </li>
-  </ul>
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-</div>
-          <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
-           <div itemprop="articleBody">
-             
-  <section id="documentation-concept">
-<span id="documentation"></span><h1>Documentation Concept<a class="headerlink" href="#documentation-concept" title="Link to this heading"></a></h1>
-<p><strong>openPASS</strong> (Open Source) is developed under the Eclipse Public License and as such private and commercial use is allowed under certain rules (see <a class="reference external" href="https://www.eclipse.org/legal/epl-2.0/">EPL 2.0</a>).
-The basic documentation concept facilitates this by providing a way to include custom content which is not necessarily part of the <strong>openPASS</strong> (Open Source) distribution.
-This results in certain restrictions on how documentation is to be written.
-The following sections describe this restrictions and the process of integrating proprietary documentation into the <strong>openPASS</strong> (Open Source) documentation build.</p>
-<section id="basic-build-mechanics">
-<h2>Basic Build Mechanics<a class="headerlink" href="#basic-build-mechanics" title="Link to this heading"></a></h2>
-<p>The required steps to build the documentation are described in <a class="reference internal" href="../installation_guide/30_install_openpass.html#download-and-install-openpass"><span class="std std-ref">Installing openPASS</span></a>.
-Before building, a temporary copy of the original documentation is made.
-This temporary copy acts as <em>seam</em> for custom extension, as proprietary content is simply copied into the temporary folder (see below).
-This mechanism keeps contents clearly separated during development and allows easy transition from closed to open source if desired.</p>
-<p>References to files located outside of the documentation root is used at various places, as this allows to keep documentation as close to the source as possible.
-These references normally would become invalid when the documentation source is copied or moved to another location.
-Thus, placeholders are used to have a fixed reference to the <strong>openPASS</strong> (Open Source) tree:</p>
-<blockquote>
-<div><ul class="simple">
-<li><p><em>&#64;</em><em>OP_REL_ROOT</em><em>&#64;</em> - Root of repository (<code class="docutils literal notranslate"><span class="pre">.</span></code>)</p></li>
-<li><p><em>&#64;</em><em>OP_REL_SIM</em><em>&#64;</em> - Folder <code class="docutils literal notranslate"><span class="pre">./sim</span></code></p></li>
-</ul>
-</div></blockquote>
-<p>These placeholders must be used when files outside of the documentation root shall be referenced.
-Note that this also makes sources more readable.</p>
-<p><strong>Example</strong></p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="o">..</span> <span class="n">literalinclude</span><span class="p">::</span> <span class="nd">@OP_REL_SIM</span><span class="o">@/</span><span class="n">contrib</span><span class="o">/</span><span class="n">examples</span><span class="o">/</span><span class="n">Common</span><span class="o">/</span><span class="n">SceneryConfiguration</span><span class="o">.</span><span class="n">xodr</span>
-</pre></div>
-</div>
-<div class="admonition warning">
-<p class="admonition-title">Warning</p>
-<p>Generally, when moving or deleting files, make sure to run <code class="docutils literal notranslate"><span class="pre">make</span> <span class="pre">clean</span></code> prior to <code class="docutils literal notranslate"><span class="pre">make</span> <span class="pre">doc</span></code> to remove any outdated files from the build directory.</p>
-</div>
-</section>
-<section id="openpass-as-submodule">
-<h2>openPASS as Submodule<a class="headerlink" href="#openpass-as-submodule" title="Link to this heading"></a></h2>
-<ol class="arabic">
-<li><p><strong>Write the documentation</strong></p>
-<p>As custom documentation simply integrates into the <strong>openPASS</strong> (Open Source) documentation, it is also written in the <em>reStructuredText</em> file format.
-Thereby files have to reside in a directory structure that is a clone of the open source documentation directory structure (starting from <code class="docutils literal notranslate"><span class="pre">doc/source</span></code>).
-During the build your documentation and the open source documentation will both be copied to a temporary directory.</p>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>Files existing in both source directories will be overwritten at the destination, with the custom files having higher precedence.</p>
-</div>
-<p>On the TOC tree level, the <strong>seam</strong> to custom files is made through <em>globbing</em> using wildcards, such as <code class="docutils literal notranslate"><span class="pre">folder/*.rst</span></code>.
-Ordering of the files (and to avoid file name collisions) is established through a two digit number prefix and an underscore, e.g. <code class="docutils literal notranslate"><span class="pre">10_quickstart.rst</span></code>.
-This allows injection of proprietary documentation at any position in the TOC tree, as the order of headings is determined by the (ASCII) sorting of the filenames.</p>
-</li>
-<li><p><strong>Referencing files</strong></p>
-<p>Sphinx uses some special path format when referencing files from documentation.
-All paths are relative to a single documentation root directory, but are specified like absolute paths (i.e. with a leading slash).
-Due to the documentation source files being copied to a temporary directory during build, all file references have to be prefixed with a path constant:</p>
-<ul class="simple">
-<li><p>When specifying a file reference relative to the <strong>openPASS</strong> (Open Source) repository, the file path has to be prefixed with custom placeholders, such as <em>&#64;</em><em>OP_REL_ROOT</em><em>&#64;</em> (see above).</p></li>
-<li><p>When referencing files relative to a custom root, additional placeholders can be introduced in a custom <code class="docutils literal notranslate"><span class="pre">PrepareDocCustom.cmake</span></code> (see next steps).</p></li>
-<li><p>These placeholders will then coexist and will be replaced with the corresponding paths during build.</p></li>
-</ul>
-</li>
-<li><p><strong>Add a cmake file for documentation preparation</strong></p>
-<p>The file <a class="reference download internal" download="" href="../_downloads/13db75188596730e5b909e7eb9b658b0/PrepareDocCustom.cmake"><code class="xref download docutils literal notranslate"><span class="pre">PrepareDocCustom.cmake</span></code></a> can be used as a template.
-Just add the placeholders used in your proprietary documentation.</p>
-<p>This diff highlights the important parts in comparison to the original <code class="docutils literal notranslate"><span class="pre">PrepareDoc.cmake</span></code>, used in the open source documentation build:</p>
-<div class="highlight-udiff notranslate"><div class="highlight"><pre><span></span><span class="gd">--- C:/Users/genie.openpass/jenkins_agent/workspace/openPASS_simulator_build_v1.1.0/repo/doc/PrepareDoc.cmake</span>
-<span class="gi">+++ C:/Users/genie.openpass/jenkins_agent/workspace/openPASS_simulator_build_v1.1.0/build/doc/source/developer_information/_static/custom_doc/PrepareDocCustom.cmake</span>
-<span class="gu">@@ -19,6 +19,7 @@</span>
-<span class="w"> </span># Currently supported PLACEHOLDERS
-<span class="w"> </span># - @OP_REL_ROOT@ =&gt; relative path to root of the openpass repository
-<span class="w"> </span># - @OP_REL_SIM@  =&gt; resolves to @OP_REL_ROOT@/sim
-<span class="gi">+# - @CUSTOM_REL_SIM@ =&gt; relative path to the &quot;custom&quot; root (.)</span>
-<span class="w"> </span>
-<span class="w"> </span>macro(copy_documentation source destination)
-<span class="w"> </span>    message(VERBOSE &quot;Copy ${source} to ${destination}&quot;)
-<span class="gu">@@ -33,8 +34,9 @@</span>
-<span class="w"> </span>    string(REGEX REPLACE &quot;(.*)/$&quot; &quot;\\1&quot; target ${target})
-<span class="w"> </span>
-<span class="w"> </span>    # Placeholder for conf.py: no initial &#39;/&#39; =&gt; real relative paths
-<span class="gd">-    set(OP_REL_ROOT ../${target})         # relative path to repository root</span>
-<span class="gi">+    set(OP_REL_ROOT ../${target}/deps/os) # relative path to the openPASS open source code, with prefix &#39;../${target}&#39; pointing to the custom repository root if this file is located at &lt;root&gt;/doc</span>
-<span class="w"> </span>    set(OP_REL_SIM ${OP_REL_ROOT}/sim)    # relative path to simulation root
-<span class="gi">+    set(CUSTOM_REL_SIM ../${target})      # relative path to the custom repository root (here, equal to custom sim root)</span>
-<span class="w"> </span>
-<span class="w"> </span>    configure_file(${destination}/source/conf.py
-<span class="w"> </span>                   ${destination}/source/conf.py @ONLY)
-<span class="gu">@@ -43,6 +45,7 @@</span>
-<span class="w"> </span>    # Override old one, because we want to use the same placeholder in both contexts
-<span class="w"> </span>    set(OP_REL_ROOT /${OP_REL_ROOT})
-<span class="w"> </span>    set(OP_REL_SIM /${OP_REL_SIM})
-<span class="gi">+    set(CUSTOM_REL_SIM /${CUSTOM_REL_SIM})</span>
-<span class="w"> </span>
-<span class="w"> </span>    file(GLOB_RECURSE rstFiles LIST_DIRECTORIES false ${destination}/*.rst)
-<span class="w"> </span>
-</pre></div>
-</div>
-</li>
-<li><p><strong>Add a ``doc`` CMake target to your custom build</strong></p>
-<p>To add your custom build target, the following <code class="docutils literal notranslate"><span class="pre">CMakeLists.txt</span></code> snippet can be used as template.
-Note the usage of the <code class="docutils literal notranslate"><span class="pre">PrepareDocCustom.cmake</span></code>.</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>################################################################################
-# Copyright (c) 2021 in-tech GmbH
-#
-# This program and the accompanying materials are made available under the
-# terms of the Eclipse Public License 2.0 which is available at
-# http://www.eclipse.org/legal/epl-2.0.
-#
-# SPDX-License-Identifier: EPL-2.0
-################################################################################
-
-if(WITH_DOC)
-  add_custom_target(doc
-      # Copy documentation and change placeholders
-      # (see PrepareDoc for more information)
-      COMMAND ${CMAKE_COMMAND}
-          -DSRC=${OPENPASS_OS_DIR}/doc/source
-          -DDST=${CMAKE_BINARY_DIR}/doc
-          -P ${OPENPASS_OS_DIR}/doc/PrepareDoc.cmake
-          COMMENT &quot;Copy OS documentation and replace placeholders&quot;
-      COMMAND ${CMAKE_COMMAND}
-          -DSRC=${CMAKE_CURRENT_LIST_DIR}/source
-          -DDST=${CMAKE_BINARY_DIR}/doc
-<span class="hll">          -P ${CMAKE_CURRENT_LIST_DIR}/PrepareDocCustom.cmake
-</span>          COMMENT &quot;Copy custom documentation and replace placeholders (overrides!)&quot;
-      COMMAND ${SPHINX_EXECUTABLE}            # sphinx-build
-          -M html                             # generate HTML
-          ${CMAKE_BINARY_DIR}/doc/source      # source path
-          ${CMAKE_BINARY_DIR}/doc             # destination path
-          -DWITH_API_DOC=${WITH_API_DOC}      # turn exhale ON/OFF
-          COMMENT &quot;Build sphinx documentation&quot;
-      COMMAND ${CMAKE_COMMAND} 
-          -E cmake_echo_color --green
-          &quot;The HTML pages are in ${CMAKE_BINARY_DIR}/doc/html.&quot;)
-
-  set_property(DIRECTORY APPEND PROPERTY ADDITIONAL_MAKE_CLEAN_FILES
-      ${CMAKE_BINARY_DIR}/doc)
-
-  # make HTML doc available on install
-  install(DIRECTORY ${CMAKE_BINARY_DIR}/doc/html/
-      DESTINATION ${CMAKE_INSTALL_PREFIX}/doc) 
-endif()
-</pre></div>
-</div>
-</li>
-<li><p><strong>Provide a config file for Sphinx</strong></p>
-<p>Sphinx allows to specify a configuration residing in <code class="docutils literal notranslate"><span class="pre">conf.py</span></code> in the documentation source directory.
-Customization is done by providing a customized file here, with the open source version as template (<a class="reference download internal" download="" href="../_downloads/c182e909c0bef397a2a7e7c51c6f7763/conf.py"><code class="xref download docutils literal notranslate"><span class="pre">/../../../repo/doc/source/conf.py</span></code></a>).</p>
-</li>
-</ol>
-</section>
-<section id="docker-image">
-<h2>Docker Image<a class="headerlink" href="#docker-image" title="Link to this heading"></a></h2>
-<p>This documentation provides an overview of the Dockerfile used to build an image containing all the necessary packages required for building <strong>openPASS</strong> (Open Source). The resulting image can be used as a development environment.</p>
-<p><strong>Usage</strong></p>
-<ol class="arabic">
-<li><p>Clone the <strong>openPASS</strong> (Open Source) project</p></li>
-<li><p>At the root level (the folder containing the repo), execute the following command</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">docker</span> <span class="n">build</span> <span class="o">-</span><span class="n">f</span> <span class="o">./</span><span class="n">repo</span><span class="o">/</span><span class="n">utils</span><span class="o">/</span><span class="n">Dockerfile</span> <span class="o">-</span><span class="n">t</span> <span class="o">&lt;</span><span class="n">DockerImageName</span><span class="o">&gt;</span> <span class="o">.</span>
-</pre></div>
-</div>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>The Dockerfile assumes the name of the repository as “repo”. The command and the Dockerfile should be modified accordingly, if different name is used</p>
-</div>
-</li>
-</ol>
-</section>
-</section>
-
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+<li class="toctree-l1"><a class="reference internal" href="../installation_guide/20_install_prerequisites.html">Installing Prerequisites</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../installation_guide/30_install_openpass.html">Installing openPASS</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../installation_guide/50_further_guidance.html">Further Guidance</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../installation_guide/60_conan.html">Building with Conan</a></li>
+</ul>
+<p class="caption" role="heading"><span class="caption-text">User Guides</span></p>
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="../user_guide/10_overview.html">Overview</a></li>
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+<li class="toctree-l1"><a class="reference internal" href="../user_guide/30_configs_in_depth.html">Configs in Depth</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../user_guide/40_outputs_in_depth.html">Outputs in Depth</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../user_guide/50_scenario_simulation.html">Simulator</a></li>
+</ul>
+<p class="caption" role="heading"><span class="caption-text">Advanced topics</span></p>
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="../advanced_topics/20_simulator_advanced.html">Simulator</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../advanced_topics/30_testing.html">EndToEnd Test Framework</a></li>
+</ul>
+<p class="caption" role="heading"><span class="caption-text">Developer Information</span></p>
+<ul class="current">
+<li class="toctree-l1"><a class="reference internal" href="10_ide_support.html">IDE Support</a></li>
+<li class="toctree-l1 current"><a class="current reference internal" href="#">Documentation Concept</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="#basic-build-mechanics">Basic Build Mechanics</a></li>
+<li class="toctree-l2"><a class="reference internal" href="#openpass-as-submodule">openPASS as Submodule</a></li>
+<li class="toctree-l2"><a class="reference internal" href="#docker-image">Docker Image</a></li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="30_coding_conventions.html">Coding Guidelines</a></li>
+</ul>
+<p class="caption" role="heading"><span class="caption-text">Other Information</span></p>
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="../other_information/10_external_dependencies.html">External Dependencies</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../other_information/20_glossary.html">Glossary</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../other_information/30_gui_plugins.html">GUI Plugins</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../other_information/40_license.html">License</a></li>
+</ul>
+
+        </div>
+      </div>
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+
+    <section data-toggle="wy-nav-shift" class="wy-nav-content-wrap"><nav class="wy-nav-top" aria-label="Mobile navigation menu" >
+          <i data-toggle="wy-nav-top" class="fa fa-bars"></i>
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+      <div class="wy-nav-content">
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+      <li class="breadcrumb-item active">Documentation Concept</li>
+      <li class="wy-breadcrumbs-aside">
+            <a href="../_sources/developer_information/20_documentation.rst.txt" rel="nofollow"> View page source</a>
+      </li>
+  </ul>
+  <hr/>
+</div>
+          <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
+           <div itemprop="articleBody">
+             
+  <section id="documentation-concept">
+<span id="documentation"></span><h1>Documentation Concept<a class="headerlink" href="#documentation-concept" title="Link to this heading"></a></h1>
+<p><strong>openPASS</strong> (Open Source) is developed under the Eclipse Public License and as such private and commercial use is allowed under certain rules (see <a class="reference external" href="https://www.eclipse.org/legal/epl-2.0/">EPL 2.0</a>).
+The basic documentation concept facilitates this by providing a way to include custom content which is not necessarily part of the <strong>openPASS</strong> (Open Source) distribution.
+This results in certain restrictions on how documentation is to be written.
+The following sections describe this restrictions and the process of integrating proprietary documentation into the <strong>openPASS</strong> (Open Source) documentation build.</p>
+<section id="basic-build-mechanics">
+<h2>Basic Build Mechanics<a class="headerlink" href="#basic-build-mechanics" title="Link to this heading"></a></h2>
+<p>The required steps to build the documentation are described in <a class="reference internal" href="../installation_guide/30_install_openpass.html#download-and-install-openpass"><span class="std std-ref">Installing openPASS</span></a>.
+Before building, a temporary copy of the original documentation is made.
+This temporary copy acts as <em>seam</em> for custom extension, as proprietary content is simply copied into the temporary folder (see below).
+This mechanism keeps contents clearly separated during development and allows easy transition from closed to open source if desired.</p>
+<p>References to files located outside of the documentation root is used at various places, as this allows to keep documentation as close to the source as possible.
+These references normally would become invalid when the documentation source is copied or moved to another location.
+Thus, placeholders are used to have a fixed reference to the <strong>openPASS</strong> (Open Source) tree:</p>
+<blockquote>
+<div><ul class="simple">
+<li><p><em>&#64;</em><em>OP_REL_ROOT</em><em>&#64;</em> - Root of repository (<code class="docutils literal notranslate"><span class="pre">.</span></code>)</p></li>
+<li><p><em>&#64;</em><em>OP_REL_SIM</em><em>&#64;</em> - Folder <code class="docutils literal notranslate"><span class="pre">./sim</span></code></p></li>
+</ul>
+</div></blockquote>
+<p>These placeholders must be used when files outside of the documentation root shall be referenced.
+Note that this also makes sources more readable.</p>
+<p><strong>Example</strong></p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="o">..</span> <span class="n">literalinclude</span><span class="p">::</span> <span class="nd">@OP_REL_SIM</span><span class="o">@/</span><span class="n">contrib</span><span class="o">/</span><span class="n">examples</span><span class="o">/</span><span class="n">Common</span><span class="o">/</span><span class="n">SceneryConfiguration</span><span class="o">.</span><span class="n">xodr</span>
+</pre></div>
+</div>
+<div class="admonition warning">
+<p class="admonition-title">Warning</p>
+<p>Generally, when moving or deleting files, make sure to run <code class="docutils literal notranslate"><span class="pre">make</span> <span class="pre">clean</span></code> prior to <code class="docutils literal notranslate"><span class="pre">make</span> <span class="pre">doc</span></code> to remove any outdated files from the build directory.</p>
+</div>
+</section>
+<section id="openpass-as-submodule">
+<h2>openPASS as Submodule<a class="headerlink" href="#openpass-as-submodule" title="Link to this heading"></a></h2>
+<ol class="arabic">
+<li><p><strong>Write the documentation</strong></p>
+<p>As custom documentation simply integrates into the <strong>openPASS</strong> (Open Source) documentation, it is also written in the <em>reStructuredText</em> file format.
+Thereby files have to reside in a directory structure that is a clone of the open source documentation directory structure (starting from <code class="docutils literal notranslate"><span class="pre">doc/source</span></code>).
+During the build your documentation and the open source documentation will both be copied to a temporary directory.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>Files existing in both source directories will be overwritten at the destination, with the custom files having higher precedence.</p>
+</div>
+<p>On the TOC tree level, the <strong>seam</strong> to custom files is made through <em>globbing</em> using wildcards, such as <code class="docutils literal notranslate"><span class="pre">folder/*.rst</span></code>.
+Ordering of the files (and to avoid file name collisions) is established through a two digit number prefix and an underscore, e.g. <code class="docutils literal notranslate"><span class="pre">10_quickstart.rst</span></code>.
+This allows injection of proprietary documentation at any position in the TOC tree, as the order of headings is determined by the (ASCII) sorting of the filenames.</p>
+</li>
+<li><p><strong>Referencing files</strong></p>
+<p>Sphinx uses some special path format when referencing files from documentation.
+All paths are relative to a single documentation root directory, but are specified like absolute paths (i.e. with a leading slash).
+Due to the documentation source files being copied to a temporary directory during build, all file references have to be prefixed with a path constant:</p>
+<ul class="simple">
+<li><p>When specifying a file reference relative to the <strong>openPASS</strong> (Open Source) repository, the file path has to be prefixed with custom placeholders, such as <em>&#64;</em><em>OP_REL_ROOT</em><em>&#64;</em> (see above).</p></li>
+<li><p>When referencing files relative to a custom root, additional placeholders can be introduced in a custom <code class="docutils literal notranslate"><span class="pre">PrepareDocCustom.cmake</span></code> (see next steps).</p></li>
+<li><p>These placeholders will then coexist and will be replaced with the corresponding paths during build.</p></li>
+</ul>
+</li>
+<li><p><strong>Add a cmake file for documentation preparation</strong></p>
+<p>The file <a class="reference download internal" download="" href="../_downloads/13db75188596730e5b909e7eb9b658b0/PrepareDocCustom.cmake"><code class="xref download docutils literal notranslate"><span class="pre">PrepareDocCustom.cmake</span></code></a> can be used as a template.
+Just add the placeholders used in your proprietary documentation.</p>
+<p>This diff highlights the important parts in comparison to the original <code class="docutils literal notranslate"><span class="pre">PrepareDoc.cmake</span></code>, used in the open source documentation build:</p>
+<div class="highlight-udiff notranslate"><div class="highlight"><pre><span></span><span class="gd">--- /home/jenkins/agent/workspace/openPASS_simulator_build_v1.2.0/repo/doc/PrepareDoc.cmake</span>
+<span class="gi">+++ /home/jenkins/agent/workspace/openPASS_simulator_build_v1.2.0/build/doc/source/developer_information/_static/custom_doc/PrepareDocCustom.cmake</span>
+<span class="gu">@@ -19,6 +19,7 @@</span>
+<span class="w"> </span># Currently supported PLACEHOLDERS
+<span class="w"> </span># - @OP_REL_ROOT@ =&gt; relative path to root of the openpass repository
+<span class="w"> </span># - @OP_REL_SIM@  =&gt; resolves to @OP_REL_ROOT@/sim
+<span class="gi">+# - @CUSTOM_REL_SIM@ =&gt; relative path to the &quot;custom&quot; root (.)</span>
+<span class="w"> </span>
+<span class="w"> </span>macro(copy_documentation source destination)
+<span class="w"> </span>    message(VERBOSE &quot;Copy ${source} to ${destination}&quot;)
+<span class="gu">@@ -33,8 +34,9 @@</span>
+<span class="w"> </span>    string(REGEX REPLACE &quot;(.*)/$&quot; &quot;\\1&quot; target ${target})
+<span class="w"> </span>
+<span class="w"> </span>    # Placeholder for conf.py: no initial &#39;/&#39; =&gt; real relative paths
+<span class="gd">-    set(OP_REL_ROOT ../${target})         # relative path to repository root</span>
+<span class="gi">+    set(OP_REL_ROOT ../${target}/deps/os) # relative path to the openPASS open source code, with prefix &#39;../${target}&#39; pointing to the custom repository root if this file is located at &lt;root&gt;/doc</span>
+<span class="w"> </span>    set(OP_REL_SIM ${OP_REL_ROOT}/sim)    # relative path to simulation root
+<span class="gi">+    set(CUSTOM_REL_SIM ../${target})      # relative path to the custom repository root (here, equal to custom sim root)</span>
+<span class="w"> </span>
+<span class="w"> </span>    configure_file(${destination}/source/conf.py
+<span class="w"> </span>                   ${destination}/source/conf.py @ONLY)
+<span class="gu">@@ -43,6 +45,7 @@</span>
+<span class="w"> </span>    # Override old one, because we want to use the same placeholder in both contexts
+<span class="w"> </span>    set(OP_REL_ROOT /${OP_REL_ROOT})
+<span class="w"> </span>    set(OP_REL_SIM /${OP_REL_SIM})
+<span class="gi">+    set(CUSTOM_REL_SIM /${CUSTOM_REL_SIM})</span>
+<span class="w"> </span>
+<span class="w"> </span>    file(GLOB_RECURSE rstFiles LIST_DIRECTORIES false ${destination}/*.rst)
+<span class="w"> </span>
+</pre></div>
+</div>
+</li>
+<li><p><strong>Add a ``doc`` CMake target to your custom build</strong></p>
+<p>To add your custom build target, the following <code class="docutils literal notranslate"><span class="pre">CMakeLists.txt</span></code> snippet can be used as template.
+Note the usage of the <code class="docutils literal notranslate"><span class="pre">PrepareDocCustom.cmake</span></code>.</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>################################################################################
+# Copyright (c) 2021 in-tech GmbH
+#
+# This program and the accompanying materials are made available under the
+# terms of the Eclipse Public License 2.0 which is available at
+# http://www.eclipse.org/legal/epl-2.0.
+#
+# SPDX-License-Identifier: EPL-2.0
+################################################################################
+
+if(WITH_DOC)
+  add_custom_target(doc
+      # Copy documentation and change placeholders
+      # (see PrepareDoc for more information)
+      COMMAND ${CMAKE_COMMAND}
+          -DSRC=${OPENPASS_OS_DIR}/doc/source
+          -DDST=${CMAKE_BINARY_DIR}/doc
+          -P ${OPENPASS_OS_DIR}/doc/PrepareDoc.cmake
+          COMMENT &quot;Copy OS documentation and replace placeholders&quot;
+      COMMAND ${CMAKE_COMMAND}
+          -DSRC=${CMAKE_CURRENT_LIST_DIR}/source
+          -DDST=${CMAKE_BINARY_DIR}/doc
+<span class="hll">          -P ${CMAKE_CURRENT_LIST_DIR}/PrepareDocCustom.cmake
+</span>          COMMENT &quot;Copy custom documentation and replace placeholders (overrides!)&quot;
+      COMMAND ${SPHINX_EXECUTABLE}            # sphinx-build
+          -M html                             # generate HTML
+          ${CMAKE_BINARY_DIR}/doc/source      # source path
+          ${CMAKE_BINARY_DIR}/doc             # destination path
+          -DWITH_API_DOC=${WITH_API_DOC}      # turn exhale ON/OFF
+          COMMENT &quot;Build sphinx documentation&quot;
+      COMMAND ${CMAKE_COMMAND}
+          -E cmake_echo_color --green
+          &quot;The HTML pages are in ${CMAKE_BINARY_DIR}/doc/html.&quot;)
+
+  set_property(DIRECTORY APPEND PROPERTY ADDITIONAL_MAKE_CLEAN_FILES
+      ${CMAKE_BINARY_DIR}/doc)
+
+  # make HTML doc available on install
+  install(DIRECTORY ${CMAKE_BINARY_DIR}/doc/html/
+      DESTINATION ${CMAKE_INSTALL_PREFIX}/doc
+      MESSAGE_NEVER)
+endif()
+</pre></div>
+</div>
+</li>
+<li><p><strong>Provide a config file for Sphinx</strong></p>
+<p>Sphinx allows to specify a configuration residing in <code class="docutils literal notranslate"><span class="pre">conf.py</span></code> in the documentation source directory.
+Customization is done by providing a customized file here, with the open source version as template (<a class="reference download internal" download="" href="../_downloads/c182e909c0bef397a2a7e7c51c6f7763/conf.py"><code class="xref download docutils literal notranslate"><span class="pre">/../../../repo/doc/source/conf.py</span></code></a>).</p>
+</li>
+</ol>
+</section>
+<section id="docker-image">
+<h2>Docker Image<a class="headerlink" href="#docker-image" title="Link to this heading"></a></h2>
+<p>This documentation provides an overview of the Dockerfile used to build an image containing all the necessary packages required for building <strong>openPASS</strong> (Open Source). The resulting image can be used as a development environment.</p>
+<p><strong>Usage</strong></p>
+<ol class="arabic">
+<li><p>Clone the <strong>openPASS</strong> (Open Source) project</p></li>
+<li><p>At the root level (the folder containing the repo), execute the following command</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">docker</span> <span class="n">build</span> <span class="o">-</span><span class="n">f</span> <span class="o">./</span><span class="n">repo</span><span class="o">/</span><span class="n">utils</span><span class="o">/</span><span class="n">Dockerfile</span> <span class="o">-</span><span class="n">t</span> <span class="o">&lt;</span><span class="n">DockerImageName</span><span class="o">&gt;</span> <span class="o">.</span>
+</pre></div>
+</div>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The Dockerfile assumes the name of the repository as “repo”. The command and the Dockerfile should be modified accordingly, if different name is used</p>
+</div>
+</li>
+</ol>
+</section>
+</section>
+
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diff --git a/content/html/developer_information/30_coding_conventions.html b/content/html/developer_information/30_coding_conventions.html
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-  <section id="coding-guidelines">
-<span id="coding-conventions"></span><h1>Coding Guidelines<a class="headerlink" href="#coding-guidelines" title="Link to this heading"></a></h1>
-<section id="general">
-<h2>General<a class="headerlink" href="#general" title="Link to this heading"></a></h2>
-<p><strong>openPASS</strong> (Open Source) is based on modern C++ (currently C++17). For coding guidelines, please refer to <a class="reference external" href="https://github.com/isocpp/CppCoreGuidelines">ISO C++ Core Guidelines</a>.</p>
-<p><strong>Headers/Sources</strong></p>
-<blockquote>
-<div><ul class="simple">
-<li><p>Use <code class="docutils literal notranslate"><span class="pre">*.h</span></code> as file extension for header files</p></li>
-<li><p>Use <code class="docutils literal notranslate"><span class="pre">*.cpp</span></code> as file extension for source files</p></li>
-</ul>
-</div></blockquote>
-</section>
-<section id="naming-conventions">
-<h2>Naming Conventions<a class="headerlink" href="#naming-conventions" title="Link to this heading"></a></h2>
-<p>Concise summarized Naming Conventions</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="c1">#pragma once</span>
-
-<span class="n">namespace</span> <span class="n">openpass</span><span class="p">::</span><span class="n">component</span><span class="p">::</span><span class="n">algorithm</span>
-<span class="p">{</span>
-
-<span class="o">/*</span> <span class="n">fooBar</span><span class="o">.</span><span class="n">h</span> <span class="o">*/</span>                                           <span class="o">//</span> <span class="n">File</span><span class="p">:</span> <span class="n">lowerCamelCase</span>
-<span class="k">class</span> <span class="nc">FooBar</span>                                             <span class="o">//</span> <span class="n">Class</span><span class="p">:</span> <span class="n">UpperCamelCase</span>
-<span class="p">{</span>
-<span class="n">private</span><span class="p">:</span>
-    <span class="n">static</span> <span class="n">constexpr</span> <span class="nb">int</span> <span class="n">MAGIC_NUMBER</span> <span class="p">{</span><span class="o">-</span><span class="mi">999</span><span class="p">};</span>            <span class="o">//</span> <span class="n">Constants</span><span class="p">:</span> <span class="n">UPPER_CASE</span>
-    <span class="nb">int</span> <span class="n">myMember</span><span class="p">;</span>                                        <span class="o">//</span> <span class="n">Members</span><span class="p">:</span> <span class="n">lowerCamelCase</span>
-    <span class="n">FooBar</span><span class="p">();</span>                                            <span class="o">//</span> <span class="n">Ctor</span><span class="p">:</span> <span class="n">UpperCamelCase</span>
-
-<span class="n">public</span><span class="p">:</span>
-    <span class="n">void</span> <span class="n">Bar</span><span class="p">();</span>                                          <span class="o">//</span> <span class="n">Methods</span><span class="p">:</span> <span class="n">UpperCamelCase</span>
-    <span class="n">void</span> <span class="n">BarBar</span><span class="p">(</span><span class="nb">bool</span> <span class="n">flag</span><span class="p">,</span> <span class="nb">int</span> <span class="n">counter</span><span class="p">);</span>                  <span class="o">//</span> <span class="n">Arguments</span><span class="p">:</span> <span class="n">lowerCamelCase</span>
-    <span class="n">void</span> <span class="n">YaaBar</span><span class="p">();</span> <span class="o">///</span> <span class="n">Yaa</span> <span class="o">=</span> <span class="n">Yet</span> <span class="n">Another</span> <span class="n">Abbreviation</span>    <span class="o">//</span> <span class="n">Abbreviations</span><span class="p">:</span> <span class="n">UpperCamelCase</span>
-<span class="p">};</span>
-
-<span class="p">}</span>
-</pre></div>
-</div>
-<p><strong>Namespaces</strong></p>
-<blockquote>
-<div><ol class="arabic">
-<li><p>Use lowercase for namespaces</p></li>
-<li><p>Use singular form for namespaces where appropriate</p></li>
-<li><p>Use base namespace <code class="docutils literal notranslate"><span class="pre">openpass</span></code></p></li>
-<li><p>Core uses <code class="docutils literal notranslate"><span class="pre">openpass::core::*</span></code></p></li>
-<li><p>Components use <code class="docutils literal notranslate"><span class="pre">openpass::component::*</span></code></p></li>
-<li><p>Use the appropriate namespace for the type your component
-* <code class="docutils literal notranslate"><span class="pre">openpass::component::algorithm</span></code>
-* <code class="docutils literal notranslate"><span class="pre">openpass::component::sensor</span></code>
-* <code class="docutils literal notranslate"><span class="pre">openpass::component::dynamics</span></code>
-* <code class="docutils literal notranslate"><span class="pre">openpass::component::driver</span></code>
-* …</p></li>
-<li><p>Code with shared scope (e.g. <code class="docutils literal notranslate"><span class="pre">common</span></code>) namespaces are separated in</p>
-<ul class="simple">
-<li><p>For everyone <code class="docutils literal notranslate"><span class="pre">openpass::common</span></code> e.g. <code class="docutils literal notranslate"><span class="pre">openpass::common::XmlParser</span></code></p></li>
-<li><p>Common for components <code class="docutils literal notranslate"><span class="pre">openpass::component::common</span></code> e.g. <code class="docutils literal notranslate"><span class="pre">openpass::components::Ports</span></code></p></li>
-<li><p>For the core only <code class="docutils literal notranslate"><span class="pre">openpass::core::common</span></code> e.g. <code class="docutils literal notranslate"><span class="pre">openpass::core::common::Parameters</span></code></p></li>
-</ul>
-</li>
-<li><p>Discussion: <code class="docutils literal notranslate"><span class="pre">openpass::type::*</span></code></p>
-<p>Example: <code class="docutils literal notranslate"><span class="pre">openpass::type::Vector2D,</span> <span class="pre">openpass::type::OpenDriveId</span></code></p>
-</li>
-</ol>
-</div></blockquote>
-<p><strong>Interfaces</strong></p>
-<blockquote>
-<div><ol class="arabic">
-<li><p>Interfaces should be named descriptively according to the functionality they outline with an <code class="docutils literal notranslate"><span class="pre">UpperCamelCase</span></code> name</p>
-<p>Example: Interface for the <strong>world</strong> = <code class="docutils literal notranslate"><span class="pre">class</span> <span class="pre">WorldInterface</span></code></p>
-</li>
-<li><p>Interfaces are abstract classes, and as such provide pure virtual functions only, withtout any default implementation. For example:</p>
-<blockquote>
-<div><p><code class="docutils literal notranslate"><span class="pre">virtual</span> <span class="pre">double</span> <span class="pre">GetDistance()</span> <span class="pre">const</span> <span class="pre">=</span> <span class="pre">0;</span></code></p>
-</div></blockquote>
-</li>
-<li><p>Interface methods <strong>do not</strong> exibit default parameters.</p></li>
-<li><p>We excessively use <strong>gmock</strong>, so for every interface a fake interface should be provided</p>
-<p>Example: <code class="docutils literal notranslate"><span class="pre">class</span> <span class="pre">FakeWorld</span> <span class="pre">:</span> <span class="pre">public</span> <span class="pre">WorldInterface</span> <span class="pre">{...};</span></code></p>
-<p>Note: Following <strong>*Roy Osherove*</strong>, we use Fake instead of Mock, whick allows to distinguish Mocks and
-Stubs more easily in the code</p>
-</li>
-</ol>
-</div></blockquote>
-<p><strong>Classes</strong></p>
-<blockquote>
-<div><ol class="arabic">
-<li><p>Classes should be named descriptively according to the functionality they implement with an <code class="docutils literal notranslate"><span class="pre">UpperCamelCase</span></code> name</p></li>
-<li><p>A Class implementing an Interface should have the Interfaces name (see below), with the Interface portion removed. For example:
-.. code-block:</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="k">class</span> <span class="nc">AgentBlueprint</span> <span class="p">:</span> <span class="n">public</span> <span class="n">AgentBlueprintInterface</span> <span class="p">{</span><span class="o">...</span><span class="p">};</span>
-</pre></div>
-</div>
-</li>
-</ol>
-</div></blockquote>
-<p><strong>Methods</strong></p>
-<blockquote>
-<div><ol class="arabic">
-<li><p>Methods should be descriptively named in <code class="docutils literal notranslate"><span class="pre">UpperCamelCase</span></code></p>
-<p>Example: Method for retrieving the time of day should be named <code class="docutils literal notranslate"><span class="pre">GetTimeOfDay()</span></code></p>
-</li>
-</ol>
-</div></blockquote>
-<p><strong>Member Variables</strong></p>
-<blockquote>
-<div><ol class="arabic">
-<li><p>Member variables should be descriptively named in <code class="docutils literal notranslate"><span class="pre">lowerCamelCase</span></code></p></li>
-<li><p>Normally, it is sufficient to use the classes name directly.</p>
-<p>Example: The member variable containing the AgentNetwork should be named <code class="docutils literal notranslate"><span class="pre">agentNetwork</span></code></p>
-</li>
-</ol>
-</div></blockquote>
-<p><strong>Input / Output Signal Naming</strong></p>
-<blockquote>
-<div><ol class="arabic">
-<li><p>Components use a special form of signal transmission. For easier use, the following abstraction is recommended:
-.. code-block:</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">std</span><span class="p">::</span><span class="nb">map</span><span class="o">&lt;</span><span class="nb">int</span><span class="p">,</span> <span class="n">ComponentPort</span> <span class="o">*&gt;</span> <span class="n">outputPorts</span><span class="p">;</span>
-<span class="nb">bool</span> <span class="n">success</span> <span class="o">=</span> <span class="n">outputPorts</span><span class="o">.</span><span class="n">at</span><span class="p">(</span><span class="n">localLinkId</span><span class="p">)</span><span class="o">-&gt;</span><span class="n">SetSignalValue</span><span class="p">(</span><span class="n">data</span><span class="p">);</span>
-</pre></div>
-</div>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">std</span><span class="p">::</span><span class="nb">map</span><span class="o">&lt;</span><span class="nb">int</span><span class="p">,</span> <span class="n">ComponentPort</span> <span class="o">*&gt;</span> <span class="n">inputPorts</span><span class="p">;</span>
-<span class="nb">bool</span> <span class="n">success</span> <span class="o">=</span> <span class="n">inputPorts</span><span class="o">.</span><span class="n">at</span><span class="p">(</span><span class="n">localLinkId</span><span class="p">)</span><span class="o">-&gt;</span><span class="n">GetSignalValue</span><span class="p">(</span><span class="n">data</span><span class="p">);</span>
-</pre></div>
-</div>
-</li>
-<li><p>Discussion: Wrap in <code class="docutils literal notranslate"><span class="pre">openpass::components::common::Port</span></code> and further
-<code class="docutils literal notranslate"><span class="pre">openpass::components::common::Ports</span></code></p></li>
-</ol>
-</div></blockquote>
-<p><strong>Additional Information</strong></p>
-<blockquote>
-<div><ol class="arabic simple">
-<li><p>Use <code class="docutils literal notranslate"><span class="pre">UpperCamelCase</span></code> for abbreviations used in files, classes, methods, or variables</p></li>
-<li><p>This does not apply if the abbreviation is the entire name or the beginning of the name - in such a case the name is written with the rules for the appropriate type</p>
-<ul class="simple">
-<li><p>int ID→int id</p></li>
-<li><p>class AgentID→ class AgentId</p></li>
-<li><p>ADASDriver.cpp→adasDriver.cpp</p></li>
-</ul>
-</li>
-<li><p>Avoid public class data members. If unavoidable, use <code class="docutils literal notranslate"><span class="pre">lowerCamelCase</span></code></p></li>
-<li><p>Enums should be preferably defined as enum class; as such, enum names should be in <code class="docutils literal notranslate"><span class="pre">UpperCamelCase</span></code></p></li>
-<li><p>Decorate container by type aliases and use UpperCamelCase. For example:</p></li>
-</ol>
-<blockquote>
-<div><div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">using</span> <span class="n">FooParts</span> <span class="o">=</span> <span class="n">std</span><span class="p">::</span><span class="n">vector</span><span class="o">&lt;</span><span class="n">FooPart</span><span class="o">&gt;</span><span class="p">;</span>
-</pre></div>
-</div>
-</div></blockquote>
-</div></blockquote>
-<p><strong>Avoid</strong></p>
-<blockquote>
-<div><ol class="arabic simple">
-<li><p>Do <strong>not</strong> use Hungarian notation for variables names (iCounter → counter)</p></li>
-<li><p>Do <strong>not</strong> specify the type of the underlying implementation (partMap→ parts)</p></li>
-<li><p>Do <strong>not</strong> use magic numbers in the code; explicitly define constants instead</p></li>
-<li><p>Do <strong>not</strong> use global variables</p></li>
-</ol>
-</div></blockquote>
-<p><strong>Exceptions</strong></p>
-<blockquote>
-<div><ol class="arabic">
-<li><p>Autogenerated code does not need to follow the coding conventions</p>
-<p>Example:: Signals/Slots (QT): <code class="docutils literal notranslate"><span class="pre">void</span> <span class="pre">on_button_clicked();</span></code></p>
-</li>
-</ol>
-</div></blockquote>
-<p><strong>Documentation</strong></p>
-<blockquote>
-<div><ol class="arabic">
-<li><p>The following should be documented
-* Public functions and class methods
-* Classes
-* File headers
-* Constants
-* Private functions or methods with more than 3 arguments and/or complex functionality??</p></li>
-<li><p>Language</p>
-<ul class="simple">
-<li><p>Document “what” it does rather than describing “why”</p></li>
-<li><p>Third-person singular verbs should be used to describe what it does</p></li>
-</ul>
-</li>
-<li><p>Use the below methods to comment in source code. The below 2 syntaxes must be placed just above an entity.</p>
-<p>Multi line comments</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>//! … comments…
-//! … comments…
-//! … comments…
-</pre></div>
-</div>
-<p>Single line comments</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="o">///</span> <span class="n">Comments</span><span class="o">.</span>
-</pre></div>
-</div>
-</li>
-<li><p>Use the following structural commands</p>
-<table class="docutils align-default">
-<colgroup>
-<col style="width: 33.3%" />
-<col style="width: 66.7%" />
-</colgroup>
-<thead>
-<tr class="row-odd"><th class="head"><p>Syntax</p></th>
-<th class="head"><p>Definition</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>&#64;file</p></td>
-<td><p>The file name must be present in the file header</p></td>
-</tr>
-<tr class="row-odd"><td><p>&#64;param[in/out]</p></td>
-<td><p>Parameter documentation for functions</p></td>
-</tr>
-<tr class="row-even"><td><p>&#64;page</p></td>
-<td><p>Markdown page name</p></td>
-</tr>
-</tbody>
-</table>
-</li>
-<li><p>Use the following syntax for parameter description</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="nd">@param</span><span class="p">[</span><span class="ow">in</span><span class="o">/</span><span class="n">out</span><span class="p">]</span> <span class="o">&lt;</span><span class="n">variable</span> <span class="n">name</span><span class="o">&gt;</span> <span class="o">&lt;</span><span class="n">variable</span> <span class="n">description</span><span class="o">&gt;</span>
-</pre></div>
-</div>
-</li>
-<li><p>All parameters description should be aligned as shown below to make them more readable.</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="nd">@param</span><span class="p">[</span><span class="ow">in</span><span class="p">]</span>  <span class="n">shortName</span>    <span class="n">Description</span><span class="o">.</span>
-<span class="nd">@param</span><span class="p">[</span><span class="ow">in</span><span class="p">]</span>  <span class="n">longerName</span>   <span class="n">Description</span><span class="o">.</span>
-<span class="nd">@param</span><span class="p">[</span><span class="n">out</span><span class="p">]</span> <span class="n">veryLongName</span> <span class="n">Description</span><span class="o">.</span>
-</pre></div>
-</div>
-</li>
-<li><p>Example</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>/// @file main.c
-#include&lt;stdio.h&gt;
-
-/// Mathematical constant PI 
-#define PI       3.1415 
-
-/// Radius in meters  
-#define RADIUS_M 7.82
- 
-//! Calculates the area of the circle.
-//! 
-//! @param[in]  radius Radius of the circle
-//! @param[out] area   Area of the circle
-float CalculateArea(float radius)
-{
-    float area;
-    area = PI * radius * radius;
-    return area;
-}
-</pre></div>
-</div>
-</li>
-<li><p>Do not comment on polymorph methods (virtual base → override), unless there is a severe change</p></li>
-</ol>
-</div></blockquote>
-<p><strong>End Of Line</strong></p>
-<blockquote>
-<div><ol class="arabic simple">
-<li><p>Native end of line (EOL) should be used in the working directory</p></li>
-<li><p>The <code class="docutils literal notranslate"><span class="pre">.gitattributes</span></code> configuration file provides correct EOL handling for <code class="docutils literal notranslate"><span class="pre">git</span></code> related commands and actions</p></li>
-<li><p>When editing files</p>
-<ul class="simple">
-<li><p>Trim trailing whitespaces</p></li>
-<li><p>Single EOL at end of files</p></li>
-<li><p>Use spaces for tabs (use tab size according to coding guidelines or existing file contents)</p></li>
-</ul>
-</li>
-</ol>
-</div></blockquote>
-<p>See <a class="reference internal" href="ide_support/30_vscode.html#vscode-user-settings"><span class="std std-ref">Example VSCode user settings</span></a>.</p>
-</section>
-<section id="clangformat">
-<h2>ClangFormat<a class="headerlink" href="#clangformat" title="Link to this heading"></a></h2>
-<p>To ensure consistent and readable code across the project, <strong>ClangFormat</strong> is recommended.</p>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>The following guidelines are based on ClangFormat version 15.0.7</p>
-</div>
-<p><strong>Installing ClangFormat</strong></p>
-<p>To install <strong>ClangFormat 15.0.7</strong>, execute the following command depending on the operating system.</p>
-<div class="sphinx-tabs docutils container">
-<div aria-label="Tabbed content" class="closeable" role="tablist"><button aria-controls="panel-0-0-0" aria-selected="true" class="sphinx-tabs-tab" id="tab-0-0-0" name="0-0" role="tab" tabindex="0">Windows</button><button aria-controls="panel-0-0-1" aria-selected="false" class="sphinx-tabs-tab" id="tab-0-0-1" name="0-1" role="tab" tabindex="-1">Linux (Debian Bookworm or Ubuntu 22.04)</button></div><div aria-labelledby="tab-0-0-0" class="sphinx-tabs-panel" id="panel-0-0-0" name="0-0" role="tabpanel" tabindex="0"><div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">pacman</span> <span class="o">-</span><span class="n">S</span> <span class="n">mingw</span><span class="o">-</span><span class="n">w64</span><span class="o">-</span><span class="n">x86_64</span><span class="o">-</span><span class="n">clang</span>
-</pre></div>
-</div>
-</div><div aria-labelledby="tab-0-0-1" class="sphinx-tabs-panel" hidden="true" id="panel-0-0-1" name="0-1" role="tabpanel" tabindex="0"><div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">apt</span> <span class="o">-</span><span class="n">y</span> <span class="n">install</span> <span class="n">clang</span><span class="o">-</span><span class="nb">format</span>
-</pre></div>
-</div>
-</div></div>
-<p><strong>Configuring ClangFormat</strong></p>
-<p>To configure ClangFormat, create a <cite>.clang-format</cite> file in the root directory of your project. Below is the configuration used in <strong>openPASS</strong> (Open Source):</p>
-<blockquote>
-<div><div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="o">---</span>
-<span class="n">BasedOnStyle</span><span class="p">:</span> <span class="n">Google</span>
-<span class="n">AccessModifierOffset</span><span class="p">:</span> <span class="o">-</span><span class="mi">2</span>
-<span class="n">AllowShortFunctionsOnASingleLine</span><span class="p">:</span> <span class="n">Inline</span>
-<span class="n">AlignOperands</span><span class="p">:</span> <span class="n">AlignAfterOperator</span>
-<span class="n">BinPackArguments</span><span class="p">:</span> <span class="n">false</span>
-<span class="n">BinPackParameters</span><span class="p">:</span> <span class="n">false</span>
-<span class="n">BreakBeforeBraces</span><span class="p">:</span> <span class="n">Allman</span>
-<span class="n">BreakBeforeBinaryOperators</span><span class="p">:</span> <span class="n">All</span>
-<span class="n">ColumnLimit</span><span class="p">:</span> <span class="mi">120</span>
-<span class="n">SpacesInLineCommentPrefix</span><span class="p">:</span>
-  <span class="n">Minimum</span><span class="p">:</span> <span class="mi">0</span>
-  <span class="n">Maximum</span><span class="p">:</span> <span class="mi">1</span>
-<span class="n">CommentPragmas</span><span class="p">:</span>  <span class="s1">&#39;^</span><span class="se">\\</span><span class="s1">.+&#39;</span>
-<span class="n">IncludeCategories</span><span class="p">:</span>
-  <span class="o">-</span> <span class="n">Regex</span><span class="p">:</span>           <span class="s1">&#39;^((&lt;|&quot;)(gtest|gmock)/)&#39;</span>
-    <span class="n">Priority</span><span class="p">:</span>        <span class="o">-</span><span class="mi">1</span>
-  <span class="o">-</span> <span class="n">Regex</span><span class="p">:</span>           <span class="s1">&#39;^&lt;[^Q]&#39;</span>
-    <span class="n">Priority</span><span class="p">:</span>        <span class="mi">1</span>
-  <span class="o">-</span> <span class="n">Regex</span><span class="p">:</span>           <span class="s1">&#39;^&lt;Q&#39;</span>
-    <span class="n">Priority</span><span class="p">:</span>        <span class="mi">2</span>
-</pre></div>
-</div>
-</div></blockquote>
-<p><strong>Running ClangFormat</strong></p>
-<p>To format the code using ClangFormat, run the following command in the terminal:</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>clang-format<span class="w"> </span>-i<span class="w"> </span><span class="o">[</span>source_file<span class="o">(</span>s<span class="o">)]</span>
-</pre></div>
-</div>
-<p>Replace <cite>[source_file(s)]</cite> with the path(s) to the file(s) to format. The <cite>-i</cite> option tells ClangFormat to modify the files in-place.</p>
-</section>
-<section id="clangtidy">
-<h2>ClangTidy<a class="headerlink" href="#clangtidy" title="Link to this heading"></a></h2>
-<p>Supported Version: 14.0.6</p>
-<p>To ensure code quality and adherence to coding standards, ClangTidy is recommended.</p>
-<p>The used checks are located in the <a class="reference download internal" download="" href="../_downloads/6a57e453fd078015624636244721a982/.clang-tidy"><code class="xref download docutils literal notranslate"><span class="pre">.clang-tidy</span></code></a> file, where lines starting with <code class="docutils literal notranslate"><span class="pre">-</span></code> are checks that have been deactivated.
-For more details, visit the <a class="reference external" href="https://clang.llvm.org/extra/clang-tidy/#using-clang-tidy">ClangTidy official page</a>.</p>
-</section>
-<section id="commit-message-guidelines">
-<h2>Commit Message Guidelines<a class="headerlink" href="#commit-message-guidelines" title="Link to this heading"></a></h2>
-<p><strong>Overview</strong></p>
-<p>This section outlines the guidelines for writing commit messages in openPASS repository. Following these guidelines ensures that commit messages are clear, descriptive, and help facilitate collaboration among team members.
-This section uses excerpts from <a class="reference external" href="https://www.conventionalcommits.org/en/v1.0.0/">Conventional Commits</a> licensed under <a class="reference external" href="https://creativecommons.org/licenses/by/3.0/">CC BY 3.0</a> by it’s authors.</p>
-<p><strong>Commit Message Format</strong></p>
-<p>Each commit message should consist of a single short summary line (recommended, up to 50 characters) followed by a more detailed description (if necessary).
-The message should adhere to the following format:</p>
-<blockquote>
-<div><blockquote>
-<div><div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="o">&lt;</span><span class="nb">type</span><span class="o">&gt;</span><span class="p">[</span><span class="n">optional</span> <span class="n">scope</span><span class="p">]:</span> <span class="o">&lt;</span><span class="n">description</span><span class="o">&gt;</span>
-
-<span class="p">[</span><span class="n">optional</span> <span class="n">body</span><span class="p">]</span>
-
-<span class="p">[</span><span class="n">optional</span> <span class="n">footer</span><span class="p">(</span><span class="n">s</span><span class="p">)]</span>
-</pre></div>
-</div>
-</div></blockquote>
-<ol class="arabic simple">
-<li><p>The <code class="docutils literal notranslate"><span class="pre">&lt;type&gt;</span></code> part represents the type of the commit, which helps in categorizing the nature of the changes. The following types are allowed:</p>
-<ul class="simple">
-<li><p><code class="docutils literal notranslate"><span class="pre">feat</span></code>: A new feature or enhancement.</p></li>
-<li><p><code class="docutils literal notranslate"><span class="pre">fix</span></code>: A bug fix.</p></li>
-<li><p><code class="docutils literal notranslate"><span class="pre">docs</span></code>: Documentation-related changes.</p></li>
-<li><p><code class="docutils literal notranslate"><span class="pre">style</span></code>: Code style changes (e.g., formatting, spacing).</p></li>
-<li><p><code class="docutils literal notranslate"><span class="pre">refactor</span></code>: Code refactoring without adding new features or fixing bugs.</p></li>
-<li><p><code class="docutils literal notranslate"><span class="pre">test</span></code>: Adding or improving tests.</p></li>
-<li><p><code class="docutils literal notranslate"><span class="pre">chore</span></code>: Maintenance tasks, build changes, or other non-functional modifications.</p></li>
-<li><p><code class="docutils literal notranslate"><span class="pre">ci</span></code>: Changes related to CI.</p></li>
-<li><p><code class="docutils literal notranslate"><span class="pre">build</span></code>: Modifications related to build step.</p></li>
-<li><p><code class="docutils literal notranslate"><span class="pre">perf</span></code>: Modifications related to performance improvements.</p></li>
-<li><p><code class="docutils literal notranslate"><span class="pre">revert</span></code>: Revert any code changes.</p></li>
-</ul>
-</li>
-<li><p>The <code class="docutils literal notranslate"><span class="pre">&lt;optional</span> <span class="pre">scope&gt;</span></code> section is optional but is used to provide additional contextual information and is contained within parenthesis.</p></li>
-<li><p>The <code class="docutils literal notranslate"><span class="pre">&lt;description&gt;</span></code> is a brief description of the changes made in the commit. It should be concise yet informative and is recommended to not exceed 50 characters.</p></li>
-<li><p>The <code class="docutils literal notranslate"><span class="pre">&lt;optional</span> <span class="pre">body&gt;</span></code> section is optional but recommended, especially for complex changes or when further explanation is needed. This section should provide additional context, justification, and details about the changes made. Use bullet points for better readability when necessary.</p></li>
-<li><p>The <code class="docutils literal notranslate"><span class="pre">&lt;optional</span> <span class="pre">footer&gt;</span></code> section is also optional but can be used to provide supplementary information related to the commit.</p></li>
-</ol>
-</div></blockquote>
-</section>
-<section id="header-file-inclusion">
-<h2>Header File Inclusion<a class="headerlink" href="#header-file-inclusion" title="Link to this heading"></a></h2>
-<p><strong>Overview</strong></p>
-<p>When working on a C/C++ project, it’s essential to include header files correctly. This documentation explains the various ways to include header files, depending on their source.</p>
-<p><strong>System Libraries</strong></p>
-<p>Header files from system libraries should be enclosed in angular brackets (<cite>&lt; &gt;</cite>). This syntax informs the compiler to search for the headers in the system’s standard include directories.</p>
-<blockquote>
-<div><div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="c1">#include &lt;stdio.h&gt;</span>
-<span class="c1">#include &lt;stdlib.h&gt;</span>
-</pre></div>
-</div>
-</div></blockquote>
-<p><strong>Dependencies in CMAKE_PREFIX_PATH</strong></p>
-<p>If the header files are from dependencies that are part of the <cite>CMAKE_PREFIX_PATH</cite>, use angular brackets (<cite>&lt; &gt;</cite>) as well. This indicates to the compiler that the headers are part of external dependencies.</p>
-<blockquote>
-<div><div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="c1">#include &lt;dependency/header.h&gt;</span>
-</pre></div>
-</div>
-</div></blockquote>
-<p><strong>Repository Header Files</strong></p>
-<p>If the header files are from project’s repository then, use double quotes (<cite>” “”</cite>).</p>
-<blockquote>
-<div><div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="c1">#include &quot;my_component/header.h&quot;</span>
-</pre></div>
-</div>
-</div></blockquote>
-</section>
-</section>
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+<li class="toctree-l1"><a class="reference internal" href="10_ide_support.html">IDE Support</a></li>
+<li class="toctree-l1"><a class="reference internal" href="20_documentation.html">Documentation Concept</a></li>
+<li class="toctree-l1 current"><a class="current reference internal" href="#">Coding Guidelines</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="#general">General</a></li>
+<li class="toctree-l2"><a class="reference internal" href="#naming-conventions">Naming Conventions</a></li>
+<li class="toctree-l2"><a class="reference internal" href="#clangformat">ClangFormat</a></li>
+<li class="toctree-l2"><a class="reference internal" href="#clangtidy">ClangTidy</a></li>
+<li class="toctree-l2"><a class="reference internal" href="#commit-message-guidelines">Commit Message Guidelines</a></li>
+<li class="toctree-l2"><a class="reference internal" href="#header-file-inclusion">Header File Inclusion</a></li>
+</ul>
+</li>
+</ul>
+<p class="caption" role="heading"><span class="caption-text">Other Information</span></p>
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="../other_information/10_external_dependencies.html">External Dependencies</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../other_information/20_glossary.html">Glossary</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../other_information/30_gui_plugins.html">GUI Plugins</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../other_information/40_license.html">License</a></li>
+</ul>
+
+        </div>
+      </div>
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+
+    <section data-toggle="wy-nav-shift" class="wy-nav-content-wrap"><nav class="wy-nav-top" aria-label="Mobile navigation menu" >
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+      <li class="breadcrumb-item active">Coding Guidelines</li>
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+            <a href="../_sources/developer_information/30_coding_conventions.rst.txt" rel="nofollow"> View page source</a>
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+  <hr/>
+</div>
+          <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
+           <div itemprop="articleBody">
+             
+  <section id="coding-guidelines">
+<span id="coding-conventions"></span><h1>Coding Guidelines<a class="headerlink" href="#coding-guidelines" title="Link to this heading"></a></h1>
+<section id="general">
+<h2>General<a class="headerlink" href="#general" title="Link to this heading"></a></h2>
+<p><strong>openPASS</strong> (Open Source) is based on modern C++ (currently C++17). For coding guidelines, please refer to <a class="reference external" href="https://github.com/isocpp/CppCoreGuidelines">ISO C++ Core Guidelines</a>.</p>
+<p><strong>Headers/Sources</strong></p>
+<blockquote>
+<div><ul class="simple">
+<li><p>Use <code class="docutils literal notranslate"><span class="pre">*.h</span></code> as file extension for header files</p></li>
+<li><p>Use <code class="docutils literal notranslate"><span class="pre">*.cpp</span></code> as file extension for source files</p></li>
+</ul>
+</div></blockquote>
+</section>
+<section id="naming-conventions">
+<h2>Naming Conventions<a class="headerlink" href="#naming-conventions" title="Link to this heading"></a></h2>
+<p>Concise summarized Naming Conventions</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="c1">#pragma once</span>
+
+<span class="n">namespace</span> <span class="n">openpass</span><span class="p">::</span><span class="n">component</span><span class="p">::</span><span class="n">algorithm</span>
+<span class="p">{</span>
+
+<span class="o">/*</span> <span class="n">fooBar</span><span class="o">.</span><span class="n">h</span> <span class="o">*/</span>                                           <span class="o">//</span> <span class="n">File</span><span class="p">:</span> <span class="n">lowerCamelCase</span>
+<span class="k">class</span><span class="w"> </span><span class="nc">FooBar</span>                                             <span class="o">//</span> <span class="n">Class</span><span class="p">:</span> <span class="n">UpperCamelCase</span>
+<span class="p">{</span>
+<span class="n">private</span><span class="p">:</span>
+    <span class="n">static</span> <span class="n">constexpr</span> <span class="nb">int</span> <span class="n">MAGIC_NUMBER</span> <span class="p">{</span><span class="o">-</span><span class="mi">999</span><span class="p">};</span>            <span class="o">//</span> <span class="n">Constants</span><span class="p">:</span> <span class="n">UPPER_CASE</span>
+    <span class="nb">int</span> <span class="n">myMember</span><span class="p">;</span>                                        <span class="o">//</span> <span class="n">Members</span><span class="p">:</span> <span class="n">lowerCamelCase</span>
+    <span class="n">FooBar</span><span class="p">();</span>                                            <span class="o">//</span> <span class="n">Ctor</span><span class="p">:</span> <span class="n">UpperCamelCase</span>
+
+<span class="n">public</span><span class="p">:</span>
+    <span class="n">void</span> <span class="n">Bar</span><span class="p">();</span>                                          <span class="o">//</span> <span class="n">Methods</span><span class="p">:</span> <span class="n">UpperCamelCase</span>
+    <span class="n">void</span> <span class="n">BarBar</span><span class="p">(</span><span class="nb">bool</span> <span class="n">flag</span><span class="p">,</span> <span class="nb">int</span> <span class="n">counter</span><span class="p">);</span>                  <span class="o">//</span> <span class="n">Arguments</span><span class="p">:</span> <span class="n">lowerCamelCase</span>
+    <span class="n">void</span> <span class="n">YaaBar</span><span class="p">();</span> <span class="o">///</span> <span class="n">Yaa</span> <span class="o">=</span> <span class="n">Yet</span> <span class="n">Another</span> <span class="n">Abbreviation</span>    <span class="o">//</span> <span class="n">Abbreviations</span><span class="p">:</span> <span class="n">UpperCamelCase</span>
+<span class="p">};</span>
+
+<span class="p">}</span>
+</pre></div>
+</div>
+<p><strong>Namespaces</strong></p>
+<blockquote>
+<div><ol class="arabic">
+<li><p>Use lowercase for namespaces</p></li>
+<li><p>Use singular form for namespaces where appropriate</p></li>
+<li><p>Use base namespace <code class="docutils literal notranslate"><span class="pre">openpass</span></code></p></li>
+<li><p>Core uses <code class="docutils literal notranslate"><span class="pre">openpass::core::*</span></code></p></li>
+<li><p>Components use <code class="docutils literal notranslate"><span class="pre">openpass::component::*</span></code></p></li>
+<li><p>Use the appropriate namespace for the type your component
+* <code class="docutils literal notranslate"><span class="pre">openpass::component::algorithm</span></code>
+* <code class="docutils literal notranslate"><span class="pre">openpass::component::sensor</span></code>
+* <code class="docutils literal notranslate"><span class="pre">openpass::component::dynamics</span></code>
+* <code class="docutils literal notranslate"><span class="pre">openpass::component::driver</span></code>
+* …</p></li>
+<li><p>Code with shared scope (e.g. <code class="docutils literal notranslate"><span class="pre">common</span></code>) namespaces are separated in</p>
+<ul class="simple">
+<li><p>For everyone <code class="docutils literal notranslate"><span class="pre">openpass::common</span></code> e.g. <code class="docutils literal notranslate"><span class="pre">openpass::common::XmlParser</span></code></p></li>
+<li><p>Common for components <code class="docutils literal notranslate"><span class="pre">openpass::component::common</span></code> e.g. <code class="docutils literal notranslate"><span class="pre">openpass::components::Ports</span></code></p></li>
+<li><p>For the core only <code class="docutils literal notranslate"><span class="pre">openpass::core::common</span></code> e.g. <code class="docutils literal notranslate"><span class="pre">openpass::core::common::Parameters</span></code></p></li>
+</ul>
+</li>
+<li><p>Discussion: <code class="docutils literal notranslate"><span class="pre">openpass::type::*</span></code></p>
+<p>Example: <code class="docutils literal notranslate"><span class="pre">openpass::type::Vector2D,</span> <span class="pre">openpass::type::OpenDriveId</span></code></p>
+</li>
+</ol>
+</div></blockquote>
+<p><strong>Interfaces</strong></p>
+<blockquote>
+<div><ol class="arabic">
+<li><p>Interfaces should be named descriptively according to the functionality they outline with an <code class="docutils literal notranslate"><span class="pre">UpperCamelCase</span></code> name</p>
+<p>Example: Interface for the <strong>world</strong> = <code class="docutils literal notranslate"><span class="pre">class</span> <span class="pre">WorldInterface</span></code></p>
+</li>
+<li><p>Interfaces are abstract classes, and as such provide pure virtual functions only, withtout any default implementation. For example:</p>
+<blockquote>
+<div><p><code class="docutils literal notranslate"><span class="pre">virtual</span> <span class="pre">double</span> <span class="pre">GetDistance()</span> <span class="pre">const</span> <span class="pre">=</span> <span class="pre">0;</span></code></p>
+</div></blockquote>
+</li>
+<li><p>Interface methods <strong>do not</strong> exibit default parameters.</p></li>
+<li><p>We excessively use <strong>gmock</strong>, so for every interface a fake interface should be provided</p>
+<p>Example: <code class="docutils literal notranslate"><span class="pre">class</span> <span class="pre">FakeWorld</span> <span class="pre">:</span> <span class="pre">public</span> <span class="pre">WorldInterface</span> <span class="pre">{...};</span></code></p>
+<p>Note: Following <strong>*Roy Osherove*</strong>, we use Fake instead of Mock, whick allows to distinguish Mocks and
+Stubs more easily in the code</p>
+</li>
+</ol>
+</div></blockquote>
+<p><strong>Classes</strong></p>
+<blockquote>
+<div><ol class="arabic">
+<li><p>Classes should be named descriptively according to the functionality they implement with an <code class="docutils literal notranslate"><span class="pre">UpperCamelCase</span></code> name</p></li>
+<li><p>A Class implementing an Interface should have the Interfaces name (see below), with the Interface portion removed. For example:
+.. code-block:</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="k">class</span><span class="w"> </span><span class="nc">AgentBlueprint</span> <span class="p">:</span> <span class="n">public</span> <span class="n">AgentBlueprintInterface</span> <span class="p">{</span><span class="o">...</span><span class="p">};</span>
+</pre></div>
+</div>
+</li>
+</ol>
+</div></blockquote>
+<p><strong>Methods</strong></p>
+<blockquote>
+<div><ol class="arabic">
+<li><p>Methods should be descriptively named in <code class="docutils literal notranslate"><span class="pre">UpperCamelCase</span></code></p>
+<p>Example: Method for retrieving the time of day should be named <code class="docutils literal notranslate"><span class="pre">GetTimeOfDay()</span></code></p>
+</li>
+</ol>
+</div></blockquote>
+<p><strong>Member Variables</strong></p>
+<blockquote>
+<div><ol class="arabic">
+<li><p>Member variables should be descriptively named in <code class="docutils literal notranslate"><span class="pre">lowerCamelCase</span></code></p></li>
+<li><p>Normally, it is sufficient to use the classes name directly.</p>
+<p>Example: The member variable containing the AgentNetwork should be named <code class="docutils literal notranslate"><span class="pre">agentNetwork</span></code></p>
+</li>
+</ol>
+</div></blockquote>
+<p><strong>Input / Output Signal Naming</strong></p>
+<blockquote>
+<div><ol class="arabic">
+<li><p>Components use a special form of signal transmission. For easier use, the following abstraction is recommended:
+.. code-block:</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">std</span><span class="p">::</span><span class="nb">map</span><span class="o">&lt;</span><span class="nb">int</span><span class="p">,</span> <span class="n">ComponentPort</span> <span class="o">*&gt;</span> <span class="n">outputPorts</span><span class="p">;</span>
+<span class="nb">bool</span> <span class="n">success</span> <span class="o">=</span> <span class="n">outputPorts</span><span class="o">.</span><span class="n">at</span><span class="p">(</span><span class="n">localLinkId</span><span class="p">)</span><span class="o">-&gt;</span><span class="n">SetSignalValue</span><span class="p">(</span><span class="n">data</span><span class="p">);</span>
+</pre></div>
+</div>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">std</span><span class="p">::</span><span class="nb">map</span><span class="o">&lt;</span><span class="nb">int</span><span class="p">,</span> <span class="n">ComponentPort</span> <span class="o">*&gt;</span> <span class="n">inputPorts</span><span class="p">;</span>
+<span class="nb">bool</span> <span class="n">success</span> <span class="o">=</span> <span class="n">inputPorts</span><span class="o">.</span><span class="n">at</span><span class="p">(</span><span class="n">localLinkId</span><span class="p">)</span><span class="o">-&gt;</span><span class="n">GetSignalValue</span><span class="p">(</span><span class="n">data</span><span class="p">);</span>
+</pre></div>
+</div>
+</li>
+<li><p>Discussion: Wrap in <code class="docutils literal notranslate"><span class="pre">openpass::components::common::Port</span></code> and further
+<code class="docutils literal notranslate"><span class="pre">openpass::components::common::Ports</span></code></p></li>
+</ol>
+</div></blockquote>
+<p><strong>Additional Information</strong></p>
+<blockquote>
+<div><ol class="arabic simple">
+<li><p>Use <code class="docutils literal notranslate"><span class="pre">UpperCamelCase</span></code> for abbreviations used in files, classes, methods, or variables</p></li>
+<li><p>This does not apply if the abbreviation is the entire name or the beginning of the name - in such a case the name is written with the rules for the appropriate type</p>
+<ul class="simple">
+<li><p>int ID→int id</p></li>
+<li><p>class AgentID→ class AgentId</p></li>
+<li><p>ADASDriver.cpp→adasDriver.cpp</p></li>
+</ul>
+</li>
+<li><p>Avoid public class data members. If unavoidable, use <code class="docutils literal notranslate"><span class="pre">lowerCamelCase</span></code></p></li>
+<li><p>Enums should be preferably defined as enum class; as such, enum names should be in <code class="docutils literal notranslate"><span class="pre">UpperCamelCase</span></code></p></li>
+<li><p>Decorate container by type aliases and use UpperCamelCase. For example:</p></li>
+</ol>
+<blockquote>
+<div><div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">using</span> <span class="n">FooParts</span> <span class="o">=</span> <span class="n">std</span><span class="p">::</span><span class="n">vector</span><span class="o">&lt;</span><span class="n">FooPart</span><span class="o">&gt;</span><span class="p">;</span>
+</pre></div>
+</div>
+</div></blockquote>
+</div></blockquote>
+<p><strong>Avoid</strong></p>
+<blockquote>
+<div><ol class="arabic simple">
+<li><p>Do <strong>not</strong> use Hungarian notation for variables names (iCounter → counter)</p></li>
+<li><p>Do <strong>not</strong> specify the type of the underlying implementation (partMap→ parts)</p></li>
+<li><p>Do <strong>not</strong> use magic numbers in the code; explicitly define constants instead</p></li>
+<li><p>Do <strong>not</strong> use global variables</p></li>
+</ol>
+</div></blockquote>
+<p><strong>Exceptions</strong></p>
+<blockquote>
+<div><ol class="arabic">
+<li><p>Autogenerated code does not need to follow the coding conventions</p>
+<p>Example:: osi3: <code class="docutils literal notranslate"><span class="pre">::osi3::DetectedEntityHeader*</span> <span class="pre">mutable_moving_object_header()</span></code></p>
+</li>
+</ol>
+</div></blockquote>
+<p><strong>Documentation</strong></p>
+<blockquote>
+<div><ol class="arabic">
+<li><p>The following should be documented
+* Public functions and class methods
+* Classes
+* File headers
+* Constants
+* Private functions or methods with more than 3 arguments and/or complex functionality??</p></li>
+<li><p>Language</p>
+<ul class="simple">
+<li><p>Document “what” it does rather than describing “why”</p></li>
+<li><p>Third-person singular verbs should be used to describe what it does</p></li>
+</ul>
+</li>
+<li><p>Use the below methods to comment in source code. The below 2 syntaxes must be placed just above an entity.</p>
+<p>Multi line comments</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>//! … comments…
+//! … comments…
+//! … comments…
+</pre></div>
+</div>
+<p>Single line comments</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="o">///</span> <span class="n">Comments</span><span class="o">.</span>
+</pre></div>
+</div>
+</li>
+<li><p>Use the following structural commands</p>
+<table class="docutils align-default">
+<colgroup>
+<col style="width: 33.3%" />
+<col style="width: 66.7%" />
+</colgroup>
+<thead>
+<tr class="row-odd"><th class="head"><p>Syntax</p></th>
+<th class="head"><p>Definition</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>&#64;file</p></td>
+<td><p>The file name must be present in the file header</p></td>
+</tr>
+<tr class="row-odd"><td><p>&#64;param[in/out]</p></td>
+<td><p>Parameter documentation for functions</p></td>
+</tr>
+<tr class="row-even"><td><p>&#64;page</p></td>
+<td><p>Markdown page name</p></td>
+</tr>
+</tbody>
+</table>
+</li>
+<li><p>Use the following syntax for parameter description</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="nd">@param</span><span class="p">[</span><span class="ow">in</span><span class="o">/</span><span class="n">out</span><span class="p">]</span> <span class="o">&lt;</span><span class="n">variable</span> <span class="n">name</span><span class="o">&gt;</span> <span class="o">&lt;</span><span class="n">variable</span> <span class="n">description</span><span class="o">&gt;</span>
+</pre></div>
+</div>
+</li>
+<li><p>All parameters description should be aligned as shown below to make them more readable.</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="nd">@param</span><span class="p">[</span><span class="ow">in</span><span class="p">]</span>  <span class="n">shortName</span>    <span class="n">Description</span><span class="o">.</span>
+<span class="nd">@param</span><span class="p">[</span><span class="ow">in</span><span class="p">]</span>  <span class="n">longerName</span>   <span class="n">Description</span><span class="o">.</span>
+<span class="nd">@param</span><span class="p">[</span><span class="n">out</span><span class="p">]</span> <span class="n">veryLongName</span> <span class="n">Description</span><span class="o">.</span>
+</pre></div>
+</div>
+</li>
+<li><p>Example</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>/// @file main.c
+#include&lt;stdio.h&gt;
+
+/// Mathematical constant PI 
+#define PI       3.1415 
+
+/// Radius in meters  
+#define RADIUS_M 7.82
+ 
+//! Calculates the area of the circle.
+//! 
+//! @param[in]  radius Radius of the circle
+//! @param[out] area   Area of the circle
+float CalculateArea(float radius)
+{
+    float area;
+    area = PI * radius * radius;
+    return area;
+}
+</pre></div>
+</div>
+</li>
+<li><p>Do not comment on polymorph methods (virtual base → override), unless there is a severe change</p></li>
+</ol>
+</div></blockquote>
+<p><strong>End Of Line</strong></p>
+<blockquote>
+<div><ol class="arabic simple">
+<li><p>Native end of line (EOL) should be used in the working directory</p></li>
+<li><p>The <code class="docutils literal notranslate"><span class="pre">.gitattributes</span></code> configuration file provides correct EOL handling for <code class="docutils literal notranslate"><span class="pre">git</span></code> related commands and actions</p></li>
+<li><p>When editing files</p>
+<ul class="simple">
+<li><p>Trim trailing whitespaces</p></li>
+<li><p>Single EOL at end of files</p></li>
+<li><p>Use spaces for tabs (use tab size according to coding guidelines or existing file contents)</p></li>
+</ul>
+</li>
+</ol>
+</div></blockquote>
+<p>See <a class="reference internal" href="ide_support/30_vscode.html#vscode-user-settings"><span class="std std-ref">Example VSCode user settings</span></a>.</p>
+</section>
+<section id="clangformat">
+<h2>ClangFormat<a class="headerlink" href="#clangformat" title="Link to this heading"></a></h2>
+<p>To ensure consistent and readable code across the project, <strong>ClangFormat</strong> is recommended.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The following guidelines are based on ClangFormat version 15.0.7</p>
+</div>
+<p><strong>Installing ClangFormat</strong></p>
+<p>To install <strong>ClangFormat 15.0.7</strong>, execute the following command depending on the operating system.</p>
+<div class="sphinx-tabs docutils container">
+<div aria-label="Tabbed content" class="closeable" role="tablist"><button aria-controls="panel-0-0-0" aria-selected="true" class="sphinx-tabs-tab" id="tab-0-0-0" name="0-0" role="tab" tabindex="0">Windows</button><button aria-controls="panel-0-0-1" aria-selected="false" class="sphinx-tabs-tab" id="tab-0-0-1" name="0-1" role="tab" tabindex="-1">Linux (Debian Bookworm or Ubuntu 22.04)</button></div><div aria-labelledby="tab-0-0-0" class="sphinx-tabs-panel" id="panel-0-0-0" name="0-0" role="tabpanel" tabindex="0"><div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">pacman</span> <span class="o">-</span><span class="n">S</span> <span class="n">mingw</span><span class="o">-</span><span class="n">w64</span><span class="o">-</span><span class="n">x86_64</span><span class="o">-</span><span class="n">clang</span>
+</pre></div>
+</div>
+</div><div aria-labelledby="tab-0-0-1" class="sphinx-tabs-panel" hidden="true" id="panel-0-0-1" name="0-1" role="tabpanel" tabindex="0"><div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">apt</span> <span class="o">-</span><span class="n">y</span> <span class="n">install</span> <span class="n">clang</span><span class="o">-</span><span class="nb">format</span>
+</pre></div>
+</div>
+</div></div>
+<p><strong>Configuring ClangFormat</strong></p>
+<p>To configure ClangFormat, create a <cite>.clang-format</cite> file in the root directory of your project. Below is the configuration used in <strong>openPASS</strong> (Open Source):</p>
+<blockquote>
+<div><div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="o">---</span>
+<span class="n">BasedOnStyle</span><span class="p">:</span> <span class="n">Google</span>
+<span class="n">AccessModifierOffset</span><span class="p">:</span> <span class="o">-</span><span class="mi">2</span>
+<span class="n">AllowShortFunctionsOnASingleLine</span><span class="p">:</span> <span class="n">Inline</span>
+<span class="n">AlignOperands</span><span class="p">:</span> <span class="n">AlignAfterOperator</span>
+<span class="n">BinPackArguments</span><span class="p">:</span> <span class="n">false</span>
+<span class="n">BinPackParameters</span><span class="p">:</span> <span class="n">false</span>
+<span class="n">BreakBeforeBraces</span><span class="p">:</span> <span class="n">Allman</span>
+<span class="n">BreakBeforeBinaryOperators</span><span class="p">:</span> <span class="n">All</span>
+<span class="n">ColumnLimit</span><span class="p">:</span> <span class="mi">120</span>
+<span class="n">SpacesInLineCommentPrefix</span><span class="p">:</span>
+  <span class="n">Minimum</span><span class="p">:</span> <span class="mi">0</span>
+  <span class="n">Maximum</span><span class="p">:</span> <span class="mi">1</span>
+<span class="n">CommentPragmas</span><span class="p">:</span>  <span class="s1">&#39;^</span><span class="se">\\</span><span class="s1">.+&#39;</span>
+<span class="n">IncludeCategories</span><span class="p">:</span>
+  <span class="o">-</span> <span class="n">Regex</span><span class="p">:</span>           <span class="s1">&#39;^((&lt;|&quot;)(gtest|gmock)/)&#39;</span>
+    <span class="n">Priority</span><span class="p">:</span>        <span class="o">-</span><span class="mi">1</span>
+  <span class="o">-</span> <span class="n">Regex</span><span class="p">:</span>           <span class="s1">&#39;^&lt;[^Q]&#39;</span>
+    <span class="n">Priority</span><span class="p">:</span>        <span class="mi">1</span>
+  <span class="o">-</span> <span class="n">Regex</span><span class="p">:</span>           <span class="s1">&#39;^&lt;Q&#39;</span>
+    <span class="n">Priority</span><span class="p">:</span>        <span class="mi">2</span>
+</pre></div>
+</div>
+</div></blockquote>
+<p><strong>Running ClangFormat</strong></p>
+<p>To format the code using ClangFormat, run the following command in the terminal:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>clang-format<span class="w"> </span>-i<span class="w"> </span><span class="o">[</span>source_file<span class="o">(</span>s<span class="o">)]</span>
+</pre></div>
+</div>
+<p>Replace <cite>[source_file(s)]</cite> with the path(s) to the file(s) to format. The <cite>-i</cite> option tells ClangFormat to modify the files in-place.</p>
+</section>
+<section id="clangtidy">
+<h2>ClangTidy<a class="headerlink" href="#clangtidy" title="Link to this heading"></a></h2>
+<p>Supported Version: 14.0.6</p>
+<p>To ensure code quality and adherence to coding standards, ClangTidy is recommended.</p>
+<p>The used checks are located in the <a class="reference download internal" download="" href="../_downloads/6a57e453fd078015624636244721a982/.clang-tidy"><code class="xref download docutils literal notranslate"><span class="pre">.clang-tidy</span></code></a> file, where lines starting with <code class="docutils literal notranslate"><span class="pre">-</span></code> are checks that have been deactivated.
+For more details, visit the <a class="reference external" href="https://clang.llvm.org/extra/clang-tidy/#using-clang-tidy">ClangTidy official page</a>.</p>
+</section>
+<section id="commit-message-guidelines">
+<h2>Commit Message Guidelines<a class="headerlink" href="#commit-message-guidelines" title="Link to this heading"></a></h2>
+<p><strong>Overview</strong></p>
+<p>This section outlines the guidelines for writing commit messages in openPASS repository. Following these guidelines ensures that commit messages are clear, descriptive, and help facilitate collaboration among team members.
+This section uses excerpts from <a class="reference external" href="https://www.conventionalcommits.org/en/v1.0.0/">Conventional Commits</a> licensed under <a class="reference external" href="https://creativecommons.org/licenses/by/3.0/">CC BY 3.0</a> by it’s authors.</p>
+<p><strong>Commit Message Format</strong></p>
+<p>Each commit message should consist of a single short summary line (recommended, up to 50 characters) followed by a more detailed description (if necessary).
+The message should adhere to the following format:</p>
+<blockquote>
+<div><blockquote>
+<div><div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="o">&lt;</span><span class="nb">type</span><span class="o">&gt;</span><span class="p">[</span><span class="n">optional</span> <span class="n">scope</span><span class="p">]:</span> <span class="o">&lt;</span><span class="n">description</span><span class="o">&gt;</span>
+
+<span class="p">[</span><span class="n">optional</span> <span class="n">body</span><span class="p">]</span>
+
+<span class="p">[</span><span class="n">optional</span> <span class="n">footer</span><span class="p">(</span><span class="n">s</span><span class="p">)]</span>
+</pre></div>
+</div>
+</div></blockquote>
+<ol class="arabic simple">
+<li><p>The <code class="docutils literal notranslate"><span class="pre">&lt;type&gt;</span></code> part represents the type of the commit, which helps in categorizing the nature of the changes. The following types are allowed:</p>
+<ul class="simple">
+<li><p><code class="docutils literal notranslate"><span class="pre">feat</span></code>: A new feature or enhancement.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">fix</span></code>: A bug fix.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">docs</span></code>: Documentation-related changes.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">style</span></code>: Code style changes (e.g., formatting, spacing).</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">refactor</span></code>: Code refactoring without adding new features or fixing bugs.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">test</span></code>: Adding or improving tests.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">chore</span></code>: Maintenance tasks, build changes, or other non-functional modifications.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">ci</span></code>: Changes related to CI.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">build</span></code>: Modifications related to build step.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">perf</span></code>: Modifications related to performance improvements.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">revert</span></code>: Revert any code changes.</p></li>
+</ul>
+</li>
+<li><p>The <code class="docutils literal notranslate"><span class="pre">&lt;optional</span> <span class="pre">scope&gt;</span></code> section is optional but is used to provide additional contextual information and is contained within parenthesis.</p></li>
+<li><p>The <code class="docutils literal notranslate"><span class="pre">&lt;description&gt;</span></code> is a brief description of the changes made in the commit. It should be concise yet informative and is recommended to not exceed 50 characters.</p></li>
+<li><p>The <code class="docutils literal notranslate"><span class="pre">&lt;optional</span> <span class="pre">body&gt;</span></code> section is optional but recommended, especially for complex changes or when further explanation is needed. This section should provide additional context, justification, and details about the changes made. Use bullet points for better readability when necessary.</p></li>
+<li><p>The <code class="docutils literal notranslate"><span class="pre">&lt;optional</span> <span class="pre">footer&gt;</span></code> section is also optional but can be used to provide supplementary information related to the commit.</p></li>
+</ol>
+</div></blockquote>
+</section>
+<section id="header-file-inclusion">
+<h2>Header File Inclusion<a class="headerlink" href="#header-file-inclusion" title="Link to this heading"></a></h2>
+<p><strong>Overview</strong></p>
+<p>When working on a C/C++ project, it’s essential to include header files correctly. This documentation explains the various ways to include header files, depending on their source.</p>
+<p><strong>System Libraries</strong></p>
+<p>Header files from system libraries should be enclosed in angular brackets (<cite>&lt; &gt;</cite>). This syntax informs the compiler to search for the headers in the system’s standard include directories.</p>
+<blockquote>
+<div><div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="c1">#include &lt;stdio.h&gt;</span>
+<span class="c1">#include &lt;stdlib.h&gt;</span>
+</pre></div>
+</div>
+</div></blockquote>
+<p><strong>Dependencies in CMAKE_PREFIX_PATH</strong></p>
+<p>If the header files are from dependencies that are part of the <cite>CMAKE_PREFIX_PATH</cite>, use angular brackets (<cite>&lt; &gt;</cite>) as well. This indicates to the compiler that the headers are part of external dependencies.</p>
+<blockquote>
+<div><div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="c1">#include &lt;dependency/header.h&gt;</span>
+</pre></div>
+</div>
+</div></blockquote>
+<p><strong>Repository Header Files</strong></p>
+<p>If the header files are from project’s repository then, use double quotes (<cite>” “”</cite>).</p>
+<blockquote>
+<div><div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="c1">#include &quot;my_component/header.h&quot;</span>
+</pre></div>
+</div>
+</div></blockquote>
+</section>
+</section>
+
+
+           </div>
+          </div>
+          <footer><div class="rst-footer-buttons" role="navigation" aria-label="Footer">
+        <a href="20_documentation.html" class="btn btn-neutral float-left" title="Documentation Concept" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> Previous</a>
+        <a href="../other_information/10_external_dependencies.html" class="btn btn-neutral float-right" title="External Dependencies" accesskey="n" rel="next">Next <span class="fa fa-arrow-circle-right" aria-hidden="true"></span></a>
+    </div>
+
+  <hr/>
+
+  <div role="contentinfo">
+    <p>&#169; Copyright 2025 openPASS Working Group.</p>
+  </div>
+
+  Built with <a href="https://www.sphinx-doc.org/">Sphinx</a> using a
+    <a href="https://github.com/readthedocs/sphinx_rtd_theme">theme</a>
+    provided by <a href="https://readthedocs.org">Read the Docs</a>.
+   
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diff --git a/content/html/developer_information/ide_support/30_vscode.html b/content/html/developer_information/ide_support/30_vscode.html
index c22b87cbe79f791452147682350abf37def0fb07..8e83860a4402505c2bd6cf5b73a90e6178b5e8ff 100644
--- a/content/html/developer_information/ide_support/30_vscode.html
+++ b/content/html/developer_information/ide_support/30_vscode.html
@@ -1,849 +1,850 @@
-<!DOCTYPE html>
-<html class="writer-html5" lang="en" >
-<head>
-  <meta charset="utf-8" /><meta name="viewport" content="width=device-width, initial-scale=1" />
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-      <link rel="stylesheet" href="../../_static/pygments.css" type="text/css" />
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-    <link rel="shortcut icon" href="../../_static/openPASS.ico"/>
-  <!--[if lt IE 9]>
-    <script src="../../_static/js/html5shiv.min.js"></script>
-  <![endif]-->
-  
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-              <div class="version">
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-              <p class="caption" role="heading"><span class="caption-text">Installation Guide</span></p>
-<ul>
-<li class="toctree-l1"><a class="reference internal" href="../../installation_guide/10_getting_started.html">Getting Started</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../../installation_guide/15_system_requirements.html">System Requirements</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../../installation_guide/20_install_prerequisites.html">Installing Prerequisites</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../../installation_guide/30_install_openpass.html">Installing openPASS</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../../installation_guide/50_further_guidance.html">Further Guidance</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../../installation_guide/60_conan.html">Building with Conan</a></li>
-</ul>
-<p class="caption" role="heading"><span class="caption-text">User Guides</span></p>
-<ul>
-<li class="toctree-l1"><a class="reference internal" href="../../user_guide/10_overview.html">Overview</a></li>
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-<li class="toctree-l1"><a class="reference internal" href="../../user_guide/30_configs_in_depth.html">Configs in Depth</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../../user_guide/40_outputs_in_depth.html">Outputs in Depth</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../../user_guide/50_scenario_simulation.html">Simulator</a></li>
-</ul>
-<p class="caption" role="heading"><span class="caption-text">Advanced topics</span></p>
-<ul>
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-</ul>
-<p class="caption" role="heading"><span class="caption-text">Developer Information</span></p>
-<ul class="current">
-<li class="toctree-l1 current"><a class="reference internal" href="../10_ide_support.html">IDE Support</a><ul class="current">
-<li class="toctree-l2 current"><a class="current reference internal" href="#">Working with Visual Studio Code</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="#assumptions">Assumptions</a></li>
-<li class="toctree-l3"><a class="reference internal" href="#installation">Installation</a></li>
-<li class="toctree-l3"><a class="reference internal" href="#set-up-development-containers-in-visual-studio-code">Set Up Development Containers in Visual Studio Code</a><ul>
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-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="#configuration">Configuration</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="#win-only-msys2-path"> MSYS2 Path</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#build-kit">Build Kit</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#user-settings">User Settings</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#c-and-intellisense">C++ and IntelliSense</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#configure-the-build">Configure the Build</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#debug-targets">Debug Targets</a></li>
-</ul>
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-             
-  <section id="working-with-visual-studio-code">
-<span id="vscode"></span><h1>Working with Visual Studio Code<a class="headerlink" href="#working-with-visual-studio-code" title="Link to this heading"></a></h1>
-<p>This section describes the basic setup for Visual Studio Code.</p>
-<figure class="align-center" id="id1">
-<img alt="../../_images/vscode_quick_intro.png" src="../../_images/vscode_quick_intro.png" />
-<figcaption>
-<p><span class="caption-text">Correctly configured Visual Studio Code showing – among other things – <strong>left</strong>, debugging, testmate, and cmake pane selectors, and at the <strong>bottom</strong>, build type, kit, current target, and CTest runner.</span><a class="headerlink" href="#id1" title="Link to this image"></a></p>
-</figcaption>
-</figure>
-<section id="assumptions">
-<h2>Assumptions<a class="headerlink" href="#assumptions" title="Link to this heading"></a></h2>
-<ul class="simple">
-<li><p>For brevity, non-standard libraries are expected to be in the folder <code class="docutils literal notranslate"><span class="pre">./deps/thirdParty</span></code>.</p></li>
-<li><p><img alt="win_only" src="../../_images/win_only.png" /> <strong>MSYS2/MinGW 64 Bit</strong> is used.</p></li>
-</ul>
-</section>
-<section id="installation">
-<h2>Installation<a class="headerlink" href="#installation" title="Link to this heading"></a></h2>
-<ol class="arabic simple">
-<li><p>Install Visual Studio Code (<a class="reference external" href="https://code.visualstudio.com">https://code.visualstudio.com</a>)</p></li>
-<li><p>Install Extensions</p></li>
-</ol>
-<table class="docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Name</p></th>
-<th class="head"><p>Purpose</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p><a class="reference external" href="https://marketplace.visualstudio.com/items?itemName=ms-vscode.cpptools">C/C++</a></p></td>
-<td><p>Support for C/C++, including IntelliSense and debugging</p></td>
-</tr>
-<tr class="row-odd"><td><p><a class="reference external" href="https://vector-of-bool.github.io/docs/vscode-cmake-tools">CMake Tools</a></p></td>
-<td><p>Extended CMake support</p></td>
-</tr>
-<tr class="row-even"><td><p><a class="reference external" href="https://marketplace.visualstudio.com/items?itemName=matepek.vscode-catch2-test-adapter">C++ Testmate</a></p></td>
-<td><p>Run and debug GoogleTest</p></td>
-</tr>
-<tr class="row-odd"><td><p><a class="reference external" href="https://marketplace.visualstudio.com/items?itemName=fougas.msys2">MSYS2/Cygwin/MinGW/Clang support</a></p></td>
-<td><p><img alt="win_only" src="../../_images/win_only.png" /> MSYS2/MinGW configuration adapter</p></td>
-</tr>
-<tr class="row-even"><td><p><a class="reference external" href="https://code.visualstudio.com/docs/devcontainers/containers">Remote Development</a></p></td>
-<td><p>Development using DevContainers</p></td>
-</tr>
-<tr class="row-odd"><td><p><a class="reference external" href="https://code.visualstudio.com/docs/containers/overview">Docker</a></p></td>
-<td><p>Additional information for DevContainer prerequisites</p></td>
-</tr>
-</tbody>
-</table>
-</section>
-<section id="set-up-development-containers-in-visual-studio-code">
-<h2>Set Up Development Containers in Visual Studio Code<a class="headerlink" href="#set-up-development-containers-in-visual-studio-code" title="Link to this heading"></a></h2>
-<section id="introduction">
-<h3>Introduction<a class="headerlink" href="#introduction" title="Link to this heading"></a></h3>
-<p>This section provides step-by-step instructions on setting up development containers in Visual Studio Code (VSCode). Development containers allow you to define and manage your development environment using Docker containers, ensuring consistent and reproducible setups across different machines.</p>
-</section>
-<section id="prerequisites">
-<h3>Prerequisites<a class="headerlink" href="#prerequisites" title="Link to this heading"></a></h3>
-<p>Before you begin, make sure <code class="docutils literal notranslate"><span class="pre">docker</span></code> is installed in your system. If <code class="docutils literal notranslate"><span class="pre">docker</span></code> is not installed, follow the below steps.</p>
-<div class="sphinx-tabs docutils container">
-<div aria-label="Tabbed content" class="closeable" role="tablist"><button aria-controls="panel-0-0-0" aria-selected="true" class="sphinx-tabs-tab" id="tab-0-0-0" name="0-0" role="tab" tabindex="0">Windows</button><button aria-controls="panel-0-0-1" aria-selected="false" class="sphinx-tabs-tab" id="tab-0-0-1" name="0-1" role="tab" tabindex="-1">Linux</button></div><div aria-labelledby="tab-0-0-0" class="sphinx-tabs-panel" id="panel-0-0-0" name="0-0" role="tabpanel" tabindex="0"><ol class="arabic">
-<li><p>Open PowerShell in Administrator Mode by right-clicking and selecting “Run as administrator.”.</p></li>
-<li><p>To install wsl, run the following command and then restart the machine:</p>
-<div class="highlight-powershell notranslate"><div class="highlight"><pre><span></span><span class="n">wsl</span> <span class="p">-</span><span class="n">-install</span>
-</pre></div>
-</div>
-<p>The above command only works if WSL is not installed at all.
-If you run <code class="docutils literal notranslate"><span class="pre">wsl</span> <span class="pre">--install</span></code> and see the WSL help text, try running <code class="docutils literal notranslate"><span class="pre">wsl</span> <span class="pre">--list</span> <span class="pre">--online</span></code> to see a list of available distros and run <code class="docutils literal notranslate"><span class="pre">wsl</span> <span class="pre">--install</span> <span class="pre">-d</span> <span class="pre">&lt;Linux</span> <span class="pre">DistroName&gt;</span></code> to install a distro. The recommended distro is <code class="docutils literal notranslate"><span class="pre">Ubuntu</span></code> and the following steps assumes the distro as <code class="docutils literal notranslate"><span class="pre">Ubuntu</span></code></p>
-</li>
-<li><p>Once the distro is installed, check the version of the installed distro</p>
-<div class="highlight-powershell notranslate"><div class="highlight"><pre><span></span><span class="n">wsl</span> <span class="n">-l</span> <span class="n">-v</span>
-</pre></div>
-</div>
-<p>If the version is 1, then change it to 2 using the command <code class="docutils literal notranslate"><span class="pre">wsl</span> <span class="pre">--set-version</span> <span class="pre">&lt;distro&gt;</span> <span class="pre">2</span></code></p>
-</li>
-<li><p>After successful installation, open Ubuntu by searching <code class="docutils literal notranslate"><span class="pre">Ubuntu</span></code> in windows search bar</p></li>
-<li><p>Install the dependencies to run docker on the distro using the following command</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>sudo<span class="w"> </span>apt<span class="w"> </span>install<span class="w"> </span>--no-install-recommends<span class="w"> </span>apt-transport-https<span class="w"> </span>ca-certificates<span class="w"> </span>curl
-</pre></div>
-</div>
-</li>
-<li><p>On Debian or Ubuntu, first temporarily set some OS-specific variables:</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>.<span class="w"> </span>/etc/os-release
-</pre></div>
-</div>
-<p>Then, make sure <code class="docutils literal notranslate"><span class="pre">apt</span></code> trust the docker repo</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>curl<span class="w"> </span>-fsSL<span class="w"> </span>https://download.docker.com/linux/<span class="si">${</span><span class="nv">ID</span><span class="si">}</span>/gpg<span class="w"> </span><span class="p">|</span><span class="w"> </span>sudo<span class="w"> </span>tee<span class="w"> </span>/etc/apt/trusted.gpg.d/docker.asc
-</pre></div>
-</div>
-<p>ID will be either <code class="docutils literal notranslate"><span class="pre">ubuntu</span></code> or <code class="docutils literal notranslate"><span class="pre">debian</span></code>, as appropriate, depending on what is in <code class="docutils literal notranslate"><span class="pre">/etc/os-release</span></code>.</p>
-</li>
-<li><p>Add docker repo information to the <code class="docutils literal notranslate"><span class="pre">apt</span></code> to install docker.</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="nb">echo</span><span class="w"> </span><span class="s2">&quot;deb [arch=amd64] https://download.docker.com/linux/</span><span class="si">${</span><span class="nv">ID</span><span class="si">}</span><span class="s2"> </span><span class="si">${</span><span class="nv">VERSION_CODENAME</span><span class="si">}</span><span class="s2"> stable&quot;</span><span class="w"> </span><span class="p">|</span><span class="w"> </span>sudo<span class="w"> </span>tee<span class="w"> </span>/etc/apt/sources.list.d/docker.list
-sudo<span class="w"> </span>apt<span class="w"> </span>update
-</pre></div>
-</div>
-</li>
-<li><p>Install Docker and add user to the <code class="docutils literal notranslate"><span class="pre">docker</span></code> group</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>sudo<span class="w"> </span>apt<span class="w"> </span>install<span class="w"> </span>docker-ce<span class="w"> </span>docker-ce-cli<span class="w"> </span>containerd.io
-sudo<span class="w"> </span>usermod<span class="w"> </span>-aG<span class="w"> </span>docker<span class="w"> </span><span class="nv">$USER</span>
-</pre></div>
-</div>
-<p>Replace <code class="docutils literal notranslate"><span class="pre">$USER</span></code> with your user name on distro. Then close the WSL window, and launch WSL again. You should see <code class="docutils literal notranslate"><span class="pre">docker</span></code> when you run the command <code class="docutils literal notranslate"><span class="pre">groups</span></code> on command prompt to list group memberships.</p>
-</li>
-<li><p>Launch <code class="docutils literal notranslate"><span class="pre">dockerd</span></code> using the following command</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>sudo<span class="w"> </span>dockerd
-</pre></div>
-</div>
-<p>There should be several lines of info, warnings related to cgroup blkio, and the like, with something like API listen on /var/run/docker.sock at the end. If so, you have success.
-If there is any network controller issue, execute the following compile_commands</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="nb">echo</span><span class="w"> </span>-e<span class="w"> </span><span class="s2">&quot;[network]\ngenerateResolvConf = false&quot;</span><span class="w"> </span><span class="p">|</span><span class="w"> </span>sudo<span class="w"> </span>tee<span class="w"> </span>-a<span class="w"> </span>/etc/wsl.conf
-sudo<span class="w"> </span>unlink<span class="w"> </span>/etc/resolv.conf
-<span class="nb">echo</span><span class="w"> </span>nameserver<span class="w"> </span><span class="m">1</span>.1.1.1<span class="w"> </span><span class="p">|</span><span class="w"> </span>sudo<span class="w"> </span>tee<span class="w"> </span>/etc/resolv.conf
-</pre></div>
-</div>
-<p>Also switch to legacy iptables using the following command</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>update-alternatives<span class="w"> </span>--config<span class="w"> </span>iptables
-</pre></div>
-</div>
-<p>And select iptables-legacy
-Rerun the command <code class="docutils literal notranslate"><span class="pre">sudo</span> <span class="pre">dockerd</span></code> and check if it is succeeded.</p>
-</li>
-<li><p>To check if <code class="docutils literal notranslate"><span class="pre">docker</span></code> is running from Windows, in PowerShell execute the following command.</p></li>
-</ol>
-<blockquote>
-<div><div class="highlight-powershell notranslate"><div class="highlight"><pre><span></span><span class="n">wsl</span> <span class="n">-d</span> <span class="n">Ubuntu</span> <span class="n">docker</span> <span class="n">-H</span> <span class="n">unix</span><span class="p">:///</span><span class="n">var</span><span class="p">/</span><span class="n">run</span><span class="p">/</span><span class="n">docker</span><span class="p">.</span><span class="n">sock</span> <span class="p">-</span><span class="n">-version</span>
-</pre></div>
-</div>
-</div></blockquote>
-</div><div aria-labelledby="tab-0-0-1" class="sphinx-tabs-panel" hidden="true" id="panel-0-0-1" name="0-1" role="tabpanel" tabindex="0"><ol class="arabic">
-<li><p>Open a terminal window.</p></li>
-<li><p>Execute the following command</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>docker<span class="w"> </span>--version
-</pre></div>
-</div>
-<p>If Docker is installed, you will see the version information displayed in the terminal.</p>
-</li>
-<li><p>If Docker is not installed, you can install it using the following steps:</p>
-<ol class="arabic">
-<li><p>Update your package list using the command:</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>sudo<span class="w"> </span>apt<span class="w"> </span>update
-</pre></div>
-</div>
-</li>
-<li><p>Install Docker using the following command:</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>sudo<span class="w"> </span>apt<span class="w"> </span>install<span class="w"> </span>docker.io
-</pre></div>
-</div>
-</li>
-<li><p>You may need to add your user to the “docker” group to use Docker without sudo. Run the following command to add your user to the group (replace <cite>&lt;username&gt;</cite> with your actual username):</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>sudo<span class="w"> </span>usermod<span class="w"> </span>-aG<span class="w"> </span>docker<span class="w"> </span>&lt;username&gt;
-</pre></div>
-</div>
-</li>
-</ol>
-</li>
-</ol>
-</div></div>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>For more detailed instructions and troubleshooting related to Docker, refer to the official Docker documentation: <a class="reference external" href="https://docs.docker.com/get-docker/">https://docs.docker.com/get-docker/</a></p>
-</div>
-</section>
-<section id="devcontainers">
-<h3>DevContainers<a class="headerlink" href="#devcontainers" title="Link to this heading"></a></h3>
-<p>Open the repository in VSCode as folder, e.g. by calling <code class="docutils literal notranslate"><span class="pre">code</span> <span class="pre">openpass</span></code> after checking out and then define the development container configuration.</p>
-<ol class="arabic">
-<li><p>Open the repository as folder, e.g. by calling <code class="docutils literal notranslate"><span class="pre">code</span> <span class="pre">openpass</span></code> after checking out.</p></li>
-<li><p>Create the folder <code class="docutils literal notranslate"><span class="pre">.devcontainer</span></code> at the root of the project and configure your development container using JSON format. Below is an example configuration:</p>
-<div class="sphinx-tabs docutils container">
-<div aria-label="Tabbed content" class="closeable" role="tablist"><button aria-controls="panel-1-1-0" aria-selected="true" class="sphinx-tabs-tab" id="tab-1-1-0" name="1-0" role="tab" tabindex="0">Windows</button><button aria-controls="panel-1-1-1" aria-selected="false" class="sphinx-tabs-tab" id="tab-1-1-1" name="1-1" role="tab" tabindex="-1">Linux</button></div><div aria-labelledby="tab-1-1-0" class="sphinx-tabs-panel" id="panel-1-1-0" name="1-0" role="tabpanel" tabindex="0"><div class="literal-block-wrapper docutils container" id="id2">
-<div class="code-block-caption"><span class="caption-text">devcontainer.json</span><a class="headerlink" href="#id2" title="Link to this code"></a></div>
-<div class="highlight-javascript notranslate"><div class="highlight"><pre><span></span><span class="linenos">1</span><span class="p">{</span>
-<span class="linenos">2</span><span class="w">  </span><span class="s2">&quot;name&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;openPASS DevContainer&quot;</span><span class="p">,</span>
-<span class="linenos">3</span><span class="w">  </span><span class="s2">&quot;dockerFile&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;../utils/Dockerfile&quot;</span><span class="p">,</span>
-<span class="linenos">4</span><span class="w">  </span><span class="s2">&quot;workspaceFolder&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;/workspaces/openPASS&quot;</span>
-<span class="linenos">5</span><span class="p">}</span>
-</pre></div>
-</div>
-</div>
-<p><a class="reference download internal" download="" href="../../_downloads/a65389c511a382161f2a161fdf5ea53f/devcontainer.json"><code class="xref download docutils literal notranslate"><span class="pre">Download</span></code></a></p>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>To use docker daemons running on WSL, open <code class="docutils literal notranslate"><span class="pre">settings</span></code> in VSCode and search for <code class="docutils literal notranslate"><span class="pre">Execute</span> <span class="pre">In</span> <span class="pre">WSL</span></code> and select the option to execute in WSL. Also, under <code class="docutils literal notranslate"><span class="pre">Execute</span> <span class="pre">in</span> <span class="pre">WSLDistro</span></code> enter your distro name, for example: <code class="docutils literal notranslate"><span class="pre">Ubuntu</span></code></p>
-</div>
-</div><div aria-labelledby="tab-1-1-1" class="sphinx-tabs-panel" hidden="true" id="panel-1-1-1" name="1-1" role="tabpanel" tabindex="0"><div class="literal-block-wrapper docutils container" id="id3">
-<div class="code-block-caption"><span class="caption-text">devcontainer.json</span><a class="headerlink" href="#id3" title="Link to this code"></a></div>
-<div class="highlight-javascript notranslate"><div class="highlight"><pre><span></span><span class="linenos">1</span><span class="p">{</span>
-<span class="linenos">2</span><span class="w">  </span><span class="s2">&quot;name&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;openPASS DevContainer&quot;</span><span class="p">,</span>
-<span class="linenos">3</span><span class="w">  </span><span class="s2">&quot;dockerFile&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;../utils/Dockerfile&quot;</span><span class="p">,</span>
-<span class="linenos">4</span><span class="w">  </span><span class="s2">&quot;workspaceFolder&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;/workspaces/openPASS&quot;</span>
-<span class="linenos">5</span><span class="p">}</span>
-</pre></div>
-</div>
-</div>
-<p><a class="reference download internal" download="" href="../../_downloads/a65389c511a382161f2a161fdf5ea53f/devcontainer.json"><code class="xref download docutils literal notranslate"><span class="pre">Download</span></code></a></p>
-</div></div>
-</li>
-<li><p>Open Your Project in a Development Container:</p>
-<ol class="arabic simple">
-<li><p>Open the command palette by pressing <cite>Ctrl+Shift+P</cite>.</p></li>
-<li><p>Type “Dev Containers: Open Folder in Container” and select your project folder.</p></li>
-<li><p>VSCode will build the Docker container based on the configuration and open your project inside it.</p></li>
-</ol>
-</li>
-<li><p>Developing in the Container:</p>
-<ol class="arabic simple">
-<li><p>You can now edit files, install packages, and run code within the development container.</p></li>
-<li><p>Installed extensions and settings in the container will be isolated from your local environment.</p></li>
-</ol>
-</li>
-<li><p>To exit the container, click on the bottom left status bar where it shows the container name and click “Close Remote Connection.”</p></li>
-</ol>
-</section>
-</section>
-<section id="configuration">
-<h2>Configuration<a class="headerlink" href="#configuration" title="Link to this heading"></a></h2>
-<section id="win-only-msys2-path">
-<h3><img alt="win_only" src="../../_images/win_only.png" /> MSYS2 Path<a class="headerlink" href="#win-only-msys2-path" title="Link to this heading"></a></h3>
-<p>Normally, runtime dependencies (DLLs) are not copied into the executables folder within the build process.
-This means, that programs cannot be executed natively from Windows shells or the explorer.
-It is therefore highly recommended, to set the environmental variable <code class="docutils literal notranslate"><span class="pre">MSYSTEM=MINGW64</span></code> and <code class="docutils literal notranslate"><span class="pre">CHERE_INVOKING=1</span></code>.
-The setting of <code class="docutils literal notranslate"><span class="pre">MSYSTEM</span></code> will cause the environment to be set up correctly for MinGW64.
-Windows will then look for DLLs within the msys64 folders, allowing native execution.
-<code class="docutils literal notranslate"><span class="pre">CHERE_INVOKING</span></code> makes sure the shell stays in the current working directory.
-As investigated recently, the <code class="docutils literal notranslate"><span class="pre">C:\msys64\usr\bin``must</span> <span class="pre">also</span> <span class="pre">be</span> <span class="pre">added</span> <span class="pre">to</span> <span class="pre">the</span> <span class="pre">``PATH</span></code> environment variable in order to resolve dependencies to <code class="docutils literal notranslate"><span class="pre">cygpath.exe</span></code>.</p>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>If <code class="docutils literal notranslate"><span class="pre">C:\msys64</span></code> is not already listed in <code class="docutils literal notranslate"><span class="pre">PATH</span></code> variable, then add <code class="docutils literal notranslate"><span class="pre">C:\msys64</span></code> in <code class="docutils literal notranslate"><span class="pre">PATH</span></code> variable before adding <code class="docutils literal notranslate"><span class="pre">C:\msys64\usr\bin</span></code> to the <code class="docutils literal notranslate"><span class="pre">PATH</span></code> variable.
-If there are any other Unix like environments installed on Windows operating systems (example: cygwin), there might even be file collisions when calling certain cmake commands.
-Therefore, it is suggested to add <code class="docutils literal notranslate"><span class="pre">C:\msys64</span></code> in <code class="docutils literal notranslate"><span class="pre">PATH</span></code> variable before any other Unix like environmental calls.</p>
-</div>
-<p>Either set environment variable through the <code class="docutils literal notranslate"><span class="pre">Windows</span> <span class="pre">PowerShell</span></code></p>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span><span class="c1"># check if set</span>
-<span class="nb">echo</span><span class="w"> </span><span class="si">${</span><span class="nv">env</span><span class="p">:</span><span class="nv">path</span><span class="si">}</span>
-<span class="nb">echo</span><span class="w"> </span><span class="si">${</span><span class="nv">env</span><span class="p">:</span><span class="nv">MSYSTEM</span><span class="si">}</span>
-<span class="nb">echo</span><span class="w"> </span><span class="si">${</span><span class="nv">env</span><span class="p">:</span><span class="nv">CHERE_INVOKING</span><span class="si">}</span>
-
-<span class="c1"># if not</span>
-setx<span class="w"> </span>path<span class="w"> </span><span class="s2">&quot;%PATH%;C:\msys64\usr\bin&quot;</span>
-setx<span class="w"> </span>MSYSTEM<span class="w"> </span><span class="s2">&quot;MINGW64&quot;</span>
-setx<span class="w"> </span>CHERE_INVOKING<span class="w"> </span><span class="s2">&quot;1&quot;</span>
-</pre></div>
-</div>
-<p>or</p>
-<ol class="arabic simple">
-<li><p>Open the start search</p></li>
-<li><p>Type in “env” and choose “Edit the system environment variables”</p></li>
-<li><p>Choose “Environment Variables…”</p></li>
-<li><p>Set the environment variables:</p>
-<ol class="lowerroman simple">
-<li><p>MSYSTEM=MINGW64</p></li>
-<li><p>CHERE_INVOKING=1</p></li>
-<li><p>Add <code class="docutils literal notranslate"><span class="pre">C:\msys64\usr\bin</span></code> to PATH</p></li>
-</ol>
-</li>
-</ol>
-<p>Visual Studio Code needs to be reloaded/restarted after the path update.</p>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>An optimal solution would be to set the system environment variables in VSCode under <code class="docutils literal notranslate"><span class="pre">settings.json</span></code>. This is currently not possible. Please contact us if you find a better solution.</p>
-</div>
-</section>
-<section id="build-kit">
-<h3>Build Kit<a class="headerlink" href="#build-kit" title="Link to this heading"></a></h3>
-<div class="sphinx-tabs docutils container">
-<div aria-label="Tabbed content" class="closeable" role="tablist"><button aria-controls="panel-2-2-0" aria-selected="true" class="sphinx-tabs-tab" id="tab-2-2-0" name="2-0" role="tab" tabindex="0">Windows</button><button aria-controls="panel-2-2-1" aria-selected="false" class="sphinx-tabs-tab" id="tab-2-2-1" name="2-1" role="tab" tabindex="-1">Linux</button></div><div aria-labelledby="tab-2-2-0" class="sphinx-tabs-panel" id="panel-2-2-0" name="2-0" role="tabpanel" tabindex="0"><p><strong>Add and select MSYS2/MinGW64 Build Kit:</strong></p>
-<ol class="arabic">
-<li><p>Execute <code class="docutils literal notranslate"><span class="pre">Ctrl+Shift+P</span></code>: <code class="docutils literal notranslate"><span class="pre">CMake:</span> <span class="pre">Edit</span> <span class="pre">User-Local</span> <span class="pre">CMake</span> <span class="pre">Kits</span></code></p></li>
-<li><p>Insert/Update:</p>
-<div class="literal-block-wrapper docutils container" id="id4">
-<div class="code-block-caption"><span class="caption-text">cmake-tools-kits.json</span><a class="headerlink" href="#id4" title="Link to this code"></a></div>
-<div class="highlight-javascript notranslate"><div class="highlight"><pre><span></span><span class="linenos"> 1</span><span class="p">[</span>
-<span class="linenos"> 2</span><span class="w">    </span><span class="p">{</span>
-<span class="linenos"> 3</span><span class="w">        </span><span class="s2">&quot;name&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;MinGW64&quot;</span><span class="p">,</span>
-<span class="linenos"> 4</span><span class="w">        </span><span class="s2">&quot;preferredGenerator&quot;</span><span class="o">:</span><span class="w"> </span><span class="p">{</span>
-<span class="linenos"> 5</span><span class="w">            </span><span class="s2">&quot;name&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;MSYS Makefiles&quot;</span>
-<span class="linenos"> 6</span><span class="w">        </span><span class="p">},</span>
-<span class="linenos"> 7</span><span class="w">        </span><span class="s2">&quot;environmentVariables&quot;</span><span class="o">:</span><span class="w"> </span><span class="p">{</span><span class="w"> </span><span class="s2">&quot;PATH&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;${command:mingw64.path}&quot;</span><span class="w"> </span><span class="p">},</span>
-<span class="linenos"> 8</span><span class="w">        </span><span class="s2">&quot;compilers&quot;</span><span class="o">:</span><span class="w"> </span><span class="p">{</span>
-<span class="linenos"> 9</span><span class="w">            </span><span class="s2">&quot;C&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;${command:mingw64.cc.exe}&quot;</span><span class="p">,</span>
-<span class="linenos">10</span><span class="w">            </span><span class="s2">&quot;CXX&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;${command:mingw64.cxx.exe}&quot;</span><span class="p">,</span>
-<span class="linenos">11</span><span class="w">            </span><span class="s2">&quot;Fortran&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;${command:mingw64.fc.exe}&quot;</span>
-<span class="linenos">12</span><span class="w">        </span><span class="p">},</span>
-<span class="linenos">13</span><span class="w">        </span><span class="s2">&quot;keep&quot;</span><span class="o">:</span><span class="w"> </span><span class="kc">true</span>
-<span class="linenos">14</span><span class="w">    </span><span class="p">}</span>
-<span class="linenos">15</span><span class="p">]</span>
-</pre></div>
-</div>
-</div>
-<p><a class="reference download internal" download="" href="../../_downloads/0434e3ab992f6eea8e1df4ae553aa93d/cmake-tools-kits.json"><code class="xref download docutils literal notranslate"><span class="pre">Download</span></code></a></p>
-</li>
-<li><p><code class="docutils literal notranslate"><span class="pre">Ctrl+Shift+P</span></code>: <code class="docutils literal notranslate"><span class="pre">CMake:</span> <span class="pre">Select</span> <span class="pre">a</span> <span class="pre">Kit</span></code> = <code class="docutils literal notranslate"><span class="pre">MinGW64</span></code></p></li>
-</ol>
-</div><div aria-labelledby="tab-2-2-1" class="sphinx-tabs-panel" hidden="true" id="panel-2-2-1" name="2-1" role="tabpanel" tabindex="0"><p><strong>Select System Build Kit:</strong></p>
-<p><code class="docutils literal notranslate"><span class="pre">Ctrl+Shift+P</span></code>: <code class="docutils literal notranslate"><span class="pre">CMake:</span> <span class="pre">Select</span> <span class="pre">a</span> <span class="pre">Kit</span></code> = <code class="docutils literal notranslate"><span class="pre">GCC</span> <span class="pre">10.2.0</span></code></p>
-<p>See also <a class="reference internal" href="../../installation_guide/20_install_prerequisites.html#prerequisites"><span class="std std-ref">Installing Prerequisites</span></a>.</p>
-</div></div>
-</section>
-<section id="user-settings">
-<span id="vscode-user-settings"></span><h3>User Settings<a class="headerlink" href="#user-settings" title="Link to this heading"></a></h3>
-<ol class="arabic">
-<li><p>Execute <code class="docutils literal notranslate"><span class="pre">Ctrl+Shift+P</span></code>: <code class="docutils literal notranslate"><span class="pre">Preferences</span> <span class="pre">Open</span> <span class="pre">Workspace</span> <span class="pre">Settings</span> <span class="pre">(JSON)</span></code></p></li>
-<li><p>Insert/Update:</p>
-<div class="sphinx-tabs docutils container">
-<div aria-label="Tabbed content" class="closeable" role="tablist"><button aria-controls="panel-3-3-0" aria-selected="true" class="sphinx-tabs-tab" id="tab-3-3-0" name="3-0" role="tab" tabindex="0">Windows</button><button aria-controls="panel-3-3-1" aria-selected="false" class="sphinx-tabs-tab" id="tab-3-3-1" name="3-1" role="tab" tabindex="-1">Linux</button></div><div aria-labelledby="tab-3-3-0" class="sphinx-tabs-panel" id="panel-3-3-0" name="3-0" role="tabpanel" tabindex="0"><div class="literal-block-wrapper docutils container" id="id5">
-<div class="code-block-caption"><span class="caption-text">settings.json</span><a class="headerlink" href="#id5" title="Link to this code"></a></div>
-<div class="highlight-javascript notranslate"><div class="highlight"><pre><span></span><span class="linenos"> 1</span><span class="p">{</span>
-<span class="linenos"> 2</span><span class="w">    </span><span class="c1">//</span>
-<span class="linenos"> 3</span><span class="w">    </span><span class="c1">// CMAKE</span>
-<span class="linenos"> 4</span><span class="w">    </span><span class="c1">//</span>
-<span class="linenos"> 5</span><span class="w">    </span><span class="c1">// Following settings are from the MSYS2 extension documentation</span>
-<span class="linenos"> 6</span><span class="w">    </span><span class="s2">&quot;cmake.cmakePath&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;C:\\msys64\\mingw64\\bin\\cmake.exe&quot;</span><span class="p">,</span>
-<span class="linenos"> 7</span><span class="w">    </span><span class="s2">&quot;cmake.preferredGenerators&quot;</span><span class="o">:</span><span class="w"> </span><span class="p">[</span>
-<span class="linenos"> 8</span><span class="w">        </span><span class="s2">&quot;MSYS Makefiles&quot;</span>
-<span class="linenos"> 9</span><span class="w">    </span><span class="p">],</span>
-<span class="linenos">10</span><span class="w">    </span><span class="s2">&quot;cmake.configureSettings&quot;</span><span class="o">:</span><span class="w"> </span><span class="p">{</span>
-<span class="linenos">11</span><span class="w">        </span><span class="s2">&quot;CMAKE_MAKE_PROGRAM&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;C:\\msys64\\mingw64\\bin\\make.exe&quot;</span><span class="p">,</span>
-<span class="linenos">12</span><span class="w">        </span><span class="s2">&quot;CMAKE_PREFIX_PATH&quot;</span><span class="o">:</span><span class="w"> </span><span class="p">[</span>
-<span class="linenos">13</span><span class="w">            </span><span class="s2">&quot;${workspaceRoot}/deps/thirdParty/win64/Yase&quot;</span><span class="p">,</span>
-<span class="linenos">14</span><span class="w">            </span><span class="s2">&quot;${workspaceRoot}/deps/thirdParty/win64/FMILibrary&quot;</span><span class="p">,</span>
-<span class="linenos">15</span><span class="w">            </span><span class="s2">&quot;${workspaceRoot}/deps/thirdParty/win64/MantleAPI&quot;</span><span class="p">,</span>
-<span class="linenos">16</span><span class="w">            </span><span class="s2">&quot;${workspaceRoot}/deps/thirdParty/win64/osi&quot;</span><span class="p">,</span>
-<span class="linenos">17</span><span class="w">            </span><span class="s2">&quot;${workspaceRoot}/deps/thirdParty/win64/protobuf&quot;</span><span class="p">,</span>
-<span class="linenos">18</span><span class="w">            </span><span class="s2">&quot;${workspaceRoot}/deps/thirdParty/win64/protobuf-shared&quot;</span><span class="p">,</span>
-<span class="linenos">19</span><span class="w">            </span><span class="s2">&quot;${workspaceRoot}/deps/thirdParty/win64/googletest&quot;</span><span class="p">,</span>
-<span class="linenos">20</span><span class="w">            </span><span class="s2">&quot;${workspaceRoot}/deps/thirdParty/win64/minizip&quot;</span><span class="p">,</span>
-<span class="linenos">21</span><span class="w">            </span><span class="s2">&quot;${workspaceRoot}/deps/thirdParty/win64/openscenario_engine/release&quot;</span><span class="p">,</span>
-<span class="linenos">22</span><span class="w">            </span><span class="s2">&quot;${workspaceRoot}/deps/thirdParty/win64/openscenario_api&quot;</span><span class="p">,</span>
-<span class="linenos">23</span><span class="w">            </span><span class="s2">&quot;${workspaceRoot}/deps/thirdParty/win64/zlib&quot;</span><span class="p">,</span>
-<span class="linenos">24</span><span class="w">            </span><span class="s2">&quot;${workspaceRoot}/deps/thirdParty/win64/open-simulation-interface&quot;</span><span class="p">,</span>
-<span class="linenos">25</span><span class="w">            </span><span class="s2">&quot;${workspaceRoot}/deps/thirdParty/win64/units&quot;</span><span class="p">,</span>
-<span class="linenos">26</span><span class="w">            </span><span class="s2">&quot;${workspaceRoot}/deps/scmThirdParty/win64/stochastics&quot;</span><span class="p">,</span>
-<span class="linenos">27</span><span class="w">            </span><span class="s2">&quot;C:/msys64/mingw64/bin&quot;</span>
-<span class="linenos">28</span><span class="w">        </span><span class="p">],</span>
-<span class="linenos">29</span><span class="w">        </span><span class="s2">&quot;CMAKE_INSTALL_PREFIX&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;${workspaceRoot}/bin/core&quot;</span><span class="p">,</span>
-<span class="linenos">30</span><span class="w">        </span><span class="s2">&quot;CMAKE_BUILD_TYPE&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;Debug&quot;</span><span class="p">,</span>
-<span class="linenos">31</span><span class="w">        </span><span class="s2">&quot;USE_CCACHE&quot;</span><span class="o">:</span><span class="w"> </span><span class="kc">true</span><span class="p">,</span>
-<span class="linenos">32</span><span class="w">        </span><span class="s2">&quot;WITH_DEBUG_POSTFIX&quot;</span><span class="o">:</span><span class="w"> </span><span class="kc">false</span><span class="p">,</span>
-<span class="linenos">33</span><span class="w">        </span><span class="s2">&quot;OPENPASS_ADJUST_OUTPUT&quot;</span><span class="o">:</span><span class="w"> </span><span class="kc">false</span><span class="p">,</span>
-<span class="linenos">34</span><span class="w">        </span><span class="s2">&quot;WITH_API_DOC&quot;</span><span class="o">:</span><span class="w"> </span><span class="kc">false</span><span class="p">,</span>
-<span class="linenos">35</span><span class="w">        </span><span class="s2">&quot;WITH_DOC&quot;</span><span class="o">:</span><span class="w"> </span><span class="kc">false</span><span class="p">,</span>
-<span class="linenos">36</span><span class="w">        </span><span class="s2">&quot;INSTALL_EXTRA_RUNTIME_DEPS&quot;</span><span class="o">:</span><span class="w"> </span><span class="kc">true</span><span class="p">,</span>
-<span class="linenos">37</span><span class="w">        </span><span class="s2">&quot;INSTALL_SYSTEM_RUNTIME_DEPS&quot;</span><span class="o">:</span><span class="w"> </span><span class="kc">true</span><span class="p">,</span>
-<span class="linenos">38</span><span class="w">        </span><span class="c1">// For integration with IntelliSense (see c_cpp_properties.json)</span>
-<span class="linenos">39</span><span class="w">        </span><span class="s2">&quot;CMAKE_EXPORT_COMPILE_COMMANDS&quot;</span><span class="o">:</span><span class="w"> </span><span class="kc">true</span>
-<span class="linenos">40</span><span class="w">    </span><span class="p">},</span>
-<span class="linenos">41</span><span class="w">    </span><span class="c1">// Optional: Adjust to your needs</span>
-<span class="linenos">42</span><span class="w">    </span><span class="s2">&quot;cmake.parallelJobs&quot;</span><span class="o">:</span><span class="w"> </span><span class="mf">4</span><span class="p">,</span>
-<span class="linenos">43</span><span class="w">    </span><span class="c1">//</span>
-<span class="linenos">44</span><span class="w">    </span><span class="c1">// TESTMATE</span>
-<span class="linenos">45</span><span class="w">    </span><span class="c1">//</span>
-<span class="linenos">46</span><span class="w">    </span><span class="c1">// Optional: Adjust to your needs</span>
-<span class="linenos">47</span><span class="w">    </span><span class="s2">&quot;testMate.cpp.test.parallelExecutionLimit&quot;</span><span class="o">:</span><span class="w"> </span><span class="mf">4</span><span class="p">,</span>
-<span class="linenos">48</span><span class="w">    </span><span class="s2">&quot;testMate.cpp.test.parallelExecutionOfExecutableLimit&quot;</span><span class="o">:</span><span class="w"> </span><span class="mf">2</span><span class="p">,</span>
-<span class="linenos">49</span><span class="w">    </span><span class="c1">// Optional: Set, if you like to debug test discovery and test start issues</span>
-<span class="linenos">50</span><span class="w">    </span><span class="s2">&quot;testMate.cpp.log.logfile&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;C:\\temp\\cpp.testmate.log&quot;</span><span class="p">,</span>
-<span class="linenos">51</span><span class="w">    </span><span class="c1">// Optional:    As CTest triggers the install step, dependencies between test executables</span>
-<span class="linenos">52</span><span class="w">    </span><span class="c1">//              and openpass libraries can be resolved by linking text executables to</span>
-<span class="linenos">53</span><span class="w">    </span><span class="c1">//              openpass install directory</span>
-<span class="linenos">54</span><span class="w">    </span><span class="c1">// Alternative: Check dependencies of test executables by &#39;ldd &lt;_Tests.exe&gt; and copy</span>
-<span class="linenos">55</span><span class="w">    </span><span class="c1">//              libraries right next to test executable within build direcory</span>
-<span class="linenos">56</span><span class="w">    </span><span class="s2">&quot;testMate.cpp.test.advancedExecutables&quot;</span><span class="o">:</span><span class="w"> </span><span class="p">[</span>
-<span class="linenos">57</span><span class="w">        </span><span class="p">{</span>
-<span class="linenos">58</span><span class="w">            </span><span class="s2">&quot;pattern&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;build/**/*{tests,Tests,TESTS}*&quot;</span><span class="p">,</span>
-<span class="linenos">59</span><span class="w">            </span><span class="s2">&quot;env&quot;</span><span class="o">:</span><span class="w"> </span><span class="p">{</span>
-<span class="linenos">60</span><span class="w">                </span><span class="s2">&quot;Path&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;C:\\msys64\\mingw64\\bin;${workspaceFolder}\\bin\\core;${workspaceFolder}\\bin\\core\\lib;${os_env:PATH};${workspaceFolder}\\deps\\thirdParty\\win64\\FMILibrary\\lib;${workspaceFolder}\\deps\\thirdParty\\win64\\osi\\lib\\osi3&quot;</span>
-<span class="linenos">61</span><span class="w">            </span><span class="p">}</span>
-<span class="linenos">62</span><span class="w">        </span><span class="p">}</span>
-<span class="linenos">63</span><span class="w">    </span><span class="p">],</span>
-<span class="linenos">64</span><span class="w">    </span><span class="c1">//</span>
-<span class="linenos">65</span><span class="w">    </span><span class="c1">// VSCODE</span>
-<span class="linenos">66</span><span class="w">    </span><span class="c1">//</span>
-<span class="linenos">67</span><span class="w">    </span><span class="c1">// Optional: Integration of MinGW64 Terminal in VS Code</span>
-<span class="linenos">68</span><span class="w">    </span><span class="s2">&quot;terminal.integrated.profiles.windows&quot;</span><span class="o">:</span><span class="w"> </span><span class="p">{</span>
-<span class="linenos">69</span><span class="w">        </span><span class="s2">&quot;MinGW64&quot;</span><span class="o">:</span><span class="w"> </span><span class="p">{</span>
-<span class="linenos">70</span><span class="w">            </span><span class="s2">&quot;overrideName&quot;</span><span class="o">:</span><span class="w"> </span><span class="kc">true</span><span class="p">,</span>
-<span class="linenos">71</span><span class="w">            </span><span class="s2">&quot;path&quot;</span><span class="o">:</span><span class="w"> </span><span class="p">[</span>
-<span class="linenos">72</span><span class="w">                </span><span class="s2">&quot;C:\\msys64\\usr\\bin\\bash.exe&quot;</span>
-<span class="linenos">73</span><span class="w">            </span><span class="p">],</span>
-<span class="linenos">74</span><span class="w">            </span><span class="s2">&quot;args&quot;</span><span class="o">:</span><span class="w"> </span><span class="p">[</span><span class="s2">&quot;--login&quot;</span><span class="p">,</span><span class="w"> </span><span class="s2">&quot;-i&quot;</span><span class="p">],</span>
-<span class="linenos">75</span><span class="w">            </span><span class="s2">&quot;icon&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;terminal-bash&quot;</span><span class="p">,</span>
-<span class="linenos">76</span><span class="w">            </span><span class="s2">&quot;env&quot;</span><span class="o">:</span><span class="w"> </span><span class="p">{</span>
-<span class="linenos">77</span><span class="w">                </span><span class="s2">&quot;MSYSTEM&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;MINGW64&quot;</span><span class="p">,</span>
-<span class="linenos">78</span><span class="w">                </span><span class="s2">&quot;CHERE_INVOKING&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;1&quot;</span><span class="p">,</span>
-<span class="linenos">79</span><span class="w">                </span><span class="s2">&quot;MSYS2_PATH_TYPE&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;inherit&quot;</span>
-<span class="linenos">80</span><span class="w">            </span><span class="p">}</span>
-<span class="linenos">81</span><span class="w">        </span><span class="p">}</span>
-<span class="linenos">82</span><span class="w">    </span><span class="p">},</span>
-<span class="linenos">83</span><span class="w">    </span><span class="s2">&quot;terminal.integrated.defaultProfile.windows&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;MinGW64&quot;</span><span class="p">,</span>
-<span class="linenos">84</span><span class="w">    </span><span class="c1">// Enforce usage of .clang-format of modified code</span>
-<span class="linenos">85</span><span class="w">    </span><span class="s2">&quot;editor.formatOnSave&quot;</span><span class="o">:</span><span class="w"> </span><span class="kc">true</span><span class="p">,</span>
-<span class="linenos">86</span><span class="w">    </span><span class="s2">&quot;editor.formatOnSaveMode&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;modifications&quot;</span><span class="p">,</span>
-<span class="linenos">87</span><span class="w">    </span><span class="c1">// EOL and whitespace enforcement</span>
-<span class="linenos">88</span><span class="w">    </span><span class="s2">&quot;editor.detectIndentation&quot;</span><span class="o">:</span><span class="w"> </span><span class="kc">true</span><span class="p">,</span>
-<span class="linenos">89</span><span class="w">    </span><span class="s2">&quot;editor.insertSpaces&quot;</span><span class="o">:</span><span class="w"> </span><span class="kc">true</span><span class="p">,</span>
-<span class="linenos">90</span><span class="w">    </span><span class="s2">&quot;editor.renderFinalNewline&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;dimmed&quot;</span><span class="p">,</span>
-<span class="linenos">91</span><span class="w">    </span><span class="s2">&quot;files.insertFinalNewline&quot;</span><span class="o">:</span><span class="w"> </span><span class="kc">true</span><span class="p">,</span>
-<span class="linenos">92</span><span class="w">    </span><span class="s2">&quot;files.trimFinalNewlines&quot;</span><span class="o">:</span><span class="w"> </span><span class="kc">true</span><span class="p">,</span>
-<span class="linenos">93</span><span class="w">    </span><span class="s2">&quot;files.trimTrailingWhitespace&quot;</span><span class="o">:</span><span class="w"> </span><span class="kc">true</span>
-<span class="linenos">94</span><span class="p">}</span>
-</pre></div>
-</div>
-</div>
-<p><a class="reference download internal" download="" href="../../_downloads/cf3a708e6048855aab4490b408d22f7c/settings.json"><code class="xref download docutils literal notranslate"><span class="pre">Download</span></code></a></p>
-</div><div aria-labelledby="tab-3-3-1" class="sphinx-tabs-panel" hidden="true" id="panel-3-3-1" name="3-1" role="tabpanel" tabindex="0"><div class="literal-block-wrapper docutils container" id="id6">
-<div class="code-block-caption"><span class="caption-text">settings.json</span><a class="headerlink" href="#id6" title="Link to this code"></a></div>
-<div class="highlight-javascript notranslate"><div class="highlight"><pre><span></span><span class="linenos"> 1</span><span class="p">{</span>
-<span class="linenos"> 2</span><span class="w">    </span><span class="c1">//</span>
-<span class="linenos"> 3</span><span class="w">    </span><span class="c1">// CMAKE</span>
-<span class="linenos"> 4</span><span class="w">    </span><span class="c1">//</span>
-<span class="linenos"> 5</span><span class="w">    </span><span class="c1">// Optional: Adjust to your needs</span>
-<span class="linenos"> 6</span><span class="w">    </span><span class="s2">&quot;cmake.parallelJobs&quot;</span><span class="o">:</span><span class="w"> </span><span class="mf">4</span><span class="p">,</span>
-<span class="linenos"> 7</span><span class="w">    </span><span class="c1">// See openPASS documentation for individual WITH_* settings</span>
-<span class="linenos"> 8</span><span class="w">    </span><span class="s2">&quot;cmake.configureSettings&quot;</span><span class="o">:</span><span class="w"> </span><span class="p">{</span>
-<span class="linenos"> 9</span><span class="w">        </span><span class="c1">// Adjust paths depending on your system</span>
-<span class="linenos">10</span><span class="w">        </span><span class="s2">&quot;CMAKE_PREFIX_PATH&quot;</span><span class="o">:</span><span class="w"> </span><span class="p">[</span>
-<span class="linenos">11</span><span class="w">            </span><span class="s2">&quot;/usr/lib/qt5/bin&quot;</span><span class="p">,</span>
-<span class="linenos">12</span><span class="w">            </span><span class="s2">&quot;${workspaceFolder}/deps/thirdParty/linux64/Yase&quot;</span><span class="p">,</span>
-<span class="linenos">13</span><span class="w">            </span><span class="s2">&quot;${workspaceFolder}/deps/scmThirdParty/linux64/stochastics&quot;</span><span class="p">,</span>
-<span class="linenos">14</span><span class="w">            </span><span class="s2">&quot;${workspaceFolder}/deps/thirdParty/linux64/MantleAPI&quot;</span><span class="p">,</span>
-<span class="linenos">15</span><span class="w">            </span><span class="s2">&quot;${workspaceFolder}/deps/thirdParty/linux64/FMILibrary&quot;</span><span class="p">,</span>
-<span class="linenos">16</span><span class="w">            </span><span class="s2">&quot;${workspaceFolder}/deps/thirdParty/linux64/protobuf&quot;</span><span class="p">,</span>
-<span class="linenos">17</span><span class="w">            </span><span class="s2">&quot;${workspaceFolder}/deps/thirdParty/linux64/protobuf-shared&quot;</span><span class="p">,</span>
-<span class="linenos">18</span><span class="w">            </span><span class="s2">&quot;${workspaceFolder}/deps/thirdParty/linux64/googletest&quot;</span><span class="p">,</span>
-<span class="linenos">19</span><span class="w">            </span><span class="s2">&quot;${workspaceFolder}/deps/thirdParty/linux64/minizip&quot;</span><span class="p">,</span>
-<span class="linenos">20</span><span class="w">            </span><span class="s2">&quot;${workspaceFolder}/deps/thirdParty/linux64/openscenario_api&quot;</span><span class="p">,</span>
-<span class="linenos">21</span><span class="w">            </span><span class="s2">&quot;${workspaceFolder}/deps/thirdParty/linux64/openscenario_engine/release&quot;</span><span class="p">,</span>
-<span class="linenos">22</span><span class="w">            </span><span class="s2">&quot;${workspaceFolder}/deps/thirdParty/linux64/open-simulation-interface&quot;</span><span class="p">,</span>
-<span class="linenos">23</span><span class="w">            </span><span class="s2">&quot;${workspaceFolder}/deps/thirdParty/linux64/zlib&quot;</span><span class="p">,</span>
-<span class="linenos">24</span><span class="w">            </span><span class="s2">&quot;${workspaceFolder}/deps/thirdParty/linux64/units&quot;</span>
-<span class="linenos">25</span><span class="w">        </span><span class="p">],</span>
-<span class="linenos">26</span><span class="w">        </span><span class="s2">&quot;CMAKE_INSTALL_PREFIX&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;/usr/local/openPASS/bin/core&quot;</span><span class="p">,</span>
-<span class="linenos">27</span><span class="w">        </span><span class="s2">&quot;CMAKE_BUILD_TYPE&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;Debug&quot;</span><span class="p">,</span>
-<span class="linenos">28</span><span class="w">        </span><span class="s2">&quot;USE_CCACHE&quot;</span><span class="o">:</span><span class="w"> </span><span class="kc">true</span><span class="p">,</span>
-<span class="linenos">29</span><span class="w">        </span><span class="s2">&quot;WITH_DEBUG_POSTFIX&quot;</span><span class="o">:</span><span class="w"> </span><span class="kc">false</span><span class="p">,</span>
-<span class="linenos">30</span><span class="w">        </span><span class="s2">&quot;OPENPASS_ADJUST_OUTPUT&quot;</span><span class="o">:</span><span class="w"> </span><span class="kc">false</span><span class="p">,</span>
-<span class="linenos">31</span><span class="w">        </span><span class="s2">&quot;INSTALL_EXTRA_RUNTIME_DEPS&quot;</span><span class="o">:</span><span class="w"> </span><span class="kc">true</span><span class="p">,</span>
-<span class="linenos">32</span><span class="w">        </span><span class="s2">&quot;WITH_API_DOC&quot;</span><span class="o">:</span><span class="w"> </span><span class="kc">false</span><span class="p">,</span>
-<span class="linenos">33</span><span class="w">        </span><span class="s2">&quot;WITH_DOC&quot;</span><span class="o">:</span><span class="w"> </span><span class="kc">false</span><span class="p">,</span>
-<span class="linenos">34</span><span class="w">        </span><span class="s2">&quot;WITH_TESTS&quot;</span><span class="o">:</span><span class="w"> </span><span class="kc">true</span><span class="p">,</span>
-<span class="linenos">35</span><span class="w">        </span><span class="c1">// For integration with IntelliSense (see c_cpp_properties.json)</span>
-<span class="linenos">36</span><span class="w">        </span><span class="s2">&quot;CMAKE_EXPORT_COMPILE_COMMANDS&quot;</span><span class="o">:</span><span class="w"> </span><span class="kc">true</span>
-<span class="linenos">37</span><span class="w">    </span><span class="p">},</span>
-<span class="linenos">38</span><span class="w">    </span><span class="c1">//</span>
-<span class="linenos">39</span><span class="w">    </span><span class="c1">// TESTMATE</span>
-<span class="linenos">40</span><span class="w">    </span><span class="c1">//</span>
-<span class="linenos">41</span><span class="w">    </span><span class="c1">// Optional: Adjust to your needs</span>
-<span class="linenos">42</span><span class="w">    </span><span class="s2">&quot;testMate.cpp.test.parallelExecutionLimit&quot;</span><span class="o">:</span><span class="w"> </span><span class="mf">4</span><span class="p">,</span>
-<span class="linenos">43</span><span class="w">    </span><span class="s2">&quot;testMate.cpp.test.parallelExecutionOfExecutableLimit&quot;</span><span class="o">:</span><span class="w"> </span><span class="mf">2</span><span class="p">,</span>
-<span class="linenos">44</span><span class="w">    </span><span class="c1">// Optional: Set, if you like to debug test discovery and test start issues</span>
-<span class="linenos">45</span><span class="w">    </span><span class="s2">&quot;testMate.cpp.log.logfile&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;/tmp/cpp.testmate.log&quot;</span><span class="p">,</span>
-<span class="linenos">46</span><span class="w">    </span><span class="c1">//</span>
-<span class="linenos">47</span><span class="w">    </span><span class="c1">// VSCODE</span>
-<span class="linenos">48</span><span class="w">    </span><span class="c1">//</span>
-<span class="linenos">49</span><span class="w">    </span><span class="c1">// Enforce usage of .clang-format of modified code</span>
-<span class="linenos">50</span><span class="w">    </span><span class="s2">&quot;editor.formatOnSave&quot;</span><span class="o">:</span><span class="w"> </span><span class="kc">true</span><span class="p">,</span>
-<span class="linenos">51</span><span class="w">    </span><span class="s2">&quot;editor.formatOnSaveMode&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;modifications&quot;</span><span class="p">,</span>
-<span class="linenos">52</span><span class="w">    </span><span class="c1">// EOL and whitespace enforcement</span>
-<span class="linenos">53</span><span class="w">    </span><span class="s2">&quot;editor.detectIndentation&quot;</span><span class="o">:</span><span class="w"> </span><span class="kc">true</span><span class="p">,</span>
-<span class="linenos">54</span><span class="w">    </span><span class="s2">&quot;editor.insertSpaces&quot;</span><span class="o">:</span><span class="w"> </span><span class="kc">true</span><span class="p">,</span>
-<span class="linenos">55</span><span class="w">    </span><span class="s2">&quot;editor.renderFinalNewline&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;dimmed&quot;</span><span class="p">,</span>
-<span class="linenos">56</span><span class="w">    </span><span class="s2">&quot;editor.renderWhitespace&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;all&quot;</span><span class="p">,</span>
-<span class="linenos">57</span><span class="w">    </span><span class="s2">&quot;editor.trimAutoWhitespace&quot;</span><span class="o">:</span><span class="w"> </span><span class="kc">true</span><span class="p">,</span>
-<span class="linenos">58</span><span class="w">    </span><span class="s2">&quot;files.insertFinalNewline&quot;</span><span class="o">:</span><span class="w"> </span><span class="kc">true</span><span class="p">,</span>
-<span class="linenos">59</span><span class="w">    </span><span class="s2">&quot;files.trimFinalNewlines&quot;</span><span class="o">:</span><span class="w"> </span><span class="kc">true</span><span class="p">,</span>
-<span class="linenos">60</span><span class="w">    </span><span class="s2">&quot;files.trimTrailingWhitespace&quot;</span><span class="o">:</span><span class="w"> </span><span class="kc">true</span>
-<span class="linenos">61</span><span class="p">}</span>
-</pre></div>
-</div>
-</div>
-<p><a class="reference download internal" download="" href="../../_downloads/631d97fb2e9fb8f8491268ef3e6ec616/settings.json"><code class="xref download docutils literal notranslate"><span class="pre">Download</span></code></a></p>
-</div></div>
-</li>
-</ol>
-</section>
-<section id="c-and-intellisense">
-<h3>C++ and IntelliSense<a class="headerlink" href="#c-and-intellisense" title="Link to this heading"></a></h3>
-<ol class="arabic">
-<li><p>Execute <code class="docutils literal notranslate"><span class="pre">Ctrl+Shift+P</span></code>: <code class="docutils literal notranslate"><span class="pre">C/C++:</span> <span class="pre">Edit</span> <span class="pre">Configurations</span> <span class="pre">(JSON)</span></code></p></li>
-<li><div class="literal-block-wrapper docutils container" id="id7">
-<div class="code-block-caption"><span class="caption-text">c_cpp_properties.json</span><a class="headerlink" href="#id7" title="Link to this code"></a></div>
-<div class="highlight-javascript notranslate"><div class="highlight"><pre><span></span><span class="linenos"> 1</span><span class="p">{</span>
-<span class="linenos"> 2</span><span class="w">    </span><span class="s2">&quot;configurations&quot;</span><span class="o">:</span><span class="w"> </span><span class="p">[</span>
-<span class="linenos"> 3</span><span class="w">        </span><span class="p">{</span>
-<span class="linenos"> 4</span><span class="w">            </span><span class="s2">&quot;name&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;openpass&quot;</span><span class="p">,</span>
-<span class="linenos"> 5</span><span class="w">            </span><span class="s2">&quot;cStandard&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;c99&quot;</span><span class="p">,</span>
-<span class="linenos"> 6</span><span class="w">            </span><span class="s2">&quot;cppStandard&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;c++17&quot;</span><span class="p">,</span>
-<span class="linenos"> 7</span><span class="w">            </span><span class="s2">&quot;configurationProvider&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;ms-vscode.cmake-tools&quot;</span><span class="p">,</span>
-<span class="linenos"> 8</span><span class="w">            </span><span class="s2">&quot;compileCommands&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;${workspaceFolder}/build/compile_commands.json&quot;</span><span class="p">,</span>
-<span class="linenos"> 9</span><span class="w">            </span><span class="s2">&quot;intelliSenseMode&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;linux-gcc-x64&quot;</span>
-<span class="linenos">10</span><span class="w">        </span><span class="p">}</span>
-<span class="linenos">11</span><span class="w">    </span><span class="p">],</span>
-<span class="linenos">12</span><span class="w">    </span><span class="s2">&quot;version&quot;</span><span class="o">:</span><span class="w"> </span><span class="mf">4</span>
-<span class="linenos">13</span><span class="p">}</span>
-</pre></div>
-</div>
-</div>
-<p><a class="reference download internal" download="" href="../../_downloads/dca649c6abf7935b694a9b820bb4efc5/c_cpp_properties.json"><code class="xref download docutils literal notranslate"><span class="pre">Download</span></code></a></p>
-</li>
-</ol>
-</section>
-<section id="configure-the-build">
-<h3>Configure the Build<a class="headerlink" href="#configure-the-build" title="Link to this heading"></a></h3>
-<p>Execute <code class="docutils literal notranslate"><span class="pre">Ctrl+Shift+P</span></code>: <code class="docutils literal notranslate"><span class="pre">CMake:</span> <span class="pre">Configure</span></code></p>
-<p>CMake should now be able to configure the project.
-If not, cmake should give you at least a hint, what’s missing (normally external libraries).
-Read <a class="reference internal" href="../../installation_guide/further_guidance/10_cmake.html#cmake"><span class="std std-ref">CMake Variables and Options</span></a> or <a class="reference internal" href="../../installation_guide/20_install_prerequisites.html#prerequisites"><span class="std std-ref">Installing Prerequisites</span></a> for more information.</p>
-<div class="admonition-cmake admonition">
-<p class="admonition-title">CMake</p>
-<p>Some changes such as changing the build type (Debug/Release) will cause CMake to updates the configuration automatically.
-Other changes won’t trigger an update, such as changing the paths to libraries (<cite>CMAKE_PREFIX_PATH</cite>), the cmake cache needs to be cleared before reconfiguration:
-<code class="docutils literal notranslate"><span class="pre">Ctrl+Shift+P</span></code> &gt; <code class="docutils literal notranslate"><span class="pre">CMake:</span> <span class="pre">Delete</span> <span class="pre">Cache</span> <span class="pre">and</span> <span class="pre">Reconfigure</span></code></p>
-</div>
-</section>
-<section id="debug-targets">
-<h3>Debug Targets<a class="headerlink" href="#debug-targets" title="Link to this heading"></a></h3>
-<p>CMake Tools and C++ Testmate automatically use custom launch configurations, if available.
-When using the debugging functionality, the according executable will be executed from where they are built (per default inside the <code class="docutils literal notranslate"><span class="pre">build</span></code> folder).</p>
-<ul>
-<li><p>This is acceptable for unit test, which do not require openPASS specific libraries.
-The corresponding config is <code class="docutils literal notranslate"><span class="pre">CMake</span> <span class="pre">Target</span></code>.</p></li>
-<li><p>For the core, located at <code class="docutils literal notranslate"><span class="pre">./build/sim/src/core/opSimulation/opSimulation</span></code>, this does not work, as no libraries and no configurations are available.
-As a solution, a second debug target <code class="docutils literal notranslate"><span class="pre">opsimulation</span></code> points at the installed executable instead.</p>
-<div class="admonition warning">
-<p class="admonition-title">Warning</p>
-<p>Don’t forget to run the target <code class="docutils literal notranslate"><span class="pre">install</span></code> before debugging .</p>
-</div>
-</li>
-</ul>
-<ol class="arabic simple">
-<li><p>Got to “Run and Debug” (<code class="docutils literal notranslate"><span class="pre">Ctrl+Shift+D</span></code>) and <em>create a launch.json file</em>.</p></li>
-<li><p>Insert/Update:</p></li>
-</ol>
-<div class="sphinx-tabs docutils container">
-<div aria-label="Tabbed content" class="closeable" role="tablist"><button aria-controls="panel-4-4-0" aria-selected="true" class="sphinx-tabs-tab" id="tab-4-4-0" name="4-0" role="tab" tabindex="0">Windows</button><button aria-controls="panel-4-4-1" aria-selected="false" class="sphinx-tabs-tab" id="tab-4-4-1" name="4-1" role="tab" tabindex="-1">Linux</button></div><div aria-labelledby="tab-4-4-0" class="sphinx-tabs-panel" id="panel-4-4-0" name="4-0" role="tabpanel" tabindex="0"><div class="literal-block-wrapper docutils container" id="id8">
-<div class="code-block-caption"><span class="caption-text">launch.json</span><a class="headerlink" href="#id8" title="Link to this code"></a></div>
-<div class="highlight-javascript notranslate"><div class="highlight"><pre><span></span><span class="linenos"> 1</span><span class="p">{</span>
-<span class="linenos"> 2</span><span class="w">    </span><span class="s2">&quot;version&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;0.2.0&quot;</span><span class="p">,</span>
-<span class="linenos"> 3</span><span class="w">    </span><span class="s2">&quot;configurations&quot;</span><span class="o">:</span><span class="w"> </span><span class="p">[</span>
-<span class="linenos"> 4</span><span class="w">        </span><span class="p">{</span>
-<span class="linenos"> 5</span><span class="w">            </span><span class="c1">// FOR TESTMATE (SELECTED TEST) AND CMAKE (DEBUG CMAKE TARGET)</span>
-<span class="linenos"> 6</span><span class="w">            </span><span class="s2">&quot;name&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;CMake Target&quot;</span><span class="p">,</span>
-<span class="linenos"> 7</span><span class="w">            </span><span class="s2">&quot;type&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;cppdbg&quot;</span><span class="p">,</span>
-<span class="linenos"> 8</span><span class="w">            </span><span class="s2">&quot;request&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;launch&quot;</span><span class="p">,</span>
-<span class="linenos"> 9</span><span class="w">            </span><span class="s2">&quot;program&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;${command:cmake.launchTargetPath}&quot;</span><span class="p">,</span>
-<span class="linenos">10</span><span class="w">            </span><span class="s2">&quot;args&quot;</span><span class="o">:</span><span class="w"> </span><span class="p">[],</span>
-<span class="linenos">11</span><span class="w">            </span><span class="s2">&quot;stopAtEntry&quot;</span><span class="o">:</span><span class="w"> </span><span class="kc">false</span><span class="p">,</span>
-<span class="linenos">12</span><span class="w">            </span><span class="s2">&quot;cwd&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;${workspaceFolder}&quot;</span><span class="p">,</span>
-<span class="linenos">13</span><span class="w">            </span><span class="s2">&quot;environment&quot;</span><span class="o">:</span><span class="w"> </span><span class="p">[</span>
-<span class="linenos">14</span><span class="w">                </span><span class="p">{</span>
-<span class="linenos">15</span><span class="w">                    </span><span class="s2">&quot;name&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;PATH&quot;</span><span class="p">,</span>
-<span class="linenos">16</span><span class="w">                    </span><span class="s2">&quot;value&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;$PATH:${command:msys2.root}\\bin;${command:mingw64.root}\\x86_64-w64-mingw32\\lib${command:cmake.buildkit.launch.path}&quot;</span>
-<span class="linenos">17</span><span class="w">                </span><span class="p">}</span>
-<span class="linenos">18</span><span class="w">            </span><span class="p">],</span>
-<span class="linenos">19</span><span class="w">            </span><span class="s2">&quot;externalConsole&quot;</span><span class="o">:</span><span class="w"> </span><span class="kc">false</span><span class="p">,</span>
-<span class="linenos">20</span><span class="w">            </span><span class="s2">&quot;MIMode&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;gdb&quot;</span><span class="p">,</span>
-<span class="linenos">21</span><span class="w">            </span><span class="s2">&quot;miDebuggerPath&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;${command:cmake.buildkit.gdb.exe}&quot;</span><span class="p">,</span>
-<span class="linenos">22</span><span class="w">            </span><span class="s2">&quot;setupCommands&quot;</span><span class="o">:</span><span class="w"> </span><span class="p">[</span>
-<span class="linenos">23</span><span class="w">                </span><span class="p">{</span>
-<span class="linenos">24</span><span class="w">                    </span><span class="s2">&quot;description&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;Enable pretty-printing for gdb&quot;</span><span class="p">,</span>
-<span class="linenos">25</span><span class="w">                    </span><span class="s2">&quot;text&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;-enable-pretty-printing&quot;</span><span class="p">,</span>
-<span class="linenos">26</span><span class="w">                    </span><span class="s2">&quot;ignoreFailures&quot;</span><span class="o">:</span><span class="w"> </span><span class="kc">true</span>
-<span class="linenos">27</span><span class="w">                </span><span class="p">}</span>
-<span class="linenos">28</span><span class="w">            </span><span class="p">]</span>
-<span class="linenos">29</span><span class="w">        </span><span class="p">},</span>
-<span class="linenos">30</span><span class="w">        </span><span class="p">{</span>
-<span class="linenos">31</span><span class="w">            </span><span class="c1">// FOR DEBUGGING opSimulation (DON&#39;T FORGET TO CALL make install)</span>
-<span class="linenos">32</span><span class="w">            </span><span class="s2">&quot;name&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;opsimulation&quot;</span><span class="p">,</span>
-<span class="linenos">33</span><span class="w">            </span><span class="s2">&quot;type&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;cppdbg&quot;</span><span class="p">,</span>
-<span class="linenos">34</span><span class="w">            </span><span class="s2">&quot;request&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;launch&quot;</span><span class="p">,</span>
-<span class="linenos">35</span><span class="w">            </span><span class="s2">&quot;program&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;${workspaceFolder}\\bin\\core\\opSimulation.exe&quot;</span><span class="p">,</span>
-<span class="linenos">36</span><span class="w">            </span><span class="s2">&quot;args&quot;</span><span class="o">:</span><span class="w"> </span><span class="p">[],</span>
-<span class="linenos">37</span><span class="w">            </span><span class="s2">&quot;stopAtEntry&quot;</span><span class="o">:</span><span class="w"> </span><span class="kc">false</span><span class="p">,</span>
-<span class="linenos">38</span><span class="w">            </span><span class="s2">&quot;cwd&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;${workspaceFolder}\\bin\\core&quot;</span><span class="p">,</span>
-<span class="linenos">39</span><span class="w">            </span><span class="s2">&quot;environment&quot;</span><span class="o">:</span><span class="w"> </span><span class="p">[</span>
-<span class="linenos">40</span><span class="w">                </span><span class="p">{</span>
-<span class="linenos">41</span><span class="w">                    </span><span class="s2">&quot;name&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;PATH&quot;</span><span class="p">,</span>
-<span class="linenos">42</span><span class="w">                    </span><span class="s2">&quot;value&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;$PATH:${command:msys2.root}\\bin;${command:mingw64.root}\\x86_64-w64-mingw32\\lib${command:cmake.buildkit.launch.path}&quot;</span>
-<span class="linenos">43</span><span class="w">                </span><span class="p">}</span>
-<span class="linenos">44</span><span class="w">            </span><span class="p">],</span>
-<span class="linenos">45</span><span class="w">            </span><span class="s2">&quot;externalConsole&quot;</span><span class="o">:</span><span class="w"> </span><span class="kc">false</span><span class="p">,</span>
-<span class="linenos">46</span><span class="w">            </span><span class="s2">&quot;MIMode&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;gdb&quot;</span><span class="p">,</span>
-<span class="linenos">47</span><span class="w">            </span><span class="s2">&quot;miDebuggerPath&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;${command:cmake.buildkit.gdb.exe}&quot;</span><span class="p">,</span>
-<span class="linenos">48</span><span class="w">            </span><span class="s2">&quot;setupCommands&quot;</span><span class="o">:</span><span class="w"> </span><span class="p">[</span>
-<span class="linenos">49</span><span class="w">                </span><span class="p">{</span>
-<span class="linenos">50</span><span class="w">                    </span><span class="s2">&quot;description&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;Enable pretty-printing for gdb&quot;</span><span class="p">,</span>
-<span class="linenos">51</span><span class="w">                    </span><span class="s2">&quot;text&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;-enable-pretty-printing&quot;</span><span class="p">,</span>
-<span class="linenos">52</span><span class="w">                    </span><span class="s2">&quot;ignoreFailures&quot;</span><span class="o">:</span><span class="w"> </span><span class="kc">true</span>
-<span class="linenos">53</span><span class="w">                </span><span class="p">}</span>
-<span class="linenos">54</span><span class="w">            </span><span class="p">]</span>
-<span class="linenos">55</span><span class="w">        </span><span class="p">}</span>
-<span class="linenos">56</span><span class="w">    </span><span class="p">]</span>
-<span class="linenos">57</span><span class="p">}</span>
-</pre></div>
-</div>
-</div>
-<p><a class="reference download internal" download="" href="../../_downloads/29dd021e0bdb423fc1a0b9b1d8df02f7/launch.json"><code class="xref download docutils literal notranslate"><span class="pre">Download</span></code></a></p>
-</div><div aria-labelledby="tab-4-4-1" class="sphinx-tabs-panel" hidden="true" id="panel-4-4-1" name="4-1" role="tabpanel" tabindex="0"><div class="literal-block-wrapper docutils container" id="id9">
-<div class="code-block-caption"><span class="caption-text">launch.json</span><a class="headerlink" href="#id9" title="Link to this code"></a></div>
-<div class="highlight-javascript notranslate"><div class="highlight"><pre><span></span><span class="linenos"> 1</span><span class="p">{</span>
-<span class="linenos"> 2</span><span class="w">    </span><span class="s2">&quot;version&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;0.2.0&quot;</span><span class="p">,</span>
-<span class="linenos"> 3</span><span class="w">    </span><span class="s2">&quot;configurations&quot;</span><span class="o">:</span><span class="w"> </span><span class="p">[</span>
-<span class="linenos"> 4</span><span class="w">        </span><span class="p">{</span>
-<span class="linenos"> 5</span><span class="w">            </span><span class="c1">// FOR TESTMATE (SELECTED TEST) AND CMAKE (DEBUG CMAKE TARGET)</span>
-<span class="linenos"> 6</span><span class="w">            </span><span class="s2">&quot;name&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;CMake Target&quot;</span><span class="p">,</span>
-<span class="linenos"> 7</span><span class="w">            </span><span class="s2">&quot;type&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;cppdbg&quot;</span><span class="p">,</span>
-<span class="linenos"> 8</span><span class="w">            </span><span class="s2">&quot;request&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;launch&quot;</span><span class="p">,</span>
-<span class="linenos"> 9</span><span class="w">            </span><span class="s2">&quot;program&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;${command:cmake.launchTargetPath}&quot;</span><span class="p">,</span>
-<span class="linenos">10</span><span class="w">            </span><span class="s2">&quot;args&quot;</span><span class="o">:</span><span class="w"> </span><span class="p">[],</span>
-<span class="linenos">11</span><span class="w">            </span><span class="s2">&quot;stopAtEntry&quot;</span><span class="o">:</span><span class="w"> </span><span class="kc">false</span><span class="p">,</span>
-<span class="linenos">12</span><span class="w">            </span><span class="s2">&quot;cwd&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;${workspaceFolder}&quot;</span><span class="p">,</span>
-<span class="linenos">13</span><span class="w">            </span><span class="s2">&quot;externalConsole&quot;</span><span class="o">:</span><span class="w"> </span><span class="kc">false</span><span class="p">,</span>
-<span class="linenos">14</span><span class="w">            </span><span class="s2">&quot;MIMode&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;gdb&quot;</span><span class="p">,</span>
-<span class="linenos">15</span><span class="w">            </span><span class="s2">&quot;setupCommands&quot;</span><span class="o">:</span><span class="w"> </span><span class="p">[</span>
-<span class="linenos">16</span><span class="w">                </span><span class="p">{</span>
-<span class="linenos">17</span><span class="w">                    </span><span class="s2">&quot;description&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;Enable pretty-printing for gdb&quot;</span><span class="p">,</span>
-<span class="linenos">18</span><span class="w">                    </span><span class="s2">&quot;text&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;-enable-pretty-printing&quot;</span><span class="p">,</span>
-<span class="linenos">19</span><span class="w">                    </span><span class="s2">&quot;ignoreFailures&quot;</span><span class="o">:</span><span class="w"> </span><span class="kc">true</span>
-<span class="linenos">20</span><span class="w">                </span><span class="p">}</span>
-<span class="linenos">21</span><span class="w">            </span><span class="p">]</span>
-<span class="linenos">22</span><span class="w">        </span><span class="p">},</span>
-<span class="linenos">23</span><span class="w">        </span><span class="p">{</span>
-<span class="linenos">24</span><span class="w">            </span><span class="c1">// FOR DEBUGGING opSimulation (DON&#39;T FORGET TO CALL make install)</span>
-<span class="linenos">25</span><span class="w">            </span><span class="s2">&quot;name&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;opsimulation&quot;</span><span class="p">,</span>
-<span class="linenos">26</span><span class="w">            </span><span class="s2">&quot;type&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;cppdbg&quot;</span><span class="p">,</span>
-<span class="linenos">27</span><span class="w">            </span><span class="s2">&quot;request&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;launch&quot;</span><span class="p">,</span>
-<span class="linenos">28</span><span class="w">            </span><span class="s2">&quot;program&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;/usr/local/openPASS/bin/core/opSimulation&quot;</span><span class="p">,</span>
-<span class="linenos">29</span><span class="w">            </span><span class="s2">&quot;args&quot;</span><span class="o">:</span><span class="w"> </span><span class="p">[],</span>
-<span class="linenos">30</span><span class="w">            </span><span class="s2">&quot;stopAtEntry&quot;</span><span class="o">:</span><span class="w"> </span><span class="kc">false</span><span class="p">,</span>
-<span class="linenos">31</span><span class="w">            </span><span class="s2">&quot;cwd&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;/usr/local/openPASS/bin/core/&quot;</span><span class="p">,</span>
-<span class="linenos">32</span><span class="w">            </span><span class="s2">&quot;externalConsole&quot;</span><span class="o">:</span><span class="w"> </span><span class="kc">false</span><span class="p">,</span>
-<span class="linenos">33</span><span class="w">            </span><span class="s2">&quot;MIMode&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;gdb&quot;</span><span class="p">,</span>
-<span class="linenos">34</span><span class="w">            </span><span class="s2">&quot;setupCommands&quot;</span><span class="o">:</span><span class="w"> </span><span class="p">[</span>
-<span class="linenos">35</span><span class="w">                </span><span class="p">{</span>
-<span class="linenos">36</span><span class="w">                    </span><span class="s2">&quot;description&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;Enable pretty-printing for gdb&quot;</span><span class="p">,</span>
-<span class="linenos">37</span><span class="w">                    </span><span class="s2">&quot;text&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;-enable-pretty-printing&quot;</span><span class="p">,</span>
-<span class="linenos">38</span><span class="w">                    </span><span class="s2">&quot;ignoreFailures&quot;</span><span class="o">:</span><span class="w"> </span><span class="kc">true</span>
-<span class="linenos">39</span><span class="w">                </span><span class="p">}</span>
-<span class="linenos">40</span><span class="w">            </span><span class="p">]</span>
-<span class="linenos">41</span><span class="w">        </span><span class="p">}</span>
-<span class="linenos">42</span><span class="w">    </span><span class="p">]</span>
-<span class="linenos">43</span><span class="p">}</span>
-</pre></div>
-</div>
-</div>
-<p><a class="reference download internal" download="" href="../../_downloads/f717c80213b149820a0dc8e07e803940/launch.json"><code class="xref download docutils literal notranslate"><span class="pre">Download</span></code></a></p>
-</div></div>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>IntelliSense uses the <code class="docutils literal notranslate"><span class="pre">compile_commands.json</span></code> of generated through <code class="docutils literal notranslate"><span class="pre">CMAKE_EXPORT_COMPILE_COMMANDS=ON</span></code> (see <code class="docutils literal notranslate"><span class="pre">settings.json</span></code>).
-This is necessary for proper resolution of the include files.</p>
-</div>
-</section>
-</section>
-<section id="troubleshooting">
-<h2>Troubleshooting<a class="headerlink" href="#troubleshooting" title="Link to this heading"></a></h2>
-<p><img alt="win_only" src="../../_images/win_only.png" /> <strong>Program does not start</strong></p>
-<p>The most effective way to debug startup issues is by means of the <a class="reference external" href="https://docs.microsoft.com/en-us/sysinternals/downloads/procmon">Process Monitor</a>.</p>
-<p>But normally, its a missing DLL. When executing the program via command line or explorer a message box should prompt which DLLs are missing.
-A simple solution is to copy the according DLLs into the folder of the executable.
-Another solution is to make the path available by extending the <code class="docutils literal notranslate"><span class="pre">PATH</span></code> environment variable.
-Potential sources for missing DLLs are <code class="docutils literal notranslate"><span class="pre">C:\msys64\mingw64\bin</span></code>, <code class="docutils literal notranslate"><span class="pre">C:\msys64\mingw64\x86_64-w64-mingw32\lib</span></code>, and the <code class="docutils literal notranslate"><span class="pre">build</span></code> folder itself.</p>
-<p><strong>Tests are not listed</strong></p>
-<p>For test discovery, C++ Testmate needs to know the location of all additional dependencies.
-This information is retrieved from the current debug configuration.</p>
-<ol class="arabic simple">
-<li><p>Testmate discovers tests only after they are built.
-It pays to <code class="docutils literal notranslate"><span class="pre">Run</span> <span class="pre">CTest</span></code> to build all test targets.
-After this, you should see all tests in the testing pane on the left.</p></li>
-<li><p>Still not listed? Set <code class="docutils literal notranslate"><span class="pre">testMate.cpp.log.logfile</span></code> in <code class="docutils literal notranslate"><span class="pre">settings.json</span></code> and check log.</p>
-<ol class="arabic simple">
-<li><p>Test executable not mentioned at all:
-Executable name might not fit (check glob pattern in <code class="docutils literal notranslate"><span class="pre">testMate.cpp.test.executables</span></code>).</p></li>
-<li><p>Log reports <em>Error: Not a supported test executable</em>: a library/DLL might be missing.</p></li>
-</ol>
-</li>
-</ol>
-</section>
-</section>
-
-
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+</ul>
+</li>
+<li class="toctree-l3"><a class="reference internal" href="#configuration">Configuration</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="#win-only-msys2-path"> MSYS2 Path</a></li>
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+          <li class="breadcrumb-item"><a href="../10_ide_support.html">IDE Support</a></li>
+      <li class="breadcrumb-item active">Working with Visual Studio Code</li>
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+            <a href="../../_sources/developer_information/ide_support/30_vscode.rst.txt" rel="nofollow"> View page source</a>
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+          <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
+           <div itemprop="articleBody">
+             
+  <section id="working-with-visual-studio-code">
+<span id="vscode"></span><h1>Working with Visual Studio Code<a class="headerlink" href="#working-with-visual-studio-code" title="Link to this heading"></a></h1>
+<p>This section describes the basic setup for Visual Studio Code.</p>
+<figure class="align-center" id="id1">
+<img alt="../../_images/vscode_quick_intro.png" src="../../_images/vscode_quick_intro.png" />
+<figcaption>
+<p><span class="caption-text">Correctly configured Visual Studio Code showing – among other things – <strong>left</strong>, debugging, testmate, and cmake pane selectors, and at the <strong>bottom</strong>, build type, kit, current target, and CTest runner.</span><a class="headerlink" href="#id1" title="Link to this image"></a></p>
+</figcaption>
+</figure>
+<section id="assumptions">
+<h2>Assumptions<a class="headerlink" href="#assumptions" title="Link to this heading"></a></h2>
+<ul class="simple">
+<li><p>For brevity, non-standard libraries are expected to be in the folder <code class="docutils literal notranslate"><span class="pre">./deps/thirdParty</span></code>.</p></li>
+<li><p><img alt="win_only" src="../../_images/win_only.png" /> <strong>MSYS2/MinGW 64 Bit</strong> is used.</p></li>
+</ul>
+</section>
+<section id="installation">
+<h2>Installation<a class="headerlink" href="#installation" title="Link to this heading"></a></h2>
+<ol class="arabic simple">
+<li><p>Install Visual Studio Code (<a class="reference external" href="https://code.visualstudio.com">https://code.visualstudio.com</a>)</p></li>
+<li><p>Install Extensions</p></li>
+</ol>
+<table class="docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Name</p></th>
+<th class="head"><p>Purpose</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p><a class="reference external" href="https://marketplace.visualstudio.com/items?itemName=ms-vscode.cpptools">C/C++</a></p></td>
+<td><p>Support for C/C++, including IntelliSense and debugging</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference external" href="https://vector-of-bool.github.io/docs/vscode-cmake-tools">CMake Tools</a></p></td>
+<td><p>Extended CMake support</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference external" href="https://marketplace.visualstudio.com/items?itemName=matepek.vscode-catch2-test-adapter">C++ Testmate</a></p></td>
+<td><p>Run and debug GoogleTest</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference external" href="https://marketplace.visualstudio.com/items?itemName=fougas.msys2">MSYS2/Cygwin/MinGW/Clang support</a></p></td>
+<td><p><img alt="win_only" src="../../_images/win_only.png" /> MSYS2/MinGW configuration adapter</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference external" href="https://code.visualstudio.com/docs/devcontainers/containers">Remote Development</a></p></td>
+<td><p>Development using DevContainers</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference external" href="https://code.visualstudio.com/docs/containers/overview">Docker</a></p></td>
+<td><p>Additional information for DevContainer prerequisites</p></td>
+</tr>
+</tbody>
+</table>
+</section>
+<section id="set-up-development-containers-in-visual-studio-code">
+<h2>Set Up Development Containers in Visual Studio Code<a class="headerlink" href="#set-up-development-containers-in-visual-studio-code" title="Link to this heading"></a></h2>
+<section id="introduction">
+<h3>Introduction<a class="headerlink" href="#introduction" title="Link to this heading"></a></h3>
+<p>This section provides step-by-step instructions on setting up development containers in Visual Studio Code (VSCode). Development containers allow you to define and manage your development environment using Docker containers, ensuring consistent and reproducible setups across different machines.</p>
+</section>
+<section id="prerequisites">
+<h3>Prerequisites<a class="headerlink" href="#prerequisites" title="Link to this heading"></a></h3>
+<p>Before you begin, make sure <code class="docutils literal notranslate"><span class="pre">docker</span></code> is installed in your system. If <code class="docutils literal notranslate"><span class="pre">docker</span></code> is not installed, follow the below steps.</p>
+<div class="sphinx-tabs docutils container">
+<div aria-label="Tabbed content" class="closeable" role="tablist"><button aria-controls="panel-0-0-0" aria-selected="true" class="sphinx-tabs-tab" id="tab-0-0-0" name="0-0" role="tab" tabindex="0">Windows</button><button aria-controls="panel-0-0-1" aria-selected="false" class="sphinx-tabs-tab" id="tab-0-0-1" name="0-1" role="tab" tabindex="-1">Linux</button></div><div aria-labelledby="tab-0-0-0" class="sphinx-tabs-panel" id="panel-0-0-0" name="0-0" role="tabpanel" tabindex="0"><ol class="arabic">
+<li><p>Open PowerShell in Administrator Mode by right-clicking and selecting “Run as administrator.”.</p></li>
+<li><p>To install wsl, run the following command and then restart the machine:</p>
+<div class="highlight-powershell notranslate"><div class="highlight"><pre><span></span><span class="n">wsl</span> <span class="p">-</span><span class="n">-install</span>
+</pre></div>
+</div>
+<p>The above command only works if WSL is not installed at all.
+If you run <code class="docutils literal notranslate"><span class="pre">wsl</span> <span class="pre">--install</span></code> and see the WSL help text, try running <code class="docutils literal notranslate"><span class="pre">wsl</span> <span class="pre">--list</span> <span class="pre">--online</span></code> to see a list of available distros and run <code class="docutils literal notranslate"><span class="pre">wsl</span> <span class="pre">--install</span> <span class="pre">-d</span> <span class="pre">&lt;Linux</span> <span class="pre">DistroName&gt;</span></code> to install a distro. The recommended distro is <code class="docutils literal notranslate"><span class="pre">Ubuntu</span></code> and the following steps assumes the distro as <code class="docutils literal notranslate"><span class="pre">Ubuntu</span></code></p>
+</li>
+<li><p>Once the distro is installed, check the version of the installed distro</p>
+<div class="highlight-powershell notranslate"><div class="highlight"><pre><span></span><span class="n">wsl</span> <span class="n">-l</span> <span class="n">-v</span>
+</pre></div>
+</div>
+<p>If the version is 1, then change it to 2 using the command <code class="docutils literal notranslate"><span class="pre">wsl</span> <span class="pre">--set-version</span> <span class="pre">&lt;distro&gt;</span> <span class="pre">2</span></code></p>
+</li>
+<li><p>After successful installation, open Ubuntu by searching <code class="docutils literal notranslate"><span class="pre">Ubuntu</span></code> in windows search bar</p></li>
+<li><p>Install the dependencies to run docker on the distro using the following command</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>sudo<span class="w"> </span>apt<span class="w"> </span>install<span class="w"> </span>--no-install-recommends<span class="w"> </span>apt-transport-https<span class="w"> </span>ca-certificates<span class="w"> </span>curl
+</pre></div>
+</div>
+</li>
+<li><p>On Debian or Ubuntu, first temporarily set some OS-specific variables:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>.<span class="w"> </span>/etc/os-release
+</pre></div>
+</div>
+<p>Then, make sure <code class="docutils literal notranslate"><span class="pre">apt</span></code> trust the docker repo</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>curl<span class="w"> </span>-fsSL<span class="w"> </span>https://download.docker.com/linux/<span class="si">${</span><span class="nv">ID</span><span class="si">}</span>/gpg<span class="w"> </span><span class="p">|</span><span class="w"> </span>sudo<span class="w"> </span>tee<span class="w"> </span>/etc/apt/trusted.gpg.d/docker.asc
+</pre></div>
+</div>
+<p>ID will be either <code class="docutils literal notranslate"><span class="pre">ubuntu</span></code> or <code class="docutils literal notranslate"><span class="pre">debian</span></code>, as appropriate, depending on what is in <code class="docutils literal notranslate"><span class="pre">/etc/os-release</span></code>.</p>
+</li>
+<li><p>Add docker repo information to the <code class="docutils literal notranslate"><span class="pre">apt</span></code> to install docker.</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="nb">echo</span><span class="w"> </span><span class="s2">&quot;deb [arch=amd64] https://download.docker.com/linux/</span><span class="si">${</span><span class="nv">ID</span><span class="si">}</span><span class="s2"> </span><span class="si">${</span><span class="nv">VERSION_CODENAME</span><span class="si">}</span><span class="s2"> stable&quot;</span><span class="w"> </span><span class="p">|</span><span class="w"> </span>sudo<span class="w"> </span>tee<span class="w"> </span>/etc/apt/sources.list.d/docker.list
+sudo<span class="w"> </span>apt<span class="w"> </span>update
+</pre></div>
+</div>
+</li>
+<li><p>Install Docker and add user to the <code class="docutils literal notranslate"><span class="pre">docker</span></code> group</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>sudo<span class="w"> </span>apt<span class="w"> </span>install<span class="w"> </span>docker-ce<span class="w"> </span>docker-ce-cli<span class="w"> </span>containerd.io
+sudo<span class="w"> </span>usermod<span class="w"> </span>-aG<span class="w"> </span>docker<span class="w"> </span><span class="nv">$USER</span>
+</pre></div>
+</div>
+<p>Replace <code class="docutils literal notranslate"><span class="pre">$USER</span></code> with your user name on distro. Then close the WSL window, and launch WSL again. You should see <code class="docutils literal notranslate"><span class="pre">docker</span></code> when you run the command <code class="docutils literal notranslate"><span class="pre">groups</span></code> on command prompt to list group memberships.</p>
+</li>
+<li><p>Launch <code class="docutils literal notranslate"><span class="pre">dockerd</span></code> using the following command</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>sudo<span class="w"> </span>dockerd
+</pre></div>
+</div>
+<p>There should be several lines of info, warnings related to cgroup blkio, and the like, with something like API listen on /var/run/docker.sock at the end. If so, you have success.
+If there is any network controller issue, execute the following compile_commands</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="nb">echo</span><span class="w"> </span>-e<span class="w"> </span><span class="s2">&quot;[network]\ngenerateResolvConf = false&quot;</span><span class="w"> </span><span class="p">|</span><span class="w"> </span>sudo<span class="w"> </span>tee<span class="w"> </span>-a<span class="w"> </span>/etc/wsl.conf
+sudo<span class="w"> </span>unlink<span class="w"> </span>/etc/resolv.conf
+<span class="nb">echo</span><span class="w"> </span>nameserver<span class="w"> </span><span class="m">1</span>.1.1.1<span class="w"> </span><span class="p">|</span><span class="w"> </span>sudo<span class="w"> </span>tee<span class="w"> </span>/etc/resolv.conf
+</pre></div>
+</div>
+<p>Also switch to legacy iptables using the following command</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>update-alternatives<span class="w"> </span>--config<span class="w"> </span>iptables
+</pre></div>
+</div>
+<p>And select iptables-legacy
+Rerun the command <code class="docutils literal notranslate"><span class="pre">sudo</span> <span class="pre">dockerd</span></code> and check if it is succeeded.</p>
+</li>
+<li><p>To check if <code class="docutils literal notranslate"><span class="pre">docker</span></code> is running from Windows, in PowerShell execute the following command.</p></li>
+</ol>
+<blockquote>
+<div><div class="highlight-powershell notranslate"><div class="highlight"><pre><span></span><span class="n">wsl</span> <span class="n">-d</span> <span class="n">Ubuntu</span> <span class="n">docker</span> <span class="n">-H</span> <span class="n">unix</span><span class="p">:///</span><span class="n">var</span><span class="p">/</span><span class="n">run</span><span class="p">/</span><span class="n">docker</span><span class="p">.</span><span class="n">sock</span> <span class="p">-</span><span class="n">-version</span>
+</pre></div>
+</div>
+</div></blockquote>
+</div><div aria-labelledby="tab-0-0-1" class="sphinx-tabs-panel" hidden="true" id="panel-0-0-1" name="0-1" role="tabpanel" tabindex="0"><ol class="arabic">
+<li><p>Open a terminal window.</p></li>
+<li><p>Execute the following command</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>docker<span class="w"> </span>--version
+</pre></div>
+</div>
+<p>If Docker is installed, you will see the version information displayed in the terminal.</p>
+</li>
+<li><p>If Docker is not installed, you can install it using the following steps:</p>
+<ol class="arabic">
+<li><p>Update your package list using the command:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>sudo<span class="w"> </span>apt<span class="w"> </span>update
+</pre></div>
+</div>
+</li>
+<li><p>Install Docker using the following command:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>sudo<span class="w"> </span>apt<span class="w"> </span>install<span class="w"> </span>docker.io
+</pre></div>
+</div>
+</li>
+<li><p>You may need to add your user to the “docker” group to use Docker without sudo. Run the following command to add your user to the group (replace <cite>&lt;username&gt;</cite> with your actual username):</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>sudo<span class="w"> </span>usermod<span class="w"> </span>-aG<span class="w"> </span>docker<span class="w"> </span>&lt;username&gt;
+</pre></div>
+</div>
+</li>
+</ol>
+</li>
+</ol>
+</div></div>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>For more detailed instructions and troubleshooting related to Docker, refer to the official Docker documentation: <a class="reference external" href="https://docs.docker.com/get-docker/">https://docs.docker.com/get-docker/</a></p>
+</div>
+</section>
+<section id="devcontainers">
+<h3>DevContainers<a class="headerlink" href="#devcontainers" title="Link to this heading"></a></h3>
+<p>Open the repository in VSCode as folder, e.g. by calling <code class="docutils literal notranslate"><span class="pre">code</span> <span class="pre">openpass</span></code> after checking out and then define the development container configuration.</p>
+<ol class="arabic">
+<li><p>Open the repository as folder, e.g. by calling <code class="docutils literal notranslate"><span class="pre">code</span> <span class="pre">openpass</span></code> after checking out.</p></li>
+<li><p>Create the folder <code class="docutils literal notranslate"><span class="pre">.devcontainer</span></code> at the root of the project and configure your development container using JSON format. Below is an example configuration:</p>
+<div class="sphinx-tabs docutils container">
+<div aria-label="Tabbed content" class="closeable" role="tablist"><button aria-controls="panel-1-1-0" aria-selected="true" class="sphinx-tabs-tab" id="tab-1-1-0" name="1-0" role="tab" tabindex="0">Windows</button><button aria-controls="panel-1-1-1" aria-selected="false" class="sphinx-tabs-tab" id="tab-1-1-1" name="1-1" role="tab" tabindex="-1">Linux</button></div><div aria-labelledby="tab-1-1-0" class="sphinx-tabs-panel" id="panel-1-1-0" name="1-0" role="tabpanel" tabindex="0"><div class="literal-block-wrapper docutils container" id="id2">
+<div class="code-block-caption"><span class="caption-text">devcontainer.json</span><a class="headerlink" href="#id2" title="Link to this code"></a></div>
+<div class="highlight-javascript notranslate"><div class="highlight"><pre><span></span><span class="linenos">1</span><span class="p">{</span>
+<span class="linenos">2</span><span class="w">  </span><span class="s2">&quot;name&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;openPASS DevContainer&quot;</span><span class="p">,</span>
+<span class="linenos">3</span><span class="w">  </span><span class="s2">&quot;dockerFile&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;../utils/Dockerfile&quot;</span><span class="p">,</span>
+<span class="linenos">4</span><span class="w">  </span><span class="s2">&quot;workspaceFolder&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;/workspaces/openPASS&quot;</span>
+<span class="linenos">5</span><span class="p">}</span>
+</pre></div>
+</div>
+</div>
+<p><a class="reference download internal" download="" href="../../_downloads/a65389c511a382161f2a161fdf5ea53f/devcontainer.json"><code class="xref download docutils literal notranslate"><span class="pre">Download</span></code></a></p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>To use docker daemons running on WSL, open <code class="docutils literal notranslate"><span class="pre">settings</span></code> in VSCode and search for <code class="docutils literal notranslate"><span class="pre">Execute</span> <span class="pre">In</span> <span class="pre">WSL</span></code> and select the option to execute in WSL. Also, under <code class="docutils literal notranslate"><span class="pre">Execute</span> <span class="pre">in</span> <span class="pre">WSLDistro</span></code> enter your distro name, for example: <code class="docutils literal notranslate"><span class="pre">Ubuntu</span></code></p>
+</div>
+</div><div aria-labelledby="tab-1-1-1" class="sphinx-tabs-panel" hidden="true" id="panel-1-1-1" name="1-1" role="tabpanel" tabindex="0"><div class="literal-block-wrapper docutils container" id="id3">
+<div class="code-block-caption"><span class="caption-text">devcontainer.json</span><a class="headerlink" href="#id3" title="Link to this code"></a></div>
+<div class="highlight-javascript notranslate"><div class="highlight"><pre><span></span><span class="linenos">1</span><span class="p">{</span>
+<span class="linenos">2</span><span class="w">  </span><span class="s2">&quot;name&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;openPASS DevContainer&quot;</span><span class="p">,</span>
+<span class="linenos">3</span><span class="w">  </span><span class="s2">&quot;dockerFile&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;../utils/Dockerfile&quot;</span><span class="p">,</span>
+<span class="linenos">4</span><span class="w">  </span><span class="s2">&quot;workspaceFolder&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;/workspaces/openPASS&quot;</span>
+<span class="linenos">5</span><span class="p">}</span>
+</pre></div>
+</div>
+</div>
+<p><a class="reference download internal" download="" href="../../_downloads/a65389c511a382161f2a161fdf5ea53f/devcontainer.json"><code class="xref download docutils literal notranslate"><span class="pre">Download</span></code></a></p>
+</div></div>
+</li>
+<li><p>Open Your Project in a Development Container:</p>
+<ol class="arabic simple">
+<li><p>Open the command palette by pressing <cite>Ctrl+Shift+P</cite>.</p></li>
+<li><p>Type “Dev Containers: Open Folder in Container” and select your project folder.</p></li>
+<li><p>VSCode will build the Docker container based on the configuration and open your project inside it.</p></li>
+</ol>
+</li>
+<li><p>Developing in the Container:</p>
+<ol class="arabic simple">
+<li><p>You can now edit files, install packages, and run code within the development container.</p></li>
+<li><p>Installed extensions and settings in the container will be isolated from your local environment.</p></li>
+</ol>
+</li>
+<li><p>To exit the container, click on the bottom left status bar where it shows the container name and click “Close Remote Connection.”</p></li>
+</ol>
+</section>
+</section>
+<section id="configuration">
+<h2>Configuration<a class="headerlink" href="#configuration" title="Link to this heading"></a></h2>
+<section id="win-only-msys2-path">
+<h3><img alt="win_only" src="../../_images/win_only.png" /> MSYS2 Path<a class="headerlink" href="#win-only-msys2-path" title="Link to this heading"></a></h3>
+<p>Normally, runtime dependencies (DLLs) are not copied into the executables folder within the build process.
+This means, that programs cannot be executed natively from Windows shells or the explorer.
+It is therefore highly recommended, to set the environmental variable <code class="docutils literal notranslate"><span class="pre">MSYSTEM=MINGW64</span></code> and <code class="docutils literal notranslate"><span class="pre">CHERE_INVOKING=1</span></code>.
+The setting of <code class="docutils literal notranslate"><span class="pre">MSYSTEM</span></code> will cause the environment to be set up correctly for MinGW64.
+Windows will then look for DLLs within the msys64 folders, allowing native execution.
+<code class="docutils literal notranslate"><span class="pre">CHERE_INVOKING</span></code> makes sure the shell stays in the current working directory.
+As investigated recently, the <code class="docutils literal notranslate"><span class="pre">C:\msys64\usr\bin``must</span> <span class="pre">also</span> <span class="pre">be</span> <span class="pre">added</span> <span class="pre">to</span> <span class="pre">the</span> <span class="pre">``PATH</span></code> environment variable in order to resolve dependencies to <code class="docutils literal notranslate"><span class="pre">cygpath.exe</span></code>.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>If <code class="docutils literal notranslate"><span class="pre">C:\msys64</span></code> is not already listed in <code class="docutils literal notranslate"><span class="pre">PATH</span></code> variable, then add <code class="docutils literal notranslate"><span class="pre">C:\msys64</span></code> in <code class="docutils literal notranslate"><span class="pre">PATH</span></code> variable before adding <code class="docutils literal notranslate"><span class="pre">C:\msys64\usr\bin</span></code> to the <code class="docutils literal notranslate"><span class="pre">PATH</span></code> variable.
+If there are any other Unix like environments installed on Windows operating systems (example: cygwin), there might even be file collisions when calling certain cmake commands.
+Therefore, it is suggested to add <code class="docutils literal notranslate"><span class="pre">C:\msys64</span></code> in <code class="docutils literal notranslate"><span class="pre">PATH</span></code> variable before any other Unix like environmental calls.</p>
+</div>
+<p>Either set environment variable through the <code class="docutils literal notranslate"><span class="pre">Windows</span> <span class="pre">PowerShell</span></code></p>
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span><span class="c1"># check if set</span>
+<span class="nb">echo</span><span class="w"> </span><span class="si">${</span><span class="nv">env</span><span class="p">:</span><span class="nv">path</span><span class="si">}</span>
+<span class="nb">echo</span><span class="w"> </span><span class="si">${</span><span class="nv">env</span><span class="p">:</span><span class="nv">MSYSTEM</span><span class="si">}</span>
+<span class="nb">echo</span><span class="w"> </span><span class="si">${</span><span class="nv">env</span><span class="p">:</span><span class="nv">CHERE_INVOKING</span><span class="si">}</span>
+
+<span class="c1"># if not</span>
+setx<span class="w"> </span>path<span class="w"> </span><span class="s2">&quot;%PATH%;C:\msys64\usr\bin&quot;</span>
+setx<span class="w"> </span>MSYSTEM<span class="w"> </span><span class="s2">&quot;MINGW64&quot;</span>
+setx<span class="w"> </span>CHERE_INVOKING<span class="w"> </span><span class="s2">&quot;1&quot;</span>
+</pre></div>
+</div>
+<p>or</p>
+<ol class="arabic simple">
+<li><p>Open the start search</p></li>
+<li><p>Type in “env” and choose “Edit the system environment variables”</p></li>
+<li><p>Choose “Environment Variables…”</p></li>
+<li><p>Set the environment variables:</p>
+<ol class="lowerroman simple">
+<li><p>MSYSTEM=MINGW64</p></li>
+<li><p>CHERE_INVOKING=1</p></li>
+<li><p>Add <code class="docutils literal notranslate"><span class="pre">C:\msys64\usr\bin</span></code> to PATH</p></li>
+</ol>
+</li>
+</ol>
+<p>Visual Studio Code needs to be reloaded/restarted after the path update.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>An optimal solution would be to set the system environment variables in VSCode under <code class="docutils literal notranslate"><span class="pre">settings.json</span></code>. This is currently not possible. Please contact us if you find a better solution.</p>
+</div>
+</section>
+<section id="build-kit">
+<h3>Build Kit<a class="headerlink" href="#build-kit" title="Link to this heading"></a></h3>
+<div class="sphinx-tabs docutils container">
+<div aria-label="Tabbed content" class="closeable" role="tablist"><button aria-controls="panel-2-2-0" aria-selected="true" class="sphinx-tabs-tab" id="tab-2-2-0" name="2-0" role="tab" tabindex="0">Windows</button><button aria-controls="panel-2-2-1" aria-selected="false" class="sphinx-tabs-tab" id="tab-2-2-1" name="2-1" role="tab" tabindex="-1">Linux</button></div><div aria-labelledby="tab-2-2-0" class="sphinx-tabs-panel" id="panel-2-2-0" name="2-0" role="tabpanel" tabindex="0"><p><strong>Add and select MSYS2/MinGW64 Build Kit:</strong></p>
+<ol class="arabic">
+<li><p>Execute <code class="docutils literal notranslate"><span class="pre">Ctrl+Shift+P</span></code>: <code class="docutils literal notranslate"><span class="pre">CMake:</span> <span class="pre">Edit</span> <span class="pre">User-Local</span> <span class="pre">CMake</span> <span class="pre">Kits</span></code></p></li>
+<li><p>Insert/Update:</p>
+<div class="literal-block-wrapper docutils container" id="id4">
+<div class="code-block-caption"><span class="caption-text">cmake-tools-kits.json</span><a class="headerlink" href="#id4" title="Link to this code"></a></div>
+<div class="highlight-javascript notranslate"><div class="highlight"><pre><span></span><span class="linenos"> 1</span><span class="p">[</span>
+<span class="linenos"> 2</span><span class="w">    </span><span class="p">{</span>
+<span class="linenos"> 3</span><span class="w">        </span><span class="s2">&quot;name&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;MinGW64&quot;</span><span class="p">,</span>
+<span class="linenos"> 4</span><span class="w">        </span><span class="s2">&quot;preferredGenerator&quot;</span><span class="o">:</span><span class="w"> </span><span class="p">{</span>
+<span class="linenos"> 5</span><span class="w">            </span><span class="s2">&quot;name&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;MSYS Makefiles&quot;</span>
+<span class="linenos"> 6</span><span class="w">        </span><span class="p">},</span>
+<span class="linenos"> 7</span><span class="w">        </span><span class="s2">&quot;environmentVariables&quot;</span><span class="o">:</span><span class="w"> </span><span class="p">{</span><span class="w"> </span><span class="s2">&quot;PATH&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;${command:mingw64.path}&quot;</span><span class="w"> </span><span class="p">},</span>
+<span class="linenos"> 8</span><span class="w">        </span><span class="s2">&quot;compilers&quot;</span><span class="o">:</span><span class="w"> </span><span class="p">{</span>
+<span class="linenos"> 9</span><span class="w">            </span><span class="s2">&quot;C&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;${command:mingw64.cc.exe}&quot;</span><span class="p">,</span>
+<span class="linenos">10</span><span class="w">            </span><span class="s2">&quot;CXX&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;${command:mingw64.cxx.exe}&quot;</span><span class="p">,</span>
+<span class="linenos">11</span><span class="w">            </span><span class="s2">&quot;Fortran&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;${command:mingw64.fc.exe}&quot;</span>
+<span class="linenos">12</span><span class="w">        </span><span class="p">},</span>
+<span class="linenos">13</span><span class="w">        </span><span class="s2">&quot;keep&quot;</span><span class="o">:</span><span class="w"> </span><span class="kc">true</span>
+<span class="linenos">14</span><span class="w">    </span><span class="p">}</span>
+<span class="linenos">15</span><span class="p">]</span>
+</pre></div>
+</div>
+</div>
+<p><a class="reference download internal" download="" href="../../_downloads/0434e3ab992f6eea8e1df4ae553aa93d/cmake-tools-kits.json"><code class="xref download docutils literal notranslate"><span class="pre">Download</span></code></a></p>
+</li>
+<li><p><code class="docutils literal notranslate"><span class="pre">Ctrl+Shift+P</span></code>: <code class="docutils literal notranslate"><span class="pre">CMake:</span> <span class="pre">Select</span> <span class="pre">a</span> <span class="pre">Kit</span></code> = <code class="docutils literal notranslate"><span class="pre">MinGW64</span></code></p></li>
+</ol>
+</div><div aria-labelledby="tab-2-2-1" class="sphinx-tabs-panel" hidden="true" id="panel-2-2-1" name="2-1" role="tabpanel" tabindex="0"><p><strong>Select System Build Kit:</strong></p>
+<p><code class="docutils literal notranslate"><span class="pre">Ctrl+Shift+P</span></code>: <code class="docutils literal notranslate"><span class="pre">CMake:</span> <span class="pre">Select</span> <span class="pre">a</span> <span class="pre">Kit</span></code> = <code class="docutils literal notranslate"><span class="pre">GCC</span> <span class="pre">10.2.0</span></code></p>
+<p>See also <a class="reference internal" href="../../installation_guide/20_install_prerequisites.html#prerequisites"><span class="std std-ref">Installing Prerequisites</span></a>.</p>
+</div></div>
+</section>
+<section id="user-settings">
+<span id="vscode-user-settings"></span><h3>User Settings<a class="headerlink" href="#user-settings" title="Link to this heading"></a></h3>
+<ol class="arabic">
+<li><p>Execute <code class="docutils literal notranslate"><span class="pre">Ctrl+Shift+P</span></code>: <code class="docutils literal notranslate"><span class="pre">Preferences</span> <span class="pre">Open</span> <span class="pre">Workspace</span> <span class="pre">Settings</span> <span class="pre">(JSON)</span></code></p></li>
+<li><p>Insert/Update:</p>
+<div class="sphinx-tabs docutils container">
+<div aria-label="Tabbed content" class="closeable" role="tablist"><button aria-controls="panel-3-3-0" aria-selected="true" class="sphinx-tabs-tab" id="tab-3-3-0" name="3-0" role="tab" tabindex="0">Windows</button><button aria-controls="panel-3-3-1" aria-selected="false" class="sphinx-tabs-tab" id="tab-3-3-1" name="3-1" role="tab" tabindex="-1">Linux</button></div><div aria-labelledby="tab-3-3-0" class="sphinx-tabs-panel" id="panel-3-3-0" name="3-0" role="tabpanel" tabindex="0"><div class="literal-block-wrapper docutils container" id="id5">
+<div class="code-block-caption"><span class="caption-text">settings.json</span><a class="headerlink" href="#id5" title="Link to this code"></a></div>
+<div class="highlight-javascript notranslate"><div class="highlight"><pre><span></span><span class="linenos"> 1</span><span class="p">{</span>
+<span class="linenos"> 2</span><span class="w">    </span><span class="c1">//</span>
+<span class="linenos"> 3</span><span class="w">    </span><span class="c1">// CMAKE</span>
+<span class="linenos"> 4</span><span class="w">    </span><span class="c1">//</span>
+<span class="linenos"> 5</span><span class="w">    </span><span class="c1">// Following settings are from the MSYS2 extension documentation</span>
+<span class="linenos"> 6</span><span class="w">    </span><span class="s2">&quot;cmake.cmakePath&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;C:\\msys64\\mingw64\\bin\\cmake.exe&quot;</span><span class="p">,</span>
+<span class="linenos"> 7</span><span class="w">    </span><span class="s2">&quot;cmake.preferredGenerators&quot;</span><span class="o">:</span><span class="w"> </span><span class="p">[</span>
+<span class="linenos"> 8</span><span class="w">        </span><span class="s2">&quot;MSYS Makefiles&quot;</span>
+<span class="linenos"> 9</span><span class="w">    </span><span class="p">],</span>
+<span class="linenos">10</span><span class="w">    </span><span class="s2">&quot;cmake.configureSettings&quot;</span><span class="o">:</span><span class="w"> </span><span class="p">{</span>
+<span class="linenos">11</span><span class="w">        </span><span class="s2">&quot;CMAKE_MAKE_PROGRAM&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;C:\\msys64\\mingw64\\bin\\make.exe&quot;</span><span class="p">,</span>
+<span class="linenos">12</span><span class="w">        </span><span class="s2">&quot;CMAKE_PREFIX_PATH&quot;</span><span class="o">:</span><span class="w"> </span><span class="p">[</span>
+<span class="linenos">13</span><span class="w">            </span><span class="s2">&quot;${workspaceRoot}/deps/thirdParty/win64/Yase&quot;</span><span class="p">,</span>
+<span class="linenos">14</span><span class="w">            </span><span class="s2">&quot;${workspaceRoot}/deps/thirdParty/win64/FMILibrary&quot;</span><span class="p">,</span>
+<span class="linenos">15</span><span class="w">            </span><span class="s2">&quot;${workspaceRoot}/deps/thirdParty/win64/MantleAPI&quot;</span><span class="p">,</span>
+<span class="linenos">16</span><span class="w">            </span><span class="s2">&quot;${workspaceRoot}/deps/thirdParty/win64/osi&quot;</span><span class="p">,</span>
+<span class="linenos">17</span><span class="w">            </span><span class="s2">&quot;${workspaceRoot}/deps/thirdParty/win64/protobuf&quot;</span><span class="p">,</span>
+<span class="linenos">18</span><span class="w">            </span><span class="s2">&quot;${workspaceRoot}/deps/thirdParty/win64/protobuf-shared&quot;</span><span class="p">,</span>
+<span class="linenos">19</span><span class="w">            </span><span class="s2">&quot;${workspaceRoot}/deps/thirdParty/win64/googletest&quot;</span><span class="p">,</span>
+<span class="linenos">20</span><span class="w">            </span><span class="s2">&quot;${workspaceRoot}/deps/thirdParty/win64/minizip&quot;</span><span class="p">,</span>
+<span class="linenos">21</span><span class="w">            </span><span class="s2">&quot;${workspaceRoot}/deps/thirdParty/win64/openscenario_engine/release&quot;</span><span class="p">,</span>
+<span class="linenos">22</span><span class="w">            </span><span class="s2">&quot;${workspaceRoot}/deps/thirdParty/win64/openscenario_api&quot;</span><span class="p">,</span>
+<span class="linenos">23</span><span class="w">            </span><span class="s2">&quot;${workspaceRoot}/deps/thirdParty/win64/zlib&quot;</span><span class="p">,</span>
+<span class="linenos">24</span><span class="w">            </span><span class="s2">&quot;${workspaceRoot}/deps/thirdParty/win64/open-simulation-interface&quot;</span><span class="p">,</span>
+<span class="linenos">25</span><span class="w">            </span><span class="s2">&quot;${workspaceRoot}/deps/thirdParty/win64/units&quot;</span><span class="p">,</span>
+<span class="linenos">26</span><span class="w">            </span><span class="s2">&quot;${workspaceRoot}/deps/scmThirdParty/win64/stochastics&quot;</span><span class="p">,</span>
+<span class="linenos">27</span><span class="w">            </span><span class="s2">&quot;C:/msys64/mingw64/bin&quot;</span>
+<span class="linenos">28</span><span class="w">        </span><span class="p">],</span>
+<span class="linenos">29</span><span class="w">        </span><span class="s2">&quot;CMAKE_INSTALL_PREFIX&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;${workspaceRoot}/bin/core&quot;</span><span class="p">,</span>
+<span class="linenos">30</span><span class="w">        </span><span class="s2">&quot;CMAKE_BUILD_TYPE&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;Debug&quot;</span><span class="p">,</span>
+<span class="linenos">31</span><span class="w">        </span><span class="s2">&quot;USE_CCACHE&quot;</span><span class="o">:</span><span class="w"> </span><span class="kc">true</span><span class="p">,</span>
+<span class="linenos">32</span><span class="w">        </span><span class="s2">&quot;WITH_DEBUG_POSTFIX&quot;</span><span class="o">:</span><span class="w"> </span><span class="kc">false</span><span class="p">,</span>
+<span class="linenos">33</span><span class="w">        </span><span class="s2">&quot;OPENPASS_ADJUST_OUTPUT&quot;</span><span class="o">:</span><span class="w"> </span><span class="kc">false</span><span class="p">,</span>
+<span class="linenos">34</span><span class="w">        </span><span class="s2">&quot;WITH_API_DOC&quot;</span><span class="o">:</span><span class="w"> </span><span class="kc">false</span><span class="p">,</span>
+<span class="linenos">35</span><span class="w">        </span><span class="s2">&quot;WITH_DOC&quot;</span><span class="o">:</span><span class="w"> </span><span class="kc">false</span><span class="p">,</span>
+<span class="linenos">36</span><span class="w">        </span><span class="s2">&quot;INSTALL_EXTRA_RUNTIME_DEPS&quot;</span><span class="o">:</span><span class="w"> </span><span class="kc">true</span><span class="p">,</span>
+<span class="linenos">37</span><span class="w">        </span><span class="s2">&quot;INSTALL_SYSTEM_RUNTIME_DEPS&quot;</span><span class="o">:</span><span class="w"> </span><span class="kc">true</span><span class="p">,</span>
+<span class="linenos">38</span><span class="w">        </span><span class="c1">// For integration with IntelliSense (see c_cpp_properties.json)</span>
+<span class="linenos">39</span><span class="w">        </span><span class="s2">&quot;CMAKE_EXPORT_COMPILE_COMMANDS&quot;</span><span class="o">:</span><span class="w"> </span><span class="kc">true</span>
+<span class="linenos">40</span><span class="w">    </span><span class="p">},</span>
+<span class="linenos">41</span><span class="w">    </span><span class="c1">// Optional: Adjust to your needs</span>
+<span class="linenos">42</span><span class="w">    </span><span class="s2">&quot;cmake.parallelJobs&quot;</span><span class="o">:</span><span class="w"> </span><span class="mf">4</span><span class="p">,</span>
+<span class="linenos">43</span><span class="w">    </span><span class="c1">//</span>
+<span class="linenos">44</span><span class="w">    </span><span class="c1">// TESTMATE</span>
+<span class="linenos">45</span><span class="w">    </span><span class="c1">//</span>
+<span class="linenos">46</span><span class="w">    </span><span class="c1">// Optional: Adjust to your needs</span>
+<span class="linenos">47</span><span class="w">    </span><span class="s2">&quot;testMate.cpp.test.parallelExecutionLimit&quot;</span><span class="o">:</span><span class="w"> </span><span class="mf">4</span><span class="p">,</span>
+<span class="linenos">48</span><span class="w">    </span><span class="s2">&quot;testMate.cpp.test.parallelExecutionOfExecutableLimit&quot;</span><span class="o">:</span><span class="w"> </span><span class="mf">2</span><span class="p">,</span>
+<span class="linenos">49</span><span class="w">    </span><span class="c1">// Optional: Set, if you like to debug test discovery and test start issues</span>
+<span class="linenos">50</span><span class="w">    </span><span class="s2">&quot;testMate.cpp.log.logfile&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;C:\\temp\\cpp.testmate.log&quot;</span><span class="p">,</span>
+<span class="linenos">51</span><span class="w">    </span><span class="c1">// Optional:    As CTest triggers the install step, dependencies between test executables</span>
+<span class="linenos">52</span><span class="w">    </span><span class="c1">//              and openpass libraries can be resolved by linking text executables to</span>
+<span class="linenos">53</span><span class="w">    </span><span class="c1">//              openpass install directory</span>
+<span class="linenos">54</span><span class="w">    </span><span class="c1">// Alternative: Check dependencies of test executables by &#39;ldd &lt;_Tests.exe&gt; and copy</span>
+<span class="linenos">55</span><span class="w">    </span><span class="c1">//              libraries right next to test executable within build direcory</span>
+<span class="linenos">56</span><span class="w">    </span><span class="s2">&quot;testMate.cpp.test.advancedExecutables&quot;</span><span class="o">:</span><span class="w"> </span><span class="p">[</span>
+<span class="linenos">57</span><span class="w">        </span><span class="p">{</span>
+<span class="linenos">58</span><span class="w">            </span><span class="s2">&quot;pattern&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;build/**/*{tests,Tests,TESTS}*&quot;</span><span class="p">,</span>
+<span class="linenos">59</span><span class="w">            </span><span class="s2">&quot;env&quot;</span><span class="o">:</span><span class="w"> </span><span class="p">{</span>
+<span class="linenos">60</span><span class="w">                </span><span class="s2">&quot;Path&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;C:\\msys64\\mingw64\\bin;${workspaceFolder}\\bin\\core;${workspaceFolder}\\bin\\core\\lib;${os_env:PATH};${workspaceFolder}\\deps\\thirdParty\\win64\\FMILibrary\\lib;${workspaceFolder}\\deps\\thirdParty\\win64\\osi\\lib\\osi3&quot;</span>
+<span class="linenos">61</span><span class="w">            </span><span class="p">}</span>
+<span class="linenos">62</span><span class="w">        </span><span class="p">}</span>
+<span class="linenos">63</span><span class="w">    </span><span class="p">],</span>
+<span class="linenos">64</span><span class="w">    </span><span class="c1">//</span>
+<span class="linenos">65</span><span class="w">    </span><span class="c1">// VSCODE</span>
+<span class="linenos">66</span><span class="w">    </span><span class="c1">//</span>
+<span class="linenos">67</span><span class="w">    </span><span class="c1">// Optional: Integration of MinGW64 Terminal in VS Code</span>
+<span class="linenos">68</span><span class="w">    </span><span class="s2">&quot;terminal.integrated.profiles.windows&quot;</span><span class="o">:</span><span class="w"> </span><span class="p">{</span>
+<span class="linenos">69</span><span class="w">        </span><span class="s2">&quot;MinGW64&quot;</span><span class="o">:</span><span class="w"> </span><span class="p">{</span>
+<span class="linenos">70</span><span class="w">            </span><span class="s2">&quot;overrideName&quot;</span><span class="o">:</span><span class="w"> </span><span class="kc">true</span><span class="p">,</span>
+<span class="linenos">71</span><span class="w">            </span><span class="s2">&quot;path&quot;</span><span class="o">:</span><span class="w"> </span><span class="p">[</span>
+<span class="linenos">72</span><span class="w">                </span><span class="s2">&quot;C:\\msys64\\usr\\bin\\bash.exe&quot;</span>
+<span class="linenos">73</span><span class="w">            </span><span class="p">],</span>
+<span class="linenos">74</span><span class="w">            </span><span class="s2">&quot;args&quot;</span><span class="o">:</span><span class="w"> </span><span class="p">[</span><span class="s2">&quot;--login&quot;</span><span class="p">,</span><span class="w"> </span><span class="s2">&quot;-i&quot;</span><span class="p">],</span>
+<span class="linenos">75</span><span class="w">            </span><span class="s2">&quot;icon&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;terminal-bash&quot;</span><span class="p">,</span>
+<span class="linenos">76</span><span class="w">            </span><span class="s2">&quot;env&quot;</span><span class="o">:</span><span class="w"> </span><span class="p">{</span>
+<span class="linenos">77</span><span class="w">                </span><span class="s2">&quot;MSYSTEM&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;MINGW64&quot;</span><span class="p">,</span>
+<span class="linenos">78</span><span class="w">                </span><span class="s2">&quot;CHERE_INVOKING&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;1&quot;</span><span class="p">,</span>
+<span class="linenos">79</span><span class="w">                </span><span class="s2">&quot;MSYS2_PATH_TYPE&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;inherit&quot;</span>
+<span class="linenos">80</span><span class="w">            </span><span class="p">}</span>
+<span class="linenos">81</span><span class="w">        </span><span class="p">}</span>
+<span class="linenos">82</span><span class="w">    </span><span class="p">},</span>
+<span class="linenos">83</span><span class="w">    </span><span class="s2">&quot;terminal.integrated.defaultProfile.windows&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;MinGW64&quot;</span><span class="p">,</span>
+<span class="linenos">84</span><span class="w">    </span><span class="c1">// Enforce usage of .clang-format of modified code</span>
+<span class="linenos">85</span><span class="w">    </span><span class="s2">&quot;editor.formatOnSave&quot;</span><span class="o">:</span><span class="w"> </span><span class="kc">true</span><span class="p">,</span>
+<span class="linenos">86</span><span class="w">    </span><span class="s2">&quot;editor.formatOnSaveMode&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;modifications&quot;</span><span class="p">,</span>
+<span class="linenos">87</span><span class="w">    </span><span class="c1">// EOL and whitespace enforcement</span>
+<span class="linenos">88</span><span class="w">    </span><span class="s2">&quot;editor.detectIndentation&quot;</span><span class="o">:</span><span class="w"> </span><span class="kc">true</span><span class="p">,</span>
+<span class="linenos">89</span><span class="w">    </span><span class="s2">&quot;editor.insertSpaces&quot;</span><span class="o">:</span><span class="w"> </span><span class="kc">true</span><span class="p">,</span>
+<span class="linenos">90</span><span class="w">    </span><span class="s2">&quot;editor.renderFinalNewline&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;dimmed&quot;</span><span class="p">,</span>
+<span class="linenos">91</span><span class="w">    </span><span class="s2">&quot;files.insertFinalNewline&quot;</span><span class="o">:</span><span class="w"> </span><span class="kc">true</span><span class="p">,</span>
+<span class="linenos">92</span><span class="w">    </span><span class="s2">&quot;files.trimFinalNewlines&quot;</span><span class="o">:</span><span class="w"> </span><span class="kc">true</span><span class="p">,</span>
+<span class="linenos">93</span><span class="w">    </span><span class="s2">&quot;files.trimTrailingWhitespace&quot;</span><span class="o">:</span><span class="w"> </span><span class="kc">true</span>
+<span class="linenos">94</span><span class="p">}</span>
+</pre></div>
+</div>
+</div>
+<p><a class="reference download internal" download="" href="../../_downloads/cf3a708e6048855aab4490b408d22f7c/settings.json"><code class="xref download docutils literal notranslate"><span class="pre">Download</span></code></a></p>
+</div><div aria-labelledby="tab-3-3-1" class="sphinx-tabs-panel" hidden="true" id="panel-3-3-1" name="3-1" role="tabpanel" tabindex="0"><div class="literal-block-wrapper docutils container" id="id6">
+<div class="code-block-caption"><span class="caption-text">settings.json</span><a class="headerlink" href="#id6" title="Link to this code"></a></div>
+<div class="highlight-javascript notranslate"><div class="highlight"><pre><span></span><span class="linenos"> 1</span><span class="p">{</span>
+<span class="linenos"> 2</span><span class="w">    </span><span class="c1">//</span>
+<span class="linenos"> 3</span><span class="w">    </span><span class="c1">// CMAKE</span>
+<span class="linenos"> 4</span><span class="w">    </span><span class="c1">//</span>
+<span class="linenos"> 5</span><span class="w">    </span><span class="c1">// Optional: Adjust to your needs</span>
+<span class="linenos"> 6</span><span class="w">    </span><span class="s2">&quot;cmake.parallelJobs&quot;</span><span class="o">:</span><span class="w"> </span><span class="mf">4</span><span class="p">,</span>
+<span class="linenos"> 7</span><span class="w">    </span><span class="c1">// See openPASS documentation for individual WITH_* settings</span>
+<span class="linenos"> 8</span><span class="w">    </span><span class="s2">&quot;cmake.configureSettings&quot;</span><span class="o">:</span><span class="w"> </span><span class="p">{</span>
+<span class="linenos"> 9</span><span class="w">        </span><span class="c1">// Adjust paths depending on your system</span>
+<span class="linenos">10</span><span class="w">        </span><span class="s2">&quot;CMAKE_PREFIX_PATH&quot;</span><span class="o">:</span><span class="w"> </span><span class="p">[</span>
+<span class="linenos">11</span><span class="w">            </span><span class="s2">&quot;${workspaceFolder}/deps/thirdParty/linux64/Yase&quot;</span><span class="p">,</span>
+<span class="linenos">12</span><span class="w">            </span><span class="s2">&quot;${workspaceFolder}/deps/scmThirdParty/linux64/stochastics&quot;</span><span class="p">,</span>
+<span class="linenos">13</span><span class="w">            </span><span class="s2">&quot;${workspaceFolder}/deps/thirdParty/linux64/MantleAPI&quot;</span><span class="p">,</span>
+<span class="linenos">14</span><span class="w">            </span><span class="s2">&quot;${workspaceFolder}/deps/thirdParty/linux64/FMILibrary&quot;</span><span class="p">,</span>
+<span class="linenos">15</span><span class="w">            </span><span class="s2">&quot;${workspaceFolder}/deps/thirdParty/linux64/protobuf&quot;</span><span class="p">,</span>
+<span class="linenos">16</span><span class="w">            </span><span class="s2">&quot;${workspaceFolder}/deps/thirdParty/linux64/protobuf-shared&quot;</span><span class="p">,</span>
+<span class="linenos">17</span><span class="w">            </span><span class="s2">&quot;${workspaceFolder}/deps/thirdParty/linux64/googletest&quot;</span><span class="p">,</span>
+<span class="linenos">18</span><span class="w">            </span><span class="s2">&quot;${workspaceFolder}/deps/thirdParty/linux64/minizip&quot;</span><span class="p">,</span>
+<span class="linenos">19</span><span class="w">            </span><span class="s2">&quot;${workspaceFolder}/deps/thirdParty/linux64/openscenario_api&quot;</span><span class="p">,</span>
+<span class="linenos">20</span><span class="w">            </span><span class="s2">&quot;${workspaceFolder}/deps/thirdParty/linux64/openscenario_engine/release&quot;</span><span class="p">,</span>
+<span class="linenos">21</span><span class="w">            </span><span class="s2">&quot;${workspaceFolder}/deps/thirdParty/linux64/open-simulation-interface&quot;</span><span class="p">,</span>
+<span class="linenos">22</span><span class="w">            </span><span class="s2">&quot;${workspaceFolder}/deps/thirdParty/linux64/zlib&quot;</span><span class="p">,</span>
+<span class="linenos">23</span><span class="w">            </span><span class="s2">&quot;${workspaceFolder}/deps/thirdParty/linux64/units&quot;</span>
+<span class="linenos">24</span><span class="w">        </span><span class="p">],</span>
+<span class="linenos">25</span><span class="w">        </span><span class="s2">&quot;CMAKE_INSTALL_PREFIX&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;/usr/local/openPASS/bin/core&quot;</span><span class="p">,</span>
+<span class="linenos">26</span><span class="w">        </span><span class="s2">&quot;CMAKE_BUILD_TYPE&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;Debug&quot;</span><span class="p">,</span>
+<span class="linenos">27</span><span class="w">        </span><span class="s2">&quot;USE_CCACHE&quot;</span><span class="o">:</span><span class="w"> </span><span class="kc">true</span><span class="p">,</span>
+<span class="linenos">28</span><span class="w">        </span><span class="s2">&quot;WITH_DEBUG_POSTFIX&quot;</span><span class="o">:</span><span class="w"> </span><span class="kc">false</span><span class="p">,</span>
+<span class="linenos">29</span><span class="w">        </span><span class="s2">&quot;OPENPASS_ADJUST_OUTPUT&quot;</span><span class="o">:</span><span class="w"> </span><span class="kc">false</span><span class="p">,</span>
+<span class="linenos">30</span><span class="w">        </span><span class="s2">&quot;INSTALL_EXTRA_RUNTIME_DEPS&quot;</span><span class="o">:</span><span class="w"> </span><span class="kc">true</span><span class="p">,</span>
+<span class="linenos">31</span><span class="w">        </span><span class="s2">&quot;WITH_API_DOC&quot;</span><span class="o">:</span><span class="w"> </span><span class="kc">false</span><span class="p">,</span>
+<span class="linenos">32</span><span class="w">        </span><span class="s2">&quot;WITH_DOC&quot;</span><span class="o">:</span><span class="w"> </span><span class="kc">false</span><span class="p">,</span>
+<span class="linenos">33</span><span class="w">        </span><span class="s2">&quot;WITH_TESTS&quot;</span><span class="o">:</span><span class="w"> </span><span class="kc">true</span><span class="p">,</span>
+<span class="linenos">34</span><span class="w">        </span><span class="c1">// For integration with IntelliSense (see c_cpp_properties.json)</span>
+<span class="linenos">35</span><span class="w">        </span><span class="s2">&quot;CMAKE_EXPORT_COMPILE_COMMANDS&quot;</span><span class="o">:</span><span class="w"> </span><span class="kc">true</span>
+<span class="linenos">36</span><span class="w">    </span><span class="p">},</span>
+<span class="linenos">37</span><span class="w">    </span><span class="c1">//</span>
+<span class="linenos">38</span><span class="w">    </span><span class="c1">// TESTMATE</span>
+<span class="linenos">39</span><span class="w">    </span><span class="c1">//</span>
+<span class="linenos">40</span><span class="w">    </span><span class="c1">// Optional: Adjust to your needs</span>
+<span class="linenos">41</span><span class="w">    </span><span class="s2">&quot;testMate.cpp.test.parallelExecutionLimit&quot;</span><span class="o">:</span><span class="w"> </span><span class="mf">4</span><span class="p">,</span>
+<span class="linenos">42</span><span class="w">    </span><span class="s2">&quot;testMate.cpp.test.parallelExecutionOfExecutableLimit&quot;</span><span class="o">:</span><span class="w"> </span><span class="mf">2</span><span class="p">,</span>
+<span class="linenos">43</span><span class="w">    </span><span class="c1">// Optional: Set, if you like to debug test discovery and test start issues</span>
+<span class="linenos">44</span><span class="w">    </span><span class="s2">&quot;testMate.cpp.log.logfile&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;/tmp/cpp.testmate.log&quot;</span><span class="p">,</span>
+<span class="linenos">45</span><span class="w">    </span><span class="c1">//</span>
+<span class="linenos">46</span><span class="w">    </span><span class="c1">// VSCODE</span>
+<span class="linenos">47</span><span class="w">    </span><span class="c1">//</span>
+<span class="linenos">48</span><span class="w">    </span><span class="c1">// Enforce usage of .clang-format of modified code</span>
+<span class="linenos">49</span><span class="w">    </span><span class="s2">&quot;editor.formatOnSave&quot;</span><span class="o">:</span><span class="w"> </span><span class="kc">true</span><span class="p">,</span>
+<span class="linenos">50</span><span class="w">    </span><span class="s2">&quot;editor.formatOnSaveMode&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;modifications&quot;</span><span class="p">,</span>
+<span class="linenos">51</span><span class="w">    </span><span class="c1">// EOL and whitespace enforcement</span>
+<span class="linenos">52</span><span class="w">    </span><span class="s2">&quot;editor.detectIndentation&quot;</span><span class="o">:</span><span class="w"> </span><span class="kc">true</span><span class="p">,</span>
+<span class="linenos">53</span><span class="w">    </span><span class="s2">&quot;editor.insertSpaces&quot;</span><span class="o">:</span><span class="w"> </span><span class="kc">true</span><span class="p">,</span>
+<span class="linenos">54</span><span class="w">    </span><span class="s2">&quot;editor.renderFinalNewline&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;dimmed&quot;</span><span class="p">,</span>
+<span class="linenos">55</span><span class="w">    </span><span class="s2">&quot;editor.renderWhitespace&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;all&quot;</span><span class="p">,</span>
+<span class="linenos">56</span><span class="w">    </span><span class="s2">&quot;editor.trimAutoWhitespace&quot;</span><span class="o">:</span><span class="w"> </span><span class="kc">true</span><span class="p">,</span>
+<span class="linenos">57</span><span class="w">    </span><span class="s2">&quot;files.insertFinalNewline&quot;</span><span class="o">:</span><span class="w"> </span><span class="kc">true</span><span class="p">,</span>
+<span class="linenos">58</span><span class="w">    </span><span class="s2">&quot;files.trimFinalNewlines&quot;</span><span class="o">:</span><span class="w"> </span><span class="kc">true</span><span class="p">,</span>
+<span class="linenos">59</span><span class="w">    </span><span class="s2">&quot;files.trimTrailingWhitespace&quot;</span><span class="o">:</span><span class="w"> </span><span class="kc">true</span>
+<span class="linenos">60</span><span class="p">}</span>
+</pre></div>
+</div>
+</div>
+<p><a class="reference download internal" download="" href="../../_downloads/631d97fb2e9fb8f8491268ef3e6ec616/settings.json"><code class="xref download docutils literal notranslate"><span class="pre">Download</span></code></a></p>
+</div></div>
+</li>
+</ol>
+</section>
+<section id="c-and-intellisense">
+<h3>C++ and IntelliSense<a class="headerlink" href="#c-and-intellisense" title="Link to this heading"></a></h3>
+<ol class="arabic">
+<li><p>Execute <code class="docutils literal notranslate"><span class="pre">Ctrl+Shift+P</span></code>: <code class="docutils literal notranslate"><span class="pre">C/C++:</span> <span class="pre">Edit</span> <span class="pre">Configurations</span> <span class="pre">(JSON)</span></code></p></li>
+<li><div class="literal-block-wrapper docutils container" id="id7">
+<div class="code-block-caption"><span class="caption-text">c_cpp_properties.json</span><a class="headerlink" href="#id7" title="Link to this code"></a></div>
+<div class="highlight-javascript notranslate"><div class="highlight"><pre><span></span><span class="linenos"> 1</span><span class="p">{</span>
+<span class="linenos"> 2</span><span class="w">    </span><span class="s2">&quot;configurations&quot;</span><span class="o">:</span><span class="w"> </span><span class="p">[</span>
+<span class="linenos"> 3</span><span class="w">        </span><span class="p">{</span>
+<span class="linenos"> 4</span><span class="w">            </span><span class="s2">&quot;name&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;openpass&quot;</span><span class="p">,</span>
+<span class="linenos"> 5</span><span class="w">            </span><span class="s2">&quot;cStandard&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;c99&quot;</span><span class="p">,</span>
+<span class="linenos"> 6</span><span class="w">            </span><span class="s2">&quot;cppStandard&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;c++17&quot;</span><span class="p">,</span>
+<span class="linenos"> 7</span><span class="w">            </span><span class="s2">&quot;configurationProvider&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;ms-vscode.cmake-tools&quot;</span><span class="p">,</span>
+<span class="linenos"> 8</span><span class="w">            </span><span class="s2">&quot;compileCommands&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;${workspaceFolder}/build/compile_commands.json&quot;</span><span class="p">,</span>
+<span class="linenos"> 9</span><span class="w">            </span><span class="s2">&quot;intelliSenseMode&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;linux-gcc-x64&quot;</span>
+<span class="linenos">10</span><span class="w">        </span><span class="p">}</span>
+<span class="linenos">11</span><span class="w">    </span><span class="p">],</span>
+<span class="linenos">12</span><span class="w">    </span><span class="s2">&quot;version&quot;</span><span class="o">:</span><span class="w"> </span><span class="mf">4</span>
+<span class="linenos">13</span><span class="p">}</span>
+</pre></div>
+</div>
+</div>
+<p><a class="reference download internal" download="" href="../../_downloads/dca649c6abf7935b694a9b820bb4efc5/c_cpp_properties.json"><code class="xref download docutils literal notranslate"><span class="pre">Download</span></code></a></p>
+</li>
+</ol>
+</section>
+<section id="configure-the-build">
+<h3>Configure the Build<a class="headerlink" href="#configure-the-build" title="Link to this heading"></a></h3>
+<p>Execute <code class="docutils literal notranslate"><span class="pre">Ctrl+Shift+P</span></code>: <code class="docutils literal notranslate"><span class="pre">CMake:</span> <span class="pre">Configure</span></code></p>
+<p>CMake should now be able to configure the project.
+If not, cmake should give you at least a hint, what’s missing (normally external libraries).
+Read <a class="reference internal" href="../../installation_guide/further_guidance/10_cmake.html#cmake"><span class="std std-ref">CMake Variables and Options</span></a> or <a class="reference internal" href="../../installation_guide/20_install_prerequisites.html#prerequisites"><span class="std std-ref">Installing Prerequisites</span></a> for more information.</p>
+<div class="admonition-cmake admonition">
+<p class="admonition-title">CMake</p>
+<p>Some changes such as changing the build type (Debug/Release) will cause CMake to updates the configuration automatically.
+Other changes won’t trigger an update, such as changing the paths to libraries (<cite>CMAKE_PREFIX_PATH</cite>), the cmake cache needs to be cleared before reconfiguration:
+<code class="docutils literal notranslate"><span class="pre">Ctrl+Shift+P</span></code> &gt; <code class="docutils literal notranslate"><span class="pre">CMake:</span> <span class="pre">Delete</span> <span class="pre">Cache</span> <span class="pre">and</span> <span class="pre">Reconfigure</span></code></p>
+</div>
+</section>
+<section id="debug-targets">
+<h3>Debug Targets<a class="headerlink" href="#debug-targets" title="Link to this heading"></a></h3>
+<p>CMake Tools and C++ Testmate automatically use custom launch configurations, if available.
+When using the debugging functionality, the according executable will be executed from where they are built (per default inside the <code class="docutils literal notranslate"><span class="pre">build</span></code> folder).</p>
+<ul>
+<li><p>This is acceptable for unit test, which do not require openPASS specific libraries.
+The corresponding config is <code class="docutils literal notranslate"><span class="pre">CMake</span> <span class="pre">Target</span></code>.</p></li>
+<li><p>For the core, located at <code class="docutils literal notranslate"><span class="pre">./build/sim/src/core/opSimulation/opSimulation</span></code>, this does not work, as no libraries and no configurations are available.
+As a solution, a second debug target <code class="docutils literal notranslate"><span class="pre">opsimulation</span></code> points at the installed executable instead.</p>
+<div class="admonition warning">
+<p class="admonition-title">Warning</p>
+<p>Don’t forget to run the target <code class="docutils literal notranslate"><span class="pre">install</span></code> before debugging .</p>
+</div>
+</li>
+</ul>
+<ol class="arabic simple">
+<li><p>Got to “Run and Debug” (<code class="docutils literal notranslate"><span class="pre">Ctrl+Shift+D</span></code>) and <em>create a launch.json file</em>.</p></li>
+<li><p>Insert/Update:</p></li>
+</ol>
+<div class="sphinx-tabs docutils container">
+<div aria-label="Tabbed content" class="closeable" role="tablist"><button aria-controls="panel-4-4-0" aria-selected="true" class="sphinx-tabs-tab" id="tab-4-4-0" name="4-0" role="tab" tabindex="0">Windows</button><button aria-controls="panel-4-4-1" aria-selected="false" class="sphinx-tabs-tab" id="tab-4-4-1" name="4-1" role="tab" tabindex="-1">Linux</button></div><div aria-labelledby="tab-4-4-0" class="sphinx-tabs-panel" id="panel-4-4-0" name="4-0" role="tabpanel" tabindex="0"><div class="literal-block-wrapper docutils container" id="id8">
+<div class="code-block-caption"><span class="caption-text">launch.json</span><a class="headerlink" href="#id8" title="Link to this code"></a></div>
+<div class="highlight-javascript notranslate"><div class="highlight"><pre><span></span><span class="linenos"> 1</span><span class="p">{</span>
+<span class="linenos"> 2</span><span class="w">    </span><span class="s2">&quot;version&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;0.2.0&quot;</span><span class="p">,</span>
+<span class="linenos"> 3</span><span class="w">    </span><span class="s2">&quot;configurations&quot;</span><span class="o">:</span><span class="w"> </span><span class="p">[</span>
+<span class="linenos"> 4</span><span class="w">        </span><span class="p">{</span>
+<span class="linenos"> 5</span><span class="w">            </span><span class="c1">// FOR TESTMATE (SELECTED TEST) AND CMAKE (DEBUG CMAKE TARGET)</span>
+<span class="linenos"> 6</span><span class="w">            </span><span class="s2">&quot;name&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;CMake Target&quot;</span><span class="p">,</span>
+<span class="linenos"> 7</span><span class="w">            </span><span class="s2">&quot;type&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;cppdbg&quot;</span><span class="p">,</span>
+<span class="linenos"> 8</span><span class="w">            </span><span class="s2">&quot;request&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;launch&quot;</span><span class="p">,</span>
+<span class="linenos"> 9</span><span class="w">            </span><span class="s2">&quot;program&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;${command:cmake.launchTargetPath}&quot;</span><span class="p">,</span>
+<span class="linenos">10</span><span class="w">            </span><span class="s2">&quot;args&quot;</span><span class="o">:</span><span class="w"> </span><span class="p">[],</span>
+<span class="linenos">11</span><span class="w">            </span><span class="s2">&quot;stopAtEntry&quot;</span><span class="o">:</span><span class="w"> </span><span class="kc">false</span><span class="p">,</span>
+<span class="linenos">12</span><span class="w">            </span><span class="s2">&quot;cwd&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;${workspaceFolder}&quot;</span><span class="p">,</span>
+<span class="linenos">13</span><span class="w">            </span><span class="s2">&quot;environment&quot;</span><span class="o">:</span><span class="w"> </span><span class="p">[</span>
+<span class="linenos">14</span><span class="w">                </span><span class="p">{</span>
+<span class="linenos">15</span><span class="w">                    </span><span class="s2">&quot;name&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;PATH&quot;</span><span class="p">,</span>
+<span class="linenos">16</span><span class="w">                    </span><span class="s2">&quot;value&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;$PATH:${command:msys2.root}\\bin;${command:mingw64.root}\\x86_64-w64-mingw32\\lib${command:cmake.buildkit.launch.path}&quot;</span>
+<span class="linenos">17</span><span class="w">                </span><span class="p">}</span>
+<span class="linenos">18</span><span class="w">            </span><span class="p">],</span>
+<span class="linenos">19</span><span class="w">            </span><span class="s2">&quot;externalConsole&quot;</span><span class="o">:</span><span class="w"> </span><span class="kc">false</span><span class="p">,</span>
+<span class="linenos">20</span><span class="w">            </span><span class="s2">&quot;MIMode&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;gdb&quot;</span><span class="p">,</span>
+<span class="linenos">21</span><span class="w">            </span><span class="s2">&quot;miDebuggerPath&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;${command:cmake.buildkit.gdb.exe}&quot;</span><span class="p">,</span>
+<span class="linenos">22</span><span class="w">            </span><span class="s2">&quot;setupCommands&quot;</span><span class="o">:</span><span class="w"> </span><span class="p">[</span>
+<span class="linenos">23</span><span class="w">                </span><span class="p">{</span>
+<span class="linenos">24</span><span class="w">                    </span><span class="s2">&quot;description&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;Enable pretty-printing for gdb&quot;</span><span class="p">,</span>
+<span class="linenos">25</span><span class="w">                    </span><span class="s2">&quot;text&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;-enable-pretty-printing&quot;</span><span class="p">,</span>
+<span class="linenos">26</span><span class="w">                    </span><span class="s2">&quot;ignoreFailures&quot;</span><span class="o">:</span><span class="w"> </span><span class="kc">true</span>
+<span class="linenos">27</span><span class="w">                </span><span class="p">}</span>
+<span class="linenos">28</span><span class="w">            </span><span class="p">]</span>
+<span class="linenos">29</span><span class="w">        </span><span class="p">},</span>
+<span class="linenos">30</span><span class="w">        </span><span class="p">{</span>
+<span class="linenos">31</span><span class="w">            </span><span class="c1">// FOR DEBUGGING opSimulation (DON&#39;T FORGET TO CALL make install)</span>
+<span class="linenos">32</span><span class="w">            </span><span class="s2">&quot;name&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;opsimulation&quot;</span><span class="p">,</span>
+<span class="linenos">33</span><span class="w">            </span><span class="s2">&quot;type&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;cppdbg&quot;</span><span class="p">,</span>
+<span class="linenos">34</span><span class="w">            </span><span class="s2">&quot;request&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;launch&quot;</span><span class="p">,</span>
+<span class="linenos">35</span><span class="w">            </span><span class="s2">&quot;program&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;${workspaceFolder}\\bin\\core\\opSimulation.exe&quot;</span><span class="p">,</span>
+<span class="linenos">36</span><span class="w">            </span><span class="s2">&quot;args&quot;</span><span class="o">:</span><span class="w"> </span><span class="p">[],</span>
+<span class="linenos">37</span><span class="w">            </span><span class="s2">&quot;stopAtEntry&quot;</span><span class="o">:</span><span class="w"> </span><span class="kc">false</span><span class="p">,</span>
+<span class="linenos">38</span><span class="w">            </span><span class="s2">&quot;cwd&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;${workspaceFolder}\\bin\\core&quot;</span><span class="p">,</span>
+<span class="linenos">39</span><span class="w">            </span><span class="s2">&quot;environment&quot;</span><span class="o">:</span><span class="w"> </span><span class="p">[</span>
+<span class="linenos">40</span><span class="w">                </span><span class="p">{</span>
+<span class="linenos">41</span><span class="w">                    </span><span class="s2">&quot;name&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;PATH&quot;</span><span class="p">,</span>
+<span class="linenos">42</span><span class="w">                    </span><span class="s2">&quot;value&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;$PATH:${command:msys2.root}\\bin;${command:mingw64.root}\\x86_64-w64-mingw32\\lib${command:cmake.buildkit.launch.path}&quot;</span>
+<span class="linenos">43</span><span class="w">                </span><span class="p">}</span>
+<span class="linenos">44</span><span class="w">            </span><span class="p">],</span>
+<span class="linenos">45</span><span class="w">            </span><span class="s2">&quot;externalConsole&quot;</span><span class="o">:</span><span class="w"> </span><span class="kc">false</span><span class="p">,</span>
+<span class="linenos">46</span><span class="w">            </span><span class="s2">&quot;MIMode&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;gdb&quot;</span><span class="p">,</span>
+<span class="linenos">47</span><span class="w">            </span><span class="s2">&quot;miDebuggerPath&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;${command:cmake.buildkit.gdb.exe}&quot;</span><span class="p">,</span>
+<span class="linenos">48</span><span class="w">            </span><span class="s2">&quot;setupCommands&quot;</span><span class="o">:</span><span class="w"> </span><span class="p">[</span>
+<span class="linenos">49</span><span class="w">                </span><span class="p">{</span>
+<span class="linenos">50</span><span class="w">                    </span><span class="s2">&quot;description&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;Enable pretty-printing for gdb&quot;</span><span class="p">,</span>
+<span class="linenos">51</span><span class="w">                    </span><span class="s2">&quot;text&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;-enable-pretty-printing&quot;</span><span class="p">,</span>
+<span class="linenos">52</span><span class="w">                    </span><span class="s2">&quot;ignoreFailures&quot;</span><span class="o">:</span><span class="w"> </span><span class="kc">true</span>
+<span class="linenos">53</span><span class="w">                </span><span class="p">}</span>
+<span class="linenos">54</span><span class="w">            </span><span class="p">]</span>
+<span class="linenos">55</span><span class="w">        </span><span class="p">}</span>
+<span class="linenos">56</span><span class="w">    </span><span class="p">]</span>
+<span class="linenos">57</span><span class="p">}</span>
+</pre></div>
+</div>
+</div>
+<p><a class="reference download internal" download="" href="../../_downloads/29dd021e0bdb423fc1a0b9b1d8df02f7/launch.json"><code class="xref download docutils literal notranslate"><span class="pre">Download</span></code></a></p>
+</div><div aria-labelledby="tab-4-4-1" class="sphinx-tabs-panel" hidden="true" id="panel-4-4-1" name="4-1" role="tabpanel" tabindex="0"><div class="literal-block-wrapper docutils container" id="id9">
+<div class="code-block-caption"><span class="caption-text">launch.json</span><a class="headerlink" href="#id9" title="Link to this code"></a></div>
+<div class="highlight-javascript notranslate"><div class="highlight"><pre><span></span><span class="linenos"> 1</span><span class="p">{</span>
+<span class="linenos"> 2</span><span class="w">    </span><span class="s2">&quot;version&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;0.2.0&quot;</span><span class="p">,</span>
+<span class="linenos"> 3</span><span class="w">    </span><span class="s2">&quot;configurations&quot;</span><span class="o">:</span><span class="w"> </span><span class="p">[</span>
+<span class="linenos"> 4</span><span class="w">        </span><span class="p">{</span>
+<span class="linenos"> 5</span><span class="w">            </span><span class="c1">// FOR TESTMATE (SELECTED TEST) AND CMAKE (DEBUG CMAKE TARGET)</span>
+<span class="linenos"> 6</span><span class="w">            </span><span class="s2">&quot;name&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;CMake Target&quot;</span><span class="p">,</span>
+<span class="linenos"> 7</span><span class="w">            </span><span class="s2">&quot;type&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;cppdbg&quot;</span><span class="p">,</span>
+<span class="linenos"> 8</span><span class="w">            </span><span class="s2">&quot;request&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;launch&quot;</span><span class="p">,</span>
+<span class="linenos"> 9</span><span class="w">            </span><span class="s2">&quot;program&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;${command:cmake.launchTargetPath}&quot;</span><span class="p">,</span>
+<span class="linenos">10</span><span class="w">            </span><span class="s2">&quot;args&quot;</span><span class="o">:</span><span class="w"> </span><span class="p">[],</span>
+<span class="linenos">11</span><span class="w">            </span><span class="s2">&quot;stopAtEntry&quot;</span><span class="o">:</span><span class="w"> </span><span class="kc">false</span><span class="p">,</span>
+<span class="linenos">12</span><span class="w">            </span><span class="s2">&quot;cwd&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;${workspaceFolder}&quot;</span><span class="p">,</span>
+<span class="linenos">13</span><span class="w">            </span><span class="s2">&quot;externalConsole&quot;</span><span class="o">:</span><span class="w"> </span><span class="kc">false</span><span class="p">,</span>
+<span class="linenos">14</span><span class="w">            </span><span class="s2">&quot;MIMode&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;gdb&quot;</span><span class="p">,</span>
+<span class="linenos">15</span><span class="w">            </span><span class="s2">&quot;setupCommands&quot;</span><span class="o">:</span><span class="w"> </span><span class="p">[</span>
+<span class="linenos">16</span><span class="w">                </span><span class="p">{</span>
+<span class="linenos">17</span><span class="w">                    </span><span class="s2">&quot;description&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;Enable pretty-printing for gdb&quot;</span><span class="p">,</span>
+<span class="linenos">18</span><span class="w">                    </span><span class="s2">&quot;text&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;-enable-pretty-printing&quot;</span><span class="p">,</span>
+<span class="linenos">19</span><span class="w">                    </span><span class="s2">&quot;ignoreFailures&quot;</span><span class="o">:</span><span class="w"> </span><span class="kc">true</span>
+<span class="linenos">20</span><span class="w">                </span><span class="p">}</span>
+<span class="linenos">21</span><span class="w">            </span><span class="p">]</span>
+<span class="linenos">22</span><span class="w">        </span><span class="p">},</span>
+<span class="linenos">23</span><span class="w">        </span><span class="p">{</span>
+<span class="linenos">24</span><span class="w">            </span><span class="c1">// FOR DEBUGGING opSimulation (DON&#39;T FORGET TO CALL make install)</span>
+<span class="linenos">25</span><span class="w">            </span><span class="s2">&quot;name&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;opsimulation&quot;</span><span class="p">,</span>
+<span class="linenos">26</span><span class="w">            </span><span class="s2">&quot;type&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;cppdbg&quot;</span><span class="p">,</span>
+<span class="linenos">27</span><span class="w">            </span><span class="s2">&quot;request&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;launch&quot;</span><span class="p">,</span>
+<span class="linenos">28</span><span class="w">            </span><span class="s2">&quot;program&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;/usr/local/openPASS/bin/core/opSimulation&quot;</span><span class="p">,</span>
+<span class="linenos">29</span><span class="w">            </span><span class="s2">&quot;args&quot;</span><span class="o">:</span><span class="w"> </span><span class="p">[],</span>
+<span class="linenos">30</span><span class="w">            </span><span class="s2">&quot;stopAtEntry&quot;</span><span class="o">:</span><span class="w"> </span><span class="kc">false</span><span class="p">,</span>
+<span class="linenos">31</span><span class="w">            </span><span class="s2">&quot;cwd&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;/usr/local/openPASS/bin/core/&quot;</span><span class="p">,</span>
+<span class="linenos">32</span><span class="w">            </span><span class="s2">&quot;externalConsole&quot;</span><span class="o">:</span><span class="w"> </span><span class="kc">false</span><span class="p">,</span>
+<span class="linenos">33</span><span class="w">            </span><span class="s2">&quot;MIMode&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;gdb&quot;</span><span class="p">,</span>
+<span class="linenos">34</span><span class="w">            </span><span class="s2">&quot;setupCommands&quot;</span><span class="o">:</span><span class="w"> </span><span class="p">[</span>
+<span class="linenos">35</span><span class="w">                </span><span class="p">{</span>
+<span class="linenos">36</span><span class="w">                    </span><span class="s2">&quot;description&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;Enable pretty-printing for gdb&quot;</span><span class="p">,</span>
+<span class="linenos">37</span><span class="w">                    </span><span class="s2">&quot;text&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;-enable-pretty-printing&quot;</span><span class="p">,</span>
+<span class="linenos">38</span><span class="w">                    </span><span class="s2">&quot;ignoreFailures&quot;</span><span class="o">:</span><span class="w"> </span><span class="kc">true</span>
+<span class="linenos">39</span><span class="w">                </span><span class="p">}</span>
+<span class="linenos">40</span><span class="w">            </span><span class="p">]</span>
+<span class="linenos">41</span><span class="w">        </span><span class="p">}</span>
+<span class="linenos">42</span><span class="w">    </span><span class="p">]</span>
+<span class="linenos">43</span><span class="p">}</span>
+</pre></div>
+</div>
+</div>
+<p><a class="reference download internal" download="" href="../../_downloads/f717c80213b149820a0dc8e07e803940/launch.json"><code class="xref download docutils literal notranslate"><span class="pre">Download</span></code></a></p>
+</div></div>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>IntelliSense uses the <code class="docutils literal notranslate"><span class="pre">compile_commands.json</span></code> of generated through <code class="docutils literal notranslate"><span class="pre">CMAKE_EXPORT_COMPILE_COMMANDS=ON</span></code> (see <code class="docutils literal notranslate"><span class="pre">settings.json</span></code>).
+This is necessary for proper resolution of the include files.</p>
+</div>
+</section>
+</section>
+<section id="troubleshooting">
+<h2>Troubleshooting<a class="headerlink" href="#troubleshooting" title="Link to this heading"></a></h2>
+<p><img alt="win_only" src="../../_images/win_only.png" /> <strong>Program does not start</strong></p>
+<p>The most effective way to debug startup issues is by means of the <a class="reference external" href="https://docs.microsoft.com/en-us/sysinternals/downloads/procmon">Process Monitor</a>.</p>
+<p>But normally, its a missing DLL. When executing the program via command line or explorer a message box should prompt which DLLs are missing.
+A simple solution is to copy the according DLLs into the folder of the executable.
+Another solution is to make the path available by extending the <code class="docutils literal notranslate"><span class="pre">PATH</span></code> environment variable.
+Potential sources for missing DLLs are <code class="docutils literal notranslate"><span class="pre">C:\msys64\mingw64\bin</span></code>, <code class="docutils literal notranslate"><span class="pre">C:\msys64\mingw64\x86_64-w64-mingw32\lib</span></code>, and the <code class="docutils literal notranslate"><span class="pre">build</span></code> folder itself.</p>
+<p><strong>Tests are not listed</strong></p>
+<p>For test discovery, C++ Testmate needs to know the location of all additional dependencies.
+This information is retrieved from the current debug configuration.</p>
+<ol class="arabic simple">
+<li><p>Testmate discovers tests only after they are built.
+It pays to <code class="docutils literal notranslate"><span class="pre">Run</span> <span class="pre">CTest</span></code> to build all test targets.
+After this, you should see all tests in the testing pane on the left.</p></li>
+<li><p>Still not listed? Set <code class="docutils literal notranslate"><span class="pre">testMate.cpp.log.logfile</span></code> in <code class="docutils literal notranslate"><span class="pre">settings.json</span></code> and check log.</p>
+<ol class="arabic simple">
+<li><p>Test executable not mentioned at all:
+Executable name might not fit (check glob pattern in <code class="docutils literal notranslate"><span class="pre">testMate.cpp.test.executables</span></code>).</p></li>
+<li><p>Log reports <em>Error: Not a supported test executable</em>: a library/DLL might be missing.</p></li>
+</ol>
+</li>
+</ol>
+</section>
+</section>
+
+
+           </div>
+          </div>
+          <footer><div class="rst-footer-buttons" role="navigation" aria-label="Footer">
+        <a href="../10_ide_support.html" class="btn btn-neutral float-left" title="IDE Support" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> Previous</a>
+        <a href="../20_documentation.html" class="btn btn-neutral float-right" title="Documentation Concept" accesskey="n" rel="next">Next <span class="fa fa-arrow-circle-right" aria-hidden="true"></span></a>
+    </div>
+
+  <hr/>
+
+  <div role="contentinfo">
+    <p>&#169; Copyright 2025 openPASS Working Group.</p>
+  </div>
+
+  Built with <a href="https://www.sphinx-doc.org/">Sphinx</a> using a
+    <a href="https://github.com/readthedocs/sphinx_rtd_theme">theme</a>
+    provided by <a href="https://readthedocs.org">Read the Docs</a>.
+   
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diff --git a/content/html/genindex.html b/content/html/genindex.html
index a0ff170fbde79eed7879c33d9022e152e76a74c9..0f6b190220d38d9d488d07c9621c711693b0a2e1 100644
--- a/content/html/genindex.html
+++ b/content/html/genindex.html
@@ -1,268 +1,268 @@
-<!DOCTYPE html>
-<html class="writer-html5" lang="en" >
-<head>
-  <meta charset="utf-8" />
-  <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-  <title>Index &mdash; openPASS Documentation</title>
-      <link rel="stylesheet" href="_static/pygments.css" type="text/css" />
-      <link rel="stylesheet" href="_static/css/theme.css" type="text/css" />
-      <link rel="stylesheet" href="_static/css/custom.css" type="text/css" />
-      <link rel="stylesheet" href="_static/tabs.css" type="text/css" />
-    <link rel="shortcut icon" href="_static/openPASS.ico"/>
-  <!--[if lt IE 9]>
-    <script src="_static/js/html5shiv.min.js"></script>
-  <![endif]-->
-  
-        <script src="_static/jquery.js?v=5d32c60e"></script>
-        <script src="_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
-        <script src="_static/documentation_options.js?v=afa6e5cd"></script>
-        <script src="_static/doctools.js?v=888ff710"></script>
-        <script src="_static/sphinx_highlight.js?v=dc90522c"></script>
-        <script src="_static/tabs.js?v=3030b3cb"></script>
-    <script src="_static/js/theme.js"></script>
-    <link rel="index" title="Index" href="#" />
-    <link rel="search" title="Search" href="search.html" /> 
-</head>
-
-<body class="wy-body-for-nav"> 
-  <div class="wy-grid-for-nav">
-    <nav data-toggle="wy-nav-shift" class="wy-nav-side">
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-        <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="index.html" class="icon icon-home">
-            openPASS
-              <img src="_static/openPASS.png" class="logo" alt="Logo"/>
-          </a>
-              <div class="version">
-                1.1.0
-              </div>
-<div role="search">
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-        </div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="Navigation menu">
-              <p class="caption" role="heading"><span class="caption-text">Installation Guide</span></p>
-<ul>
-<li class="toctree-l1"><a class="reference internal" href="installation_guide/10_getting_started.html">Getting Started</a></li>
-<li class="toctree-l1"><a class="reference internal" href="installation_guide/15_system_requirements.html">System Requirements</a></li>
-<li class="toctree-l1"><a class="reference internal" href="installation_guide/20_install_prerequisites.html">Installing Prerequisites</a></li>
-<li class="toctree-l1"><a class="reference internal" href="installation_guide/30_install_openpass.html">Installing openPASS</a></li>
-<li class="toctree-l1"><a class="reference internal" href="installation_guide/50_further_guidance.html">Further Guidance</a></li>
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-      <li><a href="other_information/20_glossary.html#term-GIDAS"><strong>GIDAS</strong></a>
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-</li>
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-</li>
-      <li><a href="other_information/20_glossary.html#term-MSYS"><strong>MSYS</strong></a>
-</li>
-      <li><a href="other_information/20_glossary.html#term-MSYS2"><strong>MSYS2</strong></a>
-</li>
-  </ul></td>
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-<h2 id="O">O</h2>
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-  <td style="width: 33%; vertical-align: top;"><ul>
-      <li><a href="other_information/20_glossary.html#term-OD"><strong>OD</strong></a>
-</li>
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-  <td style="width: 33%; vertical-align: top;"><ul>
-      <li><a href="other_information/20_glossary.html#term-openPASS"><strong>openPASS</strong></a>
-</li>
-      <li><a href="other_information/20_glossary.html#term-OSI"><strong>OSI</strong></a>
-</li>
-  </ul></td>
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-<h2 id="P">P</h2>
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-  <td style="width: 33%; vertical-align: top;"><ul>
-      <li><a href="other_information/20_glossary.html#term-PCM"><strong>PCM</strong></a>
-</li>
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-  </ul></td>
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-<h2 id="S">S</h2>
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-      <li><a href="other_information/20_glossary.html#term-Scenario"><strong>Scenario</strong></a>
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-<h2 id="T">T</h2>
-<table style="width: 100%" class="indextable genindextable"><tr>
-  <td style="width: 33%; vertical-align: top;"><ul>
-      <li><a href="other_information/20_glossary.html#term-TTC"><strong>TTC</strong></a>
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+<li class="toctree-l1"><a class="reference internal" href="user_guide/40_outputs_in_depth.html">Outputs in Depth</a></li>
+<li class="toctree-l1"><a class="reference internal" href="user_guide/50_scenario_simulation.html">Simulator</a></li>
+</ul>
+<p class="caption" role="heading"><span class="caption-text">Advanced topics</span></p>
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="advanced_topics/20_simulator_advanced.html">Simulator</a></li>
+<li class="toctree-l1"><a class="reference internal" href="advanced_topics/30_testing.html">EndToEnd Test Framework</a></li>
+</ul>
+<p class="caption" role="heading"><span class="caption-text">Developer Information</span></p>
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="developer_information/10_ide_support.html">IDE Support</a></li>
+<li class="toctree-l1"><a class="reference internal" href="developer_information/20_documentation.html">Documentation Concept</a></li>
+<li class="toctree-l1"><a class="reference internal" href="developer_information/30_coding_conventions.html">Coding Guidelines</a></li>
+</ul>
+<p class="caption" role="heading"><span class="caption-text">Other Information</span></p>
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="other_information/10_external_dependencies.html">External Dependencies</a></li>
+<li class="toctree-l1"><a class="reference internal" href="other_information/20_glossary.html">Glossary</a></li>
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+             
+
+<h1 id="index">Index</h1>
+
+<div class="genindex-jumpbox">
+ <a href="#A"><strong>A</strong></a>
+ | <a href="#C"><strong>C</strong></a>
+ | <a href="#D"><strong>D</strong></a>
+ | <a href="#F"><strong>F</strong></a>
+ | <a href="#G"><strong>G</strong></a>
+ | <a href="#M"><strong>M</strong></a>
+ | <a href="#O"><strong>O</strong></a>
+ | <a href="#P"><strong>P</strong></a>
+ | <a href="#S"><strong>S</strong></a>
+ | <a href="#T"><strong>T</strong></a>
+ 
+</div>
+<h2 id="A">A</h2>
+<table style="width: 100%" class="indextable genindextable"><tr>
+  <td style="width: 33%; vertical-align: top;"><ul>
+      <li><a href="other_information/20_glossary.html#term-ADAS"><strong>ADAS</strong></a>
+</li>
+  </ul></td>
+  <td style="width: 33%; vertical-align: top;"><ul>
+      <li><a href="other_information/20_glossary.html#term-AEB"><strong>AEB</strong></a>
+</li>
+  </ul></td>
+</tr></table>
+
+<h2 id="C">C</h2>
+<table style="width: 100%" class="indextable genindextable"><tr>
+  <td style="width: 33%; vertical-align: top;"><ul>
+      <li><a href="other_information/20_glossary.html#term-Channel"><strong>Channel</strong></a>
+</li>
+  </ul></td>
+  <td style="width: 33%; vertical-align: top;"><ul>
+      <li><a href="other_information/20_glossary.html#term-COG"><strong>COG</strong></a>
+</li>
+      <li><a href="other_information/20_glossary.html#term-Component"><strong>Component</strong></a>
+</li>
+  </ul></td>
+</tr></table>
+
+<h2 id="D">D</h2>
+<table style="width: 100%" class="indextable genindextable"><tr>
+  <td style="width: 33%; vertical-align: top;"><ul>
+      <li><a href="other_information/20_glossary.html#term-Dynamics"><strong>Dynamics</strong></a>
+</li>
+  </ul></td>
+</tr></table>
+
+<h2 id="F">F</h2>
+<table style="width: 100%" class="indextable genindextable"><tr>
+  <td style="width: 33%; vertical-align: top;"><ul>
+      <li><a href="other_information/20_glossary.html#term-FMI"><strong>FMI</strong></a>
+</li>
+  </ul></td>
+  <td style="width: 33%; vertical-align: top;"><ul>
+      <li><a href="other_information/20_glossary.html#term-FMU"><strong>FMU</strong></a>
+</li>
+  </ul></td>
+</tr></table>
+
+<h2 id="G">G</h2>
+<table style="width: 100%" class="indextable genindextable"><tr>
+  <td style="width: 33%; vertical-align: top;"><ul>
+      <li><a href="other_information/20_glossary.html#term-GIDAS"><strong>GIDAS</strong></a>
+</li>
+  </ul></td>
+</tr></table>
+
+<h2 id="M">M</h2>
+<table style="width: 100%" class="indextable genindextable"><tr>
+  <td style="width: 33%; vertical-align: top;"><ul>
+      <li><a href="other_information/20_glossary.html#term-MinGW"><strong>MinGW</strong></a>
+</li>
+      <li><a href="other_information/20_glossary.html#term-Model"><strong>Model</strong></a>
+</li>
+  </ul></td>
+  <td style="width: 33%; vertical-align: top;"><ul>
+      <li><a href="other_information/20_glossary.html#term-Module"><strong>Module</strong></a>
+</li>
+      <li><a href="other_information/20_glossary.html#term-MSYS"><strong>MSYS</strong></a>
+</li>
+      <li><a href="other_information/20_glossary.html#term-MSYS2"><strong>MSYS2</strong></a>
+</li>
+  </ul></td>
+</tr></table>
+
+<h2 id="O">O</h2>
+<table style="width: 100%" class="indextable genindextable"><tr>
+  <td style="width: 33%; vertical-align: top;"><ul>
+      <li><a href="other_information/20_glossary.html#term-OD"><strong>OD</strong></a>
+</li>
+  </ul></td>
+  <td style="width: 33%; vertical-align: top;"><ul>
+      <li><a href="other_information/20_glossary.html#term-openPASS"><strong>openPASS</strong></a>
+</li>
+      <li><a href="other_information/20_glossary.html#term-OSI"><strong>OSI</strong></a>
+</li>
+  </ul></td>
+</tr></table>
+
+<h2 id="P">P</h2>
+<table style="width: 100%" class="indextable genindextable"><tr>
+  <td style="width: 33%; vertical-align: top;"><ul>
+      <li><a href="other_information/20_glossary.html#term-PCM"><strong>PCM</strong></a>
+</li>
+  </ul></td>
+  <td style="width: 33%; vertical-align: top;"><ul>
+      <li><a href="other_information/20_glossary.html#term-PreCASE"><strong>PreCASE</strong></a>
+</li>
+  </ul></td>
+</tr></table>
+
+<h2 id="S">S</h2>
+<table style="width: 100%" class="indextable genindextable"><tr>
+  <td style="width: 33%; vertical-align: top;"><ul>
+      <li><a href="other_information/20_glossary.html#term-Scenario"><strong>Scenario</strong></a>
+</li>
+  </ul></td>
+</tr></table>
+
+<h2 id="T">T</h2>
+<table style="width: 100%" class="indextable genindextable"><tr>
+  <td style="width: 33%; vertical-align: top;"><ul>
+      <li><a href="other_information/20_glossary.html#term-TTC"><strong>TTC</strong></a>
+</li>
+  </ul></td>
+</tr></table>
+
+
+
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\ No newline at end of file
diff --git a/content/html/index.html b/content/html/index.html
index ca58a7f04cc86aed2a08bb11a43b66fa6b30ed08..ff9ebc0e97934d4bbab9fe68f32e86ab95d96a14 100644
--- a/content/html/index.html
+++ b/content/html/index.html
@@ -1,219 +1,204 @@
-<!DOCTYPE html>
-<html class="writer-html5" lang="en" >
-<head>
-  <meta charset="utf-8" /><meta name="viewport" content="width=device-width, initial-scale=1" />
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-<h1>openPASS Documentation<a class="headerlink" href="#openpass-documentation" title="Link to this heading"></a></h1>
-<p>The openPASS (Open Platform for Assessment of Safety Systems) tool is a developed framework for the simulation of interaction between traffic participants to evaluate and parametrize active safety systems.
-The simulation is based on a specific situation configuration and can contain several simulation runs, which differ due to random parameters.</p>
-<p>The software suite of openPASS started as a set of stand-alone applications, which can be installed and configured individually.
-Over time, especially the graphical user interface evolved to a single entry point, enabling the average user to use openPASS as a “monolithic” tool.</p>
-<p>This guide contains information about installation, configuration and usage of all tools in the <strong>openPASS</strong> environment.</p>
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-<div class="admonition-todo admonition" id="id1">
-<p class="admonition-title">Todo</p>
-<p>Update section for new react GUI.</p>
-</div>
-<p>The GUI lets the user configure the simulation and generate configuration files from all set parameters.
-Based on these the simulation core calculates different simulation runs and compiles trace files for further processing.</p>
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-<div class="admonition-todo admonition">
-<p class="admonition-title">Todo</p>
-<p>Update section for new react GUI.</p>
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-<p class="todo-source">(The <a class="reference internal" href="#id1"><em>original entry</em></a> is located in C:/Users/genie.openpass/jenkins_agent/workspace/openPASS_simulator_build_v1.1.0/build/doc/source/index.rst, line 31.)</p>
-<div class="admonition-todo admonition">
-<p class="admonition-title">Todo</p>
-<p>Update this paragraph for the new react GUI.</p>
-</div>
-<p class="todo-source">(The <a class="reference internal" href="user_guide/tutorials/10_scenario_simulation.html#id2"><em>original entry</em></a> is located in C:/Users/genie.openpass/jenkins_agent/workspace/openPASS_simulator_build_v1.1.0/build/doc/source/user_guide/tutorials/10_scenario_simulation.rst, line 27.)</p>
-<div class="admonition-todo admonition">
-<p class="admonition-title">Todo</p>
-<p>Write tutorial for PCM simulation</p>
-</div>
-<p class="todo-source">(The <a class="reference internal" href="user_guide/tutorials/20_pcm_simulation.html#id1"><em>original entry</em></a> is located in C:/Users/genie.openpass/jenkins_agent/workspace/openPASS_simulator_build_v1.1.0/build/doc/source/user_guide/tutorials/20_pcm_simulation.rst, line 17.)</p>
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+  <section id="openpass-documentation">
+<h1>openPASS Documentation<a class="headerlink" href="#openpass-documentation" title="Link to this heading"></a></h1>
+<p>The openPASS (Open Platform for Assessment of Safety Systems) tool is a developed framework for the simulation of interaction between traffic participants to evaluate and parametrize active safety systems.
+The simulation is based on a specific situation configuration and can contain several simulation runs, which differ due to random parameters.</p>
+<p>The software suite of openPASS started as a set of stand-alone applications, which can be installed and configured individually.
+In the future, the graphical user interface opGUI will evolve to a single entry point, enabling the average user to use openPASS as a “monolithic” tool.</p>
+<p>This guide contains information about installation, configuration and usage of all tools in the <strong>openPASS</strong> environment.</p>
+<div class="toctree-wrapper compound">
+<p class="caption" role="heading"><span class="caption-text">Installation Guide</span></p>
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="installation_guide/10_getting_started.html">Getting Started</a></li>
+<li class="toctree-l1"><a class="reference internal" href="installation_guide/15_system_requirements.html">System Requirements</a></li>
+<li class="toctree-l1"><a class="reference internal" href="installation_guide/20_install_prerequisites.html">Installing Prerequisites</a></li>
+<li class="toctree-l1"><a class="reference internal" href="installation_guide/30_install_openpass.html">Installing openPASS</a></li>
+<li class="toctree-l1"><a class="reference internal" href="installation_guide/50_further_guidance.html">Further Guidance</a></li>
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+</ul>
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+<p class="caption" role="heading"><span class="caption-text">Other Information</span></p>
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="other_information/10_external_dependencies.html">External Dependencies</a></li>
+<li class="toctree-l1"><a class="reference internal" href="other_information/20_glossary.html">Glossary</a></li>
+<li class="toctree-l1"><a class="reference internal" href="other_information/30_gui_plugins.html">GUI Plugins</a></li>
+<li class="toctree-l1"><a class="reference internal" href="other_information/40_license.html">License</a></li>
+</ul>
+</div>
+</section>
+<section id="todolist">
+<h1>Todolist<a class="headerlink" href="#todolist" title="Link to this heading"></a></h1>
+<div class="admonition-todo admonition">
+<p class="admonition-title">Todo</p>
+<p>Include link and explaination to opGUI documentation how to run PCM simulations</p>
+</div>
+<p class="todo-source">(The <a class="reference internal" href="user_guide/tutorials/20_pcm_simulation.html#id1"><em>original entry</em></a> is located in /home/jenkins/agent/workspace/openPASS_simulator_build_v1.2.0/build/doc/source/user_guide/tutorials/20_pcm_simulation.rst, line 17.)</p>
+</section>
+
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+
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+    <p>&#169; Copyright 2025 openPASS Working Group.</p>
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+
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diff --git a/content/html/installation_guide/10_getting_started.html b/content/html/installation_guide/10_getting_started.html
index 80e59544144339a8f46a2cd3f2bcb3a07207e37a..51c31546dc2c84a65df42e5691c4cda0b666104d 100644
--- a/content/html/installation_guide/10_getting_started.html
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@@ -1,183 +1,185 @@
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-            openPASS
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-                1.1.0
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-<li class="toctree-l1"><a class="reference internal" href="30_install_openpass.html">Installing openPASS</a></li>
-<li class="toctree-l1"><a class="reference internal" href="50_further_guidance.html">Further Guidance</a></li>
-<li class="toctree-l1"><a class="reference internal" href="60_conan.html">Building with Conan</a></li>
-</ul>
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-<li class="toctree-l1"><a class="reference internal" href="../user_guide/40_outputs_in_depth.html">Outputs in Depth</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../user_guide/50_scenario_simulation.html">Simulator</a></li>
-</ul>
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-<ul>
-<li class="toctree-l1"><a class="reference internal" href="../advanced_topics/20_simulator_advanced.html">Simulator</a></li>
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-<li class="toctree-l1"><a class="reference internal" href="../developer_information/10_ide_support.html">IDE Support</a></li>
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-<p>This guide will lead you through the installation steps to set up the <strong>openPASS</strong> simulator and run your first simulation.
-The process is described for Windows and Linux as target platforms.
-Please check the <a class="reference internal" href="15_system_requirements.html#system-requirements"><span class="std std-ref">System Requirements</span></a> for the required hardware setup.</p>
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-</ul>
-<p><strong>Installation of the simulator</strong></p>
-<ul class="simple">
-<li><p><a class="reference internal" href="30_install_openpass.html#download-and-install-openpass"><span class="std std-ref">Installing openPASS</span></a> describes how to compile and run <strong>openPASS</strong> once all prerequisites are installed</p></li>
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-<ul class="simple">
-<li><p><a class="reference internal" href="60_conan.html#building-with-conan"><span class="std std-ref">Building with Conan</span></a> contains the instructions to set Conan up.</p></li>
-</ul>
-<p><strong>Installation of the simulator</strong></p>
-<ul class="simple">
-<li><p><a class="reference internal" href="60_conan.html#building-with-conan"><span class="std std-ref">Building with Conan</span></a> describes how to compile and run <strong>openPASS</strong> once all prerequisites are installed</p></li>
-</ul>
-</div></div>
-<p><strong>Run a default simulation</strong></p>
-<ul class="simple">
-<li><p><a class="reference internal" href="../user_guide/20_tutorials.html#tutorials"><span class="std std-ref">Tutorials</span></a> shows how to run your first simulations</p></li>
-</ul>
-<p><strong>Further guidance</strong></p>
-<ul class="simple">
-<li><p><a class="reference internal" href="further_guidance/10_cmake.html#cmake"><span class="std std-ref">CMake Variables and Options</span></a> holds information about available variables and options for the cross-platform build environment CMake</p></li>
-<li><p><a class="reference internal" href="../developer_information/ide_support/30_vscode.html#vscode"><span class="std std-ref">Working with Visual Studio Code</span></a> describes the basic setup for Visual Studio Code</p></li>
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+
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+          
+          <a href="../index.html" class="icon icon-home">
+            openPASS
+              <img src="../_static/openPASS.png" class="logo" alt="Logo"/>
+          </a>
+              <div class="version">
+                1.2.0
+              </div>
+<div role="search">
+  <form id="rtd-search-form" class="wy-form" action="../search.html" method="get">
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+<ul class="current">
+<li class="toctree-l1 current"><a class="current reference internal" href="#">Getting Started</a></li>
+<li class="toctree-l1"><a class="reference internal" href="15_system_requirements.html">System Requirements</a></li>
+<li class="toctree-l1"><a class="reference internal" href="20_install_prerequisites.html">Installing Prerequisites</a></li>
+<li class="toctree-l1"><a class="reference internal" href="30_install_openpass.html">Installing openPASS</a></li>
+<li class="toctree-l1"><a class="reference internal" href="50_further_guidance.html">Further Guidance</a></li>
+<li class="toctree-l1"><a class="reference internal" href="60_conan.html">Building with Conan</a></li>
+</ul>
+<p class="caption" role="heading"><span class="caption-text">User Guides</span></p>
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="../user_guide/10_overview.html">Overview</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../user_guide/20_tutorials.html">Tutorials</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../user_guide/30_configs_in_depth.html">Configs in Depth</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../user_guide/40_outputs_in_depth.html">Outputs in Depth</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../user_guide/50_scenario_simulation.html">Simulator</a></li>
+</ul>
+<p class="caption" role="heading"><span class="caption-text">Advanced topics</span></p>
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="../advanced_topics/20_simulator_advanced.html">Simulator</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../advanced_topics/30_testing.html">EndToEnd Test Framework</a></li>
+</ul>
+<p class="caption" role="heading"><span class="caption-text">Developer Information</span></p>
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="../developer_information/10_ide_support.html">IDE Support</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../developer_information/20_documentation.html">Documentation Concept</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../developer_information/30_coding_conventions.html">Coding Guidelines</a></li>
+</ul>
+<p class="caption" role="heading"><span class="caption-text">Other Information</span></p>
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="../other_information/10_external_dependencies.html">External Dependencies</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../other_information/20_glossary.html">Glossary</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../other_information/30_gui_plugins.html">GUI Plugins</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../other_information/40_license.html">License</a></li>
+</ul>
+
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+    </nav>
+
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+        <div class="rst-content">
+          <div role="navigation" aria-label="Page navigation">
+  <ul class="wy-breadcrumbs">
+      <li><a href="../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li class="breadcrumb-item active">Getting Started</li>
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+            <a href="../_sources/installation_guide/10_getting_started.rst.txt" rel="nofollow"> View page source</a>
+      </li>
+  </ul>
+  <hr/>
+</div>
+          <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
+           <div itemprop="articleBody">
+             
+  <section id="getting-started">
+<span id="sim-install-guide"></span><h1>Getting Started<a class="headerlink" href="#getting-started" title="Link to this heading"></a></h1>
+<p>This guide will lead you through the installation steps to set up the <strong>openPASS</strong> simulator and run your first simulation.
+The process is described for Windows and Linux as target platforms.
+Please check the <a class="reference internal" href="15_system_requirements.html#system-requirements"><span class="std std-ref">System Requirements</span></a> for the required hardware setup.</p>
+<p>The installation manual is structured as follows:</p>
+<div class="sphinx-tabs docutils container">
+<div aria-label="Tabbed content" class="closeable" role="tablist"><button aria-controls="panel-0-0-0" aria-selected="true" class="sphinx-tabs-tab" id="tab-0-0-0" name="0-0" role="tab" tabindex="0">Building manually</button><button aria-controls="panel-0-0-1" aria-selected="false" class="sphinx-tabs-tab" id="tab-0-0-1" name="0-1" role="tab" tabindex="-1">Building with Conan</button></div><div aria-labelledby="tab-0-0-0" class="sphinx-tabs-panel" id="panel-0-0-0" name="0-0" role="tabpanel" tabindex="0"><p><strong>Setting up your system</strong></p>
+<ul class="simple">
+<li><p><a class="reference internal" href="20_install_prerequisites.html#prerequisites"><span class="std std-ref">Installing Prerequisites</span></a> contains instructions for installing the thirdparty software required by <strong>openPASS</strong></p></li>
+</ul>
+<p><strong>Installation of the simulator</strong></p>
+<ul class="simple">
+<li><p><a class="reference internal" href="30_install_openpass.html#download-and-install-openpass"><span class="std std-ref">Installing openPASS</span></a> describes how to compile and run <strong>openPASS</strong> once all prerequisites are installed</p></li>
+</ul>
+</div><div aria-labelledby="tab-0-0-1" class="sphinx-tabs-panel" hidden="true" id="panel-0-0-1" name="0-1" role="tabpanel" tabindex="0"><div class="admonition warning">
+<p class="admonition-title">Warning</p>
+<p>Not Recommended to install this way. Not finished and fully tested yet.</p>
+</div>
+<p><strong>Setting up Conan</strong></p>
+<ul class="simple">
+<li><p><a class="reference internal" href="60_conan.html#building-with-conan"><span class="std std-ref">Building with Conan</span></a> contains the instructions to set Conan up.</p></li>
+</ul>
+<p><strong>Installation of the simulator</strong></p>
+<ul class="simple">
+<li><p><a class="reference internal" href="60_conan.html#building-with-conan"><span class="std std-ref">Building with Conan</span></a> describes how to compile and run <strong>openPASS</strong> once all prerequisites are installed</p></li>
+</ul>
+</div></div>
+<p><strong>Run a default simulation</strong></p>
+<ul class="simple">
+<li><p><a class="reference internal" href="../user_guide/20_tutorials.html#tutorials"><span class="std std-ref">Tutorials</span></a> shows how to run your first simulations</p></li>
+</ul>
+<p><strong>Further guidance</strong></p>
+<ul class="simple">
+<li><p><a class="reference internal" href="further_guidance/10_cmake.html#cmake"><span class="std std-ref">CMake Variables and Options</span></a> holds information about available variables and options for the cross-platform build environment CMake</p></li>
+<li><p><a class="reference internal" href="../developer_information/ide_support/30_vscode.html#vscode"><span class="std std-ref">Working with Visual Studio Code</span></a> describes the basic setup for Visual Studio Code</p></li>
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diff --git a/content/html/installation_guide/15_system_requirements.html b/content/html/installation_guide/15_system_requirements.html
index 6548d2813c42f8623c2e450b364ddeb76962dac9..5615bf37d05dad18037832fdc97508688ec78d19 100644
--- a/content/html/installation_guide/15_system_requirements.html
+++ b/content/html/installation_guide/15_system_requirements.html
@@ -1,181 +1,182 @@
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-  <section id="system-requirements">
-<span id="id1"></span><h1>System Requirements<a class="headerlink" href="#system-requirements" title="Link to this heading"></a></h1>
-<p>Simulations with <strong>openPASS</strong> are designed to be very lightweight and performant, without imposing huge requirements on the underlying hardware.
-Thus, <strong>openPASS</strong> simulations run as a single core application and do not utilize GPU.
-Only the build process during installation of <strong>openPASS</strong> makes use of multiple cores, so it is recommended to have at least a 4 core CPU.
-In the table below, minimal requirements are listed along with a commonly used, well working example setup.</p>
-<table class="tight-table docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>System Specification</p></th>
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-<th class="head"><p>Tested Setup (exemplarily)</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>Operating System</p></td>
-<td><p>Windows or Linux (Debian Bookworm or Ubuntu 22.04 recommended)</p></td>
-<td><p>Windows 10</p></td>
-</tr>
-<tr class="row-odd"><td><p>CPU</p></td>
-<td><p>Intel x64 Architecture with at least 1,50 GHz clock frequency</p></td>
-<td><p>Intel i5-10310U</p></td>
-</tr>
-<tr class="row-even"><td><p>RAM</p></td>
-<td><p>at least 8 GB</p></td>
-<td><p>8 GB</p></td>
-</tr>
-<tr class="row-odd"><td><p>GPU</p></td>
-<td><p>not used by the simulation</p></td>
-<td><p>Intel UHD Graphics 620</p></td>
-</tr>
-<tr class="row-even"><td><p>Others</p></td>
-<td><p>1 GB free hard disk space</p></td>
-<td></td>
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+<li class="toctree-l1 current"><a class="current reference internal" href="#">System Requirements</a></li>
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+<li class="toctree-l1"><a class="reference internal" href="../user_guide/50_scenario_simulation.html">Simulator</a></li>
+</ul>
+<p class="caption" role="heading"><span class="caption-text">Advanced topics</span></p>
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="../advanced_topics/20_simulator_advanced.html">Simulator</a></li>
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+</ul>
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+<ul>
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+           <div itemprop="articleBody">
+             
+  <section id="system-requirements">
+<span id="id1"></span><h1>System Requirements<a class="headerlink" href="#system-requirements" title="Link to this heading"></a></h1>
+<p>Simulations with <strong>openPASS</strong> are designed to be very lightweight and performant, without imposing huge requirements on the underlying hardware.
+Thus, <strong>openPASS</strong> simulations run as a single core application and do not utilize GPU.
+Only the build process during installation of <strong>openPASS</strong> makes use of multiple cores, so it is recommended to have at least a 4 core CPU.
+In the table below, minimal requirements are listed along with a commonly used, well working example setup.</p>
+<table class="tight-table docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>System Specification</p></th>
+<th class="head"><p>Minimal Requirements</p></th>
+<th class="head"><p>Tested Setup (exemplarily)</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>Operating System</p></td>
+<td><p>Windows or Linux (Debian Bookworm or Ubuntu 22.04 recommended)</p></td>
+<td><p>Windows 10</p></td>
+</tr>
+<tr class="row-odd"><td><p>CPU</p></td>
+<td><p>Intel x64 Architecture with at least 1,50 GHz clock frequency</p></td>
+<td><p>Intel i5-10310U</p></td>
+</tr>
+<tr class="row-even"><td><p>RAM</p></td>
+<td><p>at least 8 GB</p></td>
+<td><p>8 GB</p></td>
+</tr>
+<tr class="row-odd"><td><p>GPU</p></td>
+<td><p>not used by the simulation</p></td>
+<td><p>Intel UHD Graphics 620</p></td>
+</tr>
+<tr class="row-even"><td><p>Others</p></td>
+<td><p>1 GB free hard disk space</p></td>
+<td></td>
+</tr>
+</tbody>
+</table>
+</section>
+
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+    <p>&#169; Copyright 2025 openPASS Working Group.</p>
+  </div>
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+    <a href="https://github.com/readthedocs/sphinx_rtd_theme">theme</a>
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diff --git a/content/html/installation_guide/20_install_prerequisites.html b/content/html/installation_guide/20_install_prerequisites.html
index fb3a7b954c99747bc06e9a9e4504185f8ad637c3..7d0da8543740f60ff3d1ca7c3b96e28226f265e1 100644
--- a/content/html/installation_guide/20_install_prerequisites.html
+++ b/content/html/installation_guide/20_install_prerequisites.html
@@ -1,436 +1,444 @@
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-  <section id="installing-prerequisites">
-<span id="prerequisites"></span><h1>Installing Prerequisites<a class="headerlink" href="#installing-prerequisites" title="Link to this heading"></a></h1>
-<p>Before being able to compile and run <strong>openPASS</strong>, make sure to have all dependencies installed.
-The third party software dependency of <strong>openPASS</strong> can be divided into:</p>
-<ul class="simple">
-<li><p><strong>Build environment</strong>, which manages third party software and is used to compile and install <strong>openPASS</strong></p></li>
-<li><p><strong>Binary packages</strong>, which can be easily installed via a package manager of the respective build environment</p></li>
-<li><p><strong>Source packages</strong>, which need to be built from source code</p></li>
-</ul>
-<p>This section gives detailed information about the prerequisites and tested version.</p>
-<section id="installing-the-build-environment">
-<span id="building-under-windows"></span><h2>Installing the Build Environment<a class="headerlink" href="#installing-the-build-environment" title="Link to this heading"></a></h2>
-<div class="sphinx-tabs docutils container">
-<div aria-label="Tabbed content" class="closeable" role="tablist"><button aria-controls="panel-0-0-0" aria-selected="true" class="sphinx-tabs-tab" id="tab-0-0-0" name="0-0" role="tab" tabindex="0">Windows</button><button aria-controls="panel-0-0-1" aria-selected="false" class="sphinx-tabs-tab" id="tab-0-0-1" name="0-1" role="tab" tabindex="-1">Linux</button></div><div aria-labelledby="tab-0-0-0" class="sphinx-tabs-panel" id="panel-0-0-0" name="0-0" role="tabpanel" tabindex="0"><ol class="arabic">
-<li><p>MSYS2</p>
-<p>On Windows, the build environment of choice are <a class="reference internal" href="../other_information/20_glossary.html#term-MSYS2"><span class="xref std std-term">MSYS2</span></a> programming tools.
-<a class="reference internal" href="../other_information/20_glossary.html#term-MSYS2"><span class="xref std std-term">MSYS2</span></a> is used to install some third-party software on which <strong>openPASS</strong> depends.
-Also, the unix-like shell simplifies c++ compilation on Windows.
-For details, see <a class="reference external" href="https://www.msys2.org/">MSYS2 website</a>.</p>
-</li>
-<li id="msys2"><p>Download MSYS2</p>
-<p>The latest 64-bit package is located in the Installation section of <a class="reference external" href="https://www.msys2.org/">MSYS2 website</a>.</p>
-</li>
-<li id="msys2-installation"><p>Install MSYS2</p>
-<p>Run the downloaded executable and adjust suggested settings to your needs (defaults are fine).
-In the following, it is assumed that MSYS2 is installed under <code class="docutils literal notranslate"><span class="pre">C:\msys64</span></code>.</p>
-</li>
-<li><p>Understand the Build Environment</p>
-<p>MSYS2 provides three different environments, located in the MSYS2 installation directory:</p>
-<figure class="align-center" id="fig-msys2-environments">
-<img alt="MSYS2 Apps" src="../_images/msys2.png" />
-</figure>
-<p>MSYS2 Environments</p>
-<ul class="simple">
-<li><p>MSYS2 MSYS: Common environment, i.e. for package management</p></li>
-<li><p>MSYS2 MinGW 32-bit: A MinGW 32-bit environment</p></li>
-<li><p>MSYS2 MinGW 64-bit: A MinGW 64-bit environment</p></li>
-</ul>
-<div class="admonition warning">
-<p class="admonition-title">Warning</p>
-<div class="line-block">
-<div class="line">MSYS2 MinGW 64-bit is <strong>the</strong>  <strong>openPASS</strong> development environment and will be referred to as <code class="docutils literal notranslate"><span class="pre">MinGW</span> <span class="pre">64-bit</span></code> shell.</div>
-</div>
-</div>
-</li>
-</ol>
-</div><div aria-labelledby="tab-0-0-1" class="sphinx-tabs-panel" hidden="true" id="panel-0-0-1" name="0-1" role="tabpanel" tabindex="0">
-<span id="building-under-linux"></span><p>On Linux, no special build environment is needed. <strong>openPASS</strong> is developed under Debian 64-Bit,
-which means that developing under a recent Ubuntu distribution will also work.
-Debian Bookworm or Ubuntu 22.04 LTS is recommended. Debian uses <code class="docutils literal notranslate"><span class="pre">apt</span></code> (or <code class="docutils literal notranslate"><span class="pre">apt-get</span></code>) as package managing system.
-Details will be given in <a class="reference internal" href="#binary-packages"><span class="std std-ref">Installing the Binary Packages</span></a> and <a class="reference internal" href="#building-prerequisites"><span class="std std-ref">Installing the Dependencies</span></a>.</p>
-</div></div>
-</section>
-<section id="installing-the-binary-packages">
-<span id="binary-packages"></span><h2>Installing the Binary Packages<a class="headerlink" href="#installing-the-binary-packages" title="Link to this heading"></a></h2>
-<p>The first set of dependencies we need to install in order to successfully compile <strong>openPASS</strong> are the binary packages. These can be installed via appropiate package manager.</p>
-<div class="sphinx-tabs docutils container">
-<div aria-label="Tabbed content" class="closeable" role="tablist"><button aria-controls="panel-1-1-0" aria-selected="true" class="sphinx-tabs-tab" id="tab-1-1-0" name="1-0" role="tab" tabindex="0">Windows (MSYS2)</button><button aria-controls="panel-1-1-1" aria-selected="false" class="sphinx-tabs-tab" id="tab-1-1-1" name="1-1" role="tab" tabindex="-1">Linux (Debian Bookworm)</button></div><div aria-labelledby="tab-1-1-0" class="sphinx-tabs-panel" id="panel-1-1-0" name="1-0" role="tabpanel" tabindex="0"><ol class="arabic">
-<li><p>Open <code class="docutils literal notranslate"><span class="pre">MSYS2</span> <span class="pre">MinGW</span> <span class="pre">64-bit</span></code> and execute the following package manager <code class="docutils literal notranslate"><span class="pre">pacman</span></code> commands to update the package repository and upgrade system packages:</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">pacman</span> <span class="o">-</span><span class="n">Syuu</span>
-</pre></div>
-</div>
-<p>If the upgrade requires a restart of MSYS2, resume the upgrade by re-opening the shell and call:</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">pacman</span> <span class="o">-</span><span class="n">Suu</span>
-</pre></div>
-</div>
-</li>
-<li><p>Required packages (can be specified in single command line if desired):</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>pacman<span class="w"> </span>-S<span class="w">  </span><span class="se">\</span>
-<span class="w">    </span><span class="sb">`</span><span class="c1"># for simulator` \</span>
-<span class="w">    </span>mingw-w64-x86_64-boost<span class="w"> </span><span class="se">\</span>
-<span class="w">    </span>mingw-w64-x86_64-ccache<span class="w"> </span><span class="se">\</span>
-<span class="w">    </span>mingw-w64-x86_64-cmake<span class="w"> </span><span class="se">\</span>
-<span class="w">    </span>mingw-w64-x86_64-doxygen<span class="w"> </span><span class="se">\</span>
-<span class="w">    </span>mingw-w64-x86_64-gcc<span class="w"> </span><span class="se">\</span>
-<span class="w">    </span>mingw-w64-x86_64-gdb<span class="w"> </span><span class="se">\</span>
-<span class="w">    </span>mingw-w64-x86_64-graphviz<span class="w"> </span><span class="se">\</span>
-<span class="w">    </span>mingw-w64-x86_64-gtest<span class="w"> </span><span class="se">\</span>
-<span class="w">    </span>mingw-w64-x86_64-make<span class="w"> </span><span class="se">\</span>
-<span class="w">    </span>mingw-w64-x86_64-qt5-base<span class="w"> </span><span class="se">\</span>
-<span class="w">    </span>mingw-w64-x86_64-qt5-xmlpatterns<span class="w"> </span><span class="se">\</span>
-<span class="w">    </span><span class="sb">`</span><span class="c1"># for documentation` \</span>
-<span class="w">    </span>mingw-w64-x86_64-python<span class="w"> </span><span class="se">\</span>
-<span class="w">    </span>mingw-w64-x86_64-python-pip<span class="w"> </span><span class="se">\</span>
-<span class="w">    </span>mingw-w64-x86_64-python-lxml<span class="w"> </span><span class="se">\</span>
-<span class="w">    </span><span class="sb">`</span><span class="c1"># fonts and equation rendering in the documentation` \</span>
-<span class="w">    </span>mingw-w64-x86_64-texlive-bin<span class="w"> </span><span class="se">\</span>
-<span class="w">    </span>mingw-w64-x86_64-texlive-core<span class="w"> </span><span class="se">\</span>
-<span class="w">    </span>mingw-w64-x86_64-texlive-font-utils<span class="w"> </span><span class="se">\</span>
-<span class="w">    </span>mingw-w64-x86_64-texlive-latex-extra<span class="w"> </span><span class="se">\</span>
-<span class="w">    </span>mingw-w64-x86_64-zziplib<span class="w"> </span><span class="se">\</span>
-<span class="w">    </span><span class="sb">`</span><span class="c1"># documentation with only pacman` \</span>
-<span class="w">    </span>libxslt-devel<span class="w"> </span><span class="se">\</span>
-<span class="w">    </span>mingw-w64-x86_64-python-sphinx<span class="w"> </span><span class="se">\</span>
-<span class="w">    </span>mingw-w64-x86_64-python-sphinx-tabs<span class="w"> </span><span class="se">\</span>
-<span class="w">    </span>mingw-w64-x86_64-python-sphinx_rtd_theme<span class="w"> </span><span class="se">\</span>
-<span class="w">    </span>mingw-w64-x86_64-python-setuptools<span class="w"> </span><span class="se">\</span>
-<span class="w">    </span>mingw-w64-x86_64-python-myst-parser<span class="w"> </span><span class="se">\</span>
-<span class="w">    </span><span class="sb">`</span><span class="c1"># for testing (optional)` \</span>
-<span class="w">    </span>mingw-w64-x86_64-python-pytest<span class="w"> </span><span class="se">\</span>
-<span class="w">    </span>mingw-w64-x86_64-python-pandas<span class="w"> </span><span class="se">\</span>
-<span class="w">    </span><span class="sb">`</span><span class="c1"># for developing purposes (optional)` \</span>
-<span class="w">    </span>mingw-w64-x86_64-clang
-</pre></div>
-</div>
-<div class="admonition-versions admonition">
-<p class="admonition-title">Versions</p>
-<div class="line-block">
-<div class="line">MSYS2 provides rolling release versions, so some packages might be too “up-to-date”.</div>
-</div>
-</div>
-</li>
-<li><p>Required python packages</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">pip3</span> <span class="n">install</span> <span class="s2">&quot;approvaltests==3.1.0&quot;</span> <span class="n">breathe</span> <span class="s2">&quot;conan&gt;2.0&quot;</span> <span class="n">empty</span><span class="o">-</span><span class="n">files</span> <span class="n">exhale</span> <span class="n">watchdog</span>
-</pre></div>
-</div>
-</li>
-</ol>
-<div class="admonition-git-ssh admonition">
-<p class="admonition-title">GIT/SSH</p>
-<p>The <code class="docutils literal notranslate"><span class="pre">MinGW</span> <span class="pre">64-bit</span></code> shell does not access an already existing git installation or available SSH keys.
-Make sure, to update/copy your configuration and credentials within the <code class="docutils literal notranslate"><span class="pre">MinGW</span> <span class="pre">64-bit</span></code> shell before working with git.</p>
-</div>
-</div><div aria-labelledby="tab-1-1-1" class="sphinx-tabs-panel" hidden="true" id="panel-1-1-1" name="1-1" role="tabpanel" tabindex="0"><ol class="arabic">
-<li><p>Update  the package database on the system</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">apt</span> <span class="n">update</span>
-</pre></div>
-</div>
-</li>
-<li><p>Upgrade existing software to latest version</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">apt</span> <span class="n">upgrade</span>
-</pre></div>
-</div>
-</li>
-<li><p>Install required binary packages</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="c1"># for simulator</span>
-<span class="n">apt</span> <span class="o">-</span><span class="n">y</span> <span class="n">install</span> <span class="n">antlr4</span>
-<span class="n">apt</span> <span class="o">-</span><span class="n">y</span> <span class="n">install</span> <span class="n">build</span><span class="o">-</span><span class="n">essential</span>
-<span class="n">apt</span> <span class="o">-</span><span class="n">y</span> <span class="n">install</span> <span class="n">ca</span><span class="o">-</span><span class="n">certificates</span>
-<span class="n">apt</span> <span class="o">-</span><span class="n">y</span> <span class="n">install</span> <span class="n">ccache</span>
-<span class="n">apt</span> <span class="o">-</span><span class="n">y</span> <span class="n">install</span> <span class="n">cmake</span>
-<span class="n">apt</span> <span class="o">-</span><span class="n">y</span> <span class="n">install</span> <span class="n">clang</span><span class="o">-</span><span class="nb">format</span><span class="o">-</span><span class="mi">15</span>
-<span class="n">apt</span> <span class="o">-</span><span class="n">y</span> <span class="n">install</span> <span class="n">doxygen</span>
-<span class="n">apt</span> <span class="o">-</span><span class="n">y</span> <span class="n">install</span> <span class="n">g</span><span class="o">++</span>
-<span class="n">apt</span> <span class="o">-</span><span class="n">y</span> <span class="n">install</span> <span class="n">gcc</span>
-<span class="n">apt</span> <span class="o">-</span><span class="n">y</span> <span class="n">install</span> <span class="n">git</span>
-<span class="n">apt</span> <span class="o">-</span><span class="n">y</span> <span class="n">install</span> <span class="n">googletest</span>
-<span class="n">apt</span> <span class="o">-</span><span class="n">y</span> <span class="n">install</span> <span class="n">graphviz</span>
-<span class="n">apt</span> <span class="o">-</span><span class="n">y</span> <span class="n">install</span> <span class="n">libboost</span><span class="o">-</span><span class="n">filesystem</span><span class="o">-</span><span class="n">dev</span>
-<span class="n">apt</span> <span class="o">-</span><span class="n">y</span> <span class="n">install</span> <span class="n">libgmock</span><span class="o">-</span><span class="n">dev</span>
-<span class="n">apt</span> <span class="o">-</span><span class="n">y</span> <span class="n">install</span> <span class="n">libgtest</span><span class="o">-</span><span class="n">dev</span>
-<span class="n">apt</span> <span class="o">-</span><span class="n">y</span> <span class="n">install</span> <span class="n">libprotobuf</span><span class="o">-</span><span class="n">dev</span>
-<span class="n">apt</span> <span class="o">-</span><span class="n">y</span> <span class="n">install</span> <span class="n">libqt5xmlpatterns5</span><span class="o">-</span><span class="n">dev</span>
-<span class="n">apt</span> <span class="o">-</span><span class="n">y</span> <span class="n">install</span> <span class="n">libantlr4</span><span class="o">-</span><span class="n">runtime4</span><span class="mf">.9</span>
-<span class="n">apt</span> <span class="o">-</span><span class="n">y</span> <span class="n">install</span> <span class="n">libantlr4</span><span class="o">-</span><span class="n">runtime</span><span class="o">-</span><span class="n">java</span>
-<span class="n">apt</span> <span class="o">-</span><span class="n">y</span> <span class="n">install</span> <span class="n">libantlr4</span><span class="o">-</span><span class="n">runtime</span><span class="o">-</span><span class="n">dev</span>
-<span class="n">apt</span> <span class="o">-</span><span class="n">y</span> <span class="n">install</span> <span class="n">openjdk</span><span class="o">-</span><span class="mi">17</span><span class="o">-</span><span class="n">jre</span>
-<span class="n">apt</span> <span class="o">-</span><span class="n">y</span> <span class="n">install</span> <span class="n">pkg</span><span class="o">-</span><span class="n">config</span>
-<span class="n">apt</span> <span class="o">-</span><span class="n">y</span> <span class="n">install</span> <span class="n">protobuf</span><span class="o">-</span><span class="n">compiler</span>
-<span class="n">apt</span> <span class="o">-</span><span class="n">y</span> <span class="n">install</span> <span class="n">python3</span>
-<span class="n">apt</span> <span class="o">-</span><span class="n">y</span> <span class="n">install</span> <span class="n">python3</span><span class="o">-</span><span class="n">distutils</span>
-<span class="n">apt</span> <span class="o">-</span><span class="n">y</span> <span class="n">install</span> <span class="n">python3</span><span class="o">-</span><span class="n">pip</span>
-<span class="n">apt</span> <span class="o">-</span><span class="n">y</span> <span class="n">install</span> <span class="n">qtbase5</span><span class="o">-</span><span class="n">dev</span>
-<span class="n">apt</span> <span class="o">-</span><span class="n">y</span> <span class="n">install</span> <span class="n">uuid</span><span class="o">-</span><span class="n">dev</span>
-
-<span class="c1"># python packages</span>
-<span class="n">pip3</span> <span class="n">install</span> <span class="s2">&quot;approvaltests==3.1.0&quot;</span> <span class="n">empty</span><span class="o">-</span><span class="n">files</span> <span class="s2">&quot;conan&gt;2.0&quot;</span> <span class="n">watchdog</span>
-<span class="n">pip3</span> <span class="n">install</span> <span class="n">breathe</span> <span class="n">exhale</span> <span class="n">myst</span><span class="o">-</span><span class="n">parser</span> <span class="s2">&quot;sphinx==7.2.6&quot;</span> <span class="n">sphinx</span><span class="o">-</span><span class="n">rtd</span><span class="o">-</span><span class="n">theme</span> <span class="n">sphinx</span><span class="o">-</span><span class="n">tabs</span> <span class="n">sphinxcontrib</span><span class="o">-</span><span class="n">spelling</span>
-</pre></div>
-</div>
-</li>
-</ol>
-</div></div>
-<p><strong>EndToEnd Test Framework</strong></p>
-<p>If end to end tests shall be executed, additional requirements have to be considered.
-Please refer to <a class="reference internal" href="../advanced_topics/30_testing.html#testing-endtoend"><span class="std std-ref">EndToEnd Test Framework</span></a> for more details on installation of the prerequisites and usage of the framework.</p>
-</section>
-<section id="installing-the-dependencies">
-<span id="building-prerequisites"></span><h2>Installing the Dependencies<a class="headerlink" href="#installing-the-dependencies" title="Link to this heading"></a></h2>
-<p>This section describes how to compile prerequisites of <strong>openPASS</strong> using conan (<code class="docutils literal notranslate"><span class="pre">conan&gt;2.0</span></code>).</p>
-<p>The goal of this section is to build and install necessary packages into a suitable directory using conan.</p>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>If you are unfamiliar to <code class="docutils literal notranslate"><span class="pre">conan</span></code> or working with it, Section <a class="reference internal" href="60_conan.html#building-with-conan"><span class="std std-ref">Building with Conan</span></a> might give you a short introduction on conan in the scope of building dependencies for <strong>openPASS</strong>.</p>
-</div>
-<p>To keep the installation process of <strong>openPASS</strong> and its dependencies as simple as possible, we recommend a specific folder structure.
-If you strictly follow the recommended paths of this guide, no command modifications are necessary.</p>
-<div class="sphinx-tabs docutils container">
-<div aria-label="Tabbed content" class="closeable" role="tablist"><button aria-controls="panel-2-2-0" aria-selected="true" class="sphinx-tabs-tab" id="tab-2-2-0" name="2-0" role="tab" tabindex="0">Notes for Windows</button><button aria-controls="panel-2-2-1" aria-selected="false" class="sphinx-tabs-tab" id="tab-2-2-1" name="2-1" role="tab" tabindex="-1">Notes for Linux</button></div><div aria-labelledby="tab-2-2-0" class="sphinx-tabs-panel" id="panel-2-2-0" name="2-0" role="tabpanel" tabindex="0"><ul class="simple">
-<li><p>Recommended checkout path of <strong>openPASS</strong> repository: <code class="docutils literal notranslate"><span class="pre">C:\openpass</span></code></p></li>
-<li><p>Dependency directory within the <strong>openPASS</strong> repository: <code class="docutils literal notranslate"><span class="pre">C:\deps</span></code></p></li>
-<li><p>Recommended installation directory of <strong>openPASS</strong>: <code class="docutils literal notranslate"><span class="pre">C:\openPASS\bin\core</span></code></p></li>
-</ul>
-</div><div aria-labelledby="tab-2-2-1" class="sphinx-tabs-panel" hidden="true" id="panel-2-2-1" name="2-1" role="tabpanel" tabindex="0"><ul class="simple">
-<li><p>Recommended checkout path of <strong>openPASS</strong> repository: <code class="docutils literal notranslate"><span class="pre">~/openpass</span></code></p></li>
-<li><p>Dependency directory within the <strong>openPASS</strong> repository: <code class="docutils literal notranslate"><span class="pre">~/deps</span></code></p></li>
-<li><p>Recommended installation directory of <strong>openPASS</strong>: <code class="docutils literal notranslate"><span class="pre">/usr/local/openPASS/bin/core</span></code></p></li>
-</ul>
-</div></div>
-<p>The above directory structure will be created by following the instructions of this guide.</p>
-<ol class="arabic">
-<li><p>Clone <strong>openPASS</strong> repository</p>
-<p>As described above, the checkout path of the repository is assumed to be the default <code class="docutils literal notranslate"><span class="pre">openpass</span></code>.</p>
-<div class="sphinx-tabs docutils container">
-<div aria-label="Tabbed content" class="closeable" role="tablist"><button aria-controls="panel-3-3-0" aria-selected="true" class="sphinx-tabs-tab" id="tab-3-3-0" name="3-0" role="tab" tabindex="0">Windows</button><button aria-controls="panel-3-3-1" aria-selected="false" class="sphinx-tabs-tab" id="tab-3-3-1" name="3-1" role="tab" tabindex="-1">Linux</button></div><div aria-labelledby="tab-3-3-0" class="sphinx-tabs-panel" id="panel-3-3-0" name="3-0" role="tabpanel" tabindex="0"><p>Start <code class="docutils literal notranslate"><span class="pre">MinGW</span> <span class="pre">64-bit</span></code> shell</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">cd</span> <span class="o">/</span><span class="n">C</span><span class="o">/</span>
-<span class="n">git</span> <span class="n">clone</span> <span class="n">https</span><span class="p">:</span><span class="o">//</span><span class="n">gitlab</span><span class="o">.</span><span class="n">eclipse</span><span class="o">.</span><span class="n">org</span><span class="o">/</span><span class="n">eclipse</span><span class="o">/</span><span class="n">openpass</span><span class="o">/</span><span class="n">opSimulation</span><span class="o">.</span><span class="n">git</span> <span class="n">openpass</span>
-</pre></div>
-</div>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>As stated in <a class="reference internal" href="#building-under-windows"><span class="std std-ref">Installing the Build Environment</span></a>, the windows programming tools suffer from a <cite>path length restriction</cite>.
-This error manifests as strange <strong>file not found</strong> compile errors.
-It is therefore recommended to use a short path for source code checkout, e.g. a drive letter.
-This can also be done by the windows command <a class="reference external" href="https://docs.microsoft.com/en-us/windows-server/administration/windows-commands/subst">subst</a>.</p>
-</div>
-</div><div aria-labelledby="tab-3-3-1" class="sphinx-tabs-panel" hidden="true" id="panel-3-3-1" name="3-1" role="tabpanel" tabindex="0"><p>Start <code class="docutils literal notranslate"><span class="pre">Bash</span></code> shell</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">cd</span> <span class="o">~</span>
-<span class="n">git</span> <span class="n">clone</span> <span class="n">https</span><span class="p">:</span><span class="o">//</span><span class="n">gitlab</span><span class="o">.</span><span class="n">eclipse</span><span class="o">.</span><span class="n">org</span><span class="o">/</span><span class="n">eclipse</span><span class="o">/</span><span class="n">openpass</span><span class="o">/</span><span class="n">opSimulation</span><span class="o">.</span><span class="n">git</span> <span class="n">openpass</span>
-</pre></div>
-</div>
-</div></div>
-</li>
-<li><p>Navigate into repository and checkout main branch</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">cd</span> <span class="n">openpass</span>
-<span class="n">git</span> <span class="n">checkout</span> <span class="n">main</span>
-</pre></div>
-</div>
-</li>
-<li><p>The essential packages necessary for <strong>openPASS</strong> are listed in the file <code class="docutils literal notranslate"><span class="pre">utils/ci/conan/conanfile.txt</span></code>.</p>
-<p>If a required package is available on ConanCenter, they will be used directly.
-For packages not available on ConanCenter, the respective recipes are stored in the <code class="docutils literal notranslate"><span class="pre">utils/ci/conan/recipe</span></code> folder.</p>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>It is important to have conancenter remote enabled. To check the status of conancenter and to enable, if it is disabled, execute the following commands</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">conan</span> <span class="n">remote</span> <span class="nb">list</span>
-<span class="n">conan</span> <span class="n">remote</span> <span class="n">enable</span> <span class="n">conancenter</span>
-</pre></div>
-</div>
-</div>
-</li>
-<li><p>There are two Conan profiles <code class="docutils literal notranslate"><span class="pre">conanprofile_linux</span></code> and <code class="docutils literal notranslate"><span class="pre">conanprofile_windows</span></code> available in the <code class="docutils literal notranslate"><span class="pre">utils/ci/conan/recipe</span></code> folder.
-The compiler version and the path to the MSYS installation in these profiles can be adjusted to suit your specific environment, if necessary.</p>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>The recommended compiler is GCC. Usage of other compilers may lead to unexpected outcomes.</p>
-</div>
-</li>
-<li><p>To build and install the dependencies, run the script <code class="docutils literal notranslate"><span class="pre">15_prepare_thirdParty.sh</span></code> located in <code class="docutils literal notranslate"><span class="pre">utils/ci/scripts</span></code>.</p>
-<div class="sphinx-tabs docutils container">
-<div aria-label="Tabbed content" class="closeable" role="tablist"><button aria-controls="panel-4-4-0" aria-selected="true" class="sphinx-tabs-tab" id="tab-4-4-0" name="4-0" role="tab" tabindex="0">Windows</button><button aria-controls="panel-4-4-1" aria-selected="false" class="sphinx-tabs-tab" id="tab-4-4-1" name="4-1" role="tab" tabindex="-1">Linux</button></div><div aria-labelledby="tab-4-4-0" class="sphinx-tabs-panel" id="panel-4-4-0" name="4-0" role="tabpanel" tabindex="0"><ol class="arabic">
-<li><p>One of the dependencies of <strong>openPASS</strong> is OpenScenarioEngine which requires OpenSCENARIO API and it in turn requires JAVA executable to build.
-If Java executable is not available on your machine, download the java from <a class="reference external" href="https://cdn.azul.com/zulu/bin/zulu11.50.19-ca-jdk11.0.12-win_x64.zip">here</a> and extract the zip file</p></li>
-<li><p>If <code class="docutils literal notranslate"><span class="pre">C:\Downloads\zulu</span></code> is the extracted path, then add the variable JAVA_HOME to the environmental variable, and append the java executable path to the PATH environmental variable as below</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>export JAVA_HOME=/c/Downloads/zulu/
-export PATH=$PATH:/c/Downloads/zulu/bin
-</pre></div>
-</div>
-</li>
-<li><p>The script <code class="docutils literal notranslate"><span class="pre">15_prepare_thirdParty.sh</span></code> also requires the variable PYTHON_WINDOWS_EXE set. This variable refers to the path of the python installation (For ex: It could be either on native Windows or on MSYS).
-If the python is installed on MSYS then set the variable with the following command.</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">export</span> <span class="n">PYTHON_WINDOWS_EXE</span><span class="o">=</span><span class="n">python3</span>
-</pre></div>
-</div>
-</li>
-<li><p>Execute the script <code class="docutils literal notranslate"><span class="pre">15_prepare_thirdParty.sh</span></code> on MSYS</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">cd</span> <span class="n">utils</span><span class="o">/</span><span class="n">ci</span><span class="o">/</span><span class="n">scripts</span>
-<span class="o">./</span><span class="mi">15</span><span class="n">_prepare_thirdParty</span><span class="o">.</span><span class="n">sh</span>
-</pre></div>
-</div>
-</li>
-</ol>
-</div><div aria-labelledby="tab-4-4-1" class="sphinx-tabs-panel" hidden="true" id="panel-4-4-1" name="4-1" role="tabpanel" tabindex="0"><ol class="arabic">
-<li><p>Execute the script</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">cd</span> <span class="n">utils</span><span class="o">/</span><span class="n">ci</span><span class="o">/</span><span class="n">scripts</span>
-<span class="o">./</span><span class="mi">15</span><span class="n">_prepare_thirdParty</span><span class="o">.</span><span class="n">sh</span>
-</pre></div>
-</div>
-</li>
-</ol>
-</div></div>
-</li>
-<li><p>Upon successful execution of the script, the dependencies will be installed under <code class="docutils literal notranslate"><span class="pre">C:\deps</span></code> on Windows and  <code class="docutils literal notranslate"><span class="pre">~/deps</span></code> on Linux.</p></li>
-</ol>
-</section>
-</section>
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+<li class="toctree-l1 current"><a class="current reference internal" href="#">Installing Prerequisites</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="#installing-the-build-environment">Installing the Build Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="#installing-the-binary-packages">Installing the Binary Packages</a></li>
+<li class="toctree-l2"><a class="reference internal" href="#installing-the-dependencies">Installing the Dependencies</a></li>
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+  <section id="installing-prerequisites">
+<span id="prerequisites"></span><h1>Installing Prerequisites<a class="headerlink" href="#installing-prerequisites" title="Link to this heading"></a></h1>
+<p>Before being able to compile and run <strong>openPASS</strong>, make sure to have all dependencies installed.
+The third party software dependency of <strong>openPASS</strong> can be divided into:</p>
+<ul class="simple">
+<li><p><strong>Build environment</strong>, which manages third party software and is used to compile and install <strong>openPASS</strong></p></li>
+<li><p><strong>Binary packages</strong>, which can be easily installed via a package manager of the respective build environment</p></li>
+<li><p><strong>Source packages</strong>, which need to be built from source code</p></li>
+</ul>
+<p>This section gives detailed information about the prerequisites and tested version.</p>
+<section id="installing-the-build-environment">
+<span id="building-under-windows"></span><h2>Installing the Build Environment<a class="headerlink" href="#installing-the-build-environment" title="Link to this heading"></a></h2>
+<div class="sphinx-tabs docutils container">
+<div aria-label="Tabbed content" class="closeable" role="tablist"><button aria-controls="panel-0-0-0" aria-selected="true" class="sphinx-tabs-tab" id="tab-0-0-0" name="0-0" role="tab" tabindex="0">Windows</button><button aria-controls="panel-0-0-1" aria-selected="false" class="sphinx-tabs-tab" id="tab-0-0-1" name="0-1" role="tab" tabindex="-1">Linux</button></div><div aria-labelledby="tab-0-0-0" class="sphinx-tabs-panel" id="panel-0-0-0" name="0-0" role="tabpanel" tabindex="0"><ol class="arabic">
+<li><p>MSYS2</p>
+<p>On Windows, the build environment of choice are <a class="reference internal" href="../other_information/20_glossary.html#term-MSYS2"><span class="xref std std-term">MSYS2</span></a> programming tools.
+<a class="reference internal" href="../other_information/20_glossary.html#term-MSYS2"><span class="xref std std-term">MSYS2</span></a> is used to install some third-party software on which <strong>openPASS</strong> depends.
+Also, the unix-like shell simplifies c++ compilation on Windows.
+For details, see <a class="reference external" href="https://www.msys2.org/">MSYS2 website</a>.</p>
+</li>
+<li id="msys2"><p>Download MSYS2</p>
+<p>The latest 64-bit package is located in the Installation section of <a class="reference external" href="https://www.msys2.org/">MSYS2 website</a>.</p>
+</li>
+<li id="msys2-installation"><p>Install MSYS2</p>
+<p>Run the downloaded executable and adjust suggested settings to your needs (defaults are fine).</p>
+<div class="admonition-installation-path admonition">
+<p class="admonition-title">Installation Path</p>
+<p>It is assumed that MSYS2 is installed in the directory <code class="docutils literal notranslate"><span class="pre">C:\op\msys64</span></code>, as our CI scripts depend on this specific path.
+If you choose to install MSYS2 in a different location, please ensure that you update any related configurations to reflect the new installation path, such as the conan profiles mentioned below.”</p>
+</div>
+</li>
+<li><p>Understand the Build Environment</p>
+<p>MSYS2 provides three different environments, located in the MSYS2 installation directory:</p>
+<figure class="align-center" id="fig-msys2-environments">
+<img alt="MSYS2 Apps" src="../_images/msys2.png" />
+</figure>
+<p>MSYS2 Environments</p>
+<ul class="simple">
+<li><p>MSYS2 MSYS: Common environment, i.e. for package management</p></li>
+<li><p>MSYS2 MinGW 32-bit: A MinGW 32-bit environment</p></li>
+<li><p>MSYS2 MinGW 64-bit: A MinGW 64-bit environment</p></li>
+</ul>
+<div class="admonition warning">
+<p class="admonition-title">Warning</p>
+<div class="line-block">
+<div class="line">MSYS2 MinGW 64-bit is <strong>the</strong>  <strong>openPASS</strong> development environment and will be referred to as <code class="docutils literal notranslate"><span class="pre">MinGW</span> <span class="pre">64-bit</span></code> shell.</div>
+</div>
+</div>
+</li>
+</ol>
+</div><div aria-labelledby="tab-0-0-1" class="sphinx-tabs-panel" hidden="true" id="panel-0-0-1" name="0-1" role="tabpanel" tabindex="0">
+<span id="building-under-linux"></span><p>On Linux, no special build environment is needed. <strong>openPASS</strong> is developed under Debian 64-Bit,
+which means that developing under a recent Ubuntu distribution will also work.
+Debian Bookworm or Ubuntu 22.04 LTS is recommended. Debian uses <code class="docutils literal notranslate"><span class="pre">apt</span></code> (or <code class="docutils literal notranslate"><span class="pre">apt-get</span></code>) as package managing system.
+Details will be given in <a class="reference internal" href="#binary-packages"><span class="std std-ref">Installing the Binary Packages</span></a> and <a class="reference internal" href="#building-prerequisites"><span class="std std-ref">Installing the Dependencies</span></a>.</p>
+</div></div>
+</section>
+<section id="installing-the-binary-packages">
+<span id="binary-packages"></span><h2>Installing the Binary Packages<a class="headerlink" href="#installing-the-binary-packages" title="Link to this heading"></a></h2>
+<p>The first set of dependencies we need to install in order to successfully compile <strong>openPASS</strong> are the binary packages. These can be installed via appropiate package manager.</p>
+<div class="sphinx-tabs docutils container">
+<div aria-label="Tabbed content" class="closeable" role="tablist"><button aria-controls="panel-1-1-0" aria-selected="true" class="sphinx-tabs-tab" id="tab-1-1-0" name="1-0" role="tab" tabindex="0">Windows (MSYS2)</button><button aria-controls="panel-1-1-1" aria-selected="false" class="sphinx-tabs-tab" id="tab-1-1-1" name="1-1" role="tab" tabindex="-1">Linux (Debian Bookworm)</button></div><div aria-labelledby="tab-1-1-0" class="sphinx-tabs-panel" id="panel-1-1-0" name="1-0" role="tabpanel" tabindex="0"><ol class="arabic">
+<li><p>Open <code class="docutils literal notranslate"><span class="pre">MSYS2</span> <span class="pre">MinGW</span> <span class="pre">64-bit</span></code> and execute the following package manager <code class="docutils literal notranslate"><span class="pre">pacman</span></code> commands to update the package repository and upgrade system packages:</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">pacman</span> <span class="o">-</span><span class="n">Syuu</span>
+</pre></div>
+</div>
+<p>If the upgrade requires a restart of MSYS2, resume the upgrade by re-opening the shell and call:</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">pacman</span> <span class="o">-</span><span class="n">Suu</span>
+</pre></div>
+</div>
+</li>
+<li><p>Required packages (can be specified in single command line if desired):</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>pacman<span class="w"> </span>-S<span class="w">  </span><span class="se">\</span>
+<span class="w">    </span><span class="sb">`</span><span class="c1"># for building and running the simulator` \</span>
+<span class="w">    </span>make<span class="w"> </span><span class="se">\</span>
+<span class="w">    </span>mingw-w64-x86_64-ccache<span class="w"> </span><span class="se">\</span>
+<span class="w">    </span>mingw-w64-x86_64-cmake<span class="w"> </span><span class="se">\</span>
+<span class="w">    </span>mingw-w64-x86_64-doxygen<span class="w"> </span><span class="se">\</span>
+<span class="w">    </span>mingw-w64-x86_64-gcc<span class="w"> </span><span class="se">\</span>
+<span class="w">    </span>mingw-w64-x86_64-gdb<span class="w"> </span><span class="se">\</span>
+<span class="w">    </span>mingw-w64-x86_64-graphviz<span class="w"> </span><span class="se">\</span>
+<span class="w">    </span>mingw-w64-x86_64-make<span class="w"> </span><span class="se">\</span>
+<span class="w">    </span>patch<span class="w"> </span><span class="se">\</span>
+<span class="w">    </span><span class="sb">`</span><span class="c1"># for documentation` \</span>
+<span class="w">    </span>mingw-w64-x86_64-python<span class="w"> </span><span class="se">\</span>
+<span class="w">    </span>mingw-w64-x86_64-python-pip<span class="w"> </span><span class="se">\</span>
+<span class="w">    </span>mingw-w64-x86_64-python-lxml<span class="w"> </span><span class="se">\</span>
+<span class="w">    </span><span class="sb">`</span><span class="c1"># fonts and equation rendering in the documentation` \</span>
+<span class="w">    </span>mingw-w64-x86_64-texlive-bin<span class="w"> </span><span class="se">\</span>
+<span class="w">    </span>mingw-w64-x86_64-texlive-core<span class="w"> </span><span class="se">\</span>
+<span class="w">    </span>mingw-w64-x86_64-texlive-font-utils<span class="w"> </span><span class="se">\</span>
+<span class="w">    </span>mingw-w64-x86_64-texlive-latex-extra<span class="w"> </span><span class="se">\</span>
+<span class="w">    </span>mingw-w64-x86_64-zziplib<span class="w"> </span><span class="se">\</span>
+<span class="w">    </span><span class="sb">`</span><span class="c1"># documentation with only pacman` \</span>
+<span class="w">    </span>libxslt-devel<span class="w"> </span><span class="se">\</span>
+<span class="w">    </span>mingw-w64-x86_64-python-sphinx<span class="w"> </span><span class="se">\</span>
+<span class="w">    </span>mingw-w64-x86_64-python-sphinx-tabs<span class="w"> </span><span class="se">\</span>
+<span class="w">    </span>mingw-w64-x86_64-python-sphinx_rtd_theme<span class="w"> </span><span class="se">\</span>
+<span class="w">    </span>mingw-w64-x86_64-python-setuptools<span class="w"> </span><span class="se">\</span>
+<span class="w">    </span>mingw-w64-x86_64-python-myst-parser<span class="w"> </span><span class="se">\</span>
+<span class="w">    </span><span class="sb">`</span><span class="c1"># for testing (optional)` \</span>
+<span class="w">    </span>mingw-w64-x86_64-python-pytest<span class="w"> </span><span class="se">\</span>
+<span class="w">    </span>mingw-w64-x86_64-python-pandas<span class="w"> </span><span class="se">\</span>
+<span class="w">    </span><span class="sb">`</span><span class="c1"># for developing purposes (optional)` \</span>
+<span class="w">    </span>mingw-w64-x86_64-clang
+</pre></div>
+</div>
+<div class="admonition-versions admonition">
+<p class="admonition-title">Versions</p>
+<div class="line-block">
+<div class="line">MSYS2 provides rolling release versions, so some packages might be too “up-to-date”.</div>
+</div>
+</div>
+</li>
+<li><p>Required python packages</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">pip3</span> <span class="n">install</span> <span class="s2">&quot;approvaltests==3.1.0&quot;</span> <span class="n">breathe</span> <span class="s2">&quot;conan&gt;2.0&quot;</span> <span class="n">empty</span><span class="o">-</span><span class="n">files</span> <span class="n">exhale</span> <span class="n">watchdog</span>
+</pre></div>
+</div>
+</li>
+</ol>
+<div class="admonition-git-ssh admonition">
+<p class="admonition-title">GIT/SSH</p>
+<p>The <code class="docutils literal notranslate"><span class="pre">MinGW</span> <span class="pre">64-bit</span></code> shell does not access an already existing git installation or available SSH keys.
+Make sure, to update/copy your configuration and credentials within the <code class="docutils literal notranslate"><span class="pre">MinGW</span> <span class="pre">64-bit</span></code> shell before working with git.</p>
+</div>
+</div><div aria-labelledby="tab-1-1-1" class="sphinx-tabs-panel" hidden="true" id="panel-1-1-1" name="1-1" role="tabpanel" tabindex="0"><ol class="arabic">
+<li><p>Update  the package database on the system</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">apt</span> <span class="n">update</span>
+</pre></div>
+</div>
+</li>
+<li><p>Upgrade existing software to latest version</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">apt</span> <span class="n">upgrade</span>
+</pre></div>
+</div>
+</li>
+<li><p>Install required binary packages</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="c1"># for simulator</span>
+<span class="n">apt</span> <span class="o">-</span><span class="n">y</span> <span class="n">install</span> <span class="n">antlr4</span>
+<span class="n">apt</span> <span class="o">-</span><span class="n">y</span> <span class="n">install</span> <span class="n">build</span><span class="o">-</span><span class="n">essential</span>
+<span class="n">apt</span> <span class="o">-</span><span class="n">y</span> <span class="n">install</span> <span class="n">ca</span><span class="o">-</span><span class="n">certificates</span>
+<span class="n">apt</span> <span class="o">-</span><span class="n">y</span> <span class="n">install</span> <span class="n">ccache</span>
+<span class="n">apt</span> <span class="o">-</span><span class="n">y</span> <span class="n">install</span> <span class="n">cmake</span>
+<span class="n">apt</span> <span class="o">-</span><span class="n">y</span> <span class="n">install</span> <span class="n">clang</span><span class="o">-</span><span class="nb">format</span><span class="o">-</span><span class="mi">15</span>
+<span class="n">apt</span> <span class="o">-</span><span class="n">y</span> <span class="n">install</span> <span class="n">doxygen</span>
+<span class="n">apt</span> <span class="o">-</span><span class="n">y</span> <span class="n">install</span> <span class="n">g</span><span class="o">++</span>
+<span class="n">apt</span> <span class="o">-</span><span class="n">y</span> <span class="n">install</span> <span class="n">gcc</span>
+<span class="n">apt</span> <span class="o">-</span><span class="n">y</span> <span class="n">install</span> <span class="n">git</span>
+<span class="n">apt</span> <span class="o">-</span><span class="n">y</span> <span class="n">install</span> <span class="n">googletest</span>
+<span class="n">apt</span> <span class="o">-</span><span class="n">y</span> <span class="n">install</span> <span class="n">graphviz</span>
+<span class="n">apt</span> <span class="o">-</span><span class="n">y</span> <span class="n">install</span> <span class="n">libboost</span><span class="o">-</span><span class="n">filesystem</span><span class="o">-</span><span class="n">dev</span>
+<span class="n">apt</span> <span class="o">-</span><span class="n">y</span> <span class="n">install</span> <span class="n">libprotobuf</span><span class="o">-</span><span class="n">dev</span>
+<span class="n">apt</span> <span class="o">-</span><span class="n">y</span> <span class="n">install</span> <span class="n">libantlr4</span><span class="o">-</span><span class="n">runtime4</span><span class="mf">.9</span>
+<span class="n">apt</span> <span class="o">-</span><span class="n">y</span> <span class="n">install</span> <span class="n">libantlr4</span><span class="o">-</span><span class="n">runtime</span><span class="o">-</span><span class="n">java</span>
+<span class="n">apt</span> <span class="o">-</span><span class="n">y</span> <span class="n">install</span> <span class="n">libantlr4</span><span class="o">-</span><span class="n">runtime</span><span class="o">-</span><span class="n">dev</span>
+<span class="n">apt</span> <span class="o">-</span><span class="n">y</span> <span class="n">install</span> <span class="n">openjdk</span><span class="o">-</span><span class="mi">17</span><span class="o">-</span><span class="n">jre</span>
+<span class="n">apt</span> <span class="o">-</span><span class="n">y</span> <span class="n">install</span> <span class="n">pkg</span><span class="o">-</span><span class="n">config</span>
+<span class="n">apt</span> <span class="o">-</span><span class="n">y</span> <span class="n">install</span> <span class="n">protobuf</span><span class="o">-</span><span class="n">compiler</span>
+<span class="n">apt</span> <span class="o">-</span><span class="n">y</span> <span class="n">install</span> <span class="n">python3</span>
+<span class="n">apt</span> <span class="o">-</span><span class="n">y</span> <span class="n">install</span> <span class="n">python3</span><span class="o">-</span><span class="n">distutils</span>
+<span class="n">apt</span> <span class="o">-</span><span class="n">y</span> <span class="n">install</span> <span class="n">python3</span><span class="o">-</span><span class="n">pip</span>
+<span class="n">apt</span> <span class="o">-</span><span class="n">y</span> <span class="n">install</span> <span class="n">uuid</span><span class="o">-</span><span class="n">dev</span>
+
+<span class="c1"># python packages</span>
+<span class="n">pip3</span> <span class="n">install</span> <span class="s2">&quot;approvaltests==3.1.0&quot;</span> <span class="n">empty</span><span class="o">-</span><span class="n">files</span> <span class="s2">&quot;conan&gt;2.0&quot;</span> <span class="n">watchdog</span>
+<span class="n">pip3</span> <span class="n">install</span> <span class="n">breathe</span> <span class="n">exhale</span> <span class="n">myst</span><span class="o">-</span><span class="n">parser</span> <span class="s2">&quot;sphinx==7.2.6&quot;</span> <span class="n">sphinx</span><span class="o">-</span><span class="n">rtd</span><span class="o">-</span><span class="n">theme</span> <span class="n">sphinx</span><span class="o">-</span><span class="n">tabs</span> <span class="n">sphinxcontrib</span><span class="o">-</span><span class="n">spelling</span>
+</pre></div>
+</div>
+</li>
+</ol>
+</div></div>
+<p><strong>EndToEnd Test Framework</strong></p>
+<p>If end to end tests shall be executed, additional requirements have to be considered.
+Please refer to <a class="reference internal" href="../advanced_topics/30_testing.html#testing-endtoend"><span class="std std-ref">EndToEnd Test Framework</span></a> for more details on installation of the prerequisites and usage of the framework.</p>
+</section>
+<section id="installing-the-dependencies">
+<span id="building-prerequisites"></span><h2>Installing the Dependencies<a class="headerlink" href="#installing-the-dependencies" title="Link to this heading"></a></h2>
+<p>This section describes how to compile prerequisites of <strong>openPASS</strong> using conan (<code class="docutils literal notranslate"><span class="pre">conan&gt;2.0</span></code>).</p>
+<p>The goal of this section is to build and install necessary packages into a suitable directory using conan.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>If you are unfamiliar to <code class="docutils literal notranslate"><span class="pre">conan</span></code> or working with it, Section <a class="reference internal" href="60_conan.html#building-with-conan"><span class="std std-ref">Building with Conan</span></a> might give you a short introduction on conan in the scope of building dependencies for <strong>openPASS</strong>.</p>
+</div>
+<p>To keep the installation process of <strong>openPASS</strong> and its dependencies as simple as possible, we recommend a specific folder structure.
+If you strictly follow the recommended paths of this guide, no command modifications are necessary.</p>
+<div class="sphinx-tabs docutils container">
+<div aria-label="Tabbed content" class="closeable" role="tablist"><button aria-controls="panel-2-2-0" aria-selected="true" class="sphinx-tabs-tab" id="tab-2-2-0" name="2-0" role="tab" tabindex="0">Notes for Windows</button><button aria-controls="panel-2-2-1" aria-selected="false" class="sphinx-tabs-tab" id="tab-2-2-1" name="2-1" role="tab" tabindex="-1">Notes for Linux</button></div><div aria-labelledby="tab-2-2-0" class="sphinx-tabs-panel" id="panel-2-2-0" name="2-0" role="tabpanel" tabindex="0"><ul class="simple">
+<li><p>Recommended checkout path of <strong>openPASS</strong> repository: <code class="docutils literal notranslate"><span class="pre">C:\openpass</span></code></p></li>
+<li><p>Dependency directory within the <strong>openPASS</strong> repository: <code class="docutils literal notranslate"><span class="pre">C:\deps</span></code></p></li>
+<li><p>Recommended installation directory of <strong>openPASS</strong>: <code class="docutils literal notranslate"><span class="pre">C:\openPASS\bin\core</span></code></p></li>
+</ul>
+</div><div aria-labelledby="tab-2-2-1" class="sphinx-tabs-panel" hidden="true" id="panel-2-2-1" name="2-1" role="tabpanel" tabindex="0"><ul class="simple">
+<li><p>Recommended checkout path of <strong>openPASS</strong> repository: <code class="docutils literal notranslate"><span class="pre">~/openpass</span></code></p></li>
+<li><p>Dependency directory within the <strong>openPASS</strong> repository: <code class="docutils literal notranslate"><span class="pre">~/deps</span></code></p></li>
+<li><p>Recommended installation directory of <strong>openPASS</strong>: <code class="docutils literal notranslate"><span class="pre">/usr/local/openPASS/bin/core</span></code></p></li>
+</ul>
+</div></div>
+<p>The above directory structure will be created by following the instructions of this guide.</p>
+<ol class="arabic">
+<li><p>Clone <strong>openPASS</strong> repository</p>
+<p>As described above, the checkout path of the repository is assumed to be the default <code class="docutils literal notranslate"><span class="pre">openpass</span></code>.</p>
+<div class="sphinx-tabs docutils container">
+<div aria-label="Tabbed content" class="closeable" role="tablist"><button aria-controls="panel-3-3-0" aria-selected="true" class="sphinx-tabs-tab" id="tab-3-3-0" name="3-0" role="tab" tabindex="0">Windows</button><button aria-controls="panel-3-3-1" aria-selected="false" class="sphinx-tabs-tab" id="tab-3-3-1" name="3-1" role="tab" tabindex="-1">Linux</button></div><div aria-labelledby="tab-3-3-0" class="sphinx-tabs-panel" id="panel-3-3-0" name="3-0" role="tabpanel" tabindex="0"><p>Start <code class="docutils literal notranslate"><span class="pre">MinGW</span> <span class="pre">64-bit</span></code> shell</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">cd</span> <span class="o">/</span><span class="n">C</span><span class="o">/</span>
+<span class="n">git</span> <span class="n">clone</span> <span class="n">https</span><span class="p">:</span><span class="o">//</span><span class="n">gitlab</span><span class="o">.</span><span class="n">eclipse</span><span class="o">.</span><span class="n">org</span><span class="o">/</span><span class="n">eclipse</span><span class="o">/</span><span class="n">openpass</span><span class="o">/</span><span class="n">opSimulation</span><span class="o">.</span><span class="n">git</span> <span class="n">openpass</span>
+</pre></div>
+</div>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>As stated in <a class="reference internal" href="#building-under-windows"><span class="std std-ref">Installing the Build Environment</span></a>, the windows programming tools suffer from a <cite>path length restriction</cite>.
+This error manifests as strange <strong>file not found</strong> compile errors.
+It is therefore recommended to use a short path for source code checkout, e.g. a drive letter.
+This can also be done by the windows command <a class="reference external" href="https://docs.microsoft.com/en-us/windows-server/administration/windows-commands/subst">subst</a>.</p>
+</div>
+</div><div aria-labelledby="tab-3-3-1" class="sphinx-tabs-panel" hidden="true" id="panel-3-3-1" name="3-1" role="tabpanel" tabindex="0"><p>Start <code class="docutils literal notranslate"><span class="pre">Bash</span></code> shell</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">cd</span> <span class="o">~</span>
+<span class="n">git</span> <span class="n">clone</span> <span class="n">https</span><span class="p">:</span><span class="o">//</span><span class="n">gitlab</span><span class="o">.</span><span class="n">eclipse</span><span class="o">.</span><span class="n">org</span><span class="o">/</span><span class="n">eclipse</span><span class="o">/</span><span class="n">openpass</span><span class="o">/</span><span class="n">opSimulation</span><span class="o">.</span><span class="n">git</span> <span class="n">openpass</span>
+</pre></div>
+</div>
+</div></div>
+</li>
+<li><p>Navigate into repository and checkout main branch</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">cd</span> <span class="n">openpass</span>
+<span class="n">git</span> <span class="n">checkout</span> <span class="n">main</span>
+</pre></div>
+</div>
+</li>
+<li><p>The essential packages necessary for <strong>openPASS</strong> are listed in the file <code class="docutils literal notranslate"><span class="pre">utils/ci/conan/conanfile.txt</span></code>.</p>
+<p>If a required package is available on ConanCenter, they will be used directly.
+For packages not available on ConanCenter, the respective recipes are stored in the <code class="docutils literal notranslate"><span class="pre">utils/ci/conan/recipe</span></code> folder.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>It is important to have conancenter remote enabled. To check the status of conancenter and to enable, if it is disabled, execute the following commands</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">conan</span> <span class="n">remote</span> <span class="nb">list</span>
+<span class="n">conan</span> <span class="n">remote</span> <span class="n">enable</span> <span class="n">conancenter</span>
+</pre></div>
+</div>
+</div>
+</li>
+<li><p>There are two Conan profiles <code class="docutils literal notranslate"><span class="pre">conanprofile_linux</span></code> and <code class="docutils literal notranslate"><span class="pre">conanprofile_windows</span></code> available in the <code class="docutils literal notranslate"><span class="pre">utils/ci/conan/recipe</span></code> folder, which will be automatically used in the next step.</p>
+<div class="admonition-adjustments admonition">
+<p class="admonition-title">Adjustments</p>
+<p>Check and adjust the compiler version and the path to the MSYS installation in these profiles before running the prepare scripts.</p>
+</div>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The recommended compiler is GCC. Usage of other compilers may lead to unexpected outcomes.</p>
+</div>
+</li>
+<li><p>To build and install the dependencies, run the script <code class="docutils literal notranslate"><span class="pre">15_prepare_thirdParty.sh</span></code> located in <code class="docutils literal notranslate"><span class="pre">utils/ci/scripts</span></code>.</p>
+<div class="sphinx-tabs docutils container">
+<div aria-label="Tabbed content" class="closeable" role="tablist"><button aria-controls="panel-4-4-0" aria-selected="true" class="sphinx-tabs-tab" id="tab-4-4-0" name="4-0" role="tab" tabindex="0">Windows</button><button aria-controls="panel-4-4-1" aria-selected="false" class="sphinx-tabs-tab" id="tab-4-4-1" name="4-1" role="tab" tabindex="-1">Linux</button></div><div aria-labelledby="tab-4-4-0" class="sphinx-tabs-panel" id="panel-4-4-0" name="4-0" role="tabpanel" tabindex="0"><ol class="arabic">
+<li><p>One of the dependencies of <strong>openPASS</strong> is OpenScenarioEngine which requires OpenSCENARIO API and it in turn requires JAVA executable to build.
+If Java executable is not available on your machine, download the java from <a class="reference external" href="https://cdn.azul.com/zulu/bin/zulu11.50.19-ca-jdk11.0.12-win_x64.zip">here</a> and extract the zip file</p></li>
+<li><p>If <code class="docutils literal notranslate"><span class="pre">C:\Downloads\zulu</span></code> is the extracted path, then add the variable JAVA_HOME to the environmental variable, and append the java executable path to the PATH environmental variable as below</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>export JAVA_HOME=/c/Downloads/zulu/
+export PATH=$PATH:/c/Downloads/zulu/bin
+</pre></div>
+</div>
+</li>
+<li><p>The script <code class="docutils literal notranslate"><span class="pre">15_prepare_thirdParty.sh</span></code> also requires the variable PYTHON_EXECUTABLE set. This variable refers to the path of the python installation (For example: It could be either on native Windows or on MSYS).
+If the python is installed on MSYS then set the variable with the following command.</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">export</span> <span class="n">PYTHON_EXECUTABLE</span><span class="o">=</span><span class="n">python3</span>
+</pre></div>
+</div>
+</li>
+<li><p>Execute the script <code class="docutils literal notranslate"><span class="pre">15_prepare_thirdParty.sh</span></code> on MSYS</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">cd</span> <span class="n">utils</span><span class="o">/</span><span class="n">ci</span><span class="o">/</span><span class="n">scripts</span>
+<span class="o">./</span><span class="mi">15</span><span class="n">_prepare_thirdParty</span><span class="o">.</span><span class="n">sh</span>
+</pre></div>
+</div>
+</li>
+</ol>
+</div><div aria-labelledby="tab-4-4-1" class="sphinx-tabs-panel" hidden="true" id="panel-4-4-1" name="4-1" role="tabpanel" tabindex="0"><ol class="arabic">
+<li><p>The script <code class="docutils literal notranslate"><span class="pre">15_prepare_thirdParty.sh</span></code> also requires the variable PYTHON_EXECUTABLE set. This variable refers to the path of the python installation.</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">export</span> <span class="n">PYTHON_EXECUTABLE</span><span class="o">=</span><span class="n">python3</span>
+</pre></div>
+</div>
+</li>
+<li><p>Execute the script</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">cd</span> <span class="n">utils</span><span class="o">/</span><span class="n">ci</span><span class="o">/</span><span class="n">scripts</span>
+<span class="o">./</span><span class="mi">15</span><span class="n">_prepare_thirdParty</span><span class="o">.</span><span class="n">sh</span>
+</pre></div>
+</div>
+</li>
+</ol>
+</div></div>
+</li>
+<li><p>Upon successful execution of the script, the dependencies will be installed under <code class="docutils literal notranslate"><span class="pre">C:\deps</span></code> on Windows and  <code class="docutils literal notranslate"><span class="pre">~/deps</span></code> on Linux.</p></li>
+</ol>
+</section>
+</section>
+
+
+           </div>
+          </div>
+          <footer><div class="rst-footer-buttons" role="navigation" aria-label="Footer">
+        <a href="15_system_requirements.html" class="btn btn-neutral float-left" title="System Requirements" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> Previous</a>
+        <a href="30_install_openpass.html" class="btn btn-neutral float-right" title="Installing openPASS" accesskey="n" rel="next">Next <span class="fa fa-arrow-circle-right" aria-hidden="true"></span></a>
+    </div>
+
+  <hr/>
+
+  <div role="contentinfo">
+    <p>&#169; Copyright 2025 openPASS Working Group.</p>
+  </div>
+
+  Built with <a href="https://www.sphinx-doc.org/">Sphinx</a> using a
+    <a href="https://github.com/readthedocs/sphinx_rtd_theme">theme</a>
+    provided by <a href="https://readthedocs.org">Read the Docs</a>.
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diff --git a/content/html/installation_guide/30_install_openpass.html b/content/html/installation_guide/30_install_openpass.html
index c02841b88edb378e74168123fd7e4b3d722cd7e0..d0422064eabfc287ae7aa0dfd2ba9d74eeab3ad6 100644
--- a/content/html/installation_guide/30_install_openpass.html
+++ b/content/html/installation_guide/30_install_openpass.html
@@ -1,254 +1,256 @@
-<!DOCTYPE html>
-<html class="writer-html5" lang="en" >
-<head>
-  <meta charset="utf-8" /><meta name="viewport" content="width=device-width, initial-scale=1" />
-
-  <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-  <title>Installing openPASS &mdash; openPASS Documentation</title>
-      <link rel="stylesheet" href="../_static/pygments.css" type="text/css" />
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-      <link rel="stylesheet" href="../_static/tabs.css" type="text/css" />
-    <link rel="shortcut icon" href="../_static/openPASS.ico"/>
-  <!--[if lt IE 9]>
-    <script src="../_static/js/html5shiv.min.js"></script>
-  <![endif]-->
-  
-        <script src="../_static/jquery.js?v=5d32c60e"></script>
-        <script src="../_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
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-            openPASS
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-              <div class="version">
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-              <p class="caption" role="heading"><span class="caption-text">Installation Guide</span></p>
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-<li class="toctree-l1"><a class="reference internal" href="20_install_prerequisites.html">Installing Prerequisites</a></li>
-<li class="toctree-l1 current"><a class="current reference internal" href="#">Installing openPASS</a></li>
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-<li class="toctree-l1"><a class="reference internal" href="60_conan.html">Building with Conan</a></li>
-</ul>
-<p class="caption" role="heading"><span class="caption-text">User Guides</span></p>
-<ul>
-<li class="toctree-l1"><a class="reference internal" href="../user_guide/10_overview.html">Overview</a></li>
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-<li class="toctree-l1"><a class="reference internal" href="../user_guide/30_configs_in_depth.html">Configs in Depth</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../user_guide/40_outputs_in_depth.html">Outputs in Depth</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../user_guide/50_scenario_simulation.html">Simulator</a></li>
-</ul>
-<p class="caption" role="heading"><span class="caption-text">Advanced topics</span></p>
-<ul>
-<li class="toctree-l1"><a class="reference internal" href="../advanced_topics/20_simulator_advanced.html">Simulator</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../advanced_topics/30_testing.html">EndToEnd Test Framework</a></li>
-</ul>
-<p class="caption" role="heading"><span class="caption-text">Developer Information</span></p>
-<ul>
-<li class="toctree-l1"><a class="reference internal" href="../developer_information/10_ide_support.html">IDE Support</a></li>
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-           <div itemprop="articleBody">
-             
-  <section id="installing-openpass">
-<span id="download-and-install-openpass"></span><h1>Installing openPASS<a class="headerlink" href="#installing-openpass" title="Link to this heading"></a></h1>
-<p>This section describes how to compile and run <strong>openPASS</strong>. Please make sure that all prerequisites have been properly installed according to section <a class="reference internal" href="20_install_prerequisites.html#prerequisites"><span class="std std-ref">Installing Prerequisites</span></a>.
-If you have strictly followed the instructions, the installed dependencies should be located on your machine under
-<code class="docutils literal notranslate"><span class="pre">C:\deps</span></code> on <strong>Windows</strong> and <code class="docutils literal notranslate"><span class="pre">~/deps</span></code> on <strong>Linux</strong>. If there is a path deviation,
-the following commands must be adjusted.</p>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>If you are unfamiliar to <code class="docutils literal notranslate"><span class="pre">CMake</span></code> or working within a <code class="docutils literal notranslate"><span class="pre">MinGW</span> <span class="pre">64-bit</span></code> shell, Section <a class="reference internal" href="further_guidance/10_cmake.html#cmake"><span class="std std-ref">CMake Variables and Options</span></a> and <a class="reference internal" href="20_install_prerequisites.html#msys2"><span class="std std-ref">MSYS2</span></a> might give you a short introduction on these topics in the scope of building <strong>openPASS</strong> itself.</p>
-</div>
-<ol class="arabic">
-<li><p>Navigate back into repository</p>
-<div class="sphinx-tabs docutils container">
-<div aria-label="Tabbed content" class="closeable" role="tablist"><button aria-controls="panel-0-0-0" aria-selected="true" class="sphinx-tabs-tab" id="tab-0-0-0" name="0-0" role="tab" tabindex="0">Windows</button><button aria-controls="panel-0-0-1" aria-selected="false" class="sphinx-tabs-tab" id="tab-0-0-1" name="0-1" role="tab" tabindex="-1">Linux</button></div><div aria-labelledby="tab-0-0-0" class="sphinx-tabs-panel" id="panel-0-0-0" name="0-0" role="tabpanel" tabindex="0"><div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">cd</span> <span class="o">/</span><span class="n">C</span><span class="o">/</span><span class="n">openpass</span>
-</pre></div>
-</div>
-</div><div aria-labelledby="tab-0-0-1" class="sphinx-tabs-panel" hidden="true" id="panel-0-0-1" name="0-1" role="tabpanel" tabindex="0"><div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">cd</span> <span class="o">~/</span><span class="n">openpass</span>
-</pre></div>
-</div>
-</div></div>
-</li>
-<li><p>Create build directory and navigate into it</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">mkdir</span> <span class="n">build</span>
-<span class="n">cd</span> <span class="n">build</span>
-</pre></div>
-</div>
-</li>
-<li><p>Prepare build</p>
-<p><strong>openPASS</strong> links against shared libraries, which are located in the paths specified by <code class="docutils literal notranslate"><span class="pre">CMAKE_PREFIX_PATH</span></code>.
-To be able to install <strong>openPASS</strong> with resolved dependencies, all libraries found under the paths have to be copied right next to the executable during the installation step.
-This is done by setting <code class="docutils literal notranslate"><span class="pre">INSTALL_EXTRA_RUNTIME_DEPS=ON</span></code>. If you have followed the instructions strictly, no changes are necessary.</p>
-<div class="sphinx-tabs docutils container">
-<div aria-label="Tabbed content" class="closeable" role="tablist"><button aria-controls="panel-1-1-0" aria-selected="true" class="sphinx-tabs-tab" id="tab-1-1-0" name="1-0" role="tab" tabindex="0">Windows</button><button aria-controls="panel-1-1-1" aria-selected="false" class="sphinx-tabs-tab" id="tab-1-1-1" name="1-1" role="tab" tabindex="-1">Linux</button></div><div aria-labelledby="tab-1-1-0" class="sphinx-tabs-panel" id="panel-1-1-0" name="1-0" role="tabpanel" tabindex="0"><div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">cmake</span> <span class="o">-</span><span class="n">G</span> <span class="s2">&quot;MSYS Makefiles&quot;</span> \
-<span class="o">-</span><span class="n">D</span> <span class="n">CMAKE_PREFIX_PATH</span><span class="o">=</span><span class="s2">&quot;C:/deps/direct_deploy/fmilibrary;C:/deps/direct_deploy/open-simulation-interface;C:/deps/direct_deploy/protobuf;C:/deps/direct_deploy/protobuf-shared;C:/deps/direct_deploy/units;C:/deps/direct_deploy/mantleapi;C:/deps/direct_deploy/yase;C:/deps/direct_deploy/openscenario_api;C:/deps/direct_deploy/openscenario_engine;C:/deps/direct_deploy/gtest;C:/deps/direct_deploy/boost;C:/deps/direct_deploy/qt;C:/deps/direct_deploy/minizip;C:/deps;C:/msys64/mingw64/bin;&quot;</span> \
-<span class="o">-</span><span class="n">D</span> <span class="n">CMAKE_INSTALL_PREFIX</span><span class="o">=</span><span class="n">C</span><span class="p">:</span><span class="o">/</span><span class="n">openPASS</span><span class="o">/</span><span class="nb">bin</span><span class="o">/</span><span class="n">core</span> \
-<span class="o">-</span><span class="n">D</span> <span class="n">CMAKE_BUILD_TYPE</span><span class="o">=</span><span class="n">Release</span> \
-<span class="o">-</span><span class="n">D</span> <span class="n">USE_CCACHE</span><span class="o">=</span><span class="n">ON</span> \
-<span class="o">-</span><span class="n">D</span> <span class="n">WITH_DEBUG_POSTFIX</span><span class="o">=</span><span class="n">OFF</span> \
-<span class="o">-</span><span class="n">D</span> <span class="n">OPENPASS_ADJUST_OUTPUT</span><span class="o">=</span><span class="n">OFF</span> \
-<span class="o">-</span><span class="n">D</span> <span class="n">INSTALL_EXTRA_RUNTIME_DEPS</span><span class="o">=</span><span class="n">ON</span> \
-<span class="o">..</span>
-</pre></div>
-</div>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<ul class="simple">
-<li><p>By specifying <code class="docutils literal notranslate"><span class="pre">INSTALL_EXTRA_RUNTIME_DEPS=ON</span></code>, runtime dependencies will be copied to the installation directory when running <code class="docutils literal notranslate"><span class="pre">make</span> <span class="pre">install</span></code>. This applies to all dependencies located in the paths specified in <code class="docutils literal notranslate"><span class="pre">CMAKE_PREFIX_PATH</span></code>.</p></li>
-<li><p>Make sure that the path <code class="docutils literal notranslate"><span class="pre">C:/msys64/mingw64/bin</span></code> is the last path in the CMAKE_PREFIX_PATH. Otherwise cmake might find and use local versions of required libraries instead of the ones listed in the thirdparties folder.</p></li>
-</ul>
-</div>
-</div><div aria-labelledby="tab-1-1-1" class="sphinx-tabs-panel" hidden="true" id="panel-1-1-1" name="1-1" role="tabpanel" tabindex="0"><div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">cmake</span> <span class="o">-</span><span class="n">D</span> <span class="n">CMAKE_PREFIX_PATH</span><span class="o">=</span><span class="s2">&quot;$HOME/deps/fmilibrary;$HOME/deps/open-simulation-interface;$HOME/deps/protobuf;$HOME/deps/protobuf-shared;$HOME/deps/units;$HOME/deps/mantleapi;$HOME/deps/yase;$HOME/deps/openscenario_api;$HOME/deps/openscenario_engine;$HOME/deps/gtest;$HOME/deps/boost;$HOME/deps/qt;$HOME/deps/minizip;C:/deps&quot;</span> \
-<span class="o">-</span><span class="n">D</span> <span class="n">CMAKE_INSTALL_PREFIX</span><span class="o">=/</span><span class="n">usr</span><span class="o">/</span><span class="n">local</span><span class="o">/</span><span class="n">openPASS</span><span class="o">/</span><span class="nb">bin</span><span class="o">/</span><span class="n">core</span> \
-<span class="o">-</span><span class="n">D</span> <span class="n">CMAKE_BUILD_TYPE</span><span class="o">=</span><span class="n">Release</span> \
-<span class="o">-</span><span class="n">D</span> <span class="n">USE_CCACHE</span><span class="o">=</span><span class="n">ON</span> \
-<span class="o">-</span><span class="n">D</span> <span class="n">WITH_DEBUG_POSTFIX</span><span class="o">=</span><span class="n">OFF</span> \
-<span class="o">-</span><span class="n">D</span> <span class="n">OPENPASS_ADJUST_OUTPUT</span><span class="o">=</span><span class="n">OFF</span> \
-<span class="o">-</span><span class="n">D</span> <span class="n">INSTALL_EXTRA_RUNTIME_DEPS</span><span class="o">=</span><span class="n">ON</span> \
-<span class="o">..</span>
-</pre></div>
-</div>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<ul class="simple">
-<li><p>To install in the mentioned CMAKE_INSTALL_PREFIX path, create <code class="docutils literal notranslate"><span class="pre">openPASS</span></code> folder under <code class="docutils literal notranslate"><span class="pre">/usr/local</span></code> using <code class="docutils literal notranslate"><span class="pre">sudo</span> <span class="pre">mkdir</span> <span class="pre">/usr/local/openPASS</span></code>
-And for the user to access the folder, modify the permissions using <code class="docutils literal notranslate"><span class="pre">sudo</span> <span class="pre">chown</span> <span class="pre">&lt;uesrname&gt;:&lt;username&gt;</span> <span class="pre">/usr/local/openPASS</span></code></p></li>
-<li><p>By specifying <code class="docutils literal notranslate"><span class="pre">INSTALL_EXTRA_RUNTIME_DEPS=ON</span></code>, runtime dependencies will be copied to the installation directory when running <code class="docutils literal notranslate"><span class="pre">make</span> <span class="pre">install</span></code>. This applies to all dependencies located in the paths specified in <code class="docutils literal notranslate"><span class="pre">CMAKE_PREFIX_PATH</span></code>.</p></li>
-<li><p>If you need to adjust paths and options based on your system and needs, you need to pay attention on quotations <code class="docutils literal notranslate"><span class="pre">&quot;</span> <span class="pre">&quot;</span></code>, when using it in console (see <a class="reference internal" href="further_guidance/10_cmake.html#cmake-prefix-path"><span class="std std-ref">CMAKE_PREFIX_PATH</span></a>).
-And also you need to be careful with it when you configuring it under VSCode (see <a class="reference internal" href="../developer_information/ide_support/30_vscode.html#vscode"><span class="std std-ref">Working with Visual Studio Code</span></a>).</p></li>
-</ul>
-</div>
-</div></div>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>For a build that goes beyond the default settings, see <a class="reference internal" href="further_guidance/10_cmake.html#cmake"><span class="std std-ref">CMake Variables and Options</span></a> for more available variables and options that can be set.</p>
-</div>
-</li>
-<li><p>Optional: Build and execute unit tests</p>
-<p>Starting from <code class="docutils literal notranslate"><span class="pre">openpass/build</span></code>:</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">make</span> <span class="n">test</span> <span class="n">ARGS</span><span class="o">=</span><span class="s2">&quot;--output-on-failure -j3&quot;</span>
-</pre></div>
-</div>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>ARGS is optional, but recommended.
-Adjust parallel build flag <code class="docutils literal notranslate"><span class="pre">-j3</span></code> based on your system.</p>
-</div>
-</li>
-<li><p>Build documentation</p>
-<p>Starting from <code class="docutils literal notranslate"><span class="pre">openpass/build</span></code>:</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">make</span> <span class="n">doc</span>
-</pre></div>
-</div>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>Currently the documentation must be built before <strong>openPASS</strong> can be successfully installed if the CMake variable <cite>WITH_DOC=ON</cite> (default).</p>
-</div>
-</li>
-<li><p>Build simulation core</p>
-<p>Starting from <code class="docutils literal notranslate"><span class="pre">openpass/build</span></code>:</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">make</span> <span class="o">-</span><span class="n">j3</span> <span class="n">install</span>
-</pre></div>
-</div>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>Again, adjust parallel build flag <code class="docutils literal notranslate"><span class="pre">-j3</span></code> based on your system.</p>
-</div>
-</li>
-</ol>
-</section>
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+</ul>
+<p class="caption" role="heading"><span class="caption-text">Advanced topics</span></p>
+<ul>
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+           <div itemprop="articleBody">
+             
+  <section id="installing-openpass">
+<span id="download-and-install-openpass"></span><h1>Installing openPASS<a class="headerlink" href="#installing-openpass" title="Link to this heading"></a></h1>
+<p>This section describes how to compile and run <strong>openPASS</strong>. Please make sure that all prerequisites have been properly installed according to section <a class="reference internal" href="20_install_prerequisites.html#prerequisites"><span class="std std-ref">Installing Prerequisites</span></a>.
+If you have strictly followed the instructions, the installed dependencies should be located on your machine under
+<code class="docutils literal notranslate"><span class="pre">C:\deps</span></code> on <strong>Windows</strong> and <code class="docutils literal notranslate"><span class="pre">~/deps</span></code> on <strong>Linux</strong>. If there is a path deviation,
+the following commands must be adjusted.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>If you are unfamiliar to <code class="docutils literal notranslate"><span class="pre">CMake</span></code> or working within a <code class="docutils literal notranslate"><span class="pre">MinGW</span> <span class="pre">64-bit</span></code> shell, Section <a class="reference internal" href="further_guidance/10_cmake.html#cmake"><span class="std std-ref">CMake Variables and Options</span></a> and <a class="reference internal" href="20_install_prerequisites.html#msys2"><span class="std std-ref">MSYS2</span></a> might give you a short introduction on these topics in the scope of building <strong>openPASS</strong> itself.</p>
+</div>
+<ol class="arabic">
+<li><p>Navigate back into repository</p>
+<div class="sphinx-tabs docutils container">
+<div aria-label="Tabbed content" class="closeable" role="tablist"><button aria-controls="panel-0-0-0" aria-selected="true" class="sphinx-tabs-tab" id="tab-0-0-0" name="0-0" role="tab" tabindex="0">Windows</button><button aria-controls="panel-0-0-1" aria-selected="false" class="sphinx-tabs-tab" id="tab-0-0-1" name="0-1" role="tab" tabindex="-1">Linux</button></div><div aria-labelledby="tab-0-0-0" class="sphinx-tabs-panel" id="panel-0-0-0" name="0-0" role="tabpanel" tabindex="0"><div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">cd</span> <span class="o">/</span><span class="n">C</span><span class="o">/</span><span class="n">openpass</span>
+</pre></div>
+</div>
+</div><div aria-labelledby="tab-0-0-1" class="sphinx-tabs-panel" hidden="true" id="panel-0-0-1" name="0-1" role="tabpanel" tabindex="0"><div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">cd</span> <span class="o">~/</span><span class="n">openpass</span>
+</pre></div>
+</div>
+</div></div>
+</li>
+<li><p>Create build directory and navigate into it</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">mkdir</span> <span class="n">build</span>
+<span class="n">cd</span> <span class="n">build</span>
+</pre></div>
+</div>
+</li>
+<li><p>Prepare build</p>
+<p><strong>openPASS</strong> links against shared libraries, which are located in the paths specified by <code class="docutils literal notranslate"><span class="pre">CMAKE_PREFIX_PATH</span></code>.
+To be able to install <strong>openPASS</strong> with resolved dependencies, all libraries found under the paths have to be copied right next to the executable during the installation step.
+This is done by setting <code class="docutils literal notranslate"><span class="pre">INSTALL_EXTRA_RUNTIME_DEPS=ON</span></code>. If you have followed the instructions strictly, no changes are necessary.</p>
+<div class="sphinx-tabs docutils container">
+<div aria-label="Tabbed content" class="closeable" role="tablist"><button aria-controls="panel-1-1-0" aria-selected="true" class="sphinx-tabs-tab" id="tab-1-1-0" name="1-0" role="tab" tabindex="0">Windows</button><button aria-controls="panel-1-1-1" aria-selected="false" class="sphinx-tabs-tab" id="tab-1-1-1" name="1-1" role="tab" tabindex="-1">Linux</button></div><div aria-labelledby="tab-1-1-0" class="sphinx-tabs-panel" id="panel-1-1-0" name="1-0" role="tabpanel" tabindex="0"><div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">cmake</span> <span class="o">-</span><span class="n">G</span> <span class="s2">&quot;MSYS Makefiles&quot;</span> \
+<span class="o">-</span><span class="n">D</span> <span class="n">CMAKE_PREFIX_PATH</span><span class="o">=</span><span class="s2">&quot;C:/deps/direct_deploy/fmilibrary;C:/deps/direct_deploy/open-simulation-interface;C:/deps/direct_deploy/protobuf;C:/deps/direct_deploy/protobuf-shared;C:/deps/direct_deploy/units;C:/deps/direct_deploy/mantleapi;C:/deps/direct_deploy/yase;C:/deps/direct_deploy/openscenario_api;C:/deps/direct_deploy/openscenario_engine;C:/deps/direct_deploy/gtest;C:/deps/direct_deploy/boost;C:/deps/direct_deploy/minizip;C:/deps;C:/msys64/mingw64/bin;&quot;</span> \
+<span class="o">-</span><span class="n">D</span> <span class="n">CMAKE_INSTALL_PREFIX</span><span class="o">=</span><span class="n">C</span><span class="p">:</span><span class="o">/</span><span class="n">openPASS</span><span class="o">/</span><span class="nb">bin</span><span class="o">/</span><span class="n">core</span> \
+<span class="o">-</span><span class="n">D</span> <span class="n">CMAKE_BUILD_TYPE</span><span class="o">=</span><span class="n">Release</span> \
+<span class="o">-</span><span class="n">D</span> <span class="n">USE_CCACHE</span><span class="o">=</span><span class="n">ON</span> \
+<span class="o">-</span><span class="n">D</span> <span class="n">WITH_DEBUG_POSTFIX</span><span class="o">=</span><span class="n">OFF</span> \
+<span class="o">-</span><span class="n">D</span> <span class="n">OPENPASS_ADJUST_OUTPUT</span><span class="o">=</span><span class="n">OFF</span> \
+<span class="o">-</span><span class="n">D</span> <span class="n">INSTALL_EXTRA_RUNTIME_DEPS</span><span class="o">=</span><span class="n">ON</span> \
+<span class="o">..</span>
+</pre></div>
+</div>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<ul class="simple">
+<li><p>By specifying <code class="docutils literal notranslate"><span class="pre">INSTALL_EXTRA_RUNTIME_DEPS=ON</span></code>, runtime dependencies will be copied to the installation directory when running <code class="docutils literal notranslate"><span class="pre">make</span> <span class="pre">install</span></code>. This applies to all dependencies located in the paths specified in <code class="docutils literal notranslate"><span class="pre">CMAKE_PREFIX_PATH</span></code>.</p></li>
+<li><p>Make sure that the path <code class="docutils literal notranslate"><span class="pre">C:/msys64/mingw64/bin</span></code> is the last path in the CMAKE_PREFIX_PATH. Otherwise cmake might find and use local versions of required libraries instead of the ones listed in the thirdparties folder.</p></li>
+</ul>
+</div>
+</div><div aria-labelledby="tab-1-1-1" class="sphinx-tabs-panel" hidden="true" id="panel-1-1-1" name="1-1" role="tabpanel" tabindex="0"><div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">cmake</span> <span class="o">-</span><span class="n">D</span> <span class="n">CMAKE_PREFIX_PATH</span><span class="o">=</span><span class="s2">&quot;$HOME/deps/fmilibrary;$HOME/deps/open-simulation-interface;$HOME/deps/protobuf;$HOME/deps/protobuf-shared;$HOME/deps/units;$HOME/deps/mantleapi;$HOME/deps/yase;$HOME/deps/openscenario_api;$HOME/deps/openscenario_engine;$HOME/deps/gtest;$HOME/deps/boost;$HOME/deps/minizip;C:/deps&quot;</span> \
+<span class="o">-</span><span class="n">D</span> <span class="n">CMAKE_INSTALL_PREFIX</span><span class="o">=/</span><span class="n">usr</span><span class="o">/</span><span class="n">local</span><span class="o">/</span><span class="n">openPASS</span><span class="o">/</span><span class="nb">bin</span><span class="o">/</span><span class="n">core</span> \
+<span class="o">-</span><span class="n">D</span> <span class="n">CMAKE_BUILD_TYPE</span><span class="o">=</span><span class="n">Release</span> \
+<span class="o">-</span><span class="n">D</span> <span class="n">USE_CCACHE</span><span class="o">=</span><span class="n">ON</span> \
+<span class="o">-</span><span class="n">D</span> <span class="n">WITH_DEBUG_POSTFIX</span><span class="o">=</span><span class="n">OFF</span> \
+<span class="o">-</span><span class="n">D</span> <span class="n">OPENPASS_ADJUST_OUTPUT</span><span class="o">=</span><span class="n">OFF</span> \
+<span class="o">-</span><span class="n">D</span> <span class="n">INSTALL_EXTRA_RUNTIME_DEPS</span><span class="o">=</span><span class="n">ON</span> \
+<span class="o">..</span>
+</pre></div>
+</div>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<ul class="simple">
+<li><p>To install in the mentioned CMAKE_INSTALL_PREFIX path, create <code class="docutils literal notranslate"><span class="pre">openPASS</span></code> folder under <code class="docutils literal notranslate"><span class="pre">/usr/local</span></code> using <code class="docutils literal notranslate"><span class="pre">sudo</span> <span class="pre">mkdir</span> <span class="pre">/usr/local/openPASS</span></code>
+And for the user to access the folder, modify the permissions using <code class="docutils literal notranslate"><span class="pre">sudo</span> <span class="pre">chown</span> <span class="pre">&lt;uesrname&gt;:&lt;username&gt;</span> <span class="pre">/usr/local/openPASS</span></code></p></li>
+<li><p>By specifying <code class="docutils literal notranslate"><span class="pre">INSTALL_EXTRA_RUNTIME_DEPS=ON</span></code>, runtime dependencies will be copied to the installation directory when running <code class="docutils literal notranslate"><span class="pre">make</span> <span class="pre">install</span></code>. This applies to all dependencies located in the paths specified in <code class="docutils literal notranslate"><span class="pre">CMAKE_PREFIX_PATH</span></code>.</p></li>
+<li><p>If you need to adjust paths and options based on your system and needs, you need to pay attention on quotations <code class="docutils literal notranslate"><span class="pre">&quot;</span> <span class="pre">&quot;</span></code>, when using it in console (see <a class="reference internal" href="further_guidance/10_cmake.html#cmake-prefix-path"><span class="std std-ref">CMAKE_PREFIX_PATH</span></a>).
+And also you need to be careful with it when you configuring it under VSCode (see <a class="reference internal" href="../developer_information/ide_support/30_vscode.html#vscode"><span class="std std-ref">Working with Visual Studio Code</span></a>).</p></li>
+</ul>
+</div>
+</div></div>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>For a build that goes beyond the default settings, see <a class="reference internal" href="further_guidance/10_cmake.html#cmake"><span class="std std-ref">CMake Variables and Options</span></a> for more available variables and options that can be set.</p>
+</div>
+</li>
+<li><p>Optional: Build and execute unit tests</p>
+<p>Starting from <code class="docutils literal notranslate"><span class="pre">openpass/build</span></code>:</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">make</span> <span class="n">test</span> <span class="n">ARGS</span><span class="o">=</span><span class="s2">&quot;--output-on-failure -j3&quot;</span>
+</pre></div>
+</div>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>ARGS is optional, but recommended.
+Adjust parallel build flag <code class="docutils literal notranslate"><span class="pre">-j3</span></code> based on your system.</p>
+</div>
+</li>
+<li><p>Build documentation</p>
+<p>Starting from <code class="docutils literal notranslate"><span class="pre">openpass/build</span></code>:</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">make</span> <span class="n">doc</span>
+</pre></div>
+</div>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>Currently the documentation must be built before <strong>openPASS</strong> can be successfully installed if the CMake variable <cite>WITH_DOC=ON</cite> (default).</p>
+</div>
+</li>
+<li><p>Build simulation core</p>
+<p>Starting from <code class="docutils literal notranslate"><span class="pre">openpass/build</span></code>:</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">make</span> <span class="o">-</span><span class="n">j3</span> <span class="n">install</span>
+</pre></div>
+</div>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>Again, adjust parallel build flag <code class="docutils literal notranslate"><span class="pre">-j3</span></code> based on your system.</p>
+</div>
+</li>
+</ol>
+</section>
+
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+          <footer><div class="rst-footer-buttons" role="navigation" aria-label="Footer">
+        <a href="20_install_prerequisites.html" class="btn btn-neutral float-left" title="Installing Prerequisites" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> Previous</a>
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+    <p>&#169; Copyright 2025 openPASS Working Group.</p>
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diff --git a/content/html/installation_guide/50_further_guidance.html b/content/html/installation_guide/50_further_guidance.html
index ba074cba214d8b101f681819eea3f478e91fbea5..9036c1724c0aee87016d022ef7256e3df6c78eb2 100644
--- a/content/html/installation_guide/50_further_guidance.html
+++ b/content/html/installation_guide/50_further_guidance.html
@@ -1,157 +1,158 @@
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+             
+  <section id="further-guidance">
+<h1>Further Guidance<a class="headerlink" href="#further-guidance" title="Link to this heading"></a></h1>
+<p>See also section <a class="reference internal" href="../developer_information/10_ide_support.html#ide-support"><span class="std std-ref">IDE Support</span></a></p>
+<div class="toctree-wrapper compound">
+<p class="caption" role="heading"><span class="caption-text">Customizing</span></p>
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="further_guidance/10_cmake.html">CMake Variables and Options</a></li>
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diff --git a/content/html/installation_guide/60_conan.html b/content/html/installation_guide/60_conan.html
index f301ee98d6e07d1fdaccfe95062dcbf27b9e6c36..e058a65f992f6bc2695089464748d24cfd481013 100644
--- a/content/html/installation_guide/60_conan.html
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-  <section id="building-with-conan">
-<span id="id1"></span><h1>Building with Conan<a class="headerlink" href="#building-with-conan" title="Link to this heading"></a></h1>
-<section id="general">
-<h2>General<a class="headerlink" href="#general" title="Link to this heading"></a></h2>
-<p>Conan is an open source, decentralized and multi-platform package manager to create and share native binaries.</p>
-<p>To learn more about Conan itself you can visit <a class="reference external" href="https://conan.io/">Conan</a>.</p>
-<p>Conan is used in the <strong>openPASS</strong> project to create and manage the binaries of the used ThirdParty libraries.</p>
-</section>
-<section id="additional-prerequisites">
-<h2>Additional Prerequisites<a class="headerlink" href="#additional-prerequisites" title="Link to this heading"></a></h2>
-<p>To be able to work with Conan it is necessary to add additional packages.</p>
-<div class="sphinx-tabs docutils container">
-<div aria-label="Tabbed content" class="closeable" role="tablist"><button aria-controls="panel-0-0-0" aria-selected="true" class="sphinx-tabs-tab" id="tab-0-0-0" name="0-0" role="tab" tabindex="0">Windows (MSYS2)</button><button aria-controls="panel-0-0-1" aria-selected="false" class="sphinx-tabs-tab" id="tab-0-0-1" name="0-1" role="tab" tabindex="-1">Linux (Debian Bookworm)</button></div><div aria-labelledby="tab-0-0-0" class="sphinx-tabs-panel" id="panel-0-0-0" name="0-0" role="tabpanel" tabindex="0"><div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>pip<span class="w"> </span>install<span class="w"> </span><span class="s2">&quot;conan&gt;2.0&quot;</span>
-</pre></div>
-</div>
-</div><div aria-labelledby="tab-0-0-1" class="sphinx-tabs-panel" hidden="true" id="panel-0-0-1" name="0-1" role="tabpanel" tabindex="0"><div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>apt<span class="w"> </span>install<span class="w"> </span><span class="s2">&quot;conan&gt;2.0&quot;</span>
-</pre></div>
-</div>
-</div><p>pip install “conan&gt;2.0”</p>
-</div>
-</section>
-<section id="conan-recipes">
-<h2>Conan Recipes<a class="headerlink" href="#conan-recipes" title="Link to this heading"></a></h2>
-<p>A <em>recipe</em> is python file, which is used by conan to build and create a package.
-In this file there are several hooks available, which can be used for several tasks.
-E.g. Retrieving the source files, building from source, configuring dependencies, packaging, etc.
-Visit <a class="reference external" href="https://conan.io/">Conan</a>. for detailed information about <em>recipes</em>.</p>
-</section>
-<section id="conan-create">
-<h2>Conan Create<a class="headerlink" href="#conan-create" title="Link to this heading"></a></h2>
-<p>The <cite>conan create</cite> command is used to create Conan packages from source code. It involves building the source code, packaging the resulting binaries and artifacts, and generating the necessary metadata to publish the package.
-The basic syntax of the command is as follows:</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>$<span class="w"> </span>conan<span class="w"> </span>create<span class="w"> </span>&lt;path_to_recipe&gt;<span class="w"> </span>--name<span class="w"> </span><span class="nv">$pkg</span><span class="w"> </span>--version<span class="w"> </span><span class="nv">$version</span><span class="w"> </span>--user<span class="w"> </span><span class="nv">$user</span><span class="w"> </span>--channel<span class="w"> </span><span class="nv">$channel</span><span class="w"> </span>--build<span class="o">=</span>missing<span class="w"> </span><span class="nv">$packageOptions</span><span class="w"> </span>-pr:a<span class="w"> </span><span class="s2">&quot;</span><span class="nv">$conanprofile</span><span class="s2">&quot;</span>
-</pre></div>
-</div>
-<ul class="simple">
-<li><p><cite>&lt;path_to_source&gt;</cite>: The path to the conan recipe of that corresponding package.</p></li>
-<li><p><cite>–name $pkg</cite>: Specifies the name of the package being created. $pkg is a placeholder for the actual package name.</p></li>
-<li><p><cite>–version $version</cite>: Specifies the version of the package being created. $version is a placeholder for the actual version number.</p></li>
-<li><p><cite>–user $user</cite>: Specifies the username of the package creator or owner. $user is a placeholder for the actual username.</p></li>
-<li><p><cite>–channel $channel</cite>: Specifies the channel or repository where the package will be published. $channel is a placeholder for the actual channel name.</p></li>
-<li><p><cite>–build=missing</cite>: Instructs Conan to build the package if its dependencies are missing or outdated. This ensures that all required dependencies are available and up to date before building the package.</p></li>
-<li><p><cite>$packageOptions</cite>: Optional package-specific options that can be passed to the Conan recipe. These options can customize the build process or package configuration according to user requirements.</p></li>
-<li><p><cite>-pr:a “$conanprofile”</cite>: Specifies a profile ($conanprofile) to be used during package creation. Profiles define the build environment and configuration settings for building packages. The -pr:a flag tells Conan to apply this profile specifically for building the package.</p></li>
-</ul>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>$<span class="w"> </span>conan<span class="w"> </span>create<span class="w"> </span>.<span class="w"> </span>--name<span class="w"> </span>openscenario_engine<span class="w"> </span>--version<span class="w"> </span><span class="m">0</span>.1<span class="w"> </span>--user<span class="w"> </span>openpass<span class="w"> </span>--channel<span class="w"> </span>testing<span class="w"> </span>--build<span class="o">=</span>missing<span class="w"> </span>-pr:a<span class="w"> </span>default
-</pre></div>
-</div>
-<p>This command will build the package <cite>openscenario_engine</cite> with version <cite>1.0</cite> under the user <cite>openpass</cite> and channel <cite>testing</cite>.</p>
-<p><strong>Optional Settings</strong></p>
-<p>The <cite>-o</cite> option allows you to pass optional settings to the <cite>conan create</cite> command, which can be used to customize the build process of the package. These settings are defined in the <cite>conanfile.py</cite> recipe.
-For example, you can specify build options, compiler flags, or any other configuration settings that influence the package creation process.</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>$<span class="w"> </span>conan<span class="w"> </span>create<span class="w"> </span>.<span class="w"> </span>--name<span class="w"> </span>openscenario_engine<span class="w"> </span>--version<span class="w"> </span><span class="m">0</span>.1<span class="w"> </span>--user<span class="w"> </span>openpass<span class="w"> </span>--channel<span class="w"> </span>testing<span class="w"> </span>--build<span class="o">=</span>missing<span class="w"> </span>-o<span class="w"> </span><span class="nv">MantleAPI_version</span><span class="o">=</span><span class="m">0</span>.1<span class="w"> </span>-o<span class="w"> </span><span class="nv">Yase_version</span><span class="o">=</span><span class="m">0</span>.1<span class="w"> </span>-pr:a<span class="w"> </span>default
-</pre></div>
-</div>
-<p>In this example, the <cite>-o</cite> option is used to set the <cite>MantleAPI_version</cite> and <cite>Yase_version</cite> build options for the <cite>openscenario_engine</cite> package. These options will be considered during the package creation process.</p>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>For the packages MantleAPI, Yase, openscenario_api and openscenario_engine corresponding commit ids can be used instead of version when creating the package</p>
-</div>
-</section>
-<section id="conan-install">
-<h2>Conan Install<a class="headerlink" href="#conan-install" title="Link to this heading"></a></h2>
-<p>The <cite>conan install</cite> command is used to install Conan packages from a Conan recipe (a <cite>conanfile.py</cite> file) and its associated dependencies. It resolves and fetches the required packages from a remote Conan repository or local conan cache and installs them in the specified target location.
-The basic syntax of the command is as follows:</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>$<span class="w"> </span>conan<span class="w"> </span>install<span class="w"> </span>--requires<span class="o">=</span>&lt;pkg/version@user/channel&gt;<span class="w"> </span>--build<span class="w"> </span>&lt;missing<span class="p">|</span>outdated&gt;<span class="w"> </span>--deployer<span class="o">=</span>&lt;generator&gt;<span class="w"> </span>-of<span class="o">=</span>&lt;install-folder-folder&gt;<span class="w"> </span>-g<span class="w"> </span>CMakeDeps<span class="w"> </span>-pr:a<span class="w"> </span><span class="s2">&quot;</span><span class="nv">$conanprofile</span><span class="s2">&quot;</span>
-</pre></div>
-</div>
-<ul class="simple">
-<li><p><cite>&lt;pkg/version&#64;user/channel&gt;</cite>: The user and channel specify the namespace under which the package with the corresponding version will be built.</p></li>
-<li><p><cite>-g &lt;generator&gt;</cite>: Specifies the build system generator (e.g., <cite>CMakeDeps</cite>) for generating build files.</p></li>
-<li><p><cite>-s &lt;setting=value&gt;</cite>: Overrides a Conan setting defined in the recipe with the given value.</p></li>
-<li><p><cite>–build &lt;missing|outdated&gt;</cite>: Specifies whether to build missing or outdated packages.</p></li>
-<li><p><cite>-pr:a “$conanprofile”</cite>: Specifies a profile ($conanprofile) to be used during package creation. Profiles define the build environment and configuration settings for building packages. The -pr:a flag tells Conan to apply this profile specifically for building the package.</p></li>
-</ul>
-<p><strong>Generate Deployment Files</strong></p>
-<p>The <cite>-g direct_deploy</cite> option with the <cite>conan install</cite> command is used to generate deployment-related files and scripts for installing and running the package on a target system.
-These files can include packaging scripts, installation scripts, and other artifacts required for deploying the package to a specific environment.</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>$<span class="w"> </span>conan<span class="w"> </span>install<span class="w"> </span>openscenario_engine/0.1@openpass/testing<span class="w"> </span>-g<span class="w"> </span>direct_deploy<span class="w"> </span>--install-folder<span class="o">=</span><span class="s2">&quot;my/installation/path&quot;</span>
-</pre></div>
-</div>
-<p>This command will deploy the package <cite>openscenario_engine/0.1&#64;openpass/testing</cite> at the installation path.</p>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>There are several additional commands, arguments and fields for these commands available.
-Please see <a class="reference external" href="https://docs.conan.io/en/latest/">Conan Docs</a> for additional information.</p>
-</div>
-</section>
-<section id="build-only-thirdparties">
-<h2>Build only ThirdParties<a class="headerlink" href="#build-only-thirdparties" title="Link to this heading"></a></h2>
-<p><strong>openPASS</strong> requires number of third parties libraries and they are listed in <code class="docutils literal notranslate"><span class="pre">conanfile.txt</span></code>. To install all the dependencies, the script <code class="docutils literal notranslate"><span class="pre">15_prepare_thirdParty.sh</span></code> can be used.</p>
-<p>The exact list of dependency can be found below.</p>
-<div class="highlight-text notranslate"><div class="highlight"><pre><span></span>[requires]
-libiconv/1.17@
-libxml2/2.12.5@
-b2/4.10.1
-boost/1.85.0
-qt/5.15.7
-zlib/1.2.13@
-minizip/1.2.13@
-gtest/1.14.0@
-fmilibrary/2.0.3@openpass/testing
-protobuf/3.20.0@
-units/2.3.3@openpass/testing
-open-simulation-interface/3.6.0@openpass/testing
-mantleapi/v4.0.0@openpass/testing
-yase/d0c0e58d17358044cc9018c74308b45f6097ecfb@openpass/testing
-openscenario_api/v1.3.1@openpass/testing
-openscenario_engine/v4.3.1@openpass/testing
-
-
-[options]
-libxml2/*:shared=False
-libxml2/*:include_utils=False
-libxml2/*:ftp=False
-libxml2/*:http=False
-libxml2/*:html=False
-libxml2/*:legacy=False
-libxml2/*:sax1=False
-libxml2/*:zlib=False
-msys2/*:no_kill=True
-qt/*:with_pq=False
-qt/*:with_libpng=False
-qt/*:openssl=False
-qt/*:opengl=no
-qt/*:qtxmlpatterns=True
-qt/*:with_x11=False
-qt/*:qtwayland=False
-b2/4.10.1:toolset=gcc
-boost/*:shared=True
-boost/*:fPIC=True
-boost/*:without_chrono=True
-boost/*:without_cobalt=True
-boost/*:without_container=True
-boost/*:without_context=True
-boost/*:without_contract=True
-boost/*:without_coroutine=True
-boost/*:without_date_time=True
-boost/*:without_fiber=True
-boost/*:without_iostreams=True
-boost/*:without_json=True
-boost/*:without_locale=True
-boost/*:without_log=True
-boost/*:without_nowide=True
-boost/*:without_stacktrace=True
-boost/*:without_test=True
-boost/*:without_thread=True
-boost/*:without_timer=True
-boost/*:without_type_erasure=True
-boost/*:without_url=True
-boost/*:without_wave=True
-protobuf/*:shared=True
-openscenario_engine/*:MantleAPI_version=v4.0.0
-openscenario_engine/*:Yase_version=d0c0e58d17358044cc9018c74308b45f6097ecfb
-
-[generators]
-CMakeDeps
-</pre></div>
-</div>
-</section>
-</section>
-
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+             
+  <section id="building-with-conan">
+<span id="id1"></span><h1>Building with Conan<a class="headerlink" href="#building-with-conan" title="Link to this heading"></a></h1>
+<section id="general">
+<h2>General<a class="headerlink" href="#general" title="Link to this heading"></a></h2>
+<p>Conan is an open source, decentralized and multi-platform package manager to create and share native binaries.</p>
+<p>To learn more about Conan itself you can visit <a class="reference external" href="https://conan.io/">Conan</a>.</p>
+<p>Conan is used in the <strong>openPASS</strong> project to create and manage the binaries of the used ThirdParty libraries.</p>
+</section>
+<section id="additional-prerequisites">
+<h2>Additional Prerequisites<a class="headerlink" href="#additional-prerequisites" title="Link to this heading"></a></h2>
+<p>To be able to work with Conan it is necessary to add additional packages.</p>
+<div class="sphinx-tabs docutils container">
+<div aria-label="Tabbed content" class="closeable" role="tablist"><button aria-controls="panel-0-0-0" aria-selected="true" class="sphinx-tabs-tab" id="tab-0-0-0" name="0-0" role="tab" tabindex="0">Windows (MSYS2)</button><button aria-controls="panel-0-0-1" aria-selected="false" class="sphinx-tabs-tab" id="tab-0-0-1" name="0-1" role="tab" tabindex="-1">Linux (Debian Bookworm)</button></div><div aria-labelledby="tab-0-0-0" class="sphinx-tabs-panel" id="panel-0-0-0" name="0-0" role="tabpanel" tabindex="0"><div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>pip<span class="w"> </span>install<span class="w"> </span><span class="s2">&quot;conan&gt;=2.2.0&quot;</span>
+</pre></div>
+</div>
+</div><div aria-labelledby="tab-0-0-1" class="sphinx-tabs-panel" hidden="true" id="panel-0-0-1" name="0-1" role="tabpanel" tabindex="0"><div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>apt<span class="w"> </span>install<span class="w"> </span><span class="s2">&quot;conan&gt;=2.2.0&quot;</span>
+</pre></div>
+</div>
+</div><p>pip install “conan&gt;2.0”</p>
+</div>
+</section>
+<section id="conan-recipes">
+<h2>Conan Recipes<a class="headerlink" href="#conan-recipes" title="Link to this heading"></a></h2>
+<p>A <em>recipe</em> is python file, which is used by conan to build and create a package.
+In this file there are several hooks available, which can be used for several tasks.
+E.g. Retrieving the source files, building from source, configuring dependencies, packaging, etc.
+Visit <a class="reference external" href="https://conan.io/">Conan</a>. for detailed information about <em>recipes</em>.</p>
+</section>
+<section id="conan-create">
+<h2>Conan Create<a class="headerlink" href="#conan-create" title="Link to this heading"></a></h2>
+<p>The <cite>conan create</cite> command is used to create Conan packages from source code. It involves building the source code, packaging the resulting binaries and artifacts, and generating the necessary metadata to publish the package.
+The basic syntax of the command is as follows:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>$<span class="w"> </span>conan<span class="w"> </span>create<span class="w"> </span>&lt;path_to_recipe&gt;<span class="w"> </span>--name<span class="w"> </span><span class="nv">$pkg</span><span class="w"> </span>--version<span class="w"> </span><span class="nv">$version</span><span class="w"> </span>--user<span class="w"> </span><span class="nv">$user</span><span class="w"> </span>--channel<span class="w"> </span><span class="nv">$channel</span><span class="w"> </span>--build<span class="o">=</span>missing<span class="w"> </span><span class="nv">$packageOptions</span><span class="w"> </span>-pr:a<span class="w"> </span><span class="s2">&quot;</span><span class="nv">$conanprofile</span><span class="s2">&quot;</span>
+</pre></div>
+</div>
+<ul class="simple">
+<li><p><cite>&lt;path_to_source&gt;</cite>: The path to the conan recipe of that corresponding package.</p></li>
+<li><p><cite>–name $pkg</cite>: Specifies the name of the package being created. $pkg is a placeholder for the actual package name.</p></li>
+<li><p><cite>–version $version</cite>: Specifies the version of the package being created. $version is a placeholder for the actual version number.</p></li>
+<li><p><cite>–user $user</cite>: Specifies the username of the package creator or owner. $user is a placeholder for the actual username.</p></li>
+<li><p><cite>–channel $channel</cite>: Specifies the channel or repository where the package will be published. $channel is a placeholder for the actual channel name.</p></li>
+<li><p><cite>–build=missing</cite>: Instructs Conan to build the package if its dependencies are missing or outdated. This ensures that all required dependencies are available and up to date before building the package.</p></li>
+<li><p><cite>$packageOptions</cite>: Optional package-specific options that can be passed to the Conan recipe. These options can customize the build process or package configuration according to user requirements.</p></li>
+<li><p><cite>-pr:a “$conanprofile”</cite>: Specifies a profile ($conanprofile) to be used during package creation. Profiles define the build environment and configuration settings for building packages. The -pr:a flag tells Conan to apply this profile specifically for building the package.</p></li>
+</ul>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>$<span class="w"> </span>conan<span class="w"> </span>create<span class="w"> </span>.<span class="w"> </span>--name<span class="w"> </span>openscenario_engine<span class="w"> </span>--version<span class="w"> </span><span class="m">0</span>.1<span class="w"> </span>--user<span class="w"> </span>openpass<span class="w"> </span>--channel<span class="w"> </span>testing<span class="w"> </span>--build<span class="o">=</span>missing<span class="w"> </span>-pr:a<span class="w"> </span>default
+</pre></div>
+</div>
+<p>This command will build the package <cite>openscenario_engine</cite> with version <cite>1.0</cite> under the user <cite>openpass</cite> and channel <cite>testing</cite>.</p>
+<p><strong>Optional Settings</strong></p>
+<p>The <cite>-o</cite> option allows you to pass optional settings to the <cite>conan create</cite> command, which can be used to customize the build process of the package. These settings are defined in the <cite>conanfile.py</cite> recipe.
+For example, you can specify build options, compiler flags, or any other configuration settings that influence the package creation process.</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>$<span class="w"> </span>conan<span class="w"> </span>create<span class="w"> </span>.<span class="w"> </span>--name<span class="w"> </span>openscenario_engine<span class="w"> </span>--version<span class="w"> </span><span class="m">0</span>.1<span class="w"> </span>--user<span class="w"> </span>openpass<span class="w"> </span>--channel<span class="w"> </span>testing<span class="w"> </span>--build<span class="o">=</span>missing<span class="w"> </span>-o<span class="w"> </span><span class="nv">MantleAPI_version</span><span class="o">=</span><span class="m">0</span>.1<span class="w"> </span>-o<span class="w"> </span><span class="nv">Yase_version</span><span class="o">=</span><span class="m">0</span>.1<span class="w"> </span>-pr:a<span class="w"> </span>default
+</pre></div>
+</div>
+<p>In this example, the <cite>-o</cite> option is used to set the <cite>MantleAPI_version</cite> and <cite>Yase_version</cite> build options for the <cite>openscenario_engine</cite> package. These options will be considered during the package creation process.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>For the packages MantleAPI, Yase, openscenario_api and openscenario_engine corresponding commit ids can be used instead of version when creating the package</p>
+</div>
+</section>
+<section id="conan-install">
+<h2>Conan Install<a class="headerlink" href="#conan-install" title="Link to this heading"></a></h2>
+<p>The <cite>conan install</cite> command is used to install Conan packages from a Conan recipe (a <cite>conanfile.py</cite> file) and its associated dependencies. It resolves and fetches the required packages from a remote Conan repository or local conan cache and installs them in the specified target location.
+The basic syntax of the command is as follows:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>$<span class="w"> </span>conan<span class="w"> </span>install<span class="w"> </span>--requires<span class="o">=</span>&lt;pkg/version@user/channel&gt;<span class="w"> </span>--build<span class="w"> </span>&lt;missing<span class="p">|</span>outdated&gt;<span class="w"> </span>--deployer<span class="o">=</span>&lt;generator&gt;<span class="w"> </span>-of<span class="o">=</span>&lt;install-folder-folder&gt;<span class="w"> </span>-g<span class="w"> </span>CMakeDeps<span class="w"> </span>-pr:a<span class="w"> </span><span class="s2">&quot;</span><span class="nv">$conanprofile</span><span class="s2">&quot;</span>
+</pre></div>
+</div>
+<ul class="simple">
+<li><p><cite>&lt;pkg/version&#64;user/channel&gt;</cite>: The user and channel specify the namespace under which the package with the corresponding version will be built.</p></li>
+<li><p><cite>-g &lt;generator&gt;</cite>: Specifies the build system generator (e.g., <cite>CMakeDeps</cite>) for generating build files.</p></li>
+<li><p><cite>-s &lt;setting=value&gt;</cite>: Overrides a Conan setting defined in the recipe with the given value.</p></li>
+<li><p><cite>–build &lt;missing|outdated&gt;</cite>: Specifies whether to build missing or outdated packages.</p></li>
+<li><p><cite>-pr:a “$conanprofile”</cite>: Specifies a profile ($conanprofile) to be used during package creation. Profiles define the build environment and configuration settings for building packages. The -pr:a flag tells Conan to apply this profile specifically for building the package.</p></li>
+</ul>
+<p><strong>Generate Deployment Files</strong></p>
+<p>The <cite>-g direct_deploy</cite> option with the <cite>conan install</cite> command is used to generate deployment-related files and scripts for installing and running the package on a target system.
+These files can include packaging scripts, installation scripts, and other artifacts required for deploying the package to a specific environment.</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>$<span class="w"> </span>conan<span class="w"> </span>install<span class="w"> </span>openscenario_engine/0.1@openpass/testing<span class="w"> </span>-g<span class="w"> </span>direct_deploy<span class="w"> </span>--install-folder<span class="o">=</span><span class="s2">&quot;my/installation/path&quot;</span>
+</pre></div>
+</div>
+<p>This command will deploy the package <cite>openscenario_engine/0.1&#64;openpass/testing</cite> at the installation path.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>There are several additional commands, arguments and fields for these commands available.
+Please see <a class="reference external" href="https://docs.conan.io/en/latest/">Conan Docs</a> for additional information.</p>
+</div>
+</section>
+<section id="build-only-thirdparties">
+<h2>Build only ThirdParties<a class="headerlink" href="#build-only-thirdparties" title="Link to this heading"></a></h2>
+<p><strong>openPASS</strong> requires number of third parties libraries and they are listed in <code class="docutils literal notranslate"><span class="pre">conanfile.txt</span></code>. To install all the dependencies, the script <code class="docutils literal notranslate"><span class="pre">15_prepare_thirdParty.sh</span></code> can be used.</p>
+<p>The exact list of dependency can be found below.</p>
+<div class="highlight-text notranslate"><div class="highlight"><pre><span></span>[requires]
+b2/5.0.0
+boost/1.85.0
+fmilibrary/2.0.3
+gtest/1.14.0
+libiconv/1.17
+libxml2/2.11.5
+mantleapi/v5.1.0
+minizip/1.2.13
+open-simulation-interface/3.7.0
+openscenario_api/v1.3.1
+openscenario_engine/v6.0.1
+protobuf-shared/3.20.0
+protobuf/3.20.0
+units/2.3.3
+yase/0.1
+zlib/1.3.1
+
+[options]
+b2/*:toolset=gcc
+boost/*:shared=True
+boost/*:without_chrono=True
+boost/*:without_cobalt=True
+boost/*:without_container=True
+boost/*:without_context=True
+boost/*:without_contract=True
+boost/*:without_coroutine=True
+boost/*:without_date_time=True
+boost/*:without_fiber=True
+boost/*:without_iostreams=True
+boost/*:without_json=True
+boost/*:without_locale=True
+boost/*:without_log=True
+boost/*:without_nowide=True
+boost/*:without_stacktrace=True
+boost/*:without_test=True
+boost/*:without_thread=True
+boost/*:without_timer=True
+boost/*:without_type_erasure=True
+boost/*:without_url=True
+boost/*:without_wave=True
+libxml2/*:ftp=False
+libxml2/*:html=False
+libxml2/*:http=False
+libxml2/*:include_utils=False
+libxml2/*:legacy=False
+libxml2/*:sax1=False
+libxml2/*:shared=False
+libxml2/*:zlib=False
+msys2/*:no_kill=True
+openscenario_engine/*:MantleAPI_version=v5.1.0
+openscenario_engine/*:Yase_version=0.1
+protobuf-shared/*:debug_suffix=False
+protobuf/*:debug_suffix=False
+
+[generators]
+CMakeDeps
+</pre></div>
+</div>
+</section>
+</section>
+
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-<li class="toctree-l3"><a class="reference internal" href="#openpass-adjust-output">OPENPASS_ADJUST_OUTPUT</a></li>
-<li class="toctree-l3"><a class="reference internal" href="#with-protobuf-arena">WITH_PROTOBUF_ARENA</a></li>
-<li class="toctree-l3"><a class="reference internal" href="#install-system-runtime-deps">INSTALL_SYSTEM_RUNTIME_DEPS</a></li>
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-</ul>
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-<ul>
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-  <section id="cmake-variables-and-options">
-<span id="cmake"></span><h1>CMake Variables and Options<a class="headerlink" href="#cmake-variables-and-options" title="Link to this heading"></a></h1>
-<p><strong>openPASS</strong> uses CMake as default cross-platform build environment.
-CMake varibles describe configuration settings, which can be overriden by the user.
-To override any build configuration, the CMake variables have to be provided when CMake gets run.</p>
-<p>If available, recommended options are shown in <strong>bold</strong>.</p>
-<p>The following guide is structered as follows: The first part describes the available variables and options.
-There are standard CMake variables which are marked with the prefix <code class="docutils literal notranslate"><span class="pre">CMAKE_</span></code> and other defined variables
-used internally to further specify the build of <strong>openPASS</strong>. As the result of a proper CMake call is a Makefile,
-which then acts as base for the actual build using <code class="docutils literal notranslate"><span class="pre">make</span></code>, the second part describes best practices around the make commands using <code class="docutils literal notranslate"><span class="pre">make</span></code>.</p>
-<p>Note, this guide approaches CMake from the <em>command line perspective</em>.
-Adjustments for VSCode can be found under <a class="reference internal" href="../../developer_information/ide_support/30_vscode.html#vscode"><span class="std std-ref">Working with Visual Studio Code</span></a>.</p>
-<div class="admonition-see-also admonition">
-<p class="admonition-title">See also</p>
-<p>CMake Documentation: <a class="reference external" href="https://cmake.org/cmake/help/latest/index.html">https://cmake.org/cmake/help/latest/index.html</a></p>
-</div>
-<section id="cmake-generator">
-<h2>CMake Generator<a class="headerlink" href="#cmake-generator" title="Link to this heading"></a></h2>
-<p>This is only important for <strong>Windows</strong>.
-To generate MSYS compatible makefiles use <code class="docutils literal notranslate"><span class="pre">-G</span> <span class="pre">&quot;MSYS</span> <span class="pre">Makefiles&quot;</span></code> (c.f. <a class="reference internal" href="../20_install_prerequisites.html#msys2"><span class="std std-ref">MSYS2</span></a>).</p>
-</section>
-<section id="cmake-prefix-path">
-<span id="id1"></span><h2>CMAKE_PREFIX_PATH<a class="headerlink" href="#cmake-prefix-path" title="Link to this heading"></a></h2>
-<p>This variable makes the prerequisites available to <strong>openPASS</strong> as semicolon-separated list of directories,
-specifying installation prefixes to be searched by cmake.
-Please refer to <a class="reference internal" href="../20_install_prerequisites.html#prerequisites"><span class="std std-ref">Installing Prerequisites</span></a> for the list of mandatory packages and libraries.
-CMake will issue an error, if one prerequisite is missing.</p>
-<p>Generally, cmake recognizes installed libraries (e.g. googletest) on its own.
-By setting an explicit <code class="docutils literal notranslate"><span class="pre">CMAKE_PREFIX_PATH</span></code> for a library, it is possible to override the system libraries.
-Use this, when an exact library version, or a customized library shall be used.</p>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>In the following example, non-standard libraries are assumed to be in the folder <code class="docutils literal notranslate"><span class="pre">deps/thirdParty</span></code>.</p>
-</div>
-<p><strong>Example</strong> (system libraries <strong>not</strong> set):</p>
-<div class="sphinx-tabs docutils container">
-<div aria-label="Tabbed content" class="closeable" role="tablist"><button aria-controls="panel-0-0-0" aria-selected="true" class="sphinx-tabs-tab" id="tab-0-0-0" name="0-0" role="tab" tabindex="0">Windows</button><button aria-controls="panel-0-0-1" aria-selected="false" class="sphinx-tabs-tab" id="tab-0-0-1" name="0-1" role="tab" tabindex="-1">Linux</button></div><div aria-labelledby="tab-0-0-0" class="sphinx-tabs-panel" id="panel-0-0-0" name="0-0" role="tabpanel" tabindex="0"><div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>cmake<span class="w"> </span>-G<span class="w"> </span><span class="s2">&quot;MSYS Makefiles&quot;</span>
-<span class="w">      </span>-D<span class="w"> </span><span class="nv">CMAKE_PREFIX_PATH</span><span class="o">=</span><span class="s2">&quot;\</span>
-<span class="s2">         /mingw64/bin;\</span>
-<span class="s2">         </span><span class="nv">$PWD</span><span class="s2">/../deps/thirdParty/win64/FMILibrary;\</span>
-<span class="s2">         </span><span class="nv">$PWD</span><span class="s2">/../deps/thirdParty/win64/osi;\</span>
-<span class="s2">         </span><span class="nv">$PWD</span><span class="s2">/../deps/thirdParty/win64/minizip;\</span>
-<span class="s2">      -D &lt;other variables&gt;\</span>
-<span class="s2">      ..</span>
-</pre></div>
-</div>
-</div><div aria-labelledby="tab-0-0-1" class="sphinx-tabs-panel" hidden="true" id="panel-0-0-1" name="0-1" role="tabpanel" tabindex="0"><div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>cmake<span class="w"> </span>-D<span class="w"> </span><span class="nv">CMAKE_PREFIX_PATH</span><span class="o">=</span><span class="se">\</span>
-<span class="w">         </span><span class="nv">$PWD</span>/../deps/thirdParty/linux64/FMILibrary<span class="se">\;\</span>
-<span class="w">         </span><span class="nv">$PWD</span>/../deps/thirdParty/linux64/osi<span class="se">\;\</span>
-<span class="w">         </span><span class="nv">$PWD</span>/../deps/thirdParty/linux64/minizip<span class="se">\;\</span>
-<span class="w">      </span>-D<span class="w"> </span>&lt;other<span class="w"> </span>variables&gt;<span class="w"> </span><span class="se">\</span>
-<span class="w">      </span>..
-</pre></div>
-</div>
-<div class="admonition warning">
-<p class="admonition-title">Warning</p>
-<p>The semicolon <code class="docutils literal notranslate"><span class="pre">;</span></code> needs to be escaped (<code class="docutils literal notranslate"><span class="pre">\;</span></code>) unless the string is quoted.</p>
-</div>
-</div></div>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>Please also read through <a class="reference internal" href="#cmake-openpass-variables"><span class="std std-ref">USE_CCACHE</span></a> for further useful hints, e.g. why explicitly setting the MinGW path might be a necessary in some situations.</p>
-</div>
-<p>Installation directory</p>
-</section>
-<section id="cmake-install-prefix">
-<h2>CMAKE_INSTALL_PREFIX<a class="headerlink" href="#cmake-install-prefix" title="Link to this heading"></a></h2>
-<ul class="simple">
-<li><p>Install directory used by install, when invoking <code class="docutils literal notranslate"><span class="pre">make</span> <span class="pre">install</span></code></p></li>
-<li><p>Recommendation: <code class="docutils literal notranslate"><span class="pre">/openPASS/bin/core</span></code> (Linux) | <code class="docutils literal notranslate"><span class="pre">C:/openPASS/bin/core</span></code> (Windows)</p></li>
-</ul>
-</section>
-<section id="cmake-with-debug-postix">
-<h2>CMAKE_WITH_DEBUG_POSTIX<a class="headerlink" href="#cmake-with-debug-postix" title="Link to this heading"></a></h2>
-<ul class="simple">
-<li><p>Used only in conjunction with <em>Visual Studio Debug Builds</em> (MSVC), as it distinguishes release/debug DLLs by a postfix <code class="docutils literal notranslate"><span class="pre">d</span></code>.</p></li>
-<li><p>Options: <strong>OFF</strong> | ON</p></li>
-</ul>
-</section>
-<section id="cmake-build-type">
-<h2>CMAKE_BUILD_TYPE<a class="headerlink" href="#cmake-build-type" title="Link to this heading"></a></h2>
-<ul class="simple">
-<li><p>Specifies the build type on single-configuration generators.</p></li>
-<li><p>Typical: Release | Debug</p></li>
-<li><p>See: <a class="reference external" href="https://cmake.org/cmake/help/latest/variable/CMAKE_BUILD_TYPE.html">https://cmake.org/cmake/help/latest/variable/CMAKE_BUILD_TYPE.html</a></p></li>
-</ul>
-</section>
-<section id="cmake-c-compiler">
-<h2>CMAKE_C_COMPILER<a class="headerlink" href="#cmake-c-compiler" title="Link to this heading"></a></h2>
-<ul class="simple">
-<li><p>Options: <strong>gcc-13</strong> | gcc-12 | gcc-11 | gcc-10 | gcc-9</p></li>
-<li><p>See: <a class="reference external" href="https://cmake.org/cmake/help/latest/variable/CMAKE_LANG_COMPILER.html">https://cmake.org/cmake/help/latest/variable/CMAKE_LANG_COMPILER.html</a></p></li>
-</ul>
-</section>
-<section id="cmake-cxx-compiler">
-<h2>CMAKE_CXX_COMPILER<a class="headerlink" href="#cmake-cxx-compiler" title="Link to this heading"></a></h2>
-<ul class="simple">
-<li><p>Options: <strong>gcc-13</strong> | gcc-12 | gcc-11 | gcc-10 | gcc-9</p></li>
-<li><p>See: <a class="reference external" href="https://cmake.org/cmake/help/latest/variable/CMAKE_LANG_COMPILER.html">https://cmake.org/cmake/help/latest/variable/CMAKE_LANG_COMPILER.html</a></p></li>
-</ul>
-</section>
-<section id="cmake-object-path-max">
-<h2>CMAKE_OBJECT_PATH_MAX<a class="headerlink" href="#cmake-object-path-max" title="Link to this heading"></a></h2>
-<ul class="simple">
-<li><p>Under windows, errors from too long paths could be prevented by setting this value to 255 (maximum).</p></li>
-<li><p>See: <a class="reference external" href="https://cmake.org/cmake/help/latest/variable/CMAKE_OBJECT_PATH_MAX.html">https://cmake.org/cmake/help/latest/variable/CMAKE_OBJECT_PATH_MAX.html</a></p></li>
-</ul>
-</section>
-<section id="use-ccache">
-<span id="cmake-openpass-variables"></span><h2>USE_CCACHE<a class="headerlink" href="#use-ccache" title="Link to this heading"></a></h2>
-<ul class="simple">
-<li><p>Activates ccache (see <a class="reference internal" href="../../other_information/10_external_dependencies.html#prerequisites-ccache"><span class="std std-ref">Ccache</span></a>)</p></li>
-<li><p>Options: <strong>ON</strong> | OFF</p></li>
-</ul>
-</section>
-<section id="with-simcore">
-<h2>WITH_SIMCORE<a class="headerlink" href="#with-simcore" title="Link to this heading"></a></h2>
-<ul class="simple">
-<li><p>Build OSI based scenario simulation, also know as openPASS simulation core (opSimulation).</p></li>
-<li><p>Options: OFF | <strong>ON</strong></p></li>
-</ul>
-</section>
-<section id="with-doc">
-<h2>WITH_DOC<a class="headerlink" href="#with-doc" title="Link to this heading"></a></h2>
-<ul class="simple">
-<li><p>Build sphinx based documentation</p></li>
-<li><p>Options: OFF | <strong>ON</strong></p></li>
-</ul>
-</section>
-<section id="with-api-doc">
-<h2>WITH_API_DOC<a class="headerlink" href="#with-api-doc" title="Link to this heading"></a></h2>
-<ul class="simple">
-<li><p>Build sphinx based developer documentation</p></li>
-<li><p>Options: <strong>OFF</strong> | ON</p></li>
-</ul>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>Automatically activates <code class="docutils literal notranslate"><span class="pre">WITH_DOC</span></code> if ON</p>
-</div>
-<div class="admonition warning">
-<p class="admonition-title">Warning</p>
-<p>Building the API doc takes pretty long.</p>
-</div>
-</section>
-<section id="with-tests">
-<h2>WITH_TESTS<a class="headerlink" href="#with-tests" title="Link to this heading"></a></h2>
-<ul class="simple">
-<li><p>Build unit tests</p></li>
-<li><p>Options: OFF | <strong>ON</strong></p></li>
-</ul>
-</section>
-<section id="with-coverage">
-<h2>WITH_COVERAGE<a class="headerlink" href="#with-coverage" title="Link to this heading"></a></h2>
-<div class="admonition warning">
-<p class="admonition-title">Warning</p>
-<p>This option turns off optimization, which might make execution considerably slower.
-In exchange, a coverage <cite>&lt;test_name&gt;.info`</cite> and HTML reports will be generated in a folder called <code class="docutils literal notranslate"><span class="pre">coverage</span></code> within the cmake build folder.</p>
-</div>
-<ul>
-<li><p>For each registered test target (see <code class="docutils literal notranslate"><span class="pre">add_openpass_target</span></code> in <code class="docutils literal notranslate"><span class="pre">./cmake/HelperMacros.cmake</span></code>) two more targets are added.
-One for code coverage analysis using <code class="docutils literal notranslate"><span class="pre">lcov</span></code> (target <code class="docutils literal notranslate"><span class="pre">&lt;test_name&gt;_coverage</span></code>).
-A second for HTML report generation using <code class="docutils literal notranslate"><span class="pre">genhtml</span></code> (target <code class="docutils literal notranslate"><span class="pre">&lt;test_name&gt;_html</span></code>).</p></li>
-<li><p>In addition to the individual tests, an overall test target <code class="docutils literal notranslate"><span class="pre">TestCoverageReport</span></code> is created.
-When invoked, it will execute all individual tests and combine their coverage data into a single report found in <code class="docutils literal notranslate"><span class="pre">coverage/TestCoverageReport</span></code>.</p></li>
-<li><p>Options: <strong>OFF</strong> | ON</p></li>
-<li><p>Requires:</p>
-<ul class="simple">
-<li><p><code class="docutils literal notranslate"><span class="pre">WITH_TESTS=ON</span></code></p></li>
-<li><p>gcov, lcov, fastcov (python)</p></li>
-</ul>
-</li>
-<li><p>Parameterization:</p>
-<ul class="simple">
-<li><p><code class="docutils literal notranslate"><span class="pre">COVERAGE_EXCLUDES</span></code> allows to remove source files from report (substring matching), i.e. <code class="docutils literal notranslate"><span class="pre">/usr/include</span></code>.</p></li>
-<li><p>Multiple paths have to be separated by spaces.</p></li>
-<li><p>Paths specified through <code class="docutils literal notranslate"><span class="pre">CMAKE_PREFIX_PATH</span></code> and <code class="docutils literal notranslate"><span class="pre">tests/</span></code> are filtered by default.</p></li>
-</ul>
-<div class="admonition warning">
-<p class="admonition-title">Warning</p>
-<p>Excluding too many paths or files may lead to an empty <code class="docutils literal notranslate"><span class="pre">&lt;test_name&gt;.info</span></code> file, causing the HTML target to fail.</p>
-</div>
-</li>
-</ul>
-</section>
-<section id="with-endtoend-tests">
-<h2>WITH_ENDTOEND_TESTS<a class="headerlink" href="#with-endtoend-tests" title="Link to this heading"></a></h2>
-<ul class="simple">
-<li><p>Enables execution of end to end tests using <a class="reference internal" href="../../advanced_topics/30_testing.html#testing-endtoend"><span class="std std-ref">EndToEnd Test Framework</span></a>.</p></li>
-<li><p>Tests can be ran by executing <code class="docutils literal notranslate"><span class="pre">make</span> <span class="pre">install</span> <span class="pre">&amp;&amp;</span> <span class="pre">make</span> <span class="pre">pyOpenPASS</span></code></p></li>
-<li><p>Options: <strong>OFF</strong> | ON</p></li>
-</ul>
-</section>
-<section id="openpass-adjust-output">
-<h2>OPENPASS_ADJUST_OUTPUT<a class="headerlink" href="#openpass-adjust-output" title="Link to this heading"></a></h2>
-<ul class="simple">
-<li><p>Adjusts if builds are executed in the (CMake default) folder <code class="docutils literal notranslate"><span class="pre">build</span></code> or directly in the specified install directory.
-Latter let you skip the call <code class="docutils literal notranslate"><span class="pre">make</span> <span class="pre">install</span></code>.</p></li>
-<li><p>Options: <strong>OFF</strong> | ON</p></li>
-</ul>
-<div class="admonition warning">
-<p class="admonition-title">Warning</p>
-<p>When skipping <code class="docutils literal notranslate"><span class="pre">make</span> <span class="pre">install</span></code>, dependencies are not copied into the output folder, which could cause crashes due to missing or outdated libraries.</p>
-</div>
-</section>
-<section id="with-protobuf-arena">
-<span id="cmake-protobuf-arenas"></span><h2>WITH_PROTOBUF_ARENA<a class="headerlink" href="#with-protobuf-arena" title="Link to this heading"></a></h2>
-<ul>
-<li><div class="line-block">
-<div class="line"><em>Arena allocation is a C++-only feature that helps you optimize your memory usage and improve performance when working with protocol buffers.</em></div>
-<div class="line">(from <a class="reference external" href="https://developers.google.com/protocol-buffers/docs/reference/arenas">https://developers.google.com/protocol-buffers/docs/reference/arenas</a>)</div>
-</div>
-</li>
-<li><p>Options: <strong>ON</strong> | OFF</p></li>
-</ul>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>This feature is only available, if protobuf related libraries are also compiled with arenas.
-Fortunately, the implementation falls back to regular allocation if not, which simply results in less performance.</p>
-</div>
-</section>
-<section id="install-system-runtime-deps">
-<h2>INSTALL_SYSTEM_RUNTIME_DEPS<a class="headerlink" href="#install-system-runtime-deps" title="Link to this heading"></a></h2>
-<ul class="simple">
-<li><p>during installation step, this configuration copies detected system runtime dependencies to install directory (i.e. MinGW system libraries)</p></li>
-<li><p>Options: ON | <strong>OFF</strong></p></li>
-</ul>
-<div class="admonition warning">
-<p class="admonition-title">Warning</p>
-<p>Under windows, automatic resolution might fail if other MinGW instances are installed.
-As several programs use MinGW under the hood, it is recommended to set the used MinGW path in the CMAKE_PREFIX_PATH  explicitly:</p>
-<blockquote>
-<div><div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="nv">CMAKE_PREFIX_PATH</span><span class="w"> </span><span class="o">=</span><span class="w"> </span>mingw64/bin<span class="p">;</span><span class="se">\.</span>..
-</pre></div>
-</div>
-</div></blockquote>
-</div>
-</section>
-<section id="install-extra-runtime-deps">
-<h2>INSTALL_EXTRA_RUNTIME_DEPS<a class="headerlink" href="#install-extra-runtime-deps" title="Link to this heading"></a></h2>
-<ul class="simple">
-<li><p>during installation step, this configuration copies detected runtime dependencies (i.e. required shared libraries) specified in <cite>CMAKE_PREFIX_PATH</cite> to install directory</p></li>
-<li><p>Options: ON | <strong>OFF</strong></p></li>
-</ul>
-</section>
-<section id="install-examples">
-<h2>INSTALL_EXAMPLES<a class="headerlink" href="#install-examples" title="Link to this heading"></a></h2>
-<ul class="simple">
-<li><p>If <cite>ON</cite>, <strong>opSimulation</strong> configuration examples are copied to the <cite>examples</cite> folder inside the installation directory (during the installation step).</p></li>
-<li><p>Options: <strong>ON</strong> | OFF</p></li>
-</ul>
-</section>
-<section id="make-targets-commands">
-<h2>Make Targets/Commands<a class="headerlink" href="#make-targets-commands" title="Link to this heading"></a></h2>
-<p><strong>openPASS</strong> defines build targets by major modules or components, such as <code class="docutils literal notranslate"><span class="pre">opSimulation</span></code> or <code class="docutils literal notranslate"><span class="pre">Algorithm_FmuWrapper</span></code>.
-After calling CMake, simply build <strong>openPASS</strong> by calling <code class="docutils literal notranslate"><span class="pre">make</span></code>.</p>
-<div class="admonition-see-also admonition">
-<p class="admonition-title">See also</p>
-<p><a class="reference external" href="https://www.tutorialspoint.com/unix_commands/make.htm">https://www.tutorialspoint.com/unix_commands/make.htm</a></p>
-</div>
-<section id="build-and-install">
-<h3>Build and Install<a class="headerlink" href="#build-and-install" title="Link to this heading"></a></h3>
-<ul class="simple">
-<li><p><code class="docutils literal notranslate"><span class="pre">make</span></code></p></li>
-<li><p><code class="docutils literal notranslate"><span class="pre">make</span> <span class="pre">install</span></code></p>
-</li>
-<li><p><code class="docutils literal notranslate"><span class="pre">make</span> <span class="pre">&lt;target&gt;</span></code>: Build a single target</p></li>
-</ul>
-</section>
-<section id="executing-tests">
-<h3>Executing Tests<a class="headerlink" href="#executing-tests" title="Link to this heading"></a></h3>
-<ul class="simple">
-<li><p>All tests: <code class="docutils literal notranslate"><span class="pre">make</span> <span class="pre">test</span> <span class="pre">ARGS=&quot;--output-on-failure</span> <span class="pre">-j3&quot;</span></code></p></li>
-<li><p>Single test: <code class="docutils literal notranslate"><span class="pre">make</span> <span class="pre">test</span> <span class="pre">opSimulation_Tests</span> <span class="pre">ARGS=&quot;--output-on-failure</span> <span class="pre">-j3&quot;</span></code></p></li>
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+             
+  <section id="cmake-variables-and-options">
+<span id="cmake"></span><h1>CMake Variables and Options<a class="headerlink" href="#cmake-variables-and-options" title="Link to this heading"></a></h1>
+<p><strong>openPASS</strong> uses CMake as default cross-platform build environment.
+CMake varibles describe configuration settings, which can be overriden by the user.
+To override any build configuration, the CMake variables have to be provided when CMake gets run.</p>
+<p>If available, recommended options are shown in <strong>bold</strong>.</p>
+<p>The following guide is structered as follows: The first part describes the available variables and options.
+There are standard CMake variables which are marked with the prefix <code class="docutils literal notranslate"><span class="pre">CMAKE_</span></code> and other defined variables
+used internally to further specify the build of <strong>openPASS</strong>. As the result of a proper CMake call is a Makefile,
+which then acts as base for the actual build using <code class="docutils literal notranslate"><span class="pre">make</span></code>, the second part describes best practices around the make commands using <code class="docutils literal notranslate"><span class="pre">make</span></code>.</p>
+<p>Note, this guide approaches CMake from the <em>command line perspective</em>.
+Adjustments for VSCode can be found under <a class="reference internal" href="../../developer_information/ide_support/30_vscode.html#vscode"><span class="std std-ref">Working with Visual Studio Code</span></a>.</p>
+<div class="admonition-see-also admonition">
+<p class="admonition-title">See also</p>
+<p>CMake Documentation: <a class="reference external" href="https://cmake.org/cmake/help/latest/index.html">https://cmake.org/cmake/help/latest/index.html</a></p>
+</div>
+<section id="cmake-generator">
+<h2>CMake Generator<a class="headerlink" href="#cmake-generator" title="Link to this heading"></a></h2>
+<p>This is only important for <strong>Windows</strong>.
+To generate MSYS compatible makefiles use <code class="docutils literal notranslate"><span class="pre">-G</span> <span class="pre">&quot;MSYS</span> <span class="pre">Makefiles&quot;</span></code> (c.f. <a class="reference internal" href="../20_install_prerequisites.html#msys2"><span class="std std-ref">MSYS2</span></a>).</p>
+</section>
+<section id="cmake-prefix-path">
+<span id="id1"></span><h2>CMAKE_PREFIX_PATH<a class="headerlink" href="#cmake-prefix-path" title="Link to this heading"></a></h2>
+<p>This variable makes the prerequisites available to <strong>openPASS</strong> as semicolon-separated list of directories,
+specifying installation prefixes to be searched by cmake.
+Please refer to <a class="reference internal" href="../20_install_prerequisites.html#prerequisites"><span class="std std-ref">Installing Prerequisites</span></a> for the list of mandatory packages and libraries.
+CMake will issue an error, if one prerequisite is missing.</p>
+<p>Generally, cmake recognizes installed libraries (e.g. googletest) on its own.
+By setting an explicit <code class="docutils literal notranslate"><span class="pre">CMAKE_PREFIX_PATH</span></code> for a library, it is possible to override the system libraries.
+Use this, when an exact library version, or a customized library shall be used.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>In the following example, non-standard libraries are assumed to be in the folder <code class="docutils literal notranslate"><span class="pre">deps/thirdParty</span></code>.</p>
+</div>
+<p><strong>Example</strong> (system libraries <strong>not</strong> set):</p>
+<div class="sphinx-tabs docutils container">
+<div aria-label="Tabbed content" class="closeable" role="tablist"><button aria-controls="panel-0-0-0" aria-selected="true" class="sphinx-tabs-tab" id="tab-0-0-0" name="0-0" role="tab" tabindex="0">Windows</button><button aria-controls="panel-0-0-1" aria-selected="false" class="sphinx-tabs-tab" id="tab-0-0-1" name="0-1" role="tab" tabindex="-1">Linux</button></div><div aria-labelledby="tab-0-0-0" class="sphinx-tabs-panel" id="panel-0-0-0" name="0-0" role="tabpanel" tabindex="0"><div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>cmake<span class="w"> </span>-G<span class="w"> </span><span class="s2">&quot;MSYS Makefiles&quot;</span>
+<span class="w">      </span>-D<span class="w"> </span><span class="nv">CMAKE_PREFIX_PATH</span><span class="o">=</span><span class="s2">&quot;\</span>
+<span class="s2">         /mingw64/bin;\</span>
+<span class="s2">         </span><span class="nv">$PWD</span><span class="s2">/../deps/thirdParty/win64/FMILibrary;\</span>
+<span class="s2">         </span><span class="nv">$PWD</span><span class="s2">/../deps/thirdParty/win64/osi;\</span>
+<span class="s2">         </span><span class="nv">$PWD</span><span class="s2">/../deps/thirdParty/win64/minizip;\</span>
+<span class="s2">      -D &lt;other variables&gt;\</span>
+<span class="s2">      ..</span>
+</pre></div>
+</div>
+</div><div aria-labelledby="tab-0-0-1" class="sphinx-tabs-panel" hidden="true" id="panel-0-0-1" name="0-1" role="tabpanel" tabindex="0"><div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>cmake<span class="w"> </span>-D<span class="w"> </span><span class="nv">CMAKE_PREFIX_PATH</span><span class="o">=</span><span class="se">\</span>
+<span class="w">         </span><span class="nv">$PWD</span>/../deps/thirdParty/linux64/FMILibrary<span class="se">\;\</span>
+<span class="w">         </span><span class="nv">$PWD</span>/../deps/thirdParty/linux64/osi<span class="se">\;\</span>
+<span class="w">         </span><span class="nv">$PWD</span>/../deps/thirdParty/linux64/minizip<span class="se">\;\</span>
+<span class="w">      </span>-D<span class="w"> </span>&lt;other<span class="w"> </span>variables&gt;<span class="w"> </span><span class="se">\</span>
+<span class="w">      </span>..
+</pre></div>
+</div>
+<div class="admonition warning">
+<p class="admonition-title">Warning</p>
+<p>The semicolon <code class="docutils literal notranslate"><span class="pre">;</span></code> needs to be escaped (<code class="docutils literal notranslate"><span class="pre">\;</span></code>) unless the string is quoted.</p>
+</div>
+</div></div>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>Please also read through <a class="reference internal" href="#cmake-openpass-variables"><span class="std std-ref">USE_CCACHE</span></a> for further useful hints, e.g. why explicitly setting the MinGW path might be a necessary in some situations.</p>
+</div>
+<p>Installation directory</p>
+</section>
+<section id="cmake-install-prefix">
+<h2>CMAKE_INSTALL_PREFIX<a class="headerlink" href="#cmake-install-prefix" title="Link to this heading"></a></h2>
+<ul class="simple">
+<li><p>Install directory used by install, when invoking <code class="docutils literal notranslate"><span class="pre">make</span> <span class="pre">install</span></code></p></li>
+<li><p>Recommendation: <code class="docutils literal notranslate"><span class="pre">/openPASS/bin/core</span></code> (Linux) | <code class="docutils literal notranslate"><span class="pre">C:/openPASS/bin/core</span></code> (Windows)</p></li>
+</ul>
+</section>
+<section id="cmake-with-debug-postix">
+<h2>CMAKE_WITH_DEBUG_POSTIX<a class="headerlink" href="#cmake-with-debug-postix" title="Link to this heading"></a></h2>
+<ul class="simple">
+<li><p>Used only in conjunction with <em>Visual Studio Debug Builds</em> (MSVC), as it distinguishes release/debug DLLs by a postfix <code class="docutils literal notranslate"><span class="pre">d</span></code>.</p></li>
+<li><p>Options: <strong>OFF</strong> | ON</p></li>
+</ul>
+</section>
+<section id="cmake-build-type">
+<h2>CMAKE_BUILD_TYPE<a class="headerlink" href="#cmake-build-type" title="Link to this heading"></a></h2>
+<ul class="simple">
+<li><p>Specifies the build type on single-configuration generators.</p></li>
+<li><p>Typical: Release | Debug</p></li>
+<li><p>See: <a class="reference external" href="https://cmake.org/cmake/help/latest/variable/CMAKE_BUILD_TYPE.html">https://cmake.org/cmake/help/latest/variable/CMAKE_BUILD_TYPE.html</a></p></li>
+</ul>
+</section>
+<section id="cmake-c-compiler">
+<h2>CMAKE_C_COMPILER<a class="headerlink" href="#cmake-c-compiler" title="Link to this heading"></a></h2>
+<ul class="simple">
+<li><p>Options: <strong>gcc-13</strong> | gcc-12 | gcc-11 | gcc-10 | gcc-9</p></li>
+<li><p>See: <a class="reference external" href="https://cmake.org/cmake/help/latest/variable/CMAKE_LANG_COMPILER.html">https://cmake.org/cmake/help/latest/variable/CMAKE_LANG_COMPILER.html</a></p></li>
+</ul>
+</section>
+<section id="cmake-cxx-compiler">
+<h2>CMAKE_CXX_COMPILER<a class="headerlink" href="#cmake-cxx-compiler" title="Link to this heading"></a></h2>
+<ul class="simple">
+<li><p>Options: <strong>gcc-13</strong> | gcc-12 | gcc-11 | gcc-10 | gcc-9</p></li>
+<li><p>See: <a class="reference external" href="https://cmake.org/cmake/help/latest/variable/CMAKE_LANG_COMPILER.html">https://cmake.org/cmake/help/latest/variable/CMAKE_LANG_COMPILER.html</a></p></li>
+</ul>
+</section>
+<section id="cmake-object-path-max">
+<h2>CMAKE_OBJECT_PATH_MAX<a class="headerlink" href="#cmake-object-path-max" title="Link to this heading"></a></h2>
+<ul class="simple">
+<li><p>Under windows, errors from too long paths could be prevented by setting this value to 255 (maximum).</p></li>
+<li><p>See: <a class="reference external" href="https://cmake.org/cmake/help/latest/variable/CMAKE_OBJECT_PATH_MAX.html">https://cmake.org/cmake/help/latest/variable/CMAKE_OBJECT_PATH_MAX.html</a></p></li>
+</ul>
+</section>
+<section id="use-ccache">
+<span id="cmake-openpass-variables"></span><h2>USE_CCACHE<a class="headerlink" href="#use-ccache" title="Link to this heading"></a></h2>
+<ul class="simple">
+<li><p>Activates ccache (see <a class="reference internal" href="../../other_information/10_external_dependencies.html#prerequisites-ccache"><span class="std std-ref">Ccache</span></a>)</p></li>
+<li><p>Options: <strong>ON</strong> | OFF</p></li>
+</ul>
+</section>
+<section id="with-simcore">
+<h2>WITH_SIMCORE<a class="headerlink" href="#with-simcore" title="Link to this heading"></a></h2>
+<ul class="simple">
+<li><p>Build OSI based scenario simulation, also know as openPASS simulation core (opSimulation).</p></li>
+<li><p>Options: OFF | <strong>ON</strong></p></li>
+</ul>
+</section>
+<section id="with-doc">
+<h2>WITH_DOC<a class="headerlink" href="#with-doc" title="Link to this heading"></a></h2>
+<ul class="simple">
+<li><p>Build sphinx based documentation</p></li>
+<li><p>Options: OFF | <strong>ON</strong></p></li>
+</ul>
+</section>
+<section id="with-api-doc">
+<h2>WITH_API_DOC<a class="headerlink" href="#with-api-doc" title="Link to this heading"></a></h2>
+<ul class="simple">
+<li><p>Build sphinx based developer documentation</p></li>
+<li><p>Options: <strong>OFF</strong> | ON</p></li>
+</ul>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>Automatically activates <code class="docutils literal notranslate"><span class="pre">WITH_DOC</span></code> if ON</p>
+</div>
+<div class="admonition warning">
+<p class="admonition-title">Warning</p>
+<p>Building the API doc takes pretty long.</p>
+</div>
+</section>
+<section id="with-tests">
+<h2>WITH_TESTS<a class="headerlink" href="#with-tests" title="Link to this heading"></a></h2>
+<ul class="simple">
+<li><p>Build unit tests</p></li>
+<li><p>Options: OFF | <strong>ON</strong></p></li>
+</ul>
+</section>
+<section id="with-coverage">
+<h2>WITH_COVERAGE<a class="headerlink" href="#with-coverage" title="Link to this heading"></a></h2>
+<div class="admonition warning">
+<p class="admonition-title">Warning</p>
+<p>This option turns off optimization, which might make execution considerably slower.
+In exchange, a coverage <cite>&lt;test_name&gt;.info`</cite> and HTML reports will be generated in a folder called <code class="docutils literal notranslate"><span class="pre">coverage</span></code> within the cmake build folder.</p>
+</div>
+<ul>
+<li><p>For each registered test target (see <code class="docutils literal notranslate"><span class="pre">add_openpass_target</span></code> in <code class="docutils literal notranslate"><span class="pre">./cmake/HelperMacros.cmake</span></code>) two more targets are added.
+One for code coverage analysis using <code class="docutils literal notranslate"><span class="pre">lcov</span></code> (target <code class="docutils literal notranslate"><span class="pre">&lt;test_name&gt;_coverage</span></code>).
+A second for HTML report generation using <code class="docutils literal notranslate"><span class="pre">genhtml</span></code> (target <code class="docutils literal notranslate"><span class="pre">&lt;test_name&gt;_html</span></code>).</p></li>
+<li><p>In addition to the individual tests, an overall test target <code class="docutils literal notranslate"><span class="pre">TestCoverageReport</span></code> is created.
+When invoked, it will execute all individual tests and combine their coverage data into a single report found in <code class="docutils literal notranslate"><span class="pre">coverage/TestCoverageReport</span></code>.</p></li>
+<li><p>Options: <strong>OFF</strong> | ON</p></li>
+<li><p>Requires:</p>
+<ul class="simple">
+<li><p><code class="docutils literal notranslate"><span class="pre">WITH_TESTS=ON</span></code></p></li>
+<li><p>gcov, lcov, fastcov (python)</p></li>
+</ul>
+</li>
+<li><p>Parameterization:</p>
+<ul class="simple">
+<li><p><code class="docutils literal notranslate"><span class="pre">COVERAGE_EXCLUDES</span></code> allows to remove source files from report (substring matching), i.e. <code class="docutils literal notranslate"><span class="pre">/usr/include</span></code>.</p></li>
+<li><p>Multiple paths have to be separated by spaces.</p></li>
+<li><p>Paths specified through <code class="docutils literal notranslate"><span class="pre">CMAKE_PREFIX_PATH</span></code> and <code class="docutils literal notranslate"><span class="pre">tests/</span></code> are filtered by default.</p></li>
+</ul>
+<div class="admonition warning">
+<p class="admonition-title">Warning</p>
+<p>Excluding too many paths or files may lead to an empty <code class="docutils literal notranslate"><span class="pre">&lt;test_name&gt;.info</span></code> file, causing the HTML target to fail.</p>
+</div>
+</li>
+</ul>
+</section>
+<section id="with-endtoend-tests">
+<h2>WITH_ENDTOEND_TESTS<a class="headerlink" href="#with-endtoend-tests" title="Link to this heading"></a></h2>
+<ul class="simple">
+<li><p>Enables execution of end to end tests using <a class="reference internal" href="../../advanced_topics/30_testing.html#testing-endtoend"><span class="std std-ref">EndToEnd Test Framework</span></a>.</p></li>
+<li><p>Tests can be ran by executing <code class="docutils literal notranslate"><span class="pre">make</span> <span class="pre">install</span> <span class="pre">&amp;&amp;</span> <span class="pre">make</span> <span class="pre">pyOpenPASS</span></code></p></li>
+<li><p>Options: <strong>OFF</strong> | ON</p></li>
+</ul>
+</section>
+<section id="openpass-adjust-output">
+<h2>OPENPASS_ADJUST_OUTPUT<a class="headerlink" href="#openpass-adjust-output" title="Link to this heading"></a></h2>
+<ul class="simple">
+<li><p>Adjusts if builds are executed in the (CMake default) folder <code class="docutils literal notranslate"><span class="pre">build</span></code> or directly in the specified install directory.
+Latter let you skip the call <code class="docutils literal notranslate"><span class="pre">make</span> <span class="pre">install</span></code>.</p></li>
+<li><p>Options: <strong>OFF</strong> | ON</p></li>
+</ul>
+<div class="admonition warning">
+<p class="admonition-title">Warning</p>
+<p>When skipping <code class="docutils literal notranslate"><span class="pre">make</span> <span class="pre">install</span></code>, dependencies are not copied into the output folder, which could cause crashes due to missing or outdated libraries.</p>
+</div>
+</section>
+<section id="with-protobuf-arena">
+<span id="cmake-protobuf-arenas"></span><h2>WITH_PROTOBUF_ARENA<a class="headerlink" href="#with-protobuf-arena" title="Link to this heading"></a></h2>
+<ul>
+<li><div class="line-block">
+<div class="line"><em>Arena allocation is a C++-only feature that helps you optimize your memory usage and improve performance when working with protocol buffers.</em></div>
+<div class="line">(from <a class="reference external" href="https://developers.google.com/protocol-buffers/docs/reference/arenas">https://developers.google.com/protocol-buffers/docs/reference/arenas</a>)</div>
+</div>
+</li>
+<li><p>Options: <strong>ON</strong> | OFF</p></li>
+</ul>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This feature is only available, if protobuf related libraries are also compiled with arenas.
+Fortunately, the implementation falls back to regular allocation if not, which simply results in less performance.</p>
+</div>
+</section>
+<section id="install-system-runtime-deps">
+<h2>INSTALL_SYSTEM_RUNTIME_DEPS<a class="headerlink" href="#install-system-runtime-deps" title="Link to this heading"></a></h2>
+<ul class="simple">
+<li><p>during installation step, this configuration copies detected system runtime dependencies to install directory (i.e. MinGW system libraries)</p></li>
+<li><p>Options: ON | <strong>OFF</strong></p></li>
+</ul>
+<div class="admonition warning">
+<p class="admonition-title">Warning</p>
+<p>Under windows, automatic resolution might fail if other MinGW instances are installed.
+As several programs use MinGW under the hood, it is recommended to set the used MinGW path in the CMAKE_PREFIX_PATH  explicitly:</p>
+<blockquote>
+<div><div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="nv">CMAKE_PREFIX_PATH</span><span class="w"> </span><span class="o">=</span><span class="w"> </span>mingw64/bin<span class="p">;</span><span class="se">\.</span>..
+</pre></div>
+</div>
+</div></blockquote>
+</div>
+</section>
+<section id="install-extra-runtime-deps">
+<h2>INSTALL_EXTRA_RUNTIME_DEPS<a class="headerlink" href="#install-extra-runtime-deps" title="Link to this heading"></a></h2>
+<ul class="simple">
+<li><p>during installation step, this configuration copies detected runtime dependencies (i.e. required shared libraries) specified in <cite>CMAKE_PREFIX_PATH</cite> to install directory</p></li>
+<li><p>Options: ON | <strong>OFF</strong></p></li>
+</ul>
+</section>
+<section id="install-examples">
+<h2>INSTALL_EXAMPLES<a class="headerlink" href="#install-examples" title="Link to this heading"></a></h2>
+<ul class="simple">
+<li><p>If <cite>ON</cite>, <strong>opSimulation</strong> configuration examples are copied to the <cite>examples</cite> folder inside the installation directory (during the installation step).</p></li>
+<li><p>Options: <strong>ON</strong> | OFF</p></li>
+</ul>
+</section>
+<section id="make-targets-commands">
+<h2>Make Targets/Commands<a class="headerlink" href="#make-targets-commands" title="Link to this heading"></a></h2>
+<p><strong>openPASS</strong> defines build targets by major modules or components, such as <code class="docutils literal notranslate"><span class="pre">opSimulation</span></code> or <code class="docutils literal notranslate"><span class="pre">Algorithm_FmuWrapper</span></code>.
+After calling CMake, simply build <strong>openPASS</strong> by calling <code class="docutils literal notranslate"><span class="pre">make</span></code>.</p>
+<div class="admonition-see-also admonition">
+<p class="admonition-title">See also</p>
+<p><a class="reference external" href="https://www.tutorialspoint.com/unix_commands/make.htm">https://www.tutorialspoint.com/unix_commands/make.htm</a></p>
+</div>
+<section id="build-and-install">
+<h3>Build and Install<a class="headerlink" href="#build-and-install" title="Link to this heading"></a></h3>
+<ul class="simple">
+<li><p><code class="docutils literal notranslate"><span class="pre">make</span></code></p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">make</span> <span class="pre">install</span></code></p>
+</li>
+<li><p><code class="docutils literal notranslate"><span class="pre">make</span> <span class="pre">&lt;target&gt;</span></code>: Build a single target</p></li>
+</ul>
+</section>
+<section id="executing-tests">
+<h3>Executing Tests<a class="headerlink" href="#executing-tests" title="Link to this heading"></a></h3>
+<ul class="simple">
+<li><p>All tests: <code class="docutils literal notranslate"><span class="pre">make</span> <span class="pre">test</span> <span class="pre">ARGS=&quot;--output-on-failure</span> <span class="pre">-j3&quot;</span></code></p></li>
+<li><p>Single test: <code class="docutils literal notranslate"><span class="pre">make</span> <span class="pre">test</span> <span class="pre">opSimulation_Tests</span> <span class="pre">ARGS=&quot;--output-on-failure</span> <span class="pre">-j3&quot;</span></code></p></li>
+</ul>
+</section>
+</section>
+</section>
+
+
+           </div>
+          </div>
+          <footer><div class="rst-footer-buttons" role="navigation" aria-label="Footer">
+        <a href="../50_further_guidance.html" class="btn btn-neutral float-left" title="Further Guidance" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> Previous</a>
+        <a href="../60_conan.html" class="btn btn-neutral float-right" title="Building with Conan" accesskey="n" rel="next">Next <span class="fa fa-arrow-circle-right" aria-hidden="true"></span></a>
+    </div>
+
+  <hr/>
+
+  <div role="contentinfo">
+    <p>&#169; Copyright 2025 openPASS Working Group.</p>
+  </div>
+
+  Built with <a href="https://www.sphinx-doc.org/">Sphinx</a> using a
+    <a href="https://github.com/readthedocs/sphinx_rtd_theme">theme</a>
+    provided by <a href="https://readthedocs.org">Read the Docs</a>.
+   
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+</footer>
+        </div>
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+  </div>
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+          SphinxRtdTheme.Navigation.enable(true);
+      });
+  </script> 
+
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diff --git a/content/html/objects.inv b/content/html/objects.inv
index bf03167d0831210bf84f8b3634a25ac98a55f088..6d5cef5d8902c5d4cabccfbd3245574c7a8590a9 100644
Binary files a/content/html/objects.inv and b/content/html/objects.inv differ
diff --git a/content/html/other_information/10_external_dependencies.html b/content/html/other_information/10_external_dependencies.html
index ad2c999a1b6f06d65768cde65068eb091f631b11..bf42cb21845611265c3284164e4d8cbb60a4a406 100644
--- a/content/html/other_information/10_external_dependencies.html
+++ b/content/html/other_information/10_external_dependencies.html
@@ -1,306 +1,294 @@
-<!DOCTYPE html>
-<html class="writer-html5" lang="en" >
-<head>
-  <meta charset="utf-8" /><meta name="viewport" content="width=device-width, initial-scale=1" />
-
-  <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-  <title>External Dependencies &mdash; openPASS Documentation</title>
-      <link rel="stylesheet" href="../_static/pygments.css" type="text/css" />
-      <link rel="stylesheet" href="../_static/css/theme.css" type="text/css" />
-      <link rel="stylesheet" href="../_static/css/custom.css" type="text/css" />
-      <link rel="stylesheet" href="../_static/tabs.css" type="text/css" />
-    <link rel="shortcut icon" href="../_static/openPASS.ico"/>
-  <!--[if lt IE 9]>
-    <script src="../_static/js/html5shiv.min.js"></script>
-  <![endif]-->
-  
-        <script src="../_static/jquery.js?v=5d32c60e"></script>
-        <script src="../_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
-        <script src="../_static/documentation_options.js?v=afa6e5cd"></script>
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-    <script src="../_static/js/theme.js"></script>
-    <link rel="index" title="Index" href="../genindex.html" />
-    <link rel="search" title="Search" href="../search.html" />
-    <link rel="next" title="Glossary" href="20_glossary.html" />
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-            openPASS
-              <img src="../_static/openPASS.png" class="logo" alt="Logo"/>
-          </a>
-              <div class="version">
-                1.1.0
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-<div role="search">
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-        </div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="Navigation menu">
-              <p class="caption" role="heading"><span class="caption-text">Installation Guide</span></p>
-<ul>
-<li class="toctree-l1"><a class="reference internal" href="../installation_guide/10_getting_started.html">Getting Started</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../installation_guide/15_system_requirements.html">System Requirements</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../installation_guide/20_install_prerequisites.html">Installing Prerequisites</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../installation_guide/30_install_openpass.html">Installing openPASS</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../installation_guide/50_further_guidance.html">Further Guidance</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../installation_guide/60_conan.html">Building with Conan</a></li>
-</ul>
-<p class="caption" role="heading"><span class="caption-text">User Guides</span></p>
-<ul>
-<li class="toctree-l1"><a class="reference internal" href="../user_guide/10_overview.html">Overview</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../user_guide/20_tutorials.html">Tutorials</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../user_guide/30_configs_in_depth.html">Configs in Depth</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../user_guide/40_outputs_in_depth.html">Outputs in Depth</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../user_guide/50_scenario_simulation.html">Simulator</a></li>
-</ul>
-<p class="caption" role="heading"><span class="caption-text">Advanced topics</span></p>
-<ul>
-<li class="toctree-l1"><a class="reference internal" href="../advanced_topics/20_simulator_advanced.html">Simulator</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../advanced_topics/30_testing.html">EndToEnd Test Framework</a></li>
-</ul>
-<p class="caption" role="heading"><span class="caption-text">Developer Information</span></p>
-<ul>
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-</ul>
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-<ul class="current">
-<li class="toctree-l1 current"><a class="current reference internal" href="#">External Dependencies</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="#information-on-binary-packages">Information on Binary Packages</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="#gnu-compiler-collection-gcc">GNU Compiler Collection (gcc)</a></li>
-<li class="toctree-l3"><a class="reference internal" href="#gnu-debugger-gdb">GNU Debugger (gdb)</a></li>
-<li class="toctree-l3"><a class="reference internal" href="#cmake">CMake</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="#open-simulation-interface-osi">Open Simulation Interface (OSI)</a></li>
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-  <section id="external-dependencies">
-<h1>External Dependencies<a class="headerlink" href="#external-dependencies" title="Link to this heading"></a></h1>
-<p><strong>openPASS</strong> depends on a number of external dependencies. Installation of those dependencies is described in <a class="reference internal" href="../installation_guide/20_install_prerequisites.html#prerequisites"><span class="std std-ref">Installing Prerequisites</span></a>.</p>
-<p>The third party software dependency of <strong>openPASS</strong> can be divided into:</p>
-<ul class="simple">
-<li><p><strong>Build environment</strong>, which manages third party software and is used to compile and install <strong>openPASS</strong></p></li>
-<li><p><strong>Binary packages</strong>, which can be easily installed via a package manager of the respective build environment</p></li>
-<li><p><strong>Source packages</strong>, which need to be built from source code</p></li>
-</ul>
-<p>This section gives an overview of the dependencies and how they are used.</p>
-<section id="information-on-binary-packages">
-<h2>Information on Binary Packages<a class="headerlink" href="#information-on-binary-packages" title="Link to this heading"></a></h2>
-<section id="gnu-compiler-collection-gcc">
-<h3>GNU Compiler Collection (gcc)<a class="headerlink" href="#gnu-compiler-collection-gcc" title="Link to this heading"></a></h3>
-<p>Version (latest tested): 13.2.0</p>
-<p><strong>openPASS</strong> is developed on Linux and Windows (64-Bit) in <a class="reference external" href="https://isocpp.org/">C++17</a> using the GNU Compiler Collection (<a class="reference external" href="https://gcc.gnu.org/">gcc</a>).</p>
-<div class="admonition-useful-hints admonition">
-<p class="admonition-title">Useful hints</p>
-<ul>
-<li><div class="line-block">
-<div class="line"><strong>openPASS</strong> has been developed using gcc 7.x, 8.x, 9.x, and more recently gcc 10.x.
-| There are no known issues regarding the different versions.</div>
-</div>
-</li>
-<li><p>Since no compiler specific features are used, the source should also compile with <a class="reference external" href="https://clang.llvm.org/">clang</a>.</p></li>
-<li><p>Generally, there is support for <a class="reference external" href="https://docs.microsoft.com/en-us/cpp/build/reference/c-cpp-building-reference">MSVC</a> , but currently not actively maintained by the <strong>openPASS</strong> Working Group.</p></li>
-</ul>
-</div>
-</section>
-<section id="gnu-debugger-gdb">
-<h3>GNU Debugger (gdb)<a class="headerlink" href="#gnu-debugger-gdb" title="Link to this heading"></a></h3>
-<p>Version (latest tested): 13.2.0</p>
-<p>Debugging tools for gcc: <a class="reference external" href="https://www.gnu.org/savannah-checkouts/gnu/gdb/index.html">https://www.gnu.org/savannah-checkouts/gnu/gdb/index.html</a></p>
-</section>
-<section id="cmake">
-<h3>CMake<a class="headerlink" href="#cmake" title="Link to this heading"></a></h3>
-<p>Version (latest tested): 3.27.3</p>
-<p><strong>openPASS</strong> uses <a class="reference external" href="https://cmake.org/">CMake</a> for building and testing.
-For details on the provided options, see <a class="reference internal" href="../installation_guide/further_guidance/10_cmake.html#cmake"><span class="std std-ref">CMake Variables and Options</span></a>.</p>
-</section>
-<section id="ccache">
-<span id="prerequisites-ccache"></span><h3>Ccache<a class="headerlink" href="#ccache" title="Link to this heading"></a></h3>
-<p>Version (latest tested): 4.7.4</p>
-<p><strong>openPASS</strong> supports the compiler cache <a class="reference external" href="https://ccache.dev/">Ccache</a> for faster recompilation.
-Use only, if you need to recompile regularly.</p>
-<div class="admonition-useful-hints admonition">
-<p class="admonition-title">Useful hints</p>
-<ul class="simple">
-<li><p>The first compilation is definilty slower (e.g. by 30%), as the cache needs to be built.</p></li>
-<li><p>If used regularily, increasing the cache size is recommended, e.g.: <code class="docutils literal notranslate"><span class="pre">ccache</span> <span class="pre">-M</span> <span class="pre">20G</span></code></p></li>
-</ul>
-</div>
-</section>
-<section id="doxygen">
-<h3>Doxygen<a class="headerlink" href="#doxygen" title="Link to this heading"></a></h3>
-<p>Version (latest tested): 1.9.6</p>
-<p>Documentation is created using <a class="reference external" href="https://www.doxygen.nl/index.html">Doxygen</a>.</p>
-<div class="admonition-useful-hints admonition">
-<p class="admonition-title">Useful hints</p>
-<ul class="simple">
-<li><dl class="simple">
-<dt>Doxygen introduced support for Markdown with 1.8, which is still in use.</dt><dd><p>Don’t use older versions.</p>
-</dd>
-</dl>
-</li>
-</ul>
-</div>
-</section>
-<section id="qt-framework">
-<h3>Qt Framework<a class="headerlink" href="#qt-framework" title="Link to this heading"></a></h3>
-<p>Version (officially supported): 5.15.3</p>
-<p><strong>openPASS</strong> uses some features from the <a class="reference external" href="https://www.qt.io/">Qt</a> framework.
-A previous version of the GUI of <strong>openPASS</strong> relied on Qt. <strong>openPASS</strong> itself tries to stick to the C++ standard framework as far as possible, but still uses the Qt framework for some tasks, e.g. xml parsing.</p>
-<div class="admonition-note-on-versions admonition">
-<p class="admonition-title">Note on Versions</p>
-<div class="line-block">
-<div class="line">Versions starting from 5.4 should generally work, but are not officially supported anymore/yet.</div>
-</div>
-</div>
-</section>
-<section id="boost-c-libraries">
-<h3>Boost C++ Libraries<a class="headerlink" href="#boost-c-libraries" title="Link to this heading"></a></h3>
-<p>Version (officially supported): 1.72.0</p>
-<p>Especially for geometrical calculations, <strong>openPASS</strong> uses parts of the <a class="reference external" href="https://www.boost.org/">Boost C++ Libraries</a>.</p>
-<div class="admonition-note-on-versions admonition">
-<p class="admonition-title">Note on Versions</p>
-<p>More recent versions should integrate without issues, but 1.74.0 already raise warnings for some deprecated headers.</p>
-</div>
-</section>
-<section id="googletest">
-<h3>googletest<a class="headerlink" href="#googletest" title="Link to this heading"></a></h3>
-<p>Version (officially supported): 1.14.0</p>
-<p>Tests are written in <a class="reference external" href="https://github.com/google/googletest">googletest</a> and <strong>openPASS</strong> makes use of the included <em>googletest</em> (gtest) C++ testing framework, as well as the included mocking framework <em>googlemock</em> (gmock).</p>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>The lastest major release brought several API changes, which made some code fixes necessary.
-Use newer versions with precaution.</p>
-</div>
-</section>
-</section>
-<section id="information-on-source-packages">
-<h2>Information on Source Packages<a class="headerlink" href="#information-on-source-packages" title="Link to this heading"></a></h2>
-<p>The second and last set of dependencies we need to dissolve are based on source packages.
-Since installing such source packages is not easy, we have dedicated a separate chapter on this topic.
-See <a class="reference internal" href="../installation_guide/20_install_prerequisites.html#building-prerequisites"><span class="std std-ref">Installing the Dependencies</span></a> for a step-by-step instruction on how to download, build and install needed source packages.</p>
-<p>Details on source packages:</p>
-<section id="open-simulation-interface-osi">
-<span id="prerequisites-osi"></span><h3>Open Simulation Interface (OSI)<a class="headerlink" href="#open-simulation-interface-osi" title="Link to this heading"></a></h3>
-<p>Version (officially supported): 3.6.0</p>
-<p>The internal world representation uses the <a class="reference external" href="https://github.com/OpenSimulationInterface">Open Simulation Interface</a> (<a class="reference internal" href="20_glossary.html#term-OSI"><span class="xref std std-term">OSI</span></a>) as part of its ground truth (backend storage) and exchange format.</p>
-<figure class="align-default" id="id6">
-<img alt="../_images/osi_in_openpass.png" src="../_images/osi_in_openpass.png" />
-<figcaption>
-<p><span class="caption-text">OSI in <strong>openPASS</strong></span><a class="headerlink" href="#id6" title="Link to this image"></a></p>
-</figcaption>
-</figure>
-<p>Interaction between World and consumers of OSI messages.</p>
-<p>Thereby, OSI provides data structures for representation of various objects in traffic simulation environments.
-Note that OSI is primarily developed in a sensor centric view, such as lane markings and object boundaries.
-Beyond that, <strong>openPASS</strong> holds data for non-sensor centric data, such as metainfo on lanes and roads.</p>
-<p>As shown, OSI itself depends on <a class="reference internal" href="#prerequisites-protobuf"><span class="std std-ref">Protocol Buffers (protobuf)</span></a>.
-If not already installed, the library and headers have to be built prior to OSI.</p>
-</section>
-<section id="protocol-buffers-protobuf">
-<span id="prerequisites-protobuf"></span><h3>Protocol Buffers (protobuf)<a class="headerlink" href="#protocol-buffers-protobuf" title="Link to this heading"></a></h3>
-<p>Supported Version (officially supported): 3.20.0</p>
-<p><a class="reference internal" href="#prerequisites-osi"><span class="std std-ref">Open Simulation Interface (OSI)</span></a> uses <a class="reference external" href="https://developers.google.com/protocol-buffers">Protocol Buffers</a> for describing and serialization of its datastructures.</p>
-<div class="admonition-note-on-versions admonition">
-<p class="admonition-title">Note on Versions</p>
-<ul class="simple">
-<li><p>So far, no version limitations known (including 2.x).</p></li>
-<li><p><strong>openPASS</strong> lets you integrate your own protobuf libraries if necessary.</p></li>
-</ul>
-</div>
-</section>
-<section id="modelon-fmi-library-fmil">
-<h3>Modelon FMI Library (FMIL)<a class="headerlink" href="#modelon-fmi-library-fmil" title="Link to this heading"></a></h3>
-<p>Supported Version: 2.0.3</p>
-<p>For integration of Functional Mock-up Units (FMUs) the <cite>Algorithm_FmuWrapper</cite> uses the <a class="reference external" href="https://github.com/modelon-community/fmi-library">Modelon FMI Library</a>.
-As there is no binary available, FMIL needs to be build from scratch before <strong>openPASS</strong> can be compiled.</p>
-</section>
-</section>
-</section>
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+<p class="caption" role="heading"><span class="caption-text">Other Information</span></p>
+<ul class="current">
+<li class="toctree-l1 current"><a class="current reference internal" href="#">External Dependencies</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="#information-on-binary-packages">Information on Binary Packages</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="#gnu-compiler-collection-gcc">GNU Compiler Collection (gcc)</a></li>
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+             
+  <section id="external-dependencies">
+<h1>External Dependencies<a class="headerlink" href="#external-dependencies" title="Link to this heading"></a></h1>
+<p><strong>openPASS</strong> depends on a number of external dependencies. Installation of those dependencies is described in <a class="reference internal" href="../installation_guide/20_install_prerequisites.html#prerequisites"><span class="std std-ref">Installing Prerequisites</span></a>.</p>
+<p>The third party software dependency of <strong>openPASS</strong> can be divided into:</p>
+<ul class="simple">
+<li><p><strong>Build environment</strong>, which manages third party software and is used to compile and install <strong>openPASS</strong></p></li>
+<li><p><strong>Binary packages</strong>, which can be easily installed via a package manager of the respective build environment</p></li>
+<li><p><strong>Source packages</strong>, which need to be built from source code</p></li>
+</ul>
+<p>This section gives an overview of the dependencies and how they are used.</p>
+<section id="information-on-binary-packages">
+<h2>Information on Binary Packages<a class="headerlink" href="#information-on-binary-packages" title="Link to this heading"></a></h2>
+<section id="gnu-compiler-collection-gcc">
+<h3>GNU Compiler Collection (gcc)<a class="headerlink" href="#gnu-compiler-collection-gcc" title="Link to this heading"></a></h3>
+<p>Version (latest tested): 13.2.0</p>
+<p><strong>openPASS</strong> is developed on Linux and Windows (64-Bit) in <a class="reference external" href="https://isocpp.org/">C++17</a> using the GNU Compiler Collection (<a class="reference external" href="https://gcc.gnu.org/">gcc</a>).</p>
+<div class="admonition-useful-hints admonition">
+<p class="admonition-title">Useful hints</p>
+<ul>
+<li><div class="line-block">
+<div class="line"><strong>openPASS</strong> has been developed using gcc 7.x, 8.x, 9.x, and more recently gcc 10.x.
+| There are no known issues regarding the different versions.</div>
+</div>
+</li>
+<li><p>Since no compiler specific features are used, the source should also compile with <a class="reference external" href="https://clang.llvm.org/">clang</a>.</p></li>
+<li><p>Generally, there is support for <a class="reference external" href="https://docs.microsoft.com/en-us/cpp/build/reference/c-cpp-building-reference">MSVC</a> , but currently not actively maintained by the <strong>openPASS</strong> Working Group.</p></li>
+</ul>
+</div>
+</section>
+<section id="gnu-debugger-gdb">
+<h3>GNU Debugger (gdb)<a class="headerlink" href="#gnu-debugger-gdb" title="Link to this heading"></a></h3>
+<p>Version (latest tested): 13.2.0</p>
+<p>Debugging tools for gcc: <a class="reference external" href="https://www.gnu.org/savannah-checkouts/gnu/gdb/index.html">https://www.gnu.org/savannah-checkouts/gnu/gdb/index.html</a></p>
+</section>
+<section id="cmake">
+<h3>CMake<a class="headerlink" href="#cmake" title="Link to this heading"></a></h3>
+<p>Version (latest tested): 3.27.3</p>
+<p><strong>openPASS</strong> uses <a class="reference external" href="https://cmake.org/">CMake</a> for building and testing.
+For details on the provided options, see <a class="reference internal" href="../installation_guide/further_guidance/10_cmake.html#cmake"><span class="std std-ref">CMake Variables and Options</span></a>.</p>
+</section>
+<section id="ccache">
+<span id="prerequisites-ccache"></span><h3>Ccache<a class="headerlink" href="#ccache" title="Link to this heading"></a></h3>
+<p>Version (latest tested): 4.7.4</p>
+<p><strong>openPASS</strong> supports the compiler cache <a class="reference external" href="https://ccache.dev/">Ccache</a> for faster recompilation.
+Use only, if you need to recompile regularly.</p>
+<div class="admonition-useful-hints admonition">
+<p class="admonition-title">Useful hints</p>
+<ul class="simple">
+<li><p>The first compilation is definilty slower (e.g. by 30%), as the cache needs to be built.</p></li>
+<li><p>If used regularily, increasing the cache size is recommended, e.g.: <code class="docutils literal notranslate"><span class="pre">ccache</span> <span class="pre">-M</span> <span class="pre">20G</span></code></p></li>
+</ul>
+</div>
+</section>
+<section id="doxygen">
+<h3>Doxygen<a class="headerlink" href="#doxygen" title="Link to this heading"></a></h3>
+<p>Version (latest tested): 1.9.6</p>
+<p>Documentation is created using <a class="reference external" href="https://www.doxygen.nl/index.html">Doxygen</a>.</p>
+<div class="admonition-useful-hints admonition">
+<p class="admonition-title">Useful hints</p>
+<ul class="simple">
+<li><dl class="simple">
+<dt>Doxygen introduced support for Markdown with 1.8, which is still in use.</dt><dd><p>Don’t use older versions.</p>
+</dd>
+</dl>
+</li>
+</ul>
+</div>
+</section>
+<section id="boost-c-libraries">
+<h3>Boost C++ Libraries<a class="headerlink" href="#boost-c-libraries" title="Link to this heading"></a></h3>
+<p>Version (officially supported): 1.72.0</p>
+<p>Especially for geometrical calculations, <strong>openPASS</strong> uses parts of the <a class="reference external" href="https://www.boost.org/">Boost C++ Libraries</a>.</p>
+<div class="admonition-note-on-versions admonition">
+<p class="admonition-title">Note on Versions</p>
+<p>More recent versions should integrate without issues, but 1.74.0 already raise warnings for some deprecated headers.</p>
+</div>
+</section>
+<section id="googletest">
+<h3>googletest<a class="headerlink" href="#googletest" title="Link to this heading"></a></h3>
+<p>Version (officially supported): 1.14.0</p>
+<p>Tests are written in <a class="reference external" href="https://github.com/google/googletest">googletest</a> and <strong>openPASS</strong> makes use of the included <em>googletest</em> (gtest) C++ testing framework, as well as the included mocking framework <em>googlemock</em> (gmock).</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The lastest major release brought several API changes, which made some code fixes necessary.
+Use newer versions with precaution.</p>
+</div>
+</section>
+</section>
+<section id="information-on-source-packages">
+<h2>Information on Source Packages<a class="headerlink" href="#information-on-source-packages" title="Link to this heading"></a></h2>
+<p>The second and last set of dependencies we need to dissolve are based on source packages.
+Since installing such source packages is not easy, we have dedicated a separate chapter on this topic.
+See <a class="reference internal" href="../installation_guide/20_install_prerequisites.html#building-prerequisites"><span class="std std-ref">Installing the Dependencies</span></a> for a step-by-step instruction on how to download, build and install needed source packages.</p>
+<p>Details on source packages:</p>
+<section id="open-simulation-interface-osi">
+<span id="prerequisites-osi"></span><h3>Open Simulation Interface (OSI)<a class="headerlink" href="#open-simulation-interface-osi" title="Link to this heading"></a></h3>
+<p>Version (officially supported): 3.6.0</p>
+<p>The internal world representation uses the <a class="reference external" href="https://github.com/OpenSimulationInterface">Open Simulation Interface</a> (<a class="reference internal" href="20_glossary.html#term-OSI"><span class="xref std std-term">OSI</span></a>) as part of its ground truth (backend storage) and exchange format.</p>
+<figure class="align-default" id="id6">
+<img alt="../_images/osi_in_openpass.png" src="../_images/osi_in_openpass.png" />
+<figcaption>
+<p><span class="caption-text">OSI in <strong>openPASS</strong></span><a class="headerlink" href="#id6" title="Link to this image"></a></p>
+</figcaption>
+</figure>
+<p>Interaction between World and consumers of OSI messages.</p>
+<p>Thereby, OSI provides data structures for representation of various objects in traffic simulation environments.
+Note that OSI is primarily developed in a sensor centric view, such as lane markings and object boundaries.
+Beyond that, <strong>openPASS</strong> holds data for non-sensor centric data, such as metainfo on lanes and roads.</p>
+<p>As shown, OSI itself depends on <a class="reference internal" href="#prerequisites-protobuf"><span class="std std-ref">Protocol Buffers (protobuf)</span></a>.
+If not already installed, the library and headers have to be built prior to OSI.</p>
+</section>
+<section id="protocol-buffers-protobuf">
+<span id="prerequisites-protobuf"></span><h3>Protocol Buffers (protobuf)<a class="headerlink" href="#protocol-buffers-protobuf" title="Link to this heading"></a></h3>
+<p>Supported Version (officially supported): 3.20.0</p>
+<p><a class="reference internal" href="#prerequisites-osi"><span class="std std-ref">Open Simulation Interface (OSI)</span></a> uses <a class="reference external" href="https://developers.google.com/protocol-buffers">Protocol Buffers</a> for describing and serialization of its datastructures.</p>
+<div class="admonition-note-on-versions admonition">
+<p class="admonition-title">Note on Versions</p>
+<ul class="simple">
+<li><p>So far, no version limitations known (including 2.x).</p></li>
+<li><p><strong>openPASS</strong> lets you integrate your own protobuf libraries if necessary.</p></li>
+</ul>
+</div>
+</section>
+<section id="modelon-fmi-library-fmil">
+<h3>Modelon FMI Library (FMIL)<a class="headerlink" href="#modelon-fmi-library-fmil" title="Link to this heading"></a></h3>
+<p>Supported Version: 2.0.3</p>
+<p>For integration of Functional Mock-up Units (FMUs) the <cite>Algorithm_FmuWrapper</cite> uses the <a class="reference external" href="https://github.com/modelon-community/fmi-library">Modelon FMI Library</a>.
+As there is no binary available, FMIL needs to be build from scratch before <strong>openPASS</strong> can be compiled.</p>
+</section>
+</section>
+</section>
+
+
+           </div>
+          </div>
+          <footer><div class="rst-footer-buttons" role="navigation" aria-label="Footer">
+        <a href="../developer_information/30_coding_conventions.html" class="btn btn-neutral float-left" title="Coding Guidelines" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> Previous</a>
+        <a href="20_glossary.html" class="btn btn-neutral float-right" title="Glossary" accesskey="n" rel="next">Next <span class="fa fa-arrow-circle-right" aria-hidden="true"></span></a>
+    </div>
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+
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+    <p>&#169; Copyright 2025 openPASS Working Group.</p>
+  </div>
+
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diff --git a/content/html/other_information/20_glossary.html b/content/html/other_information/20_glossary.html
index 5d676a49a2bfec188e448ad7df444f4d9ecd9c14..c09cd0f224cbf7bda818d1d0d3c70976c531bc98 100644
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-  <section id="glossary">
-<h1>Glossary<a class="headerlink" href="#glossary" title="Link to this heading"></a></h1>
-<dl class="simple glossary">
-<dt id="term-ADAS">ADAS<a class="headerlink" href="#term-ADAS" title="Link to this term"></a></dt><dd><p>Advanced Driving Assistance Systems</p>
-</dd>
-<dt id="term-AEB">AEB<a class="headerlink" href="#term-AEB" title="Link to this term"></a></dt><dd><p>Autonomous Emergency Brake
-preventive emergency braking in danger (support or independent launch)</p>
-</dd>
-<dt id="term-Channel">Channel<a class="headerlink" href="#term-Channel" title="Link to this term"></a></dt><dd><p>Connects components within an agent (using unique ID)</p>
-</dd>
-<dt id="term-Component">Component<a class="headerlink" href="#term-Component" title="Link to this term"></a></dt><dd><p>A module that is part of an agent’s equipment</p>
-</dd>
-<dt id="term-COG">COG<a class="headerlink" href="#term-COG" title="Link to this term"></a></dt><dd><p>Center of gravity</p>
-</dd>
-<dt id="term-Dynamics">Dynamics<a class="headerlink" href="#term-Dynamics" title="Link to this term"></a></dt><dd><p>Calculation of dynamic parameters, e.g. position of Agent</p>
-</dd>
-<dt id="term-FMI">FMI<a class="headerlink" href="#term-FMI" title="Link to this term"></a></dt><dd><p>Functional Mock-up Interface, see <a class="reference external" href="https://fmi-standard.org">https://fmi-standard.org</a></p>
-</dd>
-<dt id="term-FMU">FMU<a class="headerlink" href="#term-FMU" title="Link to this term"></a></dt><dd><p>Functional Mock-up Unit, see <a class="reference external" href="https://fmi-standard.org">https://fmi-standard.org</a></p>
-</dd>
-<dt id="term-GIDAS">GIDAS<a class="headerlink" href="#term-GIDAS" title="Link to this term"></a></dt><dd><p>German In-Depth Accident Study for in-depth traffic accident data collection, see <a class="reference external" href="https://www.gidas.org">https://www.gidas.org</a></p>
-</dd>
-<dt id="term-MinGW">MinGW<a class="headerlink" href="#term-MinGW" title="Link to this term"></a></dt><dd><p>Complete Open Source programming tool set, suitable for the development of native MS-Windows applications.</p>
-</dd>
-<dt id="term-Model">Model<a class="headerlink" href="#term-Model" title="Link to this term"></a></dt><dd><p>An abstract representation of a real object which might omit details e.g. ADAS, driving dynamics, pedestrian, environmental conditions. In the PreCASE framework, a model consists of one or more modules as well as channels connecting them.</p>
-</dd>
-<dt id="term-Module">Module<a class="headerlink" href="#term-Module" title="Link to this term"></a></dt><dd><p>A dynamic library that is loaded and whose interface functions are called by the framework. Modules contain models or other individual functionality necessary for the simulation. Modules are exchangeable and can be fitted to various purposes ensuring ahigh flexibility of the framework.</p>
-</dd>
-<dt id="term-MSYS">MSYS<a class="headerlink" href="#term-MSYS" title="Link to this term"></a></dt><dd><p>Collection of GNU utilities (e.g. bash, make, gcc) to allow building of programs which depend on traditionally UNIX tools to be present. It is intended to supplement <a class="reference internal" href="#term-MinGW"><span class="xref std std-term">MinGW</span></a>.</p>
-</dd>
-<dt id="term-MSYS2">MSYS2<a class="headerlink" href="#term-MSYS2" title="Link to this term"></a></dt><dd><p>Independent rewrite of <a class="reference internal" href="#term-MSYS"><span class="xref std std-term">MSYS</span></a>, based on Cygwin (POSIX compatibility layer) and MinGW-w64.</p>
-</dd>
-<dt id="term-OD">OD<a class="headerlink" href="#term-OD" title="Link to this term"></a></dt><dd><p>OpenDRIVE</p>
-</dd>
-<dt id="term-openPASS">openPASS<a class="headerlink" href="#term-openPASS" title="Link to this term"></a></dt><dd><p>Open Platform for Assessment of Safety Systems</p>
-</dd>
-<dt id="term-OSI">OSI<a class="headerlink" href="#term-OSI" title="Link to this term"></a></dt><dd><p>A generic interface for the environmental perception of automated driving functions in virtual scenarios.
-See <a class="reference external" href="https://opensimulationinterface.github.io/osi-documentation">https://opensimulationinterface.github.io/osi-documentation</a></p>
-</dd>
-<dt id="term-PCM">PCM<a class="headerlink" href="#term-PCM" title="Link to this term"></a></dt><dd><p>Pre-Crash Matrix is a specified format which can be used to describe the phase of a road traffic accident before the first collision happens (the so-called pre-crash phase).
-See <a class="reference external" href="https://www.vufo.de/pcm/?lang=en">https://www.vufo.de/pcm/?lang=en</a></p>
-</dd>
-<dt id="term-PreCASE">PreCASE<a class="headerlink" href="#term-PreCASE" title="Link to this term"></a></dt><dd><p>Framework for the Simulative Evaluation of Active Safety Systems in Vehicles (openPASS predecessor).</p>
-</dd>
-<dt id="term-Scenario">Scenario<a class="headerlink" href="#term-Scenario" title="Link to this term"></a></dt><dd><p>A set of similar traffic situations.</p>
-</dd>
-<dt id="term-TTC">TTC<a class="headerlink" href="#term-TTC" title="Link to this term"></a></dt><dd><p>Time to collision</p>
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+             
+  <section id="glossary">
+<h1>Glossary<a class="headerlink" href="#glossary" title="Link to this heading"></a></h1>
+<dl class="simple glossary">
+<dt id="term-ADAS">ADAS<a class="headerlink" href="#term-ADAS" title="Link to this term"></a></dt><dd><p>Advanced Driving Assistance Systems</p>
+</dd>
+<dt id="term-AEB">AEB<a class="headerlink" href="#term-AEB" title="Link to this term"></a></dt><dd><p>Autonomous Emergency Brake
+preventive emergency braking in danger (support or independent launch)</p>
+</dd>
+<dt id="term-Channel">Channel<a class="headerlink" href="#term-Channel" title="Link to this term"></a></dt><dd><p>Connects components within an agent (using unique ID)</p>
+</dd>
+<dt id="term-Component">Component<a class="headerlink" href="#term-Component" title="Link to this term"></a></dt><dd><p>A module that is part of an agent’s equipment</p>
+</dd>
+<dt id="term-COG">COG<a class="headerlink" href="#term-COG" title="Link to this term"></a></dt><dd><p>Center of gravity</p>
+</dd>
+<dt id="term-Dynamics">Dynamics<a class="headerlink" href="#term-Dynamics" title="Link to this term"></a></dt><dd><p>Calculation of dynamic parameters, e.g. position of Agent</p>
+</dd>
+<dt id="term-FMI">FMI<a class="headerlink" href="#term-FMI" title="Link to this term"></a></dt><dd><p>Functional Mock-up Interface, see <a class="reference external" href="https://fmi-standard.org">https://fmi-standard.org</a></p>
+</dd>
+<dt id="term-FMU">FMU<a class="headerlink" href="#term-FMU" title="Link to this term"></a></dt><dd><p>Functional Mock-up Unit, see <a class="reference external" href="https://fmi-standard.org">https://fmi-standard.org</a></p>
+</dd>
+<dt id="term-GIDAS">GIDAS<a class="headerlink" href="#term-GIDAS" title="Link to this term"></a></dt><dd><p>German In-Depth Accident Study for in-depth traffic accident data collection, see <a class="reference external" href="https://www.gidas.org">https://www.gidas.org</a></p>
+</dd>
+<dt id="term-MinGW">MinGW<a class="headerlink" href="#term-MinGW" title="Link to this term"></a></dt><dd><p>Complete Open Source programming tool set, suitable for the development of native MS-Windows applications.</p>
+</dd>
+<dt id="term-Model">Model<a class="headerlink" href="#term-Model" title="Link to this term"></a></dt><dd><p>An abstract representation of a real object which might omit details e.g. ADAS, driving dynamics, pedestrian, environmental conditions. In the PreCASE framework, a model consists of one or more modules as well as channels connecting them.</p>
+</dd>
+<dt id="term-Module">Module<a class="headerlink" href="#term-Module" title="Link to this term"></a></dt><dd><p>A dynamic library that is loaded and whose interface functions are called by the framework. Modules contain models or other individual functionality necessary for the simulation. Modules are exchangeable and can be fitted to various purposes ensuring ahigh flexibility of the framework.</p>
+</dd>
+<dt id="term-MSYS">MSYS<a class="headerlink" href="#term-MSYS" title="Link to this term"></a></dt><dd><p>Collection of GNU utilities (e.g. bash, make, gcc) to allow building of programs which depend on traditionally UNIX tools to be present. It is intended to supplement <a class="reference internal" href="#term-MinGW"><span class="xref std std-term">MinGW</span></a>.</p>
+</dd>
+<dt id="term-MSYS2">MSYS2<a class="headerlink" href="#term-MSYS2" title="Link to this term"></a></dt><dd><p>Independent rewrite of <a class="reference internal" href="#term-MSYS"><span class="xref std std-term">MSYS</span></a>, based on Cygwin (POSIX compatibility layer) and MinGW-w64.</p>
+</dd>
+<dt id="term-OD">OD<a class="headerlink" href="#term-OD" title="Link to this term"></a></dt><dd><p>OpenDRIVE</p>
+</dd>
+<dt id="term-openPASS">openPASS<a class="headerlink" href="#term-openPASS" title="Link to this term"></a></dt><dd><p>Open Platform for Assessment of Safety Systems</p>
+</dd>
+<dt id="term-OSI">OSI<a class="headerlink" href="#term-OSI" title="Link to this term"></a></dt><dd><p>A generic interface for the environmental perception of automated driving functions in virtual scenarios.
+See <a class="reference external" href="https://opensimulationinterface.github.io/osi-documentation">https://opensimulationinterface.github.io/osi-documentation</a></p>
+</dd>
+<dt id="term-PCM">PCM<a class="headerlink" href="#term-PCM" title="Link to this term"></a></dt><dd><p>Pre-Crash Matrix is a specified format which can be used to describe the phase of a road traffic accident before the first collision happens (the so-called pre-crash phase).
+See <a class="reference external" href="https://www.vufo.de/pcm/?lang=en">https://www.vufo.de/pcm/?lang=en</a></p>
+</dd>
+<dt id="term-PreCASE">PreCASE<a class="headerlink" href="#term-PreCASE" title="Link to this term"></a></dt><dd><p>Framework for the Simulative Evaluation of Active Safety Systems in Vehicles (openPASS predecessor).</p>
+</dd>
+<dt id="term-Scenario">Scenario<a class="headerlink" href="#term-Scenario" title="Link to this term"></a></dt><dd><p>A set of similar traffic situations.</p>
+</dd>
+<dt id="term-TTC">TTC<a class="headerlink" href="#term-TTC" title="Link to this term"></a></dt><dd><p>Time to collision</p>
+</dd>
+</dl>
+</section>
+
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diff --git a/content/html/other_information/30_gui_plugins.html b/content/html/other_information/30_gui_plugins.html
index c404a2388d6f2c7fafe7f89e5134f1f4c8b10952..293cba003cd00dca77f02b6352c4f627e8a50c57 100644
--- a/content/html/other_information/30_gui_plugins.html
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+<li class="toctree-l1"><a class="reference internal" href="../advanced_topics/30_testing.html">EndToEnd Test Framework</a></li>
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+<li class="toctree-l1"><a class="reference internal" href="../developer_information/30_coding_conventions.html">Coding Guidelines</a></li>
+</ul>
+<p class="caption" role="heading"><span class="caption-text">Other Information</span></p>
+<ul class="current">
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+<li class="toctree-l1"><a class="reference internal" href="20_glossary.html">Glossary</a></li>
+<li class="toctree-l1 current"><a class="current reference internal" href="#">GUI Plugins</a><ul>
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+<li class="toctree-l2"><a class="reference internal" href="gui_user_guide/20_system_editor.html">System Editor</a></li>
+<li class="toctree-l2"><a class="reference internal" href="gui_user_guide/30_pcm_sim.html">PCM Simulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="gui_user_guide/40_pcm_eval.html">PCM Evaluation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="gui_user_guide/50_result_visualization.html">Result Visualization</a></li>
+</ul>
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+           <div itemprop="articleBody">
+             
+  <section id="gui-plugins">
+<span id="id1"></span><h1>GUI Plugins<a class="headerlink" href="#gui-plugins" title="Link to this heading"></a></h1>
+<blockquote>
+<div><ul class="simple">
+<li><p>The deprecated “Qt GUI” for simulation configuration based on Qt mainly aimed to edit PCM-based openPASS experiments was part of minor releases v0.5 – v0.11.</p></li>
+<li><p>The latest version of this deprecated GUI can be found here: <a class="reference external" href="https://ci.eclipse.org/openpass/job/openPASS_simulator_build/view/tags/job/openPASS_0.11/">https://ci.eclipse.org/openpass/job/openPASS_simulator_build/view/tags/job/openPASS_0.11/</a></p></li>
+</ul>
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+<li class="toctree-l1"><a class="reference internal" href="gui_user_guide/30_pcm_sim.html">PCM Simulation</a></li>
+<li class="toctree-l1"><a class="reference internal" href="gui_user_guide/40_pcm_eval.html">PCM Evaluation</a></li>
+<li class="toctree-l1"><a class="reference internal" href="gui_user_guide/50_result_visualization.html">Result Visualization</a></li>
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diff --git a/content/html/other_information/40_license.html b/content/html/other_information/40_license.html
index efe1589620af25ed3db93945cf7afb503d3d02fd..8621c6825e6c6225dd1d35ff48a583aa8fccd995 100644
--- a/content/html/other_information/40_license.html
+++ b/content/html/other_information/40_license.html
@@ -1,147 +1,148 @@
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+<h1>License<a class="headerlink" href="#license" title="Link to this heading"></a></h1>
+<p>This program and the accompanying materials are made available under the terms of the Eclipse Public License 2.0 which is available at <a class="reference external" href="https://www.eclipse.org/legal/epl-2.0/">https://www.eclipse.org/legal/epl-2.0/</a></p>
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diff --git a/content/html/other_information/gui_user_guide/10_projects.html b/content/html/other_information/gui_user_guide/10_projects.html
index 9dbfa1f9100fc0d8e9888917658f8a9e6344d9ca..5c8b9491b4dcbd177e2870e4f917e6a87c36b312 100644
--- a/content/html/other_information/gui_user_guide/10_projects.html
+++ b/content/html/other_information/gui_user_guide/10_projects.html
@@ -1,206 +1,207 @@
-<!DOCTYPE html>
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-<li class="toctree-l1"><a class="reference internal" href="../../installation_guide/30_install_openpass.html">Installing openPASS</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../../installation_guide/50_further_guidance.html">Further Guidance</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../../installation_guide/60_conan.html">Building with Conan</a></li>
-</ul>
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-<ul>
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-<li class="toctree-l1"><a class="reference internal" href="../../user_guide/30_configs_in_depth.html">Configs in Depth</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../../user_guide/40_outputs_in_depth.html">Outputs in Depth</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../../user_guide/50_scenario_simulation.html">Simulator</a></li>
-</ul>
-<p class="caption" role="heading"><span class="caption-text">Advanced topics</span></p>
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-<li class="toctree-l1"><a class="reference internal" href="../../advanced_topics/20_simulator_advanced.html">Simulator</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../../advanced_topics/30_testing.html">EndToEnd Test Framework</a></li>
-</ul>
-<p class="caption" role="heading"><span class="caption-text">Developer Information</span></p>
-<ul>
-<li class="toctree-l1"><a class="reference internal" href="../../developer_information/10_ide_support.html">IDE Support</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../../developer_information/20_documentation.html">Documentation Concept</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../../developer_information/30_coding_conventions.html">Coding Guidelines</a></li>
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-<ul class="current">
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-<li class="toctree-l3"><a class="reference internal" href="#path-settings">Path Settings</a></li>
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-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="20_system_editor.html">System Editor</a></li>
-<li class="toctree-l2"><a class="reference internal" href="30_pcm_sim.html">PCM Simulation</a></li>
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-</div>
-          <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
-           <div itemprop="articleBody">
-             
-  <section id="project">
-<span id="id1"></span><h1>Project<a class="headerlink" href="#project" title="Link to this heading"></a></h1>
-<blockquote>
-<div><ul class="simple">
-<li><p>The deprecated “Qt GUI” for simulation configuration based on Qt mainly aimed to edit PCM-based openPASS experiments was part of minor releases v0.5 – v0.11.</p></li>
-<li><p>The latest version of this deprecated GUI can be found here: <a class="reference external" href="https://ci.eclipse.org/openpass/job/openPASS_simulator_build/view/tags/job/openPASS_0.11/">https://ci.eclipse.org/openpass/job/openPASS_simulator_build/view/tags/job/openPASS_0.11/</a></p></li>
-</ul>
-</div></blockquote>
-<p>The Project Plugin can be used to simply start a simulation from the gui.</p>
-<img alt="../../_images/overview.png" src="../../_images/overview.png" />
-<p>Before the simulation adjustments begin, the user is obligated to load or create a “Simulation Manager Configuration” (<cite>opSimulationManager.xml</cite>).
-Such a configuration in openPASS can be understood as a project.
-It is a XML-File which get inscribed the path settings and simulation settings after you click <strong>SAVE</strong>.</p>
-<section id="general">
-<h2>General<a class="headerlink" href="#general" title="Link to this heading"></a></h2>
-<img alt="../../_images/general.png" src="../../_images/general.png" />
-<p>In this segment you are able to name the Simulation Manager Configuration.</p>
-</section>
-<section id="path-settings">
-<h2>Path Settings<a class="headerlink" href="#path-settings" title="Link to this heading"></a></h2>
-<img alt="../../_images/pathSettings.png" src="../../_images/pathSettings.png" />
-<p>The next step is path settings.
-These will change depending on where your openPASS.exe is located.
-In the screen shot above the openPASS.exe is located at <code class="docutils literal notranslate"><span class="pre">C:openPASS</span></code>.
-For easier use of this tutorial it is recommended to save the Demo Folder in <code class="docutils literal notranslate"><span class="pre">C:/</span></code> and name it <em>openPASS</em>.
-On to the settings.
-As you can see three paths need to be set.
-The library comes with openPASS.
-There are plans to remove the option for the user to set the library path, but at this moment there is still the option to change it, although this is not recommended.
-The Simulation Path references the opSimulation.exe, the file to execute the simulation.
-If you are using the provided Demo, there is no need for you to change it.
-The only path you need to set is the path of the Configuration Files.
-In the Demo it will be located at <code class="docutils literal notranslate"><span class="pre">[directory</span> <span class="pre">of</span> <span class="pre">openPASS.exe]/configs</span></code>, so in this case it would be <code class="docutils literal notranslate"><span class="pre">C:/openPASS/configs</span></code>.</p>
-</section>
-<section id="simulation-output-settings">
-<h2>Simulation Output Settings<a class="headerlink" href="#simulation-output-settings" title="Link to this heading"></a></h2>
-<img alt="../../_images/simOutputSettings.png" src="../../_images/simOutputSettings.png" />
-<p>Next step is the Simulation Output Settings. There are three output files. First is the log file of the simulation manager.
-However, when simulation jobs are started by the GUI, the openPASS simulation manager is not executed and, hence, the log will not contain any entries.
-Second is the log file created by the simulation. In this log file you will find error messages, actions of the simulation etc. depending on the log level.
-The Log level lets you choose which type of messages are logged. “0” means that only errors are logged,
-whereas the highest log level of “5” leads to the most detailed description of which steps are executed by the simulation.
-The results path specifies the folder in which the results of a successful simulation will be saved.</p>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>It is recommended to create a new folder in C:/openPASS called “results” and set it as the results path as in the picture above.</p>
-</div>
-</section>
-</section>
-
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+            openPASS
+              <img src="../../_static/openPASS.png" class="logo" alt="Logo"/>
+          </a>
+              <div class="version">
+                1.2.0
+              </div>
+<div role="search">
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+              <p class="caption" role="heading"><span class="caption-text">Installation Guide</span></p>
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="../../installation_guide/10_getting_started.html">Getting Started</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../installation_guide/15_system_requirements.html">System Requirements</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../installation_guide/20_install_prerequisites.html">Installing Prerequisites</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../installation_guide/30_install_openpass.html">Installing openPASS</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../installation_guide/50_further_guidance.html">Further Guidance</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../installation_guide/60_conan.html">Building with Conan</a></li>
+</ul>
+<p class="caption" role="heading"><span class="caption-text">User Guides</span></p>
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="../../user_guide/10_overview.html">Overview</a></li>
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+<li class="toctree-l1"><a class="reference internal" href="../../user_guide/30_configs_in_depth.html">Configs in Depth</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../user_guide/40_outputs_in_depth.html">Outputs in Depth</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../user_guide/50_scenario_simulation.html">Simulator</a></li>
+</ul>
+<p class="caption" role="heading"><span class="caption-text">Advanced topics</span></p>
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="../../advanced_topics/20_simulator_advanced.html">Simulator</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../advanced_topics/30_testing.html">EndToEnd Test Framework</a></li>
+</ul>
+<p class="caption" role="heading"><span class="caption-text">Developer Information</span></p>
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="../../developer_information/10_ide_support.html">IDE Support</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../developer_information/20_documentation.html">Documentation Concept</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../developer_information/30_coding_conventions.html">Coding Guidelines</a></li>
+</ul>
+<p class="caption" role="heading"><span class="caption-text">Other Information</span></p>
+<ul class="current">
+<li class="toctree-l1"><a class="reference internal" href="../10_external_dependencies.html">External Dependencies</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../20_glossary.html">Glossary</a></li>
+<li class="toctree-l1 current"><a class="reference internal" href="../30_gui_plugins.html">GUI Plugins</a><ul class="current">
+<li class="toctree-l2 current"><a class="current reference internal" href="#">Project</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="#general">General</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#path-settings">Path Settings</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#simulation-output-settings">Simulation Output Settings</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="20_system_editor.html">System Editor</a></li>
+<li class="toctree-l2"><a class="reference internal" href="30_pcm_sim.html">PCM Simulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="40_pcm_eval.html">PCM Evaluation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="50_result_visualization.html">Result Visualization</a></li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="../40_license.html">License</a></li>
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+      <li class="breadcrumb-item active">Project</li>
+      <li class="wy-breadcrumbs-aside">
+            <a href="../../_sources/other_information/gui_user_guide/10_projects.rst.txt" rel="nofollow"> View page source</a>
+      </li>
+  </ul>
+  <hr/>
+</div>
+          <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
+           <div itemprop="articleBody">
+             
+  <section id="project">
+<span id="id1"></span><h1>Project<a class="headerlink" href="#project" title="Link to this heading"></a></h1>
+<blockquote>
+<div><ul class="simple">
+<li><p>The deprecated “Qt GUI” for simulation configuration based on Qt mainly aimed to edit PCM-based openPASS experiments was part of minor releases v0.5 – v0.11.</p></li>
+<li><p>The latest version of this deprecated GUI can be found here: <a class="reference external" href="https://ci.eclipse.org/openpass/job/openPASS_simulator_build/view/tags/job/openPASS_0.11/">https://ci.eclipse.org/openpass/job/openPASS_simulator_build/view/tags/job/openPASS_0.11/</a></p></li>
+</ul>
+</div></blockquote>
+<p>The Project Plugin can be used to simply start a simulation from the gui.</p>
+<img alt="../../_images/overview.png" src="../../_images/overview.png" />
+<p>Before the simulation adjustments begin, the user is obligated to load or create a “Simulation Manager Configuration” (<cite>opSimulationManager.xml</cite>).
+Such a configuration in openPASS can be understood as a project.
+It is a XML-File which get inscribed the path settings and simulation settings after you click <strong>SAVE</strong>.</p>
+<section id="general">
+<h2>General<a class="headerlink" href="#general" title="Link to this heading"></a></h2>
+<img alt="../../_images/general.png" src="../../_images/general.png" />
+<p>In this segment you are able to name the Simulation Manager Configuration.</p>
+</section>
+<section id="path-settings">
+<h2>Path Settings<a class="headerlink" href="#path-settings" title="Link to this heading"></a></h2>
+<img alt="../../_images/pathSettings.png" src="../../_images/pathSettings.png" />
+<p>The next step is path settings.
+These will change depending on where your openPASS.exe is located.
+In the screen shot above the openPASS.exe is located at <code class="docutils literal notranslate"><span class="pre">C:openPASS</span></code>.
+For easier use of this tutorial it is recommended to save the Demo Folder in <code class="docutils literal notranslate"><span class="pre">C:/</span></code> and name it <em>openPASS</em>.
+On to the settings.
+As you can see three paths need to be set.
+The library comes with openPASS.
+There are plans to remove the option for the user to set the library path, but at this moment there is still the option to change it, although this is not recommended.
+The Simulation Path references the opSimulation.exe, the file to execute the simulation.
+If you are using the provided Demo, there is no need for you to change it.
+The only path you need to set is the path of the Configuration Files.
+In the Demo it will be located at <code class="docutils literal notranslate"><span class="pre">[directory</span> <span class="pre">of</span> <span class="pre">openPASS.exe]/configs</span></code>, so in this case it would be <code class="docutils literal notranslate"><span class="pre">C:/openPASS/configs</span></code>.</p>
+</section>
+<section id="simulation-output-settings">
+<h2>Simulation Output Settings<a class="headerlink" href="#simulation-output-settings" title="Link to this heading"></a></h2>
+<img alt="../../_images/simOutputSettings.png" src="../../_images/simOutputSettings.png" />
+<p>Next step is the Simulation Output Settings. There are three output files. First is the log file of the simulation manager.
+However, when simulation jobs are started by the GUI, the openPASS simulation manager is not executed and, hence, the log will not contain any entries.
+Second is the log file created by the simulation. In this log file you will find error messages, actions of the simulation etc. depending on the log level.
+The Log level lets you choose which type of messages are logged. “0” means that only errors are logged,
+whereas the highest log level of “5” leads to the most detailed description of which steps are executed by the simulation.
+The results path specifies the folder in which the results of a successful simulation will be saved.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>It is recommended to create a new folder in C:/openPASS called “results” and set it as the results path as in the picture above.</p>
+</div>
+</section>
+</section>
+
+
+           </div>
+          </div>
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diff --git a/content/html/other_information/gui_user_guide/20_system_editor.html b/content/html/other_information/gui_user_guide/20_system_editor.html
index ae9cc55a6bdb31d0dd379e2f76c93932a37a4654..2366f0f52f8d40ac74a2ac4aafe84d6938a3c7e2 100644
--- a/content/html/other_information/gui_user_guide/20_system_editor.html
+++ b/content/html/other_information/gui_user_guide/20_system_editor.html
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-  <section id="system-editor">
-<span id="id1"></span><h1>System Editor<a class="headerlink" href="#system-editor" title="Link to this heading"></a></h1>
-<blockquote>
-<div><ul class="simple">
-<li><p>The deprecated “Qt GUI” for simulation configuration based on Qt mainly aimed to edit PCM-based openPASS experiments was part of minor releases v0.5 – v0.11.</p></li>
-<li><p>The latest version of this deprecated GUI can be found here: <a class="reference external" href="https://ci.eclipse.org/openpass/job/openPASS_simulator_build/view/tags/job/openPASS_0.11/">https://ci.eclipse.org/openpass/job/openPASS_simulator_build/view/tags/job/openPASS_0.11/</a></p></li>
-</ul>
-</div></blockquote>
-<p>The System Editor helps building the system configuration (systemConfig) in the GUI.
-This file is also a XML-file and specifies the components of an agent and systems used, in this case advanced driver assistance systems.</p>
-<p>The editing of the System Configuration has two modes: the static and dynamic mode.</p>
-<p>The <strong>static mode</strong> requires the user to build a complete system which includes sensors, algorithms and actions.
-As the actions directly manipulate the simulated vehicle’s parameters, which are the same no matter the system (i.e. gas pedal position, braking pedal position, steering wheel angle), there is no need to code the interaction between system and simulation.</p>
-<p>At this point there is no support for supporting statistical inclusion of systems in the static mode.
-The current demo only provides an example for the static mode (a System Configuration of an agent to follow a PCM trajectory), so make sure you have the static mode selected.</p>
-<p>The <strong>dynamic mode</strong> is covered by the Scenario Simulation User guide.</p>
-<img alt="../../_images/overview1.png" src="../../_images/overview1.png" />
-</section>
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+<li class="toctree-l1"><a class="reference internal" href="../../installation_guide/20_install_prerequisites.html">Installing Prerequisites</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../installation_guide/30_install_openpass.html">Installing openPASS</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../installation_guide/50_further_guidance.html">Further Guidance</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../installation_guide/60_conan.html">Building with Conan</a></li>
+</ul>
+<p class="caption" role="heading"><span class="caption-text">User Guides</span></p>
+<ul>
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+<li class="toctree-l1"><a class="reference internal" href="../../user_guide/30_configs_in_depth.html">Configs in Depth</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../user_guide/40_outputs_in_depth.html">Outputs in Depth</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../user_guide/50_scenario_simulation.html">Simulator</a></li>
+</ul>
+<p class="caption" role="heading"><span class="caption-text">Advanced topics</span></p>
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="../../advanced_topics/20_simulator_advanced.html">Simulator</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../advanced_topics/30_testing.html">EndToEnd Test Framework</a></li>
+</ul>
+<p class="caption" role="heading"><span class="caption-text">Developer Information</span></p>
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="../../developer_information/10_ide_support.html">IDE Support</a></li>
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+<li class="toctree-l1"><a class="reference internal" href="../../developer_information/30_coding_conventions.html">Coding Guidelines</a></li>
+</ul>
+<p class="caption" role="heading"><span class="caption-text">Other Information</span></p>
+<ul class="current">
+<li class="toctree-l1"><a class="reference internal" href="../10_external_dependencies.html">External Dependencies</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../20_glossary.html">Glossary</a></li>
+<li class="toctree-l1 current"><a class="reference internal" href="../30_gui_plugins.html">GUI Plugins</a><ul class="current">
+<li class="toctree-l2"><a class="reference internal" href="10_projects.html">Project</a></li>
+<li class="toctree-l2 current"><a class="current reference internal" href="#">System Editor</a></li>
+<li class="toctree-l2"><a class="reference internal" href="30_pcm_sim.html">PCM Simulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="40_pcm_eval.html">PCM Evaluation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="50_result_visualization.html">Result Visualization</a></li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="../40_license.html">License</a></li>
+</ul>
+
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+      <li class="breadcrumb-item active">System Editor</li>
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+            <a href="../../_sources/other_information/gui_user_guide/20_system_editor.rst.txt" rel="nofollow"> View page source</a>
+      </li>
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+  <hr/>
+</div>
+          <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
+           <div itemprop="articleBody">
+             
+  <section id="system-editor">
+<span id="id1"></span><h1>System Editor<a class="headerlink" href="#system-editor" title="Link to this heading"></a></h1>
+<blockquote>
+<div><ul class="simple">
+<li><p>The deprecated “Qt GUI” for simulation configuration based on Qt mainly aimed to edit PCM-based openPASS experiments was part of minor releases v0.5 – v0.11.</p></li>
+<li><p>The latest version of this deprecated GUI can be found here: <a class="reference external" href="https://ci.eclipse.org/openpass/job/openPASS_simulator_build/view/tags/job/openPASS_0.11/">https://ci.eclipse.org/openpass/job/openPASS_simulator_build/view/tags/job/openPASS_0.11/</a></p></li>
+</ul>
+</div></blockquote>
+<p>The System Editor helps building the system configuration (systemConfig) in the GUI.
+This file is also a XML-file and specifies the components of an agent and systems used, in this case advanced driver assistance systems.</p>
+<p>The editing of the System Configuration has two modes: the static and dynamic mode.</p>
+<p>The <strong>static mode</strong> requires the user to build a complete system which includes sensors, algorithms and actions.
+As the actions directly manipulate the simulated vehicle’s parameters, which are the same no matter the system (i.e. gas pedal position, braking pedal position, steering wheel angle), there is no need to code the interaction between system and simulation.</p>
+<p>At this point there is no support for supporting statistical inclusion of systems in the static mode.
+The current demo only provides an example for the static mode (a System Configuration of an agent to follow a PCM trajectory), so make sure you have the static mode selected.</p>
+<p>The <strong>dynamic mode</strong> is covered by the Scenario Simulation User guide.</p>
+<img alt="../../_images/overview1.png" src="../../_images/overview1.png" />
+</section>
+
+
+           </div>
+          </div>
+          <footer><div class="rst-footer-buttons" role="navigation" aria-label="Footer">
+        <a href="10_projects.html" class="btn btn-neutral float-left" title="Project" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> Previous</a>
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+    </div>
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+    <p>&#169; Copyright 2025 openPASS Working Group.</p>
+  </div>
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diff --git a/content/html/other_information/gui_user_guide/30_pcm_sim.html b/content/html/other_information/gui_user_guide/30_pcm_sim.html
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-  <section id="pcm-simulation">
-<span id="pcm-sim"></span><h1>PCM Simulation<a class="headerlink" href="#pcm-simulation" title="Link to this heading"></a></h1>
-<blockquote>
-<div><ul class="simple">
-<li><p>The deprecated “Qt GUI” for simulation configuration based on Qt mainly aimed to edit PCM-based openPASS experiments was part of minor releases v0.5 – v0.11.</p></li>
-<li><p>The latest version of this deprecated GUI can be found here: <a class="reference external" href="https://ci.eclipse.org/openpass/job/openPASS_simulator_build/view/tags/job/openPASS_0.11/">https://ci.eclipse.org/openpass/job/openPASS_simulator_build/view/tags/job/openPASS_0.11/</a></p></li>
-</ul>
-</div></blockquote>
-<p>This plugin is used to configure and start a simulation based pcm data or simulation configuration sets of previous simulations.</p>
-<section id="simulation-input">
-<h2>Simulation Input<a class="headerlink" href="#simulation-input" title="Link to this heading"></a></h2>
-<ul>
-<li><p><strong>UseCase: Database</strong></p>
-<blockquote>
-<div><ul class="simple">
-<li><p>Select the radio button <code class="docutils literal notranslate"><span class="pre">PCM</span> <span class="pre">Database</span></code></p></li>
-<li><p>Select a PCM database file</p></li>
-</ul>
-</div></blockquote>
-</li>
-</ul>
-<img alt="../../_images/input_db.png" src="../../_images/input_db.png" />
-<ul>
-<li><p><strong>UseCase: Resimulation</strong></p>
-<blockquote>
-<div><ul class="simple">
-<li><p>Select the radio button <code class="docutils literal notranslate"><span class="pre">Simulation</span> <span class="pre">Results</span></code></p></li>
-<li><p>Select a folder with previous Results</p></li>
-</ul>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>The selected output folder must be different to the input folder</p>
-</div>
-<div class="admonition warning">
-<p class="admonition-title">Warning</p>
-<p>To ensure that the previous results are correctly read, the folder structure of the results has to follow the structure the GUI itself generates when the simulation is started from a database.
-Only the configuration files of the default folders are loaded. No variation is loaded and taken into account at this place.</p>
-</div>
-</div></blockquote>
-</li>
-</ul>
-<img alt="../../_images/input_resim.png" src="../../_images/input_resim.png" />
-</section>
-<section id="simulation-output">
-<h2>Simulation Output<a class="headerlink" href="#simulation-output" title="Link to this heading"></a></h2>
-<blockquote>
-<div><ul>
-<li><p>In <code class="docutils literal notranslate"><span class="pre">Result</span> <span class="pre">Folder</span></code> you can select a folder where the output shall be written</p></li>
-<li><p>In <code class="docutils literal notranslate"><span class="pre">Log</span> <span class="pre">Level</span></code> you can define at what level a logging output shall be produced</p>
-<blockquote>
-<div><ul class="simple">
-<li><p><code class="docutils literal notranslate"><span class="pre">Error</span></code>     - Log only Errors</p></li>
-<li><p><code class="docutils literal notranslate"><span class="pre">Warning</span></code>   - Log additionally warnings</p></li>
-<li><p><code class="docutils literal notranslate"><span class="pre">Info</span></code>      - Log additionally information</p></li>
-<li><p><code class="docutils literal notranslate"><span class="pre">Debug</span></code>     - Log additionally debug information</p></li>
-</ul>
-</div></blockquote>
-</li>
-</ul>
-</div></blockquote>
-<img alt="../../_images/output.png" src="../../_images/output.png" />
-</section>
-<section id="simulation-configuration">
-<h2>Simulation Configuration<a class="headerlink" href="#simulation-configuration" title="Link to this heading"></a></h2>
-<p>At this point, the User is able to choose what system configuration shall be used for each agent.
-The User can either select one or multiple system configuration files (comma separated).
-In the case of multiple files are configured, there will be unique sets of simulation configuration files generated for each possible combination, which are placed in folders named / coded like <code class="docutils literal notranslate"><span class="pre">&lt;Car1_Index&gt;-&lt;Car2_Index&gt;-&lt;Other_Index&gt;</span></code> e.g. <code class="docutils literal notranslate"><span class="pre">1-0-2</span></code></p>
-<img alt="../../_images/system_config.png" src="../../_images/system_config.png" />
-</section>
-<section id="variation">
-<h2>Variation<a class="headerlink" href="#variation" title="Link to this heading"></a></h2>
-<ul>
-<li><p>The random seed can be set to a specific initial random seed by <code class="docutils literal notranslate"><span class="pre">using</span> <span class="pre">a</span> <span class="pre">given</span> <span class="pre">value</span></code> or just by <code class="docutils literal notranslate"><span class="pre">using</span> <span class="pre">the</span> <span class="pre">case</span> <span class="pre">number</span></code></p></li>
-<li><p>The number runs can with different random seed can be set by changing <code class="docutils literal notranslate"><span class="pre">Variation</span> <span class="pre">Count</span></code></p></li>
-<li><p>The original trajectory can be shifted randomly by setting the <code class="docutils literal notranslate"><span class="pre">Shift</span> <span class="pre">radius</span></code> for <em>Car1</em> and <em>Car2</em></p>
-<blockquote>
-<div><ul class="simple">
-<li><p>Given a shift radius R for a vehicle</p></li>
-<li><p>For each position P in trajectory, it shifted position P’ is calculated by randomly generating a distance D (D&lt;= R) and a relative angle in polar coordinate</p></li>
-</ul>
-<div class="math">
-<p><img src="../../_images/math/483636c85068dd3159fa50e49105a8ada221aaec.png" alt="`x_{\text{new}}(t) = x(t) + \delta x`
-`y_{\text{new}}(t) = x(y) + \delta y`"/></p>
-</div></div></blockquote>
-</li>
-</ul>
-<img alt="../../_images/trajectory_shifting.png" src="../../_images/trajectory_shifting.png" />
-<ul>
-<li><p>The original velocity can be scaled randomly by setting the <code class="docutils literal notranslate"><span class="pre">Max</span> <span class="pre">scale</span></code> for <em>Car1</em> and <em>Car2</em></p></li>
-<li><p>Given a velocity deviation :math <cite>delta V</cite> for a vehicle</p></li>
-<li><p>In a trajectory, a position P_{i} is represented as</p>
-<blockquote>
-<div><div class="math">
-<p><img src="../../_images/math/6320e0b9994d88e6de4c1c19af9f9f2f027bd7ff.png" alt="`x(t) = x_{0} + \int_{0}^{t} v_{x} (t) dt`
-`y(t) = y_{0} + \int_{0}^{t} v_{y} (t) dt`"/></p>
-</div></div></blockquote>
-</li>
-<li><p>The new position P_{i} can be represented as</p>
-<div class="math">
-<p><img src="../../_images/math/8ffb1c6ecf28ce9d5aa3c83bceed6ed16c0da9bb.png" alt="`x(t) = x_{0} + k \int_{0}^{t} v_{x} (t) dt`
-`y(t) = y_{0} + k \int_{0}^{t} v_{y} (t) dt`"/></p>
-</div></li>
-<li><p>with a scaling factor k</p></li>
-</ul>
-<img alt="../../_images/velocity_scaling.png" src="../../_images/velocity_scaling.png" />
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>The additional random seeds which are used by the variation are chosen randomly depending on the initial random seed.
-Therefore they´re reproducible</p>
-</div>
-<img alt="../../_images/variation.png" src="../../_images/variation.png" />
-</section>
-<section id="simulation-start">
-<h2>Simulation Start<a class="headerlink" href="#simulation-start" title="Link to this heading"></a></h2>
-<ul class="simple">
-<li><p>Select one or multiple simulation cases (by pressing the CTRL / SHIFT key)</p></li>
-<li><p>Press the button <code class="docutils literal notranslate"><span class="pre">Start</span> <span class="pre">Simulation</span></code></p></li>
-</ul>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>The User can interrupt the simulation process by pressing <code class="docutils literal notranslate"><span class="pre">Stop</span> <span class="pre">Simulation</span></code>.
-The simulation will stop after the current simulation is finished.
-Therefore it won´t start the remaining simulations anymore.</p>
-</div>
-<img alt="../../_images/select.png" src="../../_images/select.png" />
-</section>
-<section id="save-load-experiment">
-<h2>Save / Load Experiment<a class="headerlink" href="#save-load-experiment" title="Link to this heading"></a></h2>
-<p>Every change in the gui can be saved as in “Experiment” in an text file.
-This file can later be loaded to retrieve the previous used configuration of the “Experiment”.</p>
-<img alt="../../_images/experiment.png" src="../../_images/experiment.png" />
-</section>
-<section id="result-folder-structure">
-<span id="id1"></span><h2>Result Folder Structure<a class="headerlink" href="#result-folder-structure" title="Link to this heading"></a></h2>
-<ul>
-<li><p>&lt;Result Folder Name&gt; (e.g. <em>result_pcm</em>)</p>
-<blockquote>
-<div><ul>
-<li><p>&lt;Case Name&gt; (e.g. <em>1000208</em>)</p>
-<blockquote>
-<div><ul>
-<li><p>&lt;System Configuration combination code&gt; (e.g. <em>1-0-2</em>)</p>
-<blockquote>
-<div><ul class="simple">
-<li><p>&lt;Variation Name&gt; (e.g. <em>default</em> or <em>Var_00001</em>)</p></li>
-</ul>
-</div></blockquote>
-</li>
-</ul>
-</div></blockquote>
-</li>
-</ul>
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+<li class="toctree-l1"><a class="reference internal" href="../../user_guide/40_outputs_in_depth.html">Outputs in Depth</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../user_guide/50_scenario_simulation.html">Simulator</a></li>
+</ul>
+<p class="caption" role="heading"><span class="caption-text">Advanced topics</span></p>
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="../../advanced_topics/20_simulator_advanced.html">Simulator</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../advanced_topics/30_testing.html">EndToEnd Test Framework</a></li>
+</ul>
+<p class="caption" role="heading"><span class="caption-text">Developer Information</span></p>
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="../../developer_information/10_ide_support.html">IDE Support</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../developer_information/20_documentation.html">Documentation Concept</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../developer_information/30_coding_conventions.html">Coding Guidelines</a></li>
+</ul>
+<p class="caption" role="heading"><span class="caption-text">Other Information</span></p>
+<ul class="current">
+<li class="toctree-l1"><a class="reference internal" href="../10_external_dependencies.html">External Dependencies</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../20_glossary.html">Glossary</a></li>
+<li class="toctree-l1 current"><a class="reference internal" href="../30_gui_plugins.html">GUI Plugins</a><ul class="current">
+<li class="toctree-l2"><a class="reference internal" href="10_projects.html">Project</a></li>
+<li class="toctree-l2"><a class="reference internal" href="20_system_editor.html">System Editor</a></li>
+<li class="toctree-l2 current"><a class="current reference internal" href="#">PCM Simulation</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="#simulation-input">Simulation Input</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#simulation-output">Simulation Output</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#simulation-configuration">Simulation Configuration</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#variation">Variation</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#simulation-start">Simulation Start</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#save-load-experiment">Save / Load Experiment</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#result-folder-structure">Result Folder Structure</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="40_pcm_eval.html">PCM Evaluation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="50_result_visualization.html">Result Visualization</a></li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="../40_license.html">License</a></li>
+</ul>
+
+        </div>
+      </div>
+    </nav>
+
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+      <li class="breadcrumb-item active">PCM Simulation</li>
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+          <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
+           <div itemprop="articleBody">
+             
+  <section id="pcm-simulation">
+<span id="pcm-sim"></span><h1>PCM Simulation<a class="headerlink" href="#pcm-simulation" title="Link to this heading"></a></h1>
+<blockquote>
+<div><ul class="simple">
+<li><p>The deprecated “Qt GUI” for simulation configuration based on Qt mainly aimed to edit PCM-based openPASS experiments was part of minor releases v0.5 – v0.11.</p></li>
+<li><p>The latest version of this deprecated GUI can be found here: <a class="reference external" href="https://ci.eclipse.org/openpass/job/openPASS_simulator_build/view/tags/job/openPASS_0.11/">https://ci.eclipse.org/openpass/job/openPASS_simulator_build/view/tags/job/openPASS_0.11/</a></p></li>
+</ul>
+</div></blockquote>
+<p>This plugin is used to configure and start a simulation based pcm data or simulation configuration sets of previous simulations.</p>
+<section id="simulation-input">
+<h2>Simulation Input<a class="headerlink" href="#simulation-input" title="Link to this heading"></a></h2>
+<ul>
+<li><p><strong>UseCase: Database</strong></p>
+<blockquote>
+<div><ul class="simple">
+<li><p>Select the radio button <code class="docutils literal notranslate"><span class="pre">PCM</span> <span class="pre">Database</span></code></p></li>
+<li><p>Select a PCM database file</p></li>
+</ul>
+</div></blockquote>
+</li>
+</ul>
+<img alt="../../_images/input_db.png" src="../../_images/input_db.png" />
+<ul>
+<li><p><strong>UseCase: Resimulation</strong></p>
+<blockquote>
+<div><ul class="simple">
+<li><p>Select the radio button <code class="docutils literal notranslate"><span class="pre">Simulation</span> <span class="pre">Results</span></code></p></li>
+<li><p>Select a folder with previous Results</p></li>
+</ul>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The selected output folder must be different to the input folder</p>
+</div>
+<div class="admonition warning">
+<p class="admonition-title">Warning</p>
+<p>To ensure that the previous results are correctly read, the folder structure of the results has to follow the structure the GUI itself generates when the simulation is started from a database.
+Only the configuration files of the default folders are loaded. No variation is loaded and taken into account at this place.</p>
+</div>
+</div></blockquote>
+</li>
+</ul>
+<img alt="../../_images/input_resim.png" src="../../_images/input_resim.png" />
+</section>
+<section id="simulation-output">
+<h2>Simulation Output<a class="headerlink" href="#simulation-output" title="Link to this heading"></a></h2>
+<blockquote>
+<div><ul>
+<li><p>In <code class="docutils literal notranslate"><span class="pre">Result</span> <span class="pre">Folder</span></code> you can select a folder where the output shall be written</p></li>
+<li><p>In <code class="docutils literal notranslate"><span class="pre">Log</span> <span class="pre">Level</span></code> you can define at what level a logging output shall be produced</p>
+<blockquote>
+<div><ul class="simple">
+<li><p><code class="docutils literal notranslate"><span class="pre">Error</span></code>     - Log only Errors</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">Warning</span></code>   - Log additionally warnings</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">Info</span></code>      - Log additionally information</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">Debug</span></code>     - Log additionally debug information</p></li>
+</ul>
+</div></blockquote>
+</li>
+</ul>
+</div></blockquote>
+<img alt="../../_images/output.png" src="../../_images/output.png" />
+</section>
+<section id="simulation-configuration">
+<h2>Simulation Configuration<a class="headerlink" href="#simulation-configuration" title="Link to this heading"></a></h2>
+<p>At this point, the User is able to choose what system configuration shall be used for each agent.
+The User can either select one or multiple system configuration files (comma separated).
+In the case of multiple files are configured, there will be unique sets of simulation configuration files generated for each possible combination, which are placed in folders named / coded like <code class="docutils literal notranslate"><span class="pre">&lt;Car1_Index&gt;-&lt;Car2_Index&gt;-&lt;Other_Index&gt;</span></code> e.g. <code class="docutils literal notranslate"><span class="pre">1-0-2</span></code></p>
+<img alt="../../_images/system_config.png" src="../../_images/system_config.png" />
+</section>
+<section id="variation">
+<h2>Variation<a class="headerlink" href="#variation" title="Link to this heading"></a></h2>
+<ul>
+<li><p>The random seed can be set to a specific initial random seed by <code class="docutils literal notranslate"><span class="pre">using</span> <span class="pre">a</span> <span class="pre">given</span> <span class="pre">value</span></code> or just by <code class="docutils literal notranslate"><span class="pre">using</span> <span class="pre">the</span> <span class="pre">case</span> <span class="pre">number</span></code></p></li>
+<li><p>The number runs can with different random seed can be set by changing <code class="docutils literal notranslate"><span class="pre">Variation</span> <span class="pre">Count</span></code></p></li>
+<li><p>The original trajectory can be shifted randomly by setting the <code class="docutils literal notranslate"><span class="pre">Shift</span> <span class="pre">radius</span></code> for <em>Car1</em> and <em>Car2</em></p>
+<blockquote>
+<div><ul class="simple">
+<li><p>Given a shift radius R for a vehicle</p></li>
+<li><p>For each position P in trajectory, it shifted position P’ is calculated by randomly generating a distance D (D&lt;= R) and a relative angle in polar coordinate</p></li>
+</ul>
+<div class="math">
+<p><img src="../../_images/math/483636c85068dd3159fa50e49105a8ada221aaec.png" alt="`x_{\text{new}}(t) = x(t) + \delta x`
+`y_{\text{new}}(t) = x(y) + \delta y`"/></p>
+</div></div></blockquote>
+</li>
+</ul>
+<img alt="../../_images/trajectory_shifting.png" src="../../_images/trajectory_shifting.png" />
+<ul>
+<li><p>The original velocity can be scaled randomly by setting the <code class="docutils literal notranslate"><span class="pre">Max</span> <span class="pre">scale</span></code> for <em>Car1</em> and <em>Car2</em></p></li>
+<li><p>Given a velocity deviation :math <cite>delta V</cite> for a vehicle</p></li>
+<li><p>In a trajectory, a position P_{i} is represented as</p>
+<blockquote>
+<div><div class="math">
+<p><img src="../../_images/math/6320e0b9994d88e6de4c1c19af9f9f2f027bd7ff.png" alt="`x(t) = x_{0} + \int_{0}^{t} v_{x} (t) dt`
+`y(t) = y_{0} + \int_{0}^{t} v_{y} (t) dt`"/></p>
+</div></div></blockquote>
+</li>
+<li><p>The new position P_{i} can be represented as</p>
+<div class="math">
+<p><img src="../../_images/math/8ffb1c6ecf28ce9d5aa3c83bceed6ed16c0da9bb.png" alt="`x(t) = x_{0} + k \int_{0}^{t} v_{x} (t) dt`
+`y(t) = y_{0} + k \int_{0}^{t} v_{y} (t) dt`"/></p>
+</div></li>
+<li><p>with a scaling factor k</p></li>
+</ul>
+<img alt="../../_images/velocity_scaling.png" src="../../_images/velocity_scaling.png" />
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The additional random seeds which are used by the variation are chosen randomly depending on the initial random seed.
+Therefore they´re reproducible</p>
+</div>
+<img alt="../../_images/variation.png" src="../../_images/variation.png" />
+</section>
+<section id="simulation-start">
+<h2>Simulation Start<a class="headerlink" href="#simulation-start" title="Link to this heading"></a></h2>
+<ul class="simple">
+<li><p>Select one or multiple simulation cases (by pressing the CTRL / SHIFT key)</p></li>
+<li><p>Press the button <code class="docutils literal notranslate"><span class="pre">Start</span> <span class="pre">Simulation</span></code></p></li>
+</ul>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The User can interrupt the simulation process by pressing <code class="docutils literal notranslate"><span class="pre">Stop</span> <span class="pre">Simulation</span></code>.
+The simulation will stop after the current simulation is finished.
+Therefore it won´t start the remaining simulations anymore.</p>
+</div>
+<img alt="../../_images/select.png" src="../../_images/select.png" />
+</section>
+<section id="save-load-experiment">
+<h2>Save / Load Experiment<a class="headerlink" href="#save-load-experiment" title="Link to this heading"></a></h2>
+<p>Every change in the gui can be saved as in “Experiment” in an text file.
+This file can later be loaded to retrieve the previous used configuration of the “Experiment”.</p>
+<img alt="../../_images/experiment.png" src="../../_images/experiment.png" />
+</section>
+<section id="result-folder-structure">
+<span id="id1"></span><h2>Result Folder Structure<a class="headerlink" href="#result-folder-structure" title="Link to this heading"></a></h2>
+<ul>
+<li><p>&lt;Result Folder Name&gt; (e.g. <em>result_pcm</em>)</p>
+<blockquote>
+<div><ul>
+<li><p>&lt;Case Name&gt; (e.g. <em>1000208</em>)</p>
+<blockquote>
+<div><ul>
+<li><p>&lt;System Configuration combination code&gt; (e.g. <em>1-0-2</em>)</p>
+<blockquote>
+<div><ul class="simple">
+<li><p>&lt;Variation Name&gt; (e.g. <em>default</em> or <em>Var_00001</em>)</p></li>
+</ul>
+</div></blockquote>
+</li>
+</ul>
+</div></blockquote>
+</li>
+</ul>
+</div></blockquote>
+</li>
+</ul>
+</section>
+</section>
+
+
+           </div>
+          </div>
+          <footer><div class="rst-footer-buttons" role="navigation" aria-label="Footer">
+        <a href="20_system_editor.html" class="btn btn-neutral float-left" title="System Editor" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> Previous</a>
+        <a href="40_pcm_eval.html" class="btn btn-neutral float-right" title="PCM Evaluation" accesskey="n" rel="next">Next <span class="fa fa-arrow-circle-right" aria-hidden="true"></span></a>
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-<span id="pcm-eval"></span><h1>PCM Evaluation<a class="headerlink" href="#pcm-evaluation" title="Link to this heading"></a></h1>
-<blockquote>
-<div><ul class="simple">
-<li><p>The deprecated “Qt GUI” for simulation configuration based on Qt mainly aimed to edit PCM-based openPASS experiments was part of minor releases v0.5 – v0.11.</p></li>
-<li><p>The latest version of this deprecated GUI can be found here: <a class="reference external" href="https://ci.eclipse.org/openpass/job/openPASS_simulator_build/view/tags/job/openPASS_0.11/">https://ci.eclipse.org/openpass/job/openPASS_simulator_build/view/tags/job/openPASS_0.11/</a></p></li>
-</ul>
-</div></blockquote>
-<p>This plugin is used to load results of previous simulations.</p>
-<section id="loading-results">
-<h2>Loading Results<a class="headerlink" href="#loading-results" title="Link to this heading"></a></h2>
-<ul class="simple">
-<li><p>Click <code class="docutils literal notranslate"><span class="pre">Browse</span> <span class="pre">Result</span> <span class="pre">Files</span></code> to choose a result folder to be evaluated</p></li>
-<li><p>Simulation results are displayed in a tree structure</p></li>
-</ul>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>Result folder has to be structured like the result folder of a previous simulation.
-See <a class="reference internal" href="30_pcm_sim.html#result-folder-structure"><span class="std std-ref">Result Folder Structure</span></a></p>
-</div>
-<img alt="../../_images/overview2.png" src="../../_images/overview2.png" />
-</section>
-<section id="evaluating-results">
-<h2>Evaluating Results<a class="headerlink" href="#evaluating-results" title="Link to this heading"></a></h2>
-<ul class="simple">
-<li><p>Select result files to be shown.</p></li>
-</ul>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>It is possible to select multiple files to compare different trajectories in the visualization area.</p>
-</div>
-<img alt="../../_images/select1.png" src="../../_images/select1.png" />
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+<ul>
+<li class="toctree-l1"><a class="reference internal" href="../../user_guide/10_overview.html">Overview</a></li>
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+<li class="toctree-l1"><a class="reference internal" href="../../user_guide/30_configs_in_depth.html">Configs in Depth</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../user_guide/40_outputs_in_depth.html">Outputs in Depth</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../user_guide/50_scenario_simulation.html">Simulator</a></li>
+</ul>
+<p class="caption" role="heading"><span class="caption-text">Advanced topics</span></p>
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="../../advanced_topics/20_simulator_advanced.html">Simulator</a></li>
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+</ul>
+<p class="caption" role="heading"><span class="caption-text">Developer Information</span></p>
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="../../developer_information/10_ide_support.html">IDE Support</a></li>
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+<li class="toctree-l1"><a class="reference internal" href="../../developer_information/30_coding_conventions.html">Coding Guidelines</a></li>
+</ul>
+<p class="caption" role="heading"><span class="caption-text">Other Information</span></p>
+<ul class="current">
+<li class="toctree-l1"><a class="reference internal" href="../10_external_dependencies.html">External Dependencies</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../20_glossary.html">Glossary</a></li>
+<li class="toctree-l1 current"><a class="reference internal" href="../30_gui_plugins.html">GUI Plugins</a><ul class="current">
+<li class="toctree-l2"><a class="reference internal" href="10_projects.html">Project</a></li>
+<li class="toctree-l2"><a class="reference internal" href="20_system_editor.html">System Editor</a></li>
+<li class="toctree-l2"><a class="reference internal" href="30_pcm_sim.html">PCM Simulation</a></li>
+<li class="toctree-l2 current"><a class="current reference internal" href="#">PCM Evaluation</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="#loading-results">Loading Results</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#evaluating-results">Evaluating Results</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="50_result_visualization.html">Result Visualization</a></li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="../40_license.html">License</a></li>
+</ul>
+
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+      <li class="breadcrumb-item active">PCM Evaluation</li>
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+           <div itemprop="articleBody">
+             
+  <section id="pcm-evaluation">
+<span id="pcm-eval"></span><h1>PCM Evaluation<a class="headerlink" href="#pcm-evaluation" title="Link to this heading"></a></h1>
+<blockquote>
+<div><ul class="simple">
+<li><p>The deprecated “Qt GUI” for simulation configuration based on Qt mainly aimed to edit PCM-based openPASS experiments was part of minor releases v0.5 – v0.11.</p></li>
+<li><p>The latest version of this deprecated GUI can be found here: <a class="reference external" href="https://ci.eclipse.org/openpass/job/openPASS_simulator_build/view/tags/job/openPASS_0.11/">https://ci.eclipse.org/openpass/job/openPASS_simulator_build/view/tags/job/openPASS_0.11/</a></p></li>
+</ul>
+</div></blockquote>
+<p>This plugin is used to load results of previous simulations.</p>
+<section id="loading-results">
+<h2>Loading Results<a class="headerlink" href="#loading-results" title="Link to this heading"></a></h2>
+<ul class="simple">
+<li><p>Click <code class="docutils literal notranslate"><span class="pre">Browse</span> <span class="pre">Result</span> <span class="pre">Files</span></code> to choose a result folder to be evaluated</p></li>
+<li><p>Simulation results are displayed in a tree structure</p></li>
+</ul>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>Result folder has to be structured like the result folder of a previous simulation.
+See <a class="reference internal" href="30_pcm_sim.html#result-folder-structure"><span class="std std-ref">Result Folder Structure</span></a></p>
+</div>
+<img alt="../../_images/overview2.png" src="../../_images/overview2.png" />
+</section>
+<section id="evaluating-results">
+<h2>Evaluating Results<a class="headerlink" href="#evaluating-results" title="Link to this heading"></a></h2>
+<ul class="simple">
+<li><p>Select result files to be shown.</p></li>
+</ul>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>It is possible to select multiple files to compare different trajectories in the visualization area.</p>
+</div>
+<img alt="../../_images/select1.png" src="../../_images/select1.png" />
+</section>
+</section>
+
+
+           </div>
+          </div>
+          <footer><div class="rst-footer-buttons" role="navigation" aria-label="Footer">
+        <a href="30_pcm_sim.html" class="btn btn-neutral float-left" title="PCM Simulation" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> Previous</a>
+        <a href="50_result_visualization.html" class="btn btn-neutral float-right" title="Result Visualization" accesskey="n" rel="next">Next <span class="fa fa-arrow-circle-right" aria-hidden="true"></span></a>
+    </div>
+
+  <hr/>
+
+  <div role="contentinfo">
+    <p>&#169; Copyright 2025 openPASS Working Group.</p>
+  </div>
+
+  Built with <a href="https://www.sphinx-doc.org/">Sphinx</a> using a
+    <a href="https://github.com/readthedocs/sphinx_rtd_theme">theme</a>
+    provided by <a href="https://readthedocs.org">Read the Docs</a>.
+   
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diff --git a/content/html/other_information/gui_user_guide/50_result_visualization.html b/content/html/other_information/gui_user_guide/50_result_visualization.html
index 713cfa00c762f1e57133ee83c4c2001ddde18f9b..d4ae989206e0435ddb498a855324a00584e6e6be 100644
--- a/content/html/other_information/gui_user_guide/50_result_visualization.html
+++ b/content/html/other_information/gui_user_guide/50_result_visualization.html
@@ -1,172 +1,173 @@
-<!DOCTYPE html>
-<html class="writer-html5" lang="en" >
-<head>
-  <meta charset="utf-8" /><meta name="viewport" content="width=device-width, initial-scale=1" />
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-  <title>Result Visualization &mdash; openPASS Documentation</title>
-      <link rel="stylesheet" href="../../_static/pygments.css" type="text/css" />
-      <link rel="stylesheet" href="../../_static/css/theme.css" type="text/css" />
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-<li class="toctree-l1"><a class="reference internal" href="../../user_guide/50_scenario_simulation.html">Simulator</a></li>
-</ul>
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-<li class="toctree-l1"><a class="reference internal" href="../../advanced_topics/30_testing.html">EndToEnd Test Framework</a></li>
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-<p class="caption" role="heading"><span class="caption-text">Developer Information</span></p>
-<ul>
-<li class="toctree-l1"><a class="reference internal" href="../../developer_information/10_ide_support.html">IDE Support</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../../developer_information/20_documentation.html">Documentation Concept</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../../developer_information/30_coding_conventions.html">Coding Guidelines</a></li>
-</ul>
-<p class="caption" role="heading"><span class="caption-text">Other Information</span></p>
-<ul class="current">
-<li class="toctree-l1"><a class="reference internal" href="../10_external_dependencies.html">External Dependencies</a></li>
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-<li class="toctree-l2"><a class="reference internal" href="30_pcm_sim.html">PCM Simulation</a></li>
-<li class="toctree-l2"><a class="reference internal" href="40_pcm_eval.html">PCM Evaluation</a></li>
-<li class="toctree-l2 current"><a class="current reference internal" href="#">Result Visualization</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="result_visualization/10_statistics.html">Statistics</a></li>
-<li class="toctree-l3"><a class="reference internal" href="result_visualization/20_timePlot.html">TimePlot</a></li>
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-<span id="id1"></span><h1>Result Visualization<a class="headerlink" href="#result-visualization" title="Link to this heading"></a></h1>
-<blockquote>
-<div><ul class="simple">
-<li><p>The deprecated “Qt GUI” for simulation configuration based on Qt mainly aimed to edit PCM-based openPASS experiments was part of minor releases v0.5 – v0.11.</p></li>
-<li><p>The latest version of this deprecated GUI can be found here: <a class="reference external" href="https://ci.eclipse.org/openpass/job/openPASS_simulator_build/view/tags/job/openPASS_0.11/">https://ci.eclipse.org/openpass/job/openPASS_simulator_build/view/tags/job/openPASS_0.11/</a></p></li>
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-</ul>
-</div>
-</section>
-
-
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+<li class="toctree-l1"><a class="reference internal" href="../../user_guide/50_scenario_simulation.html">Simulator</a></li>
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+<li class="toctree-l1"><a class="reference internal" href="../../developer_information/30_coding_conventions.html">Coding Guidelines</a></li>
+</ul>
+<p class="caption" role="heading"><span class="caption-text">Other Information</span></p>
+<ul class="current">
+<li class="toctree-l1"><a class="reference internal" href="../10_external_dependencies.html">External Dependencies</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../20_glossary.html">Glossary</a></li>
+<li class="toctree-l1 current"><a class="reference internal" href="../30_gui_plugins.html">GUI Plugins</a><ul class="current">
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+<li class="toctree-l2"><a class="reference internal" href="30_pcm_sim.html">PCM Simulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="40_pcm_eval.html">PCM Evaluation</a></li>
+<li class="toctree-l2 current"><a class="current reference internal" href="#">Result Visualization</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="result_visualization/10_statistics.html">Statistics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="result_visualization/20_timePlot.html">TimePlot</a></li>
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+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="../40_license.html">License</a></li>
+</ul>
+
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+          <li class="breadcrumb-item"><a href="../30_gui_plugins.html">GUI Plugins</a></li>
+      <li class="breadcrumb-item active">Result Visualization</li>
+      <li class="wy-breadcrumbs-aside">
+            <a href="../../_sources/other_information/gui_user_guide/50_result_visualization.rst.txt" rel="nofollow"> View page source</a>
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+          <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
+           <div itemprop="articleBody">
+             
+  <section id="result-visualization">
+<span id="id1"></span><h1>Result Visualization<a class="headerlink" href="#result-visualization" title="Link to this heading"></a></h1>
+<blockquote>
+<div><ul class="simple">
+<li><p>The deprecated “Qt GUI” for simulation configuration based on Qt mainly aimed to edit PCM-based openPASS experiments was part of minor releases v0.5 – v0.11.</p></li>
+<li><p>The latest version of this deprecated GUI can be found here: <a class="reference external" href="https://ci.eclipse.org/openpass/job/openPASS_simulator_build/view/tags/job/openPASS_0.11/">https://ci.eclipse.org/openpass/job/openPASS_simulator_build/view/tags/job/openPASS_0.11/</a></p></li>
+</ul>
+</div></blockquote>
+<img alt="../../_images/select2.png" src="../../_images/select2.png" />
+<div class="toctree-wrapper compound">
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="result_visualization/10_statistics.html">Statistics</a></li>
+<li class="toctree-l1"><a class="reference internal" href="result_visualization/20_timePlot.html">TimePlot</a></li>
+</ul>
+</div>
+</section>
+
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diff --git a/content/html/other_information/gui_user_guide/result_visualization/10_statistics.html b/content/html/other_information/gui_user_guide/result_visualization/10_statistics.html
index c52d1ba4b5b021c511131ca0816810210f1c32a8..e3f6a1c71044c18ce73d9f83bc042a7a990c961e 100644
--- a/content/html/other_information/gui_user_guide/result_visualization/10_statistics.html
+++ b/content/html/other_information/gui_user_guide/result_visualization/10_statistics.html
@@ -1,214 +1,215 @@
-<!DOCTYPE html>
-<html class="writer-html5" lang="en" >
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-  <meta charset="utf-8" /><meta name="viewport" content="width=device-width, initial-scale=1" />
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-<li class="toctree-l1"><a class="reference internal" href="../../20_glossary.html">Glossary</a></li>
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-<li class="toctree-l2"><a class="reference internal" href="../30_pcm_sim.html">PCM Simulation</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../40_pcm_eval.html">PCM Evaluation</a></li>
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-<li class="toctree-l3 current"><a class="current reference internal" href="#">Statistics</a><ul>
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-             
-  <section id="statistics">
-<span id="id1"></span><h1>Statistics<a class="headerlink" href="#statistics" title="Link to this heading"></a></h1>
-<p>This plugin is used to calculate and show statistics and histograms from a result folder.</p>
-<section id="loading-results">
-<h2>Loading Results<a class="headerlink" href="#loading-results" title="Link to this heading"></a></h2>
-<ul class="simple">
-<li><p>Click <code class="docutils literal notranslate"><span class="pre">Add</span> <span class="pre">result</span> <span class="pre">folder</span></code> to choose a result folder of which the statistics shall be calculated.</p></li>
-</ul>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>It is possible to add multiple result folders.</p>
-<blockquote>
-<div><ul class="simple">
-<li><p>Subsequently selected folders are added to the list in the TreeView</p></li>
-<li><p>Histograms will be calculated for each folder including subfolders and will be shown in a new row</p></li>
-</ul>
-</div></blockquote>
-</div>
-<img alt="../../../_images/overview3.png" src="../../../_images/overview3.png" />
-</section>
-<section id="evaluating-results">
-<h2>Evaluating Results<a class="headerlink" href="#evaluating-results" title="Link to this heading"></a></h2>
-<ul class="simple">
-<li><p>Select a result folder for showing their statistics and histograms</p></li>
-<li><p>Histograms over a folder are shown in one (scrollable) row of images</p></li>
-<li><p>Selecting the white background of the folder list clears the histogram preview panel</p></li>
-<li><p>Each row of histograms contains the contents of the corresponding folder in the folder list</p></li>
-<li><p>Adding a new folder re-calculates all histograms for each column using a common x-range</p></li>
-</ul>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>Select an input folder that contains files in the following format</p>
-<blockquote>
-<div><ul class="simple">
-<li><p>Relevant files need ending <code class="docutils literal notranslate"><span class="pre">.csv`</span></code></p></li>
-<li><p>Columns can be separated by comma, semicolon or space</p></li>
-<li><p>First two columns need <em>frame</em> and <em>id*</em> in header</p></li>
-</ul>
-</div></blockquote>
-</div>
-<div class="admonition warning">
-<p class="admonition-title">Warning</p>
-<p>For all files in a selected folder and subfolders the headers are read in</p>
-<blockquote>
-<div><ul class="simple">
-<li><p>All of these files consistent with the first read header are used to calculate histograms for all columns</p></li>
-<li><p>Files with non-consistent headers are ignored</p></li>
-</ul>
-</div></blockquote>
-</div>
-<img alt="../../../_images/select3.png" src="../../../_images/select3.png" />
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-
-</body>
+<!DOCTYPE html>
+<html class="writer-html5" lang="en" data-content_root="../../../">
+<head>
+  <meta charset="utf-8" /><meta name="viewport" content="width=device-width, initial-scale=1" />
+
+  <meta name="viewport" content="width=device-width, initial-scale=1.0" />
+  <title>Statistics &mdash; openPASS Documentation</title>
+      <link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=b86133f3" />
+      <link rel="stylesheet" type="text/css" href="../../../_static/css/theme.css?v=19f00094" />
+      <link rel="stylesheet" type="text/css" href="../../../_static/css/custom.css?v=4ad39fc2" />
+
+  
+    <link rel="shortcut icon" href="../../../_static/openPASS.ico"/>
+  <!--[if lt IE 9]>
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+    <link rel="index" title="Index" href="../../../genindex.html" />
+    <link rel="search" title="Search" href="../../../search.html" />
+    <link rel="next" title="TimePlot" href="20_timePlot.html" />
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+</head>
+
+<body class="wy-body-for-nav"> 
+  <div class="wy-grid-for-nav">
+    <nav data-toggle="wy-nav-shift" class="wy-nav-side">
+      <div class="wy-side-scroll">
+        <div class="wy-side-nav-search" >
+
+          
+          
+          <a href="../../../index.html" class="icon icon-home">
+            openPASS
+              <img src="../../../_static/openPASS.png" class="logo" alt="Logo"/>
+          </a>
+              <div class="version">
+                1.2.0
+              </div>
+<div role="search">
+  <form id="rtd-search-form" class="wy-form" action="../../../search.html" method="get">
+    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="hidden" name="check_keywords" value="yes" />
+    <input type="hidden" name="area" value="default" />
+  </form>
+</div>
+        </div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="Navigation menu">
+              <p class="caption" role="heading"><span class="caption-text">Installation Guide</span></p>
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="../../../installation_guide/10_getting_started.html">Getting Started</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../installation_guide/15_system_requirements.html">System Requirements</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../installation_guide/20_install_prerequisites.html">Installing Prerequisites</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../installation_guide/30_install_openpass.html">Installing openPASS</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../installation_guide/50_further_guidance.html">Further Guidance</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../installation_guide/60_conan.html">Building with Conan</a></li>
+</ul>
+<p class="caption" role="heading"><span class="caption-text">User Guides</span></p>
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="../../../user_guide/10_overview.html">Overview</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../user_guide/20_tutorials.html">Tutorials</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../user_guide/30_configs_in_depth.html">Configs in Depth</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../user_guide/40_outputs_in_depth.html">Outputs in Depth</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../user_guide/50_scenario_simulation.html">Simulator</a></li>
+</ul>
+<p class="caption" role="heading"><span class="caption-text">Advanced topics</span></p>
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="../../../advanced_topics/20_simulator_advanced.html">Simulator</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../advanced_topics/30_testing.html">EndToEnd Test Framework</a></li>
+</ul>
+<p class="caption" role="heading"><span class="caption-text">Developer Information</span></p>
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="../../../developer_information/10_ide_support.html">IDE Support</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../developer_information/20_documentation.html">Documentation Concept</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../developer_information/30_coding_conventions.html">Coding Guidelines</a></li>
+</ul>
+<p class="caption" role="heading"><span class="caption-text">Other Information</span></p>
+<ul class="current">
+<li class="toctree-l1"><a class="reference internal" href="../../10_external_dependencies.html">External Dependencies</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../20_glossary.html">Glossary</a></li>
+<li class="toctree-l1 current"><a class="reference internal" href="../../30_gui_plugins.html">GUI Plugins</a><ul class="current">
+<li class="toctree-l2"><a class="reference internal" href="../10_projects.html">Project</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../20_system_editor.html">System Editor</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../30_pcm_sim.html">PCM Simulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../40_pcm_eval.html">PCM Evaluation</a></li>
+<li class="toctree-l2 current"><a class="reference internal" href="../50_result_visualization.html">Result Visualization</a><ul class="current">
+<li class="toctree-l3 current"><a class="current reference internal" href="#">Statistics</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="#loading-results">Loading Results</a></li>
+<li class="toctree-l4"><a class="reference internal" href="#evaluating-results">Evaluating Results</a></li>
+</ul>
+</li>
+<li class="toctree-l3"><a class="reference internal" href="20_timePlot.html">TimePlot</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="../../40_license.html">License</a></li>
+</ul>
+
+        </div>
+      </div>
+    </nav>
+
+    <section data-toggle="wy-nav-shift" class="wy-nav-content-wrap"><nav class="wy-nav-top" aria-label="Mobile navigation menu" >
+          <i data-toggle="wy-nav-top" class="fa fa-bars"></i>
+          <a href="../../../index.html">openPASS</a>
+      </nav>
+
+      <div class="wy-nav-content">
+        <div class="rst-content">
+          <div role="navigation" aria-label="Page navigation">
+  <ul class="wy-breadcrumbs">
+      <li><a href="../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+          <li class="breadcrumb-item"><a href="../../30_gui_plugins.html">GUI Plugins</a></li>
+          <li class="breadcrumb-item"><a href="../50_result_visualization.html">Result Visualization</a></li>
+      <li class="breadcrumb-item active">Statistics</li>
+      <li class="wy-breadcrumbs-aside">
+            <a href="../../../_sources/other_information/gui_user_guide/result_visualization/10_statistics.rst.txt" rel="nofollow"> View page source</a>
+      </li>
+  </ul>
+  <hr/>
+</div>
+          <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
+           <div itemprop="articleBody">
+             
+  <section id="statistics">
+<span id="id1"></span><h1>Statistics<a class="headerlink" href="#statistics" title="Link to this heading"></a></h1>
+<p>This plugin is used to calculate and show statistics and histograms from a result folder.</p>
+<section id="loading-results">
+<h2>Loading Results<a class="headerlink" href="#loading-results" title="Link to this heading"></a></h2>
+<ul class="simple">
+<li><p>Click <code class="docutils literal notranslate"><span class="pre">Add</span> <span class="pre">result</span> <span class="pre">folder</span></code> to choose a result folder of which the statistics shall be calculated.</p></li>
+</ul>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>It is possible to add multiple result folders.</p>
+<blockquote>
+<div><ul class="simple">
+<li><p>Subsequently selected folders are added to the list in the TreeView</p></li>
+<li><p>Histograms will be calculated for each folder including subfolders and will be shown in a new row</p></li>
+</ul>
+</div></blockquote>
+</div>
+<img alt="../../../_images/overview3.png" src="../../../_images/overview3.png" />
+</section>
+<section id="evaluating-results">
+<h2>Evaluating Results<a class="headerlink" href="#evaluating-results" title="Link to this heading"></a></h2>
+<ul class="simple">
+<li><p>Select a result folder for showing their statistics and histograms</p></li>
+<li><p>Histograms over a folder are shown in one (scrollable) row of images</p></li>
+<li><p>Selecting the white background of the folder list clears the histogram preview panel</p></li>
+<li><p>Each row of histograms contains the contents of the corresponding folder in the folder list</p></li>
+<li><p>Adding a new folder re-calculates all histograms for each column using a common x-range</p></li>
+</ul>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>Select an input folder that contains files in the following format</p>
+<blockquote>
+<div><ul class="simple">
+<li><p>Relevant files need ending <code class="docutils literal notranslate"><span class="pre">.csv`</span></code></p></li>
+<li><p>Columns can be separated by comma, semicolon or space</p></li>
+<li><p>First two columns need <em>frame</em> and <em>id*</em> in header</p></li>
+</ul>
+</div></blockquote>
+</div>
+<div class="admonition warning">
+<p class="admonition-title">Warning</p>
+<p>For all files in a selected folder and subfolders the headers are read in</p>
+<blockquote>
+<div><ul class="simple">
+<li><p>All of these files consistent with the first read header are used to calculate histograms for all columns</p></li>
+<li><p>Files with non-consistent headers are ignored</p></li>
+</ul>
+</div></blockquote>
+</div>
+<img alt="../../../_images/select3.png" src="../../../_images/select3.png" />
+</section>
+</section>
+
+
+           </div>
+          </div>
+          <footer><div class="rst-footer-buttons" role="navigation" aria-label="Footer">
+        <a href="../50_result_visualization.html" class="btn btn-neutral float-left" title="Result Visualization" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> Previous</a>
+        <a href="20_timePlot.html" class="btn btn-neutral float-right" title="TimePlot" accesskey="n" rel="next">Next <span class="fa fa-arrow-circle-right" aria-hidden="true"></span></a>
+    </div>
+
+  <hr/>
+
+  <div role="contentinfo">
+    <p>&#169; Copyright 2025 openPASS Working Group.</p>
+  </div>
+
+  Built with <a href="https://www.sphinx-doc.org/">Sphinx</a> using a
+    <a href="https://github.com/readthedocs/sphinx_rtd_theme">theme</a>
+    provided by <a href="https://readthedocs.org">Read the Docs</a>.
+   
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+      jQuery(function () {
+          SphinxRtdTheme.Navigation.enable(true);
+      });
+  </script> 
+
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 </html>
\ No newline at end of file
diff --git a/content/html/other_information/gui_user_guide/result_visualization/20_timePlot.html b/content/html/other_information/gui_user_guide/result_visualization/20_timePlot.html
index 86a3d602368e21f651e8b7f4b88343b8e4c849af..3720e689877a82c053664f98856b6430c683ddc0 100644
--- a/content/html/other_information/gui_user_guide/result_visualization/20_timePlot.html
+++ b/content/html/other_information/gui_user_guide/result_visualization/20_timePlot.html
@@ -1,205 +1,206 @@
-<!DOCTYPE html>
-<html class="writer-html5" lang="en" >
-<head>
-  <meta charset="utf-8" /><meta name="viewport" content="width=device-width, initial-scale=1" />
-
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-  <title>TimePlot &mdash; openPASS Documentation</title>
-      <link rel="stylesheet" href="../../../_static/pygments.css" type="text/css" />
-      <link rel="stylesheet" href="../../../_static/css/theme.css" type="text/css" />
-      <link rel="stylesheet" href="../../../_static/css/custom.css" type="text/css" />
-      <link rel="stylesheet" href="../../../_static/tabs.css" type="text/css" />
-    <link rel="shortcut icon" href="../../../_static/openPASS.ico"/>
-  <!--[if lt IE 9]>
-    <script src="../../../_static/js/html5shiv.min.js"></script>
-  <![endif]-->
-  
-        <script src="../../../_static/jquery.js?v=5d32c60e"></script>
-        <script src="../../../_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
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-        <script src="../../../_static/doctools.js?v=888ff710"></script>
-        <script src="../../../_static/sphinx_highlight.js?v=dc90522c"></script>
-    <script src="../../../_static/js/theme.js"></script>
-    <link rel="index" title="Index" href="../../../genindex.html" />
-    <link rel="search" title="Search" href="../../../search.html" />
-    <link rel="next" title="License" href="../../40_license.html" />
-    <link rel="prev" title="Statistics" href="10_statistics.html" /> 
-</head>
-
-<body class="wy-body-for-nav"> 
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-    <nav data-toggle="wy-nav-shift" class="wy-nav-side">
-      <div class="wy-side-scroll">
-        <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../../index.html" class="icon icon-home">
-            openPASS
-              <img src="../../../_static/openPASS.png" class="logo" alt="Logo"/>
-          </a>
-              <div class="version">
-                1.1.0
-              </div>
-<div role="search">
-  <form id="rtd-search-form" class="wy-form" action="../../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
-    <input type="hidden" name="check_keywords" value="yes" />
-    <input type="hidden" name="area" value="default" />
-  </form>
-</div>
-        </div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="Navigation menu">
-              <p class="caption" role="heading"><span class="caption-text">Installation Guide</span></p>
-<ul>
-<li class="toctree-l1"><a class="reference internal" href="../../../installation_guide/10_getting_started.html">Getting Started</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../../../installation_guide/15_system_requirements.html">System Requirements</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../../../installation_guide/20_install_prerequisites.html">Installing Prerequisites</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../../../installation_guide/30_install_openpass.html">Installing openPASS</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../../../installation_guide/50_further_guidance.html">Further Guidance</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../../../installation_guide/60_conan.html">Building with Conan</a></li>
-</ul>
-<p class="caption" role="heading"><span class="caption-text">User Guides</span></p>
-<ul>
-<li class="toctree-l1"><a class="reference internal" href="../../../user_guide/10_overview.html">Overview</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../../../user_guide/20_tutorials.html">Tutorials</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../../../user_guide/30_configs_in_depth.html">Configs in Depth</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../../../user_guide/40_outputs_in_depth.html">Outputs in Depth</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../../../user_guide/50_scenario_simulation.html">Simulator</a></li>
-</ul>
-<p class="caption" role="heading"><span class="caption-text">Advanced topics</span></p>
-<ul>
-<li class="toctree-l1"><a class="reference internal" href="../../../advanced_topics/20_simulator_advanced.html">Simulator</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../../../advanced_topics/30_testing.html">EndToEnd Test Framework</a></li>
-</ul>
-<p class="caption" role="heading"><span class="caption-text">Developer Information</span></p>
-<ul>
-<li class="toctree-l1"><a class="reference internal" href="../../../developer_information/10_ide_support.html">IDE Support</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../../../developer_information/20_documentation.html">Documentation Concept</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../../../developer_information/30_coding_conventions.html">Coding Guidelines</a></li>
-</ul>
-<p class="caption" role="heading"><span class="caption-text">Other Information</span></p>
-<ul class="current">
-<li class="toctree-l1"><a class="reference internal" href="../../10_external_dependencies.html">External Dependencies</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../../20_glossary.html">Glossary</a></li>
-<li class="toctree-l1 current"><a class="reference internal" href="../../30_gui_plugins.html">GUI Plugins</a><ul class="current">
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-<li class="toctree-l2"><a class="reference internal" href="../20_system_editor.html">System Editor</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../30_pcm_sim.html">PCM Simulation</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../40_pcm_eval.html">PCM Evaluation</a></li>
-<li class="toctree-l2 current"><a class="reference internal" href="../50_result_visualization.html">Result Visualization</a><ul class="current">
-<li class="toctree-l3"><a class="reference internal" href="10_statistics.html">Statistics</a></li>
-<li class="toctree-l3 current"><a class="current reference internal" href="#">TimePlot</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="#loading-results">Loading Results</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#evaluating-results">Evaluating Results</a></li>
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-          <a href="../../../index.html">openPASS</a>
-      </nav>
-
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-        <div class="rst-content">
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-          <li class="breadcrumb-item"><a href="../../30_gui_plugins.html">GUI Plugins</a></li>
-          <li class="breadcrumb-item"><a href="../50_result_visualization.html">Result Visualization</a></li>
-      <li class="breadcrumb-item active">TimePlot</li>
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-</div>
-          <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
-           <div itemprop="articleBody">
-             
-  <section id="timeplot">
-<span id="id1"></span><h1>TimePlot<a class="headerlink" href="#timeplot" title="Link to this heading"></a></h1>
-<p>This plugin is used to plot trajectories (position, velocity, etc.) over time.</p>
-<section id="loading-results">
-<h2>Loading Results<a class="headerlink" href="#loading-results" title="Link to this heading"></a></h2>
-<ul class="simple">
-<li><p>Click <code class="docutils literal notranslate"><span class="pre">Select</span> <span class="pre">result</span> <span class="pre">folder</span></code> to choose a result folder that contains files in the required format (see below) to be plotted.</p></li>
-</ul>
-<img alt="../../../_images/overview4.png" src="../../../_images/overview4.png" />
-</section>
-<section id="evaluating-results">
-<h2>Evaluating Results<a class="headerlink" href="#evaluating-results" title="Link to this heading"></a></h2>
-<ul>
-<li><p>Select an input folder that contains files in this format:</p>
-<blockquote>
-<div><ul class="simple">
-<li><p>Relevant files need ending <code class="docutils literal notranslate"><span class="pre">.csv</span></code></p></li>
-<li><p>Columns can be separated by comma, semicolon or space</p></li>
-<li><p>First two columns need <em>frame</em> and <em>id*</em> in header</p></li>
-</ul>
-</div></blockquote>
-</li>
-<li><p>Select table column to be plotted (up to three)</p></li>
-<li><p>For each open tab the selected columns are plotted</p>
-<blockquote>
-<div><ul class="simple">
-<li><p>first column selected is shown on the x-axis</p></li>
-<li><p>second column selected is shown on the y-axis</p></li>
-<li><p>third column selected is shown on the right y-axis</p></li>
-</ul>
-</div></blockquote>
-</li>
-</ul>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<ul class="simple">
-<li><p>The track_id items can be selected individually</p></li>
-<li><p>Selecting the lowest subfolders yields tabs for all contained tracks</p></li>
-<li><p>Selections can be combined with <code class="docutils literal notranslate"><span class="pre">Ctrl+select</span></code> or <code class="docutils literal notranslate"><span class="pre">Shift+select</span></code></p></li>
-</ul>
-</div>
-<img alt="../../../_images/select2.png" src="../../../_images/select2.png" />
-</section>
-</section>
-
-
-           </div>
-          </div>
-          <footer><div class="rst-footer-buttons" role="navigation" aria-label="Footer">
-        <a href="10_statistics.html" class="btn btn-neutral float-left" title="Statistics" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> Previous</a>
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-  </div>
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+</ul>
+<p class="caption" role="heading"><span class="caption-text">Other Information</span></p>
+<ul class="current">
+<li class="toctree-l1"><a class="reference internal" href="../../10_external_dependencies.html">External Dependencies</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../20_glossary.html">Glossary</a></li>
+<li class="toctree-l1 current"><a class="reference internal" href="../../30_gui_plugins.html">GUI Plugins</a><ul class="current">
+<li class="toctree-l2"><a class="reference internal" href="../10_projects.html">Project</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../20_system_editor.html">System Editor</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../30_pcm_sim.html">PCM Simulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../40_pcm_eval.html">PCM Evaluation</a></li>
+<li class="toctree-l2 current"><a class="reference internal" href="../50_result_visualization.html">Result Visualization</a><ul class="current">
+<li class="toctree-l3"><a class="reference internal" href="10_statistics.html">Statistics</a></li>
+<li class="toctree-l3 current"><a class="current reference internal" href="#">TimePlot</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="#loading-results">Loading Results</a></li>
+<li class="toctree-l4"><a class="reference internal" href="#evaluating-results">Evaluating Results</a></li>
+</ul>
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+          <a href="../../../index.html">openPASS</a>
+      </nav>
+
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+          <div role="navigation" aria-label="Page navigation">
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+          <li class="breadcrumb-item"><a href="../50_result_visualization.html">Result Visualization</a></li>
+      <li class="breadcrumb-item active">TimePlot</li>
+      <li class="wy-breadcrumbs-aside">
+            <a href="../../../_sources/other_information/gui_user_guide/result_visualization/20_timePlot.rst.txt" rel="nofollow"> View page source</a>
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+  <hr/>
+</div>
+          <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
+           <div itemprop="articleBody">
+             
+  <section id="timeplot">
+<span id="id1"></span><h1>TimePlot<a class="headerlink" href="#timeplot" title="Link to this heading"></a></h1>
+<p>This plugin is used to plot trajectories (position, velocity, etc.) over time.</p>
+<section id="loading-results">
+<h2>Loading Results<a class="headerlink" href="#loading-results" title="Link to this heading"></a></h2>
+<ul class="simple">
+<li><p>Click <code class="docutils literal notranslate"><span class="pre">Select</span> <span class="pre">result</span> <span class="pre">folder</span></code> to choose a result folder that contains files in the required format (see below) to be plotted.</p></li>
+</ul>
+<img alt="../../../_images/overview4.png" src="../../../_images/overview4.png" />
+</section>
+<section id="evaluating-results">
+<h2>Evaluating Results<a class="headerlink" href="#evaluating-results" title="Link to this heading"></a></h2>
+<ul>
+<li><p>Select an input folder that contains files in this format:</p>
+<blockquote>
+<div><ul class="simple">
+<li><p>Relevant files need ending <code class="docutils literal notranslate"><span class="pre">.csv</span></code></p></li>
+<li><p>Columns can be separated by comma, semicolon or space</p></li>
+<li><p>First two columns need <em>frame</em> and <em>id*</em> in header</p></li>
+</ul>
+</div></blockquote>
+</li>
+<li><p>Select table column to be plotted (up to three)</p></li>
+<li><p>For each open tab the selected columns are plotted</p>
+<blockquote>
+<div><ul class="simple">
+<li><p>first column selected is shown on the x-axis</p></li>
+<li><p>second column selected is shown on the y-axis</p></li>
+<li><p>third column selected is shown on the right y-axis</p></li>
+</ul>
+</div></blockquote>
+</li>
+</ul>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<ul class="simple">
+<li><p>The track_id items can be selected individually</p></li>
+<li><p>Selecting the lowest subfolders yields tabs for all contained tracks</p></li>
+<li><p>Selections can be combined with <code class="docutils literal notranslate"><span class="pre">Ctrl+select</span></code> or <code class="docutils literal notranslate"><span class="pre">Shift+select</span></code></p></li>
+</ul>
+</div>
+<img alt="../../../_images/select2.png" src="../../../_images/select2.png" />
+</section>
+</section>
+
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diff --git a/content/html/search.html b/content/html/search.html
index 55ea7e598563c41be98bbbef6e082f84bee198db..4a45585df1eab64f72f560ef7c97b797d70ff6a3 100644
--- a/content/html/search.html
+++ b/content/html/search.html
@@ -1,159 +1,159 @@
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+<li class="toctree-l1"><a class="reference internal" href="user_guide/50_scenario_simulation.html">Simulator</a></li>
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+<ul>
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diff --git a/content/html/searchindex.js b/content/html/searchindex.js
index 063def1fa49997707869fb9c05d665760fbe4100..8ff9cad1d0c37f974c3d0ee72db32fd0a1869a5e 100644
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\ No newline at end of file
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17, 26, 32, 39, 56], "differ": [1, 2, 3, 6, 8, 11, 13, 14, 17, 22, 28, 29, 39, 42, 44, 45, 49, 51, 54, 55, 56, 57], "runner": [1, 13], "determin": [1, 2, 4, 7, 9, 11, 45, 48, 51, 52, 55, 56, 57], "check": [1, 2, 4, 7, 9, 12, 13, 15, 17, 33, 39, 50, 52, 56], "x": [1, 2, 3, 4, 5, 8, 9, 22, 28, 31, 32, 39, 41, 44, 45, 52, 56], "one": [1, 2, 6, 7, 8, 9, 11, 21, 23, 28, 31, 33, 38, 39, 43, 44, 45, 49, 53, 55, 56, 57], "more": [1, 2, 4, 7, 8, 9, 11, 12, 13, 17, 18, 20, 21, 22, 23, 33, 39, 42, 44, 55, 56, 57], "split": [1, 6, 46], "two": [1, 2, 3, 4, 7, 8, 9, 11, 17, 21, 27, 31, 32, 38, 44, 45, 47, 50, 55, 56, 57], "section": [1, 2, 8, 9, 10, 11, 12, 13, 17, 18, 19, 22, 33, 38, 39, 42, 44, 45, 57], "singl": [1, 2, 9, 11, 12, 14, 16, 17, 21, 38, 39, 42, 45, 46, 49, 52], "whenev": [1, 6, 52], "possibl": [1, 2, 8, 9, 11, 13, 17, 21, 28, 29, 31, 33, 38, 39, 44, 45, 47, 50, 51, 55, 56], "re": [1, 17, 28, 31, 33, 42], "speed": [1, 2, 38, 47, 50, 51, 52, 54, 56], "analysi": [1, 7, 21], "config_set": 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33, 38, 39, 41, 42, 43, 44, 49, 50, 55, 56, 57], "replac": [1, 11, 12, 13, 56], "fmu1_staticfmu": 1, "fmu": [1, 5, 8, 22, 23, 39, 43, 48], "fmu2_staticfmu": 1, "10": [1, 9, 13, 16, 21, 22, 38, 39, 44, 52], "100": [1, 2, 39, 41, 43, 44, 45, 52], "count": [1, 28], "agentid": [1, 12], "timestep": [1, 2, 4, 6, 8, 39, 42, 45, 52, 53, 55, 56], "10000": 1, "velocityego": [1, 42, 45, 56], "mean": [1, 2, 9, 13, 17, 26, 33, 38, 39, 42, 44, 47, 52, 53, 55, 56], "success_r": 1, "8": [1, 6, 9, 11, 16, 22, 39, 41, 42], "80": [1, 44, 55], "60": [1, 50, 52], "ram_limit": 1, "512": 1, "ram": [1, 16], "mb": 1, "measur": 1, "It": [1, 2, 3, 8, 12, 13, 17, 20, 23, 26, 29, 31, 33, 38, 39, 41, 42, 43, 45, 49, 50, 52, 53, 54, 55, 56], "also": [1, 2, 3, 7, 8, 9, 11, 12, 13, 17, 18, 19, 22, 27, 33, 38, 39, 44, 45, 46, 49, 50, 51, 53, 55, 56, 57], "success": [1, 9, 12, 13, 17, 26, 45], "exclud": [1, 21], "99": [1, 44], "intern": [1, 2, 9, 21, 22, 33, 39, 46], "datafram": 1, "aggreg": [1, 2, 9], "data": [1, 2, 3, 8, 12, 21, 22, 23, 28, 39, 43, 44, 45, 54, 56], "custom": [1, 11, 13, 20, 21, 39], "languag": [1, 12], "describ": [1, 2, 3, 4, 8, 9, 11, 12, 13, 15, 17, 18, 21, 22, 23, 33, 35, 36, 38, 39, 41, 42, 43, 44, 45, 46, 48, 49, 50, 51, 54, 55, 57], "below": [1, 2, 4, 11, 12, 13, 16, 17, 20, 32, 42, 44, 45, 46, 51, 56], "gather": [1, 2], "relev": [1, 2, 5, 8, 31, 32, 44, 56, 57], "folder": [1, 8, 11, 13, 17, 18, 20, 21, 26, 29, 31, 32, 33, 56, 57], "typic": [1, 2, 21, 33, 39, 55], "expect": [1, 13, 56], "simulationoutput": [1, 33, 42, 57], "detail": [1, 4, 8, 12, 13, 17, 20, 22, 23, 26, 33, 35, 38, 39, 48, 53, 57], "cyclics_run": 1, "run_id": 1, "csv": [1, 31, 32, 33, 42, 45, 56, 57], "here": [1, 9, 11, 17, 24, 26, 27, 28, 29, 30, 33, 35, 38, 39, 42, 44, 49, 55, 56, 57], "placehold": [1, 11, 20], "number": [1, 2, 9, 11, 12, 20, 22, 28, 33, 38, 39, 42, 44, 45, 47, 50, 56, 57], "cyclic": [1, 33, 44, 57], "posit": [1, 2, 3, 9, 11, 23, 27, 28, 32, 33, 38, 39, 42, 45, 48, 49, 50, 51, 53, 54, 55, 56, 57], "y": [1, 2, 3, 4, 9, 12, 17, 28, 32, 39, 41, 45, 52, 56], "veloc": [1, 2, 3, 4, 5, 28, 32, 39, 45, 49, 50, 51, 52, 53, 54, 55, 56, 57], "independ": [1, 6, 8, 23], "subfold": [1, 31, 32, 56], "pattern": [1, 8, 13], "entiti": [1, 5, 8, 12, 33, 42, 45, 46, 56], "entity_id": 1, "discov": [1, 13], "look": [1, 8, 13, 33, 57], "recursilvi": 1, "within": [1, 2, 6, 8, 9, 12, 13, 17, 18, 21, 23, 33, 38, 39, 41, 42, 46, 50, 55, 56, 57], "them": [1, 2, 4, 8, 12, 20, 23, 43, 44, 45, 56], "everi": [1, 2, 8, 12, 28, 33, 38, 42, 44, 45, 46, 53, 56, 57], "belowstand": 1, "condit": [1, 6, 8, 23, 33, 44, 45, 47, 52, 55, 57], "satisfi": 1, "thei": [1, 6, 7, 8, 12, 13, 17, 20, 22, 28, 33, 39, 42, 43, 44, 45, 48, 50, 55, 57], "merg": [1, 2, 3, 38], "runid": [1, 45], "column": [1, 31, 32, 45, 46], "other": [1, 2, 3, 7, 8, 12, 13, 16, 17, 20, 21, 23, 38, 39, 42, 43, 44, 45, 46, 48, 49, 50, 53, 54, 55, 56], "start": [1, 6, 7, 11, 12, 13, 14, 17, 18, 26, 39, 42, 45, 46, 49, 53, 55, 56, 57], "match": [1, 7, 21, 38, 39, 49, 50, 56], "00": [1, 42, 44, 45], "detectedobject": 1, "prefix": [1, 11, 21, 39, 46], "columnnam": 1, "shorten": 1, "doe": [1, 7, 9, 12, 13, 17, 33, 39, 41, 42, 45, 50, 55, 56], "take": [1, 2, 7, 21, 56], "care": [1, 2, 18, 56], "duplic": [1, 46], "suffix": 1, "succe": 1, "like": [1, 2, 7, 8, 11, 13, 17, 28, 29, 33, 39, 42, 43, 44, 49, 50, 51, 56, 57], "oper": [1, 2, 9, 12, 13, 16, 33, 39], "everyth": [1, 56], "panda": [1, 17], "min": [1, 2, 38, 44, 50, 52, 55, 56], "max": [1, 2, 28, 38, 44, 50, 51, 52, 55, 56], "A": [1, 2, 4, 7, 8, 9, 12, 13, 17, 20, 21, 23, 33, 38, 39, 42, 45, 50, 53, 55, 56, 57], "should": [1, 2, 8, 11, 12, 13, 18, 22, 33, 39, 43, 44, 48, 50, 55, 56, 57], "positionrout": [1, 39, 42, 45], "tag": [1, 9, 24, 26, 27, 28, 29, 30, 38, 39, 41, 42, 43, 45], "agenttypegroupnam": [1, 45], "agenttypenam": [1, 45], "vehiclemodeltyp": [1, 45], "driverprofilenam": [1, 45], "agenttyp": 1, "comparison": [1, 11], "approxim": [1, 2, 51], "maximum": [1, 2, 6, 9, 12, 21, 38, 39, 42, 50, 51, 52, 54, 55, 56], "deviat": [1, 9, 18, 28, 48, 51], "seldom": 1, "skip": [1, 2, 21, 42, 46], "secur": 1, "ha": [1, 2, 3, 4, 7, 8, 9, 11, 22, 27, 28, 29, 38, 39, 42, 44, 45, 47, 49, 50, 52, 54, 56, 57], "been": [1, 12, 18, 22, 33, 56, 57], "800": 1, "collis": [1, 2, 4, 11, 13, 23, 33, 54, 56], "associ": [1, 20, 33], "trigger": [1, 5, 6, 8, 13, 33, 39, 42, 44, 45, 55, 56, 57], "affect": [1, 2, 45], "pair": [1, 8, 42, 43, 45], "document": [1, 8, 12, 13, 17, 18, 21, 22, 23, 33, 39, 42, 58], "inform": [1, 2, 8, 9, 11, 12, 13, 15, 17, 20, 28, 33, 39, 42, 43, 44, 45, 46, 49, 50, 51, 54, 56, 57], "transform": [1, 8, 9, 49, 56], "per": [1, 9, 13, 44, 45, 50, 56], "scope": [1, 12, 17, 18, 44, 48], "taken": [1, 4, 28, 56], "triggeringent": [1, 39, 45], "flag": [1, 2, 6, 9, 12, 18, 20, 55], "becom": [1, 11, 49], "istrigg": 1, "affectedent": [1, 45], "isaffect": 1, "publish": [1, 2, 6, 20, 45], "xyz": 1, "withag": 1, "carri": [1, 9, 33, 39], "collisionwithag": [1, 4], "strip": 1, "No": [1, 2, 7, 9, 28, 42, 46, 50, 55], "collid": [1, 4, 54], "process": [1, 2, 6, 8, 9, 11, 13, 15, 16, 17, 20, 28, 33, 39, 50, 56], "same": [1, 2, 8, 9, 11, 27, 33, 38, 39, 42, 43, 44, 45, 53, 54, 55, 56], "manner": [1, 46], "regular": [1, 21, 45, 51], "abov": [1, 2, 8, 9, 11, 12, 13, 17, 26, 39, 46, 49, 50, 56], "occurr": 1, "stori": [1, 33, 45], "maneuv": [1, 45, 57], "thestori": 1, "theact": 1, "thesequ": 1, "numberofexecut": 1, "themaneuv": 1, "ttc_event": 1, "overwrit": [1, 39, 57], "startcondit": 1, "conditiongroup": [1, 39], "byentiti": 1, "entitycondit": 1, "timetocollis": 1, "sometim": 1, "whether": [1, 2, 4, 9, 20, 52, 54, 55, 56], "happen": [1, 6, 23, 33, 39, 56], "certain": [1, 8, 11, 13, 38, 39, 45], "achiev": [1, 2, 9, 38], "shift": [1, 2, 13, 28, 32, 50], "earlier": [1, 8], "350": [1, 44], "laneid": [1, 5, 39, 55], "have": [1, 2, 4, 6, 7, 8, 9, 11, 12, 13, 16, 17, 18, 21, 22, 27, 33, 38, 39, 46, 49, 53, 55, 56, 57], "integ": [1, 2, 8, 39, 42, 45, 54, 56], "would": [1, 2, 11, 13, 26, 33, 47, 50], "appli": [1, 6, 12, 18, 20, 44, 49, 50, 52, 53, 55, 56], "behavior": [1, 39, 45, 49, 50, 51, 55, 56], "lead": [1, 7, 9, 11, 15, 17, 21, 26, 45, 49, 51], "escap": [1, 21], "quot": [1, 12, 21], "restrict": [1, 9, 11, 17, 38, 55], "first": [1, 6, 7, 8, 9, 13, 15, 17, 21, 22, 23, 26, 31, 32, 33, 39, 42, 44, 46, 49, 50, 52, 55, 56], "succeed": [1, 13], "detect": [1, 2, 4, 21, 33, 45, 56], "won": [1, 13, 28], "t": [1, 2, 3, 7, 8, 9, 11, 13, 22, 28, 39, 41, 44, 45, 46, 51, 52, 54, 55, 56], "fit": [1, 2, 13, 23, 50], "": [1, 2, 3, 7, 8, 9, 12, 13, 17, 20, 23, 27, 33, 39, 41, 45, 48, 51, 53, 54, 55, 56], "intent": 1, "hold": [1, 2, 8, 9, 15, 22, 49, 51], "semicolon": [1, 21, 31, 32], "separ": [1, 9, 11, 12, 21, 22, 28, 31, 32, 33, 39, 42, 46, 51, 55, 56, 57], "just": [1, 6, 8, 11, 12, 28, 51], "element": [1, 8, 9, 39, 42, 46, 50, 52], "imposs": 1, "distinguish": [1, 12, 21], "string": [1, 5, 8, 11, 21, 38, 39, 42, 43, 44, 45, 46, 51, 55, 56], "reason": [1, 39, 46], "explicitli": [1, 12, 21, 43, 44, 55], "along": [1, 2, 3, 9, 16, 39, 49, 53, 54, 56], "sensor0_detectedag": 1, "str": 1, "miss": [1, 2, 7, 13, 20, 21, 39, 50, 56, 57], "want": [1, 2, 11, 33, 57], "debug": [1, 6, 8, 21, 22, 28], "add": [1, 3, 11, 13, 17, 20, 31, 38, 41, 42, 56], "launch": [1, 13, 23], "after": [1, 2, 4, 6, 8, 9, 13, 21, 26, 28, 55, 56, 57], "arg": [1, 13, 18, 21], "core": [1, 6, 12, 13, 16, 17, 18, 21, 33, 39, 42, 43, 48, 50, 52, 57], "oss": 1, "repo": [1, 11, 13, 39], "allowed_end_to_end_warn": 1, "test_end_to_end": 1, "request": [1, 2, 13, 39, 53, 56], "consol": [1, 18, 57], "integratedtermin": 1, "compos": [2, 33, 48], "multipl": [2, 4, 16, 21, 28, 29, 31, 42, 43, 44, 45, 56], "connect": [2, 6, 7, 8, 9, 13, 23, 33, 49, 50, 52, 56], "figur": [2, 8, 56], "roughli": [2, 48], "divid": [2, 6, 17, 22, 39, 48, 56, 57], "driver": [2, 12, 27, 33, 37, 42, 44, 45, 48, 49, 50, 52, 54, 56], "algorithm": [2, 8, 9, 12, 27, 44, 48], "dynam": [2, 12, 23, 27, 38, 39, 43, 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"WITH_PROTOBUF_ARENA": [[21, "with-protobuf-arena"]], "INSTALL_SYSTEM_RUNTIME_DEPS": [[21, "install-system-runtime-deps"]], "INSTALL_EXTRA_RUNTIME_DEPS": [[21, "install-extra-runtime-deps"]], "INSTALL_EXAMPLES": [[21, "install-examples"]], "Make Targets/Commands": [[21, "make-targets-commands"]], "Build and Install": [[21, "build-and-install"]], "Executing Tests": [[21, "executing-tests"]], "External Dependencies": [[22, "external-dependencies"]], "Information on Binary Packages": [[22, "information-on-binary-packages"]], "GNU Compiler Collection (gcc)": [[22, "gnu-compiler-collection-gcc"]], "Useful hints": [[22, null], [22, null], [22, null]], "GNU Debugger (gdb)": [[22, "gnu-debugger-gdb"]], "Ccache": [[22, "ccache"]], "Doxygen": [[22, "doxygen"]], "Boost C++ Libraries": [[22, "boost-c-libraries"]], "Note on Versions": [[22, null], [22, null]], "googletest": [[22, "googletest"]], "Information on Source Packages": [[22, "information-on-source-packages"]], "Open Simulation Interface (OSI)": [[22, "open-simulation-interface-osi"]], "Protocol Buffers (protobuf)": [[22, "protocol-buffers-protobuf"]], "Modelon FMI Library (FMIL)": [[22, "modelon-fmi-library-fmil"]], "Glossary": [[23, "glossary"]], "GUI Plugins": [[24, "gui-plugins"]], "General": [[26, "general"], [12, "general"], [20, "general"]], "Project": [[26, "project"]], "Path Settings": [[26, "path-settings"]], "Simulation Output Settings": [[26, "simulation-output-settings"]], "System Editor": [[27, "system-editor"]], "PCM Evaluation": [[29, "pcm-evaluation"]], "Loading Results": [[29, "loading-results"], [31, "loading-results"], [32, "loading-results"]], "Evaluating Results": [[29, "evaluating-results"], [31, "evaluating-results"], [32, "evaluating-results"]], "Result Visualization": [[30, "result-visualization"]], "Statistics": [[31, "statistics"]], "TimePlot": [[32, "timeplot"]], "Outputs": [[33, "outputs"], [8, "outputs"]], "Intended Audience": [[33, "intended-audience"]], "Workflow": [[33, "workflow"]], "Primer": [[33, "primer"]], "Inputs": [[33, "inputs"]], "Tutorials": [[34, "tutorials"]], "Configs in Depth": [[35, "configs-in-depth"]], "Outputs in Depth": [[36, "outputs-in-depth"]], "Component View": [[48, "component-view"]], "Components in Depth": [[48, "components-in-depth"]], "Detailed description of the module\u2019s features": [[49, "detailed-description-of-the-module-s-features"], [50, "detailed-description-of-the-module-s-features"]], "Lateral dynamics": [[49, "lateral-dynamics"], [52, "lateral-dynamics"]], "Heading controller": [[49, "heading-controller"]], "Lateral deviation controller": [[49, "lateral-deviation-controller"]], "Inverted longitudinal dynamics model": [[50, "inverted-longitudinal-dynamics-model"]], "Algorithm for optimal gear determination": [[50, "algorithm-for-optimal-gear-determination"]], "Overview of the module\u2019s functionalities": [[52, "overview-of-the-module-s-functionalities"]], "Longitudinal dynamics": [[52, "longitudinal-dynamics"]], "Updating position": [[52, "updating-position"]], "DefaultStrategies": [[53, "defaultstrategies"]], "KeepVelocity - longitudinal": [[53, "keepvelocity-longitudinal"]], "KeepLaneOffset - lateral": [[53, "keeplaneoffset-lateral"]], "Strategies": [[53, "strategies"]], "FollowVelocitySpline - longitudinal": [[53, "followvelocityspline-longitudinal"]], "PerformChangeLane - lateral": [[53, "performchangelane-lateral"]], "FollowTrajectory - both": [[53, "followtrajectory-both"]], "Components of the module": [[54, "components-of-the-module"]], "OwnVehicleStates": [[54, "ownvehiclestates"]], "TrafficRuleInformation": [[54, "trafficruleinformation"]], "GeometryInformation": [[54, "geometryinformation"]], "SurroundingObjects": [[54, "surroundingobjects"]], "EndToEnd Test Framework": [[1, "endtoend-test-framework"]], "Execution": [[1, "execution"]], "Parallel Execution": [[1, "parallel-execution"]], "Test Configuration": [[1, "test-configuration"]], "Querying Results": [[1, "querying-results"]], "Basic Syntax": [[1, "basic-syntax"]], "Using Events in Filter": [[1, "using-events-in-filter"]], "Event Payload": [[1, "event-payload"]], "Query Example": [[1, "query-example"]], "Using OpenSCENARIO Events": [[1, "using-openscenario-events"]], "Querying Transitions": [[1, "querying-transitions"]], "Querying Spawning Time": [[1, "querying-spawning-time"]], "Explicit Datatypes": [[1, "explicit-datatypes"]], "Dev Notes": [[1, "dev-notes"]], "System Structure and Parameterization (SSP)": [[8, "system-structure-and-parameterization-ssp"]], "Inputs / SSP Structure": [[8, "inputs-ssp-structure"]], "System Structure Package SSP": [[8, "system-structure-package-ssp"]], "SSD - System Structure Definition": [[8, "ssd-system-structure-definition"]], "Implementation": [[8, "implementation"]], "Parsing": [[8, "parsing"]], "OSI Connectors": [[8, "osi-connectors"]], "Object Structure": [[8, "object-structure"]], "SSP and openPASS": [[8, "ssp-and-op"]], "Limits": [[8, "limits"]], "FolderStructure": [[8, "folderstructure"]], "WriteMessageParameters": [[8, "writemessageparameters"]], "IDE Support": [[10, "ide-support"]], "Documentation Concept": [[11, "documentation-concept"]], "Basic Build Mechanics": [[11, "basic-build-mechanics"]], "openPASS as Submodule": [[11, "openpass-as-submodule"]], "Docker Image": [[11, "docker-image"]], "Coding Guidelines": [[12, "coding-guidelines"]], "Naming Conventions": [[12, "naming-conventions"]], "ClangFormat": [[12, "clangformat"]], "ClangTidy": [[12, "clangtidy"]], "Commit Message Guidelines": [[12, "commit-message-guidelines"]], "Header File Inclusion": [[12, "header-file-inclusion"]], "Further Guidance": [[19, "further-guidance"]], "Customizing": [[19, null]], "Building with Conan": [[20, "building-with-conan"]], "Additional Prerequisites": [[20, "additional-prerequisites"]], "Conan Recipes": [[20, "conan-recipes"]], "Conan Create": [[20, "conan-create"]], "Conan Install": [[20, "conan-install"]], "Build only ThirdParties": [[20, "build-only-thirdparties"]], "License": [[25, "license"]], "PCM Simulation": [[28, "pcm-simulation"], [58, "pcm-simulation"]], "Simulation Input": [[28, "simulation-input"]], "Simulation Output": [[28, "simulation-output"]], "Simulation Configuration": [[28, "simulation-configuration"]], "Variation": [[28, "variation"]], "Simulation Start": [[28, "simulation-start"]], "Save / Load Experiment": [[28, "save-load-experiment"]], "Result Folder Structure": [[28, "result-folder-structure"]], "ProfilesCatalog": [[38, "profilescatalog"], [42, "profilescatalog"]], "AgentProfiles": [[38, "agentprofiles"]], "Example": [[38, "example"], [43, "example"], [43, "id1"]], "SystemProfiles": [[38, "systemprofiles"]], "Components": [[38, "components"]], "Sensors": [[38, "sensors"]], "ProfileGroups": [[38, "profilegroups"]], "Driver ProfileGroup": [[38, "driver-profilegroup"]], "VehicleComponent ProfileGroups": [[38, "vehiclecomponent-profilegroups"]], "SpawnerProfile ProfileGroup": [[38, "spawnerprofile-profilegroup"]], "TrafficRules ProfileGroup": [[38, "trafficrules-profilegroup"]], "Scenario": [[39, "scenario"], [42, "scenario"]], "ParameterDeclarations": [[39, "parameterdeclarations"]], "Catalogs": [[39, "catalogs"]], "VehicleCatalog": [[39, "vehiclecatalog"]], "PedestrianCatalog": [[39, "pedestriancatalog"]], "RoadNetwork": [[39, "roadnetwork"]], "Entities": [[39, "entities"]], "AgentProfile and ProfilesCatalog": [[39, null]], "Storyboard": [[39, "storyboard"]], "Init": [[39, "init"]], "Story": [[39, "story"]], "StopTrigger": [[39, "stoptrigger"]], "Current Restrictions": [[39, "current-restrictions"]], "Conditions": [[39, "conditions"]], "Actions": [[39, "actions"]], "FollowRouteAction": [[39, "scenario-followrouteaction"]], "SetComponentState (UserDefinedAction)": [[39, "setcomponentstate-userdefinedaction"]], "DefaultCustomCommandAction (UserDefinedAction)": [[39, "defaultcustomcommandaction-userdefinedaction"]], "FMU_Wrapper component for OSMP messages only": [[39, null]], "Scenario API Support": [[40, "scenario-api-support"]], "IGeometryHelper": [[40, "igeometryhelper"]], "IEnvironment": [[40, "ienvironment"]], "ICoordConverter": [[40, "icoordconverter"]], "ILaneLocationQueryService": [[40, "ilanelocationqueryservice"]], "IControllerRepository": [[40, "icontrollerrepository"]], "IEntity": [[40, "ientity"]], "IVehicle": [[40, "ivehicle"]], "IPedestrian": [[40, "ipedestrian"]], "IStaticObject": [[40, "istaticobject"]], "IEntityRepository": [[40, "ientityrepository"]], "Scenery": [[41, "scenery"]], "Restrictions": [[41, "restrictions"]], "Full Example": [[41, "full-example"], [42, "full-example"]], "SimulationConfig": [[42, "simulationconfig"]], "Experiment": [[42, "experiment"]], "Environment": [[42, "environment"]], "Observations": [[42, "observations"]], "Spawners": [[42, "spawners"]], "Static SystemConfig": [[43, "static-systemconfig"]], "SSP": [[43, "ssp"], [56, "ssp"]], "Connecting SSP with OpenPass": [[43, "connecting-ssp-with-openpass"]], "SystemConfigBlueprint": [[44, "systemconfigblueprint"]], "AgentComponents": [[44, "agentcomponents"]], "Priorities": [[44, "priorities"]], "Channel-Ids": [[44, "channel-ids"]], "Parameters": [[44, "parameters"]], "Observation_Log": [[45, "observation-log"]], "Parameterization": [[45, "parameterization"]], "Wildcards in LoggingGroup definitions": [[45, null]], "Output Files": [[45, "output-files"], [46, "output-files"]], "SimulationOutput": [[45, "simulationoutput"]], "Events": [[45, "events"]], "Important Events": [[45, "important-events"]], "Agents": [[45, "agents"]], "Cyclics": [[45, "cyclics"]], "Cyclics_Run_###": [[45, "cyclics-run"]], "Observation_EntityRepository": [[46, "observation-entityrepository"]], "Parametrization": [[46, "parametrization"]], "Repository_Run_###.csv": [[46, "repository-run-csv"]], "Repository_Persistent.csv": [[46, "repository-persistent-csv"]], "Driver": [[51, "driver"]], "AlgorithmAgentFollowingDriverModel": [[51, "algorithmagentfollowingdrivermodel"]], "Lateral control": [[51, "lateral-control"]], "Longitudinal control": [[51, "longitudinal-control"]], "Spawner": [[55, "spawner"]], "TrafficGroups": [[55, "trafficgroups"]], "VehicleComponents": [[56, "vehiclecomponents"]], "AEB": [[56, "aeb"]], "DynamicsTrajectoryFollower": [[56, "dynamicstrajectoryfollower"]], "FMU Wrapper": [[56, "fmu-wrapper"]], "Write- and ReadValues depending on variability and causality": [[56, "id1"]], "ReceiverCar2X": [[56, "receivercar2x"]], "VehicleDynamics": [[56, "vehicledynamics"]], "ActionSteeringSystem": [[56, "actionsteeringsystem"]], "ActionPowertrain": [[56, "actionpowertrain"]], "ActionBrakeSystem": [[56, "actionbrakesystem"]], "DynamicsChassis": [[56, "dynamicschassis"]], "DynamicsTireModel": [[56, "dynamicstiremodel"]], "DynamicsMotionModel": [[56, "dynamicsmotionmodel"]], "Scenario-based simulation": [[57, "scenario-based-simulation"]]}, "indexentries": {}})
\ No newline at end of file
diff --git a/content/html/user_guide/10_overview.html b/content/html/user_guide/10_overview.html
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@@ -1,328 +1,329 @@
-<!DOCTYPE html>
-<html class="writer-html5" lang="en" >
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-  <title>Overview &mdash; openPASS Documentation</title>
-      <link rel="stylesheet" href="../_static/pygments.css" type="text/css" />
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-</head>
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-            openPASS
-              <img src="../_static/openPASS.png" class="logo" alt="Logo"/>
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-              <div class="version">
-                1.1.0
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-<div role="search">
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-              <p class="caption" role="heading"><span class="caption-text">Installation Guide</span></p>
-<ul>
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-</ul>
-<p class="caption" role="heading"><span class="caption-text">User Guides</span></p>
-<ul class="current">
-<li class="toctree-l1 current"><a class="current reference internal" href="#">Overview</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="#getting-started">Getting Started</a></li>
-<li class="toctree-l2"><a class="reference internal" href="#intended-audience">Intended Audience</a></li>
-<li class="toctree-l2"><a class="reference internal" href="#workflow">Workflow</a></li>
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-<li class="toctree-l1"><a class="reference internal" href="50_scenario_simulation.html">Simulator</a></li>
-</ul>
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-             
-  <section id="overview">
-<span id="user-guide-overview"></span><h1>Overview<a class="headerlink" href="#overview" title="Link to this heading"></a></h1>
-<p>openPASS is an open-source software, which is continuously being improved by stakeholders of the openPASS working group: <strong>openPASS</strong> (Open Source) (<a class="reference external" href="https://openpass.eclipse.org/">https://openpass.eclipse.org/</a>)
-openPASS can simulate traffic situations with the goal of predicting and evaluating the safety of driver assistance systems, more specifically ADAS (Advanced Driving Assistance Systems) or AD functions. Its main use-cases are PCM-(PreCrash Matrix), and scenario-based simulations.
-Let’s have a look at what that means:</p>
-<a class="reference internal image-reference" href="../_images/crash-scenario.png"><img alt="../_images/crash-scenario.png" class="align-center" src="../_images/crash-scenario.png" style="width: 600px;" /></a>
-<ol class="arabic simple">
-<li><p>PCM Simulations: “Crash re-simulations”</p></li>
-</ol>
-<blockquote>
-<div><ul class="simple">
-<li><p>PCM of GIDAS: PreCrash Matrix from the database of the German In-Depth Accident Study</p></li>
-<li><p>Re simulate real crashes from the past, but with cars having ADAS or AD functions and asses if the tested technology would have improved the safety.</p></li>
-</ul>
-</div></blockquote>
-<ol class="arabic simple" start="2">
-<li><p>(Traffic-)scenario based simulations</p></li>
-</ol>
-<blockquote>
-<div><ul class="simple">
-<li><p>This is the most common use-case for openPASS.</p></li>
-<li><p>Enables simulation of whole traffic scenarios. That includes stochastic variation of those scenarios, intervention through detection of events and triggered actions and much more.</p></li>
-<li><p>To get a better understanding about how these simulations are performed, please look at the scenario-based simulation tutorial.</p></li>
-</ul>
-</div></blockquote>
-<p>For beginners, this presentation gives more illustrations and background about openPASS: <a class="reference external" href="https://openpass.eclipse.org/target_objectives/openPASS_at_a_glance.pdf">https://openpass.eclipse.org/target_objectives/openPASS_at_a_glance.pdf</a></p>
-<section id="getting-started">
-<h2>Getting Started<a class="headerlink" href="#getting-started" title="Link to this heading"></a></h2>
-<p>This chapter provides insights on openPASS and how to work with the simulation.
-The following step-by-step guides are included to guide you through your first simulations with openPASS:</p>
-<blockquote>
-<div><ul class="simple">
-<li><p>Scenario-based Simulation: traffic simulation based on <a class="reference external" href="https://www.asam.net/standards/detail/openscenario/">OpenSCENARIO</a> description</p></li>
-<li><p>PCM Simulation: crash re-simulation based on GIDAS record</p></li>
-</ul>
-</div></blockquote>
-<p>In particular, it is presented how to go through the required steps until a simulation can be run successfully.
-To enhance the guiding, there are going to be examples in every section.
-It is important to mention that openPASS is still in progress and e. g. some plugins and options have not been fully implemented yet.</p>
-</section>
-<section id="intended-audience">
-<h2>Intended Audience<a class="headerlink" href="#intended-audience" title="Link to this heading"></a></h2>
-<p>This manual serves as an entry point for users who have an operational simulator at hand (see <a class="reference internal" href="../installation_guide/10_getting_started.html#sim-install-guide"><span class="std std-ref">Getting Started</span></a>) and want to carry out (first) experiments at the invocation level (<em>GUI-less mode</em>).
-In this sense, it primarily tackles how input-sets are composed, their interdependencies and, finally, the generated outputs.</p>
-<figure class="align-default" id="id2">
-<img alt="../_images/workflow.png" src="../_images/workflow.png" />
-<figcaption>
-<p><span class="caption-text"><strong>openPASS</strong> Workflow</span><a class="headerlink" href="#id2" title="Link to this image"></a></p>
-</figcaption>
-</figure>
-<p>This image shows the <em>GUI-less</em> workflow, starting with the input-set, bundled together in a folder typically named <code class="docutils literal notranslate"><span class="pre">configs</span></code>.
-The <code class="docutils literal notranslate"><span class="pre">core</span></code>, executed manually by the experimenter, processes these configs and generates an (configurable) output-set typically placed in a folder named <code class="docutils literal notranslate"><span class="pre">results</span></code>.
-Thereby, the <strong>Simulation Output</strong> is again a set of files.</p>
-</section>
-<section id="workflow">
-<h2>Workflow<a class="headerlink" href="#workflow" title="Link to this heading"></a></h2>
-<p>A typical workflow can be:</p>
-<blockquote>
-<div><ol class="arabic simple">
-<li><p>Configure systems and agents</p></li>
-<li><p>Configure the simulation</p></li>
-<li><p>Run the simulation</p></li>
-<li><p>Evaluate the simulation results</p></li>
-<li><p>Close the loop by continuing with your next simulation</p></li>
-</ol>
-</div></blockquote>
-</section>
-<section id="primer">
-<span id="id1"></span><h2>Primer<a class="headerlink" href="#primer" title="Link to this heading"></a></h2>
-<p>In the following the input and output sets are described with respect to the intended audience.
-For detailed information please refer to the “in-depth” documentation of the individual files.</p>
-<section id="inputs">
-<h3>Inputs<a class="headerlink" href="#inputs" title="Link to this heading"></a></h3>
-<p>The input is focused around the files presented in the following chart, which depticts the information flow between the files:</p>
-<figure class="align-default">
-<img alt="../_images/overview-configs.png" src="../_images/overview-configs.png" />
-</figure>
-<p>In the following list, those files are discussed further and listed with decreasing importance for the current audience.</p>
-<ul>
-<li><p><strong>Scenario</strong></p>
-<p>This file describes the overall situation in terms of the <strong>ASAM OpenSCENARIO 1.0</strong> standard.
-This includes placement of cars, the story (what happens when), how long the simulation will run.</p>
-<p>On top it contains links to additionally needed files, where the following might need modification with respect to the current audience:</p>
-<ul>
-<li><p><strong>Scenery</strong> (<code class="docutils literal notranslate"><span class="pre">*.xosc</span></code>)</p>
-<p>The <strong>scenery</strong> file describes the world in which the experiment runs.
-As such, it contains the description of the road network and any static object, such as a highway, a parking lot, or traffic signs and obstacles.
-It follows the <strong>ASAM OpenDRIVE 1.6</strong> standard.</p>
-</li>
-<li><p><strong>ProfilesCatalog</strong> (<code class="docutils literal notranslate"><span class="pre">*.xml</span></code>)</p></li>
-</ul>
-<blockquote>
-<div><p>This catalog is the probabilistic heart of the simulation as it describes the composition of various simulation components and entities, using both, deterministic and stochastic definitions.
-The ProfilesCatalog defines which of the available components are actually existing in the simulation:
-That includes vehicles (from the <code class="docutils literal notranslate"><span class="pre">VehicleModelCatalog.xosc</span></code>), pedestrians (from the <code class="docutils literal notranslate"><span class="pre">PedestrianModelCatalog.xosc</span></code>), but also components like sensors, driver assistance systems or driver models being used.
-A Profile provides, for example, information about which components are generally available in an agent (vehicle with driver) and how likely it is that they are actually existent.
-Such components could be ADAS sensors, which means that they are parametrized in this section as well.
-On the implementation level, a Profile is a set of parameters which will be provided to the instantiated components of an agent or to a simulation core component, e.g. Spawner.
-For every parameterizable component an associated ProfileGroup contains one or more Profiles, from which one will be selected based on the given probabilities.</p>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>As <strong>OpenSCENARIO</strong> does not support probabilities (yet), this file is not conform to the standard.</p>
-</div>
-</div></blockquote>
-<ul>
-<li><p><strong>VehicleCatalog</strong> and <strong>PedestrianCatalog</strong>: (<code class="docutils literal notranslate"><span class="pre">*.xosc</span></code>)</p>
-<p>These catalogs, also based on <strong>OpenSCENARIO</strong>, describes the physical parameters of available vehicles or pedestrians, respectively.</p>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>Historically, the referenced files carry the word <em>Model</em>  in the filename: <code class="docutils literal notranslate"><span class="pre">VehicleModelsCatalog.xosc</span></code> and <code class="docutils literal notranslate"><span class="pre">PedestrianModelsCatalog.xosc</span></code></p>
-</div>
-</li>
-</ul>
-</li>
-<li><p><strong>SimulationConfig</strong> (<code class="docutils literal notranslate"><span class="pre">simulationConfig.xml</span></code>)</p>
-<p>This is the entry point for the simulation, containing the setup of the core, such as active observers, reference to the scenario, the initial random seed, and the number or invocations.</p>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>This file is normally of limited interest.
-Yet, some variations, such as <em>environmental conditions</em> are historically placed in here and not in the scenario description.
-It is therefore recommended to study the contents of this file.</p>
-</div>
-</li>
-<li><p><strong>SystemConfigBlueprint</strong> (<code class="docutils literal notranslate"><span class="pre">systemConfigBlueprint.xml</span></code>)</p>
-<p>This file is contains a superset of all possible <em>components</em> and their valid connections.
-Such components can be lateral and longitudinal controllers, assistance systems, prioritizers, driver models, and so on.
-Depending on the configured profiles and their probabilities, the core picks a subset of components to create one complete <em>system</em>.</p>
-<div class="admonition warning">
-<p class="admonition-title">Warning</p>
-<p>This file should not be changed without the proper (developer) expertise.</p>
-</div>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>Instead of using an overall blueprint, concrete (static) systems can be specified using the same format.
-These files are simply referred to as <code class="docutils literal notranslate"><span class="pre">SystemConfig</span></code> files.</p>
-</div>
-</li>
-</ul>
-<p>Some components need their own input files (e.g. a configuration).
-It is convention to put these files also into the <code class="docutils literal notranslate"><span class="pre">configs</span></code> folder, which is internally provided as path to the components.
-This helps to keep experiments separated.</p>
-</section>
-<section id="outputs">
-<h3>Outputs<a class="headerlink" href="#outputs" title="Link to this heading"></a></h3>
-<p>Outputs are generated by individual observers, configured by the <strong>SimulationConfig</strong>, and collected within the folder <cite>results</cite>.
-This section describes the output files by the <a class="reference internal" href="outputs/observation_log.html#observation-log"><span class="std std-ref">Observation_Log</span></a>, as configured by the provided example configurations.</p>
-<p>Please refer to the documentation of the individual observers and files for more details.</p>
-<ul>
-<li><p><strong>Simulation Output</strong> (<code class="docutils literal notranslate"><span class="pre">simulationOutput.xml</span></code>)</p>
-<p>This file acts as central entry point for further evaluation, such as the visualization.
-It contains central information about all executed invocations within an experiment, such as the executed scenario and the run results, which can be seen as current values from the random sampling of the given probabilities.
-As such, each run result contains, a list of participating moving entities (also referred to as agents), events related to the entities, such as collisions or activation of ADAS’s, and a reference to the <em>cyclics file</em>.</p>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>This file <strong>does not</strong> contain information about the actual position of agents.</p>
-</div>
-</li>
-<li><p><strong>Cyclic Output</strong> (<code class="docutils literal notranslate"><span class="pre">Cyclics_Run_###.csv</span></code>)</p>
-<p>This file contains the ground truth information for each agent at each time step.
-For each invocation, a new file is generated (starting with <code class="docutils literal notranslate"><span class="pre">Cyclics_Run_000.csv</span></code> and referenced in the according run results in the <code class="docutils literal notranslate"><span class="pre">simulationOutput.xml</span></code>.</p>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>This file <strong>does not</strong> contain information about the interaction between agents.</p>
-</div>
-</li>
-</ul>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>The core generates a file called <code class="docutils literal notranslate"><span class="pre">opSimulation.log</span></code> at the execution path, which logs errors and warnings.
-If the simulation behaves strange or did not produce any output, check this file.</p>
-</div>
-</section>
-</section>
-</section>
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+</ul>
+<p class="caption" role="heading"><span class="caption-text">User Guides</span></p>
+<ul class="current">
+<li class="toctree-l1 current"><a class="current reference internal" href="#">Overview</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="#getting-started">Getting Started</a></li>
+<li class="toctree-l2"><a class="reference internal" href="#intended-audience">Intended Audience</a></li>
+<li class="toctree-l2"><a class="reference internal" href="#workflow">Workflow</a></li>
+<li class="toctree-l2"><a class="reference internal" href="#primer">Primer</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="#inputs">Inputs</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#outputs">Outputs</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="20_tutorials.html">Tutorials</a></li>
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+<li class="toctree-l1"><a class="reference internal" href="50_scenario_simulation.html">Simulator</a></li>
+</ul>
+<p class="caption" role="heading"><span class="caption-text">Advanced topics</span></p>
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="../advanced_topics/20_simulator_advanced.html">Simulator</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../advanced_topics/30_testing.html">EndToEnd Test Framework</a></li>
+</ul>
+<p class="caption" role="heading"><span class="caption-text">Developer Information</span></p>
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="../developer_information/10_ide_support.html">IDE Support</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../developer_information/20_documentation.html">Documentation Concept</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../developer_information/30_coding_conventions.html">Coding Guidelines</a></li>
+</ul>
+<p class="caption" role="heading"><span class="caption-text">Other Information</span></p>
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="../other_information/10_external_dependencies.html">External Dependencies</a></li>
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+             
+  <section id="overview">
+<span id="user-guide-overview"></span><h1>Overview<a class="headerlink" href="#overview" title="Link to this heading"></a></h1>
+<p>openPASS is an open-source software, which is continuously being improved by stakeholders of the openPASS working group: <strong>openPASS</strong> (Open Source) (<a class="reference external" href="https://openpass.eclipse.org/">https://openpass.eclipse.org/</a>)
+openPASS can simulate traffic situations with the goal of predicting and evaluating the safety of driver assistance systems, more specifically ADAS (Advanced Driving Assistance Systems) or AD functions. Its main use-cases are PCM-(PreCrash Matrix), and scenario-based simulations.
+Let’s have a look at what that means:</p>
+<a class="reference internal image-reference" href="../_images/crash-scenario.png"><img alt="../_images/crash-scenario.png" class="align-center" src="../_images/crash-scenario.png" style="width: 600px;" /></a>
+<ol class="arabic simple">
+<li><p>PCM Simulations: “Crash re-simulations”</p></li>
+</ol>
+<blockquote>
+<div><ul class="simple">
+<li><p>PCM of GIDAS: PreCrash Matrix with trajectories from the database of the German In-Depth Accident Study</p></li>
+<li><p>Re-simulate real crashes from the past, but with cars having ADAS or AD functions and assess if the tested technology would have improved the safety.</p></li>
+</ul>
+</div></blockquote>
+<ol class="arabic simple" start="2">
+<li><p>(Traffic-)scenario based simulations</p></li>
+</ol>
+<blockquote>
+<div><ul class="simple">
+<li><p>This is the most common use-case for openPASS.</p></li>
+<li><p>Enables simulation of whole traffic scenarios. That includes stochastic variation of those scenarios, intervention through detection of events and triggered actions and much more.</p></li>
+<li><p>To get a better understanding about how these simulations are performed, please look at the scenario-based simulation tutorial.</p></li>
+</ul>
+</div></blockquote>
+<p>For beginners, this presentation gives more illustrations and background about openPASS: <a class="reference external" href="https://openpass.eclipse.org/target_objectives/openPASS_at_a_glance.pdf">https://openpass.eclipse.org/target_objectives/openPASS_at_a_glance.pdf</a></p>
+<section id="getting-started">
+<h2>Getting Started<a class="headerlink" href="#getting-started" title="Link to this heading"></a></h2>
+<p>This chapter provides insights on openPASS and how to work with the simulation.
+The following step-by-step guides are included to guide you through your first simulations with openPASS:</p>
+<blockquote>
+<div><ul class="simple">
+<li><p>Scenario-based Simulation: traffic simulation based on <a class="reference external" href="https://www.asam.net/standards/detail/openscenario/">OpenSCENARIO</a> description</p></li>
+<li><p>PCM Simulation: crash re-simulation based on GIDAS record</p></li>
+</ul>
+</div></blockquote>
+<p>In particular, it is presented how to go through the required steps until a simulation can be run successfully.
+To enhance the guiding, there are going to be examples in every section.
+It is important to mention that openPASS is still in progress and e. g. some plugins and options have not been fully implemented yet.</p>
+</section>
+<section id="intended-audience">
+<h2>Intended Audience<a class="headerlink" href="#intended-audience" title="Link to this heading"></a></h2>
+<p>This manual serves as an entry point for users who have an operational simulator at hand (see <a class="reference internal" href="../installation_guide/10_getting_started.html#sim-install-guide"><span class="std std-ref">Getting Started</span></a>) and want to carry out (first) experiments at the invocation level (<em>GUI-less mode</em>).
+In this sense, it primarily tackles how input-sets are composed, their interdependencies and, finally, the generated outputs.</p>
+<figure class="align-default" id="id2">
+<img alt="../_images/workflow.png" src="../_images/workflow.png" />
+<figcaption>
+<p><span class="caption-text"><strong>openPASS</strong> Workflow</span><a class="headerlink" href="#id2" title="Link to this image"></a></p>
+</figcaption>
+</figure>
+<p>This image shows the <em>GUI-less</em> workflow, starting with the input-set, bundled together in a folder typically named <code class="docutils literal notranslate"><span class="pre">configs</span></code>.
+The <code class="docutils literal notranslate"><span class="pre">core</span></code>, executed manually by the experimenter, processes these configs and generates an (configurable) output-set typically placed in a folder named <code class="docutils literal notranslate"><span class="pre">results</span></code>.
+Thereby, the <strong>Simulation Output</strong> is again a set of files.</p>
+</section>
+<section id="workflow">
+<h2>Workflow<a class="headerlink" href="#workflow" title="Link to this heading"></a></h2>
+<p>A typical workflow can be:</p>
+<blockquote>
+<div><ol class="arabic simple">
+<li><p>Configure systems and agents</p></li>
+<li><p>Configure the simulation</p></li>
+<li><p>Run the simulation</p></li>
+<li><p>Evaluate the simulation results</p></li>
+<li><p>Close the loop by continuing with your next simulation</p></li>
+</ol>
+</div></blockquote>
+</section>
+<section id="primer">
+<span id="id1"></span><h2>Primer<a class="headerlink" href="#primer" title="Link to this heading"></a></h2>
+<p>In the following the input and output sets are described with respect to the intended audience.
+For detailed information please refer to the “in-depth” documentation of the individual files.</p>
+<section id="inputs">
+<h3>Inputs<a class="headerlink" href="#inputs" title="Link to this heading"></a></h3>
+<p>The input is focused around the files presented in the following chart, which depticts the information flow between the files:</p>
+<figure class="align-default">
+<img alt="../_images/overview-configs.png" src="../_images/overview-configs.png" />
+</figure>
+<p>In the following list, those files are discussed further and listed with decreasing importance for the current audience.</p>
+<ul>
+<li><p><strong>Scenario</strong></p>
+<p>This file describes the overall situation in terms of the <strong>ASAM OpenSCENARIO 1.0</strong> standard.
+This includes placement of cars, the story (what happens when), how long the simulation will run.</p>
+<p>On top it contains links to additionally needed files, where the following might need modification with respect to the current audience:</p>
+<ul>
+<li><p><strong>Scenery</strong> (<code class="docutils literal notranslate"><span class="pre">*.xosc</span></code>)</p>
+<p>The <strong>scenery</strong> file describes the world in which the experiment runs.
+As such, it contains the description of the road network and any static object, such as a highway, a parking lot, or traffic signs and obstacles.
+It follows the <strong>ASAM OpenDRIVE 1.6</strong> standard.</p>
+</li>
+<li><p><strong>ProfilesCatalog</strong> (<code class="docutils literal notranslate"><span class="pre">*.xml</span></code>)</p></li>
+</ul>
+<blockquote>
+<div><p>This catalog is the probabilistic heart of the simulation as it describes the composition of various simulation components and entities, using both, deterministic and stochastic definitions.
+The ProfilesCatalog defines which of the available components are actually existing in the simulation:
+That includes vehicles (from the <code class="docutils literal notranslate"><span class="pre">VehicleModelCatalog.xosc</span></code>), pedestrians (from the <code class="docutils literal notranslate"><span class="pre">PedestrianModelCatalog.xosc</span></code>), but also components like sensors, driver assistance systems or driver models being used.
+A Profile provides, for example, information about which components are generally available in an agent (vehicle with driver) and how likely it is that they are actually existent.
+Such components could be ADAS sensors, which means that they are parametrized in this section as well.
+On the implementation level, a Profile is a set of parameters which will be provided to the instantiated components of an agent or to a simulation core component, e.g. Spawner.
+For every parameterizable component an associated ProfileGroup contains one or more Profiles, from which one will be selected based on the given probabilities.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>As <strong>OpenSCENARIO</strong> does not support probabilities (yet), this file is not conform to the standard.</p>
+</div>
+</div></blockquote>
+<ul>
+<li><p><strong>VehicleCatalog</strong> and <strong>PedestrianCatalog</strong>: (<code class="docutils literal notranslate"><span class="pre">*.xosc</span></code>)</p>
+<p>These catalogs, also based on <strong>OpenSCENARIO</strong>, describes the physical parameters of available vehicles or pedestrians, respectively.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>Historically, the referenced files carry the word <em>Model</em>  in the filename: <code class="docutils literal notranslate"><span class="pre">VehicleModelsCatalog.xosc</span></code> and <code class="docutils literal notranslate"><span class="pre">PedestrianModelsCatalog.xosc</span></code></p>
+</div>
+</li>
+</ul>
+</li>
+<li><p><strong>SimulationConfig</strong> (<code class="docutils literal notranslate"><span class="pre">simulationConfig.xml</span></code>)</p>
+<p>This is the entry point for the simulation, containing the setup of the core, such as active observers, reference to the scenario, the initial random seed, and the number or invocations.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This file is normally of limited interest.
+Yet, some variations, such as <em>environmental conditions</em> are historically placed in here and not in the scenario description.
+It is therefore recommended to study the contents of this file.</p>
+</div>
+</li>
+<li><p><strong>SystemConfigBlueprint</strong> (<code class="docutils literal notranslate"><span class="pre">systemConfigBlueprint.xml</span></code>)</p>
+<p>This file is contains a superset of all possible <em>components</em> and their valid connections.
+Such components can be lateral and longitudinal controllers, assistance systems, prioritizers, driver models, and so on.
+Depending on the configured profiles and their probabilities, the core picks a subset of components to create one complete <em>system</em>.</p>
+<div class="admonition warning">
+<p class="admonition-title">Warning</p>
+<p>This file should not be changed without the proper (developer) expertise.</p>
+</div>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>Instead of using an overall blueprint, concrete (static) systems can be specified using the same format.
+These files are simply referred to as <code class="docutils literal notranslate"><span class="pre">SystemConfig</span></code> files.</p>
+</div>
+</li>
+</ul>
+<p>Some components need their own input files (e.g. a configuration).
+It is convention to put these files also into the <code class="docutils literal notranslate"><span class="pre">configs</span></code> folder, which is internally provided as path to the components.
+This helps to keep experiments separated.</p>
+</section>
+<section id="outputs">
+<h3>Outputs<a class="headerlink" href="#outputs" title="Link to this heading"></a></h3>
+<p>Outputs are generated by individual observers, configured by the <strong>SimulationConfig</strong>, and collected within the folder <cite>results</cite>.
+This section describes the output files by the <a class="reference internal" href="outputs/observation_log.html#observation-log"><span class="std std-ref">Observation_Log</span></a>, as configured by the provided example configurations.</p>
+<p>Please refer to the documentation of the individual observers and files for more details.</p>
+<ul>
+<li><p><strong>Simulation Output</strong> (<code class="docutils literal notranslate"><span class="pre">simulationOutput.xml</span></code>)</p>
+<p>This file acts as central entry point for further evaluation, such as the visualization.
+It contains central information about all executed invocations within an experiment, such as the executed scenario and the run results, which can be seen as current values from the random sampling of the given probabilities.
+As such, each run result contains, a list of participating moving entities (also referred to as agents), events related to the entities, such as collisions or activation of ADAS’s, and a reference to the <em>cyclics file</em>.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This file <strong>does not</strong> contain information about the actual position of agents.</p>
+</div>
+</li>
+<li><p><strong>Cyclic Output</strong> (<code class="docutils literal notranslate"><span class="pre">Cyclics_Run_###.csv</span></code>)</p>
+<p>This file contains the ground truth information for each agent at each time step.
+For each invocation, a new file is generated (starting with <code class="docutils literal notranslate"><span class="pre">Cyclics_Run_000.csv</span></code> and referenced in the according run results in the <code class="docutils literal notranslate"><span class="pre">simulationOutput.xml</span></code>.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This file <strong>does not</strong> contain information about the interaction between agents.</p>
+</div>
+</li>
+</ul>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The core generates a file called <code class="docutils literal notranslate"><span class="pre">opSimulation.log</span></code> at the execution path, which logs errors and warnings.
+If the simulation behaves strange or did not produce any output, check this file.</p>
+</div>
+</section>
+</section>
+</section>
+
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index 888874ae822a31a6490bccc4314ce047c1126aa6..decc5347536833435c72928b300455f4ad7fd490 100644
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+        <a href="10_overview.html" class="btn btn-neutral float-left" title="Overview" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> Previous</a>
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+    </div>
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diff --git a/content/html/user_guide/30_configs_in_depth.html b/content/html/user_guide/30_configs_in_depth.html
index dd06e1618e5180c0ef100f3cae64958061eb25f9..e3eb3edfafa7bac32a214529357b4569e0896ee1 100644
--- a/content/html/user_guide/30_configs_in_depth.html
+++ b/content/html/user_guide/30_configs_in_depth.html
@@ -1,169 +1,170 @@
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-  <title>Configs in Depth &mdash; openPASS Documentation</title>
-      <link rel="stylesheet" href="../_static/pygments.css" type="text/css" />
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-<li class="toctree-l1"><a class="reference internal" href="../installation_guide/30_install_openpass.html">Installing openPASS</a></li>
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-<li class="toctree-l1 current"><a class="current reference internal" href="#">Configs in Depth</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="configs/profilescatalog.html">ProfilesCatalog</a></li>
-<li class="toctree-l2"><a class="reference internal" href="configs/scenario.html">Scenario</a></li>
-<li class="toctree-l2"><a class="reference internal" href="configs/scenario_api_support.html">Scenario API Support</a></li>
-<li class="toctree-l2"><a class="reference internal" href="configs/scenery.html">Scenery</a></li>
-<li class="toctree-l2"><a class="reference internal" href="configs/simulationconfig.html">SimulationConfig</a></li>
-<li class="toctree-l2"><a class="reference internal" href="configs/staticsystemconfig.html">Static SystemConfig</a></li>
-<li class="toctree-l2"><a class="reference internal" href="configs/systemconfigblueprint.html">SystemConfigBlueprint</a></li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="40_outputs_in_depth.html">Outputs in Depth</a></li>
-<li class="toctree-l1"><a class="reference internal" href="50_scenario_simulation.html">Simulator</a></li>
-</ul>
-<p class="caption" role="heading"><span class="caption-text">Advanced topics</span></p>
-<ul>
-<li class="toctree-l1"><a class="reference internal" href="../advanced_topics/20_simulator_advanced.html">Simulator</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../advanced_topics/30_testing.html">EndToEnd Test Framework</a></li>
-</ul>
-<p class="caption" role="heading"><span class="caption-text">Developer Information</span></p>
-<ul>
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-<li class="toctree-l1"><a class="reference internal" href="../developer_information/20_documentation.html">Documentation Concept</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../developer_information/30_coding_conventions.html">Coding Guidelines</a></li>
-</ul>
-<p class="caption" role="heading"><span class="caption-text">Other Information</span></p>
-<ul>
-<li class="toctree-l1"><a class="reference internal" href="../other_information/10_external_dependencies.html">External Dependencies</a></li>
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-      <li class="breadcrumb-item active">Configs in Depth</li>
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-            <a href="../_sources/user_guide/30_configs_in_depth.rst.txt" rel="nofollow"> View page source</a>
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-          <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
-           <div itemprop="articleBody">
-             
-  <section id="configs-in-depth">
-<span id="id1"></span><h1>Configs in Depth<a class="headerlink" href="#configs-in-depth" title="Link to this heading"></a></h1>
-<p>As described in the <a class="reference internal" href="10_overview.html#primer"><span class="std std-ref">Primer</span></a>, not all inputs might be of interest for the targeted audience.
-Yet, for completeness, all potential input files shall be described here in detail.</p>
-<div class="toctree-wrapper compound">
-<ul>
-<li class="toctree-l1"><a class="reference internal" href="configs/profilescatalog.html">ProfilesCatalog</a></li>
-<li class="toctree-l1"><a class="reference internal" href="configs/scenario.html">Scenario</a></li>
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-<li class="toctree-l1"><a class="reference internal" href="configs/simulationconfig.html">SimulationConfig</a></li>
-<li class="toctree-l1"><a class="reference internal" href="configs/staticsystemconfig.html">Static SystemConfig</a></li>
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-  </div>
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+<!DOCTYPE html>
+<html class="writer-html5" lang="en" data-content_root="../">
+<head>
+  <meta charset="utf-8" /><meta name="viewport" content="width=device-width, initial-scale=1" />
+
+  <meta name="viewport" content="width=device-width, initial-scale=1.0" />
+  <title>Configs in Depth &mdash; openPASS Documentation</title>
+      <link rel="stylesheet" type="text/css" href="../_static/pygments.css?v=b86133f3" />
+      <link rel="stylesheet" type="text/css" href="../_static/css/theme.css?v=19f00094" />
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+    <link rel="shortcut icon" href="../_static/openPASS.ico"/>
+  <!--[if lt IE 9]>
+    <script src="../_static/js/html5shiv.min.js"></script>
+  <![endif]-->
+  
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+    <link rel="next" title="ProfilesCatalog" href="configs/profilescatalog.html" />
+    <link rel="prev" title="PCM Simulation" href="tutorials/20_pcm_simulation.html" /> 
+</head>
+
+<body class="wy-body-for-nav"> 
+  <div class="wy-grid-for-nav">
+    <nav data-toggle="wy-nav-shift" class="wy-nav-side">
+      <div class="wy-side-scroll">
+        <div class="wy-side-nav-search" >
+
+          
+          
+          <a href="../index.html" class="icon icon-home">
+            openPASS
+              <img src="../_static/openPASS.png" class="logo" alt="Logo"/>
+          </a>
+              <div class="version">
+                1.2.0
+              </div>
+<div role="search">
+  <form id="rtd-search-form" class="wy-form" action="../search.html" method="get">
+    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
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+        </div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="Navigation menu">
+              <p class="caption" role="heading"><span class="caption-text">Installation Guide</span></p>
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="../installation_guide/10_getting_started.html">Getting Started</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../installation_guide/15_system_requirements.html">System Requirements</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../installation_guide/20_install_prerequisites.html">Installing Prerequisites</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../installation_guide/30_install_openpass.html">Installing openPASS</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../installation_guide/50_further_guidance.html">Further Guidance</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../installation_guide/60_conan.html">Building with Conan</a></li>
+</ul>
+<p class="caption" role="heading"><span class="caption-text">User Guides</span></p>
+<ul class="current">
+<li class="toctree-l1"><a class="reference internal" href="10_overview.html">Overview</a></li>
+<li class="toctree-l1"><a class="reference internal" href="20_tutorials.html">Tutorials</a></li>
+<li class="toctree-l1 current"><a class="current reference internal" href="#">Configs in Depth</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="configs/profilescatalog.html">ProfilesCatalog</a></li>
+<li class="toctree-l2"><a class="reference internal" href="configs/scenario.html">Scenario</a></li>
+<li class="toctree-l2"><a class="reference internal" href="configs/scenario_api_support.html">Scenario API Support</a></li>
+<li class="toctree-l2"><a class="reference internal" href="configs/scenery.html">Scenery</a></li>
+<li class="toctree-l2"><a class="reference internal" href="configs/simulationconfig.html">SimulationConfig</a></li>
+<li class="toctree-l2"><a class="reference internal" href="configs/staticsystemconfig.html">Static SystemConfig</a></li>
+<li class="toctree-l2"><a class="reference internal" href="configs/systemconfigblueprint.html">SystemConfigBlueprint</a></li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="40_outputs_in_depth.html">Outputs in Depth</a></li>
+<li class="toctree-l1"><a class="reference internal" href="50_scenario_simulation.html">Simulator</a></li>
+</ul>
+<p class="caption" role="heading"><span class="caption-text">Advanced topics</span></p>
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="../advanced_topics/20_simulator_advanced.html">Simulator</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../advanced_topics/30_testing.html">EndToEnd Test Framework</a></li>
+</ul>
+<p class="caption" role="heading"><span class="caption-text">Developer Information</span></p>
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="../developer_information/10_ide_support.html">IDE Support</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../developer_information/20_documentation.html">Documentation Concept</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../developer_information/30_coding_conventions.html">Coding Guidelines</a></li>
+</ul>
+<p class="caption" role="heading"><span class="caption-text">Other Information</span></p>
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="../other_information/10_external_dependencies.html">External Dependencies</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../other_information/20_glossary.html">Glossary</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../other_information/30_gui_plugins.html">GUI Plugins</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../other_information/40_license.html">License</a></li>
+</ul>
+
+        </div>
+      </div>
+    </nav>
+
+    <section data-toggle="wy-nav-shift" class="wy-nav-content-wrap"><nav class="wy-nav-top" aria-label="Mobile navigation menu" >
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+          <a href="../index.html">openPASS</a>
+      </nav>
+
+      <div class="wy-nav-content">
+        <div class="rst-content">
+          <div role="navigation" aria-label="Page navigation">
+  <ul class="wy-breadcrumbs">
+      <li><a href="../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li class="breadcrumb-item active">Configs in Depth</li>
+      <li class="wy-breadcrumbs-aside">
+            <a href="../_sources/user_guide/30_configs_in_depth.rst.txt" rel="nofollow"> View page source</a>
+      </li>
+  </ul>
+  <hr/>
+</div>
+          <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
+           <div itemprop="articleBody">
+             
+  <section id="configs-in-depth">
+<span id="id1"></span><h1>Configs in Depth<a class="headerlink" href="#configs-in-depth" title="Link to this heading"></a></h1>
+<p>As described in the <a class="reference internal" href="10_overview.html#primer"><span class="std std-ref">Primer</span></a>, not all inputs might be of interest for the targeted audience.
+Yet, for completeness, all potential input files shall be described here in detail.</p>
+<div class="toctree-wrapper compound">
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="configs/profilescatalog.html">ProfilesCatalog</a></li>
+<li class="toctree-l1"><a class="reference internal" href="configs/scenario.html">Scenario</a></li>
+<li class="toctree-l1"><a class="reference internal" href="configs/scenario_api_support.html">Scenario API Support</a></li>
+<li class="toctree-l1"><a class="reference internal" href="configs/scenery.html">Scenery</a></li>
+<li class="toctree-l1"><a class="reference internal" href="configs/simulationconfig.html">SimulationConfig</a></li>
+<li class="toctree-l1"><a class="reference internal" href="configs/staticsystemconfig.html">Static SystemConfig</a></li>
+<li class="toctree-l1"><a class="reference internal" href="configs/systemconfigblueprint.html">SystemConfigBlueprint</a></li>
+</ul>
+</div>
+</section>
+
+
+           </div>
+          </div>
+          <footer><div class="rst-footer-buttons" role="navigation" aria-label="Footer">
+        <a href="tutorials/20_pcm_simulation.html" class="btn btn-neutral float-left" title="PCM Simulation" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> Previous</a>
+        <a href="configs/profilescatalog.html" class="btn btn-neutral float-right" title="ProfilesCatalog" accesskey="n" rel="next">Next <span class="fa fa-arrow-circle-right" aria-hidden="true"></span></a>
+    </div>
+
+  <hr/>
+
+  <div role="contentinfo">
+    <p>&#169; Copyright 2025 openPASS Working Group.</p>
+  </div>
+
+  Built with <a href="https://www.sphinx-doc.org/">Sphinx</a> using a
+    <a href="https://github.com/readthedocs/sphinx_rtd_theme">theme</a>
+    provided by <a href="https://readthedocs.org">Read the Docs</a>.
+   
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+  <script>
+      jQuery(function () {
+          SphinxRtdTheme.Navigation.enable(true);
+      });
+  </script> 
+
+</body>
 </html>
\ No newline at end of file
diff --git a/content/html/user_guide/40_outputs_in_depth.html b/content/html/user_guide/40_outputs_in_depth.html
index 266a16b3edd9208c897fa161f0029ba5d086ae54..99ca99476125ccdce3397d234ee747f596fd51a3 100644
--- a/content/html/user_guide/40_outputs_in_depth.html
+++ b/content/html/user_guide/40_outputs_in_depth.html
@@ -1,159 +1,160 @@
-<!DOCTYPE html>
-<html class="writer-html5" lang="en" >
-<head>
-  <meta charset="utf-8" /><meta name="viewport" content="width=device-width, initial-scale=1" />
-
-  <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-  <title>Outputs in Depth &mdash; openPASS Documentation</title>
-      <link rel="stylesheet" href="../_static/pygments.css" type="text/css" />
-      <link rel="stylesheet" href="../_static/css/theme.css" type="text/css" />
-      <link rel="stylesheet" href="../_static/css/custom.css" type="text/css" />
-      <link rel="stylesheet" href="../_static/tabs.css" type="text/css" />
-    <link rel="shortcut icon" href="../_static/openPASS.ico"/>
-  <!--[if lt IE 9]>
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-  
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-        <script src="../_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
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-<p>As described in the <a class="reference internal" href="10_overview.html#primer"><span class="std std-ref">Primer</span></a>, simulation outputs are generated by the corresponding observers.
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+             
+  <section id="outputs-in-depth">
+<span id="id1"></span><h1>Outputs in Depth<a class="headerlink" href="#outputs-in-depth" title="Link to this heading"></a></h1>
+<p>As described in the <a class="reference internal" href="10_overview.html#primer"><span class="std std-ref">Primer</span></a>, simulation outputs are generated by the corresponding observers.
+In the following, all potential outputs are described, grouped by the corresponding observers.</p>
+<div class="toctree-wrapper compound">
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="outputs/observation_log.html">Observation_Log</a></li>
+<li class="toctree-l1"><a class="reference internal" href="outputs/observation_repository.html">Observation_EntityRepository</a></li>
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diff --git a/content/html/user_guide/50_scenario_simulation.html b/content/html/user_guide/50_scenario_simulation.html
index c5e2bdae8c1019aa41fe8480386a9c6ea4028e56..80ee8b3357ae4cafec9bab6097755b79af312e82 100644
--- a/content/html/user_guide/50_scenario_simulation.html
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diff --git a/content/html/user_guide/configs/profilescatalog.html b/content/html/user_guide/configs/profilescatalog.html
index 00ead0b3deb2a592fe1afc689ef2422dd92fa49a..a04b626e7bf1759cc482b4691c61b6eb55ffe594 100644
--- a/content/html/user_guide/configs/profilescatalog.html
+++ b/content/html/user_guide/configs/profilescatalog.html
@@ -1,589 +1,590 @@
-<!DOCTYPE html>
-<html class="writer-html5" lang="en" >
-<head>
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-  <title>ProfilesCatalog &mdash; openPASS Documentation</title>
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-      <link rel="stylesheet" href="../../_static/css/theme.css" type="text/css" />
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-              <p class="caption" role="heading"><span class="caption-text">Installation Guide</span></p>
-<ul>
-<li class="toctree-l1"><a class="reference internal" href="../../installation_guide/10_getting_started.html">Getting Started</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../../installation_guide/15_system_requirements.html">System Requirements</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../../installation_guide/20_install_prerequisites.html">Installing Prerequisites</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../../installation_guide/30_install_openpass.html">Installing openPASS</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../../installation_guide/50_further_guidance.html">Further Guidance</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../../installation_guide/60_conan.html">Building with Conan</a></li>
-</ul>
-<p class="caption" role="heading"><span class="caption-text">User Guides</span></p>
-<ul class="current">
-<li class="toctree-l1"><a class="reference internal" href="../10_overview.html">Overview</a></li>
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-<li class="toctree-l1 current"><a class="reference internal" href="../30_configs_in_depth.html">Configs in Depth</a><ul class="current">
-<li class="toctree-l2 current"><a class="current reference internal" href="#">ProfilesCatalog</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="#agentprofiles">AgentProfiles</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="#example">Example</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="#systemprofiles">SystemProfiles</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="#components">Components</a></li>
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-</li>
-<li class="toctree-l3"><a class="reference internal" href="#profilegroups">ProfileGroups</a></li>
-<li class="toctree-l3"><a class="reference internal" href="#driver-profilegroup">Driver ProfileGroup</a></li>
-<li class="toctree-l3"><a class="reference internal" href="#vehiclecomponent-profilegroups">VehicleComponent ProfileGroups</a></li>
-<li class="toctree-l3"><a class="reference internal" href="#spawnerprofile-profilegroup">SpawnerProfile ProfileGroup</a></li>
-<li class="toctree-l3"><a class="reference internal" href="#trafficrules-profilegroup">TrafficRules ProfileGroup</a></li>
-</ul>
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-</ul>
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-<li class="toctree-l1"><a class="reference internal" href="../40_outputs_in_depth.html">Outputs in Depth</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../50_scenario_simulation.html">Simulator</a></li>
-</ul>
-<p class="caption" role="heading"><span class="caption-text">Advanced topics</span></p>
-<ul>
-<li class="toctree-l1"><a class="reference internal" href="../../advanced_topics/20_simulator_advanced.html">Simulator</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../../advanced_topics/30_testing.html">EndToEnd Test Framework</a></li>
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-<p class="caption" role="heading"><span class="caption-text">Developer Information</span></p>
-<ul>
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-<li class="toctree-l1"><a class="reference internal" href="../../developer_information/30_coding_conventions.html">Coding Guidelines</a></li>
-</ul>
-<p class="caption" role="heading"><span class="caption-text">Other Information</span></p>
-<ul>
-<li class="toctree-l1"><a class="reference internal" href="../../other_information/10_external_dependencies.html">External Dependencies</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../../other_information/20_glossary.html">Glossary</a></li>
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-<li class="toctree-l1"><a class="reference internal" href="../../other_information/40_license.html">License</a></li>
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-      <li class="breadcrumb-item active">ProfilesCatalog</li>
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-            <a href="../../_sources/user_guide/configs/profilescatalog.rst.txt" rel="nofollow"> View page source</a>
-      </li>
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-             
-  <section id="profilescatalog">
-<span id="id1"></span><h1>ProfilesCatalog<a class="headerlink" href="#profilescatalog" title="Link to this heading"></a></h1>
-<p>The ProfilesCatalog contains all AgentProfiles, SystemProfiles and generic ProfileGroups and Profiles.
-Depending on the configuration the simulator could require a “Driver”-ProfileGroup, a “Spawner”- and “TrafficGroup”-ProfileGroup, a “TrafficRules”-ProfileGroup or sensor and vehiclecomponent specific ProfileGroups.</p>
-<ul class="simple">
-<li><p><a class="reference internal" href="#profilescatalog-agentprofiles"><span class="std std-ref">AgentProfiles</span></a></p></li>
-<li><p><a class="reference internal" href="#profilescatalog-systemprofiles"><span class="std std-ref">SystemProfiles</span></a></p></li>
-<li><p><a class="reference internal" href="#profilescatalog-profilegroups"><span class="std std-ref">ProfileGroups</span></a></p></li>
-<li><p><a class="reference internal" href="#profilescatalog-driverprofiles"><span class="std std-ref">Driver ProfileGroup</span></a></p></li>
-<li><p><a class="reference internal" href="#profilescatalog-vehiclecomponentprofiles"><span class="std std-ref">VehicleComponent ProfileGroups</span></a></p></li>
-<li><p><a class="reference internal" href="#profilescatalog-spawnerprofiles"><span class="std std-ref">SpawnerProfile ProfileGroup</span></a></p></li>
-<li><p><a class="reference internal" href="#profilescatalog-trafficrulesprofiles"><span class="std std-ref">TrafficRules ProfileGroup</span></a></p></li>
-</ul>
-<section id="agentprofiles">
-<span id="profilescatalog-agentprofiles"></span><h2>AgentProfiles<a class="headerlink" href="#agentprofiles" title="Link to this heading"></a></h2>
-<p>In this section all AgentProfiles are defined.
-An AgentProfile is either static or dynamic.
-A static AgentProfile consists of a SystemConfig and a VehicleModel.
-A dynamic AgentProfile specifies the composition of the agent according to certain probabilities.
-Here the initial driver, system profile and the vehicle models of an agent get specified.
-At least one AgentProfile is required.
-But every AgentProfile referenced in the used <a class="reference internal" href="scenario.html#scenario"><span class="std std-ref">Scenario</span></a> file or <a class="reference internal" href="../sim_user_guide/components/spawner.html#components-trafficgroups"><span class="std std-ref">TrafficGroups</span></a> must exist.
-All probabilities must add up to 1.0.</p>
-<p>Composition of a static AgentProfile:</p>
-<table class="docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Tag</p></th>
-<th class="head"><p>Description</p></th>
-<th class="head"><p>Required</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>System</p></td>
-<td><p>Reference to a system defined in a SystemConfig</p></td>
-<td><p>Yes</p></td>
-</tr>
-<tr class="row-odd"><td><p>VehicleModel</p></td>
-<td><p>Name of the VehicleModel in the <a class="reference internal" href="scenario.html#scenario-vehiclemodels"><span class="std std-ref">VehicleCatalog</span></a></p></td>
-<td><p>Yes</p></td>
-</tr>
-</tbody>
-</table>
-<p>Composition of a dynamic AgentProfile:</p>
-<table class="docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Tag</p></th>
-<th class="head"><p>Description</p></th>
-<th class="head"><p>Required</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>DriverProfiles</p></td>
-<td><p>List of <a class="reference internal" href="#profilescatalog-driverprofiles"><span class="std std-ref">Driver ProfileGroup</span></a> for random selection</p></td>
-<td><p>At least one entry</p></td>
-</tr>
-<tr class="row-odd"><td><p>SystemProfiles</p></td>
-<td><p>List of <a class="reference internal" href="#profilescatalog-systemprofiles"><span class="std std-ref">SystemProfiles</span></a> for random selection</p></td>
-<td><p>At least one entry</p></td>
-</tr>
-<tr class="row-even"><td><p>VehicleModels</p></td>
-<td><p>List of vehicle models for random selection</p></td>
-<td><p>At least one entry</p></td>
-</tr>
-</tbody>
-</table>
-<section id="example">
-<h3>Example<a class="headerlink" href="#example" title="Link to this heading"></a></h3>
-<p>In this experiment the ego agent is defined by the system with Id 0 in systemConfig.xml and the VehicleModel car_bmw_7.
-Every LuxuryClassCarAgent has the driver profile “AgentFollowingDriver”.
-Regarding the system profile 50% have a NoADAS and the other 50% have WithAEB.
-Regarding the vehicle model 50% use a car_mini_cooper and the other 50% use car_bmw_7_1 vehicle model.</p>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;AgentProfiles&gt;</span>
-<span class="w">    </span><span class="nt">&lt;AgentProfile</span><span class="w"> </span><span class="na">Name=</span><span class="s">&quot;EgoAgent&quot;</span><span class="w"> </span><span class="na">Type=</span><span class="s">&quot;Static&quot;</span><span class="nt">&gt;</span>
-<span class="w">        </span><span class="nt">&lt;System&gt;</span>
-<span class="w">            </span><span class="nt">&lt;File&gt;</span>systemConfig.xml<span class="nt">&lt;/File&gt;</span>
-<span class="w">            </span><span class="nt">&lt;Id&gt;</span>0<span class="nt">&lt;/Id&gt;</span>
-<span class="w">        </span><span class="nt">&lt;/System&gt;</span>
-<span class="w">        </span><span class="nt">&lt;VehicleModel&gt;</span>car_bmw_7<span class="nt">&lt;/VehicleModel&gt;</span>
-<span class="w">    </span><span class="nt">&lt;/AgentProfile&gt;</span>
-<span class="w">    </span><span class="nt">&lt;AgentProfile</span><span class="w"> </span><span class="na">Name=</span><span class="s">&quot;LuxuryClassCarAgent&quot;</span><span class="w"> </span><span class="na">Type=</span><span class="s">&quot;Dynamic&quot;</span><span class="nt">&gt;</span>
-<span class="w">        </span><span class="nt">&lt;DriverProfiles&gt;</span>
-<span class="w">            </span><span class="nt">&lt;DriverProfile</span><span class="w"> </span><span class="na">Name=</span><span class="s">&quot;AgentFollowingDriver&quot;</span><span class="w"> </span><span class="na">Probability=</span><span class="s">&quot;1.0&quot;</span><span class="nt">/&gt;</span>
-<span class="w">        </span><span class="nt">&lt;/DriverProfiles&gt;</span>
-<span class="w">        </span><span class="nt">&lt;SystemProfiles&gt;</span>
-<span class="w">            </span><span class="nt">&lt;SystemProfile</span><span class="w"> </span><span class="na">Name=</span><span class="s">&quot;NoADAS&quot;</span><span class="w"> </span><span class="na">Probability=</span><span class="s">&quot;0.5&quot;</span><span class="nt">/&gt;</span>
-<span class="w">            </span><span class="nt">&lt;SystemProfile</span><span class="w"> </span><span class="na">Name=</span><span class="s">&quot;WithAEB&quot;</span><span class="w"> </span><span class="na">Probability=</span><span class="s">&quot;0.5&quot;</span><span class="nt">/&gt;</span>
-<span class="w">        </span><span class="nt">&lt;/SystemProfiles&gt;</span>
-<span class="w">        </span><span class="nt">&lt;VehicleModels&gt;</span>
-<span class="w">          </span><span class="nt">&lt;VehicleModel</span><span class="w"> </span><span class="na">Name=</span><span class="s">&quot;car_mini_cooper&quot;</span><span class="w"> </span><span class="na">Probability=</span><span class="s">&quot;0.5&quot;</span><span class="nt">/&gt;</span>
-<span class="w">          </span><span class="nt">&lt;VehicleModel</span><span class="w"> </span><span class="na">Name=</span><span class="s">&quot;car_bmw_7_1&quot;</span><span class="w"> </span><span class="na">Probability=</span><span class="s">&quot;0.5&quot;</span><span class="nt">/&gt;</span>
-<span class="w">        </span><span class="nt">&lt;/VehicleModels&gt;</span>
-<span class="w">    </span><span class="nt">&lt;/AgentProfile&gt;</span>
-<span class="nt">&lt;/AgentProfiles&gt;</span>
-</pre></div>
-</div>
-</section>
-</section>
-<section id="systemprofiles">
-<span id="profilescatalog-systemprofiles"></span><h2>SystemProfiles<a class="headerlink" href="#systemprofiles" title="Link to this heading"></a></h2>
-<p>This sections contains all system profiles.
-Every SystemProfile used by <a class="reference internal" href="#profilescatalog-agentprofiles"><span class="std std-ref">AgentProfiles</span></a> must be listed here.</p>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;SystemProfiles&gt;</span>
-<span class="w">   </span><span class="nt">&lt;SystemProfile</span><span class="w"> </span><span class="na">Name=</span><span class="s">&quot;WithAEB&quot;</span><span class="nt">&gt;</span>
-<span class="w">       </span><span class="nt">&lt;Components&gt;</span>
-<span class="w">              </span><span class="nt">&lt;Component</span><span class="w"> </span><span class="na">Type=</span><span class="s">&quot;AEB&quot;</span><span class="nt">&gt;</span>
-<span class="w">               </span><span class="nt">&lt;Profiles&gt;</span>
-<span class="w">                   </span><span class="nt">&lt;Profile</span><span class="w"> </span><span class="na">Name=</span><span class="s">&quot;AebProfile&quot;</span><span class="w"> </span><span class="na">Probability=</span><span class="s">&quot;0.5&quot;</span><span class="nt">/&gt;</span>
-<span class="w">               </span><span class="nt">&lt;/Profiles&gt;</span>
-<span class="w">               </span><span class="nt">&lt;SensorLinks&gt;</span>
-<span class="w">                   </span><span class="nt">&lt;SensorLink</span><span class="w"> </span><span class="na">SensorId=</span><span class="s">&quot;0&quot;</span><span class="w"> </span><span class="na">InputId=</span><span class="s">&quot;Camera&quot;</span><span class="nt">/&gt;</span>
-<span class="w">               </span><span class="nt">&lt;/SensorLinks&gt;</span>
-<span class="w">              </span><span class="nt">&lt;/Component&gt;</span>
-<span class="w">       </span><span class="nt">&lt;/Components&gt;</span>
-<span class="w">       </span><span class="nt">&lt;Sensors&gt;</span>
-<span class="w">           </span><span class="nt">&lt;Sensor</span><span class="w"> </span><span class="na">Id=</span><span class="s">&quot;0&quot;</span><span class="w"> </span><span class="na">Position=</span><span class="s">&quot;Default&quot;</span><span class="nt">&gt;</span>
-<span class="w">               </span><span class="nt">&lt;Profile</span><span class="w"> </span><span class="na">Type=</span><span class="s">&quot;Geometric2D&quot;</span><span class="w"> </span><span class="na">Name=</span><span class="s">&quot;Standard&quot;</span><span class="nt">/&gt;</span>
-<span class="w">           </span><span class="nt">&lt;/Sensor&gt;</span>
-<span class="w">       </span><span class="nt">&lt;/Sensors&gt;</span>
-<span class="w">   </span><span class="nt">&lt;/SystemProfile&gt;</span>
-<span class="w">   </span>...
-<span class="nt">&lt;/SystemProfiles&gt;</span>
-</pre></div>
-</div>
-<table class="docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Attribute</p></th>
-<th class="head"><p>Description</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>Name</p></td>
-<td><p>Name of the vehicle profile</p></td>
-</tr>
-<tr class="row-odd"><td><p>Components</p></td>
-<td><p>Lists all ADAS and other components in the vehicle</p></td>
-</tr>
-<tr class="row-even"><td><p>Sensors</p></td>
-<td><p>Lists all sensors in the vehicle</p></td>
-</tr>
-</tbody>
-</table>
-<section id="components">
-<span id="profilescatalog-components"></span><h3>Components<a class="headerlink" href="#components" title="Link to this heading"></a></h3>
-<table class="docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Attribute</p></th>
-<th class="head"><p>Description</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>Type</p></td>
-<td><p>Type of the component.</p>
-<p>Must match component name in SystemConfigBlueprint</p>
-</td>
-</tr>
-<tr class="row-odd"><td><p>Profile</p></td>
-<td><p>Possible profiles of the component with probabilities.</p>
-<p>The profiles are defined in the <a class="reference internal" href="#profilescatalog-vehiclecomponentprofiles"><span class="std std-ref">VehicleComponent ProfileGroups</span></a> section</p>
-<p>Probabilities do not need to add up to 1.</p>
-</td>
-</tr>
-<tr class="row-even"><td><p>SensorLinks</p></td>
-<td><p>Defines which sensor this component uses as input</p></td>
-</tr>
-</tbody>
-</table>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>The possibility of “not having that component” can be achieved if the probabilities of the profiles do not add up to 1.</p>
-</div>
-</section>
-<section id="sensors">
-<span id="profilescatalog-sensors"></span><h3>Sensors<a class="headerlink" href="#sensors" title="Link to this heading"></a></h3>
-<table class="docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Attribute</p></th>
-<th class="head"><p>Description</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>Id</p></td>
-<td><p>Identifier for the sensor used by the SensorLink definition of the components</p></td>
-</tr>
-<tr class="row-odd"><td><p>Position</p></td>
-<td><p>Position of the sensor in the vehicle in relative coordinates</p></td>
-</tr>
-<tr class="row-even"><td><p>Profile</p></td>
-<td><p>All possible profiles of the sensor with probabilities.</p>
-<p>The profiles are defined in the <a class="reference internal" href="#profilescatalog-vehiclecomponentprofiles"><span class="std std-ref">VehicleComponent ProfileGroups</span></a> section</p>
-</td>
-</tr>
-</tbody>
-</table>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;Sensors&gt;</span>
-<span class="w">  </span><span class="nt">&lt;Sensor</span><span class="w"> </span><span class="na">Id=</span><span class="s">&quot;0&quot;</span><span class="w"> </span><span class="na">Position=</span><span class="s">&quot;Default&quot;</span><span class="nt">&gt;</span>
-<span class="w">    </span><span class="nt">&lt;Profile</span><span class="w"> </span><span class="na">Type=</span><span class="s">&quot;ReceiverCar2X&quot;</span><span class="w"> </span><span class="na">Name=</span><span class="s">&quot;Standard&quot;</span><span class="nt">/&gt;</span>
-<span class="w">  </span><span class="nt">&lt;/Sensor&gt;</span>
-<span class="w">  </span><span class="nt">&lt;Sensor</span><span class="w"> </span><span class="na">Id=</span><span class="s">&quot;1&quot;</span><span class="w"> </span><span class="na">Position=</span><span class="s">&quot;FrontWindow&quot;</span><span class="nt">&gt;</span>
-<span class="w">    </span><span class="nt">&lt;Profile</span><span class="w"> </span><span class="na">Type=</span><span class="s">&quot;Geometric2D&quot;</span><span class="w"> </span><span class="na">Name=</span><span class="s">&quot;Standard&quot;</span><span class="nt">/&gt;</span>
-<span class="w">  </span><span class="nt">&lt;/Sensor&gt;</span>
-<span class="nt">&lt;/Sensors&gt;</span>
-</pre></div>
-</div>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>The Position attribute in the XML specifies placement of a sensor within a vehicle. The position is defined in VehicleModelsCatalog.
-It follows the format “SensorPosition/Position/Parameters”. The parameters height, lateral, longitudinal, pitch, roll and yaw are required.
-For example, “FrontWindow” describes a sensor mounted on the front window, with corresponding positional parameters.
-See example catalog in <a class="reference internal" href="scenario.html#scenario-vehiclemodels"><span class="std std-ref">VehicleCatalog</span></a>.</p>
-</div>
-</section>
-</section>
-<section id="profilegroups">
-<span id="profilescatalog-profilegroups"></span><h2>ProfileGroups<a class="headerlink" href="#profilegroups" title="Link to this heading"></a></h2>
-<p>A ProfileGroup defines all the possible profiles of a component.
-A single profile is a set of parameters that are passed to the component in the same way as the parameters in the SystemConfig.
-Note: For components that have their parameters defined in the ProfilesCatalog the parameters in the SystemConfigBlueprint are ignored.
-Parameters can either be simple or stochastic.
-Simple parameters only have one value, while stochastic parameters have a minimum and maximum value as well as distribution specific parameters.
-Which parameters are needed/supported depends on the component.</p>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;ProfileGroup</span><span class="w"> </span><span class="na">Type=</span><span class="s">&quot;ComponentName&quot;</span><span class="nt">&gt;</span>
-<span class="w">    </span><span class="nt">&lt;Profile</span><span class="w"> </span><span class="na">Name=</span><span class="s">&quot;ExampleProfile&quot;</span><span class="nt">&gt;</span>
-<span class="w">        </span><span class="nt">&lt;String</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;StringParameter&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;Lorem ipsum&quot;</span><span class="nt">/&gt;</span>
-<span class="w">        </span><span class="nt">&lt;DoubleVector</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;DoubleParameter&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;12.3,4.56,78.9&quot;</span><span class="nt">/&gt;</span>
-<span class="w">        </span><span class="nt">&lt;NormalDistribution</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;RandomParameter&quot;</span><span class="w"> </span><span class="na">Mean=</span><span class="s">&quot;4.5&quot;</span><span class="w"> </span><span class="na">SD=</span><span class="s">&quot;0.5&quot;</span><span class="w"> </span><span class="na">Min=</span><span class="s">&quot;3.5&quot;</span><span class="w"> </span><span class="na">Max=</span><span class="s">&quot;10.0&quot;</span><span class="nt">/&gt;</span>
-<span class="w">    </span><span class="nt">&lt;/Profile&gt;</span>
-<span class="w">    </span><span class="nt">&lt;Profile</span><span class="w"> </span><span class="na">Name=</span><span class="s">&quot;AnotherProfile&quot;</span><span class="nt">&gt;</span>
-<span class="w">        </span>...
-<span class="w">    </span><span class="nt">&lt;/Profile&gt;</span>
-<span class="nt">&lt;/ProfileGroup&gt;</span>
-</pre></div>
-</div>
-<p>There are the following types of simple parameters:</p>
-<ul class="simple">
-<li><p>Bool</p></li>
-<li><p>Int</p></li>
-<li><p>Double</p></li>
-<li><p>String</p></li>
-<li><p>IntVector</p></li>
-<li><p>DoubleVector</p></li>
-<li><p>StringVector</p></li>
-</ul>
-<p>If a parameter is stochastic it can be defined as any to be drawn from any of the following distributions:</p>
-<table class="docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Distribution</p></th>
-<th class="head"><p>Additional Attributes</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>NormalDistribution</p></td>
-<td><p>(Mean and SD) or (Mu and Sigma) - equivalent</p></td>
-</tr>
-<tr class="row-odd"><td><p>LogNormalDistribution</p></td>
-<td><p>(Mean and SD) or (Mu and Sigma) - not equivalent</p></td>
-</tr>
-<tr class="row-even"><td><p>UniformDistribution</p></td>
-<td><p>None</p></td>
-</tr>
-<tr class="row-odd"><td><p>ExponentialDistribution</p></td>
-<td><p>Lambda or Mean (Mean = 1 / Lambda)</p></td>
-</tr>
-<tr class="row-even"><td><p>GammaDistribution</p></td>
-<td><p>(Mean and SD) or (Shape and Scale)</p></td>
-</tr>
-</tbody>
-</table>
-<p>Additionally there is the list type.
-The list contains any number of list items which itself contain a list of parameters.
-Lists can be nested at most two times.</p>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;List</span><span class="w"> </span><span class="na">Name=</span><span class="s">&quot;ExampleList&quot;</span><span class="nt">&gt;</span>
-<span class="w">    </span><span class="nt">&lt;ListItem&gt;</span>
-<span class="w">        </span><span class="nt">&lt;String</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;FirstParameter&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;Lorem&quot;</span><span class="nt">/&gt;</span>
-<span class="w">        </span><span class="nt">&lt;Double</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;SecondParameter&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;0.4&quot;</span><span class="nt">/&gt;</span>
-<span class="w">    </span><span class="nt">&lt;/ListItem&gt;</span>
-<span class="w">    </span><span class="nt">&lt;ListItem&gt;</span>
-<span class="w">        </span><span class="nt">&lt;String</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;FirstParameter&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;ipsum&quot;</span><span class="nt">/&gt;</span>
-<span class="w">        </span><span class="nt">&lt;Double</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;SecondParameter&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;0.6&quot;</span><span class="nt">/&gt;</span>
-<span class="w">    </span><span class="nt">&lt;/ListItem&gt;</span>
-<span class="nt">&lt;/List&gt;</span>
-</pre></div>
-</div>
-<p>A Profile can also reference another Profile in another ProfileGroup.
-In these case the importer handles the reference as if it was substituted by all subelements of the referenced Profile.
-References may not be nested.</p>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;Reference</span><span class="w"> </span><span class="na">Type=</span><span class="s">&quot;GroupType&quot;</span><span class="w"> </span><span class="na">Name=</span><span class="s">&quot;ProfileName&quot;</span><span class="nt">/&gt;</span>
-</pre></div>
-</div>
-</section>
-<section id="driver-profilegroup">
-<span id="profilescatalog-driverprofiles"></span><h2>Driver ProfileGroup<a class="headerlink" href="#driver-profilegroup" title="Link to this heading"></a></h2>
-<p>This section contains all driver profiles used by the simulation.
-At least one driver profile is required.
-The special parameter “Type” defines the name of the component (i.e. library name).
-For details on the individual parameters see the <a class="reference internal" href="../sim_user_guide/components/driver.html#components-driver"><span class="std std-ref">components reference</span></a>.</p>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;ProfileGroup</span><span class="w"> </span><span class="na">Type=</span><span class="s">&quot;Driver&quot;</span><span class="nt">&gt;</span>
-<span class="w">  </span><span class="nt">&lt;Profile</span><span class="w"> </span><span class="na">Name=</span><span class="s">&quot;Name&quot;</span><span class="nt">&gt;</span>
-<span class="w">    </span><span class="nt">&lt;String</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;Type&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;DriverLibrary&quot;</span><span class="nt">/&gt;</span>
-<span class="w">    </span>...
-<span class="w">  </span><span class="nt">&lt;/Profile&gt;</span>
-<span class="w">  </span>...
-<span class="nt">&lt;/ProfileGroup&gt;</span>
-</pre></div>
-</div>
-</section>
-<section id="vehiclecomponent-profilegroups">
-<span id="profilescatalog-vehiclecomponentprofiles"></span><h2>VehicleComponent ProfileGroups<a class="headerlink" href="#vehiclecomponent-profilegroups" title="Link to this heading"></a></h2>
-<p>This sections contains all driver assistance systems and other vehicle components and their parameter sets.
-For every used VehicleComponent type there must be a ProfileGroup with this type and every profile of this type used by <a class="reference internal" href="#profilescatalog-systemprofiles"><span class="std std-ref">SystemProfiles</span></a> must be listed here.
-For details on the individual parameters see the <a class="reference internal" href="../sim_user_guide/components/vehicle.html#components-vehiclecomponents"><span class="std std-ref">components reference</span></a>.</p>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;ProfileGroup</span><span class="w"> </span><span class="na">Type=</span><span class="s">&quot;LibraryName&quot;</span><span class="nt">&gt;</span>
-<span class="w">  </span><span class="nt">&lt;Profile</span><span class="w"> </span><span class="na">Name=</span><span class="s">&quot;Name&quot;</span><span class="nt">&gt;</span>
-<span class="w">    </span>...
-<span class="w">  </span><span class="nt">&lt;/Profile&gt;</span>
-<span class="w">  </span>...
-<span class="nt">&lt;/ProfileGroup&gt;</span>
-</pre></div>
-</div>
-</section>
-<section id="spawnerprofile-profilegroup">
-<span id="profilescatalog-spawnerprofiles"></span><h2>SpawnerProfile ProfileGroup<a class="headerlink" href="#spawnerprofile-profilegroup" title="Link to this heading"></a></h2>
-<p>This sections contains all parameters of the spawners referenced in the <a class="reference internal" href="simulationconfig.html#simulationconfig"><span class="std std-ref">SimulationConfig</span></a>.
-For details on the individual parameters see the <a class="reference internal" href="../sim_user_guide/components/spawner.html#components-spawner"><span class="std std-ref">components reference</span></a>.</p>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;ProfileGroup</span><span class="w"> </span><span class="na">Type=</span><span class="s">&quot;Spawner&quot;</span><span class="nt">&gt;</span>
-<span class="w">  </span><span class="nt">&lt;Profile</span><span class="w"> </span><span class="na">Name=</span><span class="s">&quot;Name&quot;</span><span class="nt">&gt;</span>
-<span class="w">    </span>...
-<span class="w">  </span><span class="nt">&lt;/Profile&gt;</span>
-<span class="w">  </span>...
-<span class="nt">&lt;/ProfileGroup&gt;</span>
-</pre></div>
-</div>
-</section>
-<section id="trafficrules-profilegroup">
-<span id="profilescatalog-trafficrulesprofiles"></span><h2>TrafficRules ProfileGroup<a class="headerlink" href="#trafficrules-profilegroup" title="Link to this heading"></a></h2>
-<p>This sections contains the global traffic rules, that may vary depending on the country.
-The following country are supported:</p>
-<table class="docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Name</p></th>
-<th class="head"><p>Description</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>DE</p></td>
-<td><p>Germany</p></td>
-</tr>
-<tr class="row-odd"><td><p>US</p></td>
-<td><p>United States</p></td>
-</tr>
-<tr class="row-even"><td><p>CN</p></td>
-<td><p>China</p></td>
-</tr>
-</tbody>
-</table>
-<p>The <a class="reference internal" href="simulationconfig.html#simulationconfig-environment"><span class="std std-ref">Environment</span></a> section in the SimulationConfig defines which set is used.
-Currently there are only rules regulating highway traffic. These are the following:</p>
-<table class="docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Name</p></th>
-<th class="head"><p>Type</p></th>
-<th class="head"><p>Description</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>OpenSpeedLimit</p></td>
-<td><p>Double</p></td>
-<td><p>maximum allowed speed if not restricted by signs</p></td>
-</tr>
-<tr class="row-odd"><td><p>KeepToOuterLanes</p></td>
-<td><p>Bool</p></td>
-<td><p>if true, vehicles must use the outermost free lane for driving</p></td>
-</tr>
-<tr class="row-even"><td><p>DontOvertakeOnOuterLanes</p></td>
-<td><p>Bool</p></td>
-<td><p>if true, it is prohibited to overtake another vehicle, that is driving further left (or right for lefthand traffic)</p></td>
-</tr>
-<tr class="row-odd"><td><p>FormRescueLane</p></td>
-<td><p>Bool</p></td>
-<td><p>if true, vehicles driving in a traffic jam must form a corridor for emergency vehicles</p></td>
-</tr>
-<tr class="row-even"><td><p>ZipperMerge</p></td>
-<td><p>Bool</p></td>
-<td><p>if true all merging shall be performed using zipper merge</p></td>
-</tr>
-</tbody>
-</table>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="w">  </span><span class="nt">&lt;ProfileGroup</span><span class="w"> </span><span class="na">Type=</span><span class="s">&quot;TrafficRules&quot;</span><span class="nt">&gt;</span>
-<span class="w">    </span><span class="nt">&lt;Profile</span><span class="w"> </span><span class="na">Name=</span><span class="s">&quot;DE&quot;</span><span class="nt">&gt;</span>
-<span class="w">      </span><span class="nt">&lt;Double</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;OpenSpeedLimit&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;INF&quot;</span><span class="nt">/&gt;</span>
-<span class="w">      </span><span class="nt">&lt;Double</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;OpenSpeedLimitTrucks&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;22.2222222&quot;</span><span class="nt">/&gt;</span>
-<span class="w">      </span><span class="nt">&lt;Double</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;OpenSpeedLimitBuses&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;27.7777777&quot;</span><span class="nt">/&gt;</span>
-<span class="w">      </span><span class="nt">&lt;Bool</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;KeepToOuterLanes&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;true&quot;</span><span class="nt">/&gt;</span>
-<span class="w">      </span><span class="nt">&lt;Bool</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;DontOvertakeOnOuterLanes&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;true&quot;</span><span class="nt">/&gt;</span>
-<span class="w">      </span><span class="nt">&lt;Bool</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;FormRescueLane&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;true&quot;</span><span class="nt">/&gt;</span>
-<span class="w">      </span><span class="nt">&lt;Bool</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;ZipperMerge&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;true&quot;</span><span class="nt">/&gt;</span>
-<span class="w">    </span><span class="nt">&lt;/Profile&gt;</span>
-<span class="w">    </span><span class="nt">&lt;Profile</span><span class="w"> </span><span class="na">Name=</span><span class="s">&quot;US&quot;</span><span class="nt">&gt;</span>
-<span class="w">      </span><span class="nt">&lt;Double</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;OpenSpeedLimit&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;31.2928&quot;</span><span class="nt">/&gt;</span>
-<span class="w">      </span><span class="nt">&lt;Double</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;OpenSpeedLimitTrucks&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;26.8224&quot;</span><span class="nt">/&gt;</span>
-<span class="w">      </span><span class="nt">&lt;Double</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;OpenSpeedLimitBuses&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;26.8224&quot;</span><span class="nt">/&gt;</span>
-<span class="w">      </span><span class="nt">&lt;Bool</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;KeepToOuterLanes&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;false&quot;</span><span class="nt">/&gt;</span>
-<span class="w">      </span><span class="nt">&lt;Bool</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;DontOvertakeOnOuterLanes&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;false&quot;</span><span class="nt">/&gt;</span>
-<span class="w">      </span><span class="nt">&lt;Bool</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;FormRescueLane&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;true&quot;</span><span class="nt">/&gt;</span>
-<span class="w">      </span><span class="nt">&lt;Bool</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;ZipperMerge&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;false&quot;</span><span class="nt">/&gt;</span>
-<span class="w">    </span><span class="nt">&lt;/Profile&gt;</span>
-<span class="w">    </span><span class="nt">&lt;Profile</span><span class="w"> </span><span class="na">Name=</span><span class="s">&quot;CN&quot;</span><span class="nt">&gt;</span>
-<span class="w">      </span><span class="nt">&lt;Double</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;OpenSpeedLimit&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;33.3333&quot;</span><span class="nt">/&gt;</span>
-<span class="w">      </span><span class="nt">&lt;Double</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;OpenSpeedLimitTrucks&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;25.0&quot;</span><span class="nt">/&gt;</span>
-<span class="w">      </span><span class="nt">&lt;Double</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;OpenSpeedLimitBuses&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;27.7777777&quot;</span><span class="nt">/&gt;</span>
-<span class="w">      </span><span class="nt">&lt;Bool</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;KeepToOuterLanes&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;false&quot;</span><span class="nt">/&gt;</span>
-<span class="w">      </span><span class="nt">&lt;Bool</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;DontOvertakeOnOuterLanes&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;true&quot;</span><span class="nt">/&gt;</span>
-<span class="w">      </span><span class="nt">&lt;Bool</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;FormRescueLane&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;false&quot;</span><span class="nt">/&gt;</span>
-<span class="w">      </span><span class="nt">&lt;Bool</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;ZipperMerge&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;true&quot;</span><span class="nt">/&gt;</span>
-<span class="w">    </span><span class="nt">&lt;/Profile&gt;</span>
-<span class="w">  </span><span class="nt">&lt;/ProfileGroup&gt;</span>
-</pre></div>
-</div>
-</section>
-</section>
-
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+             
+  <section id="profilescatalog">
+<span id="id1"></span><h1>ProfilesCatalog<a class="headerlink" href="#profilescatalog" title="Link to this heading"></a></h1>
+<p>The ProfilesCatalog contains all AgentProfiles, SystemProfiles and generic ProfileGroups and Profiles.
+Depending on the configuration the simulator could require a “Driver”-ProfileGroup, a “Spawner”- and “TrafficGroup”-ProfileGroup, a “TrafficRules”-ProfileGroup or sensor and vehiclecomponent specific ProfileGroups.</p>
+<ul class="simple">
+<li><p><a class="reference internal" href="#profilescatalog-agentprofiles"><span class="std std-ref">AgentProfiles</span></a></p></li>
+<li><p><a class="reference internal" href="#profilescatalog-systemprofiles"><span class="std std-ref">SystemProfiles</span></a></p></li>
+<li><p><a class="reference internal" href="#profilescatalog-profilegroups"><span class="std std-ref">ProfileGroups</span></a></p></li>
+<li><p><a class="reference internal" href="#profilescatalog-driverprofiles"><span class="std std-ref">Driver ProfileGroup</span></a></p></li>
+<li><p><a class="reference internal" href="#profilescatalog-vehiclecomponentprofiles"><span class="std std-ref">VehicleComponent ProfileGroups</span></a></p></li>
+<li><p><a class="reference internal" href="#profilescatalog-spawnerprofiles"><span class="std std-ref">SpawnerProfile ProfileGroup</span></a></p></li>
+<li><p><a class="reference internal" href="#profilescatalog-trafficrulesprofiles"><span class="std std-ref">TrafficRules ProfileGroup</span></a></p></li>
+</ul>
+<section id="agentprofiles">
+<span id="profilescatalog-agentprofiles"></span><h2>AgentProfiles<a class="headerlink" href="#agentprofiles" title="Link to this heading"></a></h2>
+<p>In this section all AgentProfiles are defined.
+An AgentProfile is either static or dynamic.
+A static AgentProfile consists of a SystemConfig and a VehicleModel.
+A dynamic AgentProfile specifies the composition of the agent according to certain probabilities.
+Here the initial driver, system profile and the vehicle models of an agent get specified.
+At least one AgentProfile is required.
+But every AgentProfile referenced in the used <a class="reference internal" href="scenario.html#scenario"><span class="std std-ref">Scenario</span></a> file or <a class="reference internal" href="../sim_user_guide/components/spawner.html#components-trafficgroups"><span class="std std-ref">TrafficGroups</span></a> must exist.
+All probabilities must add up to 1.0.</p>
+<p>Composition of a static AgentProfile:</p>
+<table class="docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Tag</p></th>
+<th class="head"><p>Description</p></th>
+<th class="head"><p>Required</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>System</p></td>
+<td><p>Reference to a system defined in a SystemConfig</p></td>
+<td><p>Yes</p></td>
+</tr>
+<tr class="row-odd"><td><p>VehicleModel</p></td>
+<td><p>Name of the VehicleModel in the <a class="reference internal" href="scenario.html#scenario-vehiclemodels"><span class="std std-ref">VehicleCatalog</span></a></p></td>
+<td><p>Yes</p></td>
+</tr>
+</tbody>
+</table>
+<p>Composition of a dynamic AgentProfile:</p>
+<table class="docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Tag</p></th>
+<th class="head"><p>Description</p></th>
+<th class="head"><p>Required</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>DriverProfiles</p></td>
+<td><p>List of <a class="reference internal" href="#profilescatalog-driverprofiles"><span class="std std-ref">Driver ProfileGroup</span></a> for random selection</p></td>
+<td><p>At least one entry</p></td>
+</tr>
+<tr class="row-odd"><td><p>SystemProfiles</p></td>
+<td><p>List of <a class="reference internal" href="#profilescatalog-systemprofiles"><span class="std std-ref">SystemProfiles</span></a> for random selection</p></td>
+<td><p>At least one entry</p></td>
+</tr>
+<tr class="row-even"><td><p>VehicleModels</p></td>
+<td><p>List of vehicle models for random selection</p></td>
+<td><p>At least one entry</p></td>
+</tr>
+</tbody>
+</table>
+<section id="example">
+<h3>Example<a class="headerlink" href="#example" title="Link to this heading"></a></h3>
+<p>In this experiment the ego agent is defined by the system with Id 0 in systemConfig.xml and the VehicleModel car_bmw_7.
+Every LuxuryClassCarAgent has the driver profile “AgentFollowingDriver”.
+Regarding the system profile 50% have a NoADAS and the other 50% have WithAEB.
+Regarding the vehicle model 50% use a car_mini_cooper and the other 50% use car_bmw_7_1 vehicle model.</p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;AgentProfiles&gt;</span>
+<span class="w">    </span><span class="nt">&lt;AgentProfile</span><span class="w"> </span><span class="na">Name=</span><span class="s">&quot;EgoAgent&quot;</span><span class="w"> </span><span class="na">Type=</span><span class="s">&quot;Static&quot;</span><span class="nt">&gt;</span>
+<span class="w">        </span><span class="nt">&lt;System&gt;</span>
+<span class="w">            </span><span class="nt">&lt;File&gt;</span>systemConfig.xml<span class="nt">&lt;/File&gt;</span>
+<span class="w">            </span><span class="nt">&lt;Id&gt;</span>0<span class="nt">&lt;/Id&gt;</span>
+<span class="w">        </span><span class="nt">&lt;/System&gt;</span>
+<span class="w">        </span><span class="nt">&lt;VehicleModel&gt;</span>car_bmw_7<span class="nt">&lt;/VehicleModel&gt;</span>
+<span class="w">    </span><span class="nt">&lt;/AgentProfile&gt;</span>
+<span class="w">    </span><span class="nt">&lt;AgentProfile</span><span class="w"> </span><span class="na">Name=</span><span class="s">&quot;LuxuryClassCarAgent&quot;</span><span class="w"> </span><span class="na">Type=</span><span class="s">&quot;Dynamic&quot;</span><span class="nt">&gt;</span>
+<span class="w">        </span><span class="nt">&lt;DriverProfiles&gt;</span>
+<span class="w">            </span><span class="nt">&lt;DriverProfile</span><span class="w"> </span><span class="na">Name=</span><span class="s">&quot;AgentFollowingDriver&quot;</span><span class="w"> </span><span class="na">Probability=</span><span class="s">&quot;1.0&quot;</span><span class="nt">/&gt;</span>
+<span class="w">        </span><span class="nt">&lt;/DriverProfiles&gt;</span>
+<span class="w">        </span><span class="nt">&lt;SystemProfiles&gt;</span>
+<span class="w">            </span><span class="nt">&lt;SystemProfile</span><span class="w"> </span><span class="na">Name=</span><span class="s">&quot;NoADAS&quot;</span><span class="w"> </span><span class="na">Probability=</span><span class="s">&quot;0.5&quot;</span><span class="nt">/&gt;</span>
+<span class="w">            </span><span class="nt">&lt;SystemProfile</span><span class="w"> </span><span class="na">Name=</span><span class="s">&quot;WithAEB&quot;</span><span class="w"> </span><span class="na">Probability=</span><span class="s">&quot;0.5&quot;</span><span class="nt">/&gt;</span>
+<span class="w">        </span><span class="nt">&lt;/SystemProfiles&gt;</span>
+<span class="w">        </span><span class="nt">&lt;VehicleModels&gt;</span>
+<span class="w">          </span><span class="nt">&lt;VehicleModel</span><span class="w"> </span><span class="na">Name=</span><span class="s">&quot;car_mini_cooper&quot;</span><span class="w"> </span><span class="na">Probability=</span><span class="s">&quot;0.5&quot;</span><span class="nt">/&gt;</span>
+<span class="w">          </span><span class="nt">&lt;VehicleModel</span><span class="w"> </span><span class="na">Name=</span><span class="s">&quot;car_bmw_7_1&quot;</span><span class="w"> </span><span class="na">Probability=</span><span class="s">&quot;0.5&quot;</span><span class="nt">/&gt;</span>
+<span class="w">        </span><span class="nt">&lt;/VehicleModels&gt;</span>
+<span class="w">    </span><span class="nt">&lt;/AgentProfile&gt;</span>
+<span class="nt">&lt;/AgentProfiles&gt;</span>
+</pre></div>
+</div>
+</section>
+</section>
+<section id="systemprofiles">
+<span id="profilescatalog-systemprofiles"></span><h2>SystemProfiles<a class="headerlink" href="#systemprofiles" title="Link to this heading"></a></h2>
+<p>This sections contains all system profiles.
+Every SystemProfile used by <a class="reference internal" href="#profilescatalog-agentprofiles"><span class="std std-ref">AgentProfiles</span></a> must be listed here.</p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;SystemProfiles&gt;</span>
+<span class="w">   </span><span class="nt">&lt;SystemProfile</span><span class="w"> </span><span class="na">Name=</span><span class="s">&quot;WithAEB&quot;</span><span class="nt">&gt;</span>
+<span class="w">       </span><span class="nt">&lt;Components&gt;</span>
+<span class="w">              </span><span class="nt">&lt;Component</span><span class="w"> </span><span class="na">Type=</span><span class="s">&quot;AEB&quot;</span><span class="nt">&gt;</span>
+<span class="w">               </span><span class="nt">&lt;Profiles&gt;</span>
+<span class="w">                   </span><span class="nt">&lt;Profile</span><span class="w"> </span><span class="na">Name=</span><span class="s">&quot;AebProfile&quot;</span><span class="w"> </span><span class="na">Probability=</span><span class="s">&quot;0.5&quot;</span><span class="nt">/&gt;</span>
+<span class="w">               </span><span class="nt">&lt;/Profiles&gt;</span>
+<span class="w">               </span><span class="nt">&lt;SensorLinks&gt;</span>
+<span class="w">                   </span><span class="nt">&lt;SensorLink</span><span class="w"> </span><span class="na">SensorId=</span><span class="s">&quot;0&quot;</span><span class="w"> </span><span class="na">InputId=</span><span class="s">&quot;Camera&quot;</span><span class="nt">/&gt;</span>
+<span class="w">               </span><span class="nt">&lt;/SensorLinks&gt;</span>
+<span class="w">              </span><span class="nt">&lt;/Component&gt;</span>
+<span class="w">       </span><span class="nt">&lt;/Components&gt;</span>
+<span class="w">       </span><span class="nt">&lt;Sensors&gt;</span>
+<span class="w">           </span><span class="nt">&lt;Sensor</span><span class="w"> </span><span class="na">Id=</span><span class="s">&quot;0&quot;</span><span class="w"> </span><span class="na">Position=</span><span class="s">&quot;Default&quot;</span><span class="nt">&gt;</span>
+<span class="w">               </span><span class="nt">&lt;Profile</span><span class="w"> </span><span class="na">Type=</span><span class="s">&quot;Geometric2D&quot;</span><span class="w"> </span><span class="na">Name=</span><span class="s">&quot;Standard&quot;</span><span class="nt">/&gt;</span>
+<span class="w">           </span><span class="nt">&lt;/Sensor&gt;</span>
+<span class="w">       </span><span class="nt">&lt;/Sensors&gt;</span>
+<span class="w">   </span><span class="nt">&lt;/SystemProfile&gt;</span>
+<span class="w">   </span>...
+<span class="nt">&lt;/SystemProfiles&gt;</span>
+</pre></div>
+</div>
+<table class="docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Attribute</p></th>
+<th class="head"><p>Description</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>Name</p></td>
+<td><p>Name of the vehicle profile</p></td>
+</tr>
+<tr class="row-odd"><td><p>Components</p></td>
+<td><p>Lists all ADAS and other components in the vehicle</p></td>
+</tr>
+<tr class="row-even"><td><p>Sensors</p></td>
+<td><p>Lists all sensors in the vehicle</p></td>
+</tr>
+</tbody>
+</table>
+<section id="components">
+<span id="profilescatalog-components"></span><h3>Components<a class="headerlink" href="#components" title="Link to this heading"></a></h3>
+<table class="docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Attribute</p></th>
+<th class="head"><p>Description</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>Type</p></td>
+<td><p>Type of the component.</p>
+<p>Must match component name in SystemConfigBlueprint</p>
+</td>
+</tr>
+<tr class="row-odd"><td><p>Profile</p></td>
+<td><p>Possible profiles of the component with probabilities.</p>
+<p>The profiles are defined in the <a class="reference internal" href="#profilescatalog-vehiclecomponentprofiles"><span class="std std-ref">VehicleComponent ProfileGroups</span></a> section</p>
+<p>Probabilities do not need to add up to 1.</p>
+</td>
+</tr>
+<tr class="row-even"><td><p>SensorLinks</p></td>
+<td><p>Defines which sensor this component uses as input</p></td>
+</tr>
+</tbody>
+</table>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The possibility of “not having that component” can be achieved if the probabilities of the profiles do not add up to 1.</p>
+</div>
+</section>
+<section id="sensors">
+<span id="profilescatalog-sensors"></span><h3>Sensors<a class="headerlink" href="#sensors" title="Link to this heading"></a></h3>
+<table class="docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Attribute</p></th>
+<th class="head"><p>Description</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>Id</p></td>
+<td><p>Identifier for the sensor used by the SensorLink definition of the components</p></td>
+</tr>
+<tr class="row-odd"><td><p>Position</p></td>
+<td><p>Position of the sensor in the vehicle in relative coordinates</p></td>
+</tr>
+<tr class="row-even"><td><p>Profile</p></td>
+<td><p>All possible profiles of the sensor with probabilities.</p>
+<p>The profiles are defined in the <a class="reference internal" href="#profilescatalog-vehiclecomponentprofiles"><span class="std std-ref">VehicleComponent ProfileGroups</span></a> section</p>
+</td>
+</tr>
+</tbody>
+</table>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;Sensors&gt;</span>
+<span class="w">  </span><span class="nt">&lt;Sensor</span><span class="w"> </span><span class="na">Id=</span><span class="s">&quot;0&quot;</span><span class="w"> </span><span class="na">Position=</span><span class="s">&quot;Default&quot;</span><span class="nt">&gt;</span>
+<span class="w">    </span><span class="nt">&lt;Profile</span><span class="w"> </span><span class="na">Type=</span><span class="s">&quot;ReceiverCar2X&quot;</span><span class="w"> </span><span class="na">Name=</span><span class="s">&quot;Standard&quot;</span><span class="nt">/&gt;</span>
+<span class="w">  </span><span class="nt">&lt;/Sensor&gt;</span>
+<span class="w">  </span><span class="nt">&lt;Sensor</span><span class="w"> </span><span class="na">Id=</span><span class="s">&quot;1&quot;</span><span class="w"> </span><span class="na">Position=</span><span class="s">&quot;FrontWindow&quot;</span><span class="nt">&gt;</span>
+<span class="w">    </span><span class="nt">&lt;Profile</span><span class="w"> </span><span class="na">Type=</span><span class="s">&quot;Geometric2D&quot;</span><span class="w"> </span><span class="na">Name=</span><span class="s">&quot;Standard&quot;</span><span class="nt">/&gt;</span>
+<span class="w">  </span><span class="nt">&lt;/Sensor&gt;</span>
+<span class="nt">&lt;/Sensors&gt;</span>
+</pre></div>
+</div>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The Position attribute in the XML specifies placement of a sensor within a vehicle. The position is defined in VehicleModelsCatalog.
+It follows the format “SensorPosition/Position/Parameters”. The parameters height, lateral, longitudinal, pitch, roll and yaw are required.
+For example, “FrontWindow” describes a sensor mounted on the front window, with corresponding positional parameters.
+See example catalog in <a class="reference internal" href="scenario.html#scenario-vehiclemodels"><span class="std std-ref">VehicleCatalog</span></a>.</p>
+</div>
+</section>
+</section>
+<section id="profilegroups">
+<span id="profilescatalog-profilegroups"></span><h2>ProfileGroups<a class="headerlink" href="#profilegroups" title="Link to this heading"></a></h2>
+<p>A ProfileGroup defines all the possible profiles of a component.
+A single profile is a set of parameters that are passed to the component in the same way as the parameters in the SystemConfig.
+Note: For components that have their parameters defined in the ProfilesCatalog the parameters in the SystemConfigBlueprint are ignored.
+Parameters can either be simple or stochastic.
+Simple parameters only have one value, while stochastic parameters have a minimum and maximum value as well as distribution specific parameters.
+Which parameters are needed/supported depends on the component.</p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;ProfileGroup</span><span class="w"> </span><span class="na">Type=</span><span class="s">&quot;ComponentName&quot;</span><span class="nt">&gt;</span>
+<span class="w">    </span><span class="nt">&lt;Profile</span><span class="w"> </span><span class="na">Name=</span><span class="s">&quot;ExampleProfile&quot;</span><span class="nt">&gt;</span>
+<span class="w">        </span><span class="nt">&lt;String</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;StringParameter&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;Lorem ipsum&quot;</span><span class="nt">/&gt;</span>
+<span class="w">        </span><span class="nt">&lt;DoubleVector</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;DoubleParameter&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;12.3,4.56,78.9&quot;</span><span class="nt">/&gt;</span>
+<span class="w">        </span><span class="nt">&lt;NormalDistribution</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;RandomParameter&quot;</span><span class="w"> </span><span class="na">Mean=</span><span class="s">&quot;4.5&quot;</span><span class="w"> </span><span class="na">SD=</span><span class="s">&quot;0.5&quot;</span><span class="w"> </span><span class="na">Min=</span><span class="s">&quot;3.5&quot;</span><span class="w"> </span><span class="na">Max=</span><span class="s">&quot;10.0&quot;</span><span class="nt">/&gt;</span>
+<span class="w">    </span><span class="nt">&lt;/Profile&gt;</span>
+<span class="w">    </span><span class="nt">&lt;Profile</span><span class="w"> </span><span class="na">Name=</span><span class="s">&quot;AnotherProfile&quot;</span><span class="nt">&gt;</span>
+<span class="w">        </span>...
+<span class="w">    </span><span class="nt">&lt;/Profile&gt;</span>
+<span class="nt">&lt;/ProfileGroup&gt;</span>
+</pre></div>
+</div>
+<p>There are the following types of simple parameters:</p>
+<ul class="simple">
+<li><p>Bool</p></li>
+<li><p>Int</p></li>
+<li><p>Double</p></li>
+<li><p>String</p></li>
+<li><p>IntVector</p></li>
+<li><p>DoubleVector</p></li>
+<li><p>StringVector</p></li>
+</ul>
+<p>If a parameter is stochastic it can be defined as any to be drawn from any of the following distributions:</p>
+<table class="docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Distribution</p></th>
+<th class="head"><p>Additional Attributes</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>NormalDistribution</p></td>
+<td><p>(Mean and SD) or (Mu and Sigma) - equivalent</p></td>
+</tr>
+<tr class="row-odd"><td><p>LogNormalDistribution</p></td>
+<td><p>(Mean and SD) or (Mu and Sigma) - not equivalent</p></td>
+</tr>
+<tr class="row-even"><td><p>UniformDistribution</p></td>
+<td><p>None</p></td>
+</tr>
+<tr class="row-odd"><td><p>ExponentialDistribution</p></td>
+<td><p>Lambda or Mean (Mean = 1 / Lambda)</p></td>
+</tr>
+<tr class="row-even"><td><p>GammaDistribution</p></td>
+<td><p>(Mean and SD) or (Shape and Scale)</p></td>
+</tr>
+</tbody>
+</table>
+<p>Additionally there is the list type.
+The list contains any number of list items which itself contain a list of parameters.
+Lists can be nested at most two times.</p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;List</span><span class="w"> </span><span class="na">Name=</span><span class="s">&quot;ExampleList&quot;</span><span class="nt">&gt;</span>
+<span class="w">    </span><span class="nt">&lt;ListItem&gt;</span>
+<span class="w">        </span><span class="nt">&lt;String</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;FirstParameter&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;Lorem&quot;</span><span class="nt">/&gt;</span>
+<span class="w">        </span><span class="nt">&lt;Double</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;SecondParameter&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;0.4&quot;</span><span class="nt">/&gt;</span>
+<span class="w">    </span><span class="nt">&lt;/ListItem&gt;</span>
+<span class="w">    </span><span class="nt">&lt;ListItem&gt;</span>
+<span class="w">        </span><span class="nt">&lt;String</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;FirstParameter&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;ipsum&quot;</span><span class="nt">/&gt;</span>
+<span class="w">        </span><span class="nt">&lt;Double</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;SecondParameter&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;0.6&quot;</span><span class="nt">/&gt;</span>
+<span class="w">    </span><span class="nt">&lt;/ListItem&gt;</span>
+<span class="nt">&lt;/List&gt;</span>
+</pre></div>
+</div>
+<p>A Profile can also reference another Profile in another ProfileGroup.
+In these case the importer handles the reference as if it was substituted by all subelements of the referenced Profile.
+References may not be nested.</p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;Reference</span><span class="w"> </span><span class="na">Type=</span><span class="s">&quot;GroupType&quot;</span><span class="w"> </span><span class="na">Name=</span><span class="s">&quot;ProfileName&quot;</span><span class="nt">/&gt;</span>
+</pre></div>
+</div>
+</section>
+<section id="driver-profilegroup">
+<span id="profilescatalog-driverprofiles"></span><h2>Driver ProfileGroup<a class="headerlink" href="#driver-profilegroup" title="Link to this heading"></a></h2>
+<p>This section contains all driver profiles used by the simulation.
+At least one driver profile is required.
+The special parameter “Type” defines the name of the component (i.e. library name).
+For details on the individual parameters see the <a class="reference internal" href="../sim_user_guide/components/driver.html#components-driver"><span class="std std-ref">components reference</span></a>.</p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;ProfileGroup</span><span class="w"> </span><span class="na">Type=</span><span class="s">&quot;Driver&quot;</span><span class="nt">&gt;</span>
+<span class="w">  </span><span class="nt">&lt;Profile</span><span class="w"> </span><span class="na">Name=</span><span class="s">&quot;Name&quot;</span><span class="nt">&gt;</span>
+<span class="w">    </span><span class="nt">&lt;String</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;Type&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;DriverLibrary&quot;</span><span class="nt">/&gt;</span>
+<span class="w">    </span>...
+<span class="w">  </span><span class="nt">&lt;/Profile&gt;</span>
+<span class="w">  </span>...
+<span class="nt">&lt;/ProfileGroup&gt;</span>
+</pre></div>
+</div>
+</section>
+<section id="vehiclecomponent-profilegroups">
+<span id="profilescatalog-vehiclecomponentprofiles"></span><h2>VehicleComponent ProfileGroups<a class="headerlink" href="#vehiclecomponent-profilegroups" title="Link to this heading"></a></h2>
+<p>This sections contains all driver assistance systems and other vehicle components and their parameter sets.
+For every used VehicleComponent type there must be a ProfileGroup with this type and every profile of this type used by <a class="reference internal" href="#profilescatalog-systemprofiles"><span class="std std-ref">SystemProfiles</span></a> must be listed here.
+For details on the individual parameters see the <a class="reference internal" href="../sim_user_guide/components/vehicle.html#components-vehiclecomponents"><span class="std std-ref">components reference</span></a>.</p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;ProfileGroup</span><span class="w"> </span><span class="na">Type=</span><span class="s">&quot;LibraryName&quot;</span><span class="nt">&gt;</span>
+<span class="w">  </span><span class="nt">&lt;Profile</span><span class="w"> </span><span class="na">Name=</span><span class="s">&quot;Name&quot;</span><span class="nt">&gt;</span>
+<span class="w">    </span>...
+<span class="w">  </span><span class="nt">&lt;/Profile&gt;</span>
+<span class="w">  </span>...
+<span class="nt">&lt;/ProfileGroup&gt;</span>
+</pre></div>
+</div>
+</section>
+<section id="spawnerprofile-profilegroup">
+<span id="profilescatalog-spawnerprofiles"></span><h2>SpawnerProfile ProfileGroup<a class="headerlink" href="#spawnerprofile-profilegroup" title="Link to this heading"></a></h2>
+<p>This sections contains all parameters of the spawners referenced in the <a class="reference internal" href="simulationconfig.html#simulationconfig"><span class="std std-ref">SimulationConfig</span></a>.
+For details on the individual parameters see the <a class="reference internal" href="../sim_user_guide/components/spawner.html#components-spawner"><span class="std std-ref">components reference</span></a>.</p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;ProfileGroup</span><span class="w"> </span><span class="na">Type=</span><span class="s">&quot;Spawner&quot;</span><span class="nt">&gt;</span>
+<span class="w">  </span><span class="nt">&lt;Profile</span><span class="w"> </span><span class="na">Name=</span><span class="s">&quot;Name&quot;</span><span class="nt">&gt;</span>
+<span class="w">    </span>...
+<span class="w">  </span><span class="nt">&lt;/Profile&gt;</span>
+<span class="w">  </span>...
+<span class="nt">&lt;/ProfileGroup&gt;</span>
+</pre></div>
+</div>
+</section>
+<section id="trafficrules-profilegroup">
+<span id="profilescatalog-trafficrulesprofiles"></span><h2>TrafficRules ProfileGroup<a class="headerlink" href="#trafficrules-profilegroup" title="Link to this heading"></a></h2>
+<p>This sections contains the global traffic rules, that may vary depending on the country.
+The following country are supported:</p>
+<table class="docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Name</p></th>
+<th class="head"><p>Description</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>DE</p></td>
+<td><p>Germany</p></td>
+</tr>
+<tr class="row-odd"><td><p>US</p></td>
+<td><p>United States</p></td>
+</tr>
+<tr class="row-even"><td><p>CN</p></td>
+<td><p>China</p></td>
+</tr>
+</tbody>
+</table>
+<p>The <a class="reference internal" href="simulationconfig.html#simulationconfig-environment"><span class="std std-ref">Environment</span></a> section in the SimulationConfig defines which set is used.
+Currently there are only rules regulating highway traffic. These are the following:</p>
+<table class="docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Name</p></th>
+<th class="head"><p>Type</p></th>
+<th class="head"><p>Description</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>OpenSpeedLimit</p></td>
+<td><p>Double</p></td>
+<td><p>maximum allowed speed if not restricted by signs</p></td>
+</tr>
+<tr class="row-odd"><td><p>KeepToOuterLanes</p></td>
+<td><p>Bool</p></td>
+<td><p>if true, vehicles must use the outermost free lane for driving</p></td>
+</tr>
+<tr class="row-even"><td><p>DontOvertakeOnOuterLanes</p></td>
+<td><p>Bool</p></td>
+<td><p>if true, it is prohibited to overtake another vehicle, that is driving further left (or right for lefthand traffic)</p></td>
+</tr>
+<tr class="row-odd"><td><p>FormRescueLane</p></td>
+<td><p>Bool</p></td>
+<td><p>if true, vehicles driving in a traffic jam must form a corridor for emergency vehicles</p></td>
+</tr>
+<tr class="row-even"><td><p>ZipperMerge</p></td>
+<td><p>Bool</p></td>
+<td><p>if true all merging shall be performed using zipper merge</p></td>
+</tr>
+</tbody>
+</table>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="w">  </span><span class="nt">&lt;ProfileGroup</span><span class="w"> </span><span class="na">Type=</span><span class="s">&quot;TrafficRules&quot;</span><span class="nt">&gt;</span>
+<span class="w">    </span><span class="nt">&lt;Profile</span><span class="w"> </span><span class="na">Name=</span><span class="s">&quot;DE&quot;</span><span class="nt">&gt;</span>
+<span class="w">      </span><span class="nt">&lt;Double</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;OpenSpeedLimit&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;INF&quot;</span><span class="nt">/&gt;</span>
+<span class="w">      </span><span class="nt">&lt;Double</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;OpenSpeedLimitTrucks&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;22.2222222&quot;</span><span class="nt">/&gt;</span>
+<span class="w">      </span><span class="nt">&lt;Double</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;OpenSpeedLimitBuses&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;27.7777777&quot;</span><span class="nt">/&gt;</span>
+<span class="w">      </span><span class="nt">&lt;Bool</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;KeepToOuterLanes&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;true&quot;</span><span class="nt">/&gt;</span>
+<span class="w">      </span><span class="nt">&lt;Bool</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;DontOvertakeOnOuterLanes&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;true&quot;</span><span class="nt">/&gt;</span>
+<span class="w">      </span><span class="nt">&lt;Bool</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;FormRescueLane&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;true&quot;</span><span class="nt">/&gt;</span>
+<span class="w">      </span><span class="nt">&lt;Bool</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;ZipperMerge&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;true&quot;</span><span class="nt">/&gt;</span>
+<span class="w">    </span><span class="nt">&lt;/Profile&gt;</span>
+<span class="w">    </span><span class="nt">&lt;Profile</span><span class="w"> </span><span class="na">Name=</span><span class="s">&quot;US&quot;</span><span class="nt">&gt;</span>
+<span class="w">      </span><span class="nt">&lt;Double</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;OpenSpeedLimit&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;31.2928&quot;</span><span class="nt">/&gt;</span>
+<span class="w">      </span><span class="nt">&lt;Double</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;OpenSpeedLimitTrucks&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;26.8224&quot;</span><span class="nt">/&gt;</span>
+<span class="w">      </span><span class="nt">&lt;Double</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;OpenSpeedLimitBuses&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;26.8224&quot;</span><span class="nt">/&gt;</span>
+<span class="w">      </span><span class="nt">&lt;Bool</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;KeepToOuterLanes&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;false&quot;</span><span class="nt">/&gt;</span>
+<span class="w">      </span><span class="nt">&lt;Bool</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;DontOvertakeOnOuterLanes&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;false&quot;</span><span class="nt">/&gt;</span>
+<span class="w">      </span><span class="nt">&lt;Bool</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;FormRescueLane&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;true&quot;</span><span class="nt">/&gt;</span>
+<span class="w">      </span><span class="nt">&lt;Bool</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;ZipperMerge&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;false&quot;</span><span class="nt">/&gt;</span>
+<span class="w">    </span><span class="nt">&lt;/Profile&gt;</span>
+<span class="w">    </span><span class="nt">&lt;Profile</span><span class="w"> </span><span class="na">Name=</span><span class="s">&quot;CN&quot;</span><span class="nt">&gt;</span>
+<span class="w">      </span><span class="nt">&lt;Double</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;OpenSpeedLimit&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;33.3333&quot;</span><span class="nt">/&gt;</span>
+<span class="w">      </span><span class="nt">&lt;Double</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;OpenSpeedLimitTrucks&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;25.0&quot;</span><span class="nt">/&gt;</span>
+<span class="w">      </span><span class="nt">&lt;Double</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;OpenSpeedLimitBuses&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;27.7777777&quot;</span><span class="nt">/&gt;</span>
+<span class="w">      </span><span class="nt">&lt;Bool</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;KeepToOuterLanes&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;false&quot;</span><span class="nt">/&gt;</span>
+<span class="w">      </span><span class="nt">&lt;Bool</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;DontOvertakeOnOuterLanes&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;true&quot;</span><span class="nt">/&gt;</span>
+<span class="w">      </span><span class="nt">&lt;Bool</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;FormRescueLane&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;false&quot;</span><span class="nt">/&gt;</span>
+<span class="w">      </span><span class="nt">&lt;Bool</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;ZipperMerge&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;true&quot;</span><span class="nt">/&gt;</span>
+<span class="w">    </span><span class="nt">&lt;/Profile&gt;</span>
+<span class="w">  </span><span class="nt">&lt;/ProfileGroup&gt;</span>
+</pre></div>
+</div>
+</section>
+</section>
+
+
+           </div>
+          </div>
+          <footer><div class="rst-footer-buttons" role="navigation" aria-label="Footer">
+        <a href="../30_configs_in_depth.html" class="btn btn-neutral float-left" title="Configs in Depth" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> Previous</a>
+        <a href="scenario.html" class="btn btn-neutral float-right" title="Scenario" accesskey="n" rel="next">Next <span class="fa fa-arrow-circle-right" aria-hidden="true"></span></a>
+    </div>
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+  <hr/>
+
+  <div role="contentinfo">
+    <p>&#169; Copyright 2025 openPASS Working Group.</p>
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diff --git a/content/html/user_guide/configs/scenario.html b/content/html/user_guide/configs/scenario.html
index caa615ea01836a81ee2e436ca7468a594810fbe1..aa8a0b3c58a2b626dba70aa77ea1aac376502a14 100644
--- a/content/html/user_guide/configs/scenario.html
+++ b/content/html/user_guide/configs/scenario.html
@@ -1,815 +1,816 @@
-<!DOCTYPE html>
-<html class="writer-html5" lang="en" >
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-  <title>Scenario &mdash; openPASS Documentation</title>
-      <link rel="stylesheet" href="../../_static/pygments.css" type="text/css" />
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-  <section id="scenario">
-<span id="id1"></span><h1>Scenario<a class="headerlink" href="#scenario" title="Link to this heading"></a></h1>
-<section id="overview">
-<span id="scenario-overview"></span><h2>Overview<a class="headerlink" href="#overview" title="Link to this heading"></a></h2>
-<p>The scenario configuration file (<code class="docutils literal notranslate"><span class="pre">*.xosc</span></code>) describes all dynamic configurations of a simulation run, i.e. position of various road users as well as conditional events that change the behavior of the simulation during the run.
-The scenario control is carried out using the <a class="reference external" href="https://gitlab.eclipse.org/eclipse/openpass/openscenario1_engine">OpenScenarioEngine</a>, which processes scenarios according to <a class="reference external" href="https://www.asam.net/standards/detail/openscenario/">ASAM OpenSCENARIO</a>.
-It is interfaced using the <a class="reference external" href="https://gitlab.eclipse.org/eclipse/openpass/mantle-api">MantleAPI</a>.
-For the list of MantleAPI features supported by <strong>openPASS</strong> see <a class="reference internal" href="scenario_api_support.html#scenario-api-support"><span class="std std-ref">Scenario API Support</span></a>.</p>
-<p>At the time of writing, the OpenScenarioEngine processes scenario configurations in version 1.1.1, but please refer to the corresponding documentations for possible and implemented features.</p>
-<p>In the following, the most important features for openPASS are described.</p>
-</section>
-<section id="parameterdeclarations">
-<span id="scenario-parameterdeclaration"></span><h2>ParameterDeclarations<a class="headerlink" href="#parameterdeclarations" title="Link to this heading"></a></h2>
-<p>The tag <code class="docutils literal notranslate"><span class="pre">ParameterDeclarations</span></code> allow to define generic parameters, which can be referenced later the file by its name, prefixed with <code class="docutils literal notranslate"><span class="pre">$</span></code>.</p>
-<p><strong>Example declaration</strong></p>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;ParameterDeclarations&gt;</span>
-<span class="w">  </span><span class="nt">&lt;ParameterDeclaration</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;simulation_time&quot;</span><span class="w"> </span><span class="na">parameterType=</span><span class="s">&quot;double&quot;</span><span class="w"> </span><span class="na">value=</span><span class="s">&quot;123.4&quot;</span><span class="nt">/&gt;</span>
-<span class="nt">&lt;/ParameterDeclarations&gt;</span>
-</pre></div>
-</div>
-<p><strong>Example usage</strong></p>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;StopTrigger&gt;</span>
-<span class="w">  </span><span class="nt">&lt;ConditionGroup&gt;</span>
-<span class="w">    </span><span class="nt">&lt;Condition</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;EndTime&quot;</span><span class="w"> </span><span class="na">delay=</span><span class="s">&quot;0&quot;</span><span class="w"> </span><span class="na">conditionEdge=</span><span class="s">&quot;rising&quot;</span><span class="nt">&gt;</span>
-<span class="w">      </span><span class="nt">&lt;ByValueCondition&gt;</span>
-<span class="w">        </span><span class="nt">&lt;SimulationTimeCondition</span><span class="w"> </span><span class="na">value=</span><span class="s">&quot;$simulation_time&quot;</span><span class="w"> </span><span class="na">rule=</span><span class="s">&quot;greaterThan&quot;</span><span class="nt">/&gt;</span>
-<span class="w">      </span><span class="nt">&lt;/ByValueCondition&gt;</span>
-<span class="w">    </span><span class="nt">&lt;/Condition&gt;</span>
-<span class="w">  </span><span class="nt">&lt;/ConditionGroup&gt;</span>
-<span class="nt">&lt;/StopTrigger&gt;</span>
-</pre></div>
-</div>
-<table class="docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Supported ParameterTypes</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>string</p></td>
-</tr>
-<tr class="row-odd"><td><p>integer</p></td>
-</tr>
-<tr class="row-even"><td><p>double</p></td>
-</tr>
-</tbody>
-</table>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>Only <code class="docutils literal notranslate"><span class="pre">string</span></code> allows empty values.</p>
-</div>
-</section>
-<section id="catalogs">
-<span id="scenario-catalogs"></span><h2>Catalogs<a class="headerlink" href="#catalogs" title="Link to this heading"></a></h2>
-<p>The <code class="docutils literal notranslate"><span class="pre">Catalogs</span></code> tag defines locations of various other files containing sub features of OpenSCENARIO for easier reusing (and written in the same format).</p>
-<p>The following catalogs are the most important:</p>
-<ul class="simple">
-<li><p><a class="reference internal" href="#scenario-vehiclemodels"><span class="std std-ref">VehicleCatalog</span></a></p></li>
-<li><p><a class="reference internal" href="#scenario-pedestrianmodels"><span class="std std-ref">PedestrianCatalog</span></a></p></li>
-<li><p>TrajectoryCatalog for the case that a <em>FollowTrajectory action</em> is defined</p></li>
-</ul>
-<p>The VehicleCatalog is also used by <strong>openPASS</strong> itself for spawning of Common vehicles and therefore mandatory.</p>
-<p><strong>Example</strong></p>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;CatalogLocations&gt;</span>
-<span class="w">  </span><span class="nt">&lt;VehicleCatalog&gt;</span>
-<span class="w">    </span><span class="nt">&lt;Directory</span><span class="w"> </span><span class="na">path=</span><span class="s">&quot;Vehicles&quot;</span><span class="nt">/&gt;</span>
-<span class="w">  </span><span class="nt">&lt;/VehicleCatalog&gt;</span>
-<span class="w">  </span><span class="nt">&lt;PedestrianCatalog&gt;</span>
-<span class="w">    </span><span class="nt">&lt;Directory</span><span class="w"> </span><span class="na">path=</span><span class="s">&quot;Vehicles&quot;</span><span class="nt">/&gt;</span>
-<span class="w">  </span><span class="nt">&lt;/PedestrianCatalog&gt;</span>
-<span class="w">  </span><span class="nt">&lt;ControllerCatalog&gt;</span>
-<span class="w">    </span><span class="nt">&lt;Directory</span><span class="w"> </span><span class="na">path=</span><span class="s">&quot;&quot;</span><span class="nt">/&gt;</span>
-<span class="w">  </span><span class="nt">&lt;/ControllerCatalog&gt;</span>
-<span class="w">  </span><span class="nt">&lt;ManeuverCatalog&gt;</span>
-<span class="w">    </span><span class="nt">&lt;Directory</span><span class="w"> </span><span class="na">path=</span><span class="s">&quot;&quot;</span><span class="nt">/&gt;</span>
-<span class="w">  </span><span class="nt">&lt;/ManeuverCatalog&gt;</span>
-<span class="w">  </span><span class="nt">&lt;MiscObjectCatalog&gt;</span>
-<span class="w">    </span><span class="nt">&lt;Directory</span><span class="w"> </span><span class="na">path=</span><span class="s">&quot;&quot;</span><span class="nt">/&gt;</span>
-<span class="w">  </span><span class="nt">&lt;/MiscObjectCatalog&gt;</span>
-<span class="w">  </span><span class="nt">&lt;EnvironmentCatalog&gt;</span>
-<span class="w">    </span><span class="nt">&lt;Directory</span><span class="w"> </span><span class="na">path=</span><span class="s">&quot;&quot;</span><span class="nt">/&gt;</span>
-<span class="w">  </span><span class="nt">&lt;/EnvironmentCatalog&gt;</span>
-<span class="w">  </span><span class="nt">&lt;TrajectoryCatalog&gt;</span>
-<span class="w">    </span><span class="nt">&lt;Directory</span><span class="w"> </span><span class="na">path=</span><span class="s">&quot;&quot;</span><span class="nt">/&gt;</span>
-<span class="w">  </span><span class="nt">&lt;/TrajectoryCatalog&gt;</span>
-<span class="w">  </span><span class="nt">&lt;RouteCatalog&gt;</span>
-<span class="w">    </span><span class="nt">&lt;Directory</span><span class="w"> </span><span class="na">path=</span><span class="s">&quot;&quot;</span><span class="nt">/&gt;</span>
-<span class="w">  </span><span class="nt">&lt;/RouteCatalog&gt;</span>
-<span class="nt">&lt;/CatalogLocations&gt;</span>
-</pre></div>
-</div>
-<section id="vehiclecatalog">
-<span id="scenario-vehiclemodels"></span><h3>VehicleCatalog<a class="headerlink" href="#vehiclecatalog" title="Link to this heading"></a></h3>
-<p>This path is mandatory.
-It has to contain a file named “VehicleModelsCatalog.xosc”.
-This file contains the available vehicle model catalogs for the simulation.
-For each vehicle the physical parameters are stored here.</p>
-<table class="docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Supported Models</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>car_bmw_i3</p></td>
-</tr>
-<tr class="row-odd"><td><p>car_bmw_3</p></td>
-</tr>
-<tr class="row-even"><td><p>car_bmw_7_1</p></td>
-</tr>
-<tr class="row-odd"><td><p>car_bmw_7_2</p></td>
-</tr>
-<tr class="row-even"><td><p>car_mini_cooper</p></td>
-</tr>
-<tr class="row-odd"><td><p>bus</p></td>
-</tr>
-<tr class="row-even"><td><p>truck</p></td>
-</tr>
-<tr class="row-odd"><td><p>bicycle</p></td>
-</tr>
-</tbody>
-</table>
-<p><strong>Example Catalog:</strong></p>
-<p><a class="reference download internal" download="" href="../../_downloads/8789748ec2bbe8f70ec8c0763329bc98/VehicleModelsCatalog.xosc"><code class="xref download docutils literal notranslate"><span class="pre">/../../../repo/sim/contrib/examples/Common/Vehicles/VehicleModelsCatalog.xosc</span></code></a></p>
-</section>
-<section id="pedestriancatalog">
-<span id="scenario-pedestrianmodels"></span><h3>PedestrianCatalog<a class="headerlink" href="#pedestriancatalog" title="Link to this heading"></a></h3>
-<p>It contains the available pedestrian model catalogs for the simulation.
-For each pedestrian the physical parameters are stored here.</p>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>Within <strong>openPASS</strong>, pedestrian models are internally handled the same way as vehicle models, i.e. they behave like simplified vehicles.
-<em>Meaningless</em> parameters, such as <em>number of gears</em>, are set to operational defaults.</p>
-</div>
-<table class="docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Supported Models</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>pedestrian_child</p></td>
-</tr>
-<tr class="row-odd"><td><p>pedestrian_adult</p></td>
-</tr>
-</tbody>
-</table>
-<p><strong>Full Example:</strong> <a class="reference download internal" download="" href="../../_downloads/e127566572084ecb8640fe52563f5060/PedestrianModelsCatalog.xosc"><code class="xref download docutils literal notranslate"><span class="pre">/../../../repo/sim/contrib/examples/Common/Vehicles/PedestrianModelsCatalog.xosc</span></code></a></p>
-</section>
-</section>
-<section id="roadnetwork">
-<span id="scenario-roadnetwork"></span><h2>RoadNetwork<a class="headerlink" href="#roadnetwork" title="Link to this heading"></a></h2>
-<p>The <code class="docutils literal notranslate"><span class="pre">RoadNetwork</span></code> tag contains the mandatory reference to the <a class="reference external" href="https://www.asam.net/standards/detail/opendrive/">OpenDRIVE</a> <a class="reference internal" href="scenery.html#scenery"><span class="std std-ref">Scenery</span></a>.</p>
-<p><strong>Example</strong></p>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;RoadNetwork&gt;</span>
-<span class="w">  </span><span class="nt">&lt;LogicFile</span><span class="w"> </span><span class="na">filepath=</span><span class="s">&quot;SceneryConfiguration.xodr&quot;</span><span class="nt">/&gt;</span>
-<span class="w">  </span><span class="nt">&lt;SceneGraphFile</span><span class="w"> </span><span class="na">filepath=</span><span class="s">&quot;&quot;</span><span class="nt">/&gt;</span>
-<span class="nt">&lt;/RoadNetwork&gt;</span>
-</pre></div>
-</div>
-<p>Furthermore the controllers of the traffic lights are defined in this section.
-Each controller defines the phases of a set of linked traffic lights (e.g. one junction).</p>
-<p><strong>Example</strong></p>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;TrafficSignals&gt;</span>
-<span class="w">  </span><span class="nt">&lt;TrafficSignalController</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;&quot;</span><span class="nt">&gt;</span>
-<span class="w">    </span><span class="nt">&lt;Phase</span><span class="w"> </span><span class="na">duration=</span><span class="s">&quot;3&quot;</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;Phase1&quot;</span><span class="nt">&gt;</span>
-<span class="w">      </span><span class="nt">&lt;TrafficSignalState</span><span class="w"> </span><span class="na">state=</span><span class="s">&quot;green&quot;</span><span class="w"> </span><span class="na">trafficSignalId=</span><span class="s">&quot;1&quot;</span><span class="nt">/&gt;</span>
-<span class="w">    </span><span class="nt">&lt;/Phase&gt;</span>
-<span class="w">    </span><span class="nt">&lt;Phase</span><span class="w"> </span><span class="na">duration=</span><span class="s">&quot;3&quot;</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;Phase2&quot;</span><span class="nt">&gt;</span>
-<span class="w">      </span><span class="nt">&lt;TrafficSignalState</span><span class="w"> </span><span class="na">state=</span><span class="s">&quot;yellow&quot;</span><span class="w"> </span><span class="na">trafficSignalId=</span><span class="s">&quot;1&quot;</span><span class="nt">/&gt;</span>
-<span class="w">    </span><span class="nt">&lt;/Phase&gt;</span>
-<span class="w">    </span><span class="nt">&lt;Phase</span><span class="w"> </span><span class="na">duration=</span><span class="s">&quot;3&quot;</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;Phase3&quot;</span><span class="nt">&gt;</span>
-<span class="w">      </span><span class="nt">&lt;TrafficSignalState</span><span class="w"> </span><span class="na">state=</span><span class="s">&quot;red&quot;</span><span class="w"> </span><span class="na">trafficSignalId=</span><span class="s">&quot;1&quot;</span><span class="nt">/&gt;</span>
-<span class="w">    </span><span class="nt">&lt;/Phase&gt;</span>
-<span class="w">    </span><span class="nt">&lt;Phase</span><span class="w"> </span><span class="na">duration=</span><span class="s">&quot;3&quot;</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;Phase4&quot;</span><span class="nt">&gt;</span>
-<span class="w">      </span><span class="nt">&lt;TrafficSignalState</span><span class="w"> </span><span class="na">state=</span><span class="s">&quot;red yellow&quot;</span><span class="w"> </span><span class="na">trafficSignalId=</span><span class="s">&quot;1&quot;</span><span class="nt">/&gt;</span>
-<span class="w">    </span><span class="nt">&lt;/Phase&gt;</span>
-<span class="w">  </span><span class="nt">&lt;/TrafficSignalController&gt;</span>
-<span class="nt">&lt;/TrafficSignals&gt;</span>
-</pre></div>
-</div>
-<table class="docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Supported States</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>off</p></td>
-</tr>
-<tr class="row-odd"><td><p>red</p></td>
-</tr>
-<tr class="row-even"><td><p>yellow</p></td>
-</tr>
-<tr class="row-odd"><td><p>green</p></td>
-</tr>
-<tr class="row-even"><td><p>red yellow</p></td>
-</tr>
-<tr class="row-odd"><td><p>yellow flashing</p></td>
-</tr>
-</tbody>
-</table>
-</section>
-<section id="entities">
-<span id="scenario-entities"></span><h2>Entities<a class="headerlink" href="#entities" title="Link to this heading"></a></h2>
-<p>The <code class="docutils literal notranslate"><span class="pre">Entities</span></code> tag defines all agents that are present at the start of the simulation at predefined positions.
-There may be any number of these so called <strong>Scenario Agents</strong> (also zero).</p>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>EntitySelections are currently not supported by the OpenScenarioEngine</p>
-</div>
-<p>An entity consits of a <code class="docutils literal notranslate"><span class="pre">VehicleModel</span></code> (typically a reference an entry from the VehicleCatalog) and a controller.
-The controller is <strong>optional</strong> and if no controller is specified, a <em>default</em> contoller will be instantiated, which strictly follows OpenSCENARIO actions as requested by the standard.
-Unless requested differently through specific actions, it follows the <em>default</em> behaviors <cite>KeepVelocity</cite> and <cite>KeepLateralOffset</cite>.
-To use the openPASS specific scenario controller a controller with a single parameter named <code class="docutils literal notranslate"><span class="pre">AgentProfile</span></code> needs to be specified.</p>
-<div class="admonition-agentprofile-and-profilescatalog admonition">
-<p class="admonition-title">AgentProfile and ProfilesCatalog</p>
-<p>The <code class="docutils literal notranslate"><span class="pre">AgentProfile</span></code> links to a profile in the mandatory <code class="docutils literal notranslate"><span class="pre">ProfilesCatalog.xml</span></code> (see <a class="reference internal" href="profilescatalog.html#profilescatalog"><span class="std std-ref">ProfilesCatalog</span></a>).
-This is an extension w.r.t. the OpenSCENARIO standard, as the standard currently does not allow to specifiy a stochastic composition of entities.</p>
-</div>
-<p><strong>Example</strong></p>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;Entities&gt;</span>
-<span class="w">  </span><span class="nt">&lt;ScenarioObject</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;Ego&quot;</span><span class="nt">&gt;</span>
-<span class="w">    </span><span class="nt">&lt;CatalogReference</span><span class="w"> </span><span class="na">catalogName=</span><span class="s">&quot;VehicleCatalog&quot;</span><span class="w"> </span><span class="na">entryName=</span><span class="s">&quot;car_mini_cooper&quot;</span><span class="nt">/&gt;</span>
-<span class="w">    </span><span class="nt">&lt;ObjectController&gt;</span>
-<span class="w">      </span><span class="nt">&lt;Controller</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;Ego&quot;</span><span class="nt">&gt;</span>
-<span class="w">        </span><span class="nt">&lt;Properties&gt;</span>
-<span class="w">          </span><span class="nt">&lt;Property</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;AgentProfile&quot;</span><span class="w"> </span><span class="na">value=</span><span class="s">&quot;MiddleClassCarAgent&quot;</span><span class="nt">/&gt;</span>
-<span class="w">        </span><span class="nt">&lt;/Properties&gt;</span>
-<span class="w">      </span><span class="nt">&lt;/Controller&gt;</span>
-<span class="w">    </span><span class="nt">&lt;/ObjectController&gt;</span>
-<span class="w">  </span><span class="nt">&lt;/ScenarioObject&gt;</span>
-<span class="nt">&lt;/Entities&gt;</span>
-</pre></div>
-</div>
-<p><strong>Overriding Parameters</strong></p>
-<p>Parameters defined in the VehicleCatalog can be assigned inside the CatalogReference element.
-In this case the assigned parameter will overwrite the definition in the VehicleCatalog.
-Otherwise the value defined in the VehicleCatalog is used.
-The type of the parameter must match that in the VehicleCatalog.</p>
-<p><strong>Example</strong></p>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;CatalogReference</span><span class="w"> </span><span class="na">catalogName=</span><span class="s">&quot;VehicleCatalog&quot;</span><span class="w"> </span><span class="na">entryName=</span><span class="s">&quot;car_mini_cooper&quot;</span><span class="nt">&gt;</span>
-<span class="w">    </span><span class="nt">&lt;ParameterAssignments&gt;</span>
-<span class="w">        </span><span class="nt">&lt;ParameterAssignment</span><span class="w"> </span><span class="na">parameterRef=</span><span class="s">&quot;Length&quot;</span><span class="w"> </span><span class="na">value=</span><span class="s">&quot;4.0&quot;</span><span class="w"> </span><span class="nt">/&gt;</span>
-<span class="w">    </span><span class="nt">&lt;/ParameterAssignments&gt;</span>
-<span class="nt">&lt;/CatalogReference&gt;</span>
-</pre></div>
-</div>
-</section>
-<section id="storyboard">
-<span id="scenario-storyboard"></span><h2>Storyboard<a class="headerlink" href="#storyboard" title="Link to this heading"></a></h2>
-<p>The <code class="docutils literal notranslate"><span class="pre">Storyboard</span></code> tag contains the initial setup of the scenario and manipulator actions.
-These actions control the behavior of the simulation at runtime based on predefined conditions.
-In short it is divided into an <code class="docutils literal notranslate"><span class="pre">Init</span></code> phase, an actual <code class="docutils literal notranslate"><span class="pre">Story</span></code>, and a <code class="docutils literal notranslate"><span class="pre">StopTrigger</span></code>.</p>
-<p>For the definition of the storyboard please refert to the <a class="reference external" href="https://www.asam.net/static_downloads/ASAM_OpenSCENARIO_V1.1.1_Model_Documentation/modelDocumentation/">OpenSCENARIO 1.1.1 Model Definition</a>.</p>
-<p>In the following sections, clarifications with respect to <strong>openPASS</strong> will be given:</p>
-<section id="init">
-<span id="scenario-init"></span><h3>Init<a class="headerlink" href="#init" title="Link to this heading"></a></h3>
-<p>As desribed above, agents need to be defined in the <code class="docutils literal notranslate"><span class="pre">Entities</span></code> section.
-For proper spawning they need to be parameterized within the <code class="docutils literal notranslate"><span class="pre">Init</span></code> phase:</p>
-<ul class="simple">
-<li><p>A <a class="reference external" href="https://www.asam.net/static_downloads/ASAM_OpenSCENARIO_V1.1.1_Model_Documentation/modelDocumentation/content/TeleportAction.html">TeleportAction</a> specifies the initial position
-If no TeleportAction is defined the agent will not be spawned (the TeleportAction can also happen inside the <code class="docutils literal notranslate"><span class="pre">Story</span></code>).</p></li>
-<li><p>A <a class="reference external" href="https://www.asam.net/static_downloads/ASAM_OpenSCENARIO_V1.1.1_Model_Documentation/modelDocumentation/content/SpeedAction.html">SpeedAction</a> specifies the desired velocity.
-[optional] If not defined, a spawned agent will start at standstill.</p></li>
-<li><p>A <a class="reference external" href="https://www.asam.net/static_downloads/ASAM_OpenSCENARIO_V1.1.1_Model_Documentation/modelDocumentation/content/FollowRouteAction.html">FollowRouteAction</a> forces the agent onto a specific trajectory
-[optional] If not defined, a random route will be assigned.</p></li>
-</ul>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>VisiblilityAction is currently not supported by <strong>openPASS</strong></p>
-</div>
-<p><strong>Example: TeleportAction + SpeedAction</strong></p>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;Init&gt;</span>
-<span class="w">  </span><span class="nt">&lt;Actions&gt;</span>
-<span class="w">    </span><span class="nt">&lt;Private</span><span class="w"> </span><span class="na">entityRef=</span><span class="s">&quot;Ego&quot;</span><span class="nt">&gt;</span>
-<span class="w">      </span><span class="nt">&lt;PrivateAction&gt;</span>
-<span class="w">        </span><span class="nt">&lt;TeleportAction&gt;</span>
-<span class="w">          </span><span class="nt">&lt;Position&gt;</span>
-<span class="w">            </span><span class="nt">&lt;LanePosition</span><span class="w"> </span><span class="na">roadId=</span><span class="s">&quot;1&quot;</span><span class="w"> </span><span class="na">laneId=</span><span class="s">&quot;-1&quot;</span><span class="w"> </span><span class="na">offset=</span><span class="s">&quot;0.0&quot;</span><span class="w"> </span><span class="na">s=</span><span class="s">&quot;0.0&quot;</span><span class="nt">&gt;</span>
-<span class="w">              </span><span class="nt">&lt;Orientation</span><span class="w"> </span><span class="na">type=</span><span class="s">&quot;relative&quot;</span><span class="nt">/&gt;</span>
-<span class="w">            </span><span class="nt">&lt;/LanePosition&gt;</span>
-<span class="w">          </span><span class="nt">&lt;/Position&gt;</span>
-<span class="w">        </span><span class="nt">&lt;/TeleportAction&gt;</span>
-<span class="w">      </span><span class="nt">&lt;/PrivateAction&gt;</span>
-<span class="w">      </span><span class="nt">&lt;PrivateAction&gt;</span>
-<span class="w">        </span><span class="nt">&lt;LongitudinalAction&gt;</span>
-<span class="w">          </span><span class="nt">&lt;SpeedAction&gt;</span>
-<span class="w">            </span><span class="nt">&lt;SpeedActionDynamics</span><span class="w"> </span><span class="na">dynamicsShape=</span><span class="s">&quot;step&quot;</span><span class="w"> </span><span class="na">value=</span><span class="s">&quot;0.0&quot;</span><span class="w"> </span><span class="na">dynamicsDimension=</span><span class="s">&quot;rate&quot;</span><span class="nt">/&gt;</span>
-<span class="w">            </span><span class="nt">&lt;SpeedActionTarget&gt;</span>
-<span class="w">              </span><span class="nt">&lt;AbsoluteTargetSpeed</span><span class="w"> </span><span class="na">value=</span><span class="s">&quot;43.5&quot;</span><span class="nt">/&gt;</span>
-<span class="w">            </span><span class="nt">&lt;/SpeedActionTarget&gt;</span>
-<span class="w">          </span><span class="nt">&lt;/SpeedAction&gt;</span>
-<span class="w">        </span><span class="nt">&lt;/LongitudinalAction&gt;</span>
-<span class="w">      </span><span class="nt">&lt;/PrivateAction&gt;</span>
-<span class="w">      </span><span class="nt">&lt;PrivateAction&gt;</span>
-<span class="w">        </span><span class="nt">&lt;ControllerAction&gt;</span>
-<span class="w">          </span><span class="nt">&lt;ActivateControllerAction</span><span class="w"> </span><span class="na">controllerRef=</span><span class="s">&quot;Ego&quot;</span><span class="w"> </span><span class="na">lateral=</span><span class="s">&quot;true&quot;</span><span class="w"> </span><span class="na">longitudinal=</span><span class="s">&quot;true&quot;</span><span class="w"> </span><span class="nt">/&gt;</span>
-<span class="w">        </span><span class="nt">&lt;/ControllerAction&gt;</span>
-<span class="w">      </span><span class="nt">&lt;/PrivateAction&gt;</span>
-<span class="w">    </span><span class="nt">&lt;/Private&gt;</span>
-<span class="w">  </span><span class="nt">&lt;/Actions&gt;</span>
-<span class="nt">&lt;/Init&gt;</span>
-</pre></div>
-</div>
-<p><strong>Example: TeleportAction + FollowRouteAction</strong></p>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;Init&gt;</span>
-<span class="w">  </span><span class="nt">&lt;Actions&gt;</span>
-<span class="w">    </span><span class="nt">&lt;Private</span><span class="w"> </span><span class="na">entityRef=</span><span class="s">&quot;Ego&quot;</span><span class="nt">&gt;</span>
-<span class="w">      </span><span class="nt">&lt;PrivateAction&gt;</span>
-<span class="w">        </span><span class="nt">&lt;TeleportAction&gt;</span>
-<span class="w">          </span><span class="nt">&lt;Position&gt;</span>
-<span class="w">            </span><span class="nt">&lt;LanePosition</span><span class="w"> </span><span class="na">roadId=</span><span class="s">&quot;1472558076&quot;</span><span class="w"> </span><span class="na">laneId=</span><span class="s">&quot;-1&quot;</span><span class="w"> </span><span class="na">offset=</span><span class="s">&quot;0.0&quot;</span><span class="w"> </span><span class="na">s=</span><span class="s">&quot;200.0&quot;</span><span class="nt">&gt;</span>
-<span class="w">              </span><span class="nt">&lt;Orientation</span><span class="w"> </span><span class="na">type=</span><span class="s">&quot;relative&quot;</span><span class="nt">/&gt;</span>
-<span class="w">            </span><span class="nt">&lt;/LanePosition&gt;</span>
-<span class="w">          </span><span class="nt">&lt;/Position&gt;</span>
-<span class="w">        </span><span class="nt">&lt;/TeleportAction&gt;</span>
-<span class="w">      </span><span class="nt">&lt;/PrivateAction&gt;</span>
-<span class="w">      </span><span class="nt">&lt;PrivateAction&gt;</span>
-<span class="w">        </span><span class="nt">&lt;RoutingAction&gt;</span>
-<span class="w">          </span><span class="nt">&lt;AssignRouteAction&gt;</span>
-<span class="w">            </span><span class="nt">&lt;Route</span><span class="w"> </span><span class="na">closed=</span><span class="s">&quot;false&quot;</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;&quot;</span><span class="nt">&gt;</span>
-<span class="w">              </span><span class="nt">&lt;Waypoint</span><span class="w"> </span><span class="na">routeStrategy=</span><span class="s">&quot;fastest&quot;</span><span class="nt">&gt;</span>
-<span class="w">                </span><span class="nt">&lt;Position&gt;</span>
-<span class="w">                  </span><span class="nt">&lt;RoadPosition</span><span class="w"> </span><span class="na">roadId=</span><span class="s">&quot;1472558076&quot;</span><span class="w"> </span><span class="na">t=</span><span class="s">&quot;-1.0&quot;</span><span class="w"> </span><span class="na">s=</span><span class="s">&quot;230&quot;</span><span class="nt">/&gt;</span>
-<span class="w">                </span><span class="nt">&lt;/Position&gt;</span>
-<span class="w">              </span><span class="nt">&lt;/Waypoint&gt;</span>
-<span class="w">              </span><span class="nt">&lt;Waypoint</span><span class="w"> </span><span class="na">routeStrategy=</span><span class="s">&quot;fastest&quot;</span><span class="nt">&gt;</span>
-<span class="w">                </span><span class="nt">&lt;Position&gt;</span>
-<span class="w">                  </span><span class="nt">&lt;RoadPosition</span><span class="w"> </span><span class="na">roadId=</span><span class="s">&quot;3083973&quot;</span><span class="w"> </span><span class="na">t=</span><span class="s">&quot;-1.0&quot;</span><span class="w"> </span><span class="na">s=</span><span class="s">&quot;8.5&quot;</span><span class="nt">/&gt;</span>
-<span class="w">                </span><span class="nt">&lt;/Position&gt;</span>
-<span class="w">              </span><span class="nt">&lt;/Waypoint&gt;</span>
-<span class="w">              </span><span class="nt">&lt;Waypoint</span><span class="w"> </span><span class="na">routeStrategy=</span><span class="s">&quot;fastest&quot;</span><span class="nt">&gt;</span>
-<span class="w">                </span><span class="nt">&lt;Position&gt;</span>
-<span class="w">                  </span><span class="nt">&lt;RoadPosition</span><span class="w"> </span><span class="na">roadId=</span><span class="s">&quot;2015840166&quot;</span><span class="w"> </span><span class="na">t=</span><span class="s">&quot;-0.2&quot;</span><span class="w"> </span><span class="na">s=</span><span class="s">&quot;100&quot;</span><span class="nt">/&gt;</span>
-<span class="w">                </span><span class="nt">&lt;/Position&gt;</span>
-<span class="w">              </span><span class="nt">&lt;/Waypoint&gt;</span>
-<span class="w">            </span><span class="nt">&lt;/Route&gt;</span>
-<span class="w">          </span><span class="nt">&lt;/AssignRouteAction&gt;</span>
-<span class="w">        </span><span class="nt">&lt;/RoutingAction&gt;</span>
-<span class="w">      </span><span class="nt">&lt;/PrivateAction&gt;</span>
-<span class="w">      </span><span class="nt">&lt;PrivateAction&gt;</span>
-<span class="w">        </span><span class="nt">&lt;ControllerAction&gt;</span>
-<span class="w">          </span><span class="nt">&lt;ActivateControllerAction</span><span class="w"> </span><span class="na">lateral=</span><span class="s">&quot;true&quot;</span><span class="w"> </span><span class="na">longitudinal=</span><span class="s">&quot;true&quot;</span><span class="w"> </span><span class="na">controllerRef=</span><span class="s">&quot;Ego&quot;</span><span class="nt">/&gt;</span>
-<span class="w">        </span><span class="nt">&lt;/ControllerAction&gt;</span>
-<span class="w">      </span><span class="nt">&lt;/PrivateAction&gt;</span>
-<span class="w">    </span><span class="nt">&lt;/Private&gt;</span>
-<span class="w">  </span><span class="nt">&lt;/Actions&gt;</span>
-<span class="nt">&lt;/Init&gt;</span>
-</pre></div>
-</div>
-</section>
-<section id="story">
-<span id="scenario-story"></span><h3>Story<a class="headerlink" href="#story" title="Link to this heading"></a></h3>
-<p>The tag <code class="docutils literal notranslate"><span class="pre">Story</span></code> is optional and defines all conditional interventions during runtime.
-Please refer to the <a class="reference external" href="https://www.asam.net/static_downloads/ASAM_OpenSCENARIO_V1.2.0_Model_Documentation/modelDocumentation/content/Storyboard.html">Model Documentation</a> for a general overview and the <a class="reference external" href="https://gitlab.eclipse.org/eclipse/openpass/openscenario1_engine">OpenScenarioEngine</a> for supported actions and conditions within a story.</p>
-</section>
-<section id="stoptrigger">
-<h3>StopTrigger<a class="headerlink" href="#stoptrigger" title="Link to this heading"></a></h3>
-<p>It is <strong>mandatory</strong> for openPASS to define a StopTrigger that will fire in any case (otherwise, the simulation will never stop).
-This does not necessarily have to be a SimulationTimeCondition, but it is recommended to use it, perhaps in conjunction with another trigger.</p>
-</section>
-</section>
-<section id="current-restrictions">
-<h2>Current Restrictions<a class="headerlink" href="#current-restrictions" title="Link to this heading"></a></h2>
-<section id="conditions">
-<h3>Conditions<a class="headerlink" href="#conditions" title="Link to this heading"></a></h3>
-<p><strong>openPASS</strong> support different kind of conditions, belonging either to <code class="docutils literal notranslate"><span class="pre">ByValueCondition</span></code> or <code class="docutils literal notranslate"><span class="pre">ByEntityCondition</span></code>.
-While a <strong>by value condition</strong> triggers based on a specified value and is unrelated to any specific agent, a <strong>by entity condition</strong> is bound to an triggering agent, defined by a mandatory section <code class="docutils literal notranslate"><span class="pre">TriggeringEntities</span></code>.
-Entities can be either ego or scenario agents.</p>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>Reacting on “common” cars is currently not supported.</p>
-</div>
-</section>
-<section id="actions">
-<h3>Actions<a class="headerlink" href="#actions" title="Link to this heading"></a></h3>
-<p>The following OpenSCENARIO actions are supported:</p>
-<ul class="simple">
-<li><p><a class="reference internal" href="#scenario-followrouteaction"><span class="std std-ref">FollowRouteAction</span></a></p></li>
-<li><p><a class="reference internal" href="#scenario-lanechange"><span class="std std-ref">LaneChangeAction</span></a></p></li>
-<li><p><a class="reference internal" href="#scenario-followtrajectory"><span class="std std-ref">FollowTrajectoryAction</span></a></p></li>
-<li><p><a class="reference internal" href="#scenario-acquireposition"><span class="std std-ref">AcquirePositionAction</span></a></p></li>
-<li><p><a class="reference internal" href="#scenario-teleportaction"><span class="std std-ref">TeleportAction</span></a></p></li>
-<li><p><a class="reference internal" href="#scenario-speedaction"><span class="std std-ref">SpeedAction</span></a></p></li>
-<li><p><a class="reference internal" href="#scenario-trafficsinkaction"><span class="std std-ref">TrafficSinkAction</span></a></p></li>
-</ul>
-<p>In addition, the following user defined actions are interpreted:</p>
-<ul class="simple">
-<li><p><a class="reference internal" href="#scenario-componentstatechange"><span class="std std-ref">SetComponentState (UserDefinedAction)</span></a></p></li>
-<li><p><a class="reference internal" href="#scenario-defaultcustomcommandaction"><span class="std std-ref">DefaultCustomCommandAction (UserDefinedAction)</span></a></p></li>
-</ul>
-<section id="scenario-followrouteaction">
-<span id="id3"></span><h4>FollowRouteAction<a class="headerlink" href="#scenario-followrouteaction" title="Link to this heading"></a></h4>
-<p>The FollowRouteAction is mainly used as part of the <code class="docutils literal notranslate"><span class="pre">Init</span></code> phase of the Storyboard.
-It defines Waypoints, which are located by <code class="docutils literal notranslate"><span class="pre">road_id</span></code> and further with <code class="docutils literal notranslate"><span class="pre">s</span></code> and <code class="docutils literal notranslate"><span class="pre">t</span></code> coordinates.
-The Agent will try to follow the specified points.</p>
-<p><strong>Example</strong> <em>Right turn, by specifying three waypoints</em></p>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="w">          </span><span class="nt">&lt;RoutingAction&gt;</span>
-<span class="w">            </span><span class="nt">&lt;AssignRouteAction&gt;</span>
-<span class="w">              </span><span class="nt">&lt;Route</span><span class="w"> </span><span class="na">closed=</span><span class="s">&quot;false&quot;</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;&quot;</span><span class="nt">&gt;</span>
-<span class="w">                </span><span class="nt">&lt;Waypoint</span><span class="w"> </span><span class="na">routeStrategy=</span><span class="s">&quot;fastest&quot;</span><span class="nt">&gt;</span>
-<span class="w">                  </span><span class="nt">&lt;Position&gt;</span>
-<span class="w">                    </span><span class="nt">&lt;RoadPosition</span><span class="w"> </span><span class="na">roadId=</span><span class="s">&quot;1472558076&quot;</span><span class="w"> </span><span class="na">t=</span><span class="s">&quot;-1.0&quot;</span><span class="w"> </span><span class="na">s=</span><span class="s">&quot;230&quot;</span><span class="nt">/&gt;</span>
-<span class="w">                  </span><span class="nt">&lt;/Position&gt;</span>
-<span class="w">                </span><span class="nt">&lt;/Waypoint&gt;</span>
-<span class="w">                </span><span class="nt">&lt;Waypoint</span><span class="w"> </span><span class="na">routeStrategy=</span><span class="s">&quot;fastest&quot;</span><span class="nt">&gt;</span>
-<span class="w">                  </span><span class="nt">&lt;Position&gt;</span>
-<span class="w">                    </span><span class="nt">&lt;RoadPosition</span><span class="w"> </span><span class="na">roadId=</span><span class="s">&quot;3083973&quot;</span><span class="w"> </span><span class="na">t=</span><span class="s">&quot;-1.0&quot;</span><span class="w"> </span><span class="na">s=</span><span class="s">&quot;8.5&quot;</span><span class="nt">/&gt;</span>
-<span class="w">                  </span><span class="nt">&lt;/Position&gt;</span>
-<span class="w">                </span><span class="nt">&lt;/Waypoint&gt;</span>
-<span class="w">                </span><span class="nt">&lt;Waypoint</span><span class="w"> </span><span class="na">routeStrategy=</span><span class="s">&quot;fastest&quot;</span><span class="nt">&gt;</span>
-<span class="w">                  </span><span class="nt">&lt;Position&gt;</span>
-<span class="w">                    </span><span class="nt">&lt;RoadPosition</span><span class="w"> </span><span class="na">roadId=</span><span class="s">&quot;2015840166&quot;</span><span class="w"> </span><span class="na">t=</span><span class="s">&quot;-0.2&quot;</span><span class="w"> </span><span class="na">s=</span><span class="s">&quot;100&quot;</span><span class="nt">/&gt;</span>
-<span class="w">                  </span><span class="nt">&lt;/Position&gt;</span>
-<span class="w">                </span><span class="nt">&lt;/Waypoint&gt;</span>
-<span class="w">              </span><span class="nt">&lt;/Route&gt;</span>
-<span class="w">            </span><span class="nt">&lt;/AssignRouteAction&gt;</span>
-<span class="w">          </span><span class="nt">&lt;/RoutingAction&gt;</span>
-</pre></div>
-</div>
-</section>
-<section id="lanechangeaction">
-<span id="scenario-lanechange"></span><h4>LaneChangeAction<a class="headerlink" href="#lanechangeaction" title="Link to this heading"></a></h4>
-<p>If this action triggers, the actor is forced to perform a trajectory, calculated at the time of triggering.
-The target lane be given either absolute or with respect to another entity.
-The trajectory can either have a fixed length (in <code class="docutils literal notranslate"><span class="pre">s</span></code>) or a fixed time.</p>
-<p>Currently <strong>openPASS</strong> only supports the type <code class="docutils literal notranslate"><span class="pre">sinusoidal</span></code>.</p>
-<p><strong>Example</strong> <em>with absolute target and fixed length</em></p>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;Action</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;LaneChange&quot;</span><span class="nt">&gt;</span>
-<span class="w">  </span><span class="nt">&lt;PrivateAction&gt;</span>
-<span class="w">    </span><span class="nt">&lt;LateralAction&gt;</span>
-<span class="w">      </span><span class="nt">&lt;LaneChangeAction&gt;</span>
-<span class="w">        </span><span class="nt">&lt;LaneChangeActionDynamics</span><span class="w"> </span><span class="na">value=</span><span class="s">&quot;2.0&quot;</span><span class="w"> </span><span class="na">dynamicsShape=</span><span class="s">&quot;sinusoidal&quot;</span><span class="w"> </span><span class="na">dynamicsDimension=</span><span class="s">&quot;time&quot;</span><span class="nt">/&gt;</span>
-<span class="w">        </span><span class="nt">&lt;LaneChangeTarget&gt;</span>
-<span class="w">          </span><span class="nt">&lt;AbsoluteTargetLane</span><span class="w"> </span><span class="na">value=</span><span class="s">&quot;-4&quot;</span><span class="nt">/&gt;</span>
-<span class="w">        </span><span class="nt">&lt;/LaneChangeTarget&gt;</span>
-<span class="w">      </span><span class="nt">&lt;/LaneChangeAction&gt;</span>
-<span class="w">    </span><span class="nt">&lt;/LateralAction&gt;</span>
-<span class="w">  </span><span class="nt">&lt;/PrivateAction&gt;</span>
-<span class="nt">&lt;/Action&gt;</span>
-</pre></div>
-</div>
-<p><strong>Example</strong> <em>with relative target and fixed time</em></p>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;Action</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;LaneChange&quot;</span><span class="nt">&gt;</span>
-<span class="w">  </span><span class="nt">&lt;PrivateAction&gt;</span>
-<span class="w">    </span><span class="nt">&lt;LateralAction&gt;</span>
-<span class="w">      </span><span class="nt">&lt;LaneChangeAction&gt;</span>
-<span class="w">        </span><span class="nt">&lt;LaneChangeActionDynamics</span><span class="w"> </span><span class="na">value=</span><span class="s">&quot;2.0&quot;</span><span class="w"> </span><span class="na">dynamicsShape=</span><span class="s">&quot;sinusoidal&quot;</span><span class="w"> </span><span class="na">dynamicsDimension=</span><span class="s">&quot;time&quot;</span><span class="nt">/&gt;</span>
-<span class="w">        </span><span class="nt">&lt;LaneChangeTarget&gt;</span>
-<span class="w">          </span><span class="nt">&lt;RelativeTargetLane</span><span class="w"> </span><span class="na">entityRef=</span><span class="s">&quot;Ego&quot;</span><span class="w"> </span><span class="na">value=</span><span class="s">&quot;+1&quot;</span><span class="nt">/&gt;</span>
-<span class="w">        </span><span class="nt">&lt;/LaneChangeTarget&gt;</span>
-<span class="w">      </span><span class="nt">&lt;/LaneChangeAction&gt;</span>
-<span class="w">    </span><span class="nt">&lt;/LateralAction&gt;</span>
-<span class="w">  </span><span class="nt">&lt;/PrivateAction&gt;</span>
-<span class="nt">&lt;/Action&gt;</span>
-</pre></div>
-</div>
-</section>
-<section id="followtrajectoryaction">
-<span id="scenario-followtrajectory"></span><h4>FollowTrajectoryAction<a class="headerlink" href="#followtrajectoryaction" title="Link to this heading"></a></h4>
-<p>If triggered, the defined trajectory is relayed as signal to listening components.
-The trajectory can be defined either directly in the story or as separate TrajectoryCatalog.
-For the points (vertices) of the trajectory only world coordinates, given as <code class="docutils literal notranslate"><span class="pre">openScenario::WorldPosition</span></code>, are supported.
-Right now, the mandatory attributes  <em>z</em>, <em>pitch</em> and <em>roll</em> are ignored.</p>
-<p><strong>Example</strong></p>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;Action</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;Trajectory&quot;</span><span class="nt">&gt;</span>
-<span class="w">  </span><span class="nt">&lt;PrivateAction&gt;</span>
-<span class="w">    </span><span class="nt">&lt;RoutingAction&gt;</span>
-<span class="w">      </span><span class="nt">&lt;FollowTrajectoryAction&gt;</span>
-<span class="w">        </span><span class="nt">&lt;TrajectoryRef&gt;</span>
-<span class="w">          </span><span class="nt">&lt;Trajectory</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;LaneChange&quot;</span><span class="w"> </span><span class="na">closed=</span><span class="s">&quot;false&quot;</span><span class="nt">&gt;</span>
-<span class="w">            </span><span class="nt">&lt;Shape&gt;</span>
-<span class="w">              </span><span class="nt">&lt;Polyline&gt;</span>
-<span class="w">                </span><span class="nt">&lt;Vertex</span><span class="w"> </span><span class="na">time=</span><span class="s">&quot;0&quot;</span><span class="nt">&gt;</span>
-<span class="w">                  </span><span class="nt">&lt;Position&gt;</span>
-<span class="w">                    </span><span class="nt">&lt;WorldPosition</span><span class="w"> </span><span class="na">x=</span><span class="s">&quot;100&quot;</span><span class="w"> </span><span class="na">y=</span><span class="s">&quot;3&quot;</span><span class="w"> </span><span class="na">z=</span><span class="s">&quot;0&quot;</span><span class="w"> </span><span class="na">h=</span><span class="s">&quot;1.570796326&quot;</span><span class="w"> </span><span class="na">p=</span><span class="s">&quot;0&quot;</span><span class="w"> </span><span class="na">r=</span><span class="s">&quot;0&quot;</span><span class="nt">/&gt;</span>
-<span class="w">                  </span><span class="nt">&lt;/Position&gt;</span>
-<span class="w">                </span><span class="nt">&lt;/Vertex&gt;</span>
-<span class="w">                </span><span class="nt">&lt;Vertex</span><span class="w"> </span><span class="na">time=</span><span class="s">&quot;5&quot;</span><span class="nt">&gt;</span>
-<span class="w">                  </span><span class="nt">&lt;Position&gt;</span>
-<span class="w">                    </span><span class="nt">&lt;WorldPosition</span><span class="w"> </span><span class="na">x=</span><span class="s">&quot;100&quot;</span><span class="w"> </span><span class="na">y=</span><span class="s">&quot;8&quot;</span><span class="w"> </span><span class="na">z=</span><span class="s">&quot;0&quot;</span><span class="w"> </span><span class="na">h=</span><span class="s">&quot;1.570796326&quot;</span><span class="w"> </span><span class="na">p=</span><span class="s">&quot;0&quot;</span><span class="w"> </span><span class="na">r=</span><span class="s">&quot;0&quot;</span><span class="nt">/&gt;</span>
-<span class="w">                  </span><span class="nt">&lt;/Position&gt;</span>
-<span class="w">                </span><span class="nt">&lt;/Vertex&gt;</span>
-<span class="w">              </span><span class="nt">&lt;/Polyline&gt;</span>
-<span class="w">            </span><span class="nt">&lt;/Shape&gt;</span>
-<span class="w">          </span><span class="nt">&lt;/Trajectory&gt;</span>
-<span class="w">        </span><span class="nt">&lt;/TrajectoryRef&gt;</span>
-<span class="w">        </span><span class="nt">&lt;TimeReference&gt;</span>
-<span class="w">          </span><span class="nt">&lt;None/&gt;</span>
-<span class="w">        </span><span class="nt">&lt;/TimeReference&gt;</span>
-<span class="w">        </span><span class="nt">&lt;TrajectoryFollowingMode</span><span class="w"> </span><span class="na">followingMode=</span><span class="s">&quot;position&quot;</span><span class="nt">/&gt;</span>
-<span class="w">      </span><span class="nt">&lt;/FollowTrajectoryAction&gt;</span>
-<span class="w">    </span><span class="nt">&lt;/RoutingAction&gt;</span>
-<span class="w">  </span><span class="nt">&lt;/PrivateAction&gt;</span>
-<span class="nt">&lt;/Action&gt;</span>
-</pre></div>
-</div>
-<p><strong>Example</strong> <em>using a TrajectoryCatalog</em></p>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;Action</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;FollowTrajectory&quot;</span><span class="nt">&gt;</span>
-<span class="w">  </span><span class="nt">&lt;Private&gt;</span>
-<span class="w">    </span><span class="nt">&lt;Routing&gt;</span>
-<span class="w">      </span><span class="nt">&lt;FollowTrajectoryAction&gt;</span>
-<span class="w">        </span><span class="nt">&lt;CatalogReference</span><span class="w"> </span><span class="na">catalogName=</span><span class="s">&quot;TrajectoryCatalog.xosc&quot;</span><span class="w"> </span><span class="na">entryName=</span><span class="s">&quot;TrajectoryA&quot;</span><span class="nt">&gt;</span>
-<span class="w">      </span><span class="nt">&lt;/FollowTrajectoryAction&gt;</span>
-<span class="w">    </span><span class="nt">&lt;/Routing&gt;</span>
-<span class="w">   </span><span class="nt">&lt;/Private&gt;</span>
-<span class="nt">&lt;/Action&gt;</span>
-</pre></div>
-</div>
-</section>
-<section id="acquirepositionaction">
-<span id="scenario-acquireposition"></span><h4>AcquirePositionAction<a class="headerlink" href="#acquirepositionaction" title="Link to this heading"></a></h4>
-<p>If triggered, the defined position is relayed as signal to listening components.</p>
-<div class="admonition warning">
-<p class="admonition-title">Warning</p>
-<p>Currently, this is only supported by the component <em>FMU_Wrapper</em> for OSMP messages.</p>
-</div>
-<div class="admonition warning">
-<p class="admonition-title">Warning</p>
-<p>An FMU might contain routing logic not visible to the openPASS simulation core.
-For that reason, an equivalent <cite>RoutingAction</cite> should be set when using <cite>AcquirePosition</cite>.
-Otherwise the simulation output might contain missing data for fields depending on the localization along the route (<cite>PositionRoute</cite>, <cite>TCoordinate</cite>, <cite>AgentInFront</cite>, …).</p>
-</div>
-<p><strong>Example</strong> <em>(WorldPosition)</em></p>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;Action</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;AcquirePosition&quot;</span><span class="nt">&gt;</span>
-<span class="w">  </span><span class="nt">&lt;PrivateAction&gt;</span>
-<span class="w">    </span><span class="nt">&lt;RoutingAction&gt;</span>
-<span class="w">      </span><span class="nt">&lt;AcquirePositionAction&gt;</span>
-<span class="w">        </span><span class="nt">&lt;Position&gt;</span>
-<span class="w">          </span><span class="nt">&lt;WorldPosition</span><span class="w"> </span><span class="na">x=</span><span class="s">&quot;1.0&quot;</span><span class="w"> </span><span class="na">y=</span><span class="s">&quot;2.0&quot;</span><span class="w"> </span><span class="na">z=</span><span class="s">&quot;0.0&quot;</span><span class="w"> </span><span class="na">h=</span><span class="s">&quot;3.1415&quot;</span><span class="w"> </span><span class="na">p=</span><span class="s">&quot;0.0&quot;</span><span class="w"> </span><span class="na">r=</span><span class="s">&quot;0.0&quot;</span><span class="w"> </span><span class="nt">/&gt;</span>
-<span class="w">        </span><span class="nt">&lt;/Position&gt;</span>
-<span class="w">      </span><span class="nt">&lt;/AcquirePositionAction&gt;</span>
-<span class="w">    </span><span class="nt">&lt;/RoutingAction&gt;</span>
-<span class="w">  </span><span class="nt">&lt;/PrivateAction&gt;</span>
-<span class="nt">&lt;/Action&gt;</span>
-</pre></div>
-</div>
-<p><strong>Example</strong> <em>(RelativeObjectPosition)</em></p>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;Action</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;AcquirePosition&quot;</span><span class="nt">&gt;</span>
-<span class="w">  </span><span class="nt">&lt;PrivateAction&gt;</span>
-<span class="w">    </span><span class="nt">&lt;RoutingAction&gt;</span>
-<span class="w">      </span><span class="nt">&lt;AcquirePositionAction&gt;</span>
-<span class="w">        </span><span class="nt">&lt;Position&gt;</span>
-<span class="w">          </span><span class="nt">&lt;RelativeObjectPosition</span><span class="w"> </span><span class="na">dx=</span><span class="s">&quot;1.0&quot;</span><span class="w"> </span><span class="na">dy=</span><span class="s">&quot;1.0&quot;</span><span class="w"> </span><span class="na">entityRef=</span><span class="s">&quot;S1&quot;</span><span class="nt">/&gt;</span>
-<span class="w">        </span><span class="nt">&lt;/Position&gt;</span>
-<span class="w">      </span><span class="nt">&lt;/AcquirePositionAction&gt;</span>
-<span class="w">    </span><span class="nt">&lt;/RoutingAction&gt;</span>
-<span class="w">  </span><span class="nt">&lt;/PrivateAction&gt;</span>
-<span class="nt">&lt;/Action&gt;</span>
-</pre></div>
-</div>
-</section>
-<section id="scenario-teleportaction">
-<span id="id4"></span><h4>TeleportAction<a class="headerlink" href="#scenario-teleportaction" title="Link to this heading"></a></h4>
-<p>The TeleportAction instantly changes the position of an entity.</p>
-</section>
-<section id="trafficsinkaction">
-<span id="scenario-trafficsinkaction"></span><h4>TrafficSinkAction<a class="headerlink" href="#trafficsinkaction" title="Link to this heading"></a></h4>
-<p>The TrafficSinkAction is used to remove agents when they reach a certain position.</p>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>At spawning time, the TrafficSinkAction is executed the common traffic is initiated, which means vehicles will spawn at the first timestamp in the defined zone, but are immediately removed at the next timestep.</p>
-</div>
-</section>
-<section id="scenario-speedaction">
-<span id="id5"></span><h4>SpeedAction<a class="headerlink" href="#scenario-speedaction" title="Link to this heading"></a></h4>
-<p>The SpeedAction adjusts the velocity of an entity based on parameters of the SpeedAction.</p>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>If the <strong>openPASS</strong> specific controller is used, the SpeedAction might not reflect actual values used by the simulator due to physical boundaries of the simulator.</p>
-</div>
-<p><strong>Example</strong> <em>AbsoulteTargetSpeed</em></p>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;Action</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;SpeedAction&quot;</span><span class="nt">&gt;</span>
-<span class="w">  </span><span class="nt">&lt;PrivateAction&gt;</span>
-<span class="w">    </span><span class="nt">&lt;LongitudinalAction&gt;</span>
-<span class="w">      </span><span class="nt">&lt;SpeedAction&gt;</span>
-<span class="w">        </span><span class="nt">&lt;SpeedActionDynamics</span><span class="w"> </span><span class="na">dynamicsShape=</span><span class="s">&quot;step&quot;</span><span class="w"> </span><span class="na">value=</span><span class="s">&quot;0.0&quot;</span><span class="w"> </span><span class="na">dynamicsDimension=</span><span class="s">&quot;rate&quot;</span><span class="nt">/&gt;</span>
-<span class="w">        </span><span class="nt">&lt;SpeedActionTarget&gt;</span>
-<span class="w">          </span><span class="nt">&lt;AbsoluteTargetSpeed</span><span class="w"> </span><span class="na">value=</span><span class="s">&quot;20&quot;</span><span class="nt">/&gt;</span>
-<span class="w">        </span><span class="nt">&lt;/SpeedActionTarget&gt;</span>
-<span class="w">      </span><span class="nt">&lt;/SpeedAction&gt;</span>
-<span class="w">    </span><span class="nt">&lt;/LongitudinalAction&gt;</span>
-<span class="w">  </span><span class="nt">&lt;/PrivateAction&gt;</span>
-<span class="nt">&lt;/Action&gt;</span>
-</pre></div>
-</div>
-<p><strong>Example</strong> <em>RelativeTargetSpeed</em></p>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;Action</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;SpeedAction&quot;</span><span class="nt">&gt;</span>
-<span class="w">  </span><span class="nt">&lt;PrivateAction&gt;</span>
-<span class="w">    </span><span class="nt">&lt;LongitudinalAction&gt;</span>
-<span class="w">      </span><span class="nt">&lt;SpeedAction&gt;</span>
-<span class="w">        </span><span class="nt">&lt;SpeedActionDynamics</span><span class="w"> </span><span class="na">dynamicsShape=</span><span class="s">&quot;step&quot;</span><span class="w"> </span><span class="na">value=</span><span class="s">&quot;0.0&quot;</span><span class="w"> </span><span class="na">dynamicsDimension=</span><span class="s">&quot;rate&quot;</span><span class="nt">/&gt;</span>
-<span class="w">        </span><span class="nt">&lt;SpeedActionTarget&gt;</span>
-<span class="w">          </span><span class="nt">&lt;RelativeTargetSpeed</span><span class="w"> </span><span class="na">entityRef=</span><span class="s">&quot;ScenarioAgent&quot;</span><span class="w"> </span><span class="na">value=</span><span class="s">&quot;10&quot;</span>
-<span class="w">                               </span><span class="na">speedTargetValueType=</span><span class="s">&quot;delta&quot;</span><span class="w"> </span><span class="na">continuous=</span><span class="s">&quot;false&quot;</span><span class="nt">/&gt;</span>
-<span class="w">        </span><span class="nt">&lt;/SpeedActionTarget&gt;</span>
-<span class="w">        </span><span class="nt">&lt;/SpeedAction&gt;</span>
-<span class="w">    </span><span class="nt">&lt;/LongitudinalAction&gt;</span>
-<span class="w">  </span><span class="nt">&lt;/PrivateAction&gt;</span>
-<span class="nt">&lt;/Action&gt;</span>
-</pre></div>
-</div>
-</section>
-<section id="setcomponentstate-userdefinedaction">
-<span id="scenario-componentstatechange"></span><h4>SetComponentState (UserDefinedAction)<a class="headerlink" href="#setcomponentstate-userdefinedaction" title="Link to this heading"></a></h4>
-<p>Command Keyword: <code class="docutils literal notranslate"><span class="pre">SetComponentState</span></code></p>
-<p>Influences the maximum reachable state of an agent component handled by the ComponentController, i.e. it can either activate or deactivate a component.
-For more details see the description of the <a class="reference internal" href="../../advanced_topics/simulator/agent_components.html#agentcomponents-componentcontroller"><span class="std std-ref">ComponentController</span></a>.</p>
-<p><strong>Example</strong></p>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;Action</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;ComponentStateChange&quot;</span><span class="nt">&gt;</span>
-<span class="w">    </span><span class="nt">&lt;UserDefinedAction&gt;</span>
-<span class="w">        </span><span class="nt">&lt;CustomCommandAction&gt;</span>SetComponentState<span class="w"> </span>Dynamics_TrajectoryFollower<span class="w"> </span>Acting<span class="nt">&lt;/CustomCommandAction&gt;</span>
-<span class="w">    </span><span class="nt">&lt;/UserDefinedAction&gt;</span>
-<span class="nt">&lt;/Action&gt;</span>
-</pre></div>
-</div>
-</section>
-<section id="defaultcustomcommandaction-userdefinedaction">
-<span id="scenario-defaultcustomcommandaction"></span><h4>DefaultCustomCommandAction (UserDefinedAction)<a class="headerlink" href="#defaultcustomcommandaction-userdefinedaction" title="Link to this heading"></a></h4>
-<p>This is <strong>the</strong> default custom command, and is always selected, if <strong>the first WORD</strong> (Keyword) in the command string is <strong>not</strong> registered as a special custom command.
-The command is universally accessible across all components via <cite>ScenarioControlInterface::GetCustomCommands()</cite>, empowering users to define personalized actions tailored to their specific needs.
-Once defined, the functionality of this command is unique to the user, based on their custom implementation.</p>
-<div class="admonition-fmu-wrapper-component-for-osmp-messages-only admonition">
-<p class="admonition-title">FMU_Wrapper component for OSMP messages only</p>
-<p>The linked string signal is set as custom action of the TrafficCommand. For more information on OSMP FMUs see the <a class="reference internal" href="../sim_user_guide/components/vehicle.html#components-fmuwrapper"><span class="std std-ref">FMU Wrapper</span></a> documentation.</p>
-</div>
-<p><strong>Example</strong></p>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;Action</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;CustomParameters&quot;</span><span class="nt">&gt;</span>
-<span class="w">    </span><span class="nt">&lt;UserDefinedAction&gt;</span>
-<span class="w">        </span><span class="nt">&lt;CustomCommandAction&gt;</span>Arbitrary<span class="w"> </span>String,<span class="w"> </span>e.g.<span class="w"> </span>{<span class="w"> </span>&quot;hello&quot;:<span class="w"> </span>&quot;world&quot;}<span class="nt">&lt;/CustomCommandAction&gt;</span>
-<span class="w">    </span><span class="nt">&lt;/UserDefinedAction&gt;</span>
-<span class="nt">&lt;/Action&gt;</span>
-</pre></div>
-</div>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>Here, “Arbitrary” is first checked, if it matches any other available Keyword for used defined actions, such as <a class="reference internal" href="#scenario-componentstatechange"><span class="std std-ref">SetComponentState (UserDefinedAction)</span></a>.</p>
-</div>
-</section>
-</section>
-</section>
-</section>
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+             
+  <section id="scenario">
+<span id="id1"></span><h1>Scenario<a class="headerlink" href="#scenario" title="Link to this heading"></a></h1>
+<section id="overview">
+<span id="scenario-overview"></span><h2>Overview<a class="headerlink" href="#overview" title="Link to this heading"></a></h2>
+<p>The scenario configuration file (<code class="docutils literal notranslate"><span class="pre">*.xosc</span></code>) describes all dynamic configurations of a simulation run, i.e. position of various road users as well as conditional events that change the behavior of the simulation during the run.
+The scenario control is carried out using the <a class="reference external" href="https://gitlab.eclipse.org/eclipse/openpass/openscenario1_engine">OpenScenarioEngine</a>, which processes scenarios according to <a class="reference external" href="https://www.asam.net/standards/detail/openscenario/">ASAM OpenSCENARIO</a>.
+It is interfaced using the <a class="reference external" href="https://gitlab.eclipse.org/eclipse/openpass/mantle-api">MantleAPI</a>.
+For the list of MantleAPI features supported by <strong>openPASS</strong> see <a class="reference internal" href="scenario_api_support.html#scenario-api-support"><span class="std std-ref">Scenario API Support</span></a>.</p>
+<p>At the time of writing, the OpenScenarioEngine processes scenario configurations in version 1.1.1, but please refer to the corresponding documentations for possible and implemented features.</p>
+<p>In the following, the most important features for openPASS are described.</p>
+</section>
+<section id="parameterdeclarations">
+<span id="scenario-parameterdeclaration"></span><h2>ParameterDeclarations<a class="headerlink" href="#parameterdeclarations" title="Link to this heading"></a></h2>
+<p>The tag <code class="docutils literal notranslate"><span class="pre">ParameterDeclarations</span></code> allow to define generic parameters, which can be referenced later the file by its name, prefixed with <code class="docutils literal notranslate"><span class="pre">$</span></code>.</p>
+<p><strong>Example declaration</strong></p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;ParameterDeclarations&gt;</span>
+<span class="w">  </span><span class="nt">&lt;ParameterDeclaration</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;simulation_time&quot;</span><span class="w"> </span><span class="na">parameterType=</span><span class="s">&quot;double&quot;</span><span class="w"> </span><span class="na">value=</span><span class="s">&quot;123.4&quot;</span><span class="nt">/&gt;</span>
+<span class="nt">&lt;/ParameterDeclarations&gt;</span>
+</pre></div>
+</div>
+<p><strong>Example usage</strong></p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;StopTrigger&gt;</span>
+<span class="w">  </span><span class="nt">&lt;ConditionGroup&gt;</span>
+<span class="w">    </span><span class="nt">&lt;Condition</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;EndTime&quot;</span><span class="w"> </span><span class="na">delay=</span><span class="s">&quot;0&quot;</span><span class="w"> </span><span class="na">conditionEdge=</span><span class="s">&quot;rising&quot;</span><span class="nt">&gt;</span>
+<span class="w">      </span><span class="nt">&lt;ByValueCondition&gt;</span>
+<span class="w">        </span><span class="nt">&lt;SimulationTimeCondition</span><span class="w"> </span><span class="na">value=</span><span class="s">&quot;$simulation_time&quot;</span><span class="w"> </span><span class="na">rule=</span><span class="s">&quot;greaterThan&quot;</span><span class="nt">/&gt;</span>
+<span class="w">      </span><span class="nt">&lt;/ByValueCondition&gt;</span>
+<span class="w">    </span><span class="nt">&lt;/Condition&gt;</span>
+<span class="w">  </span><span class="nt">&lt;/ConditionGroup&gt;</span>
+<span class="nt">&lt;/StopTrigger&gt;</span>
+</pre></div>
+</div>
+<table class="docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Supported ParameterTypes</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>string</p></td>
+</tr>
+<tr class="row-odd"><td><p>integer</p></td>
+</tr>
+<tr class="row-even"><td><p>double</p></td>
+</tr>
+</tbody>
+</table>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>Only <code class="docutils literal notranslate"><span class="pre">string</span></code> allows empty values.</p>
+</div>
+</section>
+<section id="catalogs">
+<span id="scenario-catalogs"></span><h2>Catalogs<a class="headerlink" href="#catalogs" title="Link to this heading"></a></h2>
+<p>The <code class="docutils literal notranslate"><span class="pre">Catalogs</span></code> tag defines locations of various other files containing sub features of OpenSCENARIO for easier reusing (and written in the same format).</p>
+<p>The following catalogs are the most important:</p>
+<ul class="simple">
+<li><p><a class="reference internal" href="#scenario-vehiclemodels"><span class="std std-ref">VehicleCatalog</span></a></p></li>
+<li><p><a class="reference internal" href="#scenario-pedestrianmodels"><span class="std std-ref">PedestrianCatalog</span></a></p></li>
+<li><p>TrajectoryCatalog for the case that a <em>FollowTrajectory action</em> is defined</p></li>
+</ul>
+<p>The VehicleCatalog is also used by <strong>openPASS</strong> itself for spawning of Common vehicles and therefore mandatory.</p>
+<p><strong>Example</strong></p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;CatalogLocations&gt;</span>
+<span class="w">  </span><span class="nt">&lt;VehicleCatalog&gt;</span>
+<span class="w">    </span><span class="nt">&lt;Directory</span><span class="w"> </span><span class="na">path=</span><span class="s">&quot;Vehicles&quot;</span><span class="nt">/&gt;</span>
+<span class="w">  </span><span class="nt">&lt;/VehicleCatalog&gt;</span>
+<span class="w">  </span><span class="nt">&lt;PedestrianCatalog&gt;</span>
+<span class="w">    </span><span class="nt">&lt;Directory</span><span class="w"> </span><span class="na">path=</span><span class="s">&quot;Vehicles&quot;</span><span class="nt">/&gt;</span>
+<span class="w">  </span><span class="nt">&lt;/PedestrianCatalog&gt;</span>
+<span class="w">  </span><span class="nt">&lt;ControllerCatalog&gt;</span>
+<span class="w">    </span><span class="nt">&lt;Directory</span><span class="w"> </span><span class="na">path=</span><span class="s">&quot;&quot;</span><span class="nt">/&gt;</span>
+<span class="w">  </span><span class="nt">&lt;/ControllerCatalog&gt;</span>
+<span class="w">  </span><span class="nt">&lt;ManeuverCatalog&gt;</span>
+<span class="w">    </span><span class="nt">&lt;Directory</span><span class="w"> </span><span class="na">path=</span><span class="s">&quot;&quot;</span><span class="nt">/&gt;</span>
+<span class="w">  </span><span class="nt">&lt;/ManeuverCatalog&gt;</span>
+<span class="w">  </span><span class="nt">&lt;MiscObjectCatalog&gt;</span>
+<span class="w">    </span><span class="nt">&lt;Directory</span><span class="w"> </span><span class="na">path=</span><span class="s">&quot;&quot;</span><span class="nt">/&gt;</span>
+<span class="w">  </span><span class="nt">&lt;/MiscObjectCatalog&gt;</span>
+<span class="w">  </span><span class="nt">&lt;EnvironmentCatalog&gt;</span>
+<span class="w">    </span><span class="nt">&lt;Directory</span><span class="w"> </span><span class="na">path=</span><span class="s">&quot;&quot;</span><span class="nt">/&gt;</span>
+<span class="w">  </span><span class="nt">&lt;/EnvironmentCatalog&gt;</span>
+<span class="w">  </span><span class="nt">&lt;TrajectoryCatalog&gt;</span>
+<span class="w">    </span><span class="nt">&lt;Directory</span><span class="w"> </span><span class="na">path=</span><span class="s">&quot;&quot;</span><span class="nt">/&gt;</span>
+<span class="w">  </span><span class="nt">&lt;/TrajectoryCatalog&gt;</span>
+<span class="w">  </span><span class="nt">&lt;RouteCatalog&gt;</span>
+<span class="w">    </span><span class="nt">&lt;Directory</span><span class="w"> </span><span class="na">path=</span><span class="s">&quot;&quot;</span><span class="nt">/&gt;</span>
+<span class="w">  </span><span class="nt">&lt;/RouteCatalog&gt;</span>
+<span class="nt">&lt;/CatalogLocations&gt;</span>
+</pre></div>
+</div>
+<section id="vehiclecatalog">
+<span id="scenario-vehiclemodels"></span><h3>VehicleCatalog<a class="headerlink" href="#vehiclecatalog" title="Link to this heading"></a></h3>
+<p>This path is mandatory.
+It has to contain a file named “VehicleModelsCatalog.xosc”.
+This file contains the available vehicle model catalogs for the simulation.
+For each vehicle the physical parameters are stored here.</p>
+<table class="docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Supported Models</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>car_bmw_i3</p></td>
+</tr>
+<tr class="row-odd"><td><p>car_bmw_3</p></td>
+</tr>
+<tr class="row-even"><td><p>car_bmw_7_1</p></td>
+</tr>
+<tr class="row-odd"><td><p>car_bmw_7_2</p></td>
+</tr>
+<tr class="row-even"><td><p>car_mini_cooper</p></td>
+</tr>
+<tr class="row-odd"><td><p>bus</p></td>
+</tr>
+<tr class="row-even"><td><p>truck</p></td>
+</tr>
+<tr class="row-odd"><td><p>bicycle</p></td>
+</tr>
+</tbody>
+</table>
+<p><strong>Example Catalog:</strong></p>
+<p><a class="reference download internal" download="" href="../../_downloads/8789748ec2bbe8f70ec8c0763329bc98/VehicleModelsCatalog.xosc"><code class="xref download docutils literal notranslate"><span class="pre">/../../../repo/sim/contrib/examples/Common/Vehicles/VehicleModelsCatalog.xosc</span></code></a></p>
+</section>
+<section id="pedestriancatalog">
+<span id="scenario-pedestrianmodels"></span><h3>PedestrianCatalog<a class="headerlink" href="#pedestriancatalog" title="Link to this heading"></a></h3>
+<p>It contains the available pedestrian model catalogs for the simulation.
+For each pedestrian the physical parameters are stored here.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>Within <strong>openPASS</strong>, pedestrian models are internally handled the same way as vehicle models, i.e. they behave like simplified vehicles.
+<em>Meaningless</em> parameters, such as <em>number of gears</em>, are set to operational defaults.</p>
+</div>
+<table class="docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Supported Models</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>pedestrian_child</p></td>
+</tr>
+<tr class="row-odd"><td><p>pedestrian_adult</p></td>
+</tr>
+</tbody>
+</table>
+<p><strong>Full Example:</strong> <a class="reference download internal" download="" href="../../_downloads/e127566572084ecb8640fe52563f5060/PedestrianModelsCatalog.xosc"><code class="xref download docutils literal notranslate"><span class="pre">/../../../repo/sim/contrib/examples/Common/Vehicles/PedestrianModelsCatalog.xosc</span></code></a></p>
+</section>
+</section>
+<section id="roadnetwork">
+<span id="scenario-roadnetwork"></span><h2>RoadNetwork<a class="headerlink" href="#roadnetwork" title="Link to this heading"></a></h2>
+<p>The <code class="docutils literal notranslate"><span class="pre">RoadNetwork</span></code> tag contains the mandatory reference to the <a class="reference external" href="https://www.asam.net/standards/detail/opendrive/">OpenDRIVE</a> <a class="reference internal" href="scenery.html#scenery"><span class="std std-ref">Scenery</span></a>.</p>
+<p><strong>Example</strong></p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;RoadNetwork&gt;</span>
+<span class="w">  </span><span class="nt">&lt;LogicFile</span><span class="w"> </span><span class="na">filepath=</span><span class="s">&quot;SceneryConfiguration.xodr&quot;</span><span class="nt">/&gt;</span>
+<span class="w">  </span><span class="nt">&lt;SceneGraphFile</span><span class="w"> </span><span class="na">filepath=</span><span class="s">&quot;&quot;</span><span class="nt">/&gt;</span>
+<span class="nt">&lt;/RoadNetwork&gt;</span>
+</pre></div>
+</div>
+<p>Furthermore the controllers of the traffic lights are defined in this section.
+Each controller defines the phases of a set of linked traffic lights (e.g. one junction).</p>
+<p><strong>Example</strong></p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;TrafficSignals&gt;</span>
+<span class="w">  </span><span class="nt">&lt;TrafficSignalController</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;&quot;</span><span class="nt">&gt;</span>
+<span class="w">    </span><span class="nt">&lt;Phase</span><span class="w"> </span><span class="na">duration=</span><span class="s">&quot;3&quot;</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;Phase1&quot;</span><span class="nt">&gt;</span>
+<span class="w">      </span><span class="nt">&lt;TrafficSignalState</span><span class="w"> </span><span class="na">state=</span><span class="s">&quot;green&quot;</span><span class="w"> </span><span class="na">trafficSignalId=</span><span class="s">&quot;1&quot;</span><span class="nt">/&gt;</span>
+<span class="w">    </span><span class="nt">&lt;/Phase&gt;</span>
+<span class="w">    </span><span class="nt">&lt;Phase</span><span class="w"> </span><span class="na">duration=</span><span class="s">&quot;3&quot;</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;Phase2&quot;</span><span class="nt">&gt;</span>
+<span class="w">      </span><span class="nt">&lt;TrafficSignalState</span><span class="w"> </span><span class="na">state=</span><span class="s">&quot;yellow&quot;</span><span class="w"> </span><span class="na">trafficSignalId=</span><span class="s">&quot;1&quot;</span><span class="nt">/&gt;</span>
+<span class="w">    </span><span class="nt">&lt;/Phase&gt;</span>
+<span class="w">    </span><span class="nt">&lt;Phase</span><span class="w"> </span><span class="na">duration=</span><span class="s">&quot;3&quot;</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;Phase3&quot;</span><span class="nt">&gt;</span>
+<span class="w">      </span><span class="nt">&lt;TrafficSignalState</span><span class="w"> </span><span class="na">state=</span><span class="s">&quot;red&quot;</span><span class="w"> </span><span class="na">trafficSignalId=</span><span class="s">&quot;1&quot;</span><span class="nt">/&gt;</span>
+<span class="w">    </span><span class="nt">&lt;/Phase&gt;</span>
+<span class="w">    </span><span class="nt">&lt;Phase</span><span class="w"> </span><span class="na">duration=</span><span class="s">&quot;3&quot;</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;Phase4&quot;</span><span class="nt">&gt;</span>
+<span class="w">      </span><span class="nt">&lt;TrafficSignalState</span><span class="w"> </span><span class="na">state=</span><span class="s">&quot;red yellow&quot;</span><span class="w"> </span><span class="na">trafficSignalId=</span><span class="s">&quot;1&quot;</span><span class="nt">/&gt;</span>
+<span class="w">    </span><span class="nt">&lt;/Phase&gt;</span>
+<span class="w">  </span><span class="nt">&lt;/TrafficSignalController&gt;</span>
+<span class="nt">&lt;/TrafficSignals&gt;</span>
+</pre></div>
+</div>
+<table class="docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Supported States</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>off</p></td>
+</tr>
+<tr class="row-odd"><td><p>red</p></td>
+</tr>
+<tr class="row-even"><td><p>yellow</p></td>
+</tr>
+<tr class="row-odd"><td><p>green</p></td>
+</tr>
+<tr class="row-even"><td><p>red yellow</p></td>
+</tr>
+<tr class="row-odd"><td><p>yellow flashing</p></td>
+</tr>
+</tbody>
+</table>
+</section>
+<section id="entities">
+<span id="scenario-entities"></span><h2>Entities<a class="headerlink" href="#entities" title="Link to this heading"></a></h2>
+<p>The <code class="docutils literal notranslate"><span class="pre">Entities</span></code> tag defines all agents that are present at the start of the simulation at predefined positions.
+There may be any number of these so called <strong>Scenario Agents</strong> (also zero).</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>EntitySelections are currently not supported by the OpenScenarioEngine</p>
+</div>
+<p>An entity consits of a <code class="docutils literal notranslate"><span class="pre">VehicleModel</span></code> (typically a reference an entry from the VehicleCatalog) and a controller.
+The controller is <strong>optional</strong> and if no controller is specified, a <em>default</em> contoller will be instantiated, which strictly follows OpenSCENARIO actions as requested by the standard.
+Unless requested differently through specific actions, it follows the <em>default</em> behaviors <cite>KeepVelocity</cite> and <cite>KeepLateralOffset</cite>.
+To use the openPASS specific scenario controller a controller with a single parameter named <code class="docutils literal notranslate"><span class="pre">AgentProfile</span></code> needs to be specified.</p>
+<div class="admonition-agentprofile-and-profilescatalog admonition">
+<p class="admonition-title">AgentProfile and ProfilesCatalog</p>
+<p>The <code class="docutils literal notranslate"><span class="pre">AgentProfile</span></code> links to a profile in the mandatory <code class="docutils literal notranslate"><span class="pre">ProfilesCatalog.xml</span></code> (see <a class="reference internal" href="profilescatalog.html#profilescatalog"><span class="std std-ref">ProfilesCatalog</span></a>).
+This is an extension w.r.t. the OpenSCENARIO standard, as the standard currently does not allow to specifiy a stochastic composition of entities.</p>
+</div>
+<p><strong>Example</strong></p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;Entities&gt;</span>
+<span class="w">  </span><span class="nt">&lt;ScenarioObject</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;Ego&quot;</span><span class="nt">&gt;</span>
+<span class="w">    </span><span class="nt">&lt;CatalogReference</span><span class="w"> </span><span class="na">catalogName=</span><span class="s">&quot;VehicleCatalog&quot;</span><span class="w"> </span><span class="na">entryName=</span><span class="s">&quot;car_mini_cooper&quot;</span><span class="nt">/&gt;</span>
+<span class="w">    </span><span class="nt">&lt;ObjectController&gt;</span>
+<span class="w">      </span><span class="nt">&lt;Controller</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;Ego&quot;</span><span class="nt">&gt;</span>
+<span class="w">        </span><span class="nt">&lt;Properties&gt;</span>
+<span class="w">          </span><span class="nt">&lt;Property</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;AgentProfile&quot;</span><span class="w"> </span><span class="na">value=</span><span class="s">&quot;MiddleClassCarAgent&quot;</span><span class="nt">/&gt;</span>
+<span class="w">        </span><span class="nt">&lt;/Properties&gt;</span>
+<span class="w">      </span><span class="nt">&lt;/Controller&gt;</span>
+<span class="w">    </span><span class="nt">&lt;/ObjectController&gt;</span>
+<span class="w">  </span><span class="nt">&lt;/ScenarioObject&gt;</span>
+<span class="nt">&lt;/Entities&gt;</span>
+</pre></div>
+</div>
+<p><strong>Overriding Parameters</strong></p>
+<p>Parameters defined in the VehicleCatalog can be assigned inside the CatalogReference element.
+In this case the assigned parameter will overwrite the definition in the VehicleCatalog.
+Otherwise the value defined in the VehicleCatalog is used.
+The type of the parameter must match that in the VehicleCatalog.</p>
+<p><strong>Example</strong></p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;CatalogReference</span><span class="w"> </span><span class="na">catalogName=</span><span class="s">&quot;VehicleCatalog&quot;</span><span class="w"> </span><span class="na">entryName=</span><span class="s">&quot;car_mini_cooper&quot;</span><span class="nt">&gt;</span>
+<span class="w">    </span><span class="nt">&lt;ParameterAssignments&gt;</span>
+<span class="w">        </span><span class="nt">&lt;ParameterAssignment</span><span class="w"> </span><span class="na">parameterRef=</span><span class="s">&quot;Length&quot;</span><span class="w"> </span><span class="na">value=</span><span class="s">&quot;4.0&quot;</span><span class="w"> </span><span class="nt">/&gt;</span>
+<span class="w">    </span><span class="nt">&lt;/ParameterAssignments&gt;</span>
+<span class="nt">&lt;/CatalogReference&gt;</span>
+</pre></div>
+</div>
+</section>
+<section id="storyboard">
+<span id="scenario-storyboard"></span><h2>Storyboard<a class="headerlink" href="#storyboard" title="Link to this heading"></a></h2>
+<p>The <code class="docutils literal notranslate"><span class="pre">Storyboard</span></code> tag contains the initial setup of the scenario and manipulator actions.
+These actions control the behavior of the simulation at runtime based on predefined conditions.
+In short it is divided into an <code class="docutils literal notranslate"><span class="pre">Init</span></code> phase, an actual <code class="docutils literal notranslate"><span class="pre">Story</span></code>, and a <code class="docutils literal notranslate"><span class="pre">StopTrigger</span></code>.</p>
+<p>For the definition of the storyboard please refert to the <a class="reference external" href="https://www.asam.net/static_downloads/ASAM_OpenSCENARIO_V1.1.1_Model_Documentation/modelDocumentation/">OpenSCENARIO 1.1.1 Model Definition</a>.</p>
+<p>In the following sections, clarifications with respect to <strong>openPASS</strong> will be given:</p>
+<section id="init">
+<span id="scenario-init"></span><h3>Init<a class="headerlink" href="#init" title="Link to this heading"></a></h3>
+<p>As desribed above, agents need to be defined in the <code class="docutils literal notranslate"><span class="pre">Entities</span></code> section.
+For proper spawning they need to be parameterized within the <code class="docutils literal notranslate"><span class="pre">Init</span></code> phase:</p>
+<ul class="simple">
+<li><p>A <a class="reference external" href="https://www.asam.net/static_downloads/ASAM_OpenSCENARIO_V1.1.1_Model_Documentation/modelDocumentation/content/TeleportAction.html">TeleportAction</a> specifies the initial position
+If no TeleportAction is defined the agent will not be spawned (the TeleportAction can also happen inside the <code class="docutils literal notranslate"><span class="pre">Story</span></code>).</p></li>
+<li><p>A <a class="reference external" href="https://www.asam.net/static_downloads/ASAM_OpenSCENARIO_V1.1.1_Model_Documentation/modelDocumentation/content/SpeedAction.html">SpeedAction</a> specifies the desired velocity.
+[optional] If not defined, a spawned agent will start at standstill.</p></li>
+<li><p>A <a class="reference external" href="https://www.asam.net/static_downloads/ASAM_OpenSCENARIO_V1.1.1_Model_Documentation/modelDocumentation/content/FollowRouteAction.html">FollowRouteAction</a> forces the agent onto a specific trajectory
+[optional] If not defined, a random route will be assigned.</p></li>
+</ul>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>VisiblilityAction is currently not supported by <strong>openPASS</strong></p>
+</div>
+<p><strong>Example: TeleportAction + SpeedAction</strong></p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;Init&gt;</span>
+<span class="w">  </span><span class="nt">&lt;Actions&gt;</span>
+<span class="w">    </span><span class="nt">&lt;Private</span><span class="w"> </span><span class="na">entityRef=</span><span class="s">&quot;Ego&quot;</span><span class="nt">&gt;</span>
+<span class="w">      </span><span class="nt">&lt;PrivateAction&gt;</span>
+<span class="w">        </span><span class="nt">&lt;TeleportAction&gt;</span>
+<span class="w">          </span><span class="nt">&lt;Position&gt;</span>
+<span class="w">            </span><span class="nt">&lt;LanePosition</span><span class="w"> </span><span class="na">roadId=</span><span class="s">&quot;1&quot;</span><span class="w"> </span><span class="na">laneId=</span><span class="s">&quot;-1&quot;</span><span class="w"> </span><span class="na">offset=</span><span class="s">&quot;0.0&quot;</span><span class="w"> </span><span class="na">s=</span><span class="s">&quot;0.0&quot;</span><span class="nt">&gt;</span>
+<span class="w">              </span><span class="nt">&lt;Orientation</span><span class="w"> </span><span class="na">type=</span><span class="s">&quot;relative&quot;</span><span class="nt">/&gt;</span>
+<span class="w">            </span><span class="nt">&lt;/LanePosition&gt;</span>
+<span class="w">          </span><span class="nt">&lt;/Position&gt;</span>
+<span class="w">        </span><span class="nt">&lt;/TeleportAction&gt;</span>
+<span class="w">      </span><span class="nt">&lt;/PrivateAction&gt;</span>
+<span class="w">      </span><span class="nt">&lt;PrivateAction&gt;</span>
+<span class="w">        </span><span class="nt">&lt;LongitudinalAction&gt;</span>
+<span class="w">          </span><span class="nt">&lt;SpeedAction&gt;</span>
+<span class="w">            </span><span class="nt">&lt;SpeedActionDynamics</span><span class="w"> </span><span class="na">dynamicsShape=</span><span class="s">&quot;step&quot;</span><span class="w"> </span><span class="na">value=</span><span class="s">&quot;0.0&quot;</span><span class="w"> </span><span class="na">dynamicsDimension=</span><span class="s">&quot;rate&quot;</span><span class="nt">/&gt;</span>
+<span class="w">            </span><span class="nt">&lt;SpeedActionTarget&gt;</span>
+<span class="w">              </span><span class="nt">&lt;AbsoluteTargetSpeed</span><span class="w"> </span><span class="na">value=</span><span class="s">&quot;43.5&quot;</span><span class="nt">/&gt;</span>
+<span class="w">            </span><span class="nt">&lt;/SpeedActionTarget&gt;</span>
+<span class="w">          </span><span class="nt">&lt;/SpeedAction&gt;</span>
+<span class="w">        </span><span class="nt">&lt;/LongitudinalAction&gt;</span>
+<span class="w">      </span><span class="nt">&lt;/PrivateAction&gt;</span>
+<span class="w">      </span><span class="nt">&lt;PrivateAction&gt;</span>
+<span class="w">        </span><span class="nt">&lt;ControllerAction&gt;</span>
+<span class="w">          </span><span class="nt">&lt;ActivateControllerAction</span><span class="w"> </span><span class="na">controllerRef=</span><span class="s">&quot;Ego&quot;</span><span class="w"> </span><span class="na">lateral=</span><span class="s">&quot;true&quot;</span><span class="w"> </span><span class="na">longitudinal=</span><span class="s">&quot;true&quot;</span><span class="w"> </span><span class="nt">/&gt;</span>
+<span class="w">        </span><span class="nt">&lt;/ControllerAction&gt;</span>
+<span class="w">      </span><span class="nt">&lt;/PrivateAction&gt;</span>
+<span class="w">    </span><span class="nt">&lt;/Private&gt;</span>
+<span class="w">  </span><span class="nt">&lt;/Actions&gt;</span>
+<span class="nt">&lt;/Init&gt;</span>
+</pre></div>
+</div>
+<p><strong>Example: TeleportAction + FollowRouteAction</strong></p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;Init&gt;</span>
+<span class="w">  </span><span class="nt">&lt;Actions&gt;</span>
+<span class="w">    </span><span class="nt">&lt;Private</span><span class="w"> </span><span class="na">entityRef=</span><span class="s">&quot;Ego&quot;</span><span class="nt">&gt;</span>
+<span class="w">      </span><span class="nt">&lt;PrivateAction&gt;</span>
+<span class="w">        </span><span class="nt">&lt;TeleportAction&gt;</span>
+<span class="w">          </span><span class="nt">&lt;Position&gt;</span>
+<span class="w">            </span><span class="nt">&lt;LanePosition</span><span class="w"> </span><span class="na">roadId=</span><span class="s">&quot;1472558076&quot;</span><span class="w"> </span><span class="na">laneId=</span><span class="s">&quot;-1&quot;</span><span class="w"> </span><span class="na">offset=</span><span class="s">&quot;0.0&quot;</span><span class="w"> </span><span class="na">s=</span><span class="s">&quot;200.0&quot;</span><span class="nt">&gt;</span>
+<span class="w">              </span><span class="nt">&lt;Orientation</span><span class="w"> </span><span class="na">type=</span><span class="s">&quot;relative&quot;</span><span class="nt">/&gt;</span>
+<span class="w">            </span><span class="nt">&lt;/LanePosition&gt;</span>
+<span class="w">          </span><span class="nt">&lt;/Position&gt;</span>
+<span class="w">        </span><span class="nt">&lt;/TeleportAction&gt;</span>
+<span class="w">      </span><span class="nt">&lt;/PrivateAction&gt;</span>
+<span class="w">      </span><span class="nt">&lt;PrivateAction&gt;</span>
+<span class="w">        </span><span class="nt">&lt;RoutingAction&gt;</span>
+<span class="w">          </span><span class="nt">&lt;AssignRouteAction&gt;</span>
+<span class="w">            </span><span class="nt">&lt;Route</span><span class="w"> </span><span class="na">closed=</span><span class="s">&quot;false&quot;</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;&quot;</span><span class="nt">&gt;</span>
+<span class="w">              </span><span class="nt">&lt;Waypoint</span><span class="w"> </span><span class="na">routeStrategy=</span><span class="s">&quot;fastest&quot;</span><span class="nt">&gt;</span>
+<span class="w">                </span><span class="nt">&lt;Position&gt;</span>
+<span class="w">                  </span><span class="nt">&lt;RoadPosition</span><span class="w"> </span><span class="na">roadId=</span><span class="s">&quot;1472558076&quot;</span><span class="w"> </span><span class="na">t=</span><span class="s">&quot;-1.0&quot;</span><span class="w"> </span><span class="na">s=</span><span class="s">&quot;230&quot;</span><span class="nt">/&gt;</span>
+<span class="w">                </span><span class="nt">&lt;/Position&gt;</span>
+<span class="w">              </span><span class="nt">&lt;/Waypoint&gt;</span>
+<span class="w">              </span><span class="nt">&lt;Waypoint</span><span class="w"> </span><span class="na">routeStrategy=</span><span class="s">&quot;fastest&quot;</span><span class="nt">&gt;</span>
+<span class="w">                </span><span class="nt">&lt;Position&gt;</span>
+<span class="w">                  </span><span class="nt">&lt;RoadPosition</span><span class="w"> </span><span class="na">roadId=</span><span class="s">&quot;3083973&quot;</span><span class="w"> </span><span class="na">t=</span><span class="s">&quot;-1.0&quot;</span><span class="w"> </span><span class="na">s=</span><span class="s">&quot;8.5&quot;</span><span class="nt">/&gt;</span>
+<span class="w">                </span><span class="nt">&lt;/Position&gt;</span>
+<span class="w">              </span><span class="nt">&lt;/Waypoint&gt;</span>
+<span class="w">              </span><span class="nt">&lt;Waypoint</span><span class="w"> </span><span class="na">routeStrategy=</span><span class="s">&quot;fastest&quot;</span><span class="nt">&gt;</span>
+<span class="w">                </span><span class="nt">&lt;Position&gt;</span>
+<span class="w">                  </span><span class="nt">&lt;RoadPosition</span><span class="w"> </span><span class="na">roadId=</span><span class="s">&quot;2015840166&quot;</span><span class="w"> </span><span class="na">t=</span><span class="s">&quot;-0.2&quot;</span><span class="w"> </span><span class="na">s=</span><span class="s">&quot;100&quot;</span><span class="nt">/&gt;</span>
+<span class="w">                </span><span class="nt">&lt;/Position&gt;</span>
+<span class="w">              </span><span class="nt">&lt;/Waypoint&gt;</span>
+<span class="w">            </span><span class="nt">&lt;/Route&gt;</span>
+<span class="w">          </span><span class="nt">&lt;/AssignRouteAction&gt;</span>
+<span class="w">        </span><span class="nt">&lt;/RoutingAction&gt;</span>
+<span class="w">      </span><span class="nt">&lt;/PrivateAction&gt;</span>
+<span class="w">      </span><span class="nt">&lt;PrivateAction&gt;</span>
+<span class="w">        </span><span class="nt">&lt;ControllerAction&gt;</span>
+<span class="w">          </span><span class="nt">&lt;ActivateControllerAction</span><span class="w"> </span><span class="na">lateral=</span><span class="s">&quot;true&quot;</span><span class="w"> </span><span class="na">longitudinal=</span><span class="s">&quot;true&quot;</span><span class="w"> </span><span class="na">controllerRef=</span><span class="s">&quot;Ego&quot;</span><span class="nt">/&gt;</span>
+<span class="w">        </span><span class="nt">&lt;/ControllerAction&gt;</span>
+<span class="w">      </span><span class="nt">&lt;/PrivateAction&gt;</span>
+<span class="w">    </span><span class="nt">&lt;/Private&gt;</span>
+<span class="w">  </span><span class="nt">&lt;/Actions&gt;</span>
+<span class="nt">&lt;/Init&gt;</span>
+</pre></div>
+</div>
+</section>
+<section id="story">
+<span id="scenario-story"></span><h3>Story<a class="headerlink" href="#story" title="Link to this heading"></a></h3>
+<p>The tag <code class="docutils literal notranslate"><span class="pre">Story</span></code> is optional and defines all conditional interventions during runtime.
+Please refer to the <a class="reference external" href="https://www.asam.net/static_downloads/ASAM_OpenSCENARIO_V1.2.0_Model_Documentation/modelDocumentation/content/Storyboard.html">Model Documentation</a> for a general overview and the <a class="reference external" href="https://gitlab.eclipse.org/eclipse/openpass/openscenario1_engine">OpenScenarioEngine</a> for supported actions and conditions within a story.</p>
+</section>
+<section id="stoptrigger">
+<h3>StopTrigger<a class="headerlink" href="#stoptrigger" title="Link to this heading"></a></h3>
+<p>It is <strong>mandatory</strong> for openPASS to define a StopTrigger that will fire in any case (otherwise, the simulation will never stop).
+This does not necessarily have to be a SimulationTimeCondition, but it is recommended to use it, perhaps in conjunction with another trigger.</p>
+</section>
+</section>
+<section id="current-restrictions">
+<h2>Current Restrictions<a class="headerlink" href="#current-restrictions" title="Link to this heading"></a></h2>
+<section id="conditions">
+<h3>Conditions<a class="headerlink" href="#conditions" title="Link to this heading"></a></h3>
+<p><strong>openPASS</strong> support different kind of conditions, belonging either to <code class="docutils literal notranslate"><span class="pre">ByValueCondition</span></code> or <code class="docutils literal notranslate"><span class="pre">ByEntityCondition</span></code>.
+While a <strong>by value condition</strong> triggers based on a specified value and is unrelated to any specific agent, a <strong>by entity condition</strong> is bound to an triggering agent, defined by a mandatory section <code class="docutils literal notranslate"><span class="pre">TriggeringEntities</span></code>.
+Entities can be either ego or scenario agents.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>Reacting on “common” cars is currently not supported.</p>
+</div>
+</section>
+<section id="actions">
+<h3>Actions<a class="headerlink" href="#actions" title="Link to this heading"></a></h3>
+<p>The following OpenSCENARIO actions are supported:</p>
+<ul class="simple">
+<li><p><a class="reference internal" href="#scenario-followrouteaction"><span class="std std-ref">FollowRouteAction</span></a></p></li>
+<li><p><a class="reference internal" href="#scenario-lanechange"><span class="std std-ref">LaneChangeAction</span></a></p></li>
+<li><p><a class="reference internal" href="#scenario-followtrajectory"><span class="std std-ref">FollowTrajectoryAction</span></a></p></li>
+<li><p><a class="reference internal" href="#scenario-acquireposition"><span class="std std-ref">AcquirePositionAction</span></a></p></li>
+<li><p><a class="reference internal" href="#scenario-teleportaction"><span class="std std-ref">TeleportAction</span></a></p></li>
+<li><p><a class="reference internal" href="#scenario-speedaction"><span class="std std-ref">SpeedAction</span></a></p></li>
+<li><p><a class="reference internal" href="#scenario-trafficsinkaction"><span class="std std-ref">TrafficSinkAction</span></a></p></li>
+</ul>
+<p>In addition, the following user defined actions are interpreted:</p>
+<ul class="simple">
+<li><p><a class="reference internal" href="#scenario-componentstatechange"><span class="std std-ref">SetComponentState (UserDefinedAction)</span></a></p></li>
+<li><p><a class="reference internal" href="#scenario-defaultcustomcommandaction"><span class="std std-ref">DefaultCustomCommandAction (UserDefinedAction)</span></a></p></li>
+</ul>
+<section id="scenario-followrouteaction">
+<span id="id3"></span><h4>FollowRouteAction<a class="headerlink" href="#scenario-followrouteaction" title="Link to this heading"></a></h4>
+<p>The FollowRouteAction is mainly used as part of the <code class="docutils literal notranslate"><span class="pre">Init</span></code> phase of the Storyboard.
+It defines Waypoints, which are located by <code class="docutils literal notranslate"><span class="pre">road_id</span></code> and further with <code class="docutils literal notranslate"><span class="pre">s</span></code> and <code class="docutils literal notranslate"><span class="pre">t</span></code> coordinates.
+The Agent will try to follow the specified points.</p>
+<p><strong>Example</strong> <em>Right turn, by specifying three waypoints</em></p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="w">          </span><span class="nt">&lt;RoutingAction&gt;</span>
+<span class="w">            </span><span class="nt">&lt;AssignRouteAction&gt;</span>
+<span class="w">              </span><span class="nt">&lt;Route</span><span class="w"> </span><span class="na">closed=</span><span class="s">&quot;false&quot;</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;&quot;</span><span class="nt">&gt;</span>
+<span class="w">                </span><span class="nt">&lt;Waypoint</span><span class="w"> </span><span class="na">routeStrategy=</span><span class="s">&quot;fastest&quot;</span><span class="nt">&gt;</span>
+<span class="w">                  </span><span class="nt">&lt;Position&gt;</span>
+<span class="w">                    </span><span class="nt">&lt;RoadPosition</span><span class="w"> </span><span class="na">roadId=</span><span class="s">&quot;1472558076&quot;</span><span class="w"> </span><span class="na">t=</span><span class="s">&quot;-1.0&quot;</span><span class="w"> </span><span class="na">s=</span><span class="s">&quot;230&quot;</span><span class="nt">/&gt;</span>
+<span class="w">                  </span><span class="nt">&lt;/Position&gt;</span>
+<span class="w">                </span><span class="nt">&lt;/Waypoint&gt;</span>
+<span class="w">                </span><span class="nt">&lt;Waypoint</span><span class="w"> </span><span class="na">routeStrategy=</span><span class="s">&quot;fastest&quot;</span><span class="nt">&gt;</span>
+<span class="w">                  </span><span class="nt">&lt;Position&gt;</span>
+<span class="w">                    </span><span class="nt">&lt;RoadPosition</span><span class="w"> </span><span class="na">roadId=</span><span class="s">&quot;3083973&quot;</span><span class="w"> </span><span class="na">t=</span><span class="s">&quot;-1.0&quot;</span><span class="w"> </span><span class="na">s=</span><span class="s">&quot;8.5&quot;</span><span class="nt">/&gt;</span>
+<span class="w">                  </span><span class="nt">&lt;/Position&gt;</span>
+<span class="w">                </span><span class="nt">&lt;/Waypoint&gt;</span>
+<span class="w">                </span><span class="nt">&lt;Waypoint</span><span class="w"> </span><span class="na">routeStrategy=</span><span class="s">&quot;fastest&quot;</span><span class="nt">&gt;</span>
+<span class="w">                  </span><span class="nt">&lt;Position&gt;</span>
+<span class="w">                    </span><span class="nt">&lt;RoadPosition</span><span class="w"> </span><span class="na">roadId=</span><span class="s">&quot;2015840166&quot;</span><span class="w"> </span><span class="na">t=</span><span class="s">&quot;-0.2&quot;</span><span class="w"> </span><span class="na">s=</span><span class="s">&quot;100&quot;</span><span class="nt">/&gt;</span>
+<span class="w">                  </span><span class="nt">&lt;/Position&gt;</span>
+<span class="w">                </span><span class="nt">&lt;/Waypoint&gt;</span>
+<span class="w">              </span><span class="nt">&lt;/Route&gt;</span>
+<span class="w">            </span><span class="nt">&lt;/AssignRouteAction&gt;</span>
+<span class="w">          </span><span class="nt">&lt;/RoutingAction&gt;</span>
+</pre></div>
+</div>
+</section>
+<section id="lanechangeaction">
+<span id="scenario-lanechange"></span><h4>LaneChangeAction<a class="headerlink" href="#lanechangeaction" title="Link to this heading"></a></h4>
+<p>If this action triggers, the actor is forced to perform a trajectory, calculated at the time of triggering.
+The target lane be given either absolute or with respect to another entity.
+The trajectory can either have a fixed length (in <code class="docutils literal notranslate"><span class="pre">s</span></code>) or a fixed time.</p>
+<p>Currently <strong>openPASS</strong> only supports the type <code class="docutils literal notranslate"><span class="pre">sinusoidal</span></code>.</p>
+<p><strong>Example</strong> <em>with absolute target and fixed length</em></p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;Action</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;LaneChange&quot;</span><span class="nt">&gt;</span>
+<span class="w">  </span><span class="nt">&lt;PrivateAction&gt;</span>
+<span class="w">    </span><span class="nt">&lt;LateralAction&gt;</span>
+<span class="w">      </span><span class="nt">&lt;LaneChangeAction&gt;</span>
+<span class="w">        </span><span class="nt">&lt;LaneChangeActionDynamics</span><span class="w"> </span><span class="na">value=</span><span class="s">&quot;2.0&quot;</span><span class="w"> </span><span class="na">dynamicsShape=</span><span class="s">&quot;sinusoidal&quot;</span><span class="w"> </span><span class="na">dynamicsDimension=</span><span class="s">&quot;time&quot;</span><span class="nt">/&gt;</span>
+<span class="w">        </span><span class="nt">&lt;LaneChangeTarget&gt;</span>
+<span class="w">          </span><span class="nt">&lt;AbsoluteTargetLane</span><span class="w"> </span><span class="na">value=</span><span class="s">&quot;-4&quot;</span><span class="nt">/&gt;</span>
+<span class="w">        </span><span class="nt">&lt;/LaneChangeTarget&gt;</span>
+<span class="w">      </span><span class="nt">&lt;/LaneChangeAction&gt;</span>
+<span class="w">    </span><span class="nt">&lt;/LateralAction&gt;</span>
+<span class="w">  </span><span class="nt">&lt;/PrivateAction&gt;</span>
+<span class="nt">&lt;/Action&gt;</span>
+</pre></div>
+</div>
+<p><strong>Example</strong> <em>with relative target and fixed time</em></p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;Action</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;LaneChange&quot;</span><span class="nt">&gt;</span>
+<span class="w">  </span><span class="nt">&lt;PrivateAction&gt;</span>
+<span class="w">    </span><span class="nt">&lt;LateralAction&gt;</span>
+<span class="w">      </span><span class="nt">&lt;LaneChangeAction&gt;</span>
+<span class="w">        </span><span class="nt">&lt;LaneChangeActionDynamics</span><span class="w"> </span><span class="na">value=</span><span class="s">&quot;2.0&quot;</span><span class="w"> </span><span class="na">dynamicsShape=</span><span class="s">&quot;sinusoidal&quot;</span><span class="w"> </span><span class="na">dynamicsDimension=</span><span class="s">&quot;time&quot;</span><span class="nt">/&gt;</span>
+<span class="w">        </span><span class="nt">&lt;LaneChangeTarget&gt;</span>
+<span class="w">          </span><span class="nt">&lt;RelativeTargetLane</span><span class="w"> </span><span class="na">entityRef=</span><span class="s">&quot;Ego&quot;</span><span class="w"> </span><span class="na">value=</span><span class="s">&quot;+1&quot;</span><span class="nt">/&gt;</span>
+<span class="w">        </span><span class="nt">&lt;/LaneChangeTarget&gt;</span>
+<span class="w">      </span><span class="nt">&lt;/LaneChangeAction&gt;</span>
+<span class="w">    </span><span class="nt">&lt;/LateralAction&gt;</span>
+<span class="w">  </span><span class="nt">&lt;/PrivateAction&gt;</span>
+<span class="nt">&lt;/Action&gt;</span>
+</pre></div>
+</div>
+</section>
+<section id="followtrajectoryaction">
+<span id="scenario-followtrajectory"></span><h4>FollowTrajectoryAction<a class="headerlink" href="#followtrajectoryaction" title="Link to this heading"></a></h4>
+<p>If triggered, the defined trajectory is relayed as signal to listening components.
+The trajectory can be defined either directly in the story or as separate TrajectoryCatalog.
+For the points (vertices) of the trajectory only world coordinates, given as <code class="docutils literal notranslate"><span class="pre">openScenario::WorldPosition</span></code>, are supported.
+Right now, the mandatory attributes  <em>z</em>, <em>pitch</em> and <em>roll</em> are ignored.</p>
+<p><strong>Example</strong></p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;Action</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;Trajectory&quot;</span><span class="nt">&gt;</span>
+<span class="w">  </span><span class="nt">&lt;PrivateAction&gt;</span>
+<span class="w">    </span><span class="nt">&lt;RoutingAction&gt;</span>
+<span class="w">      </span><span class="nt">&lt;FollowTrajectoryAction&gt;</span>
+<span class="w">        </span><span class="nt">&lt;TrajectoryRef&gt;</span>
+<span class="w">          </span><span class="nt">&lt;Trajectory</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;LaneChange&quot;</span><span class="w"> </span><span class="na">closed=</span><span class="s">&quot;false&quot;</span><span class="nt">&gt;</span>
+<span class="w">            </span><span class="nt">&lt;Shape&gt;</span>
+<span class="w">              </span><span class="nt">&lt;Polyline&gt;</span>
+<span class="w">                </span><span class="nt">&lt;Vertex</span><span class="w"> </span><span class="na">time=</span><span class="s">&quot;0&quot;</span><span class="nt">&gt;</span>
+<span class="w">                  </span><span class="nt">&lt;Position&gt;</span>
+<span class="w">                    </span><span class="nt">&lt;WorldPosition</span><span class="w"> </span><span class="na">x=</span><span class="s">&quot;100&quot;</span><span class="w"> </span><span class="na">y=</span><span class="s">&quot;3&quot;</span><span class="w"> </span><span class="na">z=</span><span class="s">&quot;0&quot;</span><span class="w"> </span><span class="na">h=</span><span class="s">&quot;1.570796326&quot;</span><span class="w"> </span><span class="na">p=</span><span class="s">&quot;0&quot;</span><span class="w"> </span><span class="na">r=</span><span class="s">&quot;0&quot;</span><span class="nt">/&gt;</span>
+<span class="w">                  </span><span class="nt">&lt;/Position&gt;</span>
+<span class="w">                </span><span class="nt">&lt;/Vertex&gt;</span>
+<span class="w">                </span><span class="nt">&lt;Vertex</span><span class="w"> </span><span class="na">time=</span><span class="s">&quot;5&quot;</span><span class="nt">&gt;</span>
+<span class="w">                  </span><span class="nt">&lt;Position&gt;</span>
+<span class="w">                    </span><span class="nt">&lt;WorldPosition</span><span class="w"> </span><span class="na">x=</span><span class="s">&quot;100&quot;</span><span class="w"> </span><span class="na">y=</span><span class="s">&quot;8&quot;</span><span class="w"> </span><span class="na">z=</span><span class="s">&quot;0&quot;</span><span class="w"> </span><span class="na">h=</span><span class="s">&quot;1.570796326&quot;</span><span class="w"> </span><span class="na">p=</span><span class="s">&quot;0&quot;</span><span class="w"> </span><span class="na">r=</span><span class="s">&quot;0&quot;</span><span class="nt">/&gt;</span>
+<span class="w">                  </span><span class="nt">&lt;/Position&gt;</span>
+<span class="w">                </span><span class="nt">&lt;/Vertex&gt;</span>
+<span class="w">              </span><span class="nt">&lt;/Polyline&gt;</span>
+<span class="w">            </span><span class="nt">&lt;/Shape&gt;</span>
+<span class="w">          </span><span class="nt">&lt;/Trajectory&gt;</span>
+<span class="w">        </span><span class="nt">&lt;/TrajectoryRef&gt;</span>
+<span class="w">        </span><span class="nt">&lt;TimeReference&gt;</span>
+<span class="w">          </span><span class="nt">&lt;None/&gt;</span>
+<span class="w">        </span><span class="nt">&lt;/TimeReference&gt;</span>
+<span class="w">        </span><span class="nt">&lt;TrajectoryFollowingMode</span><span class="w"> </span><span class="na">followingMode=</span><span class="s">&quot;position&quot;</span><span class="nt">/&gt;</span>
+<span class="w">      </span><span class="nt">&lt;/FollowTrajectoryAction&gt;</span>
+<span class="w">    </span><span class="nt">&lt;/RoutingAction&gt;</span>
+<span class="w">  </span><span class="nt">&lt;/PrivateAction&gt;</span>
+<span class="nt">&lt;/Action&gt;</span>
+</pre></div>
+</div>
+<p><strong>Example</strong> <em>using a TrajectoryCatalog</em></p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;Action</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;FollowTrajectory&quot;</span><span class="nt">&gt;</span>
+<span class="w">  </span><span class="nt">&lt;Private&gt;</span>
+<span class="w">    </span><span class="nt">&lt;Routing&gt;</span>
+<span class="w">      </span><span class="nt">&lt;FollowTrajectoryAction&gt;</span>
+<span class="w">        </span><span class="nt">&lt;CatalogReference</span><span class="w"> </span><span class="na">catalogName=</span><span class="s">&quot;TrajectoryCatalog.xosc&quot;</span><span class="w"> </span><span class="na">entryName=</span><span class="s">&quot;TrajectoryA&quot;</span><span class="nt">&gt;</span>
+<span class="w">      </span><span class="nt">&lt;/FollowTrajectoryAction&gt;</span>
+<span class="w">    </span><span class="nt">&lt;/Routing&gt;</span>
+<span class="w">   </span><span class="nt">&lt;/Private&gt;</span>
+<span class="nt">&lt;/Action&gt;</span>
+</pre></div>
+</div>
+</section>
+<section id="acquirepositionaction">
+<span id="scenario-acquireposition"></span><h4>AcquirePositionAction<a class="headerlink" href="#acquirepositionaction" title="Link to this heading"></a></h4>
+<p>If triggered, the defined position is relayed as signal to listening components.</p>
+<div class="admonition warning">
+<p class="admonition-title">Warning</p>
+<p>Currently, this is only supported by the component <em>FMU_Wrapper</em> for OSMP messages.</p>
+</div>
+<div class="admonition warning">
+<p class="admonition-title">Warning</p>
+<p>An FMU might contain routing logic not visible to the openPASS simulation core.
+For that reason, an equivalent <cite>RoutingAction</cite> should be set when using <cite>AcquirePosition</cite>.
+Otherwise the simulation output might contain missing data for fields depending on the localization along the route (<cite>PositionRoute</cite>, <cite>TCoordinate</cite>, <cite>AgentInFront</cite>, …).</p>
+</div>
+<p><strong>Example</strong> <em>(WorldPosition)</em></p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;Action</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;AcquirePosition&quot;</span><span class="nt">&gt;</span>
+<span class="w">  </span><span class="nt">&lt;PrivateAction&gt;</span>
+<span class="w">    </span><span class="nt">&lt;RoutingAction&gt;</span>
+<span class="w">      </span><span class="nt">&lt;AcquirePositionAction&gt;</span>
+<span class="w">        </span><span class="nt">&lt;Position&gt;</span>
+<span class="w">          </span><span class="nt">&lt;WorldPosition</span><span class="w"> </span><span class="na">x=</span><span class="s">&quot;1.0&quot;</span><span class="w"> </span><span class="na">y=</span><span class="s">&quot;2.0&quot;</span><span class="w"> </span><span class="na">z=</span><span class="s">&quot;0.0&quot;</span><span class="w"> </span><span class="na">h=</span><span class="s">&quot;3.1415&quot;</span><span class="w"> </span><span class="na">p=</span><span class="s">&quot;0.0&quot;</span><span class="w"> </span><span class="na">r=</span><span class="s">&quot;0.0&quot;</span><span class="w"> </span><span class="nt">/&gt;</span>
+<span class="w">        </span><span class="nt">&lt;/Position&gt;</span>
+<span class="w">      </span><span class="nt">&lt;/AcquirePositionAction&gt;</span>
+<span class="w">    </span><span class="nt">&lt;/RoutingAction&gt;</span>
+<span class="w">  </span><span class="nt">&lt;/PrivateAction&gt;</span>
+<span class="nt">&lt;/Action&gt;</span>
+</pre></div>
+</div>
+<p><strong>Example</strong> <em>(RelativeObjectPosition)</em></p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;Action</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;AcquirePosition&quot;</span><span class="nt">&gt;</span>
+<span class="w">  </span><span class="nt">&lt;PrivateAction&gt;</span>
+<span class="w">    </span><span class="nt">&lt;RoutingAction&gt;</span>
+<span class="w">      </span><span class="nt">&lt;AcquirePositionAction&gt;</span>
+<span class="w">        </span><span class="nt">&lt;Position&gt;</span>
+<span class="w">          </span><span class="nt">&lt;RelativeObjectPosition</span><span class="w"> </span><span class="na">dx=</span><span class="s">&quot;1.0&quot;</span><span class="w"> </span><span class="na">dy=</span><span class="s">&quot;1.0&quot;</span><span class="w"> </span><span class="na">entityRef=</span><span class="s">&quot;S1&quot;</span><span class="nt">/&gt;</span>
+<span class="w">        </span><span class="nt">&lt;/Position&gt;</span>
+<span class="w">      </span><span class="nt">&lt;/AcquirePositionAction&gt;</span>
+<span class="w">    </span><span class="nt">&lt;/RoutingAction&gt;</span>
+<span class="w">  </span><span class="nt">&lt;/PrivateAction&gt;</span>
+<span class="nt">&lt;/Action&gt;</span>
+</pre></div>
+</div>
+</section>
+<section id="scenario-teleportaction">
+<span id="id4"></span><h4>TeleportAction<a class="headerlink" href="#scenario-teleportaction" title="Link to this heading"></a></h4>
+<p>The TeleportAction instantly changes the position of an entity.</p>
+</section>
+<section id="trafficsinkaction">
+<span id="scenario-trafficsinkaction"></span><h4>TrafficSinkAction<a class="headerlink" href="#trafficsinkaction" title="Link to this heading"></a></h4>
+<p>The TrafficSinkAction is used to remove agents when they reach a certain position.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>At spawning time, the TrafficSinkAction is executed the common traffic is initiated, which means vehicles will spawn at the first timestamp in the defined zone, but are immediately removed at the next timestep.</p>
+</div>
+</section>
+<section id="scenario-speedaction">
+<span id="id5"></span><h4>SpeedAction<a class="headerlink" href="#scenario-speedaction" title="Link to this heading"></a></h4>
+<p>The SpeedAction adjusts the velocity of an entity based on parameters of the SpeedAction.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>If the <strong>openPASS</strong> specific controller is used, the SpeedAction might not reflect actual values used by the simulator due to physical boundaries of the simulator.</p>
+</div>
+<p><strong>Example</strong> <em>AbsoulteTargetSpeed</em></p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;Action</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;SpeedAction&quot;</span><span class="nt">&gt;</span>
+<span class="w">  </span><span class="nt">&lt;PrivateAction&gt;</span>
+<span class="w">    </span><span class="nt">&lt;LongitudinalAction&gt;</span>
+<span class="w">      </span><span class="nt">&lt;SpeedAction&gt;</span>
+<span class="w">        </span><span class="nt">&lt;SpeedActionDynamics</span><span class="w"> </span><span class="na">dynamicsShape=</span><span class="s">&quot;step&quot;</span><span class="w"> </span><span class="na">value=</span><span class="s">&quot;0.0&quot;</span><span class="w"> </span><span class="na">dynamicsDimension=</span><span class="s">&quot;rate&quot;</span><span class="nt">/&gt;</span>
+<span class="w">        </span><span class="nt">&lt;SpeedActionTarget&gt;</span>
+<span class="w">          </span><span class="nt">&lt;AbsoluteTargetSpeed</span><span class="w"> </span><span class="na">value=</span><span class="s">&quot;20&quot;</span><span class="nt">/&gt;</span>
+<span class="w">        </span><span class="nt">&lt;/SpeedActionTarget&gt;</span>
+<span class="w">      </span><span class="nt">&lt;/SpeedAction&gt;</span>
+<span class="w">    </span><span class="nt">&lt;/LongitudinalAction&gt;</span>
+<span class="w">  </span><span class="nt">&lt;/PrivateAction&gt;</span>
+<span class="nt">&lt;/Action&gt;</span>
+</pre></div>
+</div>
+<p><strong>Example</strong> <em>RelativeTargetSpeed</em></p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;Action</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;SpeedAction&quot;</span><span class="nt">&gt;</span>
+<span class="w">  </span><span class="nt">&lt;PrivateAction&gt;</span>
+<span class="w">    </span><span class="nt">&lt;LongitudinalAction&gt;</span>
+<span class="w">      </span><span class="nt">&lt;SpeedAction&gt;</span>
+<span class="w">        </span><span class="nt">&lt;SpeedActionDynamics</span><span class="w"> </span><span class="na">dynamicsShape=</span><span class="s">&quot;step&quot;</span><span class="w"> </span><span class="na">value=</span><span class="s">&quot;0.0&quot;</span><span class="w"> </span><span class="na">dynamicsDimension=</span><span class="s">&quot;rate&quot;</span><span class="nt">/&gt;</span>
+<span class="w">        </span><span class="nt">&lt;SpeedActionTarget&gt;</span>
+<span class="w">          </span><span class="nt">&lt;RelativeTargetSpeed</span><span class="w"> </span><span class="na">entityRef=</span><span class="s">&quot;ScenarioAgent&quot;</span><span class="w"> </span><span class="na">value=</span><span class="s">&quot;10&quot;</span>
+<span class="w">                               </span><span class="na">speedTargetValueType=</span><span class="s">&quot;delta&quot;</span><span class="w"> </span><span class="na">continuous=</span><span class="s">&quot;false&quot;</span><span class="nt">/&gt;</span>
+<span class="w">        </span><span class="nt">&lt;/SpeedActionTarget&gt;</span>
+<span class="w">        </span><span class="nt">&lt;/SpeedAction&gt;</span>
+<span class="w">    </span><span class="nt">&lt;/LongitudinalAction&gt;</span>
+<span class="w">  </span><span class="nt">&lt;/PrivateAction&gt;</span>
+<span class="nt">&lt;/Action&gt;</span>
+</pre></div>
+</div>
+</section>
+<section id="setcomponentstate-userdefinedaction">
+<span id="scenario-componentstatechange"></span><h4>SetComponentState (UserDefinedAction)<a class="headerlink" href="#setcomponentstate-userdefinedaction" title="Link to this heading"></a></h4>
+<p>Command Keyword: <code class="docutils literal notranslate"><span class="pre">SetComponentState</span></code></p>
+<p>Influences the maximum reachable state of an agent component handled by the ComponentController, i.e. it can either activate or deactivate a component.
+For more details see the description of the <a class="reference internal" href="../../advanced_topics/simulator/agent_components.html#agentcomponents-componentcontroller"><span class="std std-ref">ComponentController</span></a>.</p>
+<p><strong>Example</strong></p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;Action</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;ComponentStateChange&quot;</span><span class="nt">&gt;</span>
+<span class="w">    </span><span class="nt">&lt;UserDefinedAction&gt;</span>
+<span class="w">        </span><span class="nt">&lt;CustomCommandAction&gt;</span>SetComponentState<span class="w"> </span>Dynamics_TrajectoryFollower<span class="w"> </span>Acting<span class="nt">&lt;/CustomCommandAction&gt;</span>
+<span class="w">    </span><span class="nt">&lt;/UserDefinedAction&gt;</span>
+<span class="nt">&lt;/Action&gt;</span>
+</pre></div>
+</div>
+</section>
+<section id="defaultcustomcommandaction-userdefinedaction">
+<span id="scenario-defaultcustomcommandaction"></span><h4>DefaultCustomCommandAction (UserDefinedAction)<a class="headerlink" href="#defaultcustomcommandaction-userdefinedaction" title="Link to this heading"></a></h4>
+<p>This is <strong>the</strong> default custom command, and is always selected, if <strong>the first WORD</strong> (Keyword) in the command string is <strong>not</strong> registered as a special custom command.
+The command is universally accessible across all components via <cite>ScenarioControlInterface::GetCustomCommands()</cite>, empowering users to define personalized actions tailored to their specific needs.
+Once defined, the functionality of this command is unique to the user, based on their custom implementation.</p>
+<div class="admonition-fmu-wrapper-component-for-osmp-messages-only admonition">
+<p class="admonition-title">FMU_Wrapper component for OSMP messages only</p>
+<p>The linked string signal is set as custom action of the TrafficCommand. For more information on OSMP FMUs see the <a class="reference internal" href="../sim_user_guide/components/vehicle.html#components-fmuwrapper"><span class="std std-ref">FMU Wrapper</span></a> documentation.</p>
+</div>
+<p><strong>Example</strong></p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;Action</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;CustomParameters&quot;</span><span class="nt">&gt;</span>
+<span class="w">    </span><span class="nt">&lt;UserDefinedAction&gt;</span>
+<span class="w">        </span><span class="nt">&lt;CustomCommandAction&gt;</span>Arbitrary<span class="w"> </span>String,<span class="w"> </span>e.g.<span class="w"> </span>{<span class="w"> </span>&quot;hello&quot;:<span class="w"> </span>&quot;world&quot;}<span class="nt">&lt;/CustomCommandAction&gt;</span>
+<span class="w">    </span><span class="nt">&lt;/UserDefinedAction&gt;</span>
+<span class="nt">&lt;/Action&gt;</span>
+</pre></div>
+</div>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>Here, “Arbitrary” is first checked, if it matches any other available Keyword for used defined actions, such as <a class="reference internal" href="#scenario-componentstatechange"><span class="std std-ref">SetComponentState (UserDefinedAction)</span></a>.</p>
+</div>
+</section>
+</section>
+</section>
+</section>
+
+
+           </div>
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diff --git a/content/html/user_guide/configs/scenario_api_support.html b/content/html/user_guide/configs/scenario_api_support.html
index c796b13a5a3ed065718f78ddcb11c863e744a84a..a249642ff56f74e7f0aa75306eec396b221e8041 100644
--- a/content/html/user_guide/configs/scenario_api_support.html
+++ b/content/html/user_guide/configs/scenario_api_support.html
@@ -1,524 +1,531 @@
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-  <section id="scenario-api-support">
-<span id="id1"></span><h1>Scenario API Support<a class="headerlink" href="#scenario-api-support" title="Link to this heading"></a></h1>
-<section id="igeometryhelper">
-<h2>IGeometryHelper<a class="headerlink" href="#igeometryhelper" title="Link to this heading"></a></h2>
-<table class="docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Function</p></th>
-<th class="head"><p>Status</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>TranslateGlobalPositionLocally</p></td>
-<td><p>✔️ Implemented</p></td>
-</tr>
-<tr class="row-odd"><td><p>TransformPolylinePointsFromWorldToLocal</p></td>
-<td><p>✔️ Implemented</p></td>
-</tr>
-<tr class="row-even"><td><p>TransformPositionFromWorldToLocal</p></td>
-<td><p>✔️ Implemented</p></td>
-</tr>
-<tr class="row-odd"><td><p>—————————————</p></td>
-<td><p>————–</p></td>
-</tr>
-</tbody>
-</table>
-</section>
-<section id="ienvironment">
-<h2>IEnvironment<a class="headerlink" href="#ienvironment" title="Link to this heading"></a></h2>
-<table class="docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Function</p></th>
-<th class="head"><p>Status</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>CreateMap</p></td>
-<td><p>✔️ Implemented</p></td>
-</tr>
-<tr class="row-odd"><td><p>AddEntityToController</p></td>
-<td><p>✔️ Implemented</p></td>
-</tr>
-<tr class="row-even"><td><p>RemoveControllerFromEntity</p></td>
-<td><p>❌ Not yet implemented</p></td>
-</tr>
-<tr class="row-odd"><td><p>UpdateControlStrategies</p></td>
-<td><p>Currently ControlStrategies are always overwritten</p></td>
-</tr>
-<tr class="row-even"><td><p>HasControlStrategyGoalBeenReached</p></td>
-<td><p>❌ Not yet implemented (always returns true)</p></td>
-</tr>
-<tr class="row-odd"><td><p>GetQueryService</p></td>
-<td><p>✔️ Implemented</p></td>
-</tr>
-<tr class="row-even"><td><p>GetConverter</p></td>
-<td><p>✔️ Implemented</p></td>
-</tr>
-<tr class="row-odd"><td><p>GetGeometryHelper</p></td>
-<td><p>✔️ Implemented</p></td>
-</tr>
-<tr class="row-even"><td><p>GetEntityRepository</p></td>
-<td><p>✔️ Implemented</p></td>
-</tr>
-<tr class="row-odd"><td><p>GetControllerRepository</p></td>
-<td><p>✔️ Implemented</p></td>
-</tr>
-<tr class="row-even"><td><p>SetDateTime</p></td>
-<td><p>❌ Not yet implemented</p></td>
-</tr>
-<tr class="row-odd"><td><p>GetDateTime</p></td>
-<td><p>❌ Not yet implemented</p></td>
-</tr>
-<tr class="row-even"><td><p>GetSimulationTime</p></td>
-<td><p>✔️ Implemented</p></td>
-</tr>
-<tr class="row-odd"><td><p>SetWeather</p></td>
-<td><p>✔️ Implemented</p></td>
-</tr>
-<tr class="row-even"><td><p>SetRoadCondition</p></td>
-<td><p>❌ Not yet implemented</p></td>
-</tr>
-<tr class="row-odd"><td><p>SetTrafficSignalState</p></td>
-<td><p>❌ Not yet implemented</p></td>
-</tr>
-<tr class="row-even"><td><p>ExecuteCustomCommand</p></td>
-<td><p>✔️ Implemented</p></td>
-</tr>
-<tr class="row-odd"><td><p>SetUserDefinedValue</p></td>
-<td><p>❌ Not yet implemented</p></td>
-</tr>
-<tr class="row-even"><td><p>GetUserDefinedValue</p></td>
-<td><p>❌ Not yet implemented (always returns nullopt)</p></td>
-</tr>
-<tr class="row-odd"><td><p>———————————-</p></td>
-<td><p>—————————————————</p></td>
-</tr>
-</tbody>
-</table>
-</section>
-<section id="icoordconverter">
-<h2>ICoordConverter<a class="headerlink" href="#icoordconverter" title="Link to this heading"></a></h2>
-<table class="docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Function</p></th>
-<th class="head"><p>Status</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>Convert</p></td>
-<td><p>Implemented for OpenDrivePosition only</p></td>
-</tr>
-<tr class="row-odd"><td><p>———</p></td>
-<td><p>—————————————</p></td>
-</tr>
-</tbody>
-</table>
-</section>
-<section id="ilanelocationqueryservice">
-<h2>ILaneLocationQueryService<a class="headerlink" href="#ilanelocationqueryservice" title="Link to this heading"></a></h2>
-<table class="docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Function</p></th>
-<th class="head"><p>Status</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>GetLaneOrientation</p></td>
-<td><p>✔️ Implemented</p></td>
-</tr>
-<tr class="row-odd"><td><p>GetUpwardsShiftedLanePosition</p></td>
-<td><p>✔️ Implemented</p></td>
-</tr>
-<tr class="row-even"><td><p>IsPositionOnLane</p></td>
-<td><p>✔️ Implemented</p></td>
-</tr>
-<tr class="row-odd"><td><p>GetLaneIdsAtPosition</p></td>
-<td><p>✔️ Implemented</p></td>
-</tr>
-<tr class="row-even"><td><p>FindLanePoseAtDistanceFrom</p></td>
-<td><p>✔️ Implemented</p></td>
-</tr>
-<tr class="row-odd"><td><p>GetLongitudinalLaneDistanceBetweenPositions</p></td>
-<td><p>✔️ Implemented</p></td>
-</tr>
-<tr class="row-even"><td><p>FindRelativeLanePoseAtDistanceFrom</p></td>
-<td><p>✔️ Implemented</p></td>
-</tr>
-<tr class="row-odd"><td><p>GetRelativeLaneId</p></td>
-<td><p>✔️ Implemented</p></td>
-</tr>
-<tr class="row-even"><td><p>——————————————–</p></td>
-<td><p>————–</p></td>
-</tr>
-</tbody>
-</table>
-</section>
-<section id="icontrollerrepository">
-<h2>IControllerRepository<a class="headerlink" href="#icontrollerrepository" title="Link to this heading"></a></h2>
-<table class="docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Function</p></th>
-<th class="head"><p>Status</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>Create</p></td>
-<td><p>Implemented for ExternalControllerConfig (openPASS AgentProfile)</p></td>
-</tr>
-<tr class="row-odd"><td><p>Get</p></td>
-<td><p>✔️ Implemented</p></td>
-</tr>
-<tr class="row-even"><td><p>Contains</p></td>
-<td><p>✔️ Implemented</p></td>
-</tr>
-<tr class="row-odd"><td><p>Delete</p></td>
-<td><p>❌ Not yet implemented</p></td>
-</tr>
-<tr class="row-even"><td><p>———</p></td>
-<td><p>—————————————————————–</p></td>
-</tr>
-</tbody>
-</table>
-</section>
-<section id="ientity">
-<h2>IEntity<a class="headerlink" href="#ientity" title="Link to this heading"></a></h2>
-<table class="docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Function</p></th>
-<th class="head"><p>Status</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>GetUniqueId</p></td>
-<td><p>✔️ Implemented</p></td>
-</tr>
-<tr class="row-odd"><td><p>SetName</p></td>
-<td><p>✔️ Implemented</p></td>
-</tr>
-<tr class="row-even"><td><p>GetName</p></td>
-<td><p>✔️ Implemented</p></td>
-</tr>
-<tr class="row-odd"><td><p>SetPosition</p></td>
-<td><p>✔️ Implemented</p></td>
-</tr>
-<tr class="row-even"><td><p>GetPosition</p></td>
-<td><p>✔️ Implemented</p></td>
-</tr>
-<tr class="row-odd"><td><p>SetVelocity</p></td>
-<td><p>✔️ Implemented</p></td>
-</tr>
-<tr class="row-even"><td><p>GetVelocity</p></td>
-<td><p>✔️ Implemented</p></td>
-</tr>
-<tr class="row-odd"><td><p>SetAcceleration</p></td>
-<td><p>not during Init, only absolute acceleration set</p></td>
-</tr>
-<tr class="row-even"><td><p>GetAcceleration</p></td>
-<td><p>✔️ Implemented</p></td>
-</tr>
-<tr class="row-odd"><td><p>SetOrientation</p></td>
-<td><p>✔️ Implemented</p></td>
-</tr>
-<tr class="row-even"><td><p>GetOrientation</p></td>
-<td><p>✔️ Implemented</p></td>
-</tr>
-<tr class="row-odd"><td><p>SetOrientationRate</p></td>
-<td><p>not during Init</p></td>
-</tr>
-<tr class="row-even"><td><p>GetOrientationRate</p></td>
-<td><p>✔️ Implemented</p></td>
-</tr>
-<tr class="row-odd"><td><p>SetOrientationAcceleration</p></td>
-<td><p>not during Init</p></td>
-</tr>
-<tr class="row-even"><td><p>GetOrientationAcceleration</p></td>
-<td><p>✔️ Implemented</p></td>
-</tr>
-<tr class="row-odd"><td><p>SetAssignedLaneIds</p></td>
-<td><p>❌ Not yet implemented</p></td>
-</tr>
-<tr class="row-even"><td><p>GetAssignedLaneIds</p></td>
-<td><p>❌ Not yet implemented</p></td>
-</tr>
-<tr class="row-odd"><td><p>SetVisibility</p></td>
-<td><p>❌ Not yet implemented</p></td>
-</tr>
-<tr class="row-even"><td><p>GetVisibility</p></td>
-<td><p>❌ Not yet implemented</p></td>
-</tr>
-<tr class="row-odd"><td><p>—————————</p></td>
-<td><p>————————————————</p></td>
-</tr>
-</tbody>
-</table>
-</section>
-<section id="ivehicle">
-<h2>IVehicle<a class="headerlink" href="#ivehicle" title="Link to this heading"></a></h2>
-<table class="docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Function</p></th>
-<th class="head"><p>Status</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>SetProperties</p></td>
-<td><p>❌ Not yet implemented</p></td>
-</tr>
-<tr class="row-odd"><td><p>GetProperties</p></td>
-<td><p>✔️ Implemented</p></td>
-</tr>
-<tr class="row-even"><td><p>SetIndicatorState</p></td>
-<td><p>❌ Not yet implemented</p></td>
-</tr>
-<tr class="row-odd"><td><p>GetIndicatorState</p></td>
-<td><p>❌ Not yet implemented</p></td>
-</tr>
-<tr class="row-even"><td><p>——————</p></td>
-<td><p>———————-</p></td>
-</tr>
-</tbody>
-</table>
-</section>
-<section id="ipedestrian">
-<h2>IPedestrian<a class="headerlink" href="#ipedestrian" title="Link to this heading"></a></h2>
-<table class="docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Function</p></th>
-<th class="head"><p>Status</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>SetProperties</p></td>
-<td><p>❌ Not yet implemented</p></td>
-</tr>
-<tr class="row-odd"><td><p>GetProperties</p></td>
-<td><p>✔️ Implemented</p></td>
-</tr>
-<tr class="row-even"><td><p>——————</p></td>
-<td><p>———————-</p></td>
-</tr>
-</tbody>
-</table>
-</section>
-<section id="istaticobject">
-<h2>IStaticObject<a class="headerlink" href="#istaticobject" title="Link to this heading"></a></h2>
-<p>❌ Not yet implemented</p>
-</section>
-<section id="ientityrepository">
-<h2>IEntityRepository<a class="headerlink" href="#ientityrepository" title="Link to this heading"></a></h2>
-<table class="docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Function</p></th>
-<th class="head"><p>Status</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>Create (Vehicle)</p></td>
-<td><p>✔️ Implemented</p></td>
-</tr>
-<tr class="row-odd"><td><p>Create (Pedestrian)</p></td>
-<td><p>✔️ Implemented</p></td>
-</tr>
-<tr class="row-even"><td><p>Create (StaticObject)</p></td>
-<td><p>❌ Not yet implemented</p></td>
-</tr>
-<tr class="row-odd"><td><p>GetHost</p></td>
-<td><p>❌ Not yet implemented</p></td>
-</tr>
-<tr class="row-even"><td><p>Get (Name)</p></td>
-<td><p>✔️ Implemented</p></td>
-</tr>
-<tr class="row-odd"><td><p>Get (Id)</p></td>
-<td><p>✔️ Implemented</p></td>
-</tr>
-<tr class="row-even"><td><p>Contains</p></td>
-<td><p>❌ Not yet implemented</p></td>
-</tr>
-<tr class="row-odd"><td><p>Delete (Name)</p></td>
-<td><p>❌ Not yet implemented</p></td>
-</tr>
-<tr class="row-even"><td><p>Delete (Id)</p></td>
-<td><p>❌ Not yet implemented</p></td>
-</tr>
-<tr class="row-odd"><td><p>GetEntities</p></td>
-<td><p>❌ Not yet implemented</p></td>
-</tr>
-<tr class="row-even"><td><p>RegisterEntityCreatedCallback</p></td>
-<td><p>❌ Not yet implemented</p></td>
-</tr>
-<tr class="row-odd"><td><p>RegisterEntityDeletedCallback</p></td>
-<td><p>❌ Not yet implemented</p></td>
-</tr>
-<tr class="row-even"><td><p>——————————</p></td>
-<td><p>———————-</p></td>
-</tr>
-</tbody>
-</table>
-</section>
-</section>
-
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+<li class="toctree-l2 current"><a class="current reference internal" href="#">Scenario API Support</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="#igeometryhelper">IGeometryHelper</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#ienvironment">IEnvironment</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#icoordconverter">ICoordConverter</a></li>
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+<li class="toctree-l3"><a class="reference internal" href="#icontrollerrepository">IControllerRepository</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#ientity">IEntity</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#ivehicle">IVehicle</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#ipedestrian">IPedestrian</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#istaticobject">IStaticObject</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#ientityrepository">IEntityRepository</a></li>
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+             
+  <section id="scenario-api-support">
+<span id="id1"></span><h1>Scenario API Support<a class="headerlink" href="#scenario-api-support" title="Link to this heading"></a></h1>
+<section id="igeometryhelper">
+<h2>IGeometryHelper<a class="headerlink" href="#igeometryhelper" title="Link to this heading"></a></h2>
+<table class="docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Function</p></th>
+<th class="head"><p>Status</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>TranslateGlobalPositionLocally</p></td>
+<td><p>✔️ Implemented</p></td>
+</tr>
+<tr class="row-odd"><td><p>TransformPolylinePointsFromWorldToLocal</p></td>
+<td><p>✔️ Implemented</p></td>
+</tr>
+<tr class="row-even"><td><p>TransformPositionFromWorldToLocal</p></td>
+<td><p>✔️ Implemented</p></td>
+</tr>
+<tr class="row-odd"><td><p>—————————————</p></td>
+<td><p>————–</p></td>
+</tr>
+</tbody>
+</table>
+</section>
+<section id="ienvironment">
+<h2>IEnvironment<a class="headerlink" href="#ienvironment" title="Link to this heading"></a></h2>
+<table class="docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Function</p></th>
+<th class="head"><p>Status</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>CreateMap</p></td>
+<td><p>✔️ Implemented</p></td>
+</tr>
+<tr class="row-odd"><td><p>AddEntityToController</p></td>
+<td><p>✔️ Implemented</p></td>
+</tr>
+<tr class="row-even"><td><p>RemoveControllerFromEntity</p></td>
+<td><p>❌ Not yet implemented</p></td>
+</tr>
+<tr class="row-odd"><td><p>UpdateControlStrategies</p></td>
+<td><p>Currently ControlStrategies are always overwritten</p></td>
+</tr>
+<tr class="row-even"><td><p>HasControlStrategyGoalBeenReached</p></td>
+<td><p>❌ Not yet implemented (always returns true)</p></td>
+</tr>
+<tr class="row-odd"><td><p>GetQueryService</p></td>
+<td><p>✔️ Implemented</p></td>
+</tr>
+<tr class="row-even"><td><p>GetConverter</p></td>
+<td><p>✔️ Implemented</p></td>
+</tr>
+<tr class="row-odd"><td><p>GetGeometryHelper</p></td>
+<td><p>✔️ Implemented</p></td>
+</tr>
+<tr class="row-even"><td><p>GetEntityRepository</p></td>
+<td><p>✔️ Implemented</p></td>
+</tr>
+<tr class="row-odd"><td><p>GetControllerRepository</p></td>
+<td><p>✔️ Implemented</p></td>
+</tr>
+<tr class="row-even"><td><p>SetDateTime</p></td>
+<td><p>❌ Not yet implemented</p></td>
+</tr>
+<tr class="row-odd"><td><p>GetDateTime</p></td>
+<td><p>❌ Not yet implemented</p></td>
+</tr>
+<tr class="row-even"><td><p>GetSimulationTime</p></td>
+<td><p>✔️ Implemented</p></td>
+</tr>
+<tr class="row-odd"><td><p>SetWeather</p></td>
+<td><p>✔️ Implemented</p></td>
+</tr>
+<tr class="row-even"><td><p>SetRoadCondition</p></td>
+<td><p>❌ Not yet implemented</p></td>
+</tr>
+<tr class="row-odd"><td><p>SetTrafficSignalState</p></td>
+<td><p>❌ Not yet implemented</p></td>
+</tr>
+<tr class="row-even"><td><p>ExecuteCustomCommand</p></td>
+<td><p>✔️ Implemented</p></td>
+</tr>
+<tr class="row-odd"><td><p>SetUserDefinedValue</p></td>
+<td><p>❌ Not yet implemented</p></td>
+</tr>
+<tr class="row-even"><td><p>GetUserDefinedValue</p></td>
+<td><p>❌ Not yet implemented (always returns nullopt)</p></td>
+</tr>
+<tr class="row-odd"><td><p>SetVariable</p></td>
+<td><p>❌ Not yet implemented</p></td>
+</tr>
+<tr class="row-even"><td><p>GetVariable</p></td>
+<td><p>❌ Not yet implemented (always returns nullopt)</p></td>
+</tr>
+<tr class="row-odd"><td><p>———————————-</p></td>
+<td><p>—————————————————</p></td>
+</tr>
+</tbody>
+</table>
+</section>
+<section id="icoordconverter">
+<h2>ICoordConverter<a class="headerlink" href="#icoordconverter" title="Link to this heading"></a></h2>
+<table class="docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Function</p></th>
+<th class="head"><p>Status</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>Convert</p></td>
+<td><p>Implemented for OpenDrivePosition only</p></td>
+</tr>
+<tr class="row-odd"><td><p>———</p></td>
+<td><p>—————————————</p></td>
+</tr>
+</tbody>
+</table>
+</section>
+<section id="ilanelocationqueryservice">
+<h2>ILaneLocationQueryService<a class="headerlink" href="#ilanelocationqueryservice" title="Link to this heading"></a></h2>
+<table class="docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Function</p></th>
+<th class="head"><p>Status</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>GetLaneOrientation</p></td>
+<td><p>✔️ Implemented</p></td>
+</tr>
+<tr class="row-odd"><td><p>GetUpwardsShiftedLanePosition</p></td>
+<td><p>✔️ Implemented</p></td>
+</tr>
+<tr class="row-even"><td><p>IsPositionOnLane</p></td>
+<td><p>✔️ Implemented</p></td>
+</tr>
+<tr class="row-odd"><td><p>GetLaneIdsAtPosition</p></td>
+<td><p>✔️ Implemented</p></td>
+</tr>
+<tr class="row-even"><td><p>FindLanePoseAtDistanceFrom</p></td>
+<td><p>✔️ Implemented</p></td>
+</tr>
+<tr class="row-odd"><td><p>GetLongitudinalLaneDistanceBetweenPositions</p></td>
+<td><p>✔️ Implemented</p></td>
+</tr>
+<tr class="row-even"><td><p>FindRelativeLanePoseAtDistanceFrom</p></td>
+<td><p>✔️ Implemented</p></td>
+</tr>
+<tr class="row-odd"><td><p>GetRelativeLaneId</p></td>
+<td><p>✔️ Implemented</p></td>
+</tr>
+<tr class="row-even"><td><p>——————————————–</p></td>
+<td><p>————–</p></td>
+</tr>
+</tbody>
+</table>
+</section>
+<section id="icontrollerrepository">
+<h2>IControllerRepository<a class="headerlink" href="#icontrollerrepository" title="Link to this heading"></a></h2>
+<table class="docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Function</p></th>
+<th class="head"><p>Status</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>Create</p></td>
+<td><p>Implemented for ExternalControllerConfig (openPASS AgentProfile)</p></td>
+</tr>
+<tr class="row-odd"><td><p>Get</p></td>
+<td><p>✔️ Implemented</p></td>
+</tr>
+<tr class="row-even"><td><p>Contains</p></td>
+<td><p>✔️ Implemented</p></td>
+</tr>
+<tr class="row-odd"><td><p>Delete</p></td>
+<td><p>❌ Not yet implemented</p></td>
+</tr>
+<tr class="row-even"><td><p>———</p></td>
+<td><p>—————————————————————–</p></td>
+</tr>
+</tbody>
+</table>
+</section>
+<section id="ientity">
+<h2>IEntity<a class="headerlink" href="#ientity" title="Link to this heading"></a></h2>
+<table class="docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Function</p></th>
+<th class="head"><p>Status</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>GetUniqueId</p></td>
+<td><p>✔️ Implemented</p></td>
+</tr>
+<tr class="row-odd"><td><p>SetName</p></td>
+<td><p>✔️ Implemented</p></td>
+</tr>
+<tr class="row-even"><td><p>GetName</p></td>
+<td><p>✔️ Implemented</p></td>
+</tr>
+<tr class="row-odd"><td><p>SetPosition</p></td>
+<td><p>✔️ Implemented</p></td>
+</tr>
+<tr class="row-even"><td><p>GetPosition</p></td>
+<td><p>✔️ Implemented</p></td>
+</tr>
+<tr class="row-odd"><td><p>SetVelocity</p></td>
+<td><p>✔️ Implemented</p></td>
+</tr>
+<tr class="row-even"><td><p>GetVelocity</p></td>
+<td><p>✔️ Implemented</p></td>
+</tr>
+<tr class="row-odd"><td><p>SetAcceleration</p></td>
+<td><p>not during Init, only absolute acceleration set</p></td>
+</tr>
+<tr class="row-even"><td><p>GetAcceleration</p></td>
+<td><p>✔️ Implemented</p></td>
+</tr>
+<tr class="row-odd"><td><p>SetOrientation</p></td>
+<td><p>✔️ Implemented</p></td>
+</tr>
+<tr class="row-even"><td><p>GetOrientation</p></td>
+<td><p>✔️ Implemented</p></td>
+</tr>
+<tr class="row-odd"><td><p>SetOrientationRate</p></td>
+<td><p>not during Init</p></td>
+</tr>
+<tr class="row-even"><td><p>GetOrientationRate</p></td>
+<td><p>✔️ Implemented</p></td>
+</tr>
+<tr class="row-odd"><td><p>SetOrientationAcceleration</p></td>
+<td><p>not during Init</p></td>
+</tr>
+<tr class="row-even"><td><p>GetOrientationAcceleration</p></td>
+<td><p>✔️ Implemented</p></td>
+</tr>
+<tr class="row-odd"><td><p>SetAssignedLaneIds</p></td>
+<td><p>❌ Not yet implemented</p></td>
+</tr>
+<tr class="row-even"><td><p>GetAssignedLaneIds</p></td>
+<td><p>❌ Not yet implemented</p></td>
+</tr>
+<tr class="row-odd"><td><p>SetVisibility</p></td>
+<td><p>❌ Not yet implemented</p></td>
+</tr>
+<tr class="row-even"><td><p>GetVisibility</p></td>
+<td><p>❌ Not yet implemented</p></td>
+</tr>
+<tr class="row-odd"><td><p>—————————</p></td>
+<td><p>————————————————</p></td>
+</tr>
+</tbody>
+</table>
+</section>
+<section id="ivehicle">
+<h2>IVehicle<a class="headerlink" href="#ivehicle" title="Link to this heading"></a></h2>
+<table class="docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Function</p></th>
+<th class="head"><p>Status</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>SetProperties</p></td>
+<td><p>❌ Not yet implemented</p></td>
+</tr>
+<tr class="row-odd"><td><p>GetProperties</p></td>
+<td><p>✔️ Implemented</p></td>
+</tr>
+<tr class="row-even"><td><p>SetIndicatorState</p></td>
+<td><p>❌ Not yet implemented</p></td>
+</tr>
+<tr class="row-odd"><td><p>GetIndicatorState</p></td>
+<td><p>❌ Not yet implemented</p></td>
+</tr>
+<tr class="row-even"><td><p>——————</p></td>
+<td><p>———————-</p></td>
+</tr>
+</tbody>
+</table>
+</section>
+<section id="ipedestrian">
+<h2>IPedestrian<a class="headerlink" href="#ipedestrian" title="Link to this heading"></a></h2>
+<table class="docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Function</p></th>
+<th class="head"><p>Status</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>SetProperties</p></td>
+<td><p>❌ Not yet implemented</p></td>
+</tr>
+<tr class="row-odd"><td><p>GetProperties</p></td>
+<td><p>✔️ Implemented</p></td>
+</tr>
+<tr class="row-even"><td><p>——————</p></td>
+<td><p>———————-</p></td>
+</tr>
+</tbody>
+</table>
+</section>
+<section id="istaticobject">
+<h2>IStaticObject<a class="headerlink" href="#istaticobject" title="Link to this heading"></a></h2>
+<p>❌ Not yet implemented</p>
+</section>
+<section id="ientityrepository">
+<h2>IEntityRepository<a class="headerlink" href="#ientityrepository" title="Link to this heading"></a></h2>
+<table class="docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Function</p></th>
+<th class="head"><p>Status</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>Create (Vehicle)</p></td>
+<td><p>✔️ Implemented</p></td>
+</tr>
+<tr class="row-odd"><td><p>Create (Pedestrian)</p></td>
+<td><p>✔️ Implemented</p></td>
+</tr>
+<tr class="row-even"><td><p>Create (StaticObject)</p></td>
+<td><p>❌ Not yet implemented</p></td>
+</tr>
+<tr class="row-odd"><td><p>GetHost</p></td>
+<td><p>❌ Not yet implemented</p></td>
+</tr>
+<tr class="row-even"><td><p>Get (Name)</p></td>
+<td><p>✔️ Implemented</p></td>
+</tr>
+<tr class="row-odd"><td><p>Get (Id)</p></td>
+<td><p>✔️ Implemented</p></td>
+</tr>
+<tr class="row-even"><td><p>Contains</p></td>
+<td><p>❌ Not yet implemented</p></td>
+</tr>
+<tr class="row-odd"><td><p>Delete (Name)</p></td>
+<td><p>❌ Not yet implemented</p></td>
+</tr>
+<tr class="row-even"><td><p>Delete (Id)</p></td>
+<td><p>❌ Not yet implemented</p></td>
+</tr>
+<tr class="row-odd"><td><p>GetEntities</p></td>
+<td><p>❌ Not yet implemented</p></td>
+</tr>
+<tr class="row-even"><td><p>RegisterEntityCreatedCallback</p></td>
+<td><p>❌ Not yet implemented</p></td>
+</tr>
+<tr class="row-odd"><td><p>RegisterEntityDeletedCallback</p></td>
+<td><p>❌ Not yet implemented</p></td>
+</tr>
+<tr class="row-even"><td><p>——————————</p></td>
+<td><p>———————-</p></td>
+</tr>
+</tbody>
+</table>
+</section>
+</section>
+
+
+           </div>
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+          <footer><div class="rst-footer-buttons" role="navigation" aria-label="Footer">
+        <a href="scenario.html" class="btn btn-neutral float-left" title="Scenario" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> Previous</a>
+        <a href="scenery.html" class="btn btn-neutral float-right" title="Scenery" accesskey="n" rel="next">Next <span class="fa fa-arrow-circle-right" aria-hidden="true"></span></a>
+    </div>
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+
+  <div role="contentinfo">
+    <p>&#169; Copyright 2025 openPASS Working Group.</p>
+  </div>
+
+  Built with <a href="https://www.sphinx-doc.org/">Sphinx</a> using a
+    <a href="https://github.com/readthedocs/sphinx_rtd_theme">theme</a>
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\ No newline at end of file
diff --git a/content/html/user_guide/configs/scenery.html b/content/html/user_guide/configs/scenery.html
index 52affd81b63990069d1d835f50a58219738b7e11..3238f94e89c4fd9dfc90407bf89c2074cd5b162e 100644
--- a/content/html/user_guide/configs/scenery.html
+++ b/content/html/user_guide/configs/scenery.html
@@ -1,252 +1,253 @@
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-<li class="toctree-l2"><a class="reference internal" href="profilescatalog.html">ProfilesCatalog</a></li>
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-      <li class="breadcrumb-item active">Scenery</li>
-      <li class="wy-breadcrumbs-aside">
-            <a href="../../_sources/user_guide/configs/scenery.rst.txt" rel="nofollow"> View page source</a>
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-             
-  <section id="scenery">
-<span id="id1"></span><h1>Scenery<a class="headerlink" href="#scenery" title="Link to this heading"></a></h1>
-<p>This file describes the road network and all static objects of the road for the simulation run.
-It is structured according to the <strong>ASAM OpenDRIVE 1.6</strong> standard.</p>
-<p>The file name can be freely chosen, but needs to be properly referenced by the <a class="reference internal" href="scenario.html#scenario"><span class="std std-ref">Scenario</span></a> within the tag <a class="reference internal" href="scenario.html#scenario-roadnetwork"><span class="std std-ref">RoadNetwork</span></a>.</p>
-<section id="restrictions">
-<h2>Restrictions<a class="headerlink" href="#restrictions" title="Link to this heading"></a></h2>
-<p>If object definitions does not meet the <a class="reference external" href="https://www.asam.net/standards/detail/opendrive/">OpenDRIVE</a> or are not supported, the simulation is aborted.
-On top <strong>openPASS</strong> adds some additional requirements to the attributes of objects:</p>
-<ul class="simple">
-<li><p>length &gt; 0</p></li>
-<li><p>width &gt; 0</p></li>
-<li><p>radius == 0</p></li>
-</ul>
-<p>Objects, which do no meet these requirements are ignored.</p>
-</section>
-<section id="full-example">
-<h2>Full Example<a class="headerlink" href="#full-example" title="Link to this heading"></a></h2>
-<div class="literal-block-wrapper docutils container" id="id2">
-<div class="code-block-caption"><span class="caption-text">SceneryConfiguration.xodr</span><a class="headerlink" href="#id2" title="Link to this code"></a></div>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="linenos"> 1</span><span class="nt">&lt;OpenDRIVE&gt;</span>
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-<span class="linenos"> 3</span><span class="w">  </span><span class="nt">&lt;road</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;&quot;</span><span class="w"> </span><span class="na">length=</span><span class="s">&quot;5139.7188686309819&quot;</span><span class="w"> </span><span class="na">id=</span><span class="s">&quot;1&quot;</span><span class="w"> </span><span class="na">junction=</span><span class="s">&quot;-1&quot;</span><span class="nt">&gt;</span>
-<span class="linenos"> 4</span><span class="w">    </span><span class="nt">&lt;link/&gt;</span>
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-<span class="linenos"> 7</span><span class="w">        </span><span class="nt">&lt;line/&gt;</span>
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-<span class="linenos"> 9</span><span class="w">      </span><span class="nt">&lt;geometry</span><span class="w"> </span><span class="na">s=</span><span class="s">&quot;4000&quot;</span><span class="w"> </span><span class="na">x=</span><span class="s">&quot;4000&quot;</span><span class="w"> </span><span class="na">y=</span><span class="s">&quot;7.5&quot;</span><span class="w"> </span><span class="na">hdg=</span><span class="s">&quot;0&quot;</span><span class="w"> </span><span class="na">length=</span><span class="s">&quot;285&quot;</span><span class="nt">&gt;</span>
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-<span class="linenos">11</span><span class="w">      </span><span class="nt">&lt;/geometry&gt;</span>
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-<span class="linenos">14</span><span class="w">      </span><span class="nt">&lt;/geometry&gt;</span>
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-<span class="linenos">17</span><span class="w">      </span><span class="nt">&lt;/geometry&gt;</span>
-<span class="linenos">18</span><span class="w">      </span><span class="nt">&lt;geometry</span><span class="w"> </span><span class="na">s=</span><span class="s">&quot;5039.7188686309819&quot;</span><span class="w"> </span><span class="na">x=</span><span class="s">&quot;4476.6651848689908&quot;</span><span class="w"> </span><span class="na">y=</span><span class="s">&quot;-694.88624436808436&quot;</span><span class="w"> </span><span class="na">hdg=</span><span class="s">&quot;-1.7453292519943295&quot;</span><span class="w"> </span><span class="na">length=</span><span class="s">&quot;100&quot;</span><span class="nt">&gt;</span>
-<span class="linenos">19</span><span class="w">        </span><span class="nt">&lt;line/&gt;</span>
-<span class="linenos">20</span><span class="w">      </span><span class="nt">&lt;/geometry&gt;</span>
-<span class="linenos">21</span><span class="w">    </span><span class="nt">&lt;/planView&gt;</span>
-<span class="linenos">22</span><span class="w">    </span><span class="nt">&lt;elevationProfile/&gt;</span>
-<span class="linenos">23</span><span class="w">    </span><span class="nt">&lt;lateralProfile/&gt;</span>
-<span class="linenos">24</span><span class="w">    </span><span class="nt">&lt;lanes&gt;</span>
-<span class="linenos">25</span><span class="w">      </span><span class="nt">&lt;laneSection</span><span class="w"> </span><span class="na">s=</span><span class="s">&quot;0.0000000000000000e+000&quot;</span><span class="nt">&gt;</span>
-<span class="linenos">26</span><span class="w">        </span><span class="nt">&lt;left/&gt;</span>
-<span class="linenos">27</span><span class="w">        </span><span class="nt">&lt;center&gt;</span>
-<span class="linenos">28</span><span class="w">          </span><span class="nt">&lt;lane</span><span class="w"> </span><span class="na">id=</span><span class="s">&quot;0&quot;</span><span class="w"> </span><span class="na">type=</span><span class="s">&quot;border&quot;</span><span class="w"> </span><span class="na">level=</span><span class="s">&quot;true&quot;</span><span class="nt">&gt;</span>
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-<span class="linenos">37</span><span class="w">        </span><span class="nt">&lt;link&gt;</span>
-<span class="linenos">38</span><span class="w">        </span><span class="nt">&lt;successor</span><span class="w"> </span><span class="na">id=</span><span class="s">&quot;-1&quot;</span><span class="nt">/&gt;</span>
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-<span class="linenos">67</span><span class="w">    </span><span class="nt">&lt;signals/&gt;</span>
-<span class="linenos">68</span><span class="w">  </span><span class="nt">&lt;/road&gt;</span>
-<span class="linenos">69</span><span class="nt">&lt;/OpenDRIVE&gt;</span>
-</pre></div>
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+      <li class="breadcrumb-item active">Scenery</li>
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+            <a href="../../_sources/user_guide/configs/scenery.rst.txt" rel="nofollow"> View page source</a>
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+             
+  <section id="scenery">
+<span id="id1"></span><h1>Scenery<a class="headerlink" href="#scenery" title="Link to this heading"></a></h1>
+<p>This file describes the road network and all static objects of the road for the simulation run.
+It is structured according to the <strong>ASAM OpenDRIVE 1.6</strong> standard.</p>
+<p>The file name can be freely chosen, but needs to be properly referenced by the <a class="reference internal" href="scenario.html#scenario"><span class="std std-ref">Scenario</span></a> within the tag <a class="reference internal" href="scenario.html#scenario-roadnetwork"><span class="std std-ref">RoadNetwork</span></a>.</p>
+<section id="restrictions">
+<h2>Restrictions<a class="headerlink" href="#restrictions" title="Link to this heading"></a></h2>
+<p>If object definitions does not meet the <a class="reference external" href="https://www.asam.net/standards/detail/opendrive/">OpenDRIVE</a> or are not supported, the simulation is aborted.
+On top <strong>openPASS</strong> adds some additional requirements to the attributes of objects:</p>
+<ul class="simple">
+<li><p>length &gt; 0</p></li>
+<li><p>width &gt; 0</p></li>
+<li><p>radius == 0</p></li>
+</ul>
+<p>Objects, which do no meet these requirements are ignored.</p>
+</section>
+<section id="full-example">
+<h2>Full Example<a class="headerlink" href="#full-example" title="Link to this heading"></a></h2>
+<div class="literal-block-wrapper docutils container" id="id2">
+<div class="code-block-caption"><span class="caption-text">SceneryConfiguration.xodr</span><a class="headerlink" href="#id2" title="Link to this code"></a></div>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="linenos"> 1</span><span class="nt">&lt;OpenDRIVE&gt;</span>
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+<span class="linenos">67</span><span class="w">    </span><span class="nt">&lt;signals/&gt;</span>
+<span class="linenos">68</span><span class="w">  </span><span class="nt">&lt;/road&gt;</span>
+<span class="linenos">69</span><span class="nt">&lt;/OpenDRIVE&gt;</span>
+</pre></div>
+</div>
+</div>
+</section>
+</section>
+
+
+           </div>
+          </div>
+          <footer><div class="rst-footer-buttons" role="navigation" aria-label="Footer">
+        <a href="scenario_api_support.html" class="btn btn-neutral float-left" title="Scenario API Support" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> Previous</a>
+        <a href="simulationconfig.html" class="btn btn-neutral float-right" title="SimulationConfig" accesskey="n" rel="next">Next <span class="fa fa-arrow-circle-right" aria-hidden="true"></span></a>
+    </div>
+
+  <hr/>
+
+  <div role="contentinfo">
+    <p>&#169; Copyright 2025 openPASS Working Group.</p>
+  </div>
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-  <section id="simulationconfig">
-<span id="id1"></span><h1>SimulationConfig<a class="headerlink" href="#simulationconfig" title="Link to this heading"></a></h1>
-<p>This file describes the high level parameters of a simulation invocation (i.e. an experiment).
-It contains the basic experiment settings like number of runs and random seed, the environment definition,
-the parametrization of the output (more precisely the observation modules) and the definition of the spawners.
-The path to the SimulationConfig is given as command line argument (or defaulted) and all other configs are directly
-or indirectly refered to in the SimulationConfig.
-Several parameters depend on probabilities.
-Each invocation then rolls for said probabilities.
-All probabilities need to add up to 1.0.</p>
-<p>The simulationConfig.xml consists of the following sections:</p>
-<ul class="simple">
-<li><p><a class="reference internal" href="#simulationconfig-profilescatalog"><span class="std std-ref">ProfilesCatalog</span></a></p></li>
-<li><p><a class="reference internal" href="#simulationconfig-experiment"><span class="std std-ref">Experiment</span></a></p></li>
-<li><p><a class="reference internal" href="#simulationconfig-scenario"><span class="std std-ref">Scenario</span></a></p></li>
-<li><p><a class="reference internal" href="#simulationconfig-environment"><span class="std std-ref">Environment</span></a></p></li>
-<li><p><a class="reference internal" href="#simulationconfig-observations"><span class="std std-ref">Observations</span></a></p></li>
-<li><p><a class="reference internal" href="#simulationconfig-spawners"><span class="std std-ref">Spawners</span></a></p></li>
-</ul>
-<section id="profilescatalog">
-<span id="simulationconfig-profilescatalog"></span><h2>ProfilesCatalog<a class="headerlink" href="#profilescatalog" title="Link to this heading"></a></h2>
-<p>Specifies the <a class="reference internal" href="profilescatalog.html#profilescatalog"><span class="std std-ref">ProfilesCatalog</span></a> for the experiment.</p>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="w">  </span><span class="nt">&lt;ProfilesCatalog&gt;</span>ProfilesCatalog.xml<span class="nt">&lt;/ProfilesCatalog&gt;</span>
-</pre></div>
-</div>
-</section>
-<section id="experiment">
-<span id="simulationconfig-experiment"></span><h2>Experiment<a class="headerlink" href="#experiment" title="Link to this heading"></a></h2>
-<p>Specifies the general experiment setup, not specific to a single invocation.</p>
-<table class="tight-table docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Tag</p></th>
-<th class="head"><p>Description</p></th>
-<th class="head"><p>Mandatory</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>ExperimentId</p></td>
-<td><p>Id of the experiment</p></td>
-<td><p>yes</p></td>
-</tr>
-<tr class="row-odd"><td><p>NumberOfInvocations</p></td>
-<td><p>Number of invocation in the experiment.
-For each invocation probabilities are rerolled.</p></td>
-<td><p>yes</p></td>
-</tr>
-<tr class="row-even"><td><p>RandomSeed</p></td>
-<td><p>Random seed for the entire experiment.
-Must be within the bounds of an unsigned integer.</p></td>
-<td><p>yes</p></td>
-</tr>
-<tr class="row-odd"><td><p>Libraries</p></td>
-<td><p>Name of the core module Libraries to use.
-If not specified the default name is assumed.</p></td>
-<td><p>yes</p></td>
-</tr>
-</tbody>
-</table>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="w">  </span><span class="nt">&lt;Experiment&gt;</span>
-<span class="w">    </span><span class="nt">&lt;ExperimentID&gt;</span>123<span class="nt">&lt;/ExperimentID&gt;</span>
-<span class="w">    </span><span class="nt">&lt;NumberOfInvocations&gt;</span>1<span class="nt">&lt;/NumberOfInvocations&gt;</span>
-<span class="w">    </span><span class="nt">&lt;RandomSeed&gt;</span>532725206<span class="nt">&lt;/RandomSeed&gt;</span>
-<span class="w">    </span><span class="nt">&lt;Libraries&gt;</span>
-<span class="w">      </span><span class="nt">&lt;WorldLibrary&gt;</span>World_OSI<span class="nt">&lt;/WorldLibrary&gt;</span>
-<span class="w">    </span><span class="nt">&lt;/Libraries&gt;</span>
-<span class="w">  </span><span class="nt">&lt;/Experiment&gt;</span>
-</pre></div>
-</div>
-</section>
-<section id="scenario">
-<span id="simulationconfig-scenario"></span><h2>Scenario<a class="headerlink" href="#scenario" title="Link to this heading"></a></h2>
-<p>This section contains information about the scenario setup for the experiment. This information does not change between invocations.</p>
-<table class="tight-table docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Tag</p></th>
-<th class="head"><p>Description</p></th>
-<th class="head"><p>Mandatory</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>OpenScenarioFile</p></td>
-<td><p>Name of the scenario file</p></td>
-<td><p>yes</p></td>
-</tr>
-</tbody>
-</table>
-<p><strong>Example</strong></p>
-<p>This experiment uses the “HighwayScenario.xosc” scenario file.</p>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="w">  </span><span class="nt">&lt;Scenario&gt;</span>
-<span class="w">    </span><span class="nt">&lt;OpenScenarioFile&gt;</span>Scenario.xosc<span class="nt">&lt;/OpenScenarioFile&gt;</span>
-<span class="w">  </span><span class="nt">&lt;/Scenario&gt;</span>
-</pre></div>
-</div>
-</section>
-<section id="environment">
-<span id="simulationconfig-environment"></span><h2>Environment<a class="headerlink" href="#environment" title="Link to this heading"></a></h2>
-<p>This section contains information about the world and the general environment inside the simulation. Every invocation re-rolls the environment probabilities.
-All probabilities need to add up to 1.0.</p>
-<table class="tight-table docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Tag</p></th>
-<th class="head"><p>Description</p></th>
-<th class="head"><p>Mandatory</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>TimeOfDay</p></td>
-<td><p><strong>Currently unused.</strong> Time of day ranging from 1-24 [h].</p></td>
-<td><p>1+ entry</p></td>
-</tr>
-<tr class="row-odd"><td><p>VisibilityDistance</p></td>
-<td><p>Defines how far a human driver can see [m].</p></td>
-<td><p>1+ entry</p></td>
-</tr>
-<tr class="row-even"><td><p>Friction</p></td>
-<td><p>Friction on the road. Used by DynamicsRegularDriving and LimiterAccelerationVehicleComponents.</p></td>
-<td><p>1+ entry</p></td>
-</tr>
-<tr class="row-odd"><td><p>Weather</p></td>
-<td><p><strong>Currently unused.</strong> Weather as string</p></td>
-<td><p>1+ entry</p></td>
-</tr>
-<tr class="row-even"><td><p>TrafficRules</p></td>
-<td><p>Defines which set of TrafficRules to use from the ProfilesCatalog</p></td>
-<td><p>yes</p></td>
-</tr>
-<tr class="row-odd"><td><p>TurningRates</p></td>
-<td><p>Defines the turning rates for random route generation</p></td>
-<td><p>no</p></td>
-</tr>
-</tbody>
-</table>
-<p><strong>Example</strong></p>
-<p>Every invocation has the time set to 15:00.
-In 70% of all invocation drivers can see 125 meter and for the other 30% of invocations the drivers can see 250 meter.
-Every invocation has a friction of 0.3.
-Every invocation has sunny weather.</p>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="w">  </span><span class="nt">&lt;Environment&gt;</span>
-<span class="w">    </span><span class="nt">&lt;TimeOfDays&gt;</span>
-<span class="w">      </span><span class="nt">&lt;TimeOfDay</span><span class="w"> </span><span class="na">Probability=</span><span class="s">&quot;0.4&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;15&quot;</span><span class="nt">/&gt;</span>
-<span class="w">      </span><span class="nt">&lt;TimeOfDay</span><span class="w"> </span><span class="na">Probability=</span><span class="s">&quot;0.6&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;18&quot;</span><span class="nt">/&gt;</span>
-<span class="w">    </span><span class="nt">&lt;/TimeOfDays&gt;</span>
-<span class="w">    </span><span class="nt">&lt;VisibilityDistances&gt;</span>
-<span class="w">      </span><span class="nt">&lt;VisibilityDistance</span><span class="w"> </span><span class="na">Probability=</span><span class="s">&quot;0.7&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;300&quot;</span><span class="nt">/&gt;</span>
-<span class="w">      </span><span class="nt">&lt;VisibilityDistance</span><span class="w"> </span><span class="na">Probability=</span><span class="s">&quot;0.3&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;400&quot;</span><span class="nt">/&gt;</span>
-<span class="w">    </span><span class="nt">&lt;/VisibilityDistances&gt;</span>
-<span class="w">    </span><span class="nt">&lt;Frictions&gt;</span>
-<span class="w">      </span><span class="nt">&lt;Friction</span><span class="w"> </span><span class="na">Probability=</span><span class="s">&quot;1.0&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;1.0&quot;</span><span class="nt">/&gt;</span>
-<span class="w">    </span><span class="nt">&lt;/Frictions&gt;</span>
-<span class="w">    </span><span class="nt">&lt;Weathers&gt;</span>
-<span class="w">      </span><span class="nt">&lt;Weather</span><span class="w"> </span><span class="na">Probability=</span><span class="s">&quot;0.5&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;Rainy&quot;</span><span class="nt">/&gt;</span>
-<span class="w">      </span><span class="nt">&lt;Weather</span><span class="w"> </span><span class="na">Probability=</span><span class="s">&quot;0.5&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;Snowy&quot;</span><span class="nt">/&gt;</span>
-<span class="w">    </span><span class="nt">&lt;/Weathers&gt;</span>
-<span class="w">    </span><span class="nt">&lt;TrafficRules&gt;</span>DE<span class="nt">&lt;/TrafficRules&gt;</span>
-<span class="w">  </span><span class="nt">&lt;/Environment&gt;</span>
-</pre></div>
-</div>
-<p><strong>TurningRates</strong></p>
-<p>If routes are not defined in the Scenario, they are randomly generated.
-Starting at the current agent position at each junction a random connector is chosen based on the weights given in the TurningRates element, until the route terminates at a road without successors or a maximum depth is reached.
-If for a pair of incoming road / connector no weight is given, it is defaulted to 1.
-At the below example an agent coming from road “R1” has a 1/3 chance of selecting “R1-2” and a 2/3 chance of selecting “R1-3”.</p>
-<table class="tight-table docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Attribute</p></th>
-<th class="head"><p>Description</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>Incoming</p></td>
-<td><p>Id of the incoming road</p></td>
-</tr>
-<tr class="row-odd"><td><p>Outgoing</p></td>
-<td><p>Id of the connector</p></td>
-</tr>
-<tr class="row-even"><td><p>Weight</p></td>
-<td><p>Weight for this pair</p></td>
-</tr>
-</tbody>
-</table>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="w">    </span><span class="nt">&lt;TurningRates&gt;</span>
-<span class="w">      </span><span class="nt">&lt;TurningRate</span><span class="w"> </span><span class="na">Incoming=</span><span class="s">&quot;R1&quot;</span><span class="w"> </span><span class="na">Outgoing=</span><span class="s">&quot;R1-2&quot;</span><span class="w"> </span><span class="na">Weight=</span><span class="s">&quot;1.0&quot;</span><span class="nt">/&gt;</span>
-<span class="w">      </span><span class="nt">&lt;TurningRate</span><span class="w"> </span><span class="na">Incoming=</span><span class="s">&quot;R1&quot;</span><span class="w"> </span><span class="na">Outgoing=</span><span class="s">&quot;R1-3&quot;</span><span class="w"> </span><span class="na">Weight=</span><span class="s">&quot;2.0&quot;</span><span class="nt">/&gt;</span>
-<span class="w">      </span><span class="nt">&lt;TurningRate</span><span class="w"> </span><span class="na">Incoming=</span><span class="s">&quot;R2&quot;</span><span class="w"> </span><span class="na">Outgoing=</span><span class="s">&quot;R2-1&quot;</span><span class="w"> </span><span class="na">Weight=</span><span class="s">&quot;1.0&quot;</span><span class="nt">/&gt;</span>
-<span class="w">      </span><span class="nt">&lt;TurningRate</span><span class="w"> </span><span class="na">Incoming=</span><span class="s">&quot;R2&quot;</span><span class="w"> </span><span class="na">Outgoing=</span><span class="s">&quot;R2-3&quot;</span><span class="w"> </span><span class="na">Weight=</span><span class="s">&quot;1.0&quot;</span><span class="nt">/&gt;</span>
-<span class="w">      </span><span class="nt">&lt;TurningRate</span><span class="w"> </span><span class="na">Incoming=</span><span class="s">&quot;R3&quot;</span><span class="w"> </span><span class="na">Outgoing=</span><span class="s">&quot;R3-1&quot;</span><span class="w"> </span><span class="na">Weight=</span><span class="s">&quot;2.0&quot;</span><span class="nt">/&gt;</span>
-<span class="w">      </span><span class="nt">&lt;TurningRate</span><span class="w"> </span><span class="na">Incoming=</span><span class="s">&quot;R3&quot;</span><span class="w"> </span><span class="na">Outgoing=</span><span class="s">&quot;R3-2&quot;</span><span class="w"> </span><span class="na">Weight=</span><span class="s">&quot;1.0&quot;</span><span class="nt">/&gt;</span>
-<span class="w">    </span><span class="nt">&lt;/TurningRates&gt;</span>
-</pre></div>
-</div>
-</section>
-<section id="observations">
-<span id="simulationconfig-observations"></span><h2>Observations<a class="headerlink" href="#observations" title="Link to this heading"></a></h2>
-<p>In this section all observation libraries are defined with their parameters.
-A specific library is loaded by adding an entry to the <cite>Observations</cite> tag:</p>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;Observations&gt;</span>
-<span class="w">  </span><span class="cm">&lt;!-- first observer --&gt;</span>
-<span class="w">  </span><span class="nt">&lt;Observation&gt;</span>
-<span class="w">    </span><span class="nt">&lt;Library&gt;</span>THE_OBSERVATION_LIBRARY<span class="nt">&lt;/Library&gt;</span>
-<span class="w">    </span><span class="cm">&lt;!-- observer specific parameter --&gt;</span>
-<span class="w">    </span><span class="nt">&lt;Parameters&gt;</span>
-<span class="w">      </span><span class="nt">&lt;String</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;THE_KEY&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;THE_VALUE&quot;</span><span class="nt">/&gt;</span>
-<span class="w">      </span><span class="nt">&lt;Bool</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;ANOTHER_KEY&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;false&quot;</span><span class="nt">/&gt;</span>
-<span class="w">      </span>...
-<span class="w">    </span><span class="nt">&lt;/Parameters&gt;</span>
-<span class="w">  </span><span class="nt">&lt;/Observation&gt;</span>
-<span class="w">  </span><span class="cm">&lt;!-- second observer --&gt;</span>
-<span class="w">  </span><span class="nt">&lt;Observation&gt;</span>
-<span class="w">     </span>...
-<span class="w">  </span><span class="nt">&lt;/Observation&gt;</span>
-<span class="nt">&lt;/Observations&gt;</span>
-</pre></div>
-</div>
-<p>Here, the <code class="docutils literal notranslate"><span class="pre">Library</span></code> tag contains the name of the library, and <code class="docutils literal notranslate"><span class="pre">Parameters</span></code> contain an optional list of key/value pairs, specific for each observer.</p>
-<p>Please refer to the documentation of the individual observers for available parameters:</p>
-<div class="toctree-wrapper compound">
-<ul>
-<li class="toctree-l1"><a class="reference internal" href="../outputs/observation_log.html">Observation_Log</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../outputs/observation_repository.html">Observation_EntityRepository</a></li>
-</ul>
-</div>
-</section>
-<section id="spawners">
-<span id="simulationconfig-spawners"></span><h2>Spawners<a class="headerlink" href="#spawners" title="Link to this heading"></a></h2>
-<p>In this section the spawners are defined with their Profile (defined in the ProfilesCatalog).
-The same library can be loaded multiple times with different profiles.
-A spawner is either of type “PreRun”, meaning it is triggered only once at the start of the simulation, or “Runtime”, meaning it is triggered in every timestep.
-If different spawners are to be triggered at the same time the spawner with the highest priority is triggered first.</p>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="w">  </span><span class="nt">&lt;Spawners&gt;</span>
-<span class="w">    </span><span class="nt">&lt;Spawner&gt;</span>
-<span class="w">      </span><span class="nt">&lt;Library&gt;</span>SpawnerPreRunCommon<span class="nt">&lt;/Library&gt;</span>
-<span class="w">      </span><span class="nt">&lt;Type&gt;</span>PreRun<span class="nt">&lt;/Type&gt;</span>
-<span class="w">      </span><span class="nt">&lt;Priority&gt;</span>0<span class="nt">&lt;/Priority&gt;</span>
-<span class="w">      </span><span class="nt">&lt;Profile&gt;</span>DefaultPreRunCommon<span class="nt">&lt;/Profile&gt;</span>
-<span class="w">    </span><span class="nt">&lt;/Spawner&gt;</span>
-<span class="w">    </span><span class="nt">&lt;Spawner&gt;</span>
-<span class="w">      </span><span class="nt">&lt;Library&gt;</span>SpawnerRuntimeCommon<span class="nt">&lt;/Library&gt;</span>
-<span class="w">      </span><span class="nt">&lt;Type&gt;</span>Runtime<span class="nt">&lt;/Type&gt;</span>
-<span class="w">      </span><span class="nt">&lt;Priority&gt;</span>0<span class="nt">&lt;/Priority&gt;</span>
-<span class="w">      </span><span class="nt">&lt;Profile&gt;</span>DefaultRuntimeCommon<span class="nt">&lt;/Profile&gt;</span>
-<span class="w">    </span><span class="nt">&lt;/Spawner&gt;</span>
-<span class="w">  </span><span class="nt">&lt;/Spawners&gt;</span>
-</pre></div>
-</div>
-</section>
-<section id="full-example">
-<h2>Full Example<a class="headerlink" href="#full-example" title="Link to this heading"></a></h2>
-<div class="literal-block-wrapper docutils container" id="id2">
-<div class="code-block-caption"><span class="caption-text">simulationConfig.xml</span><a class="headerlink" href="#id2" title="Link to this code"></a></div>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="linenos"> 1</span><span class="cp">&lt;?xml version=&#39;1.0&#39; encoding=&#39;UTF-8&#39;?&gt;</span>
-<span class="linenos"> 2</span><span class="nt">&lt;simulationConfig</span><span class="w"> </span><span class="na">SchemaVersion=</span><span class="s">&quot;0.8.2&quot;</span><span class="nt">&gt;</span>
-<span class="linenos"> 3</span><span class="w">  </span><span class="nt">&lt;ProfilesCatalog&gt;</span>ProfilesCatalog.xml<span class="nt">&lt;/ProfilesCatalog&gt;</span>
-<span class="linenos"> 4</span><span class="w">  </span><span class="nt">&lt;Experiment&gt;</span>
-<span class="linenos"> 5</span><span class="w">    </span><span class="nt">&lt;ExperimentID&gt;</span>123<span class="nt">&lt;/ExperimentID&gt;</span>
-<span class="linenos"> 6</span><span class="w">    </span><span class="nt">&lt;NumberOfInvocations&gt;</span>1<span class="nt">&lt;/NumberOfInvocations&gt;</span>
-<span class="linenos"> 7</span><span class="w">    </span><span class="nt">&lt;RandomSeed&gt;</span>532725206<span class="nt">&lt;/RandomSeed&gt;</span>
-<span class="linenos"> 8</span><span class="w">    </span><span class="nt">&lt;Libraries&gt;</span>
-<span class="linenos"> 9</span><span class="w">      </span><span class="nt">&lt;WorldLibrary&gt;</span>World_OSI<span class="nt">&lt;/WorldLibrary&gt;</span>
-<span class="linenos">10</span><span class="w">    </span><span class="nt">&lt;/Libraries&gt;</span>
-<span class="linenos">11</span><span class="w">  </span><span class="nt">&lt;/Experiment&gt;</span>
-<span class="linenos">12</span><span class="w">  </span><span class="nt">&lt;Scenario&gt;</span>
-<span class="linenos">13</span><span class="w">    </span><span class="nt">&lt;OpenScenarioFile&gt;</span>Scenario.xosc<span class="nt">&lt;/OpenScenarioFile&gt;</span>
-<span class="linenos">14</span><span class="w">  </span><span class="nt">&lt;/Scenario&gt;</span>
-<span class="linenos">15</span><span class="w">  </span><span class="nt">&lt;Environment&gt;</span>
-<span class="linenos">16</span><span class="w">    </span><span class="nt">&lt;TimeOfDays&gt;</span>
-<span class="linenos">17</span><span class="w">      </span><span class="nt">&lt;TimeOfDay</span><span class="w"> </span><span class="na">Probability=</span><span class="s">&quot;0.4&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;15&quot;</span><span class="nt">/&gt;</span>
-<span class="linenos">18</span><span class="w">      </span><span class="nt">&lt;TimeOfDay</span><span class="w"> </span><span class="na">Probability=</span><span class="s">&quot;0.6&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;18&quot;</span><span class="nt">/&gt;</span>
-<span class="linenos">19</span><span class="w">    </span><span class="nt">&lt;/TimeOfDays&gt;</span>
-<span class="linenos">20</span><span class="w">    </span><span class="nt">&lt;VisibilityDistances&gt;</span>
-<span class="linenos">21</span><span class="w">      </span><span class="nt">&lt;VisibilityDistance</span><span class="w"> </span><span class="na">Probability=</span><span class="s">&quot;0.7&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;300&quot;</span><span class="nt">/&gt;</span>
-<span class="linenos">22</span><span class="w">      </span><span class="nt">&lt;VisibilityDistance</span><span class="w"> </span><span class="na">Probability=</span><span class="s">&quot;0.3&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;400&quot;</span><span class="nt">/&gt;</span>
-<span class="linenos">23</span><span class="w">    </span><span class="nt">&lt;/VisibilityDistances&gt;</span>
-<span class="linenos">24</span><span class="w">    </span><span class="nt">&lt;Frictions&gt;</span>
-<span class="linenos">25</span><span class="w">      </span><span class="nt">&lt;Friction</span><span class="w"> </span><span class="na">Probability=</span><span class="s">&quot;1.0&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;1.0&quot;</span><span class="nt">/&gt;</span>
-<span class="linenos">26</span><span class="w">    </span><span class="nt">&lt;/Frictions&gt;</span>
-<span class="linenos">27</span><span class="w">    </span><span class="nt">&lt;Weathers&gt;</span>
-<span class="linenos">28</span><span class="w">      </span><span class="nt">&lt;Weather</span><span class="w"> </span><span class="na">Probability=</span><span class="s">&quot;0.5&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;Rainy&quot;</span><span class="nt">/&gt;</span>
-<span class="linenos">29</span><span class="w">      </span><span class="nt">&lt;Weather</span><span class="w"> </span><span class="na">Probability=</span><span class="s">&quot;0.5&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;Snowy&quot;</span><span class="nt">/&gt;</span>
-<span class="linenos">30</span><span class="w">    </span><span class="nt">&lt;/Weathers&gt;</span>
-<span class="linenos">31</span><span class="w">    </span><span class="nt">&lt;TrafficRules&gt;</span>DE<span class="nt">&lt;/TrafficRules&gt;</span>
-<span class="linenos">32</span><span class="w">  </span><span class="nt">&lt;/Environment&gt;</span>
-<span class="linenos">33</span><span class="w">  </span><span class="nt">&lt;Observations&gt;</span>
-<span class="linenos">34</span><span class="w">    </span><span class="nt">&lt;Observation&gt;</span>
-<span class="linenos">35</span><span class="w">      </span><span class="nt">&lt;Library&gt;</span>Observation_Log<span class="nt">&lt;/Library&gt;</span>
-<span class="linenos">36</span><span class="w">      </span><span class="nt">&lt;Parameters&gt;</span>
-<span class="linenos">37</span><span class="w">        </span><span class="nt">&lt;String</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;OutputFilename&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;simulationOutput.xml&quot;</span><span class="nt">/&gt;</span>
-<span class="linenos">38</span><span class="w">        </span><span class="nt">&lt;Bool</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;LoggingCyclicsToCsv&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;false&quot;</span><span class="nt">/&gt;</span>
-<span class="linenos">39</span><span class="w">        </span><span class="nt">&lt;StringVector</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;LoggingGroup_Trace&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;XPosition,YPosition,YawAngle&quot;</span><span class="nt">/&gt;</span>
-<span class="linenos">40</span><span class="w">        </span><span class="nt">&lt;StringVector</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;LoggingGroup_RoadPosition&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;AgentInFront,Lane,PositionRoute,Road,TCoordinate&quot;</span><span class="nt">/&gt;</span>
-<span class="linenos">41</span><span class="w">        </span><span class="nt">&lt;StringVector</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;LoggingGroup_RoadPositionExtended&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;SecondaryLanes&quot;</span><span class="nt">/&gt;</span>
-<span class="linenos">42</span><span class="w">        </span><span class="nt">&lt;StringVector</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;LoggingGroup_Sensor&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;Sensor*_DetectedAgents,Sensor*_VisibleAgents&quot;</span><span class="nt">/&gt;</span>
-<span class="linenos">43</span><span class="w">        </span><span class="nt">&lt;StringVector</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;LoggingGroup_Vehicle&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;AccelerationPedalPosition,BrakePedalPosition,EngineMoment,Gear,SteeringAngle,TotalDistanceTraveled,YawRate&quot;</span><span class="nt">/&gt;</span>
-<span class="linenos">44</span><span class="w">        </span><span class="nt">&lt;StringVector</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;LoggingGroup_Visualization&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;AccelerationEgo,BrakeLight,IndicatorState,LightStatus,VelocityEgo&quot;</span><span class="nt">/&gt;</span>
-<span class="linenos">45</span><span class="w">        </span><span class="nt">&lt;StringVector</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;LoggingGroups&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;Trace,Visualization,RoadPosition,Sensor&quot;</span><span class="nt">/&gt;</span>
-<span class="linenos">46</span><span class="w">      </span><span class="nt">&lt;/Parameters&gt;</span>
-<span class="linenos">47</span><span class="w">    </span><span class="nt">&lt;/Observation&gt;</span>
-<span class="linenos">48</span><span class="w">    </span><span class="nt">&lt;Observation&gt;</span>
-<span class="linenos">49</span><span class="w">      </span><span class="nt">&lt;Library&gt;</span>Observation_EntityRepository<span class="nt">&lt;/Library&gt;</span>
-<span class="linenos">50</span><span class="w">      </span><span class="nt">&lt;Parameters&gt;</span>
-<span class="linenos">51</span><span class="w">        </span><span class="cm">&lt;!-- If &quot;FilenamePrefix&quot; is skipped, defaults to Value=&quot;Repository&quot; --&gt;</span>
-<span class="linenos">52</span><span class="w">        </span><span class="nt">&lt;String</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;FilenamePrefix&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;Repository&quot;</span><span class="nt">/&gt;</span>
-<span class="linenos">53</span><span class="w">        </span><span class="cm">&lt;!-- If &quot;WritePersistentEntities&quot; is skipped, defaults to Value=&quot;Consolidated&quot;</span>
-<span class="linenos">54</span><span class="cm">             Options: </span>
-<span class="linenos">55</span><span class="cm">             - Consolidated: Concatenate with {FilenamePrefix}_Run_###.csv for each run</span>
-<span class="linenos">56</span><span class="cm">             - Separate: Write to {FilenamePrefix}_Persistent.csv</span>
-<span class="linenos">57</span><span class="cm">             - Skip: No output for persistent entities</span>
-<span class="linenos">58</span><span class="cm">        --&gt;</span>
-<span class="linenos">59</span><span class="w">        </span><span class="nt">&lt;String</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;WritePersistentEntities&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;Consolidated&quot;</span><span class="nt">/&gt;</span>
-<span class="linenos">60</span><span class="w">      </span><span class="nt">&lt;/Parameters&gt;</span>
-<span class="linenos">61</span><span class="w">    </span><span class="nt">&lt;/Observation&gt;</span>
-<span class="linenos">62</span><span class="w">  </span><span class="nt">&lt;/Observations&gt;</span>
-<span class="linenos">63</span><span class="w">  </span><span class="nt">&lt;Spawners&gt;</span>
-<span class="linenos">64</span><span class="w">    </span><span class="nt">&lt;Spawner&gt;</span>
-<span class="linenos">65</span><span class="w">      </span><span class="nt">&lt;Library&gt;</span>SpawnerPreRunCommon<span class="nt">&lt;/Library&gt;</span>
-<span class="linenos">66</span><span class="w">      </span><span class="nt">&lt;Type&gt;</span>PreRun<span class="nt">&lt;/Type&gt;</span>
-<span class="linenos">67</span><span class="w">      </span><span class="nt">&lt;Priority&gt;</span>0<span class="nt">&lt;/Priority&gt;</span>
-<span class="linenos">68</span><span class="w">      </span><span class="nt">&lt;Profile&gt;</span>DefaultPreRunCommon<span class="nt">&lt;/Profile&gt;</span>
-<span class="linenos">69</span><span class="w">    </span><span class="nt">&lt;/Spawner&gt;</span>
-<span class="linenos">70</span><span class="w">    </span><span class="nt">&lt;Spawner&gt;</span>
-<span class="linenos">71</span><span class="w">      </span><span class="nt">&lt;Library&gt;</span>SpawnerRuntimeCommon<span class="nt">&lt;/Library&gt;</span>
-<span class="linenos">72</span><span class="w">      </span><span class="nt">&lt;Type&gt;</span>Runtime<span class="nt">&lt;/Type&gt;</span>
-<span class="linenos">73</span><span class="w">      </span><span class="nt">&lt;Priority&gt;</span>0<span class="nt">&lt;/Priority&gt;</span>
-<span class="linenos">74</span><span class="w">      </span><span class="nt">&lt;Profile&gt;</span>DefaultRuntimeCommon<span class="nt">&lt;/Profile&gt;</span>
-<span class="linenos">75</span><span class="w">    </span><span class="nt">&lt;/Spawner&gt;</span>
-<span class="linenos">76</span><span class="w">  </span><span class="nt">&lt;/Spawners&gt;</span>
-<span class="linenos">77</span><span class="nt">&lt;/simulationConfig&gt;</span>
-</pre></div>
-</div>
-</div>
-</section>
-</section>
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+             
+  <section id="simulationconfig">
+<span id="id1"></span><h1>SimulationConfig<a class="headerlink" href="#simulationconfig" title="Link to this heading"></a></h1>
+<p>This file describes the high level parameters of a simulation invocation (i.e. an experiment).
+It contains the basic experiment settings like number of runs and random seed, the environment definition,
+the parametrization of the output (more precisely the observation modules) and the definition of the spawners.
+The path to the SimulationConfig is given as command line argument (or defaulted) and all other configs are directly
+or indirectly refered to in the SimulationConfig.
+Several parameters depend on probabilities.
+Each invocation then rolls for said probabilities.
+All probabilities need to add up to 1.0.</p>
+<p>The simulationConfig.xml consists of the following sections:</p>
+<ul class="simple">
+<li><p><a class="reference internal" href="#simulationconfig-profilescatalog"><span class="std std-ref">ProfilesCatalog</span></a></p></li>
+<li><p><a class="reference internal" href="#simulationconfig-experiment"><span class="std std-ref">Experiment</span></a></p></li>
+<li><p><a class="reference internal" href="#simulationconfig-scenario"><span class="std std-ref">Scenario</span></a></p></li>
+<li><p><a class="reference internal" href="#simulationconfig-environment"><span class="std std-ref">Environment</span></a></p></li>
+<li><p><a class="reference internal" href="#simulationconfig-observations"><span class="std std-ref">Observations</span></a></p></li>
+<li><p><a class="reference internal" href="#simulationconfig-spawners"><span class="std std-ref">Spawners</span></a></p></li>
+</ul>
+<section id="profilescatalog">
+<span id="simulationconfig-profilescatalog"></span><h2>ProfilesCatalog<a class="headerlink" href="#profilescatalog" title="Link to this heading"></a></h2>
+<p>Specifies the <a class="reference internal" href="profilescatalog.html#profilescatalog"><span class="std std-ref">ProfilesCatalog</span></a> for the experiment.</p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="w">  </span><span class="nt">&lt;ProfilesCatalog&gt;</span>ProfilesCatalog.xml<span class="nt">&lt;/ProfilesCatalog&gt;</span>
+</pre></div>
+</div>
+</section>
+<section id="experiment">
+<span id="simulationconfig-experiment"></span><h2>Experiment<a class="headerlink" href="#experiment" title="Link to this heading"></a></h2>
+<p>Specifies the general experiment setup, not specific to a single invocation.</p>
+<table class="tight-table docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Tag</p></th>
+<th class="head"><p>Description</p></th>
+<th class="head"><p>Mandatory</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>ExperimentId</p></td>
+<td><p>Id of the experiment</p></td>
+<td><p>yes</p></td>
+</tr>
+<tr class="row-odd"><td><p>NumberOfInvocations</p></td>
+<td><p>Number of invocation in the experiment.
+For each invocation probabilities are rerolled.</p></td>
+<td><p>yes</p></td>
+</tr>
+<tr class="row-even"><td><p>RandomSeed</p></td>
+<td><p>Random seed for the entire experiment.
+Must be within the bounds of an unsigned integer.</p></td>
+<td><p>yes</p></td>
+</tr>
+<tr class="row-odd"><td><p>Libraries</p></td>
+<td><p>Name of the core module Libraries to use.
+If not specified the default name is assumed.</p></td>
+<td><p>yes</p></td>
+</tr>
+</tbody>
+</table>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="w">  </span><span class="nt">&lt;Experiment&gt;</span>
+<span class="w">    </span><span class="nt">&lt;ExperimentID&gt;</span>123<span class="nt">&lt;/ExperimentID&gt;</span>
+<span class="w">    </span><span class="nt">&lt;NumberOfInvocations&gt;</span>1<span class="nt">&lt;/NumberOfInvocations&gt;</span>
+<span class="w">    </span><span class="nt">&lt;RandomSeed&gt;</span>532725206<span class="nt">&lt;/RandomSeed&gt;</span>
+<span class="w">    </span><span class="nt">&lt;Libraries&gt;</span>
+<span class="w">      </span><span class="nt">&lt;WorldLibrary&gt;</span>World_OSI<span class="nt">&lt;/WorldLibrary&gt;</span>
+<span class="w">    </span><span class="nt">&lt;/Libraries&gt;</span>
+<span class="w">  </span><span class="nt">&lt;/Experiment&gt;</span>
+</pre></div>
+</div>
+</section>
+<section id="scenario">
+<span id="simulationconfig-scenario"></span><h2>Scenario<a class="headerlink" href="#scenario" title="Link to this heading"></a></h2>
+<p>This section contains information about the scenario setup for the experiment. This information does not change between invocations.</p>
+<table class="tight-table docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Tag</p></th>
+<th class="head"><p>Description</p></th>
+<th class="head"><p>Mandatory</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>OpenScenarioFile</p></td>
+<td><p>Name of the scenario file</p></td>
+<td><p>yes</p></td>
+</tr>
+</tbody>
+</table>
+<p><strong>Example</strong></p>
+<p>This experiment uses the “HighwayScenario.xosc” scenario file.</p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="w">  </span><span class="nt">&lt;Scenario&gt;</span>
+<span class="w">    </span><span class="nt">&lt;OpenScenarioFile&gt;</span>Scenario.xosc<span class="nt">&lt;/OpenScenarioFile&gt;</span>
+<span class="w">  </span><span class="nt">&lt;/Scenario&gt;</span>
+</pre></div>
+</div>
+</section>
+<section id="environment">
+<span id="simulationconfig-environment"></span><h2>Environment<a class="headerlink" href="#environment" title="Link to this heading"></a></h2>
+<p>This section contains information about the world and the general environment inside the simulation. Every invocation re-rolls the environment probabilities.
+All probabilities need to add up to 1.0.</p>
+<table class="tight-table docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Tag</p></th>
+<th class="head"><p>Description</p></th>
+<th class="head"><p>Mandatory</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>TimeOfDay</p></td>
+<td><p><strong>Currently unused.</strong> Time of day ranging from 1-24 [h].</p></td>
+<td><p>1+ entry</p></td>
+</tr>
+<tr class="row-odd"><td><p>VisibilityDistance</p></td>
+<td><p>Defines how far a human driver can see [m].</p></td>
+<td><p>1+ entry</p></td>
+</tr>
+<tr class="row-even"><td><p>Friction</p></td>
+<td><p>Friction on the road. Used by DynamicsRegularDriving and LimiterAccelerationVehicleComponents.</p></td>
+<td><p>1+ entry</p></td>
+</tr>
+<tr class="row-odd"><td><p>Weather</p></td>
+<td><p><strong>Currently unused.</strong> Weather as string</p></td>
+<td><p>1+ entry</p></td>
+</tr>
+<tr class="row-even"><td><p>TrafficRules</p></td>
+<td><p>Defines which set of TrafficRules to use from the ProfilesCatalog</p></td>
+<td><p>yes</p></td>
+</tr>
+<tr class="row-odd"><td><p>TurningRates</p></td>
+<td><p>Defines the turning rates for random route generation</p></td>
+<td><p>no</p></td>
+</tr>
+</tbody>
+</table>
+<p><strong>Example</strong></p>
+<p>Every invocation has the time set to 15:00.
+In 70% of all invocation drivers can see 125 meter and for the other 30% of invocations the drivers can see 250 meter.
+Every invocation has a friction of 0.3.
+Every invocation has sunny weather.</p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="w">  </span><span class="nt">&lt;Environment&gt;</span>
+<span class="w">    </span><span class="nt">&lt;TimeOfDays&gt;</span>
+<span class="w">      </span><span class="nt">&lt;TimeOfDay</span><span class="w"> </span><span class="na">Probability=</span><span class="s">&quot;0.4&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;15&quot;</span><span class="nt">/&gt;</span>
+<span class="w">      </span><span class="nt">&lt;TimeOfDay</span><span class="w"> </span><span class="na">Probability=</span><span class="s">&quot;0.6&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;18&quot;</span><span class="nt">/&gt;</span>
+<span class="w">    </span><span class="nt">&lt;/TimeOfDays&gt;</span>
+<span class="w">    </span><span class="nt">&lt;VisibilityDistances&gt;</span>
+<span class="w">      </span><span class="nt">&lt;VisibilityDistance</span><span class="w"> </span><span class="na">Probability=</span><span class="s">&quot;0.7&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;300&quot;</span><span class="nt">/&gt;</span>
+<span class="w">      </span><span class="nt">&lt;VisibilityDistance</span><span class="w"> </span><span class="na">Probability=</span><span class="s">&quot;0.3&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;400&quot;</span><span class="nt">/&gt;</span>
+<span class="w">    </span><span class="nt">&lt;/VisibilityDistances&gt;</span>
+<span class="w">    </span><span class="nt">&lt;Frictions&gt;</span>
+<span class="w">      </span><span class="nt">&lt;Friction</span><span class="w"> </span><span class="na">Probability=</span><span class="s">&quot;1.0&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;1.0&quot;</span><span class="nt">/&gt;</span>
+<span class="w">    </span><span class="nt">&lt;/Frictions&gt;</span>
+<span class="w">    </span><span class="nt">&lt;Weathers&gt;</span>
+<span class="w">      </span><span class="nt">&lt;Weather</span><span class="w"> </span><span class="na">Probability=</span><span class="s">&quot;0.5&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;Rainy&quot;</span><span class="nt">/&gt;</span>
+<span class="w">      </span><span class="nt">&lt;Weather</span><span class="w"> </span><span class="na">Probability=</span><span class="s">&quot;0.5&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;Snowy&quot;</span><span class="nt">/&gt;</span>
+<span class="w">    </span><span class="nt">&lt;/Weathers&gt;</span>
+<span class="w">    </span><span class="nt">&lt;TrafficRules&gt;</span>DE<span class="nt">&lt;/TrafficRules&gt;</span>
+<span class="w">  </span><span class="nt">&lt;/Environment&gt;</span>
+</pre></div>
+</div>
+<p><strong>TurningRates</strong></p>
+<p>If routes are not defined in the Scenario, they are randomly generated.
+Starting at the current agent position at each junction a random connector is chosen based on the weights given in the TurningRates element, until the route terminates at a road without successors or a maximum depth is reached.
+If for a pair of incoming road / connector no weight is given, it is defaulted to 1.
+At the below example an agent coming from road “R1” has a 1/3 chance of selecting “R1-2” and a 2/3 chance of selecting “R1-3”.</p>
+<table class="tight-table docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Attribute</p></th>
+<th class="head"><p>Description</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>Incoming</p></td>
+<td><p>Id of the incoming road</p></td>
+</tr>
+<tr class="row-odd"><td><p>Outgoing</p></td>
+<td><p>Id of the connector</p></td>
+</tr>
+<tr class="row-even"><td><p>Weight</p></td>
+<td><p>Weight for this pair</p></td>
+</tr>
+</tbody>
+</table>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="w">    </span><span class="nt">&lt;TurningRates&gt;</span>
+<span class="w">      </span><span class="nt">&lt;TurningRate</span><span class="w"> </span><span class="na">Incoming=</span><span class="s">&quot;R1&quot;</span><span class="w"> </span><span class="na">Outgoing=</span><span class="s">&quot;R1-2&quot;</span><span class="w"> </span><span class="na">Weight=</span><span class="s">&quot;1.0&quot;</span><span class="nt">/&gt;</span>
+<span class="w">      </span><span class="nt">&lt;TurningRate</span><span class="w"> </span><span class="na">Incoming=</span><span class="s">&quot;R1&quot;</span><span class="w"> </span><span class="na">Outgoing=</span><span class="s">&quot;R1-3&quot;</span><span class="w"> </span><span class="na">Weight=</span><span class="s">&quot;2.0&quot;</span><span class="nt">/&gt;</span>
+<span class="w">      </span><span class="nt">&lt;TurningRate</span><span class="w"> </span><span class="na">Incoming=</span><span class="s">&quot;R2&quot;</span><span class="w"> </span><span class="na">Outgoing=</span><span class="s">&quot;R2-1&quot;</span><span class="w"> </span><span class="na">Weight=</span><span class="s">&quot;1.0&quot;</span><span class="nt">/&gt;</span>
+<span class="w">      </span><span class="nt">&lt;TurningRate</span><span class="w"> </span><span class="na">Incoming=</span><span class="s">&quot;R2&quot;</span><span class="w"> </span><span class="na">Outgoing=</span><span class="s">&quot;R2-3&quot;</span><span class="w"> </span><span class="na">Weight=</span><span class="s">&quot;1.0&quot;</span><span class="nt">/&gt;</span>
+<span class="w">      </span><span class="nt">&lt;TurningRate</span><span class="w"> </span><span class="na">Incoming=</span><span class="s">&quot;R3&quot;</span><span class="w"> </span><span class="na">Outgoing=</span><span class="s">&quot;R3-1&quot;</span><span class="w"> </span><span class="na">Weight=</span><span class="s">&quot;2.0&quot;</span><span class="nt">/&gt;</span>
+<span class="w">      </span><span class="nt">&lt;TurningRate</span><span class="w"> </span><span class="na">Incoming=</span><span class="s">&quot;R3&quot;</span><span class="w"> </span><span class="na">Outgoing=</span><span class="s">&quot;R3-2&quot;</span><span class="w"> </span><span class="na">Weight=</span><span class="s">&quot;1.0&quot;</span><span class="nt">/&gt;</span>
+<span class="w">    </span><span class="nt">&lt;/TurningRates&gt;</span>
+</pre></div>
+</div>
+</section>
+<section id="observations">
+<span id="simulationconfig-observations"></span><h2>Observations<a class="headerlink" href="#observations" title="Link to this heading"></a></h2>
+<p>In this section all observation libraries are defined with their parameters.
+A specific library is loaded by adding an entry to the <cite>Observations</cite> tag:</p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;Observations&gt;</span>
+<span class="w">  </span><span class="cm">&lt;!-- first observer --&gt;</span>
+<span class="w">  </span><span class="nt">&lt;Observation&gt;</span>
+<span class="w">    </span><span class="nt">&lt;Library&gt;</span>THE_OBSERVATION_LIBRARY<span class="nt">&lt;/Library&gt;</span>
+<span class="w">    </span><span class="cm">&lt;!-- observer specific parameter --&gt;</span>
+<span class="w">    </span><span class="nt">&lt;Parameters&gt;</span>
+<span class="w">      </span><span class="nt">&lt;String</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;THE_KEY&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;THE_VALUE&quot;</span><span class="nt">/&gt;</span>
+<span class="w">      </span><span class="nt">&lt;Bool</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;ANOTHER_KEY&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;false&quot;</span><span class="nt">/&gt;</span>
+<span class="w">      </span>...
+<span class="w">    </span><span class="nt">&lt;/Parameters&gt;</span>
+<span class="w">  </span><span class="nt">&lt;/Observation&gt;</span>
+<span class="w">  </span><span class="cm">&lt;!-- second observer --&gt;</span>
+<span class="w">  </span><span class="nt">&lt;Observation&gt;</span>
+<span class="w">     </span>...
+<span class="w">  </span><span class="nt">&lt;/Observation&gt;</span>
+<span class="nt">&lt;/Observations&gt;</span>
+</pre></div>
+</div>
+<p>Here, the <code class="docutils literal notranslate"><span class="pre">Library</span></code> tag contains the name of the library, and <code class="docutils literal notranslate"><span class="pre">Parameters</span></code> contain an optional list of key/value pairs, specific for each observer.</p>
+<p>Please refer to the documentation of the individual observers for available parameters:</p>
+<div class="toctree-wrapper compound">
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="../outputs/observation_log.html">Observation_Log</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../outputs/observation_repository.html">Observation_EntityRepository</a></li>
+</ul>
+</div>
+</section>
+<section id="spawners">
+<span id="simulationconfig-spawners"></span><h2>Spawners<a class="headerlink" href="#spawners" title="Link to this heading"></a></h2>
+<p>In this section the spawners are defined with their Profile (defined in the ProfilesCatalog).
+The same library can be loaded multiple times with different profiles.
+A spawner is either of type “PreRun”, meaning it is triggered only once at the start of the simulation, or “Runtime”, meaning it is triggered in every timestep.
+If different spawners are to be triggered at the same time the spawner with the highest priority is triggered first.</p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="w">  </span><span class="nt">&lt;Spawners&gt;</span>
+<span class="w">    </span><span class="nt">&lt;Spawner&gt;</span>
+<span class="w">      </span><span class="nt">&lt;Library&gt;</span>SpawnerPreRunCommon<span class="nt">&lt;/Library&gt;</span>
+<span class="w">      </span><span class="nt">&lt;Type&gt;</span>PreRun<span class="nt">&lt;/Type&gt;</span>
+<span class="w">      </span><span class="nt">&lt;Priority&gt;</span>0<span class="nt">&lt;/Priority&gt;</span>
+<span class="w">      </span><span class="nt">&lt;Profile&gt;</span>DefaultPreRunCommon<span class="nt">&lt;/Profile&gt;</span>
+<span class="w">    </span><span class="nt">&lt;/Spawner&gt;</span>
+<span class="w">    </span><span class="nt">&lt;Spawner&gt;</span>
+<span class="w">      </span><span class="nt">&lt;Library&gt;</span>SpawnerRuntimeCommon<span class="nt">&lt;/Library&gt;</span>
+<span class="w">      </span><span class="nt">&lt;Type&gt;</span>Runtime<span class="nt">&lt;/Type&gt;</span>
+<span class="w">      </span><span class="nt">&lt;Priority&gt;</span>0<span class="nt">&lt;/Priority&gt;</span>
+<span class="w">      </span><span class="nt">&lt;Profile&gt;</span>DefaultRuntimeCommon<span class="nt">&lt;/Profile&gt;</span>
+<span class="w">    </span><span class="nt">&lt;/Spawner&gt;</span>
+<span class="w">  </span><span class="nt">&lt;/Spawners&gt;</span>
+</pre></div>
+</div>
+</section>
+<section id="full-example">
+<h2>Full Example<a class="headerlink" href="#full-example" title="Link to this heading"></a></h2>
+<div class="literal-block-wrapper docutils container" id="id2">
+<div class="code-block-caption"><span class="caption-text">simulationConfig.xml</span><a class="headerlink" href="#id2" title="Link to this code"></a></div>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="linenos"> 1</span><span class="cp">&lt;?xml version=&#39;1.0&#39; encoding=&#39;UTF-8&#39;?&gt;</span>
+<span class="linenos"> 2</span><span class="nt">&lt;simulationConfig</span><span class="w"> </span><span class="na">SchemaVersion=</span><span class="s">&quot;0.8.2&quot;</span><span class="nt">&gt;</span>
+<span class="linenos"> 3</span><span class="w">  </span><span class="nt">&lt;ProfilesCatalog&gt;</span>ProfilesCatalog.xml<span class="nt">&lt;/ProfilesCatalog&gt;</span>
+<span class="linenos"> 4</span><span class="w">  </span><span class="nt">&lt;Experiment&gt;</span>
+<span class="linenos"> 5</span><span class="w">    </span><span class="nt">&lt;ExperimentID&gt;</span>123<span class="nt">&lt;/ExperimentID&gt;</span>
+<span class="linenos"> 6</span><span class="w">    </span><span class="nt">&lt;NumberOfInvocations&gt;</span>1<span class="nt">&lt;/NumberOfInvocations&gt;</span>
+<span class="linenos"> 7</span><span class="w">    </span><span class="nt">&lt;RandomSeed&gt;</span>532725206<span class="nt">&lt;/RandomSeed&gt;</span>
+<span class="linenos"> 8</span><span class="w">    </span><span class="nt">&lt;Libraries&gt;</span>
+<span class="linenos"> 9</span><span class="w">      </span><span class="nt">&lt;WorldLibrary&gt;</span>World_OSI<span class="nt">&lt;/WorldLibrary&gt;</span>
+<span class="linenos">10</span><span class="w">    </span><span class="nt">&lt;/Libraries&gt;</span>
+<span class="linenos">11</span><span class="w">  </span><span class="nt">&lt;/Experiment&gt;</span>
+<span class="linenos">12</span><span class="w">  </span><span class="nt">&lt;Scenario&gt;</span>
+<span class="linenos">13</span><span class="w">    </span><span class="nt">&lt;OpenScenarioFile&gt;</span>Scenario.xosc<span class="nt">&lt;/OpenScenarioFile&gt;</span>
+<span class="linenos">14</span><span class="w">  </span><span class="nt">&lt;/Scenario&gt;</span>
+<span class="linenos">15</span><span class="w">  </span><span class="nt">&lt;Environment&gt;</span>
+<span class="linenos">16</span><span class="w">    </span><span class="nt">&lt;TimeOfDays&gt;</span>
+<span class="linenos">17</span><span class="w">      </span><span class="nt">&lt;TimeOfDay</span><span class="w"> </span><span class="na">Probability=</span><span class="s">&quot;0.4&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;15&quot;</span><span class="nt">/&gt;</span>
+<span class="linenos">18</span><span class="w">      </span><span class="nt">&lt;TimeOfDay</span><span class="w"> </span><span class="na">Probability=</span><span class="s">&quot;0.6&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;18&quot;</span><span class="nt">/&gt;</span>
+<span class="linenos">19</span><span class="w">    </span><span class="nt">&lt;/TimeOfDays&gt;</span>
+<span class="linenos">20</span><span class="w">    </span><span class="nt">&lt;VisibilityDistances&gt;</span>
+<span class="linenos">21</span><span class="w">      </span><span class="nt">&lt;VisibilityDistance</span><span class="w"> </span><span class="na">Probability=</span><span class="s">&quot;0.7&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;300&quot;</span><span class="nt">/&gt;</span>
+<span class="linenos">22</span><span class="w">      </span><span class="nt">&lt;VisibilityDistance</span><span class="w"> </span><span class="na">Probability=</span><span class="s">&quot;0.3&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;400&quot;</span><span class="nt">/&gt;</span>
+<span class="linenos">23</span><span class="w">    </span><span class="nt">&lt;/VisibilityDistances&gt;</span>
+<span class="linenos">24</span><span class="w">    </span><span class="nt">&lt;Frictions&gt;</span>
+<span class="linenos">25</span><span class="w">      </span><span class="nt">&lt;Friction</span><span class="w"> </span><span class="na">Probability=</span><span class="s">&quot;1.0&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;1.0&quot;</span><span class="nt">/&gt;</span>
+<span class="linenos">26</span><span class="w">    </span><span class="nt">&lt;/Frictions&gt;</span>
+<span class="linenos">27</span><span class="w">    </span><span class="nt">&lt;Weathers&gt;</span>
+<span class="linenos">28</span><span class="w">      </span><span class="nt">&lt;Weather</span><span class="w"> </span><span class="na">Probability=</span><span class="s">&quot;0.5&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;Rainy&quot;</span><span class="nt">/&gt;</span>
+<span class="linenos">29</span><span class="w">      </span><span class="nt">&lt;Weather</span><span class="w"> </span><span class="na">Probability=</span><span class="s">&quot;0.5&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;Snowy&quot;</span><span class="nt">/&gt;</span>
+<span class="linenos">30</span><span class="w">    </span><span class="nt">&lt;/Weathers&gt;</span>
+<span class="linenos">31</span><span class="w">    </span><span class="nt">&lt;TrafficRules&gt;</span>DE<span class="nt">&lt;/TrafficRules&gt;</span>
+<span class="linenos">32</span><span class="w">  </span><span class="nt">&lt;/Environment&gt;</span>
+<span class="linenos">33</span><span class="w">  </span><span class="nt">&lt;Observations&gt;</span>
+<span class="linenos">34</span><span class="w">    </span><span class="nt">&lt;Observation&gt;</span>
+<span class="linenos">35</span><span class="w">      </span><span class="nt">&lt;Library&gt;</span>Observation_Log<span class="nt">&lt;/Library&gt;</span>
+<span class="linenos">36</span><span class="w">      </span><span class="nt">&lt;Parameters&gt;</span>
+<span class="linenos">37</span><span class="w">        </span><span class="nt">&lt;String</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;OutputFilename&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;simulationOutput.xml&quot;</span><span class="nt">/&gt;</span>
+<span class="linenos">38</span><span class="w">        </span><span class="nt">&lt;Bool</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;LoggingCyclicsToCsv&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;false&quot;</span><span class="nt">/&gt;</span>
+<span class="linenos">39</span><span class="w">        </span><span class="nt">&lt;StringVector</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;LoggingGroup_Trace&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;XPosition,YPosition,YawAngle&quot;</span><span class="nt">/&gt;</span>
+<span class="linenos">40</span><span class="w">        </span><span class="nt">&lt;StringVector</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;LoggingGroup_RoadPosition&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;AgentInFront,Lane,PositionRoute,Road,TCoordinate&quot;</span><span class="nt">/&gt;</span>
+<span class="linenos">41</span><span class="w">        </span><span class="nt">&lt;StringVector</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;LoggingGroup_RoadPositionExtended&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;SecondaryLanes&quot;</span><span class="nt">/&gt;</span>
+<span class="linenos">42</span><span class="w">        </span><span class="nt">&lt;StringVector</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;LoggingGroup_Sensor&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;Sensor*_DetectedAgents,Sensor*_VisibleAgents&quot;</span><span class="nt">/&gt;</span>
+<span class="linenos">43</span><span class="w">        </span><span class="nt">&lt;StringVector</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;LoggingGroup_Vehicle&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;AccelerationPedalPosition,BrakePedalPosition,EngineMoment,Gear,SteeringAngle,TotalDistanceTraveled,YawRate&quot;</span><span class="nt">/&gt;</span>
+<span class="linenos">44</span><span class="w">        </span><span class="nt">&lt;StringVector</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;LoggingGroup_Visualization&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;AccelerationEgo,BrakeLight,IndicatorState,LightStatus,VelocityEgo&quot;</span><span class="nt">/&gt;</span>
+<span class="linenos">45</span><span class="w">        </span><span class="nt">&lt;StringVector</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;LoggingGroups&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;Trace,Visualization,RoadPosition,Sensor&quot;</span><span class="nt">/&gt;</span>
+<span class="linenos">46</span><span class="w">      </span><span class="nt">&lt;/Parameters&gt;</span>
+<span class="linenos">47</span><span class="w">    </span><span class="nt">&lt;/Observation&gt;</span>
+<span class="linenos">48</span><span class="w">    </span><span class="nt">&lt;Observation&gt;</span>
+<span class="linenos">49</span><span class="w">      </span><span class="nt">&lt;Library&gt;</span>Observation_EntityRepository<span class="nt">&lt;/Library&gt;</span>
+<span class="linenos">50</span><span class="w">      </span><span class="nt">&lt;Parameters&gt;</span>
+<span class="linenos">51</span><span class="w">        </span><span class="cm">&lt;!-- If &quot;FilenamePrefix&quot; is skipped, defaults to Value=&quot;Repository&quot; --&gt;</span>
+<span class="linenos">52</span><span class="w">        </span><span class="nt">&lt;String</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;FilenamePrefix&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;Repository&quot;</span><span class="nt">/&gt;</span>
+<span class="linenos">53</span><span class="w">        </span><span class="cm">&lt;!-- If &quot;WritePersistentEntities&quot; is skipped, defaults to Value=&quot;Consolidated&quot;</span>
+<span class="linenos">54</span><span class="cm">             Options: </span>
+<span class="linenos">55</span><span class="cm">             - Consolidated: Concatenate with {FilenamePrefix}_Run_###.csv for each run</span>
+<span class="linenos">56</span><span class="cm">             - Separate: Write to {FilenamePrefix}_Persistent.csv</span>
+<span class="linenos">57</span><span class="cm">             - Skip: No output for persistent entities</span>
+<span class="linenos">58</span><span class="cm">        --&gt;</span>
+<span class="linenos">59</span><span class="w">        </span><span class="nt">&lt;String</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;WritePersistentEntities&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;Consolidated&quot;</span><span class="nt">/&gt;</span>
+<span class="linenos">60</span><span class="w">      </span><span class="nt">&lt;/Parameters&gt;</span>
+<span class="linenos">61</span><span class="w">    </span><span class="nt">&lt;/Observation&gt;</span>
+<span class="linenos">62</span><span class="w">  </span><span class="nt">&lt;/Observations&gt;</span>
+<span class="linenos">63</span><span class="w">  </span><span class="nt">&lt;Spawners&gt;</span>
+<span class="linenos">64</span><span class="w">    </span><span class="nt">&lt;Spawner&gt;</span>
+<span class="linenos">65</span><span class="w">      </span><span class="nt">&lt;Library&gt;</span>SpawnerPreRunCommon<span class="nt">&lt;/Library&gt;</span>
+<span class="linenos">66</span><span class="w">      </span><span class="nt">&lt;Type&gt;</span>PreRun<span class="nt">&lt;/Type&gt;</span>
+<span class="linenos">67</span><span class="w">      </span><span class="nt">&lt;Priority&gt;</span>0<span class="nt">&lt;/Priority&gt;</span>
+<span class="linenos">68</span><span class="w">      </span><span class="nt">&lt;Profile&gt;</span>DefaultPreRunCommon<span class="nt">&lt;/Profile&gt;</span>
+<span class="linenos">69</span><span class="w">    </span><span class="nt">&lt;/Spawner&gt;</span>
+<span class="linenos">70</span><span class="w">    </span><span class="nt">&lt;Spawner&gt;</span>
+<span class="linenos">71</span><span class="w">      </span><span class="nt">&lt;Library&gt;</span>SpawnerRuntimeCommon<span class="nt">&lt;/Library&gt;</span>
+<span class="linenos">72</span><span class="w">      </span><span class="nt">&lt;Type&gt;</span>Runtime<span class="nt">&lt;/Type&gt;</span>
+<span class="linenos">73</span><span class="w">      </span><span class="nt">&lt;Priority&gt;</span>0<span class="nt">&lt;/Priority&gt;</span>
+<span class="linenos">74</span><span class="w">      </span><span class="nt">&lt;Profile&gt;</span>DefaultRuntimeCommon<span class="nt">&lt;/Profile&gt;</span>
+<span class="linenos">75</span><span class="w">    </span><span class="nt">&lt;/Spawner&gt;</span>
+<span class="linenos">76</span><span class="w">  </span><span class="nt">&lt;/Spawners&gt;</span>
+<span class="linenos">77</span><span class="nt">&lt;/simulationConfig&gt;</span>
+</pre></div>
+</div>
+</div>
+</section>
+</section>
+
+
+           </div>
+          </div>
+          <footer><div class="rst-footer-buttons" role="navigation" aria-label="Footer">
+        <a href="scenery.html" class="btn btn-neutral float-left" title="Scenery" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> Previous</a>
+        <a href="../outputs/observation_log.html" class="btn btn-neutral float-right" title="Observation_Log" accesskey="n" rel="next">Next <span class="fa fa-arrow-circle-right" aria-hidden="true"></span></a>
+    </div>
+
+  <hr/>
+
+  <div role="contentinfo">
+    <p>&#169; Copyright 2025 openPASS Working Group.</p>
+  </div>
+
+  Built with <a href="https://www.sphinx-doc.org/">Sphinx</a> using a
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diff --git a/content/html/user_guide/configs/staticsystemconfig.html b/content/html/user_guide/configs/staticsystemconfig.html
index c5f88c694fe9344d5c559421d43021ab413f4b64..301ecf91a86940a6c4602f58b1ebe4385667bd12 100644
--- a/content/html/user_guide/configs/staticsystemconfig.html
+++ b/content/html/user_guide/configs/staticsystemconfig.html
@@ -1,271 +1,272 @@
-<!DOCTYPE html>
-<html class="writer-html5" lang="en" >
-<head>
-  <meta charset="utf-8" /><meta name="viewport" content="width=device-width, initial-scale=1" />
-
-  <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-  <title>Static SystemConfig &mdash; openPASS Documentation</title>
-      <link rel="stylesheet" href="../../_static/pygments.css" type="text/css" />
-      <link rel="stylesheet" href="../../_static/css/theme.css" type="text/css" />
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-    <link rel="shortcut icon" href="../../_static/openPASS.ico"/>
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-    <link rel="index" title="Index" href="../../genindex.html" />
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-    <link rel="next" title="SystemConfigBlueprint" href="systemconfigblueprint.html" />
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-<li class="toctree-l1 current"><a class="reference internal" href="../30_configs_in_depth.html">Configs in Depth</a><ul class="current">
-<li class="toctree-l2"><a class="reference internal" href="profilescatalog.html">ProfilesCatalog</a></li>
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-  <section id="static-systemconfig">
-<span id="staticsystemconfig"></span><h1>Static SystemConfig<a class="headerlink" href="#static-systemconfig" title="Link to this heading"></a></h1>
-<p>SystemConfig files are optional.
-They describe static configurations of agents and are therefore an alternative to the dynamic sampling of an agent during runtime.
-The schema is the same as for the <a class="reference internal" href="systemconfigblueprint.html#systemconfigblueprint"><span class="std std-ref">SystemConfigBlueprint</span></a>.</p>
-<section id="ssp">
-<h2>SSP<a class="headerlink" href="#ssp" title="Link to this heading"></a></h2>
-<p>One usecase for the static SystemConfig is <a class="reference internal" href="../../advanced_topics/simulator/system_structure_and_parameterization_%28SSP%29.html#ssp"><span class="std std-ref">System Structure and Parameterization (SSP)</span></a>.
-We use SSP to chain multiple FMUs together, which transfer data between them during one time step.
-SSP is added to the SystemConfig like any other Component. It requires the following parameters:</p>
-<table class="tight-table docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Tag</p></th>
-<th class="head"><p>Description</p></th>
-<th class="head"><p>Mandatory</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>id</p></td>
-<td><p>Id should be set to “SspPath”</p></td>
-<td><p>yes</p></td>
-</tr>
-<tr class="row-odd"><td><p>type</p></td>
-<td><p>type should be string</p></td>
-<td><p>yes</p></td>
-</tr>
-<tr class="row-even"><td><p>unit</p></td>
-<td><p>not used</p></td>
-<td><p>no</p></td>
-</tr>
-<tr class="row-odd"><td><p>value</p></td>
-<td><p>relative path to the ssp file
-relative to the configuration path</p></td>
-<td><p>yes</p></td>
-</tr>
-</tbody>
-</table>
-<section id="example">
-<h3>Example<a class="headerlink" href="#example" title="Link to this heading"></a></h3>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="w">            </span><span class="nt">&lt;component</span><span class="w"> </span><span class="na">doc=</span><span class="s">&quot;SSP&quot;</span><span class="nt">&gt;</span>
-<span class="w">                </span><span class="nt">&lt;id&gt;</span>SSP1<span class="nt">&lt;/id&gt;</span>
-<span class="w">                </span><span class="nt">&lt;schedule&gt;</span>
-<span class="w">                    </span><span class="nt">&lt;priority&gt;</span>50<span class="nt">&lt;/priority&gt;</span>
-<span class="w">                    </span><span class="nt">&lt;offset&gt;</span>0<span class="nt">&lt;/offset&gt;</span>
-<span class="w">                    </span><span class="nt">&lt;cycle&gt;</span>100<span class="nt">&lt;/cycle&gt;</span>
-<span class="w">                    </span><span class="nt">&lt;response&gt;</span>0<span class="nt">&lt;/response&gt;</span>
-<span class="w">                </span><span class="nt">&lt;/schedule&gt;</span>
-<span class="w">                </span><span class="nt">&lt;library&gt;</span>Algorithm_SspWrapper<span class="nt">&lt;/library&gt;</span>
-<span class="w">				</span><span class="nt">&lt;parameters&gt;</span>
-<span class="w">                    </span><span class="nt">&lt;parameter&gt;</span>
-<span class="w">                        </span><span class="nt">&lt;id&gt;</span>SspPath<span class="nt">&lt;/id&gt;</span>
-<span class="w">                        </span><span class="nt">&lt;type&gt;</span>string<span class="nt">&lt;/type&gt;</span>
-<span class="w">                        </span><span class="nt">&lt;unit/&gt;</span>
-<span class="w">                        </span><span class="nt">&lt;value&gt;</span>ConnectionTest.ssp<span class="nt">&lt;/value&gt;</span>
-<span class="w">                    </span><span class="nt">&lt;/parameter&gt;</span>
-<span class="w">                </span><span class="nt">&lt;/parameters&gt;</span>
-<span class="w">            </span><span class="nt">&lt;/component&gt;</span>
-</pre></div>
-</div>
-</section>
-</section>
-<section id="connecting-ssp-with-openpass">
-<h2>Connecting SSP with OpenPass<a class="headerlink" href="#connecting-ssp-with-openpass" title="Link to this heading"></a></h2>
-<p>During OpenPass Simulation, information is communicated via osi messages between the Simulation Core and SSP.
-Like any other component communication, these connections need to be explicitly declared as connections in the SystemConfig.
-One connection is defined with the following attributes:</p>
-<table class="tight-table docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Tag</p></th>
-<th class="head"><p>Description</p></th>
-<th class="head"><p>Mandatory</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>id</p></td>
-<td><p>unique identifier for connection</p></td>
-<td><p>yes</p></td>
-</tr>
-<tr class="row-odd"><td><p>source</p></td>
-<td><p>pair of sending agent component and local link id</p></td>
-<td><p>yes</p></td>
-</tr>
-<tr class="row-even"><td><p>target</p></td>
-<td><p>pair of receiving agent component
-and local link id</p></td>
-<td><p>yes</p></td>
-</tr>
-</tbody>
-</table>
-<section id="id1">
-<h3>Example<a class="headerlink" href="#id1" title="Link to this heading"></a></h3>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="w">           </span><span class="nt">&lt;connection</span><span class="w"> </span><span class="na">doc=</span><span class="s">&quot;SSP&quot;</span><span class="nt">&gt;</span>
-<span class="w">                </span><span class="nt">&lt;id&gt;</span>502<span class="nt">&lt;/id&gt;</span>
-<span class="w">                </span><span class="nt">&lt;source&gt;</span>
-<span class="w">                    </span><span class="nt">&lt;component&gt;</span>SSP1<span class="nt">&lt;/component&gt;</span>
-<span class="w">                    </span><span class="nt">&lt;output&gt;</span>0<span class="nt">&lt;/output&gt;</span>
-<span class="w">                </span><span class="nt">&lt;/source&gt;</span>
-<span class="w">                </span><span class="nt">&lt;target&gt;</span>
-<span class="w">                    </span><span class="nt">&lt;component&gt;</span>PrioritizerDynamics<span class="nt">&lt;/component&gt;</span>
-<span class="w">                    </span><span class="nt">&lt;input&gt;</span>1<span class="nt">&lt;/input&gt;</span>
-<span class="w">                </span><span class="nt">&lt;/target&gt;</span>
-<span class="w">            </span><span class="nt">&lt;/connection&gt;</span>
-</pre></div>
-</div>
-</section>
-</section>
-</section>
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+<li class="toctree-l2 current"><a class="current reference internal" href="#">Static SystemConfig</a><ul>
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+  <section id="static-systemconfig">
+<span id="staticsystemconfig"></span><h1>Static SystemConfig<a class="headerlink" href="#static-systemconfig" title="Link to this heading"></a></h1>
+<p>SystemConfig files are optional.
+They describe static configurations of agents and are therefore an alternative to the dynamic sampling of an agent during runtime.
+The schema is the same as for the <a class="reference internal" href="systemconfigblueprint.html#systemconfigblueprint"><span class="std std-ref">SystemConfigBlueprint</span></a>.</p>
+<section id="ssp">
+<h2>SSP<a class="headerlink" href="#ssp" title="Link to this heading"></a></h2>
+<p>One usecase for the static SystemConfig is <a class="reference internal" href="../../advanced_topics/simulator/system_structure_and_parameterization_%28SSP%29.html#ssp"><span class="std std-ref">System Structure and Parameterization (SSP)</span></a>.
+We use SSP to chain multiple FMUs together, which transfer data between them during one time step.
+SSP is added to the SystemConfig like any other Component. It requires the following parameters:</p>
+<table class="tight-table docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Tag</p></th>
+<th class="head"><p>Description</p></th>
+<th class="head"><p>Mandatory</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>id</p></td>
+<td><p>Id should be set to “SspPath”</p></td>
+<td><p>yes</p></td>
+</tr>
+<tr class="row-odd"><td><p>type</p></td>
+<td><p>type should be string</p></td>
+<td><p>yes</p></td>
+</tr>
+<tr class="row-even"><td><p>unit</p></td>
+<td><p>not used</p></td>
+<td><p>no</p></td>
+</tr>
+<tr class="row-odd"><td><p>value</p></td>
+<td><p>relative path to the ssp file
+relative to the configuration path</p></td>
+<td><p>yes</p></td>
+</tr>
+</tbody>
+</table>
+<section id="example">
+<h3>Example<a class="headerlink" href="#example" title="Link to this heading"></a></h3>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="w">            </span><span class="nt">&lt;component</span><span class="w"> </span><span class="na">doc=</span><span class="s">&quot;SSP&quot;</span><span class="nt">&gt;</span>
+<span class="w">                </span><span class="nt">&lt;id&gt;</span>SSP1<span class="nt">&lt;/id&gt;</span>
+<span class="w">                </span><span class="nt">&lt;schedule&gt;</span>
+<span class="w">                    </span><span class="nt">&lt;priority&gt;</span>50<span class="nt">&lt;/priority&gt;</span>
+<span class="w">                    </span><span class="nt">&lt;offset&gt;</span>0<span class="nt">&lt;/offset&gt;</span>
+<span class="w">                    </span><span class="nt">&lt;cycle&gt;</span>100<span class="nt">&lt;/cycle&gt;</span>
+<span class="w">                    </span><span class="nt">&lt;response&gt;</span>0<span class="nt">&lt;/response&gt;</span>
+<span class="w">                </span><span class="nt">&lt;/schedule&gt;</span>
+<span class="w">                </span><span class="nt">&lt;library&gt;</span>Algorithm_SspWrapper<span class="nt">&lt;/library&gt;</span>
+<span class="w">				</span><span class="nt">&lt;parameters&gt;</span>
+<span class="w">                    </span><span class="nt">&lt;parameter&gt;</span>
+<span class="w">                        </span><span class="nt">&lt;id&gt;</span>SspPath<span class="nt">&lt;/id&gt;</span>
+<span class="w">                        </span><span class="nt">&lt;type&gt;</span>string<span class="nt">&lt;/type&gt;</span>
+<span class="w">                        </span><span class="nt">&lt;unit/&gt;</span>
+<span class="w">                        </span><span class="nt">&lt;value&gt;</span>ConnectionTest.ssp<span class="nt">&lt;/value&gt;</span>
+<span class="w">                    </span><span class="nt">&lt;/parameter&gt;</span>
+<span class="w">                </span><span class="nt">&lt;/parameters&gt;</span>
+<span class="w">            </span><span class="nt">&lt;/component&gt;</span>
+</pre></div>
+</div>
+</section>
+</section>
+<section id="connecting-ssp-with-openpass">
+<h2>Connecting SSP with OpenPass<a class="headerlink" href="#connecting-ssp-with-openpass" title="Link to this heading"></a></h2>
+<p>During OpenPass Simulation, information is communicated via osi messages between the Simulation Core and SSP.
+Like any other component communication, these connections need to be explicitly declared as connections in the SystemConfig.
+One connection is defined with the following attributes:</p>
+<table class="tight-table docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Tag</p></th>
+<th class="head"><p>Description</p></th>
+<th class="head"><p>Mandatory</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>id</p></td>
+<td><p>unique identifier for connection</p></td>
+<td><p>yes</p></td>
+</tr>
+<tr class="row-odd"><td><p>source</p></td>
+<td><p>pair of sending agent component and local link id</p></td>
+<td><p>yes</p></td>
+</tr>
+<tr class="row-even"><td><p>target</p></td>
+<td><p>pair of receiving agent component
+and local link id</p></td>
+<td><p>yes</p></td>
+</tr>
+</tbody>
+</table>
+<section id="id1">
+<h3>Example<a class="headerlink" href="#id1" title="Link to this heading"></a></h3>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="w">           </span><span class="nt">&lt;connection</span><span class="w"> </span><span class="na">doc=</span><span class="s">&quot;SSP&quot;</span><span class="nt">&gt;</span>
+<span class="w">                </span><span class="nt">&lt;id&gt;</span>502<span class="nt">&lt;/id&gt;</span>
+<span class="w">                </span><span class="nt">&lt;source&gt;</span>
+<span class="w">                    </span><span class="nt">&lt;component&gt;</span>SSP1<span class="nt">&lt;/component&gt;</span>
+<span class="w">                    </span><span class="nt">&lt;output&gt;</span>0<span class="nt">&lt;/output&gt;</span>
+<span class="w">                </span><span class="nt">&lt;/source&gt;</span>
+<span class="w">                </span><span class="nt">&lt;target&gt;</span>
+<span class="w">                    </span><span class="nt">&lt;component&gt;</span>PrioritizerDynamics<span class="nt">&lt;/component&gt;</span>
+<span class="w">                    </span><span class="nt">&lt;input&gt;</span>1<span class="nt">&lt;/input&gt;</span>
+<span class="w">                </span><span class="nt">&lt;/target&gt;</span>
+<span class="w">            </span><span class="nt">&lt;/connection&gt;</span>
+</pre></div>
+</div>
+</section>
+</section>
+</section>
+
+
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diff --git a/content/html/user_guide/configs/systemconfigblueprint.html b/content/html/user_guide/configs/systemconfigblueprint.html
index ec0f520aa3b5c11325c057a3ed428d7d83504697..efc9305bade0c8264ecdc7cffb0e603396f59561 100644
--- a/content/html/user_guide/configs/systemconfigblueprint.html
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-             
-  <section id="systemconfigblueprint">
-<span id="id1"></span><h1>SystemConfigBlueprint<a class="headerlink" href="#systemconfigblueprint" title="Link to this heading"></a></h1>
-<p>This file contains the possible agent modules and channels of a dynamically generated agent. The content of this file should only be adjusted by experienced users with knowledge of the simulation architecture. The SystemConfigBlueprint is a special SystemConfig and has the same schema. Only the system with id 0 is used for generating dynamic agents.
-If the simulation uses only statically configured agents (AgentProfile Type attribute is “Static”), this file isn’t required.</p>
-<section id="agentcomponents">
-<span id="systemconfigblueprint-agentcomponents"></span><h2>AgentComponents<a class="headerlink" href="#agentcomponents" title="Link to this heading"></a></h2>
-<p>All components are listed here. An agent consists of a subset of this components.</p>
-<table class="tight-table docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Attribute</p></th>
-<th class="head"><p>Description</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>Id</p></td>
-<td><p>Used as key by the simulation to find the component</p></td>
-</tr>
-<tr class="row-odd"><td><p>Priority</p></td>
-<td><p>The module with the highest priority value gets executed first by the scheduler</p></td>
-</tr>
-<tr class="row-even"><td><p>Offset</p></td>
-<td><p>Delay for the trigger method of each component in ms</p></td>
-</tr>
-<tr class="row-odd"><td><p>Cycle</p></td>
-<td><p>Interval in which the component gets triggered by the scheduler in ms</p></td>
-</tr>
-<tr class="row-even"><td><p>Response</p></td>
-<td><p>Delay for the UpdateOutput method of each component in ms</p></td>
-</tr>
-<tr class="row-odd"><td><p>Library</p></td>
-<td><p>Library name of this component</p></td>
-</tr>
-<tr class="row-even"><td><p>Parameters</p></td>
-<td><p>Parameters used by the component</p></td>
-</tr>
-</tbody>
-</table>
-<p>Example:
-This example describes the Sensor_Driver module.</p>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;component&gt;</span>
-<span class="w">    </span><span class="nt">&lt;id&gt;</span>SenderCar2X<span class="nt">&lt;/id&gt;</span>
-<span class="w">    </span><span class="nt">&lt;schedule&gt;</span>
-<span class="w">        </span><span class="nt">&lt;priority&gt;</span>399<span class="nt">&lt;/priority&gt;</span>
-<span class="w">        </span><span class="nt">&lt;offset&gt;</span>0<span class="nt">&lt;/offset&gt;</span>
-<span class="w">        </span><span class="nt">&lt;cycle&gt;</span>100<span class="nt">&lt;/cycle&gt;</span>
-<span class="w">        </span><span class="nt">&lt;response&gt;</span>0<span class="nt">&lt;/response&gt;</span>
-<span class="w">    </span><span class="nt">&lt;/schedule&gt;</span>
-<span class="w">    </span><span class="nt">&lt;library&gt;</span>AlgorithmCar2XSender<span class="nt">&lt;/library&gt;</span>
-<span class="w">    </span><span class="nt">&lt;parameters/&gt;</span>
-<span class="nt">&lt;/component&gt;</span>
-</pre></div>
-</div>
-</section>
-<section id="priorities">
-<span id="systemconfigblueprint-priorities"></span><h2>Priorities<a class="headerlink" href="#priorities" title="Link to this heading"></a></h2>
-<p>Please refer to the <a class="reference internal" href="../../advanced_topics/simulator/agent_components.html#component-channel-communication"><span class="std std-ref">Components and channel communication diagram</span></a> for assignment of a proper priority.
-Based on the signal flow, input relevant components like sensors need to be executed first. They provide data for consuming components (algorithms) like ADAS and drivers.
-Data is then handled by algorithms like Algorithm_Lateral.
-Output-relevant modules like dynamics and actions are executed last.</p>
-<p>Prioritizer can be applied on different levels depending on the modules/data they need to handle levels as following can be defined:</p>
-<ul class="simple">
-<li><p>Level 1 describes data produced by ADAS and drivers</p></li>
-<li><p>Level 2 describes data output by vehicle dynamic controllers</p></li>
-<li><p>Level 3 describes data delivered by dynamics</p></li>
-</ul>
-<p>Priorities can be grouped (coarse) as following:
-Highest number indicates highest priority.</p>
-<table class="tight-table docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Scope</p></th>
-<th class="head"><p>Range</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>Parameters</p></td>
-<td><p>500</p></td>
-</tr>
-<tr class="row-odd"><td><p>OpenScenarioActions</p></td>
-<td><p>400</p></td>
-</tr>
-<tr class="row-even"><td><p>Sensor</p></td>
-<td><p>350…399</p></td>
-</tr>
-<tr class="row-odd"><td><p>Event</p></td>
-<td><p>330</p></td>
-</tr>
-<tr class="row-even"><td><p>DriverMode</p></td>
-<td><p>310</p></td>
-</tr>
-<tr class="row-odd"><td><p>ADAS</p></td>
-<td><p>250…299</p></td>
-</tr>
-<tr class="row-even"><td><p>ComponentController</p></td>
-<td><p>200</p></td>
-</tr>
-<tr class="row-odd"><td><p>Prioritizer (Lvl. 1)</p></td>
-<td><p>150…199</p></td>
-</tr>
-<tr class="row-even"><td><p>VehicleDynamicsControllers</p></td>
-<td><p>100…149</p></td>
-</tr>
-<tr class="row-odd"><td><p>Prioritizer (Lvl. 2)</p></td>
-<td><p>75…99</p></td>
-</tr>
-<tr class="row-even"><td><p>Dynamics</p></td>
-<td><p>50…74</p></td>
-</tr>
-<tr class="row-odd"><td><p>Prioritizer (Lvl. 3)</p></td>
-<td><p>25…49</p></td>
-</tr>
-<tr class="row-even"><td><p>Updater</p></td>
-<td><p>0…24</p></td>
-</tr>
-</tbody>
-</table>
-<p>The table below can be used as orientation when a new module is introduced.</p>
-<table class="tight-table docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Name</p></th>
-<th class="head"><p>Library</p></th>
-<th class="head"><p>Priority</p></th>
-<th class="head"><p>Scope</p></th>
-<th class="head"><p>Note</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>ParametersAgentModules</p></td>
-<td><p>ParametersAgent</p></td>
-<td><p>500</p></td>
-<td><p>Parameters</p></td>
-<td><p>Sets all init-data and is updated cyclically</p></td>
-</tr>
-<tr class="row-odd"><td><p>OpenScenarioActions</p></td>
-<td><p>OpenScenarioActions</p></td>
-<td><p>400</p></td>
-<td><p>ADAS</p></td>
-<td><p>Reads events from OpenSCENARIO Actions and forwards them to other components</p></td>
-</tr>
-<tr class="row-even"><td><p>SensorObjectDetector</p></td>
-<td><p>Sensor_OSI</p></td>
-<td><p>398</p></td>
-<td><p>Sensor</p></td>
-<td><p>Gets instantiated multiple times (one time per sensor)</p></td>
-</tr>
-<tr class="row-odd"><td><p>SensorAggregation</p></td>
-<td><p>SensorAggregation_OSI</p></td>
-<td><p>351</p></td>
-<td><p>Sensor</p></td>
-<td></td>
-</tr>
-<tr class="row-even"><td><p>SensorFusionErrorless</p></td>
-<td><p>SensorFusionErrorless_OSI</p></td>
-<td><p>350</p></td>
-<td><p>Sensor</p></td>
-<td></td>
-</tr>
-<tr class="row-odd"><td><p>AlgorithmAgentFollowingDriverModel</p></td>
-<td><p>AlgorithmAgentFollowingDriverModel</p></td>
-<td><p>310</p></td>
-<td><p>DriverModels</p></td>
-<td></td>
-</tr>
-<tr class="row-even"><td><p>AEB</p></td>
-<td><p>AlgorithmAutonomousEmergencyBraking</p></td>
-<td><p>250</p></td>
-<td><p>ADAS</p></td>
-<td></td>
-</tr>
-<tr class="row-odd"><td><p>FMU1</p></td>
-<td><p>AlgorithmFmuWrapper</p></td>
-<td><p>250</p></td>
-<td><p>ADAS</p></td>
-<td></td>
-</tr>
-<tr class="row-even"><td><p>FMU2</p></td>
-<td><p>AlgorithmFmuWrapper</p></td>
-<td><p>250</p></td>
-<td><p>ADAS</p></td>
-<td></td>
-</tr>
-<tr class="row-odd"><td><p>FMU3</p></td>
-<td><p>AlgorithmFmuWrapper</p></td>
-<td><p>250</p></td>
-<td><p>ADAS</p></td>
-<td></td>
-</tr>
-<tr class="row-even"><td><p>SSP1</p></td>
-<td><p>AlgorithmSspWrapper</p></td>
-<td><p>250</p></td>
-<td><p>ADAS</p></td>
-<td></td>
-</tr>
-<tr class="row-odd"><td><p>ComponentController</p></td>
-<td><p>ComponentController</p></td>
-<td><p>200</p></td>
-<td><p>ADAS</p></td>
-<td><p>Manages vehicle component states with regard to other vehicle component states and conditions and in response to events.</p></td>
-</tr>
-<tr class="row-even"><td><p>PrioritizerLaterDriver</p></td>
-<td><p>SignalPrioritizer</p></td>
-<td><p>150</p></td>
-<td><p>Prioritizer</p></td>
-<td></td>
-</tr>
-<tr class="row-odd"><td><p>PrioritizerAccelerationDriver</p></td>
-<td><p>SignalPrioritizer</p></td>
-<td><p>150</p></td>
-<td><p>Prioritizer</p></td>
-<td></td>
-</tr>
-<tr class="row-even"><td><p>PrioritizerTurningIndicator</p></td>
-<td><p>SignalPrioritizer</p></td>
-<td><p>150</p></td>
-<td><p>Prioritizer</p></td>
-<td></td>
-</tr>
-<tr class="row-odd"><td><p>PrioritizerSteeringVehicleComponents</p></td>
-<td><p>SignalPrioritizer</p></td>
-<td><p>150</p></td>
-<td><p>Prioritizer</p></td>
-<td></td>
-</tr>
-<tr class="row-even"><td><p>PrioritizerAccelerationVehicleComponents</p></td>
-<td><p>SignalPrioritizer</p></td>
-<td><p>150</p></td>
-<td><p>Prioritizer</p></td>
-<td></td>
-</tr>
-<tr class="row-odd"><td><p>LimiterAccelerationVehicleComponents</p></td>
-<td><p>LimiterAccelerationVehicleComponents</p></td>
-<td><p>120</p></td>
-<td><p>VehicleDynamicsControllers</p></td>
-<td></td>
-</tr>
-<tr class="row-even"><td><p>AlgorithmLateralDriver</p></td>
-<td><p>AlgorithmLateralDriver</p></td>
-<td><p>100</p></td>
-<td><p>VehicleDynamicsControllers</p></td>
-<td></td>
-</tr>
-<tr class="row-odd"><td><p>AlgorithmLongitudinalVehicleComponents</p></td>
-<td><p>AlgorithmLongitudinalVehicleComponents</p></td>
-<td><p>100</p></td>
-<td><p>VehicleDynamicsControllers</p></td>
-<td></td>
-</tr>
-<tr class="row-even"><td><p>AlgorithmLongitudinalDriver</p></td>
-<td><p>AlgorithmLongitudinalDriver</p></td>
-<td><p>100</p></td>
-<td><p>VehicleDynamicsControllers</p></td>
-<td></td>
-</tr>
-<tr class="row-odd"><td><p>PrioritizerSteering</p></td>
-<td><p>SignalPrioritizer</p></td>
-<td><p>75</p></td>
-<td><p>Prioritizer</p></td>
-<td></td>
-</tr>
-<tr class="row-even"><td><p>PrioritizerLongitudinal</p></td>
-<td><p>SignalPrioritizer</p></td>
-<td><p>75</p></td>
-<td><p>Prioritizer</p></td>
-<td></td>
-</tr>
-<tr class="row-odd"><td><p>DynamicsCollision</p></td>
-<td><p>DynamicsCollision</p></td>
-<td><p>50</p></td>
-<td><p>Dynamics</p></td>
-<td></td>
-</tr>
-<tr class="row-even"><td><p>DynamicsRegularDriving</p></td>
-<td><p>DynamicsRegularDriving</p></td>
-<td><p>50</p></td>
-<td><p>Dynamics</p></td>
-<td></td>
-</tr>
-<tr class="row-odd"><td><p>DynamicsTrajectoryFollower</p></td>
-<td><p>DynamicsTrajectoryFollower</p></td>
-<td><p>50</p></td>
-<td><p>Dynamics</p></td>
-<td></td>
-</tr>
-<tr class="row-even"><td><p>PrioritizerDynamics</p></td>
-<td><p>SignalPrioritizer</p></td>
-<td><p>25</p></td>
-<td><p>Prioritizer</p></td>
-<td></td>
-</tr>
-<tr class="row-odd"><td><p>ActionLongitudinalDriverModules</p></td>
-<td><p>ActionLongitudinalDriver</p></td>
-<td><p>3</p></td>
-<td><p>Updater</p></td>
-<td><p>Will be expanded to ActionPrimary DriverTasks</p></td>
-</tr>
-<tr class="row-even"><td><p>ActionSecondaryDriverTasksModules</p></td>
-<td><p>ActionSecondaryDriverTasks</p></td>
-<td><p>3</p></td>
-<td><p>Updater</p></td>
-<td></td>
-</tr>
-<tr class="row-odd"><td><p>AgentUpdater</p></td>
-<td><p>AgentUpdater</p></td>
-<td><p>1</p></td>
-<td><p>Updater</p></td>
-<td></td>
-</tr>
-</tbody>
-</table>
-</section>
-<section id="channel-ids">
-<span id="systemconfigblueprint-channelids"></span><h2>Channel-Ids<a class="headerlink" href="#channel-ids" title="Link to this heading"></a></h2>
-<p>Channels allow components to communicate with each other.
-The signal flow is set explicitly via a channel-Id of 4 digits (see also <a class="reference internal" href="../../advanced_topics/simulator/agent_components.html#component-channel-communication"><span class="std std-ref">Components and channels communication diagram</span></a>).</p>
-<p>The first two numbers define the sending module (XX 00).
-The other two digits define the type of signal that is sent (00 XX).</p>
-<p>Signals as well as modules can be grouped to allow explicit numbering (see tables below).</p>
-<p>Channel-Ids between Sensor and SensorFusion are an exception to this rule. For sensor/sensor fusion communication channel-ids are 9900 + x (incremented for every new sensor)</p>
-<p>Example:
-PrioritizerAccelerationDriver -&gt; AlgorithmLongitudinalDriver with signal of type AccelerationSignal: 1813.</p>
-<p><strong>Ids for Modules (first two digits)</strong></p>
-<p>Index range for module groups:</p>
-<table class="tight-table docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Group</p></th>
-<th class="head"><p>Id</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>Dynamics</p></td>
-<td><p>1…10</p></td>
-</tr>
-<tr class="row-odd"><td><p>Algorithm</p></td>
-<td><p>11…30</p></td>
-</tr>
-<tr class="row-even"><td><p>DriverTasks</p></td>
-<td><p>31…40</p></td>
-</tr>
-<tr class="row-odd"><td><p>Driver</p></td>
-<td><p>41…50</p></td>
-</tr>
-<tr class="row-even"><td><p>VehicleComponent</p></td>
-<td><p>51…70</p></td>
-</tr>
-<tr class="row-odd"><td><p>Special</p></td>
-<td><p>81…89</p></td>
-</tr>
-<tr class="row-even"><td><p>Sensor</p></td>
-<td><p>91…99</p></td>
-</tr>
-</tbody>
-</table>
-<p>With corresponding defined indices:</p>
-<table class="tight-table docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Module</p></th>
-<th class="head"><p>Group</p></th>
-<th class="head"><p>Id</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>AgentUpdater</p></td>
-<td><p>Dynamics</p></td>
-<td><p>1</p></td>
-</tr>
-<tr class="row-odd"><td><p>Dynamics_TrajectoryFollower</p></td>
-<td><p>Dynamics</p></td>
-<td><p>2</p></td>
-</tr>
-<tr class="row-even"><td><p>Dynamics_RegularDriving</p></td>
-<td><p>Dynamics</p></td>
-<td><p>3</p></td>
-</tr>
-<tr class="row-odd"><td><p>Dynamics_Collision</p></td>
-<td><p>Dynamics</p></td>
-<td><p>4</p></td>
-</tr>
-<tr class="row-even"><td><p>PrioritizerDynamics</p></td>
-<td><p>Dynamics</p></td>
-<td><p>5</p></td>
-</tr>
-<tr class="row-odd"><td><p>Dynamics_Scenario</p></td>
-<td><p>Dynamics</p></td>
-<td><p>6</p></td>
-</tr>
-<tr class="row-even"><td><p>ControllerSwitch</p></td>
-<td><p>Dynamics</p></td>
-<td><p>7</p></td>
-</tr>
-<tr class="row-odd"><td><p>Algorithm_LongitudinalVehicleComponent</p></td>
-<td><p>Algorithm</p></td>
-<td><p>11</p></td>
-</tr>
-<tr class="row-even"><td><p>Algorithm_LongitudinalAfdm</p></td>
-<td><p>Algorithm</p></td>
-<td><p>12</p></td>
-</tr>
-<tr class="row-odd"><td><p>Algorithm_SteeringVehicleComponent</p></td>
-<td><p>Algorithm</p></td>
-<td><p>14</p></td>
-</tr>
-<tr class="row-even"><td><p>Algorithm_LateralVehicleAfdm</p></td>
-<td><p>Algorithm</p></td>
-<td><p>15</p></td>
-</tr>
-<tr class="row-odd"><td><p>LimiterAccelerationVehicleComponents</p></td>
-<td><p>Algorithm</p></td>
-<td><p>17</p></td>
-</tr>
-<tr class="row-even"><td><p>PrioritizerLongitudinal</p></td>
-<td><p>Algorithm</p></td>
-<td><p>21</p></td>
-</tr>
-<tr class="row-odd"><td><p>PrioritizerSteering</p></td>
-<td><p>Algorithm</p></td>
-<td><p>22</p></td>
-</tr>
-<tr class="row-even"><td><p>PrioritizerAccelerationVehicleComponents</p></td>
-<td><p>Algorithm</p></td>
-<td><p>23</p></td>
-</tr>
-<tr class="row-odd"><td><p>PrioritizerSteeringVehicleComponents</p></td>
-<td><p>Algorithm</p></td>
-<td><p>24</p></td>
-</tr>
-<tr class="row-even"><td><p>Action_LongitudinalDriver</p></td>
-<td><p>DriverTasks</p></td>
-<td><p>31</p></td>
-</tr>
-<tr class="row-odd"><td><p>Action_SecondaryDriverTasks</p></td>
-<td><p>DriverTasks</p></td>
-<td><p>32</p></td>
-</tr>
-<tr class="row-even"><td><p>PrioritizerTurningIndicator</p></td>
-<td><p>DriverTasks</p></td>
-<td><p>33</p></td>
-</tr>
-<tr class="row-odd"><td><p>AlgorithmAgentFollowingDriverModel</p></td>
-<td><p>Driver</p></td>
-<td><p>41</p></td>
-</tr>
-<tr class="row-even"><td><p>AEB</p></td>
-<td><p>VehicleComponent</p></td>
-<td><p>52</p></td>
-</tr>
-<tr class="row-odd"><td><p>FMU1</p></td>
-<td><p>VehicleComponent</p></td>
-<td><p>71</p></td>
-</tr>
-<tr class="row-even"><td><p>FMU2</p></td>
-<td><p>VehicleComponent</p></td>
-<td><p>72</p></td>
-</tr>
-<tr class="row-odd"><td><p>FMU3</p></td>
-<td><p>VehicleComponent</p></td>
-<td><p>73</p></td>
-</tr>
-<tr class="row-even"><td><p>ComponentController</p></td>
-<td><p>Special</p></td>
-<td><p>83</p></td>
-</tr>
-<tr class="row-odd"><td><p>OpenScenarioActions</p></td>
-<td><p>Special</p></td>
-<td><p>84</p></td>
-</tr>
-<tr class="row-even"><td><p>Parameter_Vehicle</p></td>
-<td><p>Sensor</p></td>
-<td><p>92</p></td>
-</tr>
-<tr class="row-odd"><td><p>SensorAggregation</p></td>
-<td><p>Sensor</p></td>
-<td><p>93</p></td>
-</tr>
-<tr class="row-even"><td><p>SensorFusionErrorless</p></td>
-<td><p>Sensor</p></td>
-<td><p>94</p></td>
-</tr>
-<tr class="row-odd"><td><p>Sensor_Driver</p></td>
-<td><p>Sensor</p></td>
-<td><p>95</p></td>
-</tr>
-<tr class="row-even"><td><p>SensorObjectDetector</p></td>
-<td><p>Sensor</p></td>
-<td><p>98</p></td>
-</tr>
-</tbody>
-</table>
-<p><strong>Ids for Signals (last two digits)</strong></p>
-<p>Index range for signal groups:</p>
-<table class="tight-table docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Group</p></th>
-<th class="head"><p>Id</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>Dynamics</p></td>
-<td><p>1…10</p></td>
-</tr>
-<tr class="row-odd"><td><p>Algorithm</p></td>
-<td><p>11…30</p></td>
-</tr>
-<tr class="row-even"><td><p>OpenScenarioActions</p></td>
-<td><p>61…70</p></td>
-</tr>
-<tr class="row-odd"><td><p>Special</p></td>
-<td><p>71…80</p></td>
-</tr>
-<tr class="row-even"><td><p>Sensor</p></td>
-<td><p>81…90</p></td>
-</tr>
-<tr class="row-odd"><td><p>Parameters</p></td>
-<td><p>91…99</p></td>
-</tr>
-</tbody>
-</table>
-<p>With corresponding defined indices:</p>
-<table class="tight-table docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Signal</p></th>
-<th class="head"><p>Group</p></th>
-<th class="head"><p>Id</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>Dynamics</p></td>
-<td><p>Dynamics</p></td>
-<td><p>01</p></td>
-</tr>
-<tr class="row-odd"><td><p>Longitudinal</p></td>
-<td><p>Algorithm</p></td>
-<td><p>11</p></td>
-</tr>
-<tr class="row-even"><td><p>Steering</p></td>
-<td><p>Algorithm</p></td>
-<td><p>12</p></td>
-</tr>
-<tr class="row-odd"><td><p>Acceleration</p></td>
-<td><p>Algorithm</p></td>
-<td><p>13</p></td>
-</tr>
-<tr class="row-even"><td><p>Lateral</p></td>
-<td><p>Algorithm</p></td>
-<td><p>14</p></td>
-</tr>
-<tr class="row-odd"><td><p>SecondaryDriverTasks</p></td>
-<td><p>Algorithm</p></td>
-<td><p>19</p></td>
-</tr>
-<tr class="row-even"><td><p>Trajectory</p></td>
-<td><p>OpenScenarioActions</p></td>
-<td><p>71</p></td>
-</tr>
-<tr class="row-odd"><td><p>AcquireGlobalPosition</p></td>
-<td><p>OpenScenarioActions</p></td>
-<td><p>62</p></td>
-</tr>
-<tr class="row-even"><td><p>CustomParameters (CustomCommandAction)</p></td>
-<td><p>OpenScenarioActions</p></td>
-<td><p>63</p></td>
-</tr>
-<tr class="row-odd"><td><p>SensorDriver</p></td>
-<td><p>Sensor</p></td>
-<td><p>81</p></td>
-</tr>
-<tr class="row-even"><td><p>SensorData</p></td>
-<td><p>Sensor</p></td>
-<td><p>90</p></td>
-</tr>
-<tr class="row-odd"><td><p>ParametersVehicle</p></td>
-<td><p>Parameters</p></td>
-<td><p>92</p></td>
-</tr>
-</tbody>
-</table>
-</section>
-<section id="parameters">
-<span id="systemconfigblueprint-parameters"></span><h2>Parameters<a class="headerlink" href="#parameters" title="Link to this heading"></a></h2>
-<p>For more information on the type of parameters (especially stochastic distributions), please refer to the <a class="reference internal" href="profilescatalog.html#profilescatalog-profilegroups"><span class="std std-ref">ProfilesGroup section</span></a>.</p>
-<p><strong>Important Note:</strong> The syntax for defining parameters in the SystemConfigBlueprint file differs from the ProfilesCatalog syntax.
-See the following example:</p>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;parameters&gt;</span>
-<span class="w">    </span><span class="nt">&lt;parameter&gt;</span>
-<span class="w">        </span><span class="nt">&lt;id&gt;</span>StringParameter<span class="nt">&lt;/id&gt;</span>
-<span class="w">        </span><span class="nt">&lt;type&gt;</span>string<span class="nt">&lt;/type&gt;</span>
-<span class="w">        </span><span class="nt">&lt;unit/&gt;</span>
-<span class="w">        </span><span class="nt">&lt;value&gt;</span>Lorem<span class="w"> </span>ipsum<span class="nt">&lt;/value&gt;</span>
-<span class="w">    </span><span class="nt">&lt;/parameter&gt;</span>
-<span class="w">    </span><span class="nt">&lt;parameter&gt;</span>
-<span class="w">        </span><span class="nt">&lt;id&gt;</span>RandomParameter<span class="nt">&lt;/id&gt;</span>
-<span class="w">        </span><span class="nt">&lt;type&gt;</span>normalDistribution<span class="nt">&lt;/type&gt;</span>
-<span class="w">        </span><span class="nt">&lt;unit/&gt;</span>
-<span class="w">        </span><span class="nt">&lt;value&gt;</span>
-<span class="w">            </span><span class="nt">&lt;mean&gt;</span>15.0<span class="nt">&lt;/mean&gt;</span>
-<span class="w">            </span><span class="nt">&lt;sd&gt;</span>2.5<span class="nt">&lt;/sd&gt;</span>
-<span class="w">            </span><span class="nt">&lt;min&gt;</span>10.0<span class="nt">&lt;/min&gt;</span>
-<span class="w">            </span><span class="nt">&lt;max&gt;</span>20.0<span class="nt">&lt;/max&gt;</span>
-<span class="w">        </span><span class="nt">&lt;/value&gt;</span>
-<span class="w">    </span><span class="nt">&lt;/parameter&gt;</span>
-<span class="nt">&lt;/parameters&gt;</span>
-</pre></div>
-</div>
-</section>
-</section>
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+<li class="toctree-l1"><a class="reference internal" href="../../developer_information/30_coding_conventions.html">Coding Guidelines</a></li>
+</ul>
+<p class="caption" role="heading"><span class="caption-text">Other Information</span></p>
+<ul>
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+             
+  <section id="systemconfigblueprint">
+<span id="id1"></span><h1>SystemConfigBlueprint<a class="headerlink" href="#systemconfigblueprint" title="Link to this heading"></a></h1>
+<p>This file contains the possible agent modules and channels of a dynamically generated agent. The content of this file should only be adjusted by experienced users with knowledge of the simulation architecture. The SystemConfigBlueprint is a special SystemConfig and has the same schema. Only the system with id 0 is used for generating dynamic agents.
+If the simulation uses only statically configured agents (AgentProfile Type attribute is “Static”), this file isn’t required.</p>
+<section id="agentcomponents">
+<span id="systemconfigblueprint-agentcomponents"></span><h2>AgentComponents<a class="headerlink" href="#agentcomponents" title="Link to this heading"></a></h2>
+<p>All components are listed here. An agent consists of a subset of this components.</p>
+<table class="tight-table docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Attribute</p></th>
+<th class="head"><p>Description</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>Id</p></td>
+<td><p>Used as key by the simulation to find the component</p></td>
+</tr>
+<tr class="row-odd"><td><p>Priority</p></td>
+<td><p>The module with the highest priority value gets executed first by the scheduler</p></td>
+</tr>
+<tr class="row-even"><td><p>Offset</p></td>
+<td><p>Delay for the trigger method of each component in ms</p></td>
+</tr>
+<tr class="row-odd"><td><p>Cycle</p></td>
+<td><p>Interval in which the component gets triggered by the scheduler in ms</p></td>
+</tr>
+<tr class="row-even"><td><p>Response</p></td>
+<td><p>Delay for the UpdateOutput method of each component in ms</p></td>
+</tr>
+<tr class="row-odd"><td><p>Library</p></td>
+<td><p>Library name of this component</p></td>
+</tr>
+<tr class="row-even"><td><p>Parameters</p></td>
+<td><p>Parameters used by the component</p></td>
+</tr>
+</tbody>
+</table>
+<p>Example:
+This example describes the Sensor_Driver module.</p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;component&gt;</span>
+<span class="w">    </span><span class="nt">&lt;id&gt;</span>SenderCar2X<span class="nt">&lt;/id&gt;</span>
+<span class="w">    </span><span class="nt">&lt;schedule&gt;</span>
+<span class="w">        </span><span class="nt">&lt;priority&gt;</span>399<span class="nt">&lt;/priority&gt;</span>
+<span class="w">        </span><span class="nt">&lt;offset&gt;</span>0<span class="nt">&lt;/offset&gt;</span>
+<span class="w">        </span><span class="nt">&lt;cycle&gt;</span>100<span class="nt">&lt;/cycle&gt;</span>
+<span class="w">        </span><span class="nt">&lt;response&gt;</span>0<span class="nt">&lt;/response&gt;</span>
+<span class="w">    </span><span class="nt">&lt;/schedule&gt;</span>
+<span class="w">    </span><span class="nt">&lt;library&gt;</span>AlgorithmCar2XSender<span class="nt">&lt;/library&gt;</span>
+<span class="w">    </span><span class="nt">&lt;parameters/&gt;</span>
+<span class="nt">&lt;/component&gt;</span>
+</pre></div>
+</div>
+</section>
+<section id="priorities">
+<span id="systemconfigblueprint-priorities"></span><h2>Priorities<a class="headerlink" href="#priorities" title="Link to this heading"></a></h2>
+<p>Please refer to the <a class="reference internal" href="../../advanced_topics/simulator/agent_components.html#component-channel-communication"><span class="std std-ref">Components and channel communication diagram</span></a> for assignment of a proper priority.
+Based on the signal flow, input relevant components like sensors need to be executed first. They provide data for consuming components (algorithms) like ADAS and drivers.
+Data is then handled by algorithms like Algorithm_Lateral.
+Output-relevant modules like dynamics and actions are executed last.</p>
+<p>Prioritizer can be applied on different levels depending on the modules/data they need to handle levels as following can be defined:</p>
+<ul class="simple">
+<li><p>Level 1 describes data produced by ADAS and drivers</p></li>
+<li><p>Level 2 describes data output by vehicle dynamic controllers</p></li>
+<li><p>Level 3 describes data delivered by dynamics</p></li>
+</ul>
+<p>Priorities can be grouped (coarse) as following:
+Highest number indicates highest priority.</p>
+<table class="tight-table docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Scope</p></th>
+<th class="head"><p>Range</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>Parameters</p></td>
+<td><p>500</p></td>
+</tr>
+<tr class="row-odd"><td><p>OpenScenarioActions</p></td>
+<td><p>400</p></td>
+</tr>
+<tr class="row-even"><td><p>Sensor</p></td>
+<td><p>350…399</p></td>
+</tr>
+<tr class="row-odd"><td><p>Event</p></td>
+<td><p>330</p></td>
+</tr>
+<tr class="row-even"><td><p>DriverMode</p></td>
+<td><p>310</p></td>
+</tr>
+<tr class="row-odd"><td><p>ADAS</p></td>
+<td><p>250…299</p></td>
+</tr>
+<tr class="row-even"><td><p>ComponentController</p></td>
+<td><p>200</p></td>
+</tr>
+<tr class="row-odd"><td><p>Prioritizer (Lvl. 1)</p></td>
+<td><p>150…199</p></td>
+</tr>
+<tr class="row-even"><td><p>VehicleDynamicsControllers</p></td>
+<td><p>100…149</p></td>
+</tr>
+<tr class="row-odd"><td><p>Prioritizer (Lvl. 2)</p></td>
+<td><p>75…99</p></td>
+</tr>
+<tr class="row-even"><td><p>Dynamics</p></td>
+<td><p>50…74</p></td>
+</tr>
+<tr class="row-odd"><td><p>Prioritizer (Lvl. 3)</p></td>
+<td><p>25…49</p></td>
+</tr>
+<tr class="row-even"><td><p>Updater</p></td>
+<td><p>0…24</p></td>
+</tr>
+</tbody>
+</table>
+<p>The table below can be used as orientation when a new module is introduced.</p>
+<table class="tight-table docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Name</p></th>
+<th class="head"><p>Library</p></th>
+<th class="head"><p>Priority</p></th>
+<th class="head"><p>Scope</p></th>
+<th class="head"><p>Note</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>ParametersAgentModules</p></td>
+<td><p>ParametersAgent</p></td>
+<td><p>500</p></td>
+<td><p>Parameters</p></td>
+<td><p>Sets all init-data and is updated cyclically</p></td>
+</tr>
+<tr class="row-odd"><td><p>OpenScenarioActions</p></td>
+<td><p>OpenScenarioActions</p></td>
+<td><p>400</p></td>
+<td><p>ADAS</p></td>
+<td><p>Reads events from OpenSCENARIO Actions and forwards them to other components</p></td>
+</tr>
+<tr class="row-even"><td><p>SensorObjectDetector</p></td>
+<td><p>Sensor_OSI</p></td>
+<td><p>398</p></td>
+<td><p>Sensor</p></td>
+<td><p>Gets instantiated multiple times (one time per sensor)</p></td>
+</tr>
+<tr class="row-odd"><td><p>SensorAggregation</p></td>
+<td><p>SensorAggregation_OSI</p></td>
+<td><p>351</p></td>
+<td><p>Sensor</p></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>SensorFusionErrorless</p></td>
+<td><p>SensorFusionErrorless_OSI</p></td>
+<td><p>350</p></td>
+<td><p>Sensor</p></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>AlgorithmAgentFollowingDriverModel</p></td>
+<td><p>AlgorithmAgentFollowingDriverModel</p></td>
+<td><p>310</p></td>
+<td><p>DriverModels</p></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>AEB</p></td>
+<td><p>AlgorithmAutonomousEmergencyBraking</p></td>
+<td><p>250</p></td>
+<td><p>ADAS</p></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>FMU1</p></td>
+<td><p>AlgorithmFmuWrapper</p></td>
+<td><p>250</p></td>
+<td><p>ADAS</p></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>FMU2</p></td>
+<td><p>AlgorithmFmuWrapper</p></td>
+<td><p>250</p></td>
+<td><p>ADAS</p></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>FMU3</p></td>
+<td><p>AlgorithmFmuWrapper</p></td>
+<td><p>250</p></td>
+<td><p>ADAS</p></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>SSP1</p></td>
+<td><p>AlgorithmSspWrapper</p></td>
+<td><p>250</p></td>
+<td><p>ADAS</p></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>ComponentController</p></td>
+<td><p>ComponentController</p></td>
+<td><p>200</p></td>
+<td><p>ADAS</p></td>
+<td><p>Manages vehicle component states with regard to other vehicle component states and conditions and in response to events.</p></td>
+</tr>
+<tr class="row-even"><td><p>PrioritizerLaterDriver</p></td>
+<td><p>SignalPrioritizer</p></td>
+<td><p>150</p></td>
+<td><p>Prioritizer</p></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>PrioritizerAccelerationDriver</p></td>
+<td><p>SignalPrioritizer</p></td>
+<td><p>150</p></td>
+<td><p>Prioritizer</p></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>PrioritizerTurningIndicator</p></td>
+<td><p>SignalPrioritizer</p></td>
+<td><p>150</p></td>
+<td><p>Prioritizer</p></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>PrioritizerSteeringVehicleComponents</p></td>
+<td><p>SignalPrioritizer</p></td>
+<td><p>150</p></td>
+<td><p>Prioritizer</p></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>PrioritizerAccelerationVehicleComponents</p></td>
+<td><p>SignalPrioritizer</p></td>
+<td><p>150</p></td>
+<td><p>Prioritizer</p></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>LimiterAccelerationVehicleComponents</p></td>
+<td><p>LimiterAccelerationVehicleComponents</p></td>
+<td><p>120</p></td>
+<td><p>VehicleDynamicsControllers</p></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>AlgorithmLateralDriver</p></td>
+<td><p>AlgorithmLateralDriver</p></td>
+<td><p>100</p></td>
+<td><p>VehicleDynamicsControllers</p></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>AlgorithmLongitudinalVehicleComponents</p></td>
+<td><p>AlgorithmLongitudinalVehicleComponents</p></td>
+<td><p>100</p></td>
+<td><p>VehicleDynamicsControllers</p></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>AlgorithmLongitudinalDriver</p></td>
+<td><p>AlgorithmLongitudinalDriver</p></td>
+<td><p>100</p></td>
+<td><p>VehicleDynamicsControllers</p></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>PrioritizerSteering</p></td>
+<td><p>SignalPrioritizer</p></td>
+<td><p>75</p></td>
+<td><p>Prioritizer</p></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>PrioritizerLongitudinal</p></td>
+<td><p>SignalPrioritizer</p></td>
+<td><p>75</p></td>
+<td><p>Prioritizer</p></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>DynamicsCollision</p></td>
+<td><p>DynamicsCollision</p></td>
+<td><p>50</p></td>
+<td><p>Dynamics</p></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>DynamicsRegularDriving</p></td>
+<td><p>DynamicsRegularDriving</p></td>
+<td><p>50</p></td>
+<td><p>Dynamics</p></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>DynamicsTrajectoryFollower</p></td>
+<td><p>DynamicsTrajectoryFollower</p></td>
+<td><p>50</p></td>
+<td><p>Dynamics</p></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>PrioritizerDynamics</p></td>
+<td><p>SignalPrioritizer</p></td>
+<td><p>25</p></td>
+<td><p>Prioritizer</p></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>ActionLongitudinalDriverModules</p></td>
+<td><p>ActionLongitudinalDriver</p></td>
+<td><p>3</p></td>
+<td><p>Updater</p></td>
+<td><p>Will be expanded to ActionPrimary DriverTasks</p></td>
+</tr>
+<tr class="row-even"><td><p>ActionSecondaryDriverTasksModules</p></td>
+<td><p>ActionSecondaryDriverTasks</p></td>
+<td><p>3</p></td>
+<td><p>Updater</p></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>AgentUpdater</p></td>
+<td><p>AgentUpdater</p></td>
+<td><p>1</p></td>
+<td><p>Updater</p></td>
+<td></td>
+</tr>
+</tbody>
+</table>
+</section>
+<section id="channel-ids">
+<span id="systemconfigblueprint-channelids"></span><h2>Channel-Ids<a class="headerlink" href="#channel-ids" title="Link to this heading"></a></h2>
+<p>Channels allow components to communicate with each other.
+The signal flow is set explicitly via a channel-Id of 4 digits (see also <a class="reference internal" href="../../advanced_topics/simulator/agent_components.html#component-channel-communication"><span class="std std-ref">Components and channels communication diagram</span></a>).</p>
+<p>The first two numbers define the sending module (XX 00).
+The other two digits define the type of signal that is sent (00 XX).</p>
+<p>Signals as well as modules can be grouped to allow explicit numbering (see tables below).</p>
+<p>Channel-Ids between Sensor and SensorFusion are an exception to this rule. For sensor/sensor fusion communication channel-ids are 9900 + x (incremented for every new sensor)</p>
+<p>Example:
+PrioritizerAccelerationDriver -&gt; AlgorithmLongitudinalDriver with signal of type AccelerationSignal: 1813.</p>
+<p><strong>Ids for Modules (first two digits)</strong></p>
+<p>Index range for module groups:</p>
+<table class="tight-table docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Group</p></th>
+<th class="head"><p>Id</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>Dynamics</p></td>
+<td><p>1…10</p></td>
+</tr>
+<tr class="row-odd"><td><p>Algorithm</p></td>
+<td><p>11…30</p></td>
+</tr>
+<tr class="row-even"><td><p>DriverTasks</p></td>
+<td><p>31…40</p></td>
+</tr>
+<tr class="row-odd"><td><p>Driver</p></td>
+<td><p>41…50</p></td>
+</tr>
+<tr class="row-even"><td><p>VehicleComponent</p></td>
+<td><p>51…70</p></td>
+</tr>
+<tr class="row-odd"><td><p>Special</p></td>
+<td><p>81…89</p></td>
+</tr>
+<tr class="row-even"><td><p>Sensor</p></td>
+<td><p>91…99</p></td>
+</tr>
+</tbody>
+</table>
+<p>With corresponding defined indices:</p>
+<table class="tight-table docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Module</p></th>
+<th class="head"><p>Group</p></th>
+<th class="head"><p>Id</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>AgentUpdater</p></td>
+<td><p>Dynamics</p></td>
+<td><p>1</p></td>
+</tr>
+<tr class="row-odd"><td><p>Dynamics_TrajectoryFollower</p></td>
+<td><p>Dynamics</p></td>
+<td><p>2</p></td>
+</tr>
+<tr class="row-even"><td><p>Dynamics_RegularDriving</p></td>
+<td><p>Dynamics</p></td>
+<td><p>3</p></td>
+</tr>
+<tr class="row-odd"><td><p>Dynamics_Collision</p></td>
+<td><p>Dynamics</p></td>
+<td><p>4</p></td>
+</tr>
+<tr class="row-even"><td><p>PrioritizerDynamics</p></td>
+<td><p>Dynamics</p></td>
+<td><p>5</p></td>
+</tr>
+<tr class="row-odd"><td><p>Dynamics_Scenario</p></td>
+<td><p>Dynamics</p></td>
+<td><p>6</p></td>
+</tr>
+<tr class="row-even"><td><p>ControllerSwitch</p></td>
+<td><p>Dynamics</p></td>
+<td><p>7</p></td>
+</tr>
+<tr class="row-odd"><td><p>Algorithm_LongitudinalVehicleComponent</p></td>
+<td><p>Algorithm</p></td>
+<td><p>11</p></td>
+</tr>
+<tr class="row-even"><td><p>Algorithm_LongitudinalAfdm</p></td>
+<td><p>Algorithm</p></td>
+<td><p>12</p></td>
+</tr>
+<tr class="row-odd"><td><p>Algorithm_SteeringVehicleComponent</p></td>
+<td><p>Algorithm</p></td>
+<td><p>14</p></td>
+</tr>
+<tr class="row-even"><td><p>Algorithm_LateralVehicleAfdm</p></td>
+<td><p>Algorithm</p></td>
+<td><p>15</p></td>
+</tr>
+<tr class="row-odd"><td><p>LimiterAccelerationVehicleComponents</p></td>
+<td><p>Algorithm</p></td>
+<td><p>17</p></td>
+</tr>
+<tr class="row-even"><td><p>PrioritizerLongitudinal</p></td>
+<td><p>Algorithm</p></td>
+<td><p>21</p></td>
+</tr>
+<tr class="row-odd"><td><p>PrioritizerSteering</p></td>
+<td><p>Algorithm</p></td>
+<td><p>22</p></td>
+</tr>
+<tr class="row-even"><td><p>PrioritizerAccelerationVehicleComponents</p></td>
+<td><p>Algorithm</p></td>
+<td><p>23</p></td>
+</tr>
+<tr class="row-odd"><td><p>PrioritizerSteeringVehicleComponents</p></td>
+<td><p>Algorithm</p></td>
+<td><p>24</p></td>
+</tr>
+<tr class="row-even"><td><p>Action_LongitudinalDriver</p></td>
+<td><p>DriverTasks</p></td>
+<td><p>31</p></td>
+</tr>
+<tr class="row-odd"><td><p>Action_SecondaryDriverTasks</p></td>
+<td><p>DriverTasks</p></td>
+<td><p>32</p></td>
+</tr>
+<tr class="row-even"><td><p>PrioritizerTurningIndicator</p></td>
+<td><p>DriverTasks</p></td>
+<td><p>33</p></td>
+</tr>
+<tr class="row-odd"><td><p>AlgorithmAgentFollowingDriverModel</p></td>
+<td><p>Driver</p></td>
+<td><p>41</p></td>
+</tr>
+<tr class="row-even"><td><p>AEB</p></td>
+<td><p>VehicleComponent</p></td>
+<td><p>52</p></td>
+</tr>
+<tr class="row-odd"><td><p>FMU1</p></td>
+<td><p>VehicleComponent</p></td>
+<td><p>71</p></td>
+</tr>
+<tr class="row-even"><td><p>FMU2</p></td>
+<td><p>VehicleComponent</p></td>
+<td><p>72</p></td>
+</tr>
+<tr class="row-odd"><td><p>FMU3</p></td>
+<td><p>VehicleComponent</p></td>
+<td><p>73</p></td>
+</tr>
+<tr class="row-even"><td><p>ComponentController</p></td>
+<td><p>Special</p></td>
+<td><p>83</p></td>
+</tr>
+<tr class="row-odd"><td><p>OpenScenarioActions</p></td>
+<td><p>Special</p></td>
+<td><p>84</p></td>
+</tr>
+<tr class="row-even"><td><p>Parameter_Vehicle</p></td>
+<td><p>Sensor</p></td>
+<td><p>92</p></td>
+</tr>
+<tr class="row-odd"><td><p>SensorAggregation</p></td>
+<td><p>Sensor</p></td>
+<td><p>93</p></td>
+</tr>
+<tr class="row-even"><td><p>SensorFusionErrorless</p></td>
+<td><p>Sensor</p></td>
+<td><p>94</p></td>
+</tr>
+<tr class="row-odd"><td><p>Sensor_Driver</p></td>
+<td><p>Sensor</p></td>
+<td><p>95</p></td>
+</tr>
+<tr class="row-even"><td><p>SensorObjectDetector</p></td>
+<td><p>Sensor</p></td>
+<td><p>98</p></td>
+</tr>
+</tbody>
+</table>
+<p><strong>Ids for Signals (last two digits)</strong></p>
+<p>Index range for signal groups:</p>
+<table class="tight-table docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Group</p></th>
+<th class="head"><p>Id</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>Dynamics</p></td>
+<td><p>1…10</p></td>
+</tr>
+<tr class="row-odd"><td><p>Algorithm</p></td>
+<td><p>11…30</p></td>
+</tr>
+<tr class="row-even"><td><p>OpenScenarioActions</p></td>
+<td><p>61…70</p></td>
+</tr>
+<tr class="row-odd"><td><p>Special</p></td>
+<td><p>71…80</p></td>
+</tr>
+<tr class="row-even"><td><p>Sensor</p></td>
+<td><p>81…90</p></td>
+</tr>
+<tr class="row-odd"><td><p>Parameters</p></td>
+<td><p>91…99</p></td>
+</tr>
+</tbody>
+</table>
+<p>With corresponding defined indices:</p>
+<table class="tight-table docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Signal</p></th>
+<th class="head"><p>Group</p></th>
+<th class="head"><p>Id</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>Dynamics</p></td>
+<td><p>Dynamics</p></td>
+<td><p>01</p></td>
+</tr>
+<tr class="row-odd"><td><p>Longitudinal</p></td>
+<td><p>Algorithm</p></td>
+<td><p>11</p></td>
+</tr>
+<tr class="row-even"><td><p>Steering</p></td>
+<td><p>Algorithm</p></td>
+<td><p>12</p></td>
+</tr>
+<tr class="row-odd"><td><p>Acceleration</p></td>
+<td><p>Algorithm</p></td>
+<td><p>13</p></td>
+</tr>
+<tr class="row-even"><td><p>Lateral</p></td>
+<td><p>Algorithm</p></td>
+<td><p>14</p></td>
+</tr>
+<tr class="row-odd"><td><p>SecondaryDriverTasks</p></td>
+<td><p>Algorithm</p></td>
+<td><p>19</p></td>
+</tr>
+<tr class="row-even"><td><p>Trajectory</p></td>
+<td><p>OpenScenarioActions</p></td>
+<td><p>71</p></td>
+</tr>
+<tr class="row-odd"><td><p>AcquireGlobalPosition</p></td>
+<td><p>OpenScenarioActions</p></td>
+<td><p>62</p></td>
+</tr>
+<tr class="row-even"><td><p>CustomParameters (CustomCommandAction)</p></td>
+<td><p>OpenScenarioActions</p></td>
+<td><p>63</p></td>
+</tr>
+<tr class="row-odd"><td><p>SensorDriver</p></td>
+<td><p>Sensor</p></td>
+<td><p>81</p></td>
+</tr>
+<tr class="row-even"><td><p>SensorData</p></td>
+<td><p>Sensor</p></td>
+<td><p>90</p></td>
+</tr>
+<tr class="row-odd"><td><p>ParametersVehicle</p></td>
+<td><p>Parameters</p></td>
+<td><p>92</p></td>
+</tr>
+</tbody>
+</table>
+</section>
+<section id="parameters">
+<span id="systemconfigblueprint-parameters"></span><h2>Parameters<a class="headerlink" href="#parameters" title="Link to this heading"></a></h2>
+<p>For more information on the type of parameters (especially stochastic distributions), please refer to the <a class="reference internal" href="profilescatalog.html#profilescatalog-profilegroups"><span class="std std-ref">ProfilesGroup section</span></a>.</p>
+<p><strong>Important Note:</strong> The syntax for defining parameters in the SystemConfigBlueprint file differs from the ProfilesCatalog syntax.
+See the following example:</p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;parameters&gt;</span>
+<span class="w">    </span><span class="nt">&lt;parameter&gt;</span>
+<span class="w">        </span><span class="nt">&lt;id&gt;</span>StringParameter<span class="nt">&lt;/id&gt;</span>
+<span class="w">        </span><span class="nt">&lt;type&gt;</span>string<span class="nt">&lt;/type&gt;</span>
+<span class="w">        </span><span class="nt">&lt;unit/&gt;</span>
+<span class="w">        </span><span class="nt">&lt;value&gt;</span>Lorem<span class="w"> </span>ipsum<span class="nt">&lt;/value&gt;</span>
+<span class="w">    </span><span class="nt">&lt;/parameter&gt;</span>
+<span class="w">    </span><span class="nt">&lt;parameter&gt;</span>
+<span class="w">        </span><span class="nt">&lt;id&gt;</span>RandomParameter<span class="nt">&lt;/id&gt;</span>
+<span class="w">        </span><span class="nt">&lt;type&gt;</span>normalDistribution<span class="nt">&lt;/type&gt;</span>
+<span class="w">        </span><span class="nt">&lt;unit/&gt;</span>
+<span class="w">        </span><span class="nt">&lt;value&gt;</span>
+<span class="w">            </span><span class="nt">&lt;mean&gt;</span>15.0<span class="nt">&lt;/mean&gt;</span>
+<span class="w">            </span><span class="nt">&lt;sd&gt;</span>2.5<span class="nt">&lt;/sd&gt;</span>
+<span class="w">            </span><span class="nt">&lt;min&gt;</span>10.0<span class="nt">&lt;/min&gt;</span>
+<span class="w">            </span><span class="nt">&lt;max&gt;</span>20.0<span class="nt">&lt;/max&gt;</span>
+<span class="w">        </span><span class="nt">&lt;/value&gt;</span>
+<span class="w">    </span><span class="nt">&lt;/parameter&gt;</span>
+<span class="nt">&lt;/parameters&gt;</span>
+</pre></div>
+</div>
+</section>
+</section>
+
+
+           </div>
+          </div>
+          <footer><div class="rst-footer-buttons" role="navigation" aria-label="Footer">
+        <a href="staticsystemconfig.html" class="btn btn-neutral float-left" title="Static SystemConfig" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> Previous</a>
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+    </div>
+
+  <hr/>
+
+  <div role="contentinfo">
+    <p>&#169; Copyright 2025 openPASS Working Group.</p>
+  </div>
+
+  Built with <a href="https://www.sphinx-doc.org/">Sphinx</a> using a
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diff --git a/content/html/user_guide/outputs/observation_log.html b/content/html/user_guide/outputs/observation_log.html
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-  <section id="observation-log">
-<span id="id1"></span><h1>Observation_Log<a class="headerlink" href="#observation-log" title="Link to this heading"></a></h1>
-<p>This section describes the parameters and outputs of the <code class="docutils literal notranslate"><span class="pre">Observation_Log</span></code> observer.</p>
-<section id="parameterization">
-<span id="observationlog-parameterization"></span><h2>Parameterization<a class="headerlink" href="#parameterization" title="Link to this heading"></a></h2>
-<p>Following parameters are supported:</p>
-<table class="tight-table docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Parameter</p></th>
-<th class="head"><p>Type</p></th>
-<th class="head"><p>Description</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>OutputFilename</p></td>
-<td><p>String</p></td>
-<td><p>Name of the output file (normally <code class="docutils literal notranslate"><span class="pre">simulationOutput.xml</span></code>)</p></td>
-</tr>
-<tr class="row-odd"><td><p>LoggingCyclicsToCsv</p></td>
-<td><p>Bool</p></td>
-<td><p>If <code class="docutils literal notranslate"><span class="pre">true</span></code>, cyclics are written an additional file (one CSV file per run)</p></td>
-</tr>
-<tr class="row-even"><td><p>LoggingGroup_&lt;NAME&gt;</p></td>
-<td><p>StringVector</p></td>
-<td><p>Defines which columns belong to the logging group named NAME</p></td>
-</tr>
-<tr class="row-odd"><td><p>LoggingGroups</p></td>
-<td><p>StringVector</p></td>
-<td><p>Defines active logging groups</p></td>
-</tr>
-</tbody>
-</table>
-<p>The columns, defined by the <code class="docutils literal notranslate"><span class="pre">LoggingGroup_&lt;NAME&gt;</span></code> correspond to cyclic data entries written by the world and other components.
-Cyclics are named data values of a single agent during a specific timestep.
-Simulation components including agent components can write this values into the DataBuffer component using the PublisherInterface.
-The Observation_Log can then read this values and write them into the output.</p>
-<p>The world publishes the following cyclics (see source of <code class="docutils literal notranslate"><span class="pre">AgentNetwork.cpp</span></code>):</p>
-<table class="tight-table docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Cyclics</p></th>
-<th class="head"><p>Type</p></th>
-<th class="head"><p>Unit</p></th>
-<th class="head"><p>Description</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>XPosition</p></td>
-<td><p>Double</p></td>
-<td><p>m</p></td>
-<td><p>Position x of the reference point (in world coordinates)</p></td>
-</tr>
-<tr class="row-odd"><td><p>YPosition</p></td>
-<td><p>Double</p></td>
-<td><p>m</p></td>
-<td><p>Position y of the reference point (in world coordinates)</p></td>
-</tr>
-<tr class="row-even"><td><p>VelocityEgo</p></td>
-<td><p>Double</p></td>
-<td><p>m/s</p></td>
-<td><p>Absolute velocity (length of the velocity vector) at the reference point
-(including spin caused by YawRate)</p></td>
-</tr>
-<tr class="row-odd"><td><p>AccelerationEgo</p></td>
-<td><p>Double</p></td>
-<td><p>m/s²</p></td>
-<td><p>Longitudinal acceleration (including angular acceleration) at the reference point.
-Longitudinal refers to the angle of the vehicle regardless of the curvature of the road it is on.</p></td>
-</tr>
-<tr class="row-even"><td><p>YawAngle</p></td>
-<td><p>Double</p></td>
-<td><p>rad</p></td>
-<td><p>Yaw angle w.r.t. x-axis</p></td>
-</tr>
-<tr class="row-odd"><td><p>YawRate</p></td>
-<td><p>Double</p></td>
-<td><p>rad/s</p></td>
-<td><p>Yaw rate of the agent</p></td>
-</tr>
-<tr class="row-even"><td><p>SteeringAngle</p></td>
-<td><p>Double</p></td>
-<td><p>rad</p></td>
-<td><p>Steering wheel angle</p></td>
-</tr>
-<tr class="row-odd"><td><p>TotalDistanceTraveled</p></td>
-<td><p>Double</p></td>
-<td><p>m</p></td>
-<td><p>Total traveled distance of all agents</p></td>
-</tr>
-<tr class="row-even"><td><p>PositionRoute*</p></td>
-<td><p>Double</p></td>
-<td><p>m</p></td>
-<td><p>Position of the agent’s front center in <strong>road’s</strong> s coordinate
-(distance to the start of the road)</p></td>
-</tr>
-<tr class="row-odd"><td><p>TCoordinate*</p></td>
-<td><p>Double</p></td>
-<td><p>m</p></td>
-<td><p>Position of the agent’s front center in <strong>lane’s</strong> t coordinate
-(distance to the middle of the lane respecting intended driving direction)</p></td>
-</tr>
-<tr class="row-even"><td><p>Lane*</p></td>
-<td><p>Integer</p></td>
-<td></td>
-<td><p>Id of the lane</p></td>
-</tr>
-<tr class="row-odd"><td><p>Road*</p></td>
-<td><p>String</p></td>
-<td></td>
-<td><p>OpenDRIVE id of the road on which the agent is on (i.e. the front center).</p></td>
-</tr>
-<tr class="row-even"><td><p>SecondaryLanes*</p></td>
-<td><p>IntegerVector</p></td>
-<td></td>
-<td><p>List of secondary lanes on a specific road</p></td>
-</tr>
-<tr class="row-odd"><td><p>AgentInFront*</p></td>
-<td><p>Integer</p></td>
-<td></td>
-<td><p>Id of the next object on the agent’s route</p></td>
-</tr>
-</tbody>
-</table>
-<p>The longitudinal driver publishes the following cyclics (see source of <code class="docutils literal notranslate"><span class="pre">longitudinalDriver.cpp</span></code>):</p>
-<blockquote>
-<div><table class="docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Cyclics</p></th>
-<th class="head"><p>Type</p></th>
-<th class="head"><p>Description</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>AccelerationPedalPosition</p></td>
-<td><p>Double</p></td>
-<td><p>Position of the acceleration pedal position in percent</p></td>
-</tr>
-<tr class="row-odd"><td><p>BrakePedalPosition</p></td>
-<td><p>Double</p></td>
-<td><p>Position of the brake pedal position in percent</p></td>
-</tr>
-<tr class="row-even"><td><p>Gear</p></td>
-<td><p>Integer</p></td>
-<td><p>Current gear position</p></td>
-</tr>
-</tbody>
-</table>
-</div></blockquote>
-<p>The component Action_SecondaryDriverTasks publishes the following cyclics (see source of <code class="docutils literal notranslate"><span class="pre">secondaryDriverTasks.cpp</span></code>):</p>
-<blockquote>
-<div><table class="docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Cyclics</p></th>
-<th class="head"><p>Type</p></th>
-<th class="head"><p>Description</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>BrakeLight</p></td>
-<td><p>Boolean</p></td>
-<td><p>True if BrakeLight is on</p></td>
-</tr>
-<tr class="row-odd"><td><p>IndicatorState</p></td>
-<td><p>Enum</p></td>
-<td><p>State of the turning indicator (left, center/off, right)</p></td>
-</tr>
-<tr class="row-even"><td><p>LightStatus</p></td>
-<td><p>Enum</p></td>
-<td><p>State of the headlight (off, low beam, fog light, high beam, flash)</p></td>
-</tr>
-</tbody>
-</table>
-</div></blockquote>
-<p>The component AgentUpdater publishes the following cyclics (see source of <code class="docutils literal notranslate"><span class="pre">agentUpdaterImpl.cpp</span></code>):</p>
-<blockquote>
-<div><table class="docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Cyclics</p></th>
-<th class="head"><p>Type</p></th>
-<th class="head"><p>Description</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>LongitudinalController</p></td>
-<td><p>String</p></td>
-<td><p>Component that is active for longitudinal control</p></td>
-</tr>
-<tr class="row-odd"><td><p>LateralController</p></td>
-<td><p>String</p></td>
-<td><p>Component that is active for lateral control</p></td>
-</tr>
-</tbody>
-</table>
-</div></blockquote>
-<p>The component Dynamics_RegularDriving publishes the following cyclics (see source of <code class="docutils literal notranslate"><span class="pre">regularDriving.cpp</span></code>):</p>
-<blockquote>
-<div><table class="docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Cyclics</p></th>
-<th class="head"><p>Type</p></th>
-<th class="head"><p>Unit</p></th>
-<th class="head"><p>Description</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>EngineMoment</p></td>
-<td><p>Double</p></td>
-<td><p>Nm</p></td>
-<td><p>Torque of the engine</p></td>
-</tr>
-<tr class="row-odd"><td><p>SteeringAngle</p></td>
-<td><p>Double</p></td>
-<td><p>rad</p></td>
-<td><p>Angle of the steering wheel</p></td>
-</tr>
-</tbody>
-</table>
-</div></blockquote>
-<p>The component Sensor_Driver publishes the following cyclics (see source of <code class="docutils literal notranslate"><span class="pre">sensor_driverImpl.cpp</span></code>):</p>
-<blockquote>
-<div><table class="docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Cyclics</p></th>
-<th class="head"><p>Type</p></th>
-<th class="head"><p>Description</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>AgentInFront</p></td>
-<td><p>Integer</p></td>
-<td><p>Id of the agent infront</p></td>
-</tr>
-</tbody>
-</table>
-</div></blockquote>
-<p>The component Sensor_OSI publishes the following cyclics (see source of <code class="docutils literal notranslate"><span class="pre">sensorCar2X.cpp</span></code>):</p>
-<blockquote>
-<div><table class="docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Cyclics</p></th>
-<th class="head"><p>Type</p></th>
-<th class="head"><p>Description</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>DetectedAgents</p></td>
-<td><p>String</p></td>
-<td><p>List of ids of detected agents</p></td>
-</tr>
-<tr class="row-odd"><td><p>VisibleAgents</p></td>
-<td><p>String</p></td>
-<td><p>List of ids of visible agents</p></td>
-</tr>
-</tbody>
-</table>
-</div></blockquote>
-<div class="admonition-wildcards-in-logginggroup-definitions admonition">
-<p class="admonition-title"><strong>Wildcards in LoggingGroup definitions</strong></p>
-<div class="line-block">
-<div class="line">It is possible to use the wildcard character <code class="docutils literal notranslate"><span class="pre">*</span></code> in a <code class="docutils literal notranslate"><span class="pre">LoggingGroup_&lt;NAME&gt;</span></code> entry.</div>
-<div class="line">The wildcard can be used only once per column reference.</div>
-</div>
-</div>
-<p><strong>Example</strong></p>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="w">      </span><span class="nt">&lt;Library&gt;</span>Observation_Log<span class="nt">&lt;/Library&gt;</span>
-<span class="w">      </span><span class="nt">&lt;Parameters&gt;</span>
-<span class="w">        </span><span class="nt">&lt;String</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;OutputFilename&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;simulationOutput.xml&quot;</span><span class="nt">/&gt;</span>
-<span class="w">        </span><span class="nt">&lt;Bool</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;LoggingCyclicsToCsv&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;false&quot;</span><span class="nt">/&gt;</span>
-<span class="w">        </span><span class="nt">&lt;StringVector</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;LoggingGroup_Trace&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;XPosition,YPosition,YawAngle&quot;</span><span class="nt">/&gt;</span>
-<span class="w">        </span><span class="nt">&lt;StringVector</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;LoggingGroup_RoadPosition&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;AgentInFront,Lane,PositionRoute,Road,TCoordinate&quot;</span><span class="nt">/&gt;</span>
-<span class="w">        </span><span class="nt">&lt;StringVector</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;LoggingGroup_RoadPositionExtended&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;SecondaryLanes&quot;</span><span class="nt">/&gt;</span>
-<span class="w">        </span><span class="nt">&lt;StringVector</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;LoggingGroup_Sensor&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;Sensor*_DetectedAgents,Sensor*_VisibleAgents&quot;</span><span class="nt">/&gt;</span>
-<span class="w">        </span><span class="nt">&lt;StringVector</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;LoggingGroup_Vehicle&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;AccelerationPedalPosition,BrakePedalPosition,EngineMoment,Gear,SteeringAngle,TotalDistanceTraveled,YawRate&quot;</span><span class="nt">/&gt;</span>
-<span class="w">        </span><span class="nt">&lt;StringVector</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;LoggingGroup_Visualization&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;AccelerationEgo,BrakeLight,IndicatorState,LightStatus,VelocityEgo&quot;</span><span class="nt">/&gt;</span>
-<span class="w">        </span><span class="nt">&lt;StringVector</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;LoggingGroups&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;Trace,Visualization,RoadPosition,Sensor&quot;</span><span class="nt">/&gt;</span>
-<span class="w">      </span><span class="nt">&lt;/Parameters&gt;</span>
-</pre></div>
-</div>
-</section>
-<section id="output-files">
-<h2>Output Files<a class="headerlink" href="#output-files" title="Link to this heading"></a></h2>
-<section id="simulationoutput">
-<span id="observationlog-simout"></span><h3>SimulationOutput<a class="headerlink" href="#simulationoutput" title="Link to this heading"></a></h3>
-<p>Every successful run (single experiment) generates a single file, normally called <code class="docutils literal notranslate"><span class="pre">simulationOutput.xml</span></code> (see :ref:’observationlog_parameterization’).
-The output can contain multiple invocations of the same configuration with different random seeds.
-For each invocation a RunResult is stored, which contains information about the agents and their parameters.
-As well as run specific events and parameters.</p>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;SimulationOutput&gt;</span>
-<span class="w">    </span><span class="nt">&lt;RunResults&gt;</span>
-<span class="w">        </span><span class="nt">&lt;RunResult</span><span class="w"> </span><span class="na">RunId=</span><span class="s">&quot;0&quot;</span><span class="nt">&gt;</span>
-<span class="w">            </span>...
-<span class="w">        </span><span class="nt">&lt;/RunResult&gt;</span>
-<span class="w">        </span><span class="nt">&lt;RunResult</span><span class="w"> </span><span class="na">RunId=</span><span class="s">&quot;1&quot;</span><span class="nt">&gt;</span>
-<span class="w">            </span>...
-<span class="w">        </span><span class="nt">&lt;/RunResult&gt;</span>
-<span class="w">    </span><span class="nt">&lt;/RunResults&gt;</span>
-<span class="nt">&lt;/SimulationOutput&gt;</span>
-</pre></div>
-</div>
-<p>The RunResult consist out of the following parts:</p>
-<ul class="simple">
-<li><p><a class="reference internal" href="#observationlog-runstatistics"><span class="std std-ref">RunStatistics</span></a></p></li>
-<li><p><a class="reference internal" href="#observationlog-events"><span class="std std-ref">Events</span></a></p></li>
-<li><p><a class="reference internal" href="#observationlog-agents"><span class="std std-ref">Agents</span></a></p></li>
-<li><p><a class="reference internal" href="#observationlog-cyclics"><span class="std std-ref">Cyclics</span></a></p></li>
-</ul>
-<section id="runstatistics">
-<span id="observationlog-runstatistics"></span><h4>RunStatistics<a class="headerlink" href="#runstatistics" title="Link to this heading"></a></h4>
-<p>This section contains the RandomSeed and general statistics of the invocation.</p>
-<table class="tight-table docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Tag</p></th>
-<th class="head"><p>Description</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>RandomSeed</p></td>
-<td><p>Random seed used for this invocation</p></td>
-</tr>
-<tr class="row-odd"><td><p>VisibilityDistance</p></td>
-<td><p>Visibility distance of the world</p></td>
-</tr>
-<tr class="row-even"><td><p>StopReason</p></td>
-<td><p>Displays the reason why the simulation stopped.
-Currently only due to time out.</p></td>
-</tr>
-<tr class="row-odd"><td><p>StopTime</p></td>
-<td><p>Currently not used and set to -1</p></td>
-</tr>
-<tr class="row-even"><td><p>EgoAccident</p></td>
-<td><p>Flag which shows whether the ego agent was involved in an accident</p></td>
-</tr>
-<tr class="row-odd"><td><p>TotalDistanceTraveled</p></td>
-<td><p>Total traveled distance of all agents</p></td>
-</tr>
-<tr class="row-even"><td><p>EgoDistanceTraveled</p></td>
-<td><p>Total traveled distance of ego vehicle only</p></td>
-</tr>
-</tbody>
-</table>
-</section>
-<section id="events">
-<span id="observationlog-events"></span><h4>Events<a class="headerlink" href="#events" title="Link to this heading"></a></h4>
-<p>This section contains all events that occurred during the invocation.
-Event can either be triggered by an EventDetector, Manipulator or by certain vehicle components.
-They are used to track special behavior in the simulation.</p>
-<table class="tight-table docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Attribute</p></th>
-<th class="head"><p>Description</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>Time</p></td>
-<td><p>Time in ms when the event occurred.</p></td>
-</tr>
-<tr class="row-odd"><td><p>Source</p></td>
-<td><p>Name of the component which created the event.
-<code class="docutils literal notranslate"><span class="pre">OpenSCENARIO</span></code>, if triggered by an OpenSCENARIO condition.</p></td>
-</tr>
-<tr class="row-even"><td><p>Name</p></td>
-<td><p>In case of an OpenSCENARIO event, a path expression Story/Act/Sequence/Maneuver/Event
-using the names of the corresponding tags as described in the OpenSCENARIO file.
-Otherwise determined by the triggering component.</p></td>
-</tr>
-<tr class="row-odd"><td><p>TriggeringEntities</p></td>
-<td><p>List of entity IDs triggering this event.</p></td>
-</tr>
-<tr class="row-even"><td><p>AffectedEntities</p></td>
-<td><p>List of entity IDs affected by this event.</p></td>
-</tr>
-<tr class="row-odd"><td><p>Parameters</p></td>
-<td><p>List of generic key/value string pairs.</p></td>
-</tr>
-</tbody>
-</table>
-</section>
-<section id="important-events">
-<h4>Important Events<a class="headerlink" href="#important-events" title="Link to this heading"></a></h4>
-<p>Some of the Events are logged for other applications to use, for instance the <strong>openPASS</strong> Visualizer.
-These Events can be identified by their Name and are listed below:</p>
-<table class="tight-table docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Attribute</p></th>
-<th class="head"><p>Description</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>TrafficLight</p></td>
-<td><p>TrafficLight Events are triggered once a TrafficLightController changes the state of it’s
-Trafficlight bulbs. Parameters include the traffic_light_state and the opendrive_id which
-links to a dynamic signal in the scenery configuration. traffic_light_state is going to
-be used by the <strong>openPASS</strong> Visualizer. The initial state of the ThreeSignalsTrafficLight is posted too.</p></td>
-</tr>
-</tbody>
-</table>
-<p>The change in the active component of longitudinal and/or lateral control is also logged as event with name “ActiveComponentChange”.</p>
-</section>
-<section id="agents">
-<span id="observationlog-agents"></span><h4>Agents<a class="headerlink" href="#agents" title="Link to this heading"></a></h4>
-<p>This section contains some information on how each agent is configured.</p>
-<table class="tight-table docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Attribute</p></th>
-<th class="head"><p>Description</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>Id</p></td>
-<td><p>Identification number</p></td>
-</tr>
-<tr class="row-odd"><td><p>AgentTypeGroupName</p></td>
-<td><p>The agent category. This can either be Ego, Scenario or Common</p></td>
-</tr>
-<tr class="row-even"><td><p>AgentTypeName</p></td>
-<td><p>Name of the agent profile</p></td>
-</tr>
-<tr class="row-odd"><td><p>VehicleModelType</p></td>
-<td><p>Name of the vehicle model</p></td>
-</tr>
-<tr class="row-even"><td><p>DriverProfileName</p></td>
-<td><p>Name of the driver profile</p></td>
-</tr>
-</tbody>
-</table>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;Agent</span><span class="w"> </span><span class="na">Id=</span><span class="s">&quot;0&quot;</span>
-<span class="w">       </span><span class="na">AgentTypeGroupName=</span><span class="s">&quot;Ego&quot;</span>
-<span class="w">       </span><span class="na">AgentTypeName=</span><span class="s">&quot;MiddleClassCarAgent&quot;</span>
-<span class="w">       </span><span class="na">VehicleModelType=</span><span class="s">&quot;car_bmw_7&quot;</span>
-<span class="w">       </span><span class="na">DriverProfileName=</span><span class="s">&quot;Regular&quot;</span><span class="nt">&gt;</span>
-</pre></div>
-</div>
-<p>The VehicleAttributes tag lists basic information of the vehicle parameters.</p>
-<table class="tight-table docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Attribute</p></th>
-<th class="head"><p>Description</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>Width</p></td>
-<td><p>Width of the vehicles bounding box</p></td>
-</tr>
-<tr class="row-odd"><td><p>Length</p></td>
-<td><p>Length of the vehicles bounding box</p></td>
-</tr>
-<tr class="row-even"><td><p>Height</p></td>
-<td><p>Height of the vehicles bounding box</p></td>
-</tr>
-<tr class="row-odd"><td><p>LongitudinalPivotOffset</p></td>
-<td><p>Distance between center of the bounding box and reference point of the agent.
-Positive distances are closer to the front of the vehicle.
-Negative distances are closer to the rear of the vehicle.</p></td>
-</tr>
-</tbody>
-</table>
-<p>The Components tag lists all instantiated components from the SystemProfile.</p>
-<table class="tight-table docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Attribute</p></th>
-<th class="head"><p>Description</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>Type</p></td>
-<td><p>Type of the component</p></td>
-</tr>
-<tr class="row-odd"><td><p>Profile</p></td>
-<td><p>Name of the component profile</p></td>
-</tr>
-</tbody>
-</table>
-<p>The Sensors tag lists all sensors of the agent and their parameters.</p>
-<table class="tight-table docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Attribute</p></th>
-<th class="head"><p>Description</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>Name</p></td>
-<td><p>Name of the component</p></td>
-</tr>
-<tr class="row-odd"><td><p>Model</p></td>
-<td><p>Type of the sensor</p></td>
-</tr>
-<tr class="row-even"><td><p>MountingPosLongitudinal</p></td>
-<td><p>Relative longitudinal position of the sensor in relation to the agent</p></td>
-</tr>
-<tr class="row-odd"><td><p>MountingPosLateral</p></td>
-<td><p>Relative lateral position of the sensor in relation to the agent</p></td>
-</tr>
-<tr class="row-even"><td><p>MountingPosHeight</p></td>
-<td><p>Relative height of the sensor in relation to the agent</p></td>
-</tr>
-<tr class="row-odd"><td><p>OrientationPitch</p></td>
-<td><p>Pitch rotation of the sensor in relation to the agent</p></td>
-</tr>
-<tr class="row-even"><td><p>OrientationYaw</p></td>
-<td><p>Yaw rotation of the sensor in relation to the agent</p></td>
-</tr>
-<tr class="row-odd"><td><p>OpeningAngleH</p></td>
-<td><p>Horizontal opening angle of the sensor</p></td>
-</tr>
-<tr class="row-even"><td><p>OpeningAngleV</p></td>
-<td><p>Vertical opening angle of the sensor</p></td>
-</tr>
-<tr class="row-odd"><td><p>DetectionRange</p></td>
-<td><p>Range how far the sensor reaches in m</p></td>
-</tr>
-</tbody>
-</table>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>Calculation of visual obstruction is currently supported only by the Geometric2D sensor.
-See <a class="reference internal" href="../configs/systemconfigblueprint.html#systemconfigblueprint"><span class="std std-ref">SystemConfigBlueprint</span></a> for configuration.</p>
-</div>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;Sensor</span><span class="w"> </span><span class="na">Name=</span><span class="s">&quot;Geometric2DFront&quot;</span>
-<span class="w">        </span><span class="na">Model=</span><span class="s">&quot;Geometric2D&quot;</span>
-<span class="w">        </span><span class="na">MountingPosLongitudinal=</span><span class="s">&quot;0&quot;</span>
-<span class="w">        </span><span class="na">MountingPosLateral=</span><span class="s">&quot;0&quot;</span>
-<span class="w">        </span><span class="na">MountingPosHeight=</span><span class="s">&quot;0.5&quot;</span>
-<span class="w">        </span><span class="na">OrientationPitch=</span><span class="s">&quot;0&quot;</span>
-<span class="w">        </span><span class="na">OrientationYaw=</span><span class="s">&quot;0&quot;</span>
-<span class="w">        </span><span class="na">OpeningAngleH=</span><span class="s">&quot;20&quot;</span>
-<span class="w">        </span><span class="na">OpeningAngleV=</span><span class="s">&quot;-999&quot;</span>
-<span class="w">        </span><span class="na">DetectionRange=</span><span class="s">&quot;300&quot;</span><span class="w"> </span><span class="nt">/&gt;</span>
-</pre></div>
-</div>
-</section>
-<section id="cyclics">
-<span id="observationlog-cyclics"></span><h4>Cyclics<a class="headerlink" href="#cyclics" title="Link to this heading"></a></h4>
-<p>If the parameter <code class="docutils literal notranslate"><span class="pre">LoggingCyclicsToCsv</span></code> is set to <code class="docutils literal notranslate"><span class="pre">false</span></code>, this section contains all logged parameters of the agents per time step.
-The tag <code class="docutils literal notranslate"><span class="pre">header</span></code> defines the layout of all samples.
-Each entry of the header consists of the agent id and the name of the logged value, in the form <code class="docutils literal notranslate"><span class="pre">ID:SAMPLE_NAME</span></code>.
-A sample contains all information for one specific time step.
-If an agent does not exist at the current time step, the value is ‘ ‘.</p>
-<p><strong>Example</strong></p>
-<p>In this example exist two agents with the ids 0 and 1.
-Two time steps were being tracked, one at 0 seconds and one at 100 ms.
-Agent 0 has a constant velocity of 30 m/s and starts at the position X: 100 and Y: 50.
-Agent 1 has a initial velocity of 40 m/s and starts at the position X: 200 and Y: 50.</p>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;Cyclics&gt;</span>
-<span class="w">    </span><span class="nt">&lt;Header&gt;</span>00:VelocityEgo,<span class="w"> </span>00:XPosition,<span class="w"> </span>00:YPosition,<span class="w"> </span>00:YawAngle,<span class="w"> </span>01:VelocityEgo,<span class="w"> </span>01:XPosition,<span class="w"> </span>01:YPosition,<span class="w"> </span>01:YawAngle<span class="nt">&lt;/Header&gt;</span>
-<span class="w">    </span><span class="nt">&lt;Samples&gt;</span>
-<span class="w">        </span><span class="nt">&lt;Sample</span><span class="w"> </span><span class="na">Time=</span><span class="s">&quot;0&quot;</span><span class="nt">&gt;</span>30,<span class="w"> </span>100,<span class="w"> </span>50,<span class="w"> </span>0,<span class="w"> </span>40,<span class="w"> </span>200,<span class="w"> </span>50,<span class="w"> </span>0<span class="nt">&lt;/Sample&gt;</span>
-<span class="w">        </span><span class="nt">&lt;Sample</span><span class="w"> </span><span class="na">Time=</span><span class="s">&quot;100&quot;</span><span class="nt">&gt;</span>30,<span class="w"> </span>103,<span class="w"> </span>50,<span class="w"> </span>0,<span class="w"> </span>40,<span class="w"> </span>204,<span class="w"> </span>50,<span class="w"> </span>0<span class="nt">&lt;/Sample&gt;</span>
-<span class="w">    </span><span class="nt">&lt;/Samples&gt;</span>
-<span class="nt">&lt;/Cyclics&gt;</span>
-</pre></div>
-</div>
-<p>If the parameter <code class="docutils literal notranslate"><span class="pre">LoggingCyclicsToCsv</span></code> is set to <code class="docutils literal notranslate"><span class="pre">true</span></code>, this section only contains a reference to the corresponding CSV file, e.g.</p>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;Cyclics&gt;</span>
-<span class="w">    </span><span class="nt">&lt;CyclicsFile&gt;</span>Cyclics_Run_000.csv<span class="nt">&lt;/CyclicsFile&gt;</span>
-<span class="nt">&lt;/Cyclics&gt;</span>
-</pre></div>
-</div>
-<p>For each invocation, the file number of the filename is incremented, starting with <code class="docutils literal notranslate"><span class="pre">Cyclics_Run_000.csv</span></code>.</p>
-</section>
-</section>
-<section id="cyclics-run">
-<h3>Cyclics_Run_###<a class="headerlink" href="#cyclics-run" title="Link to this heading"></a></h3>
-<p>This file contains the samples as described in :ref:’observationlog_cyclics’, but with the time step as leading column.</p>
-<p><strong>Example</strong></p>
-<table class="docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Timestep</p></th>
-<th class="head"><p>00:VelocityEgo</p></th>
-<th class="head"><p>00:XPosition</p></th>
-<th class="head"><p>00:YPosition</p></th>
-<th class="head"><p>00:YawAngle</p></th>
-<th class="head"><p>01:VelocityEgo</p></th>
-<th class="head"><p>01:XPosition</p></th>
-<th class="head"><p>01:YPosition</p></th>
-<th class="head"><p>01:YawAngle</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>0</p></td>
-<td><p>30</p></td>
-<td><p>100</p></td>
-<td><p>50</p></td>
-<td><p>0</p></td>
-<td><p>40</p></td>
-<td><p>200</p></td>
-<td><p>50</p></td>
-<td><p>0</p></td>
-</tr>
-<tr class="row-odd"><td><p>100</p></td>
-<td><p>30</p></td>
-<td><p>103</p></td>
-<td><p>50</p></td>
-<td><p>0</p></td>
-<td><p>40</p></td>
-<td><p>204</p></td>
-<td><p>50</p></td>
-<td><p>0</p></td>
-</tr>
-</tbody>
-</table>
-</section>
-</section>
-</section>
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+  <section id="observation-log">
+<span id="id1"></span><h1>Observation_Log<a class="headerlink" href="#observation-log" title="Link to this heading"></a></h1>
+<p>This section describes the parameters and outputs of the <code class="docutils literal notranslate"><span class="pre">Observation_Log</span></code> observer.</p>
+<section id="parameterization">
+<span id="observationlog-parameterization"></span><h2>Parameterization<a class="headerlink" href="#parameterization" title="Link to this heading"></a></h2>
+<p>Following parameters are supported:</p>
+<table class="tight-table docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Parameter</p></th>
+<th class="head"><p>Type</p></th>
+<th class="head"><p>Description</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>OutputFilename</p></td>
+<td><p>String</p></td>
+<td><p>Name of the output file (normally <code class="docutils literal notranslate"><span class="pre">simulationOutput.xml</span></code>)</p></td>
+</tr>
+<tr class="row-odd"><td><p>LoggingCyclicsToCsv</p></td>
+<td><p>Bool</p></td>
+<td><p>If <code class="docutils literal notranslate"><span class="pre">true</span></code>, cyclics are written an additional file (one CSV file per run)</p></td>
+</tr>
+<tr class="row-even"><td><p>LoggingGroup_&lt;NAME&gt;</p></td>
+<td><p>StringVector</p></td>
+<td><p>Defines which columns belong to the logging group named NAME</p></td>
+</tr>
+<tr class="row-odd"><td><p>LoggingGroups</p></td>
+<td><p>StringVector</p></td>
+<td><p>Defines active logging groups</p></td>
+</tr>
+</tbody>
+</table>
+<p>The columns, defined by the <code class="docutils literal notranslate"><span class="pre">LoggingGroup_&lt;NAME&gt;</span></code> correspond to cyclic data entries written by the world and other components.
+Cyclics are named data values of a single agent during a specific timestep.
+Simulation components including agent components can write this values into the DataBuffer component using the PublisherInterface.
+The Observation_Log can then read this values and write them into the output.</p>
+<p>The world publishes the following cyclics (see source of <code class="docutils literal notranslate"><span class="pre">AgentNetwork.cpp</span></code>):</p>
+<table class="tight-table docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Cyclics</p></th>
+<th class="head"><p>Type</p></th>
+<th class="head"><p>Unit</p></th>
+<th class="head"><p>Description</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>XPosition</p></td>
+<td><p>Double</p></td>
+<td><p>m</p></td>
+<td><p>Position x of the reference point (in world coordinates)</p></td>
+</tr>
+<tr class="row-odd"><td><p>YPosition</p></td>
+<td><p>Double</p></td>
+<td><p>m</p></td>
+<td><p>Position y of the reference point (in world coordinates)</p></td>
+</tr>
+<tr class="row-even"><td><p>VelocityEgo</p></td>
+<td><p>Double</p></td>
+<td><p>m/s</p></td>
+<td><p>Absolute velocity (length of the velocity vector) at the reference point
+(including spin caused by YawRate)</p></td>
+</tr>
+<tr class="row-odd"><td><p>AccelerationEgo</p></td>
+<td><p>Double</p></td>
+<td><p>m/s²</p></td>
+<td><p>Longitudinal acceleration (including angular acceleration) at the reference point.
+Longitudinal refers to the angle of the vehicle regardless of the curvature of the road it is on.</p></td>
+</tr>
+<tr class="row-even"><td><p>YawAngle</p></td>
+<td><p>Double</p></td>
+<td><p>rad</p></td>
+<td><p>Yaw angle w.r.t. x-axis</p></td>
+</tr>
+<tr class="row-odd"><td><p>YawRate</p></td>
+<td><p>Double</p></td>
+<td><p>rad/s</p></td>
+<td><p>Yaw rate of the agent</p></td>
+</tr>
+<tr class="row-even"><td><p>SteeringWheelAngle</p></td>
+<td><p>Double</p></td>
+<td><p>rad</p></td>
+<td><p>Steering wheel angle</p></td>
+</tr>
+<tr class="row-odd"><td><p>TotalDistanceTraveled</p></td>
+<td><p>Double</p></td>
+<td><p>m</p></td>
+<td><p>Total traveled distance of all agents</p></td>
+</tr>
+<tr class="row-even"><td><p>PositionRoute*</p></td>
+<td><p>Double</p></td>
+<td><p>m</p></td>
+<td><p>Position of the agent’s front center in <strong>road’s</strong> s coordinate
+(distance to the start of the road)</p></td>
+</tr>
+<tr class="row-odd"><td><p>TCoordinate*</p></td>
+<td><p>Double</p></td>
+<td><p>m</p></td>
+<td><p>Position of the agent’s front center in <strong>lane’s</strong> t coordinate
+(distance to the middle of the lane respecting intended driving direction)</p></td>
+</tr>
+<tr class="row-even"><td><p>Lane*</p></td>
+<td><p>Integer</p></td>
+<td></td>
+<td><p>Id of the lane</p></td>
+</tr>
+<tr class="row-odd"><td><p>Road*</p></td>
+<td><p>String</p></td>
+<td></td>
+<td><p>OpenDRIVE id of the road on which the agent is on (i.e. the front center).</p></td>
+</tr>
+<tr class="row-even"><td><p>SecondaryLanes*</p></td>
+<td><p>IntegerVector</p></td>
+<td></td>
+<td><p>List of secondary lanes on a specific road</p></td>
+</tr>
+<tr class="row-odd"><td><p>AgentInFront*</p></td>
+<td><p>Integer</p></td>
+<td></td>
+<td><p>Id of the next object on the agent’s route</p></td>
+</tr>
+</tbody>
+</table>
+<p>The longitudinal driver publishes the following cyclics (see source of <code class="docutils literal notranslate"><span class="pre">longitudinalDriver.cpp</span></code>):</p>
+<blockquote>
+<div><table class="docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Cyclics</p></th>
+<th class="head"><p>Type</p></th>
+<th class="head"><p>Description</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>AccelerationPedalPosition</p></td>
+<td><p>Double</p></td>
+<td><p>Position of the acceleration pedal position in percent</p></td>
+</tr>
+<tr class="row-odd"><td><p>BrakePedalPosition</p></td>
+<td><p>Double</p></td>
+<td><p>Position of the brake pedal position in percent</p></td>
+</tr>
+<tr class="row-even"><td><p>Gear</p></td>
+<td><p>Integer</p></td>
+<td><p>Current gear position</p></td>
+</tr>
+</tbody>
+</table>
+</div></blockquote>
+<p>The component Action_SecondaryDriverTasks publishes the following cyclics (see source of <code class="docutils literal notranslate"><span class="pre">secondaryDriverTasks.cpp</span></code>):</p>
+<blockquote>
+<div><table class="docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Cyclics</p></th>
+<th class="head"><p>Type</p></th>
+<th class="head"><p>Description</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>BrakeLight</p></td>
+<td><p>Boolean</p></td>
+<td><p>True if BrakeLight is on</p></td>
+</tr>
+<tr class="row-odd"><td><p>IndicatorState</p></td>
+<td><p>Enum</p></td>
+<td><p>State of the turning indicator (left, center/off, right)</p></td>
+</tr>
+<tr class="row-even"><td><p>LightStatus</p></td>
+<td><p>Enum</p></td>
+<td><p>State of the headlight (off, low beam, fog light, high beam, flash)</p></td>
+</tr>
+</tbody>
+</table>
+</div></blockquote>
+<p>The component AgentUpdater publishes the following cyclics (see source of <code class="docutils literal notranslate"><span class="pre">agentUpdaterImpl.cpp</span></code>):</p>
+<blockquote>
+<div><table class="docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Cyclics</p></th>
+<th class="head"><p>Type</p></th>
+<th class="head"><p>Description</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>LongitudinalController</p></td>
+<td><p>String</p></td>
+<td><p>Component that is active for longitudinal control</p></td>
+</tr>
+<tr class="row-odd"><td><p>LateralController</p></td>
+<td><p>String</p></td>
+<td><p>Component that is active for lateral control</p></td>
+</tr>
+</tbody>
+</table>
+</div></blockquote>
+<p>The component Dynamics_RegularDriving publishes the following cyclics (see source of <code class="docutils literal notranslate"><span class="pre">regularDriving.cpp</span></code>):</p>
+<blockquote>
+<div><table class="docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Cyclics</p></th>
+<th class="head"><p>Type</p></th>
+<th class="head"><p>Unit</p></th>
+<th class="head"><p>Description</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>EngineMoment</p></td>
+<td><p>Double</p></td>
+<td><p>Nm</p></td>
+<td><p>Torque of the engine</p></td>
+</tr>
+<tr class="row-odd"><td><p>SteeringAngle</p></td>
+<td><p>Double</p></td>
+<td><p>rad</p></td>
+<td><p>Steering angle of front wheels</p></td>
+</tr>
+</tbody>
+</table>
+</div></blockquote>
+<p>The component Sensor_Driver publishes the following cyclics (see source of <code class="docutils literal notranslate"><span class="pre">sensor_driverImpl.cpp</span></code>):</p>
+<blockquote>
+<div><table class="docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Cyclics</p></th>
+<th class="head"><p>Type</p></th>
+<th class="head"><p>Description</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>AgentInFront</p></td>
+<td><p>Integer</p></td>
+<td><p>Id of the agent infront</p></td>
+</tr>
+</tbody>
+</table>
+</div></blockquote>
+<p>The component Sensor_OSI publishes the following cyclics (see source of <code class="docutils literal notranslate"><span class="pre">sensorCar2X.cpp</span></code>):</p>
+<blockquote>
+<div><table class="docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Cyclics</p></th>
+<th class="head"><p>Type</p></th>
+<th class="head"><p>Description</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>DetectedAgents</p></td>
+<td><p>String</p></td>
+<td><p>List of ids of detected agents</p></td>
+</tr>
+<tr class="row-odd"><td><p>VisibleAgents</p></td>
+<td><p>String</p></td>
+<td><p>List of ids of visible agents</p></td>
+</tr>
+</tbody>
+</table>
+</div></blockquote>
+<div class="admonition-wildcards-in-logginggroup-definitions admonition">
+<p class="admonition-title"><strong>Wildcards in LoggingGroup definitions</strong></p>
+<div class="line-block">
+<div class="line">It is possible to use the wildcard character <code class="docutils literal notranslate"><span class="pre">*</span></code> in a <code class="docutils literal notranslate"><span class="pre">LoggingGroup_&lt;NAME&gt;</span></code> entry.</div>
+<div class="line">The wildcard can be used only once per column reference.</div>
+</div>
+</div>
+<p><strong>Example</strong></p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="w">      </span><span class="nt">&lt;Library&gt;</span>Observation_Log<span class="nt">&lt;/Library&gt;</span>
+<span class="w">      </span><span class="nt">&lt;Parameters&gt;</span>
+<span class="w">        </span><span class="nt">&lt;String</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;OutputFilename&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;simulationOutput.xml&quot;</span><span class="nt">/&gt;</span>
+<span class="w">        </span><span class="nt">&lt;Bool</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;LoggingCyclicsToCsv&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;false&quot;</span><span class="nt">/&gt;</span>
+<span class="w">        </span><span class="nt">&lt;StringVector</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;LoggingGroup_Trace&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;XPosition,YPosition,YawAngle&quot;</span><span class="nt">/&gt;</span>
+<span class="w">        </span><span class="nt">&lt;StringVector</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;LoggingGroup_RoadPosition&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;AgentInFront,Lane,PositionRoute,Road,TCoordinate&quot;</span><span class="nt">/&gt;</span>
+<span class="w">        </span><span class="nt">&lt;StringVector</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;LoggingGroup_RoadPositionExtended&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;SecondaryLanes&quot;</span><span class="nt">/&gt;</span>
+<span class="w">        </span><span class="nt">&lt;StringVector</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;LoggingGroup_Sensor&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;Sensor*_DetectedAgents,Sensor*_VisibleAgents&quot;</span><span class="nt">/&gt;</span>
+<span class="w">        </span><span class="nt">&lt;StringVector</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;LoggingGroup_Vehicle&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;AccelerationPedalPosition,BrakePedalPosition,EngineMoment,Gear,SteeringAngle,TotalDistanceTraveled,YawRate&quot;</span><span class="nt">/&gt;</span>
+<span class="w">        </span><span class="nt">&lt;StringVector</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;LoggingGroup_Visualization&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;AccelerationEgo,BrakeLight,IndicatorState,LightStatus,VelocityEgo&quot;</span><span class="nt">/&gt;</span>
+<span class="w">        </span><span class="nt">&lt;StringVector</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;LoggingGroups&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;Trace,Visualization,RoadPosition,Sensor&quot;</span><span class="nt">/&gt;</span>
+<span class="w">      </span><span class="nt">&lt;/Parameters&gt;</span>
+</pre></div>
+</div>
+</section>
+<section id="output-files">
+<h2>Output Files<a class="headerlink" href="#output-files" title="Link to this heading"></a></h2>
+<section id="simulationoutput">
+<span id="observationlog-simout"></span><h3>SimulationOutput<a class="headerlink" href="#simulationoutput" title="Link to this heading"></a></h3>
+<p>Every successful run (single experiment) generates a single file, normally called <code class="docutils literal notranslate"><span class="pre">simulationOutput.xml</span></code> (see :ref:’observationlog_parameterization’).
+The output can contain multiple invocations of the same configuration with different random seeds.
+For each invocation a RunResult is stored, which contains information about the random seed, run id, the agents and their parameters.
+As well as run specific events and parameters.</p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;SimulationOutput&gt;</span>
+<span class="w">    </span><span class="nt">&lt;RunResults&gt;</span>
+<span class="w">        </span><span class="nt">&lt;RunResult</span><span class="w"> </span><span class="na">RunId=</span><span class="s">&quot;0&quot;</span><span class="w"> </span><span class="na">RandomSeed=</span><span class="s">&quot;5673465&quot;</span><span class="nt">&gt;</span>
+<span class="w">            </span>...
+<span class="w">        </span><span class="nt">&lt;/RunResult&gt;</span>
+<span class="w">        </span><span class="nt">&lt;RunResult</span><span class="w"> </span><span class="na">RunId=</span><span class="s">&quot;1&quot;</span><span class="w"> </span><span class="na">RandomSeed=</span><span class="s">&quot;2634474&quot;</span><span class="nt">&gt;</span>
+<span class="w">            </span>...
+<span class="w">        </span><span class="nt">&lt;/RunResult&gt;</span>
+<span class="w">    </span><span class="nt">&lt;/RunResults&gt;</span>
+<span class="nt">&lt;/SimulationOutput&gt;</span>
+</pre></div>
+</div>
+<p>The RunResult consist out of the following parts:</p>
+<ul class="simple">
+<li><p><a class="reference internal" href="#observationlog-events"><span class="std std-ref">Events</span></a></p></li>
+<li><p><a class="reference internal" href="#observationlog-agents"><span class="std std-ref">Agents</span></a></p></li>
+<li><p><a class="reference internal" href="#observationlog-cyclics"><span class="std std-ref">Cyclics</span></a></p></li>
+</ul>
+<section id="events">
+<span id="observationlog-events"></span><h4>Events<a class="headerlink" href="#events" title="Link to this heading"></a></h4>
+<p>This section contains all events that occurred during the invocation.
+Event can either be triggered by an EventDetector, Manipulator or by certain vehicle components.
+They are used to track special behavior in the simulation.</p>
+<table class="tight-table docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Attribute</p></th>
+<th class="head"><p>Description</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>Time</p></td>
+<td><p>Time in ms when the event occurred.</p></td>
+</tr>
+<tr class="row-odd"><td><p>Source</p></td>
+<td><p>Name of the component which created the event.
+<code class="docutils literal notranslate"><span class="pre">OpenSCENARIO</span></code>, if triggered by an OpenSCENARIO condition.</p></td>
+</tr>
+<tr class="row-even"><td><p>Name</p></td>
+<td><p>In case of an OpenSCENARIO event, a path expression Story/Act/Sequence/Maneuver/Event
+using the names of the corresponding tags as described in the OpenSCENARIO file.
+Otherwise determined by the triggering component.</p></td>
+</tr>
+<tr class="row-odd"><td><p>TriggeringEntities</p></td>
+<td><p>List of entity IDs triggering this event.</p></td>
+</tr>
+<tr class="row-even"><td><p>AffectedEntities</p></td>
+<td><p>List of entity IDs affected by this event.</p></td>
+</tr>
+<tr class="row-odd"><td><p>Parameters</p></td>
+<td><p>List of generic key/value string pairs.</p></td>
+</tr>
+</tbody>
+</table>
+</section>
+<section id="important-events">
+<h4>Important Events<a class="headerlink" href="#important-events" title="Link to this heading"></a></h4>
+<p>Some of the Events are logged for other applications to use, for instance the <strong>openPASS</strong> Visualizer.
+These Events can be identified by their Name and are listed below:</p>
+<table class="tight-table docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Attribute</p></th>
+<th class="head"><p>Description</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>TrafficLight</p></td>
+<td><p>TrafficLight Events are triggered once a TrafficLightController changes the state of it’s
+Trafficlight bulbs. Parameters include the traffic_light_state and the opendrive_id which
+links to a dynamic signal in the scenery configuration. traffic_light_state is going to
+be used by the <strong>openPASS</strong> Visualizer. The initial state of the ThreeSignalsTrafficLight is posted too.</p></td>
+</tr>
+</tbody>
+</table>
+<p>The change in the active component of longitudinal and/or lateral control is also logged as event with name “ActiveComponentChange”.</p>
+</section>
+<section id="agents">
+<span id="observationlog-agents"></span><h4>Agents<a class="headerlink" href="#agents" title="Link to this heading"></a></h4>
+<p>This section contains some information on how each agent is configured.</p>
+<table class="tight-table docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Attribute</p></th>
+<th class="head"><p>Description</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>Id</p></td>
+<td><p>Identification number</p></td>
+</tr>
+<tr class="row-odd"><td><p>AgentTypeGroupName</p></td>
+<td><p>The agent category. This can either be Ego, Scenario or Common</p></td>
+</tr>
+<tr class="row-even"><td><p>AgentTypeName</p></td>
+<td><p>Name of the agent profile</p></td>
+</tr>
+<tr class="row-odd"><td><p>VehicleModelType</p></td>
+<td><p>Name of the vehicle model</p></td>
+</tr>
+<tr class="row-even"><td><p>DriverProfileName</p></td>
+<td><p>Name of the driver profile</p></td>
+</tr>
+</tbody>
+</table>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;Agent</span><span class="w"> </span><span class="na">Id=</span><span class="s">&quot;0&quot;</span>
+<span class="w">       </span><span class="na">AgentTypeGroupName=</span><span class="s">&quot;Ego&quot;</span>
+<span class="w">       </span><span class="na">AgentTypeName=</span><span class="s">&quot;MiddleClassCarAgent&quot;</span>
+<span class="w">       </span><span class="na">VehicleModelType=</span><span class="s">&quot;car_bmw_7&quot;</span>
+<span class="w">       </span><span class="na">DriverProfileName=</span><span class="s">&quot;Regular&quot;</span><span class="nt">&gt;</span>
+</pre></div>
+</div>
+<p>The VehicleAttributes tag lists basic information of the vehicle parameters.</p>
+<table class="tight-table docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Attribute</p></th>
+<th class="head"><p>Description</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>Width</p></td>
+<td><p>Width of the vehicles bounding box</p></td>
+</tr>
+<tr class="row-odd"><td><p>Length</p></td>
+<td><p>Length of the vehicles bounding box</p></td>
+</tr>
+<tr class="row-even"><td><p>Height</p></td>
+<td><p>Height of the vehicles bounding box</p></td>
+</tr>
+<tr class="row-odd"><td><p>LongitudinalPivotOffset</p></td>
+<td><p>Distance between center of the bounding box and reference point of the agent.
+Positive distances are closer to the front of the vehicle.
+Negative distances are closer to the rear of the vehicle.</p></td>
+</tr>
+</tbody>
+</table>
+<p>The Components tag lists all instantiated components from the SystemProfile.</p>
+<table class="tight-table docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Attribute</p></th>
+<th class="head"><p>Description</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>Type</p></td>
+<td><p>Type of the component</p></td>
+</tr>
+<tr class="row-odd"><td><p>Profile</p></td>
+<td><p>Name of the component profile</p></td>
+</tr>
+</tbody>
+</table>
+<p>The Sensors tag lists all sensors of the agent and their parameters.</p>
+<table class="tight-table docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Attribute</p></th>
+<th class="head"><p>Description</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>Name</p></td>
+<td><p>Name of the component</p></td>
+</tr>
+<tr class="row-odd"><td><p>Model</p></td>
+<td><p>Type of the sensor</p></td>
+</tr>
+<tr class="row-even"><td><p>MountingPosLongitudinal</p></td>
+<td><p>Relative longitudinal position of the sensor in relation to the agent</p></td>
+</tr>
+<tr class="row-odd"><td><p>MountingPosLateral</p></td>
+<td><p>Relative lateral position of the sensor in relation to the agent</p></td>
+</tr>
+<tr class="row-even"><td><p>MountingPosHeight</p></td>
+<td><p>Relative height of the sensor in relation to the agent</p></td>
+</tr>
+<tr class="row-odd"><td><p>OrientationPitch</p></td>
+<td><p>Pitch rotation of the sensor in relation to the agent</p></td>
+</tr>
+<tr class="row-even"><td><p>OrientationYaw</p></td>
+<td><p>Yaw rotation of the sensor in relation to the agent</p></td>
+</tr>
+<tr class="row-odd"><td><p>OpeningAngleH</p></td>
+<td><p>Horizontal opening angle of the sensor</p></td>
+</tr>
+<tr class="row-even"><td><p>OpeningAngleV</p></td>
+<td><p>Vertical opening angle of the sensor</p></td>
+</tr>
+<tr class="row-odd"><td><p>DetectionRange</p></td>
+<td><p>Range how far the sensor reaches in m</p></td>
+</tr>
+</tbody>
+</table>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>Calculation of visual obstruction is currently supported only by the Geometric2D sensor.
+See <a class="reference internal" href="../configs/systemconfigblueprint.html#systemconfigblueprint"><span class="std std-ref">SystemConfigBlueprint</span></a> for configuration.</p>
+</div>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;Sensor</span><span class="w"> </span><span class="na">Name=</span><span class="s">&quot;Geometric2DFront&quot;</span>
+<span class="w">        </span><span class="na">Model=</span><span class="s">&quot;Geometric2D&quot;</span>
+<span class="w">        </span><span class="na">MountingPosLongitudinal=</span><span class="s">&quot;0&quot;</span>
+<span class="w">        </span><span class="na">MountingPosLateral=</span><span class="s">&quot;0&quot;</span>
+<span class="w">        </span><span class="na">MountingPosHeight=</span><span class="s">&quot;0.5&quot;</span>
+<span class="w">        </span><span class="na">OrientationPitch=</span><span class="s">&quot;0&quot;</span>
+<span class="w">        </span><span class="na">OrientationYaw=</span><span class="s">&quot;0&quot;</span>
+<span class="w">        </span><span class="na">OpeningAngleH=</span><span class="s">&quot;20&quot;</span>
+<span class="w">        </span><span class="na">OpeningAngleV=</span><span class="s">&quot;-999&quot;</span>
+<span class="w">        </span><span class="na">DetectionRange=</span><span class="s">&quot;300&quot;</span><span class="w"> </span><span class="nt">/&gt;</span>
+</pre></div>
+</div>
+</section>
+<section id="cyclics">
+<span id="observationlog-cyclics"></span><h4>Cyclics<a class="headerlink" href="#cyclics" title="Link to this heading"></a></h4>
+<p>If the parameter <code class="docutils literal notranslate"><span class="pre">LoggingCyclicsToCsv</span></code> is set to <code class="docutils literal notranslate"><span class="pre">false</span></code>, this section contains all logged parameters of the agents per time step.
+The tag <code class="docutils literal notranslate"><span class="pre">header</span></code> defines the layout of all samples.
+Each entry of the header consists of the agent id and the name of the logged value, in the form <code class="docutils literal notranslate"><span class="pre">ID:SAMPLE_NAME</span></code>.
+A sample contains all information for one specific time step.
+If an agent does not exist at the current time step, the value is ‘ ‘.</p>
+<p><strong>Example</strong></p>
+<p>In this example exist two agents with the ids 0 and 1.
+Two time steps were being tracked, one at 0 seconds and one at 100 ms.
+Agent 0 has a constant velocity of 30 m/s and starts at the position X: 100 and Y: 50.
+Agent 1 has a initial velocity of 40 m/s and starts at the position X: 200 and Y: 50.</p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;Cyclics&gt;</span>
+<span class="w">    </span><span class="nt">&lt;Header&gt;</span>00:VelocityEgo,<span class="w"> </span>00:XPosition,<span class="w"> </span>00:YPosition,<span class="w"> </span>00:YawAngle,<span class="w"> </span>01:VelocityEgo,<span class="w"> </span>01:XPosition,<span class="w"> </span>01:YPosition,<span class="w"> </span>01:YawAngle<span class="nt">&lt;/Header&gt;</span>
+<span class="w">    </span><span class="nt">&lt;Samples&gt;</span>
+<span class="w">        </span><span class="nt">&lt;Sample</span><span class="w"> </span><span class="na">Time=</span><span class="s">&quot;0&quot;</span><span class="nt">&gt;</span>30,<span class="w"> </span>100,<span class="w"> </span>50,<span class="w"> </span>0,<span class="w"> </span>40,<span class="w"> </span>200,<span class="w"> </span>50,<span class="w"> </span>0<span class="nt">&lt;/Sample&gt;</span>
+<span class="w">        </span><span class="nt">&lt;Sample</span><span class="w"> </span><span class="na">Time=</span><span class="s">&quot;100&quot;</span><span class="nt">&gt;</span>30,<span class="w"> </span>103,<span class="w"> </span>50,<span class="w"> </span>0,<span class="w"> </span>40,<span class="w"> </span>204,<span class="w"> </span>50,<span class="w"> </span>0<span class="nt">&lt;/Sample&gt;</span>
+<span class="w">    </span><span class="nt">&lt;/Samples&gt;</span>
+<span class="nt">&lt;/Cyclics&gt;</span>
+</pre></div>
+</div>
+<p>If the parameter <code class="docutils literal notranslate"><span class="pre">LoggingCyclicsToCsv</span></code> is set to <code class="docutils literal notranslate"><span class="pre">true</span></code>, this section only contains a reference to the corresponding CSV file, e.g.</p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;Cyclics&gt;</span>
+<span class="w">    </span><span class="nt">&lt;CyclicsFile&gt;</span>Cyclics_Run_000.csv<span class="nt">&lt;/CyclicsFile&gt;</span>
+<span class="nt">&lt;/Cyclics&gt;</span>
+</pre></div>
+</div>
+<p>For each invocation, the file number of the filename is incremented, starting with <code class="docutils literal notranslate"><span class="pre">Cyclics_Run_000.csv</span></code>.</p>
+</section>
+</section>
+<section id="cyclics-run">
+<h3>Cyclics_Run_###<a class="headerlink" href="#cyclics-run" title="Link to this heading"></a></h3>
+<p>This file contains the samples as described in :ref:’observationlog_cyclics’, but with the time step as leading column.</p>
+<p><strong>Example</strong></p>
+<table class="docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Timestep</p></th>
+<th class="head"><p>00:VelocityEgo</p></th>
+<th class="head"><p>00:XPosition</p></th>
+<th class="head"><p>00:YPosition</p></th>
+<th class="head"><p>00:YawAngle</p></th>
+<th class="head"><p>01:VelocityEgo</p></th>
+<th class="head"><p>01:XPosition</p></th>
+<th class="head"><p>01:YPosition</p></th>
+<th class="head"><p>01:YawAngle</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>0</p></td>
+<td><p>30</p></td>
+<td><p>100</p></td>
+<td><p>50</p></td>
+<td><p>0</p></td>
+<td><p>40</p></td>
+<td><p>200</p></td>
+<td><p>50</p></td>
+<td><p>0</p></td>
+</tr>
+<tr class="row-odd"><td><p>100</p></td>
+<td><p>30</p></td>
+<td><p>103</p></td>
+<td><p>50</p></td>
+<td><p>0</p></td>
+<td><p>40</p></td>
+<td><p>204</p></td>
+<td><p>50</p></td>
+<td><p>0</p></td>
+</tr>
+</tbody>
+</table>
+</section>
+</section>
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diff --git a/content/html/user_guide/outputs/observation_repository.html b/content/html/user_guide/outputs/observation_repository.html
index 2df3e684b287eaf3f43ec233b8d33915eea1bc1e..b29d2c7aa97d675453120a3f377dc4613c8c1e79 100644
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-  <section id="observation-entityrepository">
-<span id="id1"></span><h1>Observation_EntityRepository<a class="headerlink" href="#observation-entityrepository" title="Link to this heading"></a></h1>
-<p>This observer logs all entities generated for an experiment, split by run and/or persistence.
-In the following, the parametrization and generated outputs of the <code class="docutils literal notranslate"><span class="pre">Observation_EntityRepository</span></code> observer are described.</p>
-<section id="parametrization">
-<span id="observation-entityrepository-parametrization"></span><h2>Parametrization<a class="headerlink" href="#parametrization" title="Link to this heading"></a></h2>
-<p>Following parameters are supported:</p>
-<table class="tight-table docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Parameter</p></th>
-<th class="head"><p>Type</p></th>
-<th class="head"><p>Description</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>FilenamePrefix</p></td>
-<td><p>String</p></td>
-<td><p>(Optional) Prefix for the output files.
-Defaults to <code class="docutils literal notranslate"><span class="pre">Repository</span></code> resulting e.g. in <code class="docutils literal notranslate"><span class="pre">Repository_Run_00.csv</span></code>.</p></td>
-</tr>
-<tr class="row-odd"><td><p>WritePersistentEntities</p></td>
-<td><p>String</p></td>
-<td><p>Defines how persistent, ie cross-run entities such as stationary objects, are logged</p>
-<p>Options:</p>
-<ul class="simple">
-<li><p><strong>Consolidated</strong> (default): Logged together with non persistent entities and hence duplicated for each run.</p></li>
-<li><p><strong>Separate</strong>: Written once into <code class="docutils literal notranslate"><span class="pre">{FilenamePrefix}_Persistent.csv</span></code></p></li>
-<li><p><strong>Skip</strong>: No output.</p></li>
-</ul>
-</td>
-</tr>
-</tbody>
-</table>
-<div class="admonition warning">
-<p class="admonition-title">Warning</p>
-<p>The visualization is searching for files with the default <code class="docutils literal notranslate"><span class="pre">Repository</span></code> prefix, so don’t change it unless you have a reason to.</p>
-</div>
-<p><strong>Example</strong></p>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="w">      </span><span class="nt">&lt;Library&gt;</span>Observation_EntityRepository<span class="nt">&lt;/Library&gt;</span>
-<span class="w">      </span><span class="nt">&lt;Parameters&gt;</span>
-<span class="w">        </span><span class="cm">&lt;!-- If &quot;FilenamePrefix&quot; is skipped, defaults to Value=&quot;Repository&quot; --&gt;</span>
-<span class="w">        </span><span class="nt">&lt;String</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;FilenamePrefix&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;Repository&quot;</span><span class="nt">/&gt;</span>
-<span class="w">        </span><span class="cm">&lt;!-- If &quot;WritePersistentEntities&quot; is skipped, defaults to Value=&quot;Consolidated&quot;</span>
-<span class="cm">             Options: </span>
-<span class="cm">             - Consolidated: Concatenate with {FilenamePrefix}_Run_###.csv for each run</span>
-<span class="cm">             - Separate: Write to {FilenamePrefix}_Persistent.csv</span>
-<span class="cm">             - Skip: No output for persistent entities</span>
-<span class="cm">        --&gt;</span>
-<span class="w">        </span><span class="nt">&lt;String</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;WritePersistentEntities&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;Consolidated&quot;</span><span class="nt">/&gt;</span>
-<span class="w">      </span><span class="nt">&lt;/Parameters&gt;</span>
-</pre></div>
-</div>
-</section>
-<section id="output-files">
-<h2>Output Files<a class="headerlink" href="#output-files" title="Link to this heading"></a></h2>
-<section id="repository-run-csv">
-<span id="observation-entityrepository-run"></span><h3>Repository_Run_###.csv<a class="headerlink" href="#repository-run-csv" title="Link to this heading"></a></h3>
-<p>This file contains information about entities, which exist only within the given run.
-In other words, <code class="docutils literal notranslate"><span class="pre">Repository_Run_000.csv</span></code> will contain all moving objects, spawned within the first run (zero-based index).</p>
-<p><strong>Example</strong></p>
-<table class="docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>id</p></th>
-<th class="head"><p>group</p></th>
-<th class="head"><p>source</p></th>
-<th class="head"><p>version</p></th>
-<th class="head"><p>name</p></th>
-<th class="head"><p>secondary id</p></th>
-<th class="head"><p>type</p></th>
-<th class="head"><p>subtype</p></th>
-<th class="head"></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>0</p></td>
-<td><p>MovingObject</p></td>
-<td><p>OpenSCENARIO</p></td>
-<td></td>
-<td><p>Ego</p></td>
-<td></td>
-<td><p>Ego</p></td>
-<td></td>
-<td></td>
-</tr>
-<tr class="row-odd"><td><p>1</p></td>
-<td><p>MovingObject</p></td>
-<td><p>OpenSCENARIO</p></td>
-<td></td>
-<td><p>TF</p></td>
-<td></td>
-<td><p>Scenaro</p></td>
-<td></td>
-<td></td>
-</tr>
-<tr class="row-even"><td><p>2</p></td>
-<td><p>MovingObject</p></td>
-<td><p>OpenSCENARIO</p></td>
-<td></td>
-<td><p>S1</p></td>
-<td></td>
-<td><p>Scenaro</p></td>
-<td></td>
-<td></td>
-</tr>
-<tr class="row-odd"><td><p>3</p></td>
-<td><p>MovingObject</p></td>
-<td><p>OpenSCENARIO</p></td>
-<td></td>
-<td><p>S2</p></td>
-<td></td>
-<td><p>Scenaro</p></td>
-<td></td>
-<td></td>
-</tr>
-<tr class="row-even"><td><p>4</p></td>
-<td><p>MovingObject</p></td>
-<td><p>OpenSCENARIO</p></td>
-<td></td>
-<td><p>S3</p></td>
-<td></td>
-<td><p>Scenaro</p></td>
-<td></td>
-<td></td>
-</tr>
-<tr class="row-odd"><td><p>5</p></td>
-<td><p>MovingObject</p></td>
-<td><p>OpenSCENARIO</p></td>
-<td></td>
-<td></td>
-<td></td>
-<td><p>Common</p></td>
-<td></td>
-<td></td>
-</tr>
-<tr class="row-even"><td><p>6</p></td>
-<td><p>MovingObject</p></td>
-<td><p>OpenSCENARIO</p></td>
-<td></td>
-<td></td>
-<td></td>
-<td><p>Common</p></td>
-<td></td>
-<td></td>
-</tr>
-<tr class="row-odd"><td><p>7</p></td>
-<td><p>MovingObject</p></td>
-<td><p>OpenSCENARIO</p></td>
-<td></td>
-<td></td>
-<td></td>
-<td><p>Common</p></td>
-<td></td>
-<td></td>
-</tr>
-</tbody>
-</table>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>By convention, moving objects start with id 0.</p>
-</div>
-<p>If <code class="docutils literal notranslate"><span class="pre">WritePersistentEntities</span></code> is set to <code class="docutils literal notranslate"><span class="pre">Consolidated</span></code>, each file will also contain information about stationary objects, described below.</p>
-</section>
-<section id="repository-persistent-csv">
-<span id="observation-entityrepository-persistent"></span><h3>Repository_Persistent.csv<a class="headerlink" href="#repository-persistent-csv" title="Link to this heading"></a></h3>
-<p>This file contains information about entities, which exist in every single run.
-This includes mainly both objects (starting at 100000) and road elements (starting at 200000), defined by the <a class="reference internal" href="../configs/scenery.html#scenery"><span class="std std-ref">Scenery</span></a>.</p>
-<p><strong>Example</strong></p>
-<table class="docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>id</p></th>
-<th class="head"><p>group</p></th>
-<th class="head"><p>source</p></th>
-<th class="head"><p>version</p></th>
-<th class="head"><p>name</p></th>
-<th class="head"><p>secondary id</p></th>
-<th class="head"><p>type</p></th>
-<th class="head"><p>subtype</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>100000</p></td>
-<td><p>StationaryObject</p></td>
-<td><p>OpenDRIVE</p></td>
-<td><p>1.6</p></td>
-<td><p>Barrier</p></td>
-<td><p>barrier_01</p></td>
-<td><p>obstacle</p></td>
-<td></td>
-</tr>
-<tr class="row-odd"><td><p>100001</p></td>
-<td><p>StationaryObject</p></td>
-<td><p>OpenDRIVE</p></td>
-<td><p>1.6</p></td>
-<td><p>GuardRail</p></td>
-<td><p>guardrail_01</p></td>
-<td><p>railing</p></td>
-<td></td>
-</tr>
-<tr class="row-even"><td><p>100002</p></td>
-<td><p>StationaryObject</p></td>
-<td><p>OpenDRIVE</p></td>
-<td><p>1.6</p></td>
-<td><p>GuardRail</p></td>
-<td><p>guardrail_01</p></td>
-<td><p>railing</p></td>
-<td></td>
-</tr>
-<tr class="row-odd"><td><p>100003</p></td>
-<td><p>StationaryObject</p></td>
-<td><p>OpenDRIVE</p></td>
-<td><p>1.6</p></td>
-<td><p>GuardRail</p></td>
-<td><p>guardrail_01</p></td>
-<td><p>railing</p></td>
-<td></td>
-</tr>
-<tr class="row-even"><td><p>100004</p></td>
-<td><p>StationaryObject</p></td>
-<td><p>OpenDRIVE</p></td>
-<td><p>1.6</p></td>
-<td><p>GuardRail</p></td>
-<td><p>guardrail_01</p></td>
-<td><p>railing</p></td>
-<td></td>
-</tr>
-<tr class="row-odd"><td><p>100005</p></td>
-<td><p>StationaryObject</p></td>
-<td><p>OpenDRIVE</p></td>
-<td><p>1.6</p></td>
-<td><p>GuardRail</p></td>
-<td><p>guardrail_01</p></td>
-<td><p>railing</p></td>
-<td></td>
-</tr>
-<tr class="row-even"><td><p>100006</p></td>
-<td><p>StationaryObject</p></td>
-<td><p>OpenDRIVE</p></td>
-<td><p>1.6</p></td>
-<td><p>GuardRail</p></td>
-<td><p>guardrail_02</p></td>
-<td><p>railing</p></td>
-<td></td>
-</tr>
-<tr class="row-odd"><td><p>100007</p></td>
-<td><p>StationaryObject</p></td>
-<td><p>OpenDRIVE</p></td>
-<td><p>1.6</p></td>
-<td><p>GuardRail</p></td>
-<td><p>guardrail_02</p></td>
-<td><p>railing</p></td>
-<td></td>
-</tr>
-<tr class="row-even"><td><p>100008</p></td>
-<td><p>StationaryObject</p></td>
-<td><p>OpenDRIVE</p></td>
-<td><p>1.6</p></td>
-<td><p>GuardRail</p></td>
-<td><p>guardrail_02</p></td>
-<td><p>railing</p></td>
-<td></td>
-</tr>
-<tr class="row-odd"><td><p>100009</p></td>
-<td><p>StationaryObject</p></td>
-<td><p>OpenDRIVE</p></td>
-<td><p>1.6</p></td>
-<td><p>GuardRail</p></td>
-<td><p>guardrail_02</p></td>
-<td><p>railing</p></td>
-<td></td>
-</tr>
-<tr class="row-even"><td><p>100010</p></td>
-<td><p>StationaryObject</p></td>
-<td><p>OpenDRIVE</p></td>
-<td><p>1.6</p></td>
-<td><p>GuardRail</p></td>
-<td><p>guardrail_02</p></td>
-<td><p>railing</p></td>
-<td></td>
-</tr>
-<tr class="row-odd"><td><p>200000</p></td>
-<td><p>Others</p></td>
-<td><p>OpenDRIVE</p></td>
-<td><p>1.6</p></td>
-<td><p>LaneRoadMark</p></td>
-<td></td>
-<td><p>Solid</p></td>
-<td></td>
-</tr>
-<tr class="row-even"><td><p>200001</p></td>
-<td><p>Others</p></td>
-<td><p>OpenDRIVE</p></td>
-<td><p>1.6</p></td>
-<td><p>LaneRoadMark</p></td>
-<td></td>
-<td><p>Solid</p></td>
-<td></td>
-</tr>
-<tr class="row-odd"><td><p>200002</p></td>
-<td><p>Others</p></td>
-<td><p>OpenDRIVE</p></td>
-<td><p>1.6</p></td>
-<td><p>Lane</p></td>
-<td><p>-3</p></td>
-<td><p>Driving</p></td>
-<td></td>
-</tr>
-<tr class="row-even"><td><p>200003</p></td>
-<td><p>Others</p></td>
-<td><p>OpenDRIVE</p></td>
-<td><p>1.6</p></td>
-<td><p>LaneRoadMark</p></td>
-<td></td>
-<td><p>Broken</p></td>
-<td></td>
-</tr>
-<tr class="row-odd"><td><p>200004</p></td>
-<td><p>Others</p></td>
-<td><p>OpenDRIVE</p></td>
-<td><p>1.6</p></td>
-<td><p>Lane</p></td>
-<td><p>-2</p></td>
-<td><p>Driving</p></td>
-<td></td>
-</tr>
-<tr class="row-even"><td><p>200005</p></td>
-<td><p>Others</p></td>
-<td><p>OpenDRIVE</p></td>
-<td><p>1.6</p></td>
-<td><p>LaneRoadMark</p></td>
-<td></td>
-<td><p>Broken</p></td>
-<td></td>
-</tr>
-<tr class="row-odd"><td><p>200006</p></td>
-<td><p>Others</p></td>
-<td><p>OpenDRIVE</p></td>
-<td><p>1.6</p></td>
-<td><p>Lane</p></td>
-<td><p>-1</p></td>
-<td><p>Driving</p></td>
-<td></td>
-</tr>
-</tbody>
-</table>
-<p>Information coming from the source <a class="reference external" href="https://www.asam.net/standards/detail/opendrive/">OpenDRIVE</a> are mapped in the following manner:</p>
-<table class="docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Attribute</p></th>
-<th class="head"><p>Column</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>name</p></td>
-<td><p>name</p></td>
-</tr>
-<tr class="row-odd"><td><p>id</p></td>
-<td><p>secondary id</p></td>
-</tr>
-<tr class="row-even"><td><p>type</p></td>
-<td><p>type</p></td>
-</tr>
-<tr class="row-odd"><td><p>subtype</p></td>
-<td><p>subtype</p></td>
-</tr>
-</tbody>
-</table>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>Repeated OpenDRIVE objects are internally split into individual objects.
-E.g. a single guard rail object in OpenDRIVE, is split into individual openPASS objects having consecutive ids.
-In the example above, the OpenDRIVE object with (secondary) id <code class="docutils literal notranslate"><span class="pre">guardrail_01</span></code> is split into 5 individual openPASS objects with the closed id range from 100001 to 100005.</p>
-</div>
-</section>
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+             
+  <section id="observation-entityrepository">
+<span id="id1"></span><h1>Observation_EntityRepository<a class="headerlink" href="#observation-entityrepository" title="Link to this heading"></a></h1>
+<p>This observer logs all entities generated for an experiment, split by run and/or persistence.
+In the following, the parametrization and generated outputs of the <code class="docutils literal notranslate"><span class="pre">Observation_EntityRepository</span></code> observer are described.</p>
+<section id="parametrization">
+<span id="observation-entityrepository-parametrization"></span><h2>Parametrization<a class="headerlink" href="#parametrization" title="Link to this heading"></a></h2>
+<p>Following parameters are supported:</p>
+<table class="tight-table docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Parameter</p></th>
+<th class="head"><p>Type</p></th>
+<th class="head"><p>Description</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>FilenamePrefix</p></td>
+<td><p>String</p></td>
+<td><p>(Optional) Prefix for the output files.
+Defaults to <code class="docutils literal notranslate"><span class="pre">Repository</span></code> resulting e.g. in <code class="docutils literal notranslate"><span class="pre">Repository_Run_00.csv</span></code>.</p></td>
+</tr>
+<tr class="row-odd"><td><p>WritePersistentEntities</p></td>
+<td><p>String</p></td>
+<td><p>Defines how persistent, ie cross-run entities such as stationary objects, are logged</p>
+<p>Options:</p>
+<ul class="simple">
+<li><p><strong>Consolidated</strong> (default): Logged together with non persistent entities and hence duplicated for each run.</p></li>
+<li><p><strong>Separate</strong>: Written once into <code class="docutils literal notranslate"><span class="pre">{FilenamePrefix}_Persistent.csv</span></code></p></li>
+<li><p><strong>Skip</strong>: No output.</p></li>
+</ul>
+</td>
+</tr>
+</tbody>
+</table>
+<div class="admonition warning">
+<p class="admonition-title">Warning</p>
+<p>The visualization is searching for files with the default <code class="docutils literal notranslate"><span class="pre">Repository</span></code> prefix, so don’t change it unless you have a reason to.</p>
+</div>
+<p><strong>Example</strong></p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="w">      </span><span class="nt">&lt;Library&gt;</span>Observation_EntityRepository<span class="nt">&lt;/Library&gt;</span>
+<span class="w">      </span><span class="nt">&lt;Parameters&gt;</span>
+<span class="w">        </span><span class="cm">&lt;!-- If &quot;FilenamePrefix&quot; is skipped, defaults to Value=&quot;Repository&quot; --&gt;</span>
+<span class="w">        </span><span class="nt">&lt;String</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;FilenamePrefix&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;Repository&quot;</span><span class="nt">/&gt;</span>
+<span class="w">        </span><span class="cm">&lt;!-- If &quot;WritePersistentEntities&quot; is skipped, defaults to Value=&quot;Consolidated&quot;</span>
+<span class="cm">             Options: </span>
+<span class="cm">             - Consolidated: Concatenate with {FilenamePrefix}_Run_###.csv for each run</span>
+<span class="cm">             - Separate: Write to {FilenamePrefix}_Persistent.csv</span>
+<span class="cm">             - Skip: No output for persistent entities</span>
+<span class="cm">        --&gt;</span>
+<span class="w">        </span><span class="nt">&lt;String</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;WritePersistentEntities&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;Consolidated&quot;</span><span class="nt">/&gt;</span>
+<span class="w">      </span><span class="nt">&lt;/Parameters&gt;</span>
+</pre></div>
+</div>
+</section>
+<section id="output-files">
+<h2>Output Files<a class="headerlink" href="#output-files" title="Link to this heading"></a></h2>
+<section id="repository-run-csv">
+<span id="observation-entityrepository-run"></span><h3>Repository_Run_###.csv<a class="headerlink" href="#repository-run-csv" title="Link to this heading"></a></h3>
+<p>This file contains information about entities, which exist only within the given run.
+In other words, <code class="docutils literal notranslate"><span class="pre">Repository_Run_000.csv</span></code> will contain all moving objects, spawned within the first run (zero-based index).</p>
+<p><strong>Example</strong></p>
+<table class="docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>id</p></th>
+<th class="head"><p>group</p></th>
+<th class="head"><p>source</p></th>
+<th class="head"><p>version</p></th>
+<th class="head"><p>name</p></th>
+<th class="head"><p>secondary id</p></th>
+<th class="head"><p>type</p></th>
+<th class="head"><p>subtype</p></th>
+<th class="head"></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>0</p></td>
+<td><p>MovingObject</p></td>
+<td><p>OpenSCENARIO</p></td>
+<td></td>
+<td><p>Ego</p></td>
+<td></td>
+<td><p>Ego</p></td>
+<td></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>1</p></td>
+<td><p>MovingObject</p></td>
+<td><p>OpenSCENARIO</p></td>
+<td></td>
+<td><p>TF</p></td>
+<td></td>
+<td><p>Scenaro</p></td>
+<td></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>2</p></td>
+<td><p>MovingObject</p></td>
+<td><p>OpenSCENARIO</p></td>
+<td></td>
+<td><p>S1</p></td>
+<td></td>
+<td><p>Scenaro</p></td>
+<td></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>3</p></td>
+<td><p>MovingObject</p></td>
+<td><p>OpenSCENARIO</p></td>
+<td></td>
+<td><p>S2</p></td>
+<td></td>
+<td><p>Scenaro</p></td>
+<td></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>4</p></td>
+<td><p>MovingObject</p></td>
+<td><p>OpenSCENARIO</p></td>
+<td></td>
+<td><p>S3</p></td>
+<td></td>
+<td><p>Scenaro</p></td>
+<td></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>5</p></td>
+<td><p>MovingObject</p></td>
+<td><p>OpenSCENARIO</p></td>
+<td></td>
+<td></td>
+<td></td>
+<td><p>Common</p></td>
+<td></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>6</p></td>
+<td><p>MovingObject</p></td>
+<td><p>OpenSCENARIO</p></td>
+<td></td>
+<td></td>
+<td></td>
+<td><p>Common</p></td>
+<td></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>7</p></td>
+<td><p>MovingObject</p></td>
+<td><p>OpenSCENARIO</p></td>
+<td></td>
+<td></td>
+<td></td>
+<td><p>Common</p></td>
+<td></td>
+<td></td>
+</tr>
+</tbody>
+</table>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>By convention, moving objects start with id 0.</p>
+</div>
+<p>If <code class="docutils literal notranslate"><span class="pre">WritePersistentEntities</span></code> is set to <code class="docutils literal notranslate"><span class="pre">Consolidated</span></code>, each file will also contain information about stationary objects, described below.</p>
+</section>
+<section id="repository-persistent-csv">
+<span id="observation-entityrepository-persistent"></span><h3>Repository_Persistent.csv<a class="headerlink" href="#repository-persistent-csv" title="Link to this heading"></a></h3>
+<p>This file contains information about entities, which exist in every single run.
+This includes mainly both objects (starting at 100000) and road elements (starting at 200000), defined by the <a class="reference internal" href="../configs/scenery.html#scenery"><span class="std std-ref">Scenery</span></a>.</p>
+<p><strong>Example</strong></p>
+<table class="docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>id</p></th>
+<th class="head"><p>group</p></th>
+<th class="head"><p>source</p></th>
+<th class="head"><p>version</p></th>
+<th class="head"><p>name</p></th>
+<th class="head"><p>secondary id</p></th>
+<th class="head"><p>type</p></th>
+<th class="head"><p>subtype</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>100000</p></td>
+<td><p>StationaryObject</p></td>
+<td><p>OpenDRIVE</p></td>
+<td><p>1.6</p></td>
+<td><p>Barrier</p></td>
+<td><p>barrier_01</p></td>
+<td><p>obstacle</p></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>100001</p></td>
+<td><p>StationaryObject</p></td>
+<td><p>OpenDRIVE</p></td>
+<td><p>1.6</p></td>
+<td><p>GuardRail</p></td>
+<td><p>guardrail_01</p></td>
+<td><p>railing</p></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>100002</p></td>
+<td><p>StationaryObject</p></td>
+<td><p>OpenDRIVE</p></td>
+<td><p>1.6</p></td>
+<td><p>GuardRail</p></td>
+<td><p>guardrail_01</p></td>
+<td><p>railing</p></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>100003</p></td>
+<td><p>StationaryObject</p></td>
+<td><p>OpenDRIVE</p></td>
+<td><p>1.6</p></td>
+<td><p>GuardRail</p></td>
+<td><p>guardrail_01</p></td>
+<td><p>railing</p></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>100004</p></td>
+<td><p>StationaryObject</p></td>
+<td><p>OpenDRIVE</p></td>
+<td><p>1.6</p></td>
+<td><p>GuardRail</p></td>
+<td><p>guardrail_01</p></td>
+<td><p>railing</p></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>100005</p></td>
+<td><p>StationaryObject</p></td>
+<td><p>OpenDRIVE</p></td>
+<td><p>1.6</p></td>
+<td><p>GuardRail</p></td>
+<td><p>guardrail_01</p></td>
+<td><p>railing</p></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>100006</p></td>
+<td><p>StationaryObject</p></td>
+<td><p>OpenDRIVE</p></td>
+<td><p>1.6</p></td>
+<td><p>GuardRail</p></td>
+<td><p>guardrail_02</p></td>
+<td><p>railing</p></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>100007</p></td>
+<td><p>StationaryObject</p></td>
+<td><p>OpenDRIVE</p></td>
+<td><p>1.6</p></td>
+<td><p>GuardRail</p></td>
+<td><p>guardrail_02</p></td>
+<td><p>railing</p></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>100008</p></td>
+<td><p>StationaryObject</p></td>
+<td><p>OpenDRIVE</p></td>
+<td><p>1.6</p></td>
+<td><p>GuardRail</p></td>
+<td><p>guardrail_02</p></td>
+<td><p>railing</p></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>100009</p></td>
+<td><p>StationaryObject</p></td>
+<td><p>OpenDRIVE</p></td>
+<td><p>1.6</p></td>
+<td><p>GuardRail</p></td>
+<td><p>guardrail_02</p></td>
+<td><p>railing</p></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>100010</p></td>
+<td><p>StationaryObject</p></td>
+<td><p>OpenDRIVE</p></td>
+<td><p>1.6</p></td>
+<td><p>GuardRail</p></td>
+<td><p>guardrail_02</p></td>
+<td><p>railing</p></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>200000</p></td>
+<td><p>Others</p></td>
+<td><p>OpenDRIVE</p></td>
+<td><p>1.6</p></td>
+<td><p>LaneRoadMark</p></td>
+<td></td>
+<td><p>Solid</p></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>200001</p></td>
+<td><p>Others</p></td>
+<td><p>OpenDRIVE</p></td>
+<td><p>1.6</p></td>
+<td><p>LaneRoadMark</p></td>
+<td></td>
+<td><p>Solid</p></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>200002</p></td>
+<td><p>Others</p></td>
+<td><p>OpenDRIVE</p></td>
+<td><p>1.6</p></td>
+<td><p>Lane</p></td>
+<td><p>-3</p></td>
+<td><p>Driving</p></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>200003</p></td>
+<td><p>Others</p></td>
+<td><p>OpenDRIVE</p></td>
+<td><p>1.6</p></td>
+<td><p>LaneRoadMark</p></td>
+<td></td>
+<td><p>Broken</p></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>200004</p></td>
+<td><p>Others</p></td>
+<td><p>OpenDRIVE</p></td>
+<td><p>1.6</p></td>
+<td><p>Lane</p></td>
+<td><p>-2</p></td>
+<td><p>Driving</p></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>200005</p></td>
+<td><p>Others</p></td>
+<td><p>OpenDRIVE</p></td>
+<td><p>1.6</p></td>
+<td><p>LaneRoadMark</p></td>
+<td></td>
+<td><p>Broken</p></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>200006</p></td>
+<td><p>Others</p></td>
+<td><p>OpenDRIVE</p></td>
+<td><p>1.6</p></td>
+<td><p>Lane</p></td>
+<td><p>-1</p></td>
+<td><p>Driving</p></td>
+<td></td>
+</tr>
+</tbody>
+</table>
+<p>Information coming from the source <a class="reference external" href="https://www.asam.net/standards/detail/opendrive/">OpenDRIVE</a> are mapped in the following manner:</p>
+<table class="docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Attribute</p></th>
+<th class="head"><p>Column</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>name</p></td>
+<td><p>name</p></td>
+</tr>
+<tr class="row-odd"><td><p>id</p></td>
+<td><p>secondary id</p></td>
+</tr>
+<tr class="row-even"><td><p>type</p></td>
+<td><p>type</p></td>
+</tr>
+<tr class="row-odd"><td><p>subtype</p></td>
+<td><p>subtype</p></td>
+</tr>
+</tbody>
+</table>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>Repeated OpenDRIVE objects are internally split into individual objects.
+E.g. a single guard rail object in OpenDRIVE, is split into individual openPASS objects having consecutive ids.
+In the example above, the OpenDRIVE object with (secondary) id <code class="docutils literal notranslate"><span class="pre">guardrail_01</span></code> is split into 5 individual openPASS objects with the closed id range from 100001 to 100005.</p>
+</div>
+</section>
+</section>
+</section>
+
+
+           </div>
+          </div>
+          <footer><div class="rst-footer-buttons" role="navigation" aria-label="Footer">
+        <a href="observation_log.html" class="btn btn-neutral float-left" title="Observation_Log" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> Previous</a>
+        <a href="../configs/staticsystemconfig.html" class="btn btn-neutral float-right" title="Static SystemConfig" accesskey="n" rel="next">Next <span class="fa fa-arrow-circle-right" aria-hidden="true"></span></a>
+    </div>
+
+  <hr/>
+
+  <div role="contentinfo">
+    <p>&#169; Copyright 2025 openPASS Working Group.</p>
+  </div>
+
+  Built with <a href="https://www.sphinx-doc.org/">Sphinx</a> using a
+    <a href="https://github.com/readthedocs/sphinx_rtd_theme">theme</a>
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diff --git a/content/html/user_guide/sim_user_guide/10_overview.html b/content/html/user_guide/sim_user_guide/10_overview.html
index 7f3cfcf457c9346758b56b0d36dd89703cfcfa85..ff9d13070f4e82bc96c5ecd6a4a2c47a44a8a54a 100644
--- a/content/html/user_guide/sim_user_guide/10_overview.html
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-<p><strong>openPASS</strong> is a tool for executing a traffic based Monte-Carlo simulation and provides capabilities for the following two levels of variation:</p>
-<ol class="arabic simple">
-<li><p><strong>Experiment:</strong> Topmost, an experiment defines the domains of possible inputs, which shall be compared, such as <em>“traffic at high volume”</em> with <em>“traffic at low volume”</em>.
-In this sense, a parameter variation is done at a very coarse level, resulting in two sets of inputs.
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-For example, in the aforementioned situation <em>“traffic at high volume”</em>, it would generate participants at <em>“lower speeds”</em> and <em>“smaller gaps”</em>.
-Thereby parameterizable means, that the user has the freedom to define probabilities defining <em>“lower speed”</em> and <em>“smaller gaps”</em>.
-In each invocation, <strong>openPASS</strong> samples from these probabilities to generate a possible traffic situation under the given parameter variation.</p></li>
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+<li class="toctree-l1"><a class="reference internal" href="../../installation_guide/60_conan.html">Building with Conan</a></li>
+</ul>
+<p class="caption" role="heading"><span class="caption-text">User Guides</span></p>
+<ul class="current">
+<li class="toctree-l1"><a class="reference internal" href="../10_overview.html">Overview</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../20_tutorials.html">Tutorials</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../30_configs_in_depth.html">Configs in Depth</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../40_outputs_in_depth.html">Outputs in Depth</a></li>
+<li class="toctree-l1 current"><a class="reference internal" href="../50_scenario_simulation.html">Simulator</a><ul class="current">
+<li class="toctree-l2 current"><a class="current reference internal" href="#">Overview</a></li>
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+</ul>
+</li>
+</ul>
+<p class="caption" role="heading"><span class="caption-text">Advanced topics</span></p>
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="../../advanced_topics/20_simulator_advanced.html">Simulator</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../advanced_topics/30_testing.html">EndToEnd Test Framework</a></li>
+</ul>
+<p class="caption" role="heading"><span class="caption-text">Developer Information</span></p>
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="../../developer_information/10_ide_support.html">IDE Support</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../developer_information/20_documentation.html">Documentation Concept</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../developer_information/30_coding_conventions.html">Coding Guidelines</a></li>
+</ul>
+<p class="caption" role="heading"><span class="caption-text">Other Information</span></p>
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="../../other_information/10_external_dependencies.html">External Dependencies</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../other_information/20_glossary.html">Glossary</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../other_information/30_gui_plugins.html">GUI Plugins</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../other_information/40_license.html">License</a></li>
+</ul>
+
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+           <div itemprop="articleBody">
+             
+  <section id="overview">
+<h1>Overview<a class="headerlink" href="#overview" title="Link to this heading"></a></h1>
+<p><strong>openPASS</strong> is a tool for executing a traffic based Monte-Carlo simulation and provides capabilities for the following two levels of variation:</p>
+<ol class="arabic simple">
+<li><p><strong>Experiment:</strong> Topmost, an experiment defines the domains of possible inputs, which shall be compared, such as <em>“traffic at high volume”</em> with <em>“traffic at low volume”</em>.
+In this sense, a parameter variation is done at a very coarse level, resulting in two sets of inputs.
+Note that this level is covered by the GUI (see <a class="reference internal" href="../tutorials/20_pcm_simulation.html#pcm-simulation-guide"><span class="std std-ref">PCM Simulation</span></a>).</p></li>
+<li><p><strong>Invocation:</strong> When an input-set is available, <strong>openPASS</strong> invokes a defined number of runs, resulting in a probabilistic sampling of the given state under parameterizable conditions.
+For example, in the aforementioned situation <em>“traffic at high volume”</em>, it would generate participants at <em>“lower speeds”</em> and <em>“smaller gaps”</em>.
+Thereby parameterizable means, that the user has the freedom to define probabilities defining <em>“lower speed”</em> and <em>“smaller gaps”</em>.
+In each invocation, <strong>openPASS</strong> samples from these probabilities to generate a possible traffic situation under the given parameter variation.</p></li>
+</ol>
+</section>
+
+
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diff --git a/content/html/user_guide/sim_user_guide/20_components.html b/content/html/user_guide/sim_user_guide/20_components.html
index 6ae03efd060c42cba6331f3caa1d45cebbbda240..020c48f5174ed17ebb523ab7c556b5ebf30840f3 100644
--- a/content/html/user_guide/sim_user_guide/20_components.html
+++ b/content/html/user_guide/sim_user_guide/20_components.html
@@ -1,263 +1,264 @@
-<!DOCTYPE html>
-<html class="writer-html5" lang="en" >
-<head>
-  <meta charset="utf-8" /><meta name="viewport" content="width=device-width, initial-scale=1" />
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-  <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-  <title>Component View &mdash; openPASS Documentation</title>
-      <link rel="stylesheet" href="../../_static/pygments.css" type="text/css" />
-      <link rel="stylesheet" href="../../_static/css/theme.css" type="text/css" />
-      <link rel="stylesheet" href="../../_static/css/custom.css" type="text/css" />
-      <link rel="stylesheet" href="../../_static/tabs.css" type="text/css" />
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-    <link rel="index" title="Index" href="../../genindex.html" />
-    <link rel="search" title="Search" href="../../search.html" />
-    <link rel="next" title="Algorithm_Lateral" href="components/algorithm_lateral.html" />
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-            openPASS
-              <img src="../../_static/openPASS.png" class="logo" alt="Logo"/>
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-              <div class="version">
-                1.1.0
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-<div role="search">
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-              <p class="caption" role="heading"><span class="caption-text">Installation Guide</span></p>
-<ul>
-<li class="toctree-l1"><a class="reference internal" href="../../installation_guide/10_getting_started.html">Getting Started</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../../installation_guide/15_system_requirements.html">System Requirements</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../../installation_guide/20_install_prerequisites.html">Installing Prerequisites</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../../installation_guide/30_install_openpass.html">Installing openPASS</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../../installation_guide/50_further_guidance.html">Further Guidance</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../../installation_guide/60_conan.html">Building with Conan</a></li>
-</ul>
-<p class="caption" role="heading"><span class="caption-text">User Guides</span></p>
-<ul class="current">
-<li class="toctree-l1"><a class="reference internal" href="../10_overview.html">Overview</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../20_tutorials.html">Tutorials</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../30_configs_in_depth.html">Configs in Depth</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../40_outputs_in_depth.html">Outputs in Depth</a></li>
-<li class="toctree-l1 current"><a class="reference internal" href="../50_scenario_simulation.html">Simulator</a><ul class="current">
-<li class="toctree-l2"><a class="reference internal" href="10_overview.html">Overview</a></li>
-<li class="toctree-l2 current"><a class="current reference internal" href="#">Component View</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="#components-in-depth">Components in Depth</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="components/algorithm_lateral.html">Algorithm_Lateral</a></li>
-<li class="toctree-l4"><a class="reference internal" href="components/algorithm_longitudinal.html">Algorithm_Longitudinal</a></li>
-<li class="toctree-l4"><a class="reference internal" href="components/driver.html">Driver</a></li>
-<li class="toctree-l4"><a class="reference internal" href="components/dynamics_regular_driving.html">Dynamics_RegularDriving</a></li>
-<li class="toctree-l4"><a class="reference internal" href="components/dynamics_scenario.html">Dynamics_Scenario</a></li>
-<li class="toctree-l4"><a class="reference internal" href="components/sensor_driver.html">Sensor_Driver</a></li>
-<li class="toctree-l4"><a class="reference internal" href="components/spawner.html">Spawner</a></li>
-<li class="toctree-l4"><a class="reference internal" href="components/vehicle.html">VehicleComponents</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
-<p class="caption" role="heading"><span class="caption-text">Advanced topics</span></p>
-<ul>
-<li class="toctree-l1"><a class="reference internal" href="../../advanced_topics/20_simulator_advanced.html">Simulator</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../../advanced_topics/30_testing.html">EndToEnd Test Framework</a></li>
-</ul>
-<p class="caption" role="heading"><span class="caption-text">Developer Information</span></p>
-<ul>
-<li class="toctree-l1"><a class="reference internal" href="../../developer_information/10_ide_support.html">IDE Support</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../../developer_information/20_documentation.html">Documentation Concept</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../../developer_information/30_coding_conventions.html">Coding Guidelines</a></li>
-</ul>
-<p class="caption" role="heading"><span class="caption-text">Other Information</span></p>
-<ul>
-<li class="toctree-l1"><a class="reference internal" href="../../other_information/10_external_dependencies.html">External Dependencies</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../../other_information/20_glossary.html">Glossary</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../../other_information/30_gui_plugins.html">GUI Plugins</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../../other_information/40_license.html">License</a></li>
-</ul>
-
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-      </div>
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-
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-             
-  <section id="component-view">
-<h1>Component View<a class="headerlink" href="#component-view" title="Link to this heading"></a></h1>
-<p><strong>openPASS</strong> is divided into components, which can be roughly divided into <strong>core components</strong> and <strong>model components</strong>.
-The most interesting core components are the individual <strong>spawners</strong>, which are responsible for populating the world in a realistic fashion.
-Model components are again roughly divided into <strong>drivers</strong> and <strong>vehicle components</strong> and represent how an individual participant is composed.</p>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>There are several additional components acting in the background, making sure things work as they should.
-As a guideline, components parameterized through the <strong>ProfilesCatalog</strong> are scope of this guide, others not.</p>
-</div>
-<section id="components-in-depth">
-<span id="simuserguide-components"></span><h2>Components in Depth<a class="headerlink" href="#components-in-depth" title="Link to this heading"></a></h2>
-<p>In the following, all available components are described.</p>
-<div class="toctree-wrapper compound">
-<ul>
-<li class="toctree-l1"><a class="reference internal" href="components/algorithm_lateral.html">Algorithm_Lateral</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="components/algorithm_lateral.html#detailed-description-of-the-module-s-features">Detailed description of the module’s features</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="components/algorithm_lateral.html#lateral-dynamics">Lateral dynamics</a></li>
-<li class="toctree-l3"><a class="reference internal" href="components/algorithm_lateral.html#heading-controller">Heading controller</a></li>
-<li class="toctree-l3"><a class="reference internal" href="components/algorithm_lateral.html#lateral-deviation-controller">Lateral deviation controller</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="components/algorithm_longitudinal.html">Algorithm_Longitudinal</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="components/algorithm_longitudinal.html#detailed-description-of-the-module-s-features">Detailed description of the module’s features</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="components/algorithm_longitudinal.html#inverted-longitudinal-dynamics-model">Inverted longitudinal dynamics model</a></li>
-<li class="toctree-l3"><a class="reference internal" href="components/algorithm_longitudinal.html#algorithm-for-optimal-gear-determination">Algorithm for optimal gear determination</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="components/driver.html">Driver</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="components/driver.html#algorithmagentfollowingdrivermodel">AlgorithmAgentFollowingDriverModel</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="components/driver.html#lateral-control">Lateral control</a></li>
-<li class="toctree-l3"><a class="reference internal" href="components/driver.html#longitudinal-control">Longitudinal control</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="components/dynamics_regular_driving.html">Dynamics_RegularDriving</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="components/dynamics_regular_driving.html#overview-of-the-module-s-functionalities">Overview of the module’s functionalities</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="components/dynamics_regular_driving.html#longitudinal-dynamics">Longitudinal dynamics</a></li>
-<li class="toctree-l3"><a class="reference internal" href="components/dynamics_regular_driving.html#lateral-dynamics">Lateral dynamics</a></li>
-<li class="toctree-l3"><a class="reference internal" href="components/dynamics_regular_driving.html#updating-position">Updating position</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="components/dynamics_scenario.html">Dynamics_Scenario</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="components/dynamics_scenario.html#defaultstrategies">DefaultStrategies</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="components/dynamics_scenario.html#keepvelocity-longitudinal">KeepVelocity - longitudinal</a></li>
-<li class="toctree-l3"><a class="reference internal" href="components/dynamics_scenario.html#keeplaneoffset-lateral">KeepLaneOffset - lateral</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="components/dynamics_scenario.html#strategies">Strategies</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="components/dynamics_scenario.html#followvelocityspline-longitudinal">FollowVelocitySpline - longitudinal</a></li>
-<li class="toctree-l3"><a class="reference internal" href="components/dynamics_scenario.html#performchangelane-lateral">PerformChangeLane - lateral</a></li>
-<li class="toctree-l3"><a class="reference internal" href="components/dynamics_scenario.html#followtrajectory-both">FollowTrajectory - both</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="components/sensor_driver.html">Sensor_Driver</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="components/sensor_driver.html#components-of-the-module">Components of the module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="components/sensor_driver.html#ownvehiclestates">OwnVehicleStates</a></li>
-<li class="toctree-l3"><a class="reference internal" href="components/sensor_driver.html#trafficruleinformation">TrafficRuleInformation</a></li>
-<li class="toctree-l3"><a class="reference internal" href="components/sensor_driver.html#geometryinformation">GeometryInformation</a></li>
-<li class="toctree-l3"><a class="reference internal" href="components/sensor_driver.html#surroundingobjects">SurroundingObjects</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="components/spawner.html">Spawner</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="components/spawner.html#prerunspawner">PreRunSpawner</a></li>
-<li class="toctree-l2"><a class="reference internal" href="components/spawner.html#runtimespawner">RuntimeSpawner</a></li>
-<li class="toctree-l2"><a class="reference internal" href="components/spawner.html#trafficgroups">TrafficGroups</a></li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="components/vehicle.html">VehicleComponents</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="components/vehicle.html#aeb">AEB</a></li>
-<li class="toctree-l2"><a class="reference internal" href="components/vehicle.html#dynamicstrajectoryfollower">DynamicsTrajectoryFollower</a></li>
-<li class="toctree-l2"><a class="reference internal" href="components/vehicle.html#fmu-wrapper">FMU Wrapper</a></li>
-<li class="toctree-l2"><a class="reference internal" href="components/vehicle.html#sensorgeometric2d">SensorGeometric2D</a></li>
-<li class="toctree-l2"><a class="reference internal" href="components/vehicle.html#receivercar2x">ReceiverCar2X</a></li>
-<li class="toctree-l2"><a class="reference internal" href="components/vehicle.html#ssp">SSP</a></li>
-<li class="toctree-l2"><a class="reference internal" href="components/vehicle.html#vehicledynamics">VehicleDynamics</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="components/vehicle.html#actionsteeringsystem">ActionSteeringSystem</a></li>
-<li class="toctree-l3"><a class="reference internal" href="components/vehicle.html#actionpowertrain">ActionPowertrain</a></li>
-<li class="toctree-l3"><a class="reference internal" href="components/vehicle.html#actionbrakesystem">ActionBrakeSystem</a></li>
-<li class="toctree-l3"><a class="reference internal" href="components/vehicle.html#dynamicschassis">DynamicsChassis</a></li>
-<li class="toctree-l3"><a class="reference internal" href="components/vehicle.html#dynamicstiremodel">DynamicsTireModel</a></li>
-<li class="toctree-l3"><a class="reference internal" href="components/vehicle.html#dynamicsmotionmodel">DynamicsMotionModel</a></li>
-</ul>
-</li>
-</ul>
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+<li class="toctree-l1"><a class="reference internal" href="../../installation_guide/30_install_openpass.html">Installing openPASS</a></li>
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+<li class="toctree-l1"><a class="reference internal" href="../../installation_guide/60_conan.html">Building with Conan</a></li>
+</ul>
+<p class="caption" role="heading"><span class="caption-text">User Guides</span></p>
+<ul class="current">
+<li class="toctree-l1"><a class="reference internal" href="../10_overview.html">Overview</a></li>
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+<li class="toctree-l1"><a class="reference internal" href="../30_configs_in_depth.html">Configs in Depth</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../40_outputs_in_depth.html">Outputs in Depth</a></li>
+<li class="toctree-l1 current"><a class="reference internal" href="../50_scenario_simulation.html">Simulator</a><ul class="current">
+<li class="toctree-l2"><a class="reference internal" href="10_overview.html">Overview</a></li>
+<li class="toctree-l2 current"><a class="current reference internal" href="#">Component View</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="#components-in-depth">Components in Depth</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="components/algorithm_lateral.html">Algorithm_Lateral</a></li>
+<li class="toctree-l4"><a class="reference internal" href="components/algorithm_longitudinal.html">Algorithm_Longitudinal</a></li>
+<li class="toctree-l4"><a class="reference internal" href="components/driver.html">Driver</a></li>
+<li class="toctree-l4"><a class="reference internal" href="components/dynamics_regular_driving.html">Dynamics_RegularDriving</a></li>
+<li class="toctree-l4"><a class="reference internal" href="components/dynamics_scenario.html">Dynamics_Scenario</a></li>
+<li class="toctree-l4"><a class="reference internal" href="components/sensor_driver.html">Sensor_Driver</a></li>
+<li class="toctree-l4"><a class="reference internal" href="components/spawner.html">Spawner</a></li>
+<li class="toctree-l4"><a class="reference internal" href="components/vehicle.html">VehicleComponents</a></li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
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+<p class="caption" role="heading"><span class="caption-text">Advanced topics</span></p>
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="../../advanced_topics/20_simulator_advanced.html">Simulator</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../advanced_topics/30_testing.html">EndToEnd Test Framework</a></li>
+</ul>
+<p class="caption" role="heading"><span class="caption-text">Developer Information</span></p>
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="../../developer_information/10_ide_support.html">IDE Support</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../developer_information/20_documentation.html">Documentation Concept</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../developer_information/30_coding_conventions.html">Coding Guidelines</a></li>
+</ul>
+<p class="caption" role="heading"><span class="caption-text">Other Information</span></p>
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="../../other_information/10_external_dependencies.html">External Dependencies</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../other_information/20_glossary.html">Glossary</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../other_information/30_gui_plugins.html">GUI Plugins</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../other_information/40_license.html">License</a></li>
+</ul>
+
+        </div>
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+          <a href="../../index.html">openPASS</a>
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+          <div role="navigation" aria-label="Page navigation">
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+          <li class="breadcrumb-item"><a href="../50_scenario_simulation.html">Simulator</a></li>
+      <li class="breadcrumb-item active">Component View</li>
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+            <a href="../../_sources/user_guide/sim_user_guide/20_components.rst.txt" rel="nofollow"> View page source</a>
+      </li>
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+  <hr/>
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+          <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
+           <div itemprop="articleBody">
+             
+  <section id="component-view">
+<h1>Component View<a class="headerlink" href="#component-view" title="Link to this heading"></a></h1>
+<p><strong>openPASS</strong> is divided into components, which can be roughly divided into <strong>core components</strong> and <strong>model components</strong>.
+The most interesting core components are the individual <strong>spawners</strong>, which are responsible for populating the world in a realistic fashion.
+Model components are again roughly divided into <strong>drivers</strong> and <strong>vehicle components</strong> and represent how an individual participant is composed.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>There are several additional components acting in the background, making sure things work as they should.
+As a guideline, components parameterized through the <strong>ProfilesCatalog</strong> are scope of this guide, others not.</p>
+</div>
+<section id="components-in-depth">
+<span id="simuserguide-components"></span><h2>Components in Depth<a class="headerlink" href="#components-in-depth" title="Link to this heading"></a></h2>
+<p>In the following, all available components are described.</p>
+<div class="toctree-wrapper compound">
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="components/algorithm_lateral.html">Algorithm_Lateral</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="components/algorithm_lateral.html#detailed-description-of-the-module-s-features">Detailed description of the module’s features</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="components/algorithm_lateral.html#lateral-dynamics">Lateral dynamics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="components/algorithm_lateral.html#heading-controller">Heading controller</a></li>
+<li class="toctree-l3"><a class="reference internal" href="components/algorithm_lateral.html#lateral-deviation-controller">Lateral deviation controller</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="components/algorithm_longitudinal.html">Algorithm_Longitudinal</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="components/algorithm_longitudinal.html#detailed-description-of-the-module-s-features">Detailed description of the module’s features</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="components/algorithm_longitudinal.html#inverted-longitudinal-dynamics-model">Inverted longitudinal dynamics model</a></li>
+<li class="toctree-l3"><a class="reference internal" href="components/algorithm_longitudinal.html#algorithm-for-optimal-gear-determination">Algorithm for optimal gear determination</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="components/driver.html">Driver</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="components/driver.html#algorithmagentfollowingdrivermodel">AlgorithmAgentFollowingDriverModel</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="components/driver.html#lateral-control">Lateral control</a></li>
+<li class="toctree-l3"><a class="reference internal" href="components/driver.html#longitudinal-control">Longitudinal control</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="components/dynamics_regular_driving.html">Dynamics_RegularDriving</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="components/dynamics_regular_driving.html#overview-of-the-module-s-functionalities">Overview of the module’s functionalities</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="components/dynamics_regular_driving.html#longitudinal-dynamics">Longitudinal dynamics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="components/dynamics_regular_driving.html#lateral-dynamics">Lateral dynamics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="components/dynamics_regular_driving.html#updating-position">Updating position</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="components/dynamics_scenario.html">Dynamics_Scenario</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="components/dynamics_scenario.html#defaultstrategies">DefaultStrategies</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="components/dynamics_scenario.html#keepvelocity-longitudinal">KeepVelocity - longitudinal</a></li>
+<li class="toctree-l3"><a class="reference internal" href="components/dynamics_scenario.html#keeplaneoffset-lateral">KeepLaneOffset - lateral</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="components/dynamics_scenario.html#strategies">Strategies</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="components/dynamics_scenario.html#followvelocityspline-longitudinal">FollowVelocitySpline - longitudinal</a></li>
+<li class="toctree-l3"><a class="reference internal" href="components/dynamics_scenario.html#performchangelane-lateral">PerformChangeLane - lateral</a></li>
+<li class="toctree-l3"><a class="reference internal" href="components/dynamics_scenario.html#followtrajectory-both">FollowTrajectory - both</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="components/sensor_driver.html">Sensor_Driver</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="components/sensor_driver.html#components-of-the-module">Components of the module</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="components/sensor_driver.html#ownvehiclestates">OwnVehicleStates</a></li>
+<li class="toctree-l3"><a class="reference internal" href="components/sensor_driver.html#trafficruleinformation">TrafficRuleInformation</a></li>
+<li class="toctree-l3"><a class="reference internal" href="components/sensor_driver.html#geometryinformation">GeometryInformation</a></li>
+<li class="toctree-l3"><a class="reference internal" href="components/sensor_driver.html#surroundingobjects">SurroundingObjects</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="components/spawner.html">Spawner</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="components/spawner.html#prerunspawner">PreRunSpawner</a></li>
+<li class="toctree-l2"><a class="reference internal" href="components/spawner.html#runtimespawner">RuntimeSpawner</a></li>
+<li class="toctree-l2"><a class="reference internal" href="components/spawner.html#trafficgroups">TrafficGroups</a></li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="components/vehicle.html">VehicleComponents</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="components/vehicle.html#aeb">AEB</a></li>
+<li class="toctree-l2"><a class="reference internal" href="components/vehicle.html#dynamicstrajectoryfollower">DynamicsTrajectoryFollower</a></li>
+<li class="toctree-l2"><a class="reference internal" href="components/vehicle.html#fmu-wrapper">FMU Wrapper</a></li>
+<li class="toctree-l2"><a class="reference internal" href="components/vehicle.html#sensorgeometric2d">SensorGeometric2D</a></li>
+<li class="toctree-l2"><a class="reference internal" href="components/vehicle.html#receivercar2x">ReceiverCar2X</a></li>
+<li class="toctree-l2"><a class="reference internal" href="components/vehicle.html#ssp">SSP</a></li>
+<li class="toctree-l2"><a class="reference internal" href="components/vehicle.html#vehicledynamics">VehicleDynamics</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="components/vehicle.html#actionsteeringsystem">ActionSteeringSystem</a></li>
+<li class="toctree-l3"><a class="reference internal" href="components/vehicle.html#actionpowertrain">ActionPowertrain</a></li>
+<li class="toctree-l3"><a class="reference internal" href="components/vehicle.html#actionbrakesystem">ActionBrakeSystem</a></li>
+<li class="toctree-l3"><a class="reference internal" href="components/vehicle.html#dynamicschassis">DynamicsChassis</a></li>
+<li class="toctree-l3"><a class="reference internal" href="components/vehicle.html#dynamicstiremodel">DynamicsTireModel</a></li>
+<li class="toctree-l3"><a class="reference internal" href="components/vehicle.html#dynamicsmotionmodel">DynamicsMotionModel</a></li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+</div>
+</section>
+</section>
+
+
+           </div>
+          </div>
+          <footer><div class="rst-footer-buttons" role="navigation" aria-label="Footer">
+        <a href="10_overview.html" class="btn btn-neutral float-left" title="Overview" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> Previous</a>
+        <a href="components/algorithm_lateral.html" class="btn btn-neutral float-right" title="Algorithm_Lateral" accesskey="n" rel="next">Next <span class="fa fa-arrow-circle-right" aria-hidden="true"></span></a>
+    </div>
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+    <p>&#169; Copyright 2025 openPASS Working Group.</p>
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diff --git a/content/html/user_guide/sim_user_guide/components/algorithm_lateral.html b/content/html/user_guide/sim_user_guide/components/algorithm_lateral.html
index 494d73b26e28b96f3c92390e28f29d61548ff45b..d51064d82d8707683cbd5c628b4c30c15004323e 100644
--- a/content/html/user_guide/sim_user_guide/components/algorithm_lateral.html
+++ b/content/html/user_guide/sim_user_guide/components/algorithm_lateral.html
@@ -1,370 +1,371 @@
-<!DOCTYPE html>
-<html class="writer-html5" lang="en" >
-<head>
-  <meta charset="utf-8" /><meta name="viewport" content="width=device-width, initial-scale=1" />
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-  <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-  <title>Algorithm_Lateral &mdash; openPASS Documentation</title>
-      <link rel="stylesheet" href="../../../_static/pygments.css" type="text/css" />
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-            openPASS
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-              <p class="caption" role="heading"><span class="caption-text">Installation Guide</span></p>
-<ul>
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-<li class="toctree-l1"><a class="reference internal" href="../../../installation_guide/15_system_requirements.html">System Requirements</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../../../installation_guide/20_install_prerequisites.html">Installing Prerequisites</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../../../installation_guide/30_install_openpass.html">Installing openPASS</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../../../installation_guide/50_further_guidance.html">Further Guidance</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../../../installation_guide/60_conan.html">Building with Conan</a></li>
-</ul>
-<p class="caption" role="heading"><span class="caption-text">User Guides</span></p>
-<ul class="current">
-<li class="toctree-l1"><a class="reference internal" href="../../10_overview.html">Overview</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../../20_tutorials.html">Tutorials</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../../30_configs_in_depth.html">Configs in Depth</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../../40_outputs_in_depth.html">Outputs in Depth</a></li>
-<li class="toctree-l1 current"><a class="reference internal" href="../../50_scenario_simulation.html">Simulator</a><ul class="current">
-<li class="toctree-l2"><a class="reference internal" href="../10_overview.html">Overview</a></li>
-<li class="toctree-l2 current"><a class="reference internal" href="../20_components.html">Component View</a><ul class="current">
-<li class="toctree-l3 current"><a class="reference internal" href="../20_components.html#components-in-depth">Components in Depth</a><ul class="current">
-<li class="toctree-l4 current"><a class="current reference internal" href="#">Algorithm_Lateral</a></li>
-<li class="toctree-l4"><a class="reference internal" href="algorithm_longitudinal.html">Algorithm_Longitudinal</a></li>
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-  <section id="algorithm-lateral">
-<span id="id1"></span><h1>Algorithm_Lateral<a class="headerlink" href="#algorithm-lateral" title="Link to this heading"></a></h1>
-<p>This module is responsible for the control of the vehicle’s lateral behavior.
-It converts the lateral input of the driver module into a steering wheel angle.
-The steering wheel angle can then be forwarded to a vehicle dynamics
-module like <a class="reference internal" href="dynamics_regular_driving.html#dynamics-regular-driving"><span class="std std-ref">Dynamics_RegularDriving</span></a>.</p>
-<section id="detailed-description-of-the-module-s-features">
-<span id="algorithm-lateral-detailed-description"></span><h2>Detailed description of the module’s features<a class="headerlink" href="#detailed-description-of-the-module-s-features" title="Link to this heading"></a></h2>
-<p>Algorithm_Lateral receives its command variables from a driver behavior model (or an ADAS)
-and generates the steering wheel angle of the driver to match these command
-variables. The steering wheel angle parts of all controllers are summed up to
-the overall steering wheel angle of the driver, which is then sent to a vehicle
-dynamics module like <a class="reference internal" href="dynamics_regular_driving.html#dynamics-regular-driving"><span class="std std-ref">Dynamics_RegularDriving</span></a>.
-The control loop is closed by the movement of the vehicle in the world, which is
-again monitored by the driver behavior model. This overall control loop of
-vehicle lateral guidance involving Algorithm_Lateral is illustrated in the following image with the following variables:</p>
-<ul class="simple">
-<li><p><img class="math" src="../../../_images/math/6518029864d4abe20f5624f84c2a3fb5395f5818.png" alt="\kappa_{act}"/> is the actual curvature of the vehicle</p></li>
-</ul>
-<p>Four variables containing the information needed for the open-loop controller:</p>
-<ul class="simple">
-<li><p><img class="math" src="../../../_images/math/8ce6de673fb0a26f7371d24364b5f17956e817a3.png" alt="\kappa_{road}"/> is the curvature at the front center (i.e. center of the front of the bounding box) of the ego vehicle. It uses the vectors:</p></li>
-<li><p><img class="math" src="../../../_images/math/585c10b7760635a294104d6bd75b446fa33f7520.png" alt="\kappa_{segment,near}"/> containing the curvatures of several segments starting at the front center up to 2m in front of the vehicles leading edge</p></li>
-<li><p><img class="math" src="../../../_images/math/168469930df4357c57d598d42925d3e75db7cc85.png" alt="\kappa_{segment,far}"/> containing the curvatures of several segments starting 2m in front of the vehicle and ending 8m in front of it</p></li>
-<li><p><img class="math" src="../../../_images/math/7fc672839ad28bec4b6ad1b6ad9bbb10d1b2e587.png" alt="\kappa_{manoeuvre}"/> containing the curvature of the planned trajectory relative to the road</p></li>
-</ul>
-<p>Other variables:</p>
-<ul class="simple">
-<li><p><img class="math" src="../../../_images/math/a87531a368534c59bdc44fbd82f53e9967bebf35.png" alt="w_{act}"/> is the actual lateral position of the vehicle in the road coordinate system</p></li>
-<li><p><img class="math" src="../../../_images/math/6450616b75212cb568e905db49efd0c3dd584648.png" alt="\Delta"/> w is the lateral deviation</p></li>
-<li><p><img class="math" src="../../../_images/math/c3718c9d15cbad369164f65b0083453db6089390.png" alt="\phi_{act}"/> is the actual heading angle of the vehicle in the road coordinate system</p></li>
-<li><p><img class="math" src="../../../_images/math/6450616b75212cb568e905db49efd0c3dd584648.png" alt="\Delta"/><img class="math" src="../../../_images/math/fffd2357ee88a9c50ba9e831ed64c39c73d54a07.png" alt="\phi"/> is the heading error</p></li>
-<li><p><img class="math" src="../../../_images/math/a7af2094ee9c485678dd97bfa42a308fb4ad0292.png" alt="\delta_{h,\kappa}"/> is the steering wheel angle from the curvature controller</p></li>
-<li><p><img class="math" src="../../../_images/math/13166f7ebafb0f4497af4a92e7b579190b3f49ed.png" alt="\delta_{h,w}"/> is the steering wheel angle from the lateral deviation controller</p></li>
-<li><p><img class="math" src="../../../_images/math/34b6c151daffc3c434e429cf7780d55e2c7b7524.png" alt="\delta_{h,\phi}"/> is the steering wheel angle from the heading error controller</p></li>
-<li><p><img class="math" src="../../../_images/math/0e4c7fe45a4aa57ff07fcd90cc3e144dad9bb183.png" alt="\delta_h"/> is the overall steering wheel angle of the driver</p></li>
-</ul>
-<figure class="align-default" id="id2">
-<span id="image-lateralcontrollersignalflow"></span><img alt="Components and signal flow of the lateral guidance control loop" src="../../../_images/LateralControllerSignalFlow.png" />
-<figcaption>
-<p><span class="caption-text">Components and signal flow of the lateral guidance control loop</span><a class="headerlink" href="#id2" title="Link to this image"></a></p>
-</figcaption>
-</figure>
-<p>The following subsections describe the theoretical background and the transfer
-functions of the different controllers.</p>
-<section id="lateral-dynamics">
-<span id="algorithm-lateral-detailed-description-lateral-dynamics"></span><h3>Lateral dynamics<a class="headerlink" href="#lateral-dynamics" title="Link to this heading"></a></h3>
-<p>The lateral dynamics model is based on the Ackermann model which is a simple geometric
-expression for the relationship between the steering angle at the front wheels and
-the curvature the vehicle produces from it. It has several simplifications, where
-the most notable is the reduction of the wheels of one axle to a single surrogate
-wheel. This is suitable under the consideration that the steering angles of the front
-wheels are rather small and do not differ much between the left and the right
-front wheel. The first simplification may not hold up in city traffic with high
-curvatures. Therefore the closed-loop-controller must have increased gains in
-these situations. <img class="math" src="../../../_images/math/8ce6de673fb0a26f7371d24364b5f17956e817a3.png" alt="\kappa_{road}"/>, <img class="math" src="../../../_images/math/585c10b7760635a294104d6bd75b446fa33f7520.png" alt="\kappa_{segment,near}"/> and <img class="math" src="../../../_images/math/168469930df4357c57d598d42925d3e75db7cc85.png" alt="\kappa_{segment,far}"/> are smoothed and weighted before adding <img class="math" src="../../../_images/math/7fc672839ad28bec4b6ad1b6ad9bbb10d1b2e587.png" alt="\kappa_{manoeuvre}"/> to form <img class="math" src="../../../_images/math/66aaf332fffda2edd545312fae414f1008ac96e7.png" alt="\kappa_{target}"/>.</p>
-<p>The Ackermann model is illustrated in the following image with the following variables:</p>
-<ul class="simple">
-<li><p><img class="math" src="../../../_images/math/470aa65888a2971c9346e573f12b37ea406b8ec9.png" alt="l"/> is the wheelbase of the vehicle</p></li>
-<li><p><img class="math" src="../../../_images/math/652b9d8b65c10aed0fdcdbde47396c879ed5bd33.png" alt="\delta"/> is the surrogate steering angle at the front wheels towards the vehicle’s longitudinal axis</p></li>
-<li><p><img class="math" src="../../../_images/math/4abba779877abb276b98ccb2b4ba9bf2e41947ab.png" alt="M"/> is the instantaneous centre of rotation, around which the vehicle is driving on a curve</p></li>
-<li><p><img class="math" src="../../../_images/math/79a3d439d28652c547386f39b555d90d3aaf102d.png" alt="r"/> is the radius of the curve, which the vehicle is driving around M</p></li>
-<li><p><img class="math" src="../../../_images/math/261e3eb56c1757dd003745ee4cc53aa595565af1.png" alt="\kappa"/> is the curvature of this curve, which is simply the inverse of r</p></li>
-</ul>
-<figure class="align-default" id="id3">
-<span id="image-ackermannmodel"></span><img alt="Illustration of the Ackermann model" src="../../../_images/AckermannModel.svg" /><figcaption>
-<p><span class="caption-text">Illustration of the Ackermann model</span><a class="headerlink" href="#id3" title="Link to this image"></a></p>
-</figcaption>
-</figure>
-<p>In accordance to the current definitions of <a class="reference internal" href="../../../advanced_topics/simulator/coordinate_systems.html#coordinatesystems"><span class="std std-ref">coordinate systems</span></a>,
-the coordinate reference point of the vehicle is considered to be the rear axle center.
-Therefore, the curvature of the vehicle is also expressed towards the rear axle center
-and not to the centre of gravity, which is why the centre of gravity is not
-depicted in illustration of the Ackermann model.</p>
-<p>The equation derived from the Ackermann model states the following
-relation between the surrogate steering angle <img class="math" src="../../../_images/math/652b9d8b65c10aed0fdcdbde47396c879ed5bd33.png" alt="\delta"/> of the front wheels and
-the curvature <img class="math" src="../../../_images/math/261e3eb56c1757dd003745ee4cc53aa595565af1.png" alt="\kappa"/> described by the rear axle around the instantaneous
-centre of rotation <img class="math" src="../../../_images/math/4abba779877abb276b98ccb2b4ba9bf2e41947ab.png" alt="M"/>:</p>
-<div class="math">
-<p><img src="../../../_images/math/74f92e086f237d26ce895805a75a3794a20ea231.png" alt="\kappa = \frac{\tan(\delta)}{l}"/></p>
-</div><p>This equation can be inverted to express a required steering angle <img class="math" src="../../../_images/math/652b9d8b65c10aed0fdcdbde47396c879ed5bd33.png" alt="\delta"/> to
-adjust a specific curvature <img class="math" src="../../../_images/math/261e3eb56c1757dd003745ee4cc53aa595565af1.png" alt="\kappa"/>:</p>
-<div class="math">
-<p><img src="../../../_images/math/904ab3c787fc37ec90b00ea39276b005b3e68bb5.png" alt="\delta = \arctan(\kappa \cdot l)"/></p>
-</div><p>To convert this into the required steering wheel angle <img class="math" src="../../../_images/math/a7af2094ee9c485678dd97bfa42a308fb4ad0292.png" alt="\delta_{h,\kappa}"/>,
-the ratio <img class="math" src="../../../_images/math/bb5c6a531ccc8353d7d7634bf0aa0f50b23f0219.png" alt="i_s"/> of the steering gear must be applied:</p>
-<div class="math">
-<p><img src="../../../_images/math/14b20bf4e45cb8ae2ffce20e998b6a3ca46e840a.png" alt="\delta_{h, \kappa} = i_{s} \cdot \arctan(\kappa \cdot l)"/></p>
-</div><p>The vehicle parameters <img class="math" src="../../../_images/math/470aa65888a2971c9346e573f12b37ea406b8ec9.png" alt="l"/> and <img class="math" src="../../../_images/math/bb5c6a531ccc8353d7d7634bf0aa0f50b23f0219.png" alt="i_s"/> are received from the module <a class="reference internal" href="../../../advanced_topics/simulator/agent_components.html#parameters-vehicle"><span class="std std-ref">Parameters_Vehicle</span></a>.</p>
-</section>
-<section id="heading-controller">
-<span id="algorithm-lateral-detailed-description-control-heading"></span><h3>Heading controller<a class="headerlink" href="#heading-controller" title="Link to this heading"></a></h3>
-<p>The heading controller is designed as a simple proportional controller.
-The general transfer function of a P-controller with the input signal heading
-error <img class="math" src="../../../_images/math/bf31fd4198da89cf275d011551e51296f3a25d00.png" alt="\Delta\phi"/> and the output signal steering wheel angle <img class="math" src="../../../_images/math/34b6c151daffc3c434e429cf7780d55e2c7b7524.png" alt="\delta_{h,\phi}"/>
-is described as:</p>
-<div class="math">
-<p><img src="../../../_images/math/cf5d091b6daa2ea077ca19f44565e74767adda6e.png" alt="\delta_{h, \phi} = P_{\phi} \cdot \Delta\phi"/></p>
-</div><p>The controller amplification <img class="math" src="../../../_images/math/a82e01dd8bc821dfd613dc692b08dea66c30cc61.png" alt="P_\phi"/> is therefore described as the
-ratio between input signal and output signal:</p>
-<div class="math">
-<p><img src="../../../_images/math/588e3c29e58ff6acec4d2f476bba2e3cf19cc6d1.png" alt="P_{\phi} = \frac{\delta_{h,\phi}}{\Delta\phi}"/></p>
-</div><p>The controller amplification <img class="math" src="../../../_images/math/a82e01dd8bc821dfd613dc692b08dea66c30cc61.png" alt="P_\phi"/> therefore expresses, how many
-degrees of steering wheel angle are generated by one degree heading error.
-The design of this controller amplification <img class="math" src="../../../_images/math/a82e01dd8bc821dfd613dc692b08dea66c30cc61.png" alt="P_\phi"/> uses some
-considerations about plane driving kinematics of Kramer. First of all,
-the heading error <img class="math" src="../../../_images/math/bf31fd4198da89cf275d011551e51296f3a25d00.png" alt="\Delta\phi"/> is derived from the current curvature <img class="math" src="../../../_images/math/261e3eb56c1757dd003745ee4cc53aa595565af1.png" alt="\kappa"/>
-of the vehicle over the change of distance <img class="math" src="../../../_images/math/f5b7a2e0152ed016dacfb6dcb49e6385dd2c3777.png" alt="ds"/> along the road’s longitudinal
-coordinate <img class="math" src="../../../_images/math/106b04b320e75010b1d8029e59244f234f75e6f9.png" alt="s"/> in one time step:</p>
-<div class="math">
-<p><img src="../../../_images/math/1a04e3412abf6eed6165fce1b7d460421afa185e.png" alt="\Delta\phi = \arctan(ds \cdot \kappa)"/></p>
-</div><p>Under the consideration of small angular changes in one time step, this equation
-can be linearized to:</p>
-<div class="math">
-<p><img src="../../../_images/math/2d48e4c353f1c41600a444603df02ebd159cfff1.png" alt="\Delta\phi = ds \cdot \kappa"/></p>
-</div><p>The curvature <img class="math" src="../../../_images/math/261e3eb56c1757dd003745ee4cc53aa595565af1.png" alt="\kappa"/> of the vehicle can be substituted by an Ackermann model
-(see <a class="reference internal" href="#algorithm-lateral-detailed-description-lateral-dynamics"><span class="std std-ref">here</span></a> for further information about that):</p>
-<div class="math">
-<p><img src="../../../_images/math/856869e75917b044aa8e0e982f4414465cfa0f22.png" alt="\Delta\phi = \frac{ds \cdot \tan(\delta)}{l}"/></p>
-</div><p>This equation can also be linearized under the consideration of small angles:</p>
-<div class="math">
-<p><img src="../../../_images/math/725343a4b4a6b031052db49cb018677a66c5e25e.png" alt="\Delta\phi = \frac{ds \cdot \delta} {l}"/></p>
-</div><p>The connection to the steering wheel angle <img class="math" src="../../../_images/math/34b6c151daffc3c434e429cf7780d55e2c7b7524.png" alt="\delta_{h,\phi}"/> can be
-applied by the ratio <img class="math" src="../../../_images/math/bb5c6a531ccc8353d7d7634bf0aa0f50b23f0219.png" alt="i_s"/> of the vehicle’s steering gear:</p>
-<div class="math">
-<p><img src="../../../_images/math/1dcaca69c0023651d4af1872cdaa4941ebafe8a0.png" alt="\Delta\phi = \frac{ds \cdot \delta_{h,\phi}}{i_s \cdot l}"/></p>
-</div><p>This equation can be transformed to a similar form as the controller’s transfer
-function above:</p>
-<div class="math">
-<p><img src="../../../_images/math/e49e1b153e930b69af4898fad5114387416a72ab.png" alt="\frac{i_s \cdot l}{ds} = \frac{\delta_{h,\phi}}{\Delta\phi}"/></p>
-</div><p>The usage of the incremental difference <img class="math" src="../../../_images/math/f5b7a2e0152ed016dacfb6dcb49e6385dd2c3777.png" alt="ds"/> in this equation is problematic,
-because the controller amplification becomes dependent on the simulation step
-size. Because of this, the absolute change <img class="math" src="../../../_images/math/f5b7a2e0152ed016dacfb6dcb49e6385dd2c3777.png" alt="ds"/> of the longitudinal road
-coordinate <img class="math" src="../../../_images/math/106b04b320e75010b1d8029e59244f234f75e6f9.png" alt="s"/> is substituted by the vehicle’s absolute velocity <img class="math" src="../../../_images/math/02d98909b5d6acd6a7ff927d4d42790bdd407d58.png" alt="v"/> as a
-simplification, which is the change of travelled distance with respect to time:</p>
-<div class="math">
-<p><img src="../../../_images/math/0d84fa1cff0096a1b50c9bcbbc29f1e2019ed503.png" alt="\frac{i_s \cdot l}{v} = \frac{\delta_{h,\phi}}{\Delta\phi}"/></p>
-</div><p>To tune the absolute influence of the heading controller in the overall control
-loop, an additional gain factor <img class="math" src="../../../_images/math/b2190f7743a598eb45240597d6fda86d9da74190.png" alt="\text{Gain}_{\Delta\phi}"/> is applied to this
-transfer function, which allows a situation dependent amplification of the
-heading controller by the driver behavior model:</p>
-<div class="math">
-<p><img src="../../../_images/math/489c522ced5a8dbad18b3b7964d5cd24d9742a91.png" alt="\delta_{h,\phi} = \frac{\text{Gain}_{\Delta\phi} \cdot i_s \cdot l \cdot \Delta\phi}{v}"/></p>
-</div><p>The vehicle parameters <img class="math" src="../../../_images/math/470aa65888a2971c9346e573f12b37ea406b8ec9.png" alt="l"/> and <img class="math" src="../../../_images/math/bb5c6a531ccc8353d7d7634bf0aa0f50b23f0219.png" alt="i_s"/> are received from the module <a class="reference internal" href="../../../advanced_topics/simulator/agent_components.html#parameters-vehicle"><span class="std std-ref">Parameters_Vehicle</span></a>, the vehicle’s
-absolute velocity <img class="math" src="../../../_images/math/02d98909b5d6acd6a7ff927d4d42790bdd407d58.png" alt="v"/> is received from the module <a class="reference internal" href="sensor_driver.html#sensor-driver"><span class="std std-ref">Sensor_Driver</span></a>,
-and the additional controller gain <img class="math" src="../../../_images/math/b2190f7743a598eb45240597d6fda86d9da74190.png" alt="\text{Gain}_{\Delta\phi}"/> is received from
-a driver behavior model.</p>
-</section>
-<section id="lateral-deviation-controller">
-<span id="algorithm-lateral-detailed-description-control-deviation"></span><h3>Lateral deviation controller<a class="headerlink" href="#lateral-deviation-controller" title="Link to this heading"></a></h3>
-<p>The lateral deviation controller is designed as a simple proportional controller. The general transfer
-function of a P-controller with the input signal lateral deviation <img class="math" src="../../../_images/math/6450616b75212cb568e905db49efd0c3dd584648.png" alt="\Delta"/> w and
-the output signal steering wheel angle <img class="math" src="../../../_images/math/13166f7ebafb0f4497af4a92e7b579190b3f49ed.png" alt="\delta_{h,w}"/> is described as:</p>
-<div class="math">
-<p><img src="../../../_images/math/86eaaff22e13f4174c0d4d1f3736ec90803361f4.png" alt="\delta_{h,w} = P_w \cdot \Delta w"/></p>
-</div><p>The controller amplification <img class="math" src="../../../_images/math/484e7616c268495d07025ea1cf4ebb24171e77c7.png" alt="P_w"/> is therefore described as the ratio
-between input signal and output signal:</p>
-<div class="math">
-<p><img src="../../../_images/math/21a69a1aceb85e2ee86e1036e83dec988ff98402.png" alt="P_w = \frac{\delta_{h,w}}{\Delta w}"/></p>
-</div><p>The controller amplification <img class="math" src="../../../_images/math/484e7616c268495d07025ea1cf4ebb24171e77c7.png" alt="P_w"/> therefore expresses, how many degrees
-of steering wheel angle are generated by one metre of lateral deviation. The
-design of this controller amplification <img class="math" src="../../../_images/math/484e7616c268495d07025ea1cf4ebb24171e77c7.png" alt="P_w"/> uses some considerations
-about plane driving kinematics of Kramer. First of all, the lateral deviation
-<img class="math" src="../../../_images/math/6450616b75212cb568e905db49efd0c3dd584648.png" alt="\Delta"/> w is derived from the current heading error <img class="math" src="../../../_images/math/bf31fd4198da89cf275d011551e51296f3a25d00.png" alt="\Delta\phi"/> over the change
-of distance <img class="math" src="../../../_images/math/f5b7a2e0152ed016dacfb6dcb49e6385dd2c3777.png" alt="ds"/> along the road’s longitudinal coordinate <img class="math" src="../../../_images/math/106b04b320e75010b1d8029e59244f234f75e6f9.png" alt="s"/> in one time step:</p>
-<div class="math">
-<p><img src="../../../_images/math/d4190ba7429fdd1c6cf50299b566af22c8ed672f.png" alt="\Delta w = ds \cdot \sin(\Delta\phi)"/></p>
-</div><p>The current heading error <img class="math" src="../../../_images/math/bf31fd4198da89cf275d011551e51296f3a25d00.png" alt="\Delta\phi"/> can further be substituted by an
-expression of <img class="math" src="../../../_images/math/f5b7a2e0152ed016dacfb6dcb49e6385dd2c3777.png" alt="ds"/> and the current curvature <img class="math" src="../../../_images/math/261e3eb56c1757dd003745ee4cc53aa595565af1.png" alt="\kappa"/> of the vehicle
-(see <a class="reference internal" href="#algorithm-lateral-detailed-description-control-heading"><span class="std std-ref">Heading controller</span></a> for that matter):</p>
-<div class="math">
-<p><img src="../../../_images/math/9c7d8ba576ddb3e01656bf636a58d5e2382c4788.png" alt="\Delta w = ds \cdot \sin(\arctan(ds \cdot \kappa))"/></p>
-</div><p>Under the consideration of small angular changes in one time step, this equation
-can be linearized to:</p>
-<div class="math">
-<p><img src="../../../_images/math/0544af86fdc3b9b8f5a1fea42686284440f173f8.png" alt="\Delta w = ds^2 \kappa"/></p>
-</div><p>The curvature <img class="math" src="../../../_images/math/261e3eb56c1757dd003745ee4cc53aa595565af1.png" alt="\kappa"/> of the vehicle can be substituted by an Ackermann model
-(see <a class="reference internal" href="#algorithm-lateral-detailed-description-lateral-dynamics"><span class="std std-ref">here</span></a> for further information about that):</p>
-<div class="math">
-<p><img src="../../../_images/math/3745c79b180584a6eeb7a00c99f368fe9d492240.png" alt="\Delta w = \frac{ds^2 \tan(\delta)}{l}"/></p>
-</div><p>This equation can also be linearized under the consideration of small angles:</p>
-<div class="math">
-<p><img src="../../../_images/math/9b21a89980776281905e30c1175c2214b020c092.png" alt="\Delta w = \frac{ds^2 \cdot \delta}{l}"/></p>
-</div><p>The connection to the steering wheel angle <img class="math" src="../../../_images/math/13166f7ebafb0f4497af4a92e7b579190b3f49ed.png" alt="\delta_{h,w}"/> can be applied
-by the ratio <img class="math" src="../../../_images/math/bb5c6a531ccc8353d7d7634bf0aa0f50b23f0219.png" alt="i_s"/> of the vehicle’s steering gear:</p>
-<div class="math">
-<p><img src="../../../_images/math/6b345baca88677dd399e4879c447a2fdb47b10c4.png" alt="\Delta w = \frac{ds^2 \cdot \delta_{h,w}}{i_s \cdot l}"/></p>
-</div><p>This equation can be transformed to a similar form as the controller’s transfer
-function above:</p>
-<p>The usage of the incremental difference <img class="math" src="../../../_images/math/f5b7a2e0152ed016dacfb6dcb49e6385dd2c3777.png" alt="ds"/> in this equation is problematic,
-because the controller amplification becomes dependent on the simulation step
-size. Because of this, the absolute change <img class="math" src="../../../_images/math/f5b7a2e0152ed016dacfb6dcb49e6385dd2c3777.png" alt="ds"/> of the longitudinal road
-coordinate <img class="math" src="../../../_images/math/106b04b320e75010b1d8029e59244f234f75e6f9.png" alt="s"/> is substituted by the vehicle’s absolute velocity <img class="math" src="../../../_images/math/02d98909b5d6acd6a7ff927d4d42790bdd407d58.png" alt="v"/> as a
-simplification, which is the change of travelled distance with respect to time:</p>
-<p>To tune the absolute influence of the lateral deviation controller in the
-overall control loop, an additional gain factor <img class="math" src="../../../_images/math/ddfbf6a6a84d5e2ff415036fa6eb26813f6cdf8a.png" alt="\text{Gain}_{\Delta w}"/> is
-applied to this transfer function, which allows a situation dependent
-amplification of the lateral deviation controller by the driver behavior model:</p>
-<div class="math">
-<p><img src="../../../_images/math/e5965741d2e47ebcac151ffa85aa7513a872af23.png" alt="\delta_{h,w} = \frac{\text{Gain}_{\Delta w} \cdot i_s \cdot l \cdot \Delta w}{v^2}"/></p>
-</div><p>The vehicle parameters <img class="math" src="../../../_images/math/470aa65888a2971c9346e573f12b37ea406b8ec9.png" alt="l"/> and <img class="math" src="../../../_images/math/bb5c6a531ccc8353d7d7634bf0aa0f50b23f0219.png" alt="i_s"/> are received from the module <a class="reference internal" href="../../../advanced_topics/simulator/agent_components.html#parameters-vehicle"><span class="std std-ref">Parameters_Vehicle</span></a>, the vehicle’s
-absolute velocity <img class="math" src="../../../_images/math/02d98909b5d6acd6a7ff927d4d42790bdd407d58.png" alt="v"/> is received from the module <a class="reference internal" href="sensor_driver.html#sensor-driver"><span class="std std-ref">Sensor_Driver</span></a>,
-and the additional controller gain <img class="math" src="../../../_images/math/ddfbf6a6a84d5e2ff415036fa6eb26813f6cdf8a.png" alt="\text{Gain}_{\Delta w}"/> is received from a
-driver behavior model.</p>
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+  <section id="algorithm-lateral">
+<span id="id1"></span><h1>Algorithm_Lateral<a class="headerlink" href="#algorithm-lateral" title="Link to this heading"></a></h1>
+<p>This module is responsible for the control of the vehicle’s lateral behavior.
+It converts the lateral input of the driver module into a steering wheel angle.
+The steering wheel angle can then be forwarded to a vehicle dynamics
+module like <a class="reference internal" href="dynamics_regular_driving.html#dynamics-regular-driving"><span class="std std-ref">Dynamics_RegularDriving</span></a>.</p>
+<section id="detailed-description-of-the-module-s-features">
+<span id="algorithm-lateral-detailed-description"></span><h2>Detailed description of the module’s features<a class="headerlink" href="#detailed-description-of-the-module-s-features" title="Link to this heading"></a></h2>
+<p>Algorithm_Lateral receives its command variables from a driver behavior model (or an ADAS)
+and generates the steering wheel angle of the driver to match these command
+variables. The steering wheel angle parts of all controllers are summed up to
+the overall steering wheel angle of the driver, which is then sent to a vehicle
+dynamics module like <a class="reference internal" href="dynamics_regular_driving.html#dynamics-regular-driving"><span class="std std-ref">Dynamics_RegularDriving</span></a>.
+The control loop is closed by the movement of the vehicle in the world, which is
+again monitored by the driver behavior model. This overall control loop of
+vehicle lateral guidance involving Algorithm_Lateral is illustrated in the following image with the following variables:</p>
+<ul class="simple">
+<li><p><img class="math" src="../../../_images/math/6518029864d4abe20f5624f84c2a3fb5395f5818.png" alt="\kappa_{act}"/> is the actual curvature of the vehicle</p></li>
+</ul>
+<p>Four variables containing the information needed for the open-loop controller:</p>
+<ul class="simple">
+<li><p><img class="math" src="../../../_images/math/8ce6de673fb0a26f7371d24364b5f17956e817a3.png" alt="\kappa_{road}"/> is the curvature at the front center (i.e. center of the front of the bounding box) of the ego vehicle. It uses the vectors:</p></li>
+<li><p><img class="math" src="../../../_images/math/585c10b7760635a294104d6bd75b446fa33f7520.png" alt="\kappa_{segment,near}"/> containing the curvatures of several segments starting at the front center up to 2m in front of the vehicles leading edge</p></li>
+<li><p><img class="math" src="../../../_images/math/168469930df4357c57d598d42925d3e75db7cc85.png" alt="\kappa_{segment,far}"/> containing the curvatures of several segments starting 2m in front of the vehicle and ending 8m in front of it</p></li>
+<li><p><img class="math" src="../../../_images/math/7fc672839ad28bec4b6ad1b6ad9bbb10d1b2e587.png" alt="\kappa_{manoeuvre}"/> containing the curvature of the planned trajectory relative to the road</p></li>
+</ul>
+<p>Other variables:</p>
+<ul class="simple">
+<li><p><img class="math" src="../../../_images/math/a87531a368534c59bdc44fbd82f53e9967bebf35.png" alt="w_{act}"/> is the actual lateral position of the vehicle in the road coordinate system</p></li>
+<li><p><img class="math" src="../../../_images/math/6450616b75212cb568e905db49efd0c3dd584648.png" alt="\Delta"/> w is the lateral deviation</p></li>
+<li><p><img class="math" src="../../../_images/math/c3718c9d15cbad369164f65b0083453db6089390.png" alt="\phi_{act}"/> is the actual heading angle of the vehicle in the road coordinate system</p></li>
+<li><p><img class="math" src="../../../_images/math/6450616b75212cb568e905db49efd0c3dd584648.png" alt="\Delta"/><img class="math" src="../../../_images/math/fffd2357ee88a9c50ba9e831ed64c39c73d54a07.png" alt="\phi"/> is the heading error</p></li>
+<li><p><img class="math" src="../../../_images/math/a7af2094ee9c485678dd97bfa42a308fb4ad0292.png" alt="\delta_{h,\kappa}"/> is the steering wheel angle from the curvature controller</p></li>
+<li><p><img class="math" src="../../../_images/math/13166f7ebafb0f4497af4a92e7b579190b3f49ed.png" alt="\delta_{h,w}"/> is the steering wheel angle from the lateral deviation controller</p></li>
+<li><p><img class="math" src="../../../_images/math/34b6c151daffc3c434e429cf7780d55e2c7b7524.png" alt="\delta_{h,\phi}"/> is the steering wheel angle from the heading error controller</p></li>
+<li><p><img class="math" src="../../../_images/math/0e4c7fe45a4aa57ff07fcd90cc3e144dad9bb183.png" alt="\delta_h"/> is the overall steering wheel angle of the driver</p></li>
+</ul>
+<figure class="align-default" id="id2">
+<span id="image-lateralcontrollersignalflow"></span><img alt="Components and signal flow of the lateral guidance control loop" src="../../../_images/LateralControllerSignalFlow.png" />
+<figcaption>
+<p><span class="caption-text">Components and signal flow of the lateral guidance control loop</span><a class="headerlink" href="#id2" title="Link to this image"></a></p>
+</figcaption>
+</figure>
+<p>The following subsections describe the theoretical background and the transfer
+functions of the different controllers.</p>
+<section id="lateral-dynamics">
+<span id="algorithm-lateral-detailed-description-lateral-dynamics"></span><h3>Lateral dynamics<a class="headerlink" href="#lateral-dynamics" title="Link to this heading"></a></h3>
+<p>The lateral dynamics model is based on the Ackermann model which is a simple geometric
+expression for the relationship between the steering angle at the front wheels and
+the curvature the vehicle produces from it. It has several simplifications, where
+the most notable is the reduction of the wheels of one axle to a single surrogate
+wheel. This is suitable under the consideration that the steering angles of the front
+wheels are rather small and do not differ much between the left and the right
+front wheel. The first simplification may not hold up in city traffic with high
+curvatures. Therefore the closed-loop-controller must have increased gains in
+these situations. <img class="math" src="../../../_images/math/8ce6de673fb0a26f7371d24364b5f17956e817a3.png" alt="\kappa_{road}"/>, <img class="math" src="../../../_images/math/585c10b7760635a294104d6bd75b446fa33f7520.png" alt="\kappa_{segment,near}"/> and <img class="math" src="../../../_images/math/168469930df4357c57d598d42925d3e75db7cc85.png" alt="\kappa_{segment,far}"/> are smoothed and weighted before adding <img class="math" src="../../../_images/math/7fc672839ad28bec4b6ad1b6ad9bbb10d1b2e587.png" alt="\kappa_{manoeuvre}"/> to form <img class="math" src="../../../_images/math/66aaf332fffda2edd545312fae414f1008ac96e7.png" alt="\kappa_{target}"/>.</p>
+<p>The Ackermann model is illustrated in the following image with the following variables:</p>
+<ul class="simple">
+<li><p><img class="math" src="../../../_images/math/470aa65888a2971c9346e573f12b37ea406b8ec9.png" alt="l"/> is the wheelbase of the vehicle</p></li>
+<li><p><img class="math" src="../../../_images/math/652b9d8b65c10aed0fdcdbde47396c879ed5bd33.png" alt="\delta"/> is the surrogate steering angle at the front wheels towards the vehicle’s longitudinal axis</p></li>
+<li><p><img class="math" src="../../../_images/math/4abba779877abb276b98ccb2b4ba9bf2e41947ab.png" alt="M"/> is the instantaneous centre of rotation, around which the vehicle is driving on a curve</p></li>
+<li><p><img class="math" src="../../../_images/math/79a3d439d28652c547386f39b555d90d3aaf102d.png" alt="r"/> is the radius of the curve, which the vehicle is driving around M</p></li>
+<li><p><img class="math" src="../../../_images/math/261e3eb56c1757dd003745ee4cc53aa595565af1.png" alt="\kappa"/> is the curvature of this curve, which is simply the inverse of r</p></li>
+</ul>
+<figure class="align-default" id="id3">
+<span id="image-ackermannmodel"></span><img alt="Illustration of the Ackermann model" src="../../../_images/AckermannModel.svg" /><figcaption>
+<p><span class="caption-text">Illustration of the Ackermann model</span><a class="headerlink" href="#id3" title="Link to this image"></a></p>
+</figcaption>
+</figure>
+<p>In accordance to the current definitions of <a class="reference internal" href="../../../advanced_topics/simulator/coordinate_systems.html#coordinatesystems"><span class="std std-ref">coordinate systems</span></a>,
+the coordinate reference point of the vehicle is considered to be the rear axle center.
+Therefore, the curvature of the vehicle is also expressed towards the rear axle center
+and not to the centre of gravity, which is why the centre of gravity is not
+depicted in illustration of the Ackermann model.</p>
+<p>The equation derived from the Ackermann model states the following
+relation between the surrogate steering angle <img class="math" src="../../../_images/math/652b9d8b65c10aed0fdcdbde47396c879ed5bd33.png" alt="\delta"/> of the front wheels and
+the curvature <img class="math" src="../../../_images/math/261e3eb56c1757dd003745ee4cc53aa595565af1.png" alt="\kappa"/> described by the rear axle around the instantaneous
+centre of rotation <img class="math" src="../../../_images/math/4abba779877abb276b98ccb2b4ba9bf2e41947ab.png" alt="M"/>:</p>
+<div class="math">
+<p><img src="../../../_images/math/74f92e086f237d26ce895805a75a3794a20ea231.png" alt="\kappa = \frac{\tan(\delta)}{l}"/></p>
+</div><p>This equation can be inverted to express a required steering angle <img class="math" src="../../../_images/math/652b9d8b65c10aed0fdcdbde47396c879ed5bd33.png" alt="\delta"/> to
+adjust a specific curvature <img class="math" src="../../../_images/math/261e3eb56c1757dd003745ee4cc53aa595565af1.png" alt="\kappa"/>:</p>
+<div class="math">
+<p><img src="../../../_images/math/904ab3c787fc37ec90b00ea39276b005b3e68bb5.png" alt="\delta = \arctan(\kappa \cdot l)"/></p>
+</div><p>To convert this into the required steering wheel angle <img class="math" src="../../../_images/math/a7af2094ee9c485678dd97bfa42a308fb4ad0292.png" alt="\delta_{h,\kappa}"/>,
+the ratio <img class="math" src="../../../_images/math/bb5c6a531ccc8353d7d7634bf0aa0f50b23f0219.png" alt="i_s"/> of the steering gear must be applied:</p>
+<div class="math">
+<p><img src="../../../_images/math/14b20bf4e45cb8ae2ffce20e998b6a3ca46e840a.png" alt="\delta_{h, \kappa} = i_{s} \cdot \arctan(\kappa \cdot l)"/></p>
+</div><p>The vehicle parameters <img class="math" src="../../../_images/math/470aa65888a2971c9346e573f12b37ea406b8ec9.png" alt="l"/> and <img class="math" src="../../../_images/math/bb5c6a531ccc8353d7d7634bf0aa0f50b23f0219.png" alt="i_s"/> are received from the module <a class="reference internal" href="../../../advanced_topics/simulator/agent_components.html#parameters-vehicle"><span class="std std-ref">Parameters_Vehicle</span></a>.</p>
+</section>
+<section id="heading-controller">
+<span id="algorithm-lateral-detailed-description-control-heading"></span><h3>Heading controller<a class="headerlink" href="#heading-controller" title="Link to this heading"></a></h3>
+<p>The heading controller is designed as a simple proportional controller.
+The general transfer function of a P-controller with the input signal heading
+error <img class="math" src="../../../_images/math/bf31fd4198da89cf275d011551e51296f3a25d00.png" alt="\Delta\phi"/> and the output signal steering wheel angle <img class="math" src="../../../_images/math/34b6c151daffc3c434e429cf7780d55e2c7b7524.png" alt="\delta_{h,\phi}"/>
+is described as:</p>
+<div class="math">
+<p><img src="../../../_images/math/cf5d091b6daa2ea077ca19f44565e74767adda6e.png" alt="\delta_{h, \phi} = P_{\phi} \cdot \Delta\phi"/></p>
+</div><p>The controller amplification <img class="math" src="../../../_images/math/a82e01dd8bc821dfd613dc692b08dea66c30cc61.png" alt="P_\phi"/> is therefore described as the
+ratio between input signal and output signal:</p>
+<div class="math">
+<p><img src="../../../_images/math/588e3c29e58ff6acec4d2f476bba2e3cf19cc6d1.png" alt="P_{\phi} = \frac{\delta_{h,\phi}}{\Delta\phi}"/></p>
+</div><p>The controller amplification <img class="math" src="../../../_images/math/a82e01dd8bc821dfd613dc692b08dea66c30cc61.png" alt="P_\phi"/> therefore expresses, how many
+degrees of steering wheel angle are generated by one degree heading error.
+The design of this controller amplification <img class="math" src="../../../_images/math/a82e01dd8bc821dfd613dc692b08dea66c30cc61.png" alt="P_\phi"/> uses some
+considerations about plane driving kinematics of Kramer. First of all,
+the heading error <img class="math" src="../../../_images/math/bf31fd4198da89cf275d011551e51296f3a25d00.png" alt="\Delta\phi"/> is derived from the current curvature <img class="math" src="../../../_images/math/261e3eb56c1757dd003745ee4cc53aa595565af1.png" alt="\kappa"/>
+of the vehicle over the change of distance <img class="math" src="../../../_images/math/f5b7a2e0152ed016dacfb6dcb49e6385dd2c3777.png" alt="ds"/> along the road’s longitudinal
+coordinate <img class="math" src="../../../_images/math/106b04b320e75010b1d8029e59244f234f75e6f9.png" alt="s"/> in one time step:</p>
+<div class="math">
+<p><img src="../../../_images/math/1a04e3412abf6eed6165fce1b7d460421afa185e.png" alt="\Delta\phi = \arctan(ds \cdot \kappa)"/></p>
+</div><p>Under the consideration of small angular changes in one time step, this equation
+can be linearized to:</p>
+<div class="math">
+<p><img src="../../../_images/math/2d48e4c353f1c41600a444603df02ebd159cfff1.png" alt="\Delta\phi = ds \cdot \kappa"/></p>
+</div><p>The curvature <img class="math" src="../../../_images/math/261e3eb56c1757dd003745ee4cc53aa595565af1.png" alt="\kappa"/> of the vehicle can be substituted by an Ackermann model
+(see <a class="reference internal" href="#algorithm-lateral-detailed-description-lateral-dynamics"><span class="std std-ref">here</span></a> for further information about that):</p>
+<div class="math">
+<p><img src="../../../_images/math/856869e75917b044aa8e0e982f4414465cfa0f22.png" alt="\Delta\phi = \frac{ds \cdot \tan(\delta)}{l}"/></p>
+</div><p>This equation can also be linearized under the consideration of small angles:</p>
+<div class="math">
+<p><img src="../../../_images/math/725343a4b4a6b031052db49cb018677a66c5e25e.png" alt="\Delta\phi = \frac{ds \cdot \delta} {l}"/></p>
+</div><p>The connection to the steering wheel angle <img class="math" src="../../../_images/math/34b6c151daffc3c434e429cf7780d55e2c7b7524.png" alt="\delta_{h,\phi}"/> can be
+applied by the ratio <img class="math" src="../../../_images/math/bb5c6a531ccc8353d7d7634bf0aa0f50b23f0219.png" alt="i_s"/> of the vehicle’s steering gear:</p>
+<div class="math">
+<p><img src="../../../_images/math/1dcaca69c0023651d4af1872cdaa4941ebafe8a0.png" alt="\Delta\phi = \frac{ds \cdot \delta_{h,\phi}}{i_s \cdot l}"/></p>
+</div><p>This equation can be transformed to a similar form as the controller’s transfer
+function above:</p>
+<div class="math">
+<p><img src="../../../_images/math/e49e1b153e930b69af4898fad5114387416a72ab.png" alt="\frac{i_s \cdot l}{ds} = \frac{\delta_{h,\phi}}{\Delta\phi}"/></p>
+</div><p>The usage of the incremental difference <img class="math" src="../../../_images/math/f5b7a2e0152ed016dacfb6dcb49e6385dd2c3777.png" alt="ds"/> in this equation is problematic,
+because the controller amplification becomes dependent on the simulation step
+size. Because of this, the absolute change <img class="math" src="../../../_images/math/f5b7a2e0152ed016dacfb6dcb49e6385dd2c3777.png" alt="ds"/> of the longitudinal road
+coordinate <img class="math" src="../../../_images/math/106b04b320e75010b1d8029e59244f234f75e6f9.png" alt="s"/> is substituted by the vehicle’s absolute velocity <img class="math" src="../../../_images/math/02d98909b5d6acd6a7ff927d4d42790bdd407d58.png" alt="v"/> as a
+simplification, which is the change of travelled distance with respect to time:</p>
+<div class="math">
+<p><img src="../../../_images/math/0d84fa1cff0096a1b50c9bcbbc29f1e2019ed503.png" alt="\frac{i_s \cdot l}{v} = \frac{\delta_{h,\phi}}{\Delta\phi}"/></p>
+</div><p>To tune the absolute influence of the heading controller in the overall control
+loop, an additional gain factor <img class="math" src="../../../_images/math/b2190f7743a598eb45240597d6fda86d9da74190.png" alt="\text{Gain}_{\Delta\phi}"/> is applied to this
+transfer function, which allows a situation dependent amplification of the
+heading controller by the driver behavior model:</p>
+<div class="math">
+<p><img src="../../../_images/math/489c522ced5a8dbad18b3b7964d5cd24d9742a91.png" alt="\delta_{h,\phi} = \frac{\text{Gain}_{\Delta\phi} \cdot i_s \cdot l \cdot \Delta\phi}{v}"/></p>
+</div><p>The vehicle parameters <img class="math" src="../../../_images/math/470aa65888a2971c9346e573f12b37ea406b8ec9.png" alt="l"/> and <img class="math" src="../../../_images/math/bb5c6a531ccc8353d7d7634bf0aa0f50b23f0219.png" alt="i_s"/> are received from the module <a class="reference internal" href="../../../advanced_topics/simulator/agent_components.html#parameters-vehicle"><span class="std std-ref">Parameters_Vehicle</span></a>, the vehicle’s
+absolute velocity <img class="math" src="../../../_images/math/02d98909b5d6acd6a7ff927d4d42790bdd407d58.png" alt="v"/> is received from the module <a class="reference internal" href="sensor_driver.html#sensor-driver"><span class="std std-ref">Sensor_Driver</span></a>,
+and the additional controller gain <img class="math" src="../../../_images/math/b2190f7743a598eb45240597d6fda86d9da74190.png" alt="\text{Gain}_{\Delta\phi}"/> is received from
+a driver behavior model.</p>
+</section>
+<section id="lateral-deviation-controller">
+<span id="algorithm-lateral-detailed-description-control-deviation"></span><h3>Lateral deviation controller<a class="headerlink" href="#lateral-deviation-controller" title="Link to this heading"></a></h3>
+<p>The lateral deviation controller is designed as a simple proportional controller. The general transfer
+function of a P-controller with the input signal lateral deviation <img class="math" src="../../../_images/math/6450616b75212cb568e905db49efd0c3dd584648.png" alt="\Delta"/> w and
+the output signal steering wheel angle <img class="math" src="../../../_images/math/13166f7ebafb0f4497af4a92e7b579190b3f49ed.png" alt="\delta_{h,w}"/> is described as:</p>
+<div class="math">
+<p><img src="../../../_images/math/86eaaff22e13f4174c0d4d1f3736ec90803361f4.png" alt="\delta_{h,w} = P_w \cdot \Delta w"/></p>
+</div><p>The controller amplification <img class="math" src="../../../_images/math/484e7616c268495d07025ea1cf4ebb24171e77c7.png" alt="P_w"/> is therefore described as the ratio
+between input signal and output signal:</p>
+<div class="math">
+<p><img src="../../../_images/math/21a69a1aceb85e2ee86e1036e83dec988ff98402.png" alt="P_w = \frac{\delta_{h,w}}{\Delta w}"/></p>
+</div><p>The controller amplification <img class="math" src="../../../_images/math/484e7616c268495d07025ea1cf4ebb24171e77c7.png" alt="P_w"/> therefore expresses, how many degrees
+of steering wheel angle are generated by one metre of lateral deviation. The
+design of this controller amplification <img class="math" src="../../../_images/math/484e7616c268495d07025ea1cf4ebb24171e77c7.png" alt="P_w"/> uses some considerations
+about plane driving kinematics of Kramer. First of all, the lateral deviation
+<img class="math" src="../../../_images/math/6450616b75212cb568e905db49efd0c3dd584648.png" alt="\Delta"/> w is derived from the current heading error <img class="math" src="../../../_images/math/bf31fd4198da89cf275d011551e51296f3a25d00.png" alt="\Delta\phi"/> over the change
+of distance <img class="math" src="../../../_images/math/f5b7a2e0152ed016dacfb6dcb49e6385dd2c3777.png" alt="ds"/> along the road’s longitudinal coordinate <img class="math" src="../../../_images/math/106b04b320e75010b1d8029e59244f234f75e6f9.png" alt="s"/> in one time step:</p>
+<div class="math">
+<p><img src="../../../_images/math/d4190ba7429fdd1c6cf50299b566af22c8ed672f.png" alt="\Delta w = ds \cdot \sin(\Delta\phi)"/></p>
+</div><p>The current heading error <img class="math" src="../../../_images/math/bf31fd4198da89cf275d011551e51296f3a25d00.png" alt="\Delta\phi"/> can further be substituted by an
+expression of <img class="math" src="../../../_images/math/f5b7a2e0152ed016dacfb6dcb49e6385dd2c3777.png" alt="ds"/> and the current curvature <img class="math" src="../../../_images/math/261e3eb56c1757dd003745ee4cc53aa595565af1.png" alt="\kappa"/> of the vehicle
+(see <a class="reference internal" href="#algorithm-lateral-detailed-description-control-heading"><span class="std std-ref">Heading controller</span></a> for that matter):</p>
+<div class="math">
+<p><img src="../../../_images/math/9c7d8ba576ddb3e01656bf636a58d5e2382c4788.png" alt="\Delta w = ds \cdot \sin(\arctan(ds \cdot \kappa))"/></p>
+</div><p>Under the consideration of small angular changes in one time step, this equation
+can be linearized to:</p>
+<div class="math">
+<p><img src="../../../_images/math/0544af86fdc3b9b8f5a1fea42686284440f173f8.png" alt="\Delta w = ds^2 \kappa"/></p>
+</div><p>The curvature <img class="math" src="../../../_images/math/261e3eb56c1757dd003745ee4cc53aa595565af1.png" alt="\kappa"/> of the vehicle can be substituted by an Ackermann model
+(see <a class="reference internal" href="#algorithm-lateral-detailed-description-lateral-dynamics"><span class="std std-ref">here</span></a> for further information about that):</p>
+<div class="math">
+<p><img src="../../../_images/math/3745c79b180584a6eeb7a00c99f368fe9d492240.png" alt="\Delta w = \frac{ds^2 \tan(\delta)}{l}"/></p>
+</div><p>This equation can also be linearized under the consideration of small angles:</p>
+<div class="math">
+<p><img src="../../../_images/math/9b21a89980776281905e30c1175c2214b020c092.png" alt="\Delta w = \frac{ds^2 \cdot \delta}{l}"/></p>
+</div><p>The connection to the steering wheel angle <img class="math" src="../../../_images/math/13166f7ebafb0f4497af4a92e7b579190b3f49ed.png" alt="\delta_{h,w}"/> can be applied
+by the ratio <img class="math" src="../../../_images/math/bb5c6a531ccc8353d7d7634bf0aa0f50b23f0219.png" alt="i_s"/> of the vehicle’s steering gear:</p>
+<div class="math">
+<p><img src="../../../_images/math/6b345baca88677dd399e4879c447a2fdb47b10c4.png" alt="\Delta w = \frac{ds^2 \cdot \delta_{h,w}}{i_s \cdot l}"/></p>
+</div><p>This equation can be transformed to a similar form as the controller’s transfer
+function above:</p>
+<p>The usage of the incremental difference <img class="math" src="../../../_images/math/f5b7a2e0152ed016dacfb6dcb49e6385dd2c3777.png" alt="ds"/> in this equation is problematic,
+because the controller amplification becomes dependent on the simulation step
+size. Because of this, the absolute change <img class="math" src="../../../_images/math/f5b7a2e0152ed016dacfb6dcb49e6385dd2c3777.png" alt="ds"/> of the longitudinal road
+coordinate <img class="math" src="../../../_images/math/106b04b320e75010b1d8029e59244f234f75e6f9.png" alt="s"/> is substituted by the vehicle’s absolute velocity <img class="math" src="../../../_images/math/02d98909b5d6acd6a7ff927d4d42790bdd407d58.png" alt="v"/> as a
+simplification, which is the change of travelled distance with respect to time:</p>
+<p>To tune the absolute influence of the lateral deviation controller in the
+overall control loop, an additional gain factor <img class="math" src="../../../_images/math/ddfbf6a6a84d5e2ff415036fa6eb26813f6cdf8a.png" alt="\text{Gain}_{\Delta w}"/> is
+applied to this transfer function, which allows a situation dependent
+amplification of the lateral deviation controller by the driver behavior model:</p>
+<div class="math">
+<p><img src="../../../_images/math/e5965741d2e47ebcac151ffa85aa7513a872af23.png" alt="\delta_{h,w} = \frac{\text{Gain}_{\Delta w} \cdot i_s \cdot l \cdot \Delta w}{v^2}"/></p>
+</div><p>The vehicle parameters <img class="math" src="../../../_images/math/470aa65888a2971c9346e573f12b37ea406b8ec9.png" alt="l"/> and <img class="math" src="../../../_images/math/bb5c6a531ccc8353d7d7634bf0aa0f50b23f0219.png" alt="i_s"/> are received from the module <a class="reference internal" href="../../../advanced_topics/simulator/agent_components.html#parameters-vehicle"><span class="std std-ref">Parameters_Vehicle</span></a>, the vehicle’s
+absolute velocity <img class="math" src="../../../_images/math/02d98909b5d6acd6a7ff927d4d42790bdd407d58.png" alt="v"/> is received from the module <a class="reference internal" href="sensor_driver.html#sensor-driver"><span class="std std-ref">Sensor_Driver</span></a>,
+and the additional controller gain <img class="math" src="../../../_images/math/ddfbf6a6a84d5e2ff415036fa6eb26813f6cdf8a.png" alt="\text{Gain}_{\Delta w}"/> is received from a
+driver behavior model.</p>
+</section>
+</section>
+</section>
+
+
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diff --git a/content/html/user_guide/sim_user_guide/components/algorithm_longitudinal.html b/content/html/user_guide/sim_user_guide/components/algorithm_longitudinal.html
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--- a/content/html/user_guide/sim_user_guide/components/algorithm_longitudinal.html
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-  <section id="algorithm-longitudinal">
-<span id="id1"></span><h1>Algorithm_Longitudinal<a class="headerlink" href="#algorithm-longitudinal" title="Link to this heading"></a></h1>
-<p>This module is responsible for the control of the vehicle’s longitudinal
-behavior. It receives the command variables from a driver behavior model and generates
-the accelerator and brake pedal position and the current gear of the driver to match
-these command variables. The pedal positions and the gear can then be forwarded
-to a vehicle dynamics module like <a class="reference internal" href="dynamics_regular_driving.html#dynamics-regular-driving"><span class="std std-ref">Dynamics_RegularDriving</span></a>.
-The actuation of the clutch pedal is currently not simulated by the modul</p>
-<section id="detailed-description-of-the-module-s-features">
-<span id="algorithm-longitudinal-detailed-description"></span><h2>Detailed description of the module’s features<a class="headerlink" href="#detailed-description-of-the-module-s-features" title="Link to this heading"></a></h2>
-<section id="inverted-longitudinal-dynamics-model">
-<span id="algorithm-longitudinal-detailed-description-inverted-dynamics-model"></span><h3>Inverted longitudinal dynamics model<a class="headerlink" href="#inverted-longitudinal-dynamics-model" title="Link to this heading"></a></h3>
-<p>The inverted longitudinal dynamics model produces <img class="math" src="../../../_images/math/af8179e293741ca9978f806f2baba8f661c1865d.png" alt="act_{olc,stat}"/>
-by utilizing an inverted powertrain and brake system model. The powertrain model
-and all of its parameters and state variables are illustrated in the following image.
-The brake model is not worth illustrating, as it directly applies on the required acceleration
-<img class="math" src="../../../_images/math/e61db86029a965d003355f05934bacdb7fe5fd45.png" alt="a_{set}"/> of the vehicle.</p>
-<figure class="align-default" id="id2">
-<span id="image-powertrainmodel1"></span><img alt="Illustration of the powertrain model and its parameters and state variables" src="../../../_images/PowertrainModel.svg" /><figcaption>
-<p><span class="caption-text">Illustration of the powertrain model and its parameters and state variables</span><a class="headerlink" href="#id2" title="Link to this image"></a></p>
-</figcaption>
-</figure>
-<p>The core element of all calculations in this model is speed and acceleration.
-The speed <img class="math" src="../../../_images/math/8a61447e565069614e8fb432e81f2ff844b08063.png" alt="n_{wheel}"/> at the wheels is constraint by the current velocity
-<img class="math" src="../../../_images/math/ce393cd126facb28d63240935d17d4978c0fa295.png" alt="v_{act}"/> of the vehicle and the static wheel radius <img class="math" src="../../../_images/math/37e8317b2e01ed1fe34f29869ff8f5d2cdfa78eb.png" alt="r_{stat}"/>:</p>
-<div class="math">
-<p><img src="../../../_images/math/07fbf754f6d264e88960c917e63746e1f82110ef.png" alt="n_{wheel} = \frac{v_{act}}{r_{stat}} \cdot \frac{60}{2 \cdot \pi}"/></p>
-</div><p>where <img class="math" src="../../../_images/math/8a61447e565069614e8fb432e81f2ff844b08063.png" alt="n_{wheel}"/> is specified in <img class="math" src="../../../_images/math/7cd90d08e6307cd6526157e78bb4f46ad2ca5ccd.png" alt="rpm"/> (revolutions per minute) and <img class="math" src="../../../_images/math/ce393cd126facb28d63240935d17d4978c0fa295.png" alt="v_{act}"/> is
-defined in <img class="math" src="../../../_images/math/6e9f69ba3f36fefc20991df9c551e1eabdfa961f.png" alt="m/s"/>, which requires the conversion term at the end of the equation.
-As the equation also illustrates, only a simple rolling relation defines the
-model and there is no simulation of tire-road-friction and tire slip involved.</p>
-<p>The speed <img class="math" src="../../../_images/math/7488c00111382f5f04d931d6f3ecb4435438ffad.png" alt="n_{eng}"/> of the engine is constraint by the speed
-<img class="math" src="../../../_images/math/8a61447e565069614e8fb432e81f2ff844b08063.png" alt="n_{wheel}"/> of the wheels, the ratio <img class="math" src="../../../_images/math/27e857287a96f2b9a75e247a301de99d8abcbcaf.png" alt="i_{a}"/> of the axle, and the
-current ratio <img class="math" src="../../../_images/math/6499be4005808d9b91149ea828b8440f319f93a1.png" alt="i_{g}"/> of the gearbox, depending of the current gear:</p>
-<div class="math">
-<p><img src="../../../_images/math/7700d757d51c17aef1dc27e32560284623692b49.png" alt="n_{eng} = n_{wheel} \cdot i_{a} \cdot i_{g}"/></p>
-</div><p>The required acceleration <img class="math" src="../../../_images/math/e61db86029a965d003355f05934bacdb7fe5fd45.png" alt="a_{set}"/> determines the torque <img class="math" src="../../../_images/math/eefe8b4a1faf01734965d041542171e26851e628.png" alt="M_{wheel}"/>
-at the wheels, as the overall mass <img class="math" src="../../../_images/math/e9bc7da808d33a16a8347f27a519bd067186aa66.png" alt="m"/> of the vehicle has to be accelerated by
-this torque:</p>
-<div class="math">
-<p><img src="../../../_images/math/835a82c82af32acf5bcbb56bc80601c2e15815a6.png" alt="M_{wheel} = m \cdot a_{set} \cdot r_{stat}"/></p>
-</div><p>As the equation illustrates, no driving resistances other than the inertia of
-the vehicle are simulated by this model. The required torque <img class="math" src="../../../_images/math/eefe8b4a1faf01734965d041542171e26851e628.png" alt="M_{wheel}"/>
-at the wheels must be generated by the engine, considering the ratios of the
-powertrain:</p>
-<div class="math">
-<p><img src="../../../_images/math/b43d532306916773705aed23c7a75a82b8b4cf31.png" alt="M_{eng} = \frac{M_{wheel}}{i_{a} \cdot i_{g}}"/></p>
-</div><p>As the current speed <img class="math" src="../../../_images/math/7488c00111382f5f04d931d6f3ecb4435438ffad.png" alt="n_{eng}"/> of the engine, the required acceleration
-<img class="math" src="../../../_images/math/e61db86029a965d003355f05934bacdb7fe5fd45.png" alt="a_{set}"/> of the vehicle, and the required torque <img class="math" src="../../../_images/math/fb0d511283503b5b3a7208be5b3d6ede3fee25a6.png" alt="M_{eng}"/> of the
-engine are known or defined by the above equations, this knowledge can be used
-to determine the estimated positions of the accelerator and the brake pedal or
-to calculate the optimal gear for the required acceleration <img class="math" src="../../../_images/math/e61db86029a965d003355f05934bacdb7fe5fd45.png" alt="a_{set}"/>,
-if a positive acceleration is needed. For the accelerator pedal and optimal gear
-calculation, there is still some missing knowledge about the engine itself.
-The relationship between the current engine speed <img class="math" src="../../../_images/math/7488c00111382f5f04d931d6f3ecb4435438ffad.png" alt="n_{eng}"/> and the
-possible engine torque <img class="math" src="../../../_images/math/fb0d511283503b5b3a7208be5b3d6ede3fee25a6.png" alt="M_{eng}"/> is determined by a simple engine map,
-which is illustrated in the following image:</p>
-<figure class="align-default" id="id3">
-<span id="image-enginemap"></span><img alt="Simplified engine map used for the inverted powertrain model" src="../../../_images/EngineMap.svg" /><figcaption>
-<p><span class="caption-text">Simplified engine map used for the inverted powertrain model</span><a class="headerlink" href="#id3" title="Link to this image"></a></p>
-</figcaption>
-</figure>
-<p>The engine map is defined by two characteristic curves:</p>
-<ul class="simple">
-<li><p><img class="math" src="../../../_images/math/ebc09278ad5cb7f72bfa499d1ac0a95d01089631.png" alt="M_{eng,max}"/> defines the maximum torque, which can be produced by the
-engine at a specific engine speed <img class="math" src="../../../_images/math/7488c00111382f5f04d931d6f3ecb4435438ffad.png" alt="n_{eng}"/>. This is directly connected
-with the maximum possible actuation of the accelerator pedal.</p></li>
-<li><p><img class="math" src="../../../_images/math/a345dfcfdcfce4c8ae281e87138ed7f269d36b88.png" alt="M_{eng,drag}"/> defines the drag torque, which is produced by the engine
-at a specific engine speed <img class="math" src="../../../_images/math/7488c00111382f5f04d931d6f3ecb4435438ffad.png" alt="n_{eng}"/>, if the accelerator pedal is not
-actuated at all.</p></li>
-</ul>
-<p>The two characteristic curves are only defined between the minimum and maximum
-possible speed of the engine. As the two characteristic curves are directly
-related to a full actuation (<img class="math" src="../../../_images/math/079743da321af5db6b578a3e4b7cbfecc6dd525a.png" alt="act_{olc,stat} = 1"/>) and no actuation
-(<img class="math" src="../../../_images/math/5014405170bcc34e4d69801a016cc42d77684a0c.png" alt="act_{olc,stat} = 0"/>) of the accelerator pedal, the estimated pedal
-position for the accelerator pedal <img class="math" src="../../../_images/math/af8179e293741ca9978f806f2baba8f661c1865d.png" alt="act_{olc,stat}"/>, which produces the
-currently required engine torque <img class="math" src="../../../_images/math/fb0d511283503b5b3a7208be5b3d6ede3fee25a6.png" alt="M_{eng}"/>, can be calculated by linear
-interpolation between these two characteristic curves at the current engine
-speed <img class="math" src="../../../_images/math/7488c00111382f5f04d931d6f3ecb4435438ffad.png" alt="n_{eng}"/>.</p>
-<p>Analogous for the brake pedal position:</p>
-<ul class="simple">
-<li><p>The maximum actuation of the brake pedal (<img class="math" src="../../../_images/math/9e8c4d08c11f3f1624eaa41613bfaedd07e86604.png" alt="act_{olc,stat} = -1"/>) is
-directly connected with the maximum possible deceleration of the vehicle, which
-is simply set to 1G (<img class="math" src="../../../_images/math/2ca7a6569f7c3575a81875a0da7b04ea7dd89990.png" alt="= 9.81 m/s^2"/>).</p></li>
-<li><p>No actuation of the brake pedal (<img class="math" src="../../../_images/math/5014405170bcc34e4d69801a016cc42d77684a0c.png" alt="act_{olc,stat} = 0"/>) also produces no
-deceleration.</p></li>
-</ul>
-<p>Between these two possible decelerations, the estimated brake pedal position to
-produce the required acceleration <img class="math" src="../../../_images/math/e61db86029a965d003355f05934bacdb7fe5fd45.png" alt="a_{set}"/> is calculated by linear
-interpolation.</p>
-<p>The logic for the calculation of the static controller output <img class="math" src="../../../_images/math/af8179e293741ca9978f806f2baba8f661c1865d.png" alt="act_{olc,stat}"/>,
-utilizing the considerations above, is defined as follows:</p>
-<p>If the required acceleration <img class="math" src="../../../_images/math/e61db86029a965d003355f05934bacdb7fe5fd45.png" alt="a_{set}"/> is smaller than zero, it can be
-produced by the engine drag torque or the brake system. If the engine drag
-torque <img class="math" src="../../../_images/math/a345dfcfdcfce4c8ae281e87138ed7f269d36b88.png" alt="M_{eng,drag}"/> at the current engine speed <img class="math" src="../../../_images/math/7488c00111382f5f04d931d6f3ecb4435438ffad.png" alt="n_{eng}"/> is not
-strong enough to meet the engine torque <img class="math" src="../../../_images/math/fb0d511283503b5b3a7208be5b3d6ede3fee25a6.png" alt="M_{eng}"/>, which would be
-necessary to produce <img class="math" src="../../../_images/math/e61db86029a965d003355f05934bacdb7fe5fd45.png" alt="a_{set}"/>, an <strong>additional</strong> actuation of the brake
-pedal is applied (the driver does not open the clutch, so the engine drag torque
-is also applied to the wheels). This mechanism is not considering a change in
-gears, but uses the current gear of the gearbox (the driver does not consider to
-shift down for a stronger effect of the engine drag torque).</p>
-<p>If the required acceleration <img class="math" src="../../../_images/math/e61db86029a965d003355f05934bacdb7fe5fd45.png" alt="a_{set}"/> is greater than or equal to zero,
-it can only be produced by the powertrain. First of all, the optimal gear to
-produce the engine torque <img class="math" src="../../../_images/math/fb0d511283503b5b3a7208be5b3d6ede3fee25a6.png" alt="M_{eng}"/> required for <img class="math" src="../../../_images/math/e61db86029a965d003355f05934bacdb7fe5fd45.png" alt="a_{set}"/> is
-calculated, which is described in <a class="reference internal" href="#algorithm-longitudinal-openloop-optimal-gear"><span class="std std-ref">the subsequent subsection</span></a>.
-With this chosen gear, the current engine speed <img class="math" src="../../../_images/math/7488c00111382f5f04d931d6f3ecb4435438ffad.png" alt="n_{eng}"/> is calculated.
-<img class="math" src="../../../_images/math/7488c00111382f5f04d931d6f3ecb4435438ffad.png" alt="n_{eng}"/> is used to determine the maximum engine torque <img class="math" src="../../../_images/math/ebc09278ad5cb7f72bfa499d1ac0a95d01089631.png" alt="M_{eng,max}"/>
-and the engine drag torque <img class="math" src="../../../_images/math/a345dfcfdcfce4c8ae281e87138ed7f269d36b88.png" alt="M_{eng,drag}"/> from the characteristic curves.
-As these two values are connected to a full actuation and no actuation of the
-accelerator pedal, the estimated accelerator pedal position, which is necessary
-to produce the required acceleration <img class="math" src="../../../_images/math/e61db86029a965d003355f05934bacdb7fe5fd45.png" alt="a_{set}"/>, can be calculated by
-linear interpolation.</p>
-<p>The state variable <img class="math" src="../../../_images/math/ce393cd126facb28d63240935d17d4978c0fa295.png" alt="v_{act}"/> is received from the module <a class="reference internal" href="sensor_driver.html#sensor-driver"><span class="std std-ref">Sensor_Driver</span></a>,
-the required acceleration <img class="math" src="../../../_images/math/e61db86029a965d003355f05934bacdb7fe5fd45.png" alt="a_{set}"/> is received from a driver behavior
-model, and the vehicle parameters <img class="math" src="../../../_images/math/e9bc7da808d33a16a8347f27a519bd067186aa66.png" alt="m"/>, <img class="math" src="../../../_images/math/37e8317b2e01ed1fe34f29869ff8f5d2cdfa78eb.png" alt="r_{stat}"/>, <img class="math" src="../../../_images/math/27e857287a96f2b9a75e247a301de99d8abcbcaf.png" alt="i_{a}"/>, <img class="math" src="../../../_images/math/6499be4005808d9b91149ea828b8440f319f93a1.png" alt="i_{g}"/> per gear,
-and the information about the engine map are received from the module <a class="reference internal" href="../../../advanced_topics/simulator/agent_components.html#parameters-vehicle"><span class="std std-ref">Parameters_Vehicle</span></a>.</p>
-<p>The calculations above are done in the function CalculatePedalPositions, which is called in
-the function CalculatePedalPositionAndGear of Algorithm_Longitudinal.</p>
-</section>
-<section id="algorithm-for-optimal-gear-determination">
-<span id="algorithm-longitudinal-openloop-optimal-gear"></span><h3>Algorithm for optimal gear determination<a class="headerlink" href="#algorithm-for-optimal-gear-determination" title="Link to this heading"></a></h3>
-<p>The algorithm for the determination of the optimal gear for the required
-acceleration <img class="math" src="../../../_images/math/e61db86029a965d003355f05934bacdb7fe5fd45.png" alt="a_{set}"/> is implemented in the function CalculateGearAndEngineSpeed.
-It is called within the function CalculatePedalPositionAndGear of Algorithm_Longitudinal,
-which applies the <a class="reference internal" href="#algorithm-longitudinal-detailed-description-inverted-dynamics-model"><span class="std std-ref">inverted longitudinal dynamics model</span></a>.
-The algorithm receives the current velocity <img class="math" src="../../../_images/math/ce393cd126facb28d63240935d17d4978c0fa295.png" alt="v_{act}"/> of the vehicle and the required acceleration <img class="math" src="../../../_images/math/e61db86029a965d003355f05934bacdb7fe5fd45.png" alt="a_{set}"/>.</p>
-<p>Within a for-loop over all gears, the engine speed <img class="math" src="../../../_images/math/7488c00111382f5f04d931d6f3ecb4435438ffad.png" alt="n_{eng}"/> is calculated
-for each gear, which would result from the current velocity <img class="math" src="../../../_images/math/ce393cd126facb28d63240935d17d4978c0fa295.png" alt="v_{act}"/>,
-as well as the maximum engine torque <img class="math" src="../../../_images/math/ebc09278ad5cb7f72bfa499d1ac0a95d01089631.png" alt="M_{eng,max}"/> and the engine drag
-torque <img class="math" src="../../../_images/math/a345dfcfdcfce4c8ae281e87138ed7f269d36b88.png" alt="M_{eng,drag}"/> resulting from these engine speeds. Violating the
-minimum engine speed <img class="math" src="../../../_images/math/d84bc4f13818666efe972485ffa26ce9163877a0.png" alt="n_{eng,min}"/> and the maximum engine speed <img class="math" src="../../../_images/math/de3b7384cfeaffe57a5f76636b9bb260f64cc2ad.png" alt="n_{eng,max}"/>
-is not considered in this step (resulting engine speeds are written as they result
-from the powertrain calculation and the engine torques are set to the lower or
-upper limits of the characteristic curves respectively, if the engine speed
-range is violated).</p>
-<p>The results above are further processed in a second for-loop over all gears.
-The following aspects are checked to determine, if a gear fits the current
-required state:</p>
-<ul class="simple">
-<li><p>Is the resulting engine speed <img class="math" src="../../../_images/math/7488c00111382f5f04d931d6f3ecb4435438ffad.png" alt="n_{eng}"/> within the range of <img class="math" src="../../../_images/math/d84bc4f13818666efe972485ffa26ce9163877a0.png" alt="n_{eng,min}"/>
-and <img class="math" src="../../../_images/math/de3b7384cfeaffe57a5f76636b9bb260f64cc2ad.png" alt="n_{eng,max}"/>?</p></li>
-<li><p>Is the resulting engine torque <img class="math" src="../../../_images/math/fb0d511283503b5b3a7208be5b3d6ede3fee25a6.png" alt="M_{eng}"/> to produce the required
-acceleration <img class="math" src="../../../_images/math/e61db86029a965d003355f05934bacdb7fe5fd45.png" alt="a_{set}"/> within the range of <img class="math" src="../../../_images/math/a345dfcfdcfce4c8ae281e87138ed7f269d36b88.png" alt="M_{eng,drag}"/> and <img class="math" src="../../../_images/math/ebc09278ad5cb7f72bfa499d1ac0a95d01089631.png" alt="M_{eng,max}"/>?</p></li>
-</ul>
-<p>The lowest gear that fits these criteria sets a Boolean foundGear true and the
-results (gear number and resulting engine speed <img class="math" src="../../../_images/math/7488c00111382f5f04d931d6f3ecb4435438ffad.png" alt="n_{eng}"/>) are written in
-the result vector. This is done for all further gears, until a gear does not fit
-the requirements anymore. This initiates the return of the last sufficient gear
-and its resulting engine speed <img class="math" src="../../../_images/math/7488c00111382f5f04d931d6f3ecb4435438ffad.png" alt="n_{eng}"/>. A short example should
-illustrate this logic:</p>
-<ol class="arabic simple">
-<li><p>The 2nd gear activates the Boolean foundGear, because <img class="math" src="../../../_images/math/7488c00111382f5f04d931d6f3ecb4435438ffad.png" alt="n_{eng}"/> does
-not exceed <img class="math" src="../../../_images/math/de3b7384cfeaffe57a5f76636b9bb260f64cc2ad.png" alt="n_{eng,max}"/> anymore</p></li>
-<li><p>The 4th gear activates the return of the results, because the required engine
-torque <img class="math" src="../../../_images/math/fb0d511283503b5b3a7208be5b3d6ede3fee25a6.png" alt="M_{eng}"/> would exceed the maximum possible engine torque <img class="math" src="../../../_images/math/ebc09278ad5cb7f72bfa499d1ac0a95d01089631.png" alt="M_{eng,max}"/>
-at the corresponding engine speed <img class="math" src="../../../_images/math/7488c00111382f5f04d931d6f3ecb4435438ffad.png" alt="n_{eng}"/></p></li>
-<li><p>The algorithm chooses the 3rd gear as optimum and returns it and its
-corresponding engine speed <img class="math" src="../../../_images/math/7488c00111382f5f04d931d6f3ecb4435438ffad.png" alt="n_{eng}"/></p></li>
-</ol>
-<p>This logic therefore guarantees, that always the highest possible gear is chosen
-by the driver.</p>
-</section>
-</section>
-</section>
-
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+  <section id="algorithm-longitudinal">
+<span id="id1"></span><h1>Algorithm_Longitudinal<a class="headerlink" href="#algorithm-longitudinal" title="Link to this heading"></a></h1>
+<p>This module is responsible for the control of the vehicle’s longitudinal
+behavior. It receives the command variables from a driver behavior model and generates
+the accelerator and brake pedal position and the current gear of the driver to match
+these command variables. The pedal positions and the gear can then be forwarded
+to a vehicle dynamics module like <a class="reference internal" href="dynamics_regular_driving.html#dynamics-regular-driving"><span class="std std-ref">Dynamics_RegularDriving</span></a>.
+The actuation of the clutch pedal is currently not simulated by the modul</p>
+<section id="detailed-description-of-the-module-s-features">
+<span id="algorithm-longitudinal-detailed-description"></span><h2>Detailed description of the module’s features<a class="headerlink" href="#detailed-description-of-the-module-s-features" title="Link to this heading"></a></h2>
+<section id="inverted-longitudinal-dynamics-model">
+<span id="algorithm-longitudinal-detailed-description-inverted-dynamics-model"></span><h3>Inverted longitudinal dynamics model<a class="headerlink" href="#inverted-longitudinal-dynamics-model" title="Link to this heading"></a></h3>
+<p>The inverted longitudinal dynamics model produces <img class="math" src="../../../_images/math/af8179e293741ca9978f806f2baba8f661c1865d.png" alt="act_{olc,stat}"/>
+by utilizing an inverted powertrain and brake system model. The powertrain model
+and all of its parameters and state variables are illustrated in the following image.
+The brake model is not worth illustrating, as it directly applies on the required acceleration
+<img class="math" src="../../../_images/math/e61db86029a965d003355f05934bacdb7fe5fd45.png" alt="a_{set}"/> of the vehicle.</p>
+<figure class="align-default" id="id2">
+<span id="image-powertrainmodel1"></span><img alt="Illustration of the powertrain model and its parameters and state variables" src="../../../_images/PowertrainModel.svg" /><figcaption>
+<p><span class="caption-text">Illustration of the powertrain model and its parameters and state variables</span><a class="headerlink" href="#id2" title="Link to this image"></a></p>
+</figcaption>
+</figure>
+<p>The core element of all calculations in this model is speed and acceleration.
+The speed <img class="math" src="../../../_images/math/8a61447e565069614e8fb432e81f2ff844b08063.png" alt="n_{wheel}"/> at the wheels is constraint by the current velocity
+<img class="math" src="../../../_images/math/ce393cd126facb28d63240935d17d4978c0fa295.png" alt="v_{act}"/> of the vehicle and the static wheel radius <img class="math" src="../../../_images/math/37e8317b2e01ed1fe34f29869ff8f5d2cdfa78eb.png" alt="r_{stat}"/>:</p>
+<div class="math">
+<p><img src="../../../_images/math/07fbf754f6d264e88960c917e63746e1f82110ef.png" alt="n_{wheel} = \frac{v_{act}}{r_{stat}} \cdot \frac{60}{2 \cdot \pi}"/></p>
+</div><p>where <img class="math" src="../../../_images/math/8a61447e565069614e8fb432e81f2ff844b08063.png" alt="n_{wheel}"/> is specified in <img class="math" src="../../../_images/math/7cd90d08e6307cd6526157e78bb4f46ad2ca5ccd.png" alt="rpm"/> (revolutions per minute) and <img class="math" src="../../../_images/math/ce393cd126facb28d63240935d17d4978c0fa295.png" alt="v_{act}"/> is
+defined in <img class="math" src="../../../_images/math/6e9f69ba3f36fefc20991df9c551e1eabdfa961f.png" alt="m/s"/>, which requires the conversion term at the end of the equation.
+As the equation also illustrates, only a simple rolling relation defines the
+model and there is no simulation of tire-road-friction and tire slip involved.</p>
+<p>The speed <img class="math" src="../../../_images/math/7488c00111382f5f04d931d6f3ecb4435438ffad.png" alt="n_{eng}"/> of the engine is constraint by the speed
+<img class="math" src="../../../_images/math/8a61447e565069614e8fb432e81f2ff844b08063.png" alt="n_{wheel}"/> of the wheels, the ratio <img class="math" src="../../../_images/math/27e857287a96f2b9a75e247a301de99d8abcbcaf.png" alt="i_{a}"/> of the axle, and the
+current ratio <img class="math" src="../../../_images/math/6499be4005808d9b91149ea828b8440f319f93a1.png" alt="i_{g}"/> of the gearbox, depending of the current gear:</p>
+<div class="math">
+<p><img src="../../../_images/math/7700d757d51c17aef1dc27e32560284623692b49.png" alt="n_{eng} = n_{wheel} \cdot i_{a} \cdot i_{g}"/></p>
+</div><p>The required acceleration <img class="math" src="../../../_images/math/e61db86029a965d003355f05934bacdb7fe5fd45.png" alt="a_{set}"/> determines the torque <img class="math" src="../../../_images/math/eefe8b4a1faf01734965d041542171e26851e628.png" alt="M_{wheel}"/>
+at the wheels, as the overall mass <img class="math" src="../../../_images/math/e9bc7da808d33a16a8347f27a519bd067186aa66.png" alt="m"/> of the vehicle has to be accelerated by
+this torque:</p>
+<div class="math">
+<p><img src="../../../_images/math/835a82c82af32acf5bcbb56bc80601c2e15815a6.png" alt="M_{wheel} = m \cdot a_{set} \cdot r_{stat}"/></p>
+</div><p>As the equation illustrates, no driving resistances other than the inertia of
+the vehicle are simulated by this model. The required torque <img class="math" src="../../../_images/math/eefe8b4a1faf01734965d041542171e26851e628.png" alt="M_{wheel}"/>
+at the wheels must be generated by the engine, considering the ratios of the
+powertrain:</p>
+<div class="math">
+<p><img src="../../../_images/math/b43d532306916773705aed23c7a75a82b8b4cf31.png" alt="M_{eng} = \frac{M_{wheel}}{i_{a} \cdot i_{g}}"/></p>
+</div><p>As the current speed <img class="math" src="../../../_images/math/7488c00111382f5f04d931d6f3ecb4435438ffad.png" alt="n_{eng}"/> of the engine, the required acceleration
+<img class="math" src="../../../_images/math/e61db86029a965d003355f05934bacdb7fe5fd45.png" alt="a_{set}"/> of the vehicle, and the required torque <img class="math" src="../../../_images/math/fb0d511283503b5b3a7208be5b3d6ede3fee25a6.png" alt="M_{eng}"/> of the
+engine are known or defined by the above equations, this knowledge can be used
+to determine the estimated positions of the accelerator and the brake pedal or
+to calculate the optimal gear for the required acceleration <img class="math" src="../../../_images/math/e61db86029a965d003355f05934bacdb7fe5fd45.png" alt="a_{set}"/>,
+if a positive acceleration is needed. For the accelerator pedal and optimal gear
+calculation, there is still some missing knowledge about the engine itself.
+The relationship between the current engine speed <img class="math" src="../../../_images/math/7488c00111382f5f04d931d6f3ecb4435438ffad.png" alt="n_{eng}"/> and the
+possible engine torque <img class="math" src="../../../_images/math/fb0d511283503b5b3a7208be5b3d6ede3fee25a6.png" alt="M_{eng}"/> is determined by a simple engine map,
+which is illustrated in the following image:</p>
+<figure class="align-default" id="id3">
+<span id="image-enginemap"></span><img alt="Simplified engine map used for the inverted powertrain model" src="../../../_images/EngineMap.svg" /><figcaption>
+<p><span class="caption-text">Simplified engine map used for the inverted powertrain model</span><a class="headerlink" href="#id3" title="Link to this image"></a></p>
+</figcaption>
+</figure>
+<p>The engine map is defined by two characteristic curves:</p>
+<ul class="simple">
+<li><p><img class="math" src="../../../_images/math/ebc09278ad5cb7f72bfa499d1ac0a95d01089631.png" alt="M_{eng,max}"/> defines the maximum torque, which can be produced by the
+engine at a specific engine speed <img class="math" src="../../../_images/math/7488c00111382f5f04d931d6f3ecb4435438ffad.png" alt="n_{eng}"/>. This is directly connected
+with the maximum possible actuation of the accelerator pedal.</p></li>
+<li><p><img class="math" src="../../../_images/math/a345dfcfdcfce4c8ae281e87138ed7f269d36b88.png" alt="M_{eng,drag}"/> defines the drag torque, which is produced by the engine
+at a specific engine speed <img class="math" src="../../../_images/math/7488c00111382f5f04d931d6f3ecb4435438ffad.png" alt="n_{eng}"/>, if the accelerator pedal is not
+actuated at all.</p></li>
+</ul>
+<p>The two characteristic curves are only defined between the minimum and maximum
+possible speed of the engine. As the two characteristic curves are directly
+related to a full actuation (<img class="math" src="../../../_images/math/079743da321af5db6b578a3e4b7cbfecc6dd525a.png" alt="act_{olc,stat} = 1"/>) and no actuation
+(<img class="math" src="../../../_images/math/5014405170bcc34e4d69801a016cc42d77684a0c.png" alt="act_{olc,stat} = 0"/>) of the accelerator pedal, the estimated pedal
+position for the accelerator pedal <img class="math" src="../../../_images/math/af8179e293741ca9978f806f2baba8f661c1865d.png" alt="act_{olc,stat}"/>, which produces the
+currently required engine torque <img class="math" src="../../../_images/math/fb0d511283503b5b3a7208be5b3d6ede3fee25a6.png" alt="M_{eng}"/>, can be calculated by linear
+interpolation between these two characteristic curves at the current engine
+speed <img class="math" src="../../../_images/math/7488c00111382f5f04d931d6f3ecb4435438ffad.png" alt="n_{eng}"/>.</p>
+<p>Analogous for the brake pedal position:</p>
+<ul class="simple">
+<li><p>The maximum actuation of the brake pedal (<img class="math" src="../../../_images/math/9e8c4d08c11f3f1624eaa41613bfaedd07e86604.png" alt="act_{olc,stat} = -1"/>) is
+directly connected with the maximum possible deceleration of the vehicle, which
+is simply set to 1G (<img class="math" src="../../../_images/math/2ca7a6569f7c3575a81875a0da7b04ea7dd89990.png" alt="= 9.81 m/s^2"/>).</p></li>
+<li><p>No actuation of the brake pedal (<img class="math" src="../../../_images/math/5014405170bcc34e4d69801a016cc42d77684a0c.png" alt="act_{olc,stat} = 0"/>) also produces no
+deceleration.</p></li>
+</ul>
+<p>Between these two possible decelerations, the estimated brake pedal position to
+produce the required acceleration <img class="math" src="../../../_images/math/e61db86029a965d003355f05934bacdb7fe5fd45.png" alt="a_{set}"/> is calculated by linear
+interpolation.</p>
+<p>The logic for the calculation of the static controller output <img class="math" src="../../../_images/math/af8179e293741ca9978f806f2baba8f661c1865d.png" alt="act_{olc,stat}"/>,
+utilizing the considerations above, is defined as follows:</p>
+<p>If the required acceleration <img class="math" src="../../../_images/math/e61db86029a965d003355f05934bacdb7fe5fd45.png" alt="a_{set}"/> is smaller than zero, it can be
+produced by the engine drag torque or the brake system. If the engine drag
+torque <img class="math" src="../../../_images/math/a345dfcfdcfce4c8ae281e87138ed7f269d36b88.png" alt="M_{eng,drag}"/> at the current engine speed <img class="math" src="../../../_images/math/7488c00111382f5f04d931d6f3ecb4435438ffad.png" alt="n_{eng}"/> is not
+strong enough to meet the engine torque <img class="math" src="../../../_images/math/fb0d511283503b5b3a7208be5b3d6ede3fee25a6.png" alt="M_{eng}"/>, which would be
+necessary to produce <img class="math" src="../../../_images/math/e61db86029a965d003355f05934bacdb7fe5fd45.png" alt="a_{set}"/>, an <strong>additional</strong> actuation of the brake
+pedal is applied (the driver does not open the clutch, so the engine drag torque
+is also applied to the wheels). This mechanism is not considering a change in
+gears, but uses the current gear of the gearbox (the driver does not consider to
+shift down for a stronger effect of the engine drag torque).</p>
+<p>If the required acceleration <img class="math" src="../../../_images/math/e61db86029a965d003355f05934bacdb7fe5fd45.png" alt="a_{set}"/> is greater than or equal to zero,
+it can only be produced by the powertrain. First of all, the optimal gear to
+produce the engine torque <img class="math" src="../../../_images/math/fb0d511283503b5b3a7208be5b3d6ede3fee25a6.png" alt="M_{eng}"/> required for <img class="math" src="../../../_images/math/e61db86029a965d003355f05934bacdb7fe5fd45.png" alt="a_{set}"/> is
+calculated, which is described in <a class="reference internal" href="#algorithm-longitudinal-openloop-optimal-gear"><span class="std std-ref">the subsequent subsection</span></a>.
+With this chosen gear, the current engine speed <img class="math" src="../../../_images/math/7488c00111382f5f04d931d6f3ecb4435438ffad.png" alt="n_{eng}"/> is calculated.
+<img class="math" src="../../../_images/math/7488c00111382f5f04d931d6f3ecb4435438ffad.png" alt="n_{eng}"/> is used to determine the maximum engine torque <img class="math" src="../../../_images/math/ebc09278ad5cb7f72bfa499d1ac0a95d01089631.png" alt="M_{eng,max}"/>
+and the engine drag torque <img class="math" src="../../../_images/math/a345dfcfdcfce4c8ae281e87138ed7f269d36b88.png" alt="M_{eng,drag}"/> from the characteristic curves.
+As these two values are connected to a full actuation and no actuation of the
+accelerator pedal, the estimated accelerator pedal position, which is necessary
+to produce the required acceleration <img class="math" src="../../../_images/math/e61db86029a965d003355f05934bacdb7fe5fd45.png" alt="a_{set}"/>, can be calculated by
+linear interpolation.</p>
+<p>The state variable <img class="math" src="../../../_images/math/ce393cd126facb28d63240935d17d4978c0fa295.png" alt="v_{act}"/> is received from the module <a class="reference internal" href="sensor_driver.html#sensor-driver"><span class="std std-ref">Sensor_Driver</span></a>,
+the required acceleration <img class="math" src="../../../_images/math/e61db86029a965d003355f05934bacdb7fe5fd45.png" alt="a_{set}"/> is received from a driver behavior
+model, and the vehicle parameters <img class="math" src="../../../_images/math/e9bc7da808d33a16a8347f27a519bd067186aa66.png" alt="m"/>, <img class="math" src="../../../_images/math/37e8317b2e01ed1fe34f29869ff8f5d2cdfa78eb.png" alt="r_{stat}"/>, <img class="math" src="../../../_images/math/27e857287a96f2b9a75e247a301de99d8abcbcaf.png" alt="i_{a}"/>, <img class="math" src="../../../_images/math/6499be4005808d9b91149ea828b8440f319f93a1.png" alt="i_{g}"/> per gear,
+and the information about the engine map are received from the module <a class="reference internal" href="../../../advanced_topics/simulator/agent_components.html#parameters-vehicle"><span class="std std-ref">Parameters_Vehicle</span></a>.</p>
+<p>The calculations above are done in the function CalculatePedalPositions, which is called in
+the function CalculatePedalPositionAndGear of Algorithm_Longitudinal.</p>
+</section>
+<section id="algorithm-for-optimal-gear-determination">
+<span id="algorithm-longitudinal-openloop-optimal-gear"></span><h3>Algorithm for optimal gear determination<a class="headerlink" href="#algorithm-for-optimal-gear-determination" title="Link to this heading"></a></h3>
+<p>The algorithm for the determination of the optimal gear for the required
+acceleration <img class="math" src="../../../_images/math/e61db86029a965d003355f05934bacdb7fe5fd45.png" alt="a_{set}"/> is implemented in the function CalculateGearAndEngineSpeed.
+It is called within the function CalculatePedalPositionAndGear of Algorithm_Longitudinal,
+which applies the <a class="reference internal" href="#algorithm-longitudinal-detailed-description-inverted-dynamics-model"><span class="std std-ref">inverted longitudinal dynamics model</span></a>.
+The algorithm receives the current velocity <img class="math" src="../../../_images/math/ce393cd126facb28d63240935d17d4978c0fa295.png" alt="v_{act}"/> of the vehicle and the required acceleration <img class="math" src="../../../_images/math/e61db86029a965d003355f05934bacdb7fe5fd45.png" alt="a_{set}"/>.</p>
+<p>Within a for-loop over all gears, the engine speed <img class="math" src="../../../_images/math/7488c00111382f5f04d931d6f3ecb4435438ffad.png" alt="n_{eng}"/> is calculated
+for each gear, which would result from the current velocity <img class="math" src="../../../_images/math/ce393cd126facb28d63240935d17d4978c0fa295.png" alt="v_{act}"/>,
+as well as the maximum engine torque <img class="math" src="../../../_images/math/ebc09278ad5cb7f72bfa499d1ac0a95d01089631.png" alt="M_{eng,max}"/> and the engine drag
+torque <img class="math" src="../../../_images/math/a345dfcfdcfce4c8ae281e87138ed7f269d36b88.png" alt="M_{eng,drag}"/> resulting from these engine speeds. Violating the
+minimum engine speed <img class="math" src="../../../_images/math/d84bc4f13818666efe972485ffa26ce9163877a0.png" alt="n_{eng,min}"/> and the maximum engine speed <img class="math" src="../../../_images/math/de3b7384cfeaffe57a5f76636b9bb260f64cc2ad.png" alt="n_{eng,max}"/>
+is not considered in this step (resulting engine speeds are written as they result
+from the powertrain calculation and the engine torques are set to the lower or
+upper limits of the characteristic curves respectively, if the engine speed
+range is violated).</p>
+<p>The results above are further processed in a second for-loop over all gears.
+The following aspects are checked to determine, if a gear fits the current
+required state:</p>
+<ul class="simple">
+<li><p>Is the resulting engine speed <img class="math" src="../../../_images/math/7488c00111382f5f04d931d6f3ecb4435438ffad.png" alt="n_{eng}"/> within the range of <img class="math" src="../../../_images/math/d84bc4f13818666efe972485ffa26ce9163877a0.png" alt="n_{eng,min}"/>
+and <img class="math" src="../../../_images/math/de3b7384cfeaffe57a5f76636b9bb260f64cc2ad.png" alt="n_{eng,max}"/>?</p></li>
+<li><p>Is the resulting engine torque <img class="math" src="../../../_images/math/fb0d511283503b5b3a7208be5b3d6ede3fee25a6.png" alt="M_{eng}"/> to produce the required
+acceleration <img class="math" src="../../../_images/math/e61db86029a965d003355f05934bacdb7fe5fd45.png" alt="a_{set}"/> within the range of <img class="math" src="../../../_images/math/a345dfcfdcfce4c8ae281e87138ed7f269d36b88.png" alt="M_{eng,drag}"/> and <img class="math" src="../../../_images/math/ebc09278ad5cb7f72bfa499d1ac0a95d01089631.png" alt="M_{eng,max}"/>?</p></li>
+</ul>
+<p>The lowest gear that fits these criteria sets a Boolean foundGear true and the
+results (gear number and resulting engine speed <img class="math" src="../../../_images/math/7488c00111382f5f04d931d6f3ecb4435438ffad.png" alt="n_{eng}"/>) are written in
+the result vector. This is done for all further gears, until a gear does not fit
+the requirements anymore. This initiates the return of the last sufficient gear
+and its resulting engine speed <img class="math" src="../../../_images/math/7488c00111382f5f04d931d6f3ecb4435438ffad.png" alt="n_{eng}"/>. A short example should
+illustrate this logic:</p>
+<ol class="arabic simple">
+<li><p>The 2nd gear activates the Boolean foundGear, because <img class="math" src="../../../_images/math/7488c00111382f5f04d931d6f3ecb4435438ffad.png" alt="n_{eng}"/> does
+not exceed <img class="math" src="../../../_images/math/de3b7384cfeaffe57a5f76636b9bb260f64cc2ad.png" alt="n_{eng,max}"/> anymore</p></li>
+<li><p>The 4th gear activates the return of the results, because the required engine
+torque <img class="math" src="../../../_images/math/fb0d511283503b5b3a7208be5b3d6ede3fee25a6.png" alt="M_{eng}"/> would exceed the maximum possible engine torque <img class="math" src="../../../_images/math/ebc09278ad5cb7f72bfa499d1ac0a95d01089631.png" alt="M_{eng,max}"/>
+at the corresponding engine speed <img class="math" src="../../../_images/math/7488c00111382f5f04d931d6f3ecb4435438ffad.png" alt="n_{eng}"/></p></li>
+<li><p>The algorithm chooses the 3rd gear as optimum and returns it and its
+corresponding engine speed <img class="math" src="../../../_images/math/7488c00111382f5f04d931d6f3ecb4435438ffad.png" alt="n_{eng}"/></p></li>
+</ol>
+<p>This logic therefore guarantees, that always the highest possible gear is chosen
+by the driver.</p>
+</section>
+</section>
+</section>
+
+
+           </div>
+          </div>
+          <footer><div class="rst-footer-buttons" role="navigation" aria-label="Footer">
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diff --git a/content/html/user_guide/sim_user_guide/components/driver.html b/content/html/user_guide/sim_user_guide/components/driver.html
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--- a/content/html/user_guide/sim_user_guide/components/driver.html
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@@ -1,289 +1,290 @@
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-  <section id="driver">
-<span id="components-driver"></span><h1>Driver<a class="headerlink" href="#driver" title="Link to this heading"></a></h1>
-<section id="algorithmagentfollowingdrivermodel">
-<span id="components-agentfollowingdrivermodel"></span><h2>AlgorithmAgentFollowingDriverModel<a class="headerlink" href="#algorithmagentfollowingdrivermodel" title="Link to this heading"></a></h2>
-<p>AlgorithmAgentFollowingDriverModel implements a simple driver model for longitudinal and lateral control.</p>
-<section id="lateral-control">
-<h3>Lateral control<a class="headerlink" href="#lateral-control" title="Link to this heading"></a></h3>
-<p>The lateral guidance always keeps the agent in the middle of the lane.</p>
-</section>
-<section id="longitudinal-control">
-<h3>Longitudinal control<a class="headerlink" href="#longitudinal-control" title="Link to this heading"></a></h3>
-<p>This driver type works according to the IDM (Intelligent Driver Model) and adapts its velocity to an agent in front and holds
-a desired velocity if there’s no front agent available (like adaptive cruise control).</p>
-<p>For a simplified version of the model, the Intelligent Driver Model acceleration <img class="math" src="../../../_images/math/d39a46e63ea61f983053165be8919b2d415a242d.png" alt="a_{IDM}"/> is described by the following equation:</p>
-<div class="math">
-<p><img src="../../../_images/math/e7f5236ae203153f19fa34af90e8fecae306de35.png" alt="a_{IDM} = a_{max} \cdot (1 - (\frac{v_{vehicle}}{v_{wish}})^\delta - (\frac{s^*(v_{vehicle},\Delta v)}{s_{netDistance}})^2)"/></p>
-</div><p>with</p>
-<div class="math">
-<p><img src="../../../_images/math/cb62296f4d905147f13ad49d56a01ac1d209ccc6.png" alt="s^*(v_{vehicle},\Delta v) = s_{0} + v_{vehicle} \cdot T + \frac{v_{vehicle} \cdot \Delta v}{2 \cdot \sqrt{a_{max} \cdot b_{max}}}"/></p>
-</div><p>The calculation of <img class="math" src="../../../_images/math/bee30f2cce9bda089aca48016006f43c7a1a00ab.png" alt="\Delta v"/> is done by subtracting the absolute velocity <img class="math" src="../../../_images/math/2daa980935ee71285c83c0221af428ae007e42af.png" alt="v_{vehicle}"/> of the own vehicle
-from the absolute velocity <img class="math" src="../../../_images/math/bf6a0bfd0f1acb8457a54999f6457d5d55fee769.png" alt="v_{frontAgent}"/> of the front agent:</p>
-<div class="math">
-<p><img src="../../../_images/math/9369c8636d522b2acde2dec96ebf91a101a7880b.png" alt="\Delta v = v_{vehicle} - v_{frontAgent}"/></p>
-</div><p>The acceleration of the vehicle (Intelligent Driver Model acceleration) can be separated into</p>
-<ul class="simple">
-<li><p>free road term:</p></li>
-</ul>
-<div class="math">
-<p><img src="../../../_images/math/e072f7f8d7e72335c7fa090062c70e71a0842805.png" alt="a_{max} \cdot (1 - (\frac{v_{vehicle}}{v_{wish}})^\delta)"/></p>
-</div><ul class="simple">
-<li><p>interaction term:</p></li>
-</ul>
-<div class="math">
-<p><img src="../../../_images/math/482a97c02ffe95c0dc931990d691426a039c7bd5.png" alt="-a_{max} \cdot (\frac{s^*(v_{vehicle},\Delta v)}{s_{netDistance}})^2 = -a_{max} \cdot (\frac{s_{0} + v_{vehicle} \cdot T}{s_{netDistance}} + \frac{v_{vehicle} \cdot \Delta v}{2 \cdot \sqrt{a_{max} \cdot b_{max}} \cdot s_{netDistance}})^2"/></p>
-</div><p><strong>Free road behavior:</strong> On a free road, the distance to the front agent is huge and the vehicle’s acceleration is controlled
-by the free road term, which is approximately equal to <img class="math" src="../../../_images/math/0f3e7b8a9870feac7aadcd7385568b5760e49ef8.png" alt="a_{max}"/> for low velocities and vanishes as <img class="math" src="../../../_images/math/2daa980935ee71285c83c0221af428ae007e42af.png" alt="v_{vehicle}"/> approaches <img class="math" src="../../../_images/math/194fe4ed3f8c6105a0b0069bb3e568e610b81732.png" alt="v_{wish}"/>.
-There will be some deviation to the actual vehicle velocity, due to the model not being aware of air drag or engine drag (which might be introduced by
-subsequent agent components). AlgorithmAgentFollowingDriverModel just controls its velocity wish.</p>
-<p><strong>Behavior at high approaching rates</strong>: For large velocity differences, the interaction term is governed by:</p>
-<div class="math">
-<p><img src="../../../_images/math/873012ece5b8bcd5e44c0ca3523a67fd31212008.png" alt="-a_{max} \cdot (\frac{v_{vehicle} \cdot \Delta v}{2 \cdot \sqrt{a_{max} \cdot b_{max}} \cdot s_{netDistance}})^2"/></p>
-</div><p>This leads to a driving behavior that compensates velocity differences while trying not to brake much harder than the maximum braking deceleration <img class="math" src="../../../_images/math/884d304dc007998a3a56da240fbd29cd58eb85d2.png" alt="b_{max}"/>.</p>
-<p><strong>Behavior at small net distances</strong>: For minor velocity differences and small net distances, the interaction term is approximately equal to:</p>
-<div class="math">
-<p><img src="../../../_images/math/63239f4bf5f49eb26940e815ce19e13555ba57f8.png" alt="-a_{max} \cdot (\frac{s_{0} + v_{vehicle} \cdot T}{s_{netDistance}})^2"/></p>
-</div><p>which resembles a simple repulsive force such that small net distances are quickly enlarged towards an equilibrium net distance.</p>
-<p>The following table and the DriverProfile snippet describe a whole DriverProfile. Type “AlgorithmAgentFollowingDriverModel” in
-the DriverProfile snippet below determines that this set of parameters is active.</p>
-<table class="tight-table docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Parameter</p></th>
-<th class="head"><p>Type</p></th>
-<th class="head"><p>Unit</p></th>
-<th class="head"><p>Description</p></th>
-<th class="head"><p>Defaults to</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>AlgorithmLateralModule</p></td>
-<td><p>String</p></td>
-<td></td>
-<td><p>Behavior model for the steering wheel angle of the driver</p></td>
-<td><p>Required value</p></td>
-</tr>
-<tr class="row-odd"><td><p>AlgorithmLongitudinalModule</p></td>
-<td><p>String</p></td>
-<td></td>
-<td><p>Behavior model for the accelerator, brake pedal position, and the current gear of the driver</p></td>
-<td><p>Required value</p></td>
-</tr>
-<tr class="row-even"><td><p>VelocityWish: <img class="math" src="../../../_images/math/194fe4ed3f8c6105a0b0069bb3e568e610b81732.png" alt="v_{wish}"/></p></td>
-<td><p>Double</p></td>
-<td><p>m/s</p></td>
-<td><p>Desired speed</p></td>
-<td><p><abbr title="120 km/h">33.33 m/s</abbr></p></td>
-</tr>
-<tr class="row-odd"><td><p>Delta: <img class="math" src="../../../_images/math/652b9d8b65c10aed0fdcdbde47396c879ed5bd33.png" alt="\delta"/></p></td>
-<td><p>Double</p></td>
-<td></td>
-<td><p>Free acceleration exponent characterizing how the acceleration decreases with velocity (1: linear, infinity: constant)</p></td>
-<td><p>4.0</p></td>
-</tr>
-<tr class="row-even"><td><p>TGapWish: <img class="math" src="../../../_images/math/e8dea8254118f111b5fb20895b03528c17566f06.png" alt="T"/></p></td>
-<td><p>Double</p></td>
-<td><p>s</p></td>
-<td><p>Desired time gap between ego and front agent</p></td>
-<td><p>1.5 s</p></td>
-</tr>
-<tr class="row-odd"><td><p>MinDistance: <img class="math" src="../../../_images/math/e2afb14df1b591b66c89c9bdec531773fd46a253.png" alt="s_{0}"/></p></td>
-<td><p>Double</p></td>
-<td><p>m</p></td>
-<td><p>Minimum distance between ego and front (used at slow speeds); Also called jam distance</p></td>
-<td><p>2.0 m</p></td>
-</tr>
-<tr class="row-even"><td><p>MaxAcceleration: <img class="math" src="../../../_images/math/0f3e7b8a9870feac7aadcd7385568b5760e49ef8.png" alt="a_{max}"/></p></td>
-<td><p>Double</p></td>
-<td><p>m/s²</p></td>
-<td><p>Maximum acceleration in satisfactory way, not vehicle possible acceleration</p></td>
-<td><p>1.4 m/s²</p></td>
-</tr>
-<tr class="row-odd"><td><p>MaxDeceleration: <img class="math" src="../../../_images/math/884d304dc007998a3a56da240fbd29cd58eb85d2.png" alt="b_{max}"/></p></td>
-<td><p>Double</p></td>
-<td><p>m/s²</p></td>
-<td><p>Desired deceleration</p></td>
-<td><p>2.0 m/s²</p></td>
-</tr>
-</tbody>
-</table>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;Profile</span><span class="w"> </span><span class="na">Name=</span><span class="s">&quot;Regular&quot;</span><span class="nt">&gt;</span>
-<span class="w">  </span><span class="nt">&lt;String</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;Type&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;AlgorithmAgentFollowingDriverModel&quot;</span><span class="nt">/&gt;</span>
-<span class="w">  </span><span class="nt">&lt;String</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;AlgorithmLateralModule&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;Algorithm_LateralAfdm&quot;</span><span class="nt">/&gt;</span>
-<span class="w">  </span><span class="nt">&lt;String</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;AlgorithmLongitudinalModule&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;Algorithm_LongitudinalAfdm&quot;</span><span class="nt">/&gt;</span>
-<span class="w">  </span><span class="nt">&lt;Double</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;VelocityWish&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;36.11&quot;</span><span class="nt">/&gt;</span>
-<span class="w">  </span><span class="nt">&lt;Double</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;Delta&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;4.0&quot;</span><span class="nt">/&gt;</span>
-<span class="w">  </span><span class="nt">&lt;Double</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;TGapWish&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;1.5&quot;</span><span class="nt">/&gt;</span>
-<span class="w">  </span><span class="nt">&lt;Double</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;MinDistance&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;2.0&quot;</span><span class="nt">/&gt;</span>
-<span class="w">  </span><span class="nt">&lt;Double</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;MaxAcceleration&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;1.4&quot;</span><span class="nt">/&gt;</span>
-<span class="w">  </span><span class="nt">&lt;Double</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;MaxDeceleration&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;2.0&quot;</span><span class="nt">/&gt;</span>
-<span class="nt">&lt;/Profile&gt;</span>
-</pre></div>
-</div>
-<p>For further information, please refer to:</p>
-<p>Treiber, Martin; Hennecke, Ansgar; Helbing, Dirk (2000), “Congested traffic states in empirical observations and microscopic simulations”, Physical Review E, 62 (2): 1805–1824, <a class="reference external" href="https://arxiv.org/pdf/cond-mat/0002177.pdf">https://arxiv.org/pdf/cond-mat/0002177.pdf</a></p>
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+  <section id="driver">
+<span id="components-driver"></span><h1>Driver<a class="headerlink" href="#driver" title="Link to this heading"></a></h1>
+<section id="algorithmagentfollowingdrivermodel">
+<span id="components-agentfollowingdrivermodel"></span><h2>AlgorithmAgentFollowingDriverModel<a class="headerlink" href="#algorithmagentfollowingdrivermodel" title="Link to this heading"></a></h2>
+<p>AlgorithmAgentFollowingDriverModel implements a simple driver model for longitudinal and lateral control.</p>
+<section id="lateral-control">
+<h3>Lateral control<a class="headerlink" href="#lateral-control" title="Link to this heading"></a></h3>
+<p>The lateral guidance always keeps the agent in the middle of the lane.</p>
+</section>
+<section id="longitudinal-control">
+<h3>Longitudinal control<a class="headerlink" href="#longitudinal-control" title="Link to this heading"></a></h3>
+<p>This driver type works according to the IDM (Intelligent Driver Model) and adapts its velocity to an agent in front and holds
+a desired velocity if there’s no front agent available (like adaptive cruise control).</p>
+<p>For a simplified version of the model, the Intelligent Driver Model acceleration <img class="math" src="../../../_images/math/d39a46e63ea61f983053165be8919b2d415a242d.png" alt="a_{IDM}"/> is described by the following equation:</p>
+<div class="math">
+<p><img src="../../../_images/math/e7f5236ae203153f19fa34af90e8fecae306de35.png" alt="a_{IDM} = a_{max} \cdot (1 - (\frac{v_{vehicle}}{v_{wish}})^\delta - (\frac{s^*(v_{vehicle},\Delta v)}{s_{netDistance}})^2)"/></p>
+</div><p>with</p>
+<div class="math">
+<p><img src="../../../_images/math/cb62296f4d905147f13ad49d56a01ac1d209ccc6.png" alt="s^*(v_{vehicle},\Delta v) = s_{0} + v_{vehicle} \cdot T + \frac{v_{vehicle} \cdot \Delta v}{2 \cdot \sqrt{a_{max} \cdot b_{max}}}"/></p>
+</div><p>The calculation of <img class="math" src="../../../_images/math/bee30f2cce9bda089aca48016006f43c7a1a00ab.png" alt="\Delta v"/> is done by subtracting the absolute velocity <img class="math" src="../../../_images/math/2daa980935ee71285c83c0221af428ae007e42af.png" alt="v_{vehicle}"/> of the own vehicle
+from the absolute velocity <img class="math" src="../../../_images/math/bf6a0bfd0f1acb8457a54999f6457d5d55fee769.png" alt="v_{frontAgent}"/> of the front agent:</p>
+<div class="math">
+<p><img src="../../../_images/math/9369c8636d522b2acde2dec96ebf91a101a7880b.png" alt="\Delta v = v_{vehicle} - v_{frontAgent}"/></p>
+</div><p>The acceleration of the vehicle (Intelligent Driver Model acceleration) can be separated into</p>
+<ul class="simple">
+<li><p>free road term:</p></li>
+</ul>
+<div class="math">
+<p><img src="../../../_images/math/e072f7f8d7e72335c7fa090062c70e71a0842805.png" alt="a_{max} \cdot (1 - (\frac{v_{vehicle}}{v_{wish}})^\delta)"/></p>
+</div><ul class="simple">
+<li><p>interaction term:</p></li>
+</ul>
+<div class="math">
+<p><img src="../../../_images/math/482a97c02ffe95c0dc931990d691426a039c7bd5.png" alt="-a_{max} \cdot (\frac{s^*(v_{vehicle},\Delta v)}{s_{netDistance}})^2 = -a_{max} \cdot (\frac{s_{0} + v_{vehicle} \cdot T}{s_{netDistance}} + \frac{v_{vehicle} \cdot \Delta v}{2 \cdot \sqrt{a_{max} \cdot b_{max}} \cdot s_{netDistance}})^2"/></p>
+</div><p><strong>Free road behavior:</strong> On a free road, the distance to the front agent is huge and the vehicle’s acceleration is controlled
+by the free road term, which is approximately equal to <img class="math" src="../../../_images/math/0f3e7b8a9870feac7aadcd7385568b5760e49ef8.png" alt="a_{max}"/> for low velocities and vanishes as <img class="math" src="../../../_images/math/2daa980935ee71285c83c0221af428ae007e42af.png" alt="v_{vehicle}"/> approaches <img class="math" src="../../../_images/math/194fe4ed3f8c6105a0b0069bb3e568e610b81732.png" alt="v_{wish}"/>.
+There will be some deviation to the actual vehicle velocity, due to the model not being aware of air drag or engine drag (which might be introduced by
+subsequent agent components). AlgorithmAgentFollowingDriverModel just controls its velocity wish.</p>
+<p><strong>Behavior at high approaching rates</strong>: For large velocity differences, the interaction term is governed by:</p>
+<div class="math">
+<p><img src="../../../_images/math/873012ece5b8bcd5e44c0ca3523a67fd31212008.png" alt="-a_{max} \cdot (\frac{v_{vehicle} \cdot \Delta v}{2 \cdot \sqrt{a_{max} \cdot b_{max}} \cdot s_{netDistance}})^2"/></p>
+</div><p>This leads to a driving behavior that compensates velocity differences while trying not to brake much harder than the maximum braking deceleration <img class="math" src="../../../_images/math/884d304dc007998a3a56da240fbd29cd58eb85d2.png" alt="b_{max}"/>.</p>
+<p><strong>Behavior at small net distances</strong>: For minor velocity differences and small net distances, the interaction term is approximately equal to:</p>
+<div class="math">
+<p><img src="../../../_images/math/63239f4bf5f49eb26940e815ce19e13555ba57f8.png" alt="-a_{max} \cdot (\frac{s_{0} + v_{vehicle} \cdot T}{s_{netDistance}})^2"/></p>
+</div><p>which resembles a simple repulsive force such that small net distances are quickly enlarged towards an equilibrium net distance.</p>
+<p>The following table and the DriverProfile snippet describe a whole DriverProfile. Type “AlgorithmAgentFollowingDriverModel” in
+the DriverProfile snippet below determines that this set of parameters is active.</p>
+<table class="tight-table docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Parameter</p></th>
+<th class="head"><p>Type</p></th>
+<th class="head"><p>Unit</p></th>
+<th class="head"><p>Description</p></th>
+<th class="head"><p>Defaults to</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>AlgorithmLateralModule</p></td>
+<td><p>String</p></td>
+<td></td>
+<td><p>Behavior model for the steering wheel angle of the driver</p></td>
+<td><p>Required value</p></td>
+</tr>
+<tr class="row-odd"><td><p>AlgorithmLongitudinalModule</p></td>
+<td><p>String</p></td>
+<td></td>
+<td><p>Behavior model for the accelerator, brake pedal position, and the current gear of the driver</p></td>
+<td><p>Required value</p></td>
+</tr>
+<tr class="row-even"><td><p>VelocityWish: <img class="math" src="../../../_images/math/194fe4ed3f8c6105a0b0069bb3e568e610b81732.png" alt="v_{wish}"/></p></td>
+<td><p>Double</p></td>
+<td><p>m/s</p></td>
+<td><p>Desired speed</p></td>
+<td><p><abbr title="120 km/h">33.33 m/s</abbr></p></td>
+</tr>
+<tr class="row-odd"><td><p>Delta: <img class="math" src="../../../_images/math/652b9d8b65c10aed0fdcdbde47396c879ed5bd33.png" alt="\delta"/></p></td>
+<td><p>Double</p></td>
+<td></td>
+<td><p>Free acceleration exponent characterizing how the acceleration decreases with velocity (1: linear, infinity: constant)</p></td>
+<td><p>4.0</p></td>
+</tr>
+<tr class="row-even"><td><p>TGapWish: <img class="math" src="../../../_images/math/e8dea8254118f111b5fb20895b03528c17566f06.png" alt="T"/></p></td>
+<td><p>Double</p></td>
+<td><p>s</p></td>
+<td><p>Desired time gap between ego and front agent</p></td>
+<td><p>1.5 s</p></td>
+</tr>
+<tr class="row-odd"><td><p>MinDistance: <img class="math" src="../../../_images/math/e2afb14df1b591b66c89c9bdec531773fd46a253.png" alt="s_{0}"/></p></td>
+<td><p>Double</p></td>
+<td><p>m</p></td>
+<td><p>Minimum distance between ego and front (used at slow speeds); Also called jam distance</p></td>
+<td><p>2.0 m</p></td>
+</tr>
+<tr class="row-even"><td><p>MaxAcceleration: <img class="math" src="../../../_images/math/0f3e7b8a9870feac7aadcd7385568b5760e49ef8.png" alt="a_{max}"/></p></td>
+<td><p>Double</p></td>
+<td><p>m/s²</p></td>
+<td><p>Maximum acceleration in satisfactory way, not vehicle possible acceleration</p></td>
+<td><p>1.4 m/s²</p></td>
+</tr>
+<tr class="row-odd"><td><p>MaxDeceleration: <img class="math" src="../../../_images/math/884d304dc007998a3a56da240fbd29cd58eb85d2.png" alt="b_{max}"/></p></td>
+<td><p>Double</p></td>
+<td><p>m/s²</p></td>
+<td><p>Desired deceleration</p></td>
+<td><p>2.0 m/s²</p></td>
+</tr>
+</tbody>
+</table>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;Profile</span><span class="w"> </span><span class="na">Name=</span><span class="s">&quot;Regular&quot;</span><span class="nt">&gt;</span>
+<span class="w">  </span><span class="nt">&lt;String</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;Type&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;AlgorithmAgentFollowingDriverModel&quot;</span><span class="nt">/&gt;</span>
+<span class="w">  </span><span class="nt">&lt;String</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;AlgorithmLateralModule&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;Algorithm_LateralAfdm&quot;</span><span class="nt">/&gt;</span>
+<span class="w">  </span><span class="nt">&lt;String</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;AlgorithmLongitudinalModule&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;Algorithm_LongitudinalAfdm&quot;</span><span class="nt">/&gt;</span>
+<span class="w">  </span><span class="nt">&lt;Double</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;VelocityWish&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;36.11&quot;</span><span class="nt">/&gt;</span>
+<span class="w">  </span><span class="nt">&lt;Double</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;Delta&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;4.0&quot;</span><span class="nt">/&gt;</span>
+<span class="w">  </span><span class="nt">&lt;Double</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;TGapWish&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;1.5&quot;</span><span class="nt">/&gt;</span>
+<span class="w">  </span><span class="nt">&lt;Double</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;MinDistance&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;2.0&quot;</span><span class="nt">/&gt;</span>
+<span class="w">  </span><span class="nt">&lt;Double</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;MaxAcceleration&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;1.4&quot;</span><span class="nt">/&gt;</span>
+<span class="w">  </span><span class="nt">&lt;Double</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;MaxDeceleration&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;2.0&quot;</span><span class="nt">/&gt;</span>
+<span class="nt">&lt;/Profile&gt;</span>
+</pre></div>
+</div>
+<p>For further information, please refer to:</p>
+<p>Treiber, Martin; Hennecke, Ansgar; Helbing, Dirk (2000), “Congested traffic states in empirical observations and microscopic simulations”, Physical Review E, 62 (2): 1805–1824, <a class="reference external" href="https://arxiv.org/pdf/cond-mat/0002177.pdf">https://arxiv.org/pdf/cond-mat/0002177.pdf</a></p>
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-  <section id="dynamics-regulardriving">
-<span id="dynamics-regular-driving"></span><h1>Dynamics_RegularDriving<a class="headerlink" href="#dynamics-regulardriving" title="Link to this heading"></a></h1>
-<p>This module is responsible for the vehicle dynamics under normal driving conditions.
-It receives a signal from the lateral dynamics module <a class="reference internal" href="algorithm_lateral.html#algorithm-lateral"><span class="std std-ref">Algorithm_Lateral</span></a> containing the steering wheel angle.
-Accelerator pedal position, brake pedal position and the currently engaged gear are fetched from the signal sent by the longitudinal dynamics module  <a class="reference internal" href="algorithm_longitudinal.html#algorithm-longitudinal"><span class="std std-ref">Algorithm_Longitudinal</span></a>.
-The module is using these inputs and the vehicle parameters from <a class="reference internal" href="../../../advanced_topics/simulator/agent_components.html#parameters-vehicle"><span class="std std-ref">Parameters_Vehicle</span></a> to determine the resulting vehicle speed, yaw angle and absolute position in the road coordinate system.
-The calculated values are passed on to the simulation framework/WorldObjectInterface.</p>
-<section id="overview-of-the-module-s-functionalities">
-<h2>Overview of the module’s functionalities<a class="headerlink" href="#overview-of-the-module-s-functionalities" title="Link to this heading"></a></h2>
-<section id="longitudinal-dynamics">
-<h3>Longitudinal dynamics<a class="headerlink" href="#longitudinal-dynamics" title="Link to this heading"></a></h3>
-<p>The core element of all longitudinal calculations in this model are speed and acceleration. To determine the change of speed <img class="math" src="../../../_images/math/bee30f2cce9bda089aca48016006f43c7a1a00ab.png" alt="\Delta v"/> and the vehicles velocity <img class="math" src="../../../_images/math/a4c9a91b43ea371c8bcbd8c0401c992fa26de3d6.png" alt="v_{act_{i}}"/> of the current time step <img class="math" src="../../../_images/math/5aa339d4daf45a810dda332e3c80a0698e526e04.png" alt="i"/> the actual acceleration <img class="math" src="../../../_images/math/7b0abc6d78537d753de9943b9e76fa3301cbb12d.png" alt="a_{act}"/> has to be known.</p>
-<p>The module uses a simplified longitudinal dynamics model e.g. it doesn’t factor in rotational inertias.</p>
-<p><img class="math" src="../../../_images/math/7b0abc6d78537d753de9943b9e76fa3301cbb12d.png" alt="a_{act}"/> is dependend on the state variables and parameters shown in table 1.</p>
-<table class="tight-table docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Variable</p></th>
-<th class="head"><p>Meaning</p></th>
-<th class="head"><p>Unit</p></th>
-<th class="head"><p>Source</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p><img class="math" src="../../../_images/math/39f561d2298a2b2d3568abd7127f5af5cc75c1d7.png" alt="v_{act_{i-1}}"/></p></td>
-<td><p>currently saved velocity of agent</p></td>
-<td><p>m/s</p></td>
-<td><p>WorldObjectInterface</p></td>
-</tr>
-<tr class="row-odd"><td><p><img class="math" src="../../../_images/math/5c9798f1510af6753c9eb7b2c5d58b140b69f161.png" alt="pos_{actuator}"/></p></td>
-<td><p>position of accelerator/brake pedal</p></td>
-<td></td>
-<td><p>Algorithm_Longitudinal</p></td>
-</tr>
-<tr class="row-even"><td><p><img class="math" src="../../../_images/math/e6de55aefd90417b1eeeeca680f4de59c48f92d2.png" alt="gear"/></p></td>
-<td><p>chosen gear</p></td>
-<td></td>
-<td><p>Algorithm_Longitudinal</p></td>
-</tr>
-<tr class="row-odd"><td><p><img class="math" src="../../../_images/math/73c99fa583ee6f327c55a4cab30cf8f2fb882b6d.png" alt="i_{g} (gear)"/></p></td>
-<td><p>gear ratio of current gear</p></td>
-<td></td>
-<td><p>vehicleModelParameters</p></td>
-</tr>
-<tr class="row-even"><td><p><img class="math" src="../../../_images/math/27e857287a96f2b9a75e247a301de99d8abcbcaf.png" alt="i_{a}"/></p></td>
-<td><p>gear ratio of axle</p></td>
-<td></td>
-<td><p>vehicleModelParameters</p></td>
-</tr>
-<tr class="row-odd"><td><p><img class="math" src="../../../_images/math/ebc09278ad5cb7f72bfa499d1ac0a95d01089631.png" alt="M_{eng,max}"/></p></td>
-<td><p>maximum torque of the vehicle engine</p></td>
-<td><p>Nm</p></td>
-<td><p>vehicleModelParameters</p></td>
-</tr>
-<tr class="row-even"><td><p><img class="math" src="../../../_images/math/de3b7384cfeaffe57a5f76636b9bb260f64cc2ad.png" alt="n_{eng,max}"/></p></td>
-<td><p>maximum engine speed</p></td>
-<td><p>1/min</p></td>
-<td><p>vehicleModelParameters</p></td>
-</tr>
-<tr class="row-odd"><td><p><img class="math" src="../../../_images/math/d84bc4f13818666efe972485ffa26ce9163877a0.png" alt="n_{eng,min}"/></p></td>
-<td><p>minimum engine speed</p></td>
-<td><p>1/min</p></td>
-<td><p>vehicleModelParameters</p></td>
-</tr>
-<tr class="row-even"><td><p><img class="math" src="../../../_images/math/37e8317b2e01ed1fe34f29869ff8f5d2cdfa78eb.png" alt="r_{stat}"/></p></td>
-<td><p>static wheel radius</p></td>
-<td><p>m</p></td>
-<td><p>vehicleModelParameters</p></td>
-</tr>
-<tr class="row-odd"><td><p><img class="math" src="../../../_images/math/91d00c99266d7225ea2e8cc6f4ee54e734da9323.png" alt="m_{vehicle}"/></p></td>
-<td><p>vehicle mass</p></td>
-<td><p>kg</p></td>
-<td><p>vehicleModelParameters</p></td>
-</tr>
-<tr class="row-even"><td><p><img class="math" src="../../../_images/math/880b25263bdfd625f9e5c24adabbc774dd57fcb8.png" alt="c_{W}"/></p></td>
-<td><p>air drag coefficient</p></td>
-<td></td>
-<td><p>vehicleModelParameters</p></td>
-</tr>
-<tr class="row-odd"><td><p><img class="math" src="../../../_images/math/83ec55125f12779059d3ff3c74a47aeea3399c26.png" alt="c_{R}"/></p></td>
-<td><p>rolling resistance tire</p></td>
-<td></td>
-<td><p>vehicleModelParameters</p></td>
-</tr>
-<tr class="row-even"><td><p><img class="math" src="../../../_images/math/afa636aa8aff638847a1b0215abddcd70e3f75fc.png" alt="A_{proj}"/></p></td>
-<td><p>front surface</p></td>
-<td><p>m²</p></td>
-<td><p>vehicleModelParameters</p></td>
-</tr>
-</tbody>
-</table>
-<p>First variables are used to calculate the current engine speed <img class="math" src="../../../_images/math/7488c00111382f5f04d931d6f3ecb4435438ffad.png" alt="n_{eng}"/> .
-To do so the speed of the wheels <img class="math" src="../../../_images/math/8a61447e565069614e8fb432e81f2ff844b08063.png" alt="n_{wheel}"/> is determined via the vehicle velocity and static wheel radius:</p>
-<div class="math">
-<p><img src="../../../_images/math/c6fe88e7f81a21f602311d08ad53cad221819c17.png" alt="n_{wheel} = \frac{v_{act_{i-1}}}{r_{stat}} \cdot \frac{60}{2 \cdot \pi}"/></p>
-</div><p>The powertrain model in the following image is used to further derive the engine speed <img class="math" src="../../../_images/math/7488c00111382f5f04d931d6f3ecb4435438ffad.png" alt="n_{eng}"/> using the gear ratio <img class="math" src="../../../_images/math/73c99fa583ee6f327c55a4cab30cf8f2fb882b6d.png" alt="i_{g} (gear)"/> of the currently engaged gear and axle ratio <img class="math" src="../../../_images/math/27e857287a96f2b9a75e247a301de99d8abcbcaf.png" alt="i_{a}"/> .</p>
-<figure class="align-default" id="id1">
-<span id="image-powertrainmodel2"></span><img alt="Illustration of the powertrain model and its parameters and state variables" src="../../../_images/PowertrainModel.svg" /><figcaption>
-<p><span class="caption-text">Illustration of the powertrain model and its parameters and state variables</span><a class="headerlink" href="#id1" title="Link to this image"></a></p>
-</figcaption>
-</figure>
-<div class="math">
-<p><img src="../../../_images/math/186ca8cd801e8f6918af48eb6a945071e28a2ae0.png" alt="n_{eng} = n_{wheel} \cdot i_{a} \cdot i_{g} (gear)"/></p>
-</div><p>The maximum torque <img class="math" src="../../../_images/math/3e4e0d087096eb420c02ba6cc2b4197ff56a209e.png" alt="M_{eng,max} (n_{eng})"/> at the current engine speed is determined using the engine torque map shown in the following image:</p>
-<figure class="align-default" id="id2">
-<img alt="Simplified Engine Map" src="../../../_images/EngineMapCalculated.svg" /><figcaption>
-<p><span class="caption-text">Simplified Engine Map</span><a class="headerlink" href="#id2" title="Link to this image"></a></p>
-</figcaption>
-</figure>
-<p>At this point the module differentiates between deceleration and acceleration by checking whether the value of <img class="math" src="../../../_images/math/5c9798f1510af6753c9eb7b2c5d58b140b69f161.png" alt="pos_{actuator}"/> is positive or negative.
-Negative values indicate the use of the brake pedal between 0-100% while positive values represent the use of the accelerator pedal.</p>
-<p><strong>Driving resistance:</strong> There are driving resistances to be considered during the drive due to the rolling resistance of tires and air resistance which
-could be calculated according to the follwing relations in fluid mechanics, where <img class="math" src="../../../_images/math/bb66f0561aa819e3a61f40b57423779d4449ee7b.png" alt="\rho_{air}"/> stands for air density in <img class="math" src="../../../_images/math/572e08c231b6275e31637c1762f65228f6814965.png" alt="kg / m^3"/> :</p>
-<div class="math">
-<p><img src="../../../_images/math/5d85248d3b87830ed3c7ef892134340a1814df3f.png" alt="a_{AirDrag} = - \frac{\rho_{air} \cdot c_{w} \cdot A_{proj} \cdot v_{act_{i-a}}^2}{2 \cdot m_{vehicle}}"/></p>
-</div><div class="math">
-<p><img src="../../../_images/math/9e843b243e089427f0f03e68f6c20339afaff026.png" alt="a_{RollingDrag} = c_{R} \cdot 9.81 \frac{m}{s^2}"/></p>
-</div><p>The rolling resistance of vehicle is currently set as a dummy value (0.0125), because the related value is not in the catalog of vehicle models yet and
-therefore it still can not be tapped in interface.</p>
-<p><strong>Decelerating:</strong> When decelerating <img class="math" src="../../../_images/math/7b0abc6d78537d753de9943b9e76fa3301cbb12d.png" alt="a_{act}"/> is the sum of the acceleration resulting from engine drag <img class="math" src="../../../_images/math/ee2ba61fbaf6c9b13c767d5736b69aacb3651125.png" alt="a_{drag}"/> and acceleration from braking <img class="math" src="../../../_images/math/e8de268f33225ec875a9286c75c8a9db2eb8a11a.png" alt="a_{brake}"/> .
-Whenever the driver is braking the module assumes that the engine is dragging with a moment equal to 10% of the maximum torque at the current engine speed.</p>
-<div class="math">
-<p><img src="../../../_images/math/a9f707ea9d502e5790314de3e761f5a0e70c8517.png" alt="M_{drag}(n_{eng}) = - 0.1 \cdot M_{eng,max}(n_{eng})"/></p>
-</div><div class="math">
-<p><img src="../../../_images/math/894013d346d3f6084c024a5242ef0348bffe9045.png" alt="M_{wheel} = \frac{M_{drag}(n_{eng})}{i_{a} \cdot i_{g}(gear)}"/></p>
-</div><div class="math">
-<p><img src="../../../_images/math/0ae69fbf18a11201f8a93d3bc6a3122ebf6e8ac6.png" alt="F_{wheel} = \frac{M_{wheel}}{r_{stat}}"/></p>
-</div><div class="math">
-<p><img src="../../../_images/math/d947549fa7cd5a3b90c765827234dd49051b9f86.png" alt="a_{drag} = \frac{F_{wheel}}{m_{vehicle}}"/></p>
-</div><p>The maximum braking deceleration is set to <img class="math" src="../../../_images/math/37111a2184c2be43f7b3fe1e0e04c07b4e6be554.png" alt="a_{brake,max} = 9.81 m/s^2"/>. The actual braking power is proportional to the position of the braking pedal.</p>
-<div class="math">
-<p><img src="../../../_images/math/060c673f214ca23089ee3cc239773684631c3399.png" alt="a_{brake} = pos_{actuator} \cdot a_{brake,max}"/></p>
-</div><div class="math">
-<p><img src="../../../_images/math/f8d7df9afad3166f2b0384393c96c1b9ca1ccd73.png" alt="a_{act} = a_{drag} + a_{brake}"/></p>
-</div><p><strong>Acceleration:</strong>  When the driver applies pressure on the accelerator the applied engine torque <img class="math" src="../../../_images/math/bfb515fe7446f9459350a2aee09a4a80bff7a857.png" alt="M_{eng,act}"/> is calculated as proportional to the accelerator pedal position and the span between engine drag and maximum engine torque <img class="math" src="../../../_images/math/fb0d511283503b5b3a7208be5b3d6ede3fee25a6.png" alt="M_{eng}"/>(<img class="math" src="../../../_images/math/7488c00111382f5f04d931d6f3ecb4435438ffad.png" alt="n_{eng}"/> ) at the current engine speed.</p>
-<div class="math">
-<p><img src="../../../_images/math/24b413265db20d60d79af3a8b4f014d54dd6fbfa.png" alt="M_{eng}(n_{eng}) = M_{drag}(n_eng) + pos_{actuator}(M_{eng,max}(n_{eng}) - M_{drag}(n_{eng}))"/></p>
-</div><div class="math">
-<p><img src="../../../_images/math/e67ebc69b4822d8b0a9ac32a5e44bd412dc4530d.png" alt="M_{wheel} = \frac{M_{eng,act}}{i_{a} \cdot i_{g}(gear)}"/></p>
-</div><div class="math">
-<p><img src="../../../_images/math/6626abca692e313e86ca6d9648b1a44848413f18.png" alt="F_{wheel} = \frac{M_{eng,act}}{r_{stat}}"/></p>
-</div><div class="math">
-<p><img src="../../../_images/math/b344d51cc9ada34a9dda96ea1d74c8cd4cfd40fb.png" alt="a_{act} = \frac{F_{wheel}}{m_{vehicle}}"/></p>
-</div><p>Once the acceleration of the vehicle is known the change in velocity is determined by its discrete time integral.</p>
-<div class="math">
-<p><img src="../../../_images/math/9988102bf519586a1a00784b7bd8270af26d2f19.png" alt="\Delta v = a_{act} \cdot t_{cycle}"/></p>
-</div><p>The sum of the previous velocity and change in velocity result in the actual vehicle velocity of the current time step:</p>
-<div class="math">
-<p><img src="../../../_images/math/a66c0776e2797799b3482188a68ea464966c2f2e.png" alt="v_{act_{i}} = v_{act_{i-1}} + \Delta v"/></p>
-</div></section>
-<section id="lateral-dynamics">
-<h3>Lateral dynamics<a class="headerlink" href="#lateral-dynamics" title="Link to this heading"></a></h3>
-<p>The lateral dynamics model is based on the Ackermann model which reduces the steering kinematics to a single surrogate front wheel. Considering the relatively small steering angles when driving on the highway this simplification is deemed suitable.
-The heading is updated using the previous heading and the change in yaw due to the steering wheel angle which is converted into a yaw rate using the simplified Ackermann model shown in the following image.</p>
-<figure class="align-default" id="id3">
-<span id="image-ackermannmodel"></span><img alt="Illustration of the Ackermann model" src="../../../_images/AckermannModel.svg" /><figcaption>
-<p><span class="caption-text">Illustration of the Ackermann model</span><a class="headerlink" href="#id3" title="Link to this image"></a></p>
-</figcaption>
-</figure>
-<table class="tight-table docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Variable</p></th>
-<th class="head"><p>Meaning</p></th>
-<th class="head"><p>Unit</p></th>
-<th class="head"><p>Source</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p><img class="math" src="../../../_images/math/264888dd4a4ab3d816ed5c325af60a02201fb97d.png" alt="\delta_{h}"/></p></td>
-<td><p>steering wheel angle</p></td>
-<td><p>rad</p></td>
-<td><p>Algorithm_Lateral</p></td>
-</tr>
-<tr class="row-odd"><td><p><img class="math" src="../../../_images/math/33e5a161c226746b5f858520b66ab3b727990525.png" alt="\Phi_{act_{i-1}}"/></p></td>
-<td><p>heading at previous time step</p></td>
-<td><p>rad</p></td>
-<td><p>WorldObjectInterface</p></td>
-</tr>
-<tr class="row-even"><td><p><img class="math" src="../../../_images/math/4b005afb1bbdb9c3e7f2e6ae503ab9b842b73950.png" alt="i_{s}"/></p></td>
-<td><p>steering ratio</p></td>
-<td></td>
-<td><p>vehicleModelParameters</p></td>
-</tr>
-<tr class="row-odd"><td><p><img class="math" src="../../../_images/math/3789a783f205339f47c886c78ba14bc944845b91.png" alt="l_{wheelbase}"/></p></td>
-<td><p>wheelbase</p></td>
-<td><p>m</p></td>
-<td><p>vehicleModelParameters</p></td>
-</tr>
-<tr class="row-even"><td><p><img class="math" src="../../../_images/math/82f8146372613edd07fa9be8b9227bdde1c42ac4.png" alt="\Delta s"/></p></td>
-<td><p>distance travelled since last time step</p></td>
-<td><p>m</p></td>
-<td><p>previously calculated in the module</p></td>
-</tr>
-<tr class="row-odd"><td><p><img class="math" src="../../../_images/math/1e9a3c535b3949ccd3eb83a4d5d12930474263ff.png" alt="t_{cycle}"/></p></td>
-<td><p>cycle time</p></td>
-<td><p>ms</p></td>
-<td><p>ModelInterface</p></td>
-</tr>
-</tbody>
-</table>
-<p>The steering wheel angle <img class="math" src="../../../_images/math/264888dd4a4ab3d816ed5c325af60a02201fb97d.png" alt="\delta_{h}"/> is proportional to the front wheel angle <img class="math" src="../../../_images/math/652b9d8b65c10aed0fdcdbde47396c879ed5bd33.png" alt="\delta"/> :</p>
-<div class="math">
-<p><img src="../../../_images/math/424c1a175a5c76c81deb6e4042c75f50e956dd11.png" alt="\delta = \frac{\delta_{h}}{i_{s}}"/></p>
-</div><p>The Ackermann model provides the geometric connection between the front wheel angle and the resulting curvature <img class="math" src="../../../_images/math/261e3eb56c1757dd003745ee4cc53aa595565af1.png" alt="\kappa"/> :</p>
-<div class="math">
-<p><img src="../../../_images/math/815f71b583a7c8c8849b594c4c8457f3d9d1a3de.png" alt="\kappa = \frac{tan(\delta)}{l_{wheelbase}}"/></p>
-</div><p>The combination of curvature <img class="math" src="../../../_images/math/261e3eb56c1757dd003745ee4cc53aa595565af1.png" alt="\kappa"/> and driven distance at that curvature <img class="math" src="../../../_images/math/82f8146372613edd07fa9be8b9227bdde1c42ac4.png" alt="\Delta s"/> result in the change of the heading <img class="math" src="../../../_images/math/2de70bff0cd28ce132a5b2bc1af61ea0952a801a.png" alt="\Delta \Phi"/>:</p>
-<div class="math">
-<p><img src="../../../_images/math/d74a416e1db39b7b85110d7ae6ef18db4883bdb9.png" alt="\Delta \Phi = atan(\kappa \cdot \Delta s)"/></p>
-</div><p>The new heading <img class="math" src="../../../_images/math/a4012f826966de9f110274ceb2a787af289d6302.png" alt="\Phi_{act_{i}}"/> is the old heading <img class="math" src="../../../_images/math/409d43055a295e61738c90074520ffeedaba02c6.png" alt="\Phi_{act{i-1}}"/> plus the previously calculated change in heading <img class="math" src="../../../_images/math/2de70bff0cd28ce132a5b2bc1af61ea0952a801a.png" alt="\Delta \Phi"/> :</p>
-<div class="math">
-<p><img src="../../../_images/math/fb3ac93e4fcdd8aa908eaaf9e6ee33da73961444.png" alt="\Phi_{act_{i}} = \Phi_{act_{i-1}} + \Delta \Phi"/></p>
-</div></section>
-<section id="updating-position">
-<h3>Updating position<a class="headerlink" href="#updating-position" title="Link to this heading"></a></h3>
-<p>Once the new vehicle speed <img class="math" src="../../../_images/math/a4c9a91b43ea371c8bcbd8c0401c992fa26de3d6.png" alt="v_{act_{i}}"/> is determined the distance travelled during the last timestep <img class="math" src="../../../_images/math/82f8146372613edd07fa9be8b9227bdde1c42ac4.png" alt="\Delta s"/> is determined:</p>
-<div class="math">
-<p><img src="../../../_images/math/27768e5c81b3213969e180c799ad3fe899393aae.png" alt="\Delta s = v_{act_{i}} \cdot t_{cycle}"/></p>
-</div><p>Using the actual vehicle yaw angle in the road coordinate <img class="math" src="../../../_images/math/33e5a161c226746b5f858520b66ab3b727990525.png" alt="\Phi_{act_{i-1}}"/> the vehicles new x- and y-coordinates are calculated:</p>
-<div class="math">
-<p><img src="../../../_images/math/61190de62458a3f64f789d9e487b86686c3089a3.png" alt="x_{agent_{i}} = x_{agent_{i-1}} + \Delta s \cdot cos(\Phi_{act_{i-1}})"/></p>
-</div><div class="math">
-<p><img src="../../../_images/math/8cc9781565d5e94551e510e5227826abb62d8fbf.png" alt="y_{agent_{i}} = y_{agent_{i-1}} + \Delta s \cdot sin(\Phi_{act_{i-1}})"/></p>
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+  <section id="dynamics-regulardriving">
+<span id="dynamics-regular-driving"></span><h1>Dynamics_RegularDriving<a class="headerlink" href="#dynamics-regulardriving" title="Link to this heading"></a></h1>
+<p>This module is responsible for the vehicle dynamics under normal driving conditions.
+It receives a signal from the lateral dynamics module <a class="reference internal" href="algorithm_lateral.html#algorithm-lateral"><span class="std std-ref">Algorithm_Lateral</span></a> containing the steering wheel angle.
+Accelerator pedal position, brake pedal position and the currently engaged gear are fetched from the signal sent by the longitudinal dynamics module  <a class="reference internal" href="algorithm_longitudinal.html#algorithm-longitudinal"><span class="std std-ref">Algorithm_Longitudinal</span></a>.
+The module is using these inputs and the vehicle parameters from <a class="reference internal" href="../../../advanced_topics/simulator/agent_components.html#parameters-vehicle"><span class="std std-ref">Parameters_Vehicle</span></a> to determine the resulting vehicle speed, yaw angle and absolute position in the road coordinate system.
+The calculated values are passed on to the simulation framework/WorldObjectInterface.</p>
+<section id="overview-of-the-module-s-functionalities">
+<h2>Overview of the module’s functionalities<a class="headerlink" href="#overview-of-the-module-s-functionalities" title="Link to this heading"></a></h2>
+<section id="longitudinal-dynamics">
+<h3>Longitudinal dynamics<a class="headerlink" href="#longitudinal-dynamics" title="Link to this heading"></a></h3>
+<p>The core element of all longitudinal calculations in this model are speed and acceleration. To determine the change of speed <img class="math" src="../../../_images/math/bee30f2cce9bda089aca48016006f43c7a1a00ab.png" alt="\Delta v"/> and the vehicles velocity <img class="math" src="../../../_images/math/a4c9a91b43ea371c8bcbd8c0401c992fa26de3d6.png" alt="v_{act_{i}}"/> of the current time step <img class="math" src="../../../_images/math/5aa339d4daf45a810dda332e3c80a0698e526e04.png" alt="i"/> the actual acceleration <img class="math" src="../../../_images/math/7b0abc6d78537d753de9943b9e76fa3301cbb12d.png" alt="a_{act}"/> has to be known.</p>
+<p>The module uses a simplified longitudinal dynamics model e.g. it doesn’t factor in rotational inertias.</p>
+<p><img class="math" src="../../../_images/math/7b0abc6d78537d753de9943b9e76fa3301cbb12d.png" alt="a_{act}"/> is dependend on the state variables and parameters shown in table 1.</p>
+<table class="tight-table docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Variable</p></th>
+<th class="head"><p>Meaning</p></th>
+<th class="head"><p>Unit</p></th>
+<th class="head"><p>Source</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p><img class="math" src="../../../_images/math/39f561d2298a2b2d3568abd7127f5af5cc75c1d7.png" alt="v_{act_{i-1}}"/></p></td>
+<td><p>currently saved velocity of agent</p></td>
+<td><p>m/s</p></td>
+<td><p>WorldObjectInterface</p></td>
+</tr>
+<tr class="row-odd"><td><p><img class="math" src="../../../_images/math/5c9798f1510af6753c9eb7b2c5d58b140b69f161.png" alt="pos_{actuator}"/></p></td>
+<td><p>position of accelerator/brake pedal</p></td>
+<td></td>
+<td><p>Algorithm_Longitudinal</p></td>
+</tr>
+<tr class="row-even"><td><p><img class="math" src="../../../_images/math/e6de55aefd90417b1eeeeca680f4de59c48f92d2.png" alt="gear"/></p></td>
+<td><p>chosen gear</p></td>
+<td></td>
+<td><p>Algorithm_Longitudinal</p></td>
+</tr>
+<tr class="row-odd"><td><p><img class="math" src="../../../_images/math/73c99fa583ee6f327c55a4cab30cf8f2fb882b6d.png" alt="i_{g} (gear)"/></p></td>
+<td><p>gear ratio of current gear</p></td>
+<td></td>
+<td><p>vehicleModelParameters</p></td>
+</tr>
+<tr class="row-even"><td><p><img class="math" src="../../../_images/math/27e857287a96f2b9a75e247a301de99d8abcbcaf.png" alt="i_{a}"/></p></td>
+<td><p>gear ratio of axle</p></td>
+<td></td>
+<td><p>vehicleModelParameters</p></td>
+</tr>
+<tr class="row-odd"><td><p><img class="math" src="../../../_images/math/ebc09278ad5cb7f72bfa499d1ac0a95d01089631.png" alt="M_{eng,max}"/></p></td>
+<td><p>maximum torque of the vehicle engine</p></td>
+<td><p>Nm</p></td>
+<td><p>vehicleModelParameters</p></td>
+</tr>
+<tr class="row-even"><td><p><img class="math" src="../../../_images/math/de3b7384cfeaffe57a5f76636b9bb260f64cc2ad.png" alt="n_{eng,max}"/></p></td>
+<td><p>maximum engine speed</p></td>
+<td><p>1/min</p></td>
+<td><p>vehicleModelParameters</p></td>
+</tr>
+<tr class="row-odd"><td><p><img class="math" src="../../../_images/math/d84bc4f13818666efe972485ffa26ce9163877a0.png" alt="n_{eng,min}"/></p></td>
+<td><p>minimum engine speed</p></td>
+<td><p>1/min</p></td>
+<td><p>vehicleModelParameters</p></td>
+</tr>
+<tr class="row-even"><td><p><img class="math" src="../../../_images/math/37e8317b2e01ed1fe34f29869ff8f5d2cdfa78eb.png" alt="r_{stat}"/></p></td>
+<td><p>static wheel radius</p></td>
+<td><p>m</p></td>
+<td><p>vehicleModelParameters</p></td>
+</tr>
+<tr class="row-odd"><td><p><img class="math" src="../../../_images/math/91d00c99266d7225ea2e8cc6f4ee54e734da9323.png" alt="m_{vehicle}"/></p></td>
+<td><p>vehicle mass</p></td>
+<td><p>kg</p></td>
+<td><p>vehicleModelParameters</p></td>
+</tr>
+<tr class="row-even"><td><p><img class="math" src="../../../_images/math/880b25263bdfd625f9e5c24adabbc774dd57fcb8.png" alt="c_{W}"/></p></td>
+<td><p>air drag coefficient</p></td>
+<td></td>
+<td><p>vehicleModelParameters</p></td>
+</tr>
+<tr class="row-odd"><td><p><img class="math" src="../../../_images/math/83ec55125f12779059d3ff3c74a47aeea3399c26.png" alt="c_{R}"/></p></td>
+<td><p>rolling resistance tire</p></td>
+<td></td>
+<td><p>vehicleModelParameters</p></td>
+</tr>
+<tr class="row-even"><td><p><img class="math" src="../../../_images/math/afa636aa8aff638847a1b0215abddcd70e3f75fc.png" alt="A_{proj}"/></p></td>
+<td><p>front surface</p></td>
+<td><p>m²</p></td>
+<td><p>vehicleModelParameters</p></td>
+</tr>
+</tbody>
+</table>
+<p>First variables are used to calculate the current engine speed <img class="math" src="../../../_images/math/7488c00111382f5f04d931d6f3ecb4435438ffad.png" alt="n_{eng}"/> .
+To do so the speed of the wheels <img class="math" src="../../../_images/math/8a61447e565069614e8fb432e81f2ff844b08063.png" alt="n_{wheel}"/> is determined via the vehicle velocity and static wheel radius:</p>
+<div class="math">
+<p><img src="../../../_images/math/c6fe88e7f81a21f602311d08ad53cad221819c17.png" alt="n_{wheel} = \frac{v_{act_{i-1}}}{r_{stat}} \cdot \frac{60}{2 \cdot \pi}"/></p>
+</div><p>The powertrain model in the following image is used to further derive the engine speed <img class="math" src="../../../_images/math/7488c00111382f5f04d931d6f3ecb4435438ffad.png" alt="n_{eng}"/> using the gear ratio <img class="math" src="../../../_images/math/73c99fa583ee6f327c55a4cab30cf8f2fb882b6d.png" alt="i_{g} (gear)"/> of the currently engaged gear and axle ratio <img class="math" src="../../../_images/math/27e857287a96f2b9a75e247a301de99d8abcbcaf.png" alt="i_{a}"/> .</p>
+<figure class="align-default" id="id1">
+<span id="image-powertrainmodel2"></span><img alt="Illustration of the powertrain model and its parameters and state variables" src="../../../_images/PowertrainModel.svg" /><figcaption>
+<p><span class="caption-text">Illustration of the powertrain model and its parameters and state variables</span><a class="headerlink" href="#id1" title="Link to this image"></a></p>
+</figcaption>
+</figure>
+<div class="math">
+<p><img src="../../../_images/math/186ca8cd801e8f6918af48eb6a945071e28a2ae0.png" alt="n_{eng} = n_{wheel} \cdot i_{a} \cdot i_{g} (gear)"/></p>
+</div><p>The maximum torque <img class="math" src="../../../_images/math/3e4e0d087096eb420c02ba6cc2b4197ff56a209e.png" alt="M_{eng,max} (n_{eng})"/> at the current engine speed is determined using the engine torque map shown in the following image:</p>
+<figure class="align-default" id="id2">
+<img alt="Simplified Engine Map" src="../../../_images/EngineMapCalculated.svg" /><figcaption>
+<p><span class="caption-text">Simplified Engine Map</span><a class="headerlink" href="#id2" title="Link to this image"></a></p>
+</figcaption>
+</figure>
+<p>At this point the module differentiates between deceleration and acceleration by checking whether the value of <img class="math" src="../../../_images/math/5c9798f1510af6753c9eb7b2c5d58b140b69f161.png" alt="pos_{actuator}"/> is positive or negative.
+Negative values indicate the use of the brake pedal between 0-100% while positive values represent the use of the accelerator pedal.</p>
+<p><strong>Driving resistance:</strong> There are driving resistances to be considered during the drive due to the rolling resistance of tires and air resistance which
+could be calculated according to the follwing relations in fluid mechanics, where <img class="math" src="../../../_images/math/bb66f0561aa819e3a61f40b57423779d4449ee7b.png" alt="\rho_{air}"/> stands for air density in <img class="math" src="../../../_images/math/572e08c231b6275e31637c1762f65228f6814965.png" alt="kg / m^3"/> :</p>
+<div class="math">
+<p><img src="../../../_images/math/5d85248d3b87830ed3c7ef892134340a1814df3f.png" alt="a_{AirDrag} = - \frac{\rho_{air} \cdot c_{w} \cdot A_{proj} \cdot v_{act_{i-a}}^2}{2 \cdot m_{vehicle}}"/></p>
+</div><div class="math">
+<p><img src="../../../_images/math/9e843b243e089427f0f03e68f6c20339afaff026.png" alt="a_{RollingDrag} = c_{R} \cdot 9.81 \frac{m}{s^2}"/></p>
+</div><p>The rolling resistance of vehicle is currently set as a dummy value (0.0125), because the related value is not in the catalog of vehicle models yet and
+therefore it still can not be tapped in interface.</p>
+<p><strong>Decelerating:</strong> When decelerating <img class="math" src="../../../_images/math/7b0abc6d78537d753de9943b9e76fa3301cbb12d.png" alt="a_{act}"/> is the sum of the acceleration resulting from engine drag <img class="math" src="../../../_images/math/ee2ba61fbaf6c9b13c767d5736b69aacb3651125.png" alt="a_{drag}"/> and acceleration from braking <img class="math" src="../../../_images/math/e8de268f33225ec875a9286c75c8a9db2eb8a11a.png" alt="a_{brake}"/> .
+Whenever the driver is braking the module assumes that the engine is dragging with a moment equal to 10% of the maximum torque at the current engine speed.</p>
+<div class="math">
+<p><img src="../../../_images/math/a9f707ea9d502e5790314de3e761f5a0e70c8517.png" alt="M_{drag}(n_{eng}) = - 0.1 \cdot M_{eng,max}(n_{eng})"/></p>
+</div><div class="math">
+<p><img src="../../../_images/math/894013d346d3f6084c024a5242ef0348bffe9045.png" alt="M_{wheel} = \frac{M_{drag}(n_{eng})}{i_{a} \cdot i_{g}(gear)}"/></p>
+</div><div class="math">
+<p><img src="../../../_images/math/0ae69fbf18a11201f8a93d3bc6a3122ebf6e8ac6.png" alt="F_{wheel} = \frac{M_{wheel}}{r_{stat}}"/></p>
+</div><div class="math">
+<p><img src="../../../_images/math/d947549fa7cd5a3b90c765827234dd49051b9f86.png" alt="a_{drag} = \frac{F_{wheel}}{m_{vehicle}}"/></p>
+</div><p>The maximum braking deceleration is set to <img class="math" src="../../../_images/math/37111a2184c2be43f7b3fe1e0e04c07b4e6be554.png" alt="a_{brake,max} = 9.81 m/s^2"/>. The actual braking power is proportional to the position of the braking pedal.</p>
+<div class="math">
+<p><img src="../../../_images/math/060c673f214ca23089ee3cc239773684631c3399.png" alt="a_{brake} = pos_{actuator} \cdot a_{brake,max}"/></p>
+</div><div class="math">
+<p><img src="../../../_images/math/f8d7df9afad3166f2b0384393c96c1b9ca1ccd73.png" alt="a_{act} = a_{drag} + a_{brake}"/></p>
+</div><p><strong>Acceleration:</strong>  When the driver applies pressure on the accelerator the applied engine torque <img class="math" src="../../../_images/math/bfb515fe7446f9459350a2aee09a4a80bff7a857.png" alt="M_{eng,act}"/> is calculated as proportional to the accelerator pedal position and the span between engine drag and maximum engine torque <img class="math" src="../../../_images/math/fb0d511283503b5b3a7208be5b3d6ede3fee25a6.png" alt="M_{eng}"/>(<img class="math" src="../../../_images/math/7488c00111382f5f04d931d6f3ecb4435438ffad.png" alt="n_{eng}"/> ) at the current engine speed.</p>
+<div class="math">
+<p><img src="../../../_images/math/24b413265db20d60d79af3a8b4f014d54dd6fbfa.png" alt="M_{eng}(n_{eng}) = M_{drag}(n_eng) + pos_{actuator}(M_{eng,max}(n_{eng}) - M_{drag}(n_{eng}))"/></p>
+</div><div class="math">
+<p><img src="../../../_images/math/e67ebc69b4822d8b0a9ac32a5e44bd412dc4530d.png" alt="M_{wheel} = \frac{M_{eng,act}}{i_{a} \cdot i_{g}(gear)}"/></p>
+</div><div class="math">
+<p><img src="../../../_images/math/6626abca692e313e86ca6d9648b1a44848413f18.png" alt="F_{wheel} = \frac{M_{eng,act}}{r_{stat}}"/></p>
+</div><div class="math">
+<p><img src="../../../_images/math/b344d51cc9ada34a9dda96ea1d74c8cd4cfd40fb.png" alt="a_{act} = \frac{F_{wheel}}{m_{vehicle}}"/></p>
+</div><p>Once the acceleration of the vehicle is known the change in velocity is determined by its discrete time integral.</p>
+<div class="math">
+<p><img src="../../../_images/math/9988102bf519586a1a00784b7bd8270af26d2f19.png" alt="\Delta v = a_{act} \cdot t_{cycle}"/></p>
+</div><p>The sum of the previous velocity and change in velocity result in the actual vehicle velocity of the current time step:</p>
+<div class="math">
+<p><img src="../../../_images/math/a66c0776e2797799b3482188a68ea464966c2f2e.png" alt="v_{act_{i}} = v_{act_{i-1}} + \Delta v"/></p>
+</div></section>
+<section id="lateral-dynamics">
+<h3>Lateral dynamics<a class="headerlink" href="#lateral-dynamics" title="Link to this heading"></a></h3>
+<p>The lateral dynamics model is based on the Ackermann model which reduces the steering kinematics to a single surrogate front wheel. Considering the relatively small steering angles when driving on the highway this simplification is deemed suitable.
+The heading is updated using the previous heading and the change in yaw due to the steering wheel angle which is converted into a yaw rate using the simplified Ackermann model shown in the following image.</p>
+<figure class="align-default" id="id3">
+<span id="image-ackermannmodel"></span><img alt="Illustration of the Ackermann model" src="../../../_images/AckermannModel.svg" /><figcaption>
+<p><span class="caption-text">Illustration of the Ackermann model</span><a class="headerlink" href="#id3" title="Link to this image"></a></p>
+</figcaption>
+</figure>
+<table class="tight-table docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Variable</p></th>
+<th class="head"><p>Meaning</p></th>
+<th class="head"><p>Unit</p></th>
+<th class="head"><p>Source</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p><img class="math" src="../../../_images/math/264888dd4a4ab3d816ed5c325af60a02201fb97d.png" alt="\delta_{h}"/></p></td>
+<td><p>steering wheel angle</p></td>
+<td><p>rad</p></td>
+<td><p>Algorithm_Lateral</p></td>
+</tr>
+<tr class="row-odd"><td><p><img class="math" src="../../../_images/math/33e5a161c226746b5f858520b66ab3b727990525.png" alt="\Phi_{act_{i-1}}"/></p></td>
+<td><p>heading at previous time step</p></td>
+<td><p>rad</p></td>
+<td><p>WorldObjectInterface</p></td>
+</tr>
+<tr class="row-even"><td><p><img class="math" src="../../../_images/math/4b005afb1bbdb9c3e7f2e6ae503ab9b842b73950.png" alt="i_{s}"/></p></td>
+<td><p>steering ratio</p></td>
+<td></td>
+<td><p>vehicleModelParameters</p></td>
+</tr>
+<tr class="row-odd"><td><p><img class="math" src="../../../_images/math/3789a783f205339f47c886c78ba14bc944845b91.png" alt="l_{wheelbase}"/></p></td>
+<td><p>wheelbase</p></td>
+<td><p>m</p></td>
+<td><p>vehicleModelParameters</p></td>
+</tr>
+<tr class="row-even"><td><p><img class="math" src="../../../_images/math/82f8146372613edd07fa9be8b9227bdde1c42ac4.png" alt="\Delta s"/></p></td>
+<td><p>distance travelled since last time step</p></td>
+<td><p>m</p></td>
+<td><p>previously calculated in the module</p></td>
+</tr>
+<tr class="row-odd"><td><p><img class="math" src="../../../_images/math/1e9a3c535b3949ccd3eb83a4d5d12930474263ff.png" alt="t_{cycle}"/></p></td>
+<td><p>cycle time</p></td>
+<td><p>ms</p></td>
+<td><p>ModelInterface</p></td>
+</tr>
+</tbody>
+</table>
+<p>The steering wheel angle <img class="math" src="../../../_images/math/264888dd4a4ab3d816ed5c325af60a02201fb97d.png" alt="\delta_{h}"/> is proportional to the front wheel angle <img class="math" src="../../../_images/math/652b9d8b65c10aed0fdcdbde47396c879ed5bd33.png" alt="\delta"/> :</p>
+<div class="math">
+<p><img src="../../../_images/math/424c1a175a5c76c81deb6e4042c75f50e956dd11.png" alt="\delta = \frac{\delta_{h}}{i_{s}}"/></p>
+</div><p>The Ackermann model provides the geometric connection between the front wheel angle and the resulting curvature <img class="math" src="../../../_images/math/261e3eb56c1757dd003745ee4cc53aa595565af1.png" alt="\kappa"/> :</p>
+<div class="math">
+<p><img src="../../../_images/math/815f71b583a7c8c8849b594c4c8457f3d9d1a3de.png" alt="\kappa = \frac{tan(\delta)}{l_{wheelbase}}"/></p>
+</div><p>The combination of curvature <img class="math" src="../../../_images/math/261e3eb56c1757dd003745ee4cc53aa595565af1.png" alt="\kappa"/> and driven distance at that curvature <img class="math" src="../../../_images/math/82f8146372613edd07fa9be8b9227bdde1c42ac4.png" alt="\Delta s"/> result in the change of the heading <img class="math" src="../../../_images/math/2de70bff0cd28ce132a5b2bc1af61ea0952a801a.png" alt="\Delta \Phi"/>:</p>
+<div class="math">
+<p><img src="../../../_images/math/d74a416e1db39b7b85110d7ae6ef18db4883bdb9.png" alt="\Delta \Phi = atan(\kappa \cdot \Delta s)"/></p>
+</div><p>The new heading <img class="math" src="../../../_images/math/a4012f826966de9f110274ceb2a787af289d6302.png" alt="\Phi_{act_{i}}"/> is the old heading <img class="math" src="../../../_images/math/409d43055a295e61738c90074520ffeedaba02c6.png" alt="\Phi_{act{i-1}}"/> plus the previously calculated change in heading <img class="math" src="../../../_images/math/2de70bff0cd28ce132a5b2bc1af61ea0952a801a.png" alt="\Delta \Phi"/> :</p>
+<div class="math">
+<p><img src="../../../_images/math/fb3ac93e4fcdd8aa908eaaf9e6ee33da73961444.png" alt="\Phi_{act_{i}} = \Phi_{act_{i-1}} + \Delta \Phi"/></p>
+</div></section>
+<section id="updating-position">
+<h3>Updating position<a class="headerlink" href="#updating-position" title="Link to this heading"></a></h3>
+<p>Once the new vehicle speed <img class="math" src="../../../_images/math/a4c9a91b43ea371c8bcbd8c0401c992fa26de3d6.png" alt="v_{act_{i}}"/> is determined the distance travelled during the last timestep <img class="math" src="../../../_images/math/82f8146372613edd07fa9be8b9227bdde1c42ac4.png" alt="\Delta s"/> is determined:</p>
+<div class="math">
+<p><img src="../../../_images/math/27768e5c81b3213969e180c799ad3fe899393aae.png" alt="\Delta s = v_{act_{i}} \cdot t_{cycle}"/></p>
+</div><p>Using the actual vehicle yaw angle in the road coordinate <img class="math" src="../../../_images/math/33e5a161c226746b5f858520b66ab3b727990525.png" alt="\Phi_{act_{i-1}}"/> the vehicles new x- and y-coordinates are calculated:</p>
+<div class="math">
+<p><img src="../../../_images/math/61190de62458a3f64f789d9e487b86686c3089a3.png" alt="x_{agent_{i}} = x_{agent_{i-1}} + \Delta s \cdot cos(\Phi_{act_{i-1}})"/></p>
+</div><div class="math">
+<p><img src="../../../_images/math/8cc9781565d5e94551e510e5227826abb62d8fbf.png" alt="y_{agent_{i}} = y_{agent_{i-1}} + \Delta s \cdot sin(\Phi_{act_{i-1}})"/></p>
+</div></section>
+</section>
+</section>
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-  <section id="dynamics-scenario">
-<span id="id1"></span><h1>Dynamics_Scenario<a class="headerlink" href="#dynamics-scenario" title="Link to this heading"></a></h1>
-<p>This module acts as a direct implementation of external scenario actions, requested through <cite>ControlStrategies</cite> defined in the <cite>Mantle API &lt;https://gitlab.eclipse.org/eclipse/openpass/scenario_api&gt;</cite>.
-As the MantleAPI is not an official standard, the module currently follows a “standard conform” interpretation based on <cite>openSCENARIO V1.1 &lt;https://www.asam.net/standards/detail/openscenario/&gt;</cite>.</p>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>Due to the nature of <strong>openPASS</strong> actions that are set by the scenario engine in one timestep, will be visible in the simulation output starting with the next timestep,
-because all states are only syncronized at the end of a timestep</p>
-</div>
-<p>In every timestep one strategy for each MovementDomain (longitudinal and lateral) is active.
-If the scenario engine sets a new strategy for a MovementDomain the previous strategy for this MovementDomain is stopped.
-A strategy can also apply to both MovementDomains (meaning it is the only active strategy).
-If a strategy is finished (except KeepVelocity and KeepLaneOffset which are never finished), this is reported back to the scenario engine.</p>
-<section id="defaultstrategies">
-<h2>DefaultStrategies<a class="headerlink" href="#defaultstrategies" title="Link to this heading"></a></h2>
-<section id="keepvelocity-longitudinal">
-<h3>KeepVelocity - longitudinal<a class="headerlink" href="#keepvelocity-longitudinal" title="Link to this heading"></a></h3>
-<p>During this strategy the velocity is constant (same as at the time when this strategy is set).
-This is the default longitudinal strategy, if no other longitudinal strategy is set.</p>
-</section>
-<section id="keeplaneoffset-lateral">
-<h3>KeepLaneOffset - lateral<a class="headerlink" href="#keeplaneoffset-lateral" title="Link to this heading"></a></h3>
-<p>During this strategy the agent will drive along the lane with a constant offset (same as at the time when this strategy is set).
-This is the default lateral strategy, if no other lateral strategy is set.</p>
-</section>
-</section>
-<section id="strategies">
-<h2>Strategies<a class="headerlink" href="#strategies" title="Link to this heading"></a></h2>
-<section id="followvelocityspline-longitudinal">
-<h3>FollowVelocitySpline - longitudinal<a class="headerlink" href="#followvelocityspline-longitudinal" title="Link to this heading"></a></h3>
-<p>A velocity spline defines a function over time of the agent velocity.
-This function is a piecewise polynomial of degree 3.
-This strategy will be set for SpeedActions with DynamicsShape other than step.</p>
-</section>
-<section id="performchangelane-lateral">
-<h3>PerformChangeLane - lateral<a class="headerlink" href="#performchangelane-lateral" title="Link to this heading"></a></h3>
-<p>This strategy will have the agent switching lanes while keeping a constant longitudinal velocity (in s direction).
-It will be set for LaneChangeActions where the target lane is not the current lane.
-At the momement only DynamicsShape sinusoidal and DynamicsDimension distance or time is supported.</p>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>In the current implementation both movement domains are touched, even if a longitudinal movement controller is active.
-This means that the velocity of the longitudinal is ignored while the lane change is executed.
-This may result in a jump of the velocity at the end of the lane change.</p>
-</div>
-</section>
-<section id="followtrajectory-both">
-<h3>FollowTrajectory - both<a class="headerlink" href="#followtrajectory-both" title="Link to this heading"></a></h3>
-<p>A trajectory defines the position and orientation of the agent at defined times.
-If a timestep lies between the trajectory points the position is linearly interpolated.
-This strategy will be set for FollowTrajectoryActions.
-TrajectoryFollowingMode is not supported and the agent will always strictly adhere to the trajectory.</p>
-</section>
-</section>
-</section>
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+  <section id="dynamics-scenario">
+<span id="id1"></span><h1>Dynamics_Scenario<a class="headerlink" href="#dynamics-scenario" title="Link to this heading"></a></h1>
+<p>This module acts as a direct implementation of external scenario actions, requested through <cite>ControlStrategies</cite> defined in the <cite>Mantle API &lt;https://gitlab.eclipse.org/eclipse/openpass/scenario_api&gt;</cite>.
+As the MantleAPI is not an official standard, the module currently follows a “standard conform” interpretation based on <cite>openSCENARIO V1.1 &lt;https://www.asam.net/standards/detail/openscenario/&gt;</cite>.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>Due to the nature of <strong>openPASS</strong> actions that are set by the scenario engine in one timestep, will be visible in the simulation output starting with the next timestep,
+because all states are only syncronized at the end of a timestep</p>
+</div>
+<p>In every timestep one strategy for each MovementDomain (longitudinal and lateral) is active.
+If the scenario engine sets a new strategy for a MovementDomain the previous strategy for this MovementDomain is stopped.
+A strategy can also apply to both MovementDomains (meaning it is the only active strategy).
+If a strategy is finished (except KeepVelocity and KeepLaneOffset which are never finished), this is reported back to the scenario engine.</p>
+<section id="defaultstrategies">
+<h2>DefaultStrategies<a class="headerlink" href="#defaultstrategies" title="Link to this heading"></a></h2>
+<section id="keepvelocity-longitudinal">
+<h3>KeepVelocity - longitudinal<a class="headerlink" href="#keepvelocity-longitudinal" title="Link to this heading"></a></h3>
+<p>During this strategy the velocity is constant (same as at the time when this strategy is set).
+This is the default longitudinal strategy, if no other longitudinal strategy is set.</p>
+</section>
+<section id="keeplaneoffset-lateral">
+<h3>KeepLaneOffset - lateral<a class="headerlink" href="#keeplaneoffset-lateral" title="Link to this heading"></a></h3>
+<p>During this strategy the agent will drive along the lane with a constant offset (same as at the time when this strategy is set).
+This is the default lateral strategy, if no other lateral strategy is set.</p>
+</section>
+</section>
+<section id="strategies">
+<h2>Strategies<a class="headerlink" href="#strategies" title="Link to this heading"></a></h2>
+<section id="followvelocityspline-longitudinal">
+<h3>FollowVelocitySpline - longitudinal<a class="headerlink" href="#followvelocityspline-longitudinal" title="Link to this heading"></a></h3>
+<p>A velocity spline defines a function over time of the agent velocity.
+This function is a piecewise polynomial of degree 3.
+This strategy will be set for SpeedActions with DynamicsShape other than step.</p>
+</section>
+<section id="performchangelane-lateral">
+<h3>PerformChangeLane - lateral<a class="headerlink" href="#performchangelane-lateral" title="Link to this heading"></a></h3>
+<p>This strategy will have the agent switching lanes while keeping a constant longitudinal velocity (in s direction).
+It will be set for LaneChangeActions where the target lane is not the current lane.
+At the momement only DynamicsShape sinusoidal and DynamicsDimension distance or time is supported.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>In the current implementation both movement domains are touched, even if a longitudinal movement controller is active.
+This means that the velocity of the longitudinal is ignored while the lane change is executed.
+This may result in a jump of the velocity at the end of the lane change.</p>
+</div>
+</section>
+<section id="followtrajectory-both">
+<h3>FollowTrajectory - both<a class="headerlink" href="#followtrajectory-both" title="Link to this heading"></a></h3>
+<p>A trajectory defines the position and orientation of the agent at defined times.
+If a timestep lies between the trajectory points the position is linearly interpolated.
+This strategy will be set for FollowTrajectoryActions.
+TrajectoryFollowingMode is not supported and the agent will always strictly adhere to the trajectory.</p>
+</section>
+</section>
+</section>
+
+
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-  <section id="sensor-driver">
-<span id="id1"></span><h1>Sensor_Driver<a class="headerlink" href="#sensor-driver" title="Link to this heading"></a></h1>
-<p>This module collects and distributes data from the WorldInterface and AgentInterface concerning the own vehicle, traffic rule
-and geometry information and surrounding object. It creates a data struct to store the world and agent data of the own vehicle,
-traffic rule and geometry information, other objects and surrounding vehicles.</p>
-<section id="components-of-the-module">
-<h2>Components of the module<a class="headerlink" href="#components-of-the-module" title="Link to this heading"></a></h2>
-<p>The information collected by SensorDriver consists of generally four different data structs:</p>
-<ul class="simple">
-<li><p><a class="reference internal" href="#sensor-driver-own-vehicle-states"><span class="std std-ref">OwnVehicleStates</span></a> includes all information about the vehicle of the driver (e.g. speed, acceleration, …)</p></li>
-<li><p><a class="reference internal" href="#sensor-driver-traffic-rule-information"><span class="std std-ref">TrafficRuleInformation</span></a> includes information about the static environment (e.g. traffic signs, lane markings, …)</p></li>
-<li><p><a class="reference internal" href="#sensor-driver-geometry-information"><span class="std std-ref">GeometryInformation</span></a> includes information about surrounding lanes that describe its geometric features</p></li>
-<li><p><a class="reference internal" href="#sensor-driver-surrounding-objects"><span class="std std-ref">SurroundingObjects</span></a> includes information about objects surrounding the own agent as seen by the driver</p></li>
-</ul>
-<section id="ownvehiclestates">
-<span id="sensor-driver-own-vehicle-states"></span><h3>OwnVehicleStates<a class="headerlink" href="#ownvehiclestates" title="Link to this heading"></a></h3>
-<p>The Information of the own vehicle are based on the following general <strong>struct OwnVehicleInformation</strong> :</p>
-<table class="tight-table docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Variable</p></th>
-<th class="head"><p>Type</p></th>
-<th class="head"><p>Unit</p></th>
-<th class="head"><p>Description</p></th>
-<th class="head"><p>Default value</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>absoluteVelocity</p></td>
-<td><p>Double</p></td>
-<td><p>m/s</p></td>
-<td><p>Velocity of agent</p></td>
-<td><p>-999</p></td>
-</tr>
-<tr class="row-odd"><td><p>acceleration</p></td>
-<td><p>Double</p></td>
-<td><p>m/s²</p></td>
-<td><p>Acceleration of agent</p></td>
-<td><p>-999</p></td>
-</tr>
-<tr class="row-even"><td><p>lateralPosition</p></td>
-<td><p>Double</p></td>
-<td><p>m</p></td>
-<td><p>t-coordinate</p></td>
-<td><p>-999</p></td>
-</tr>
-<tr class="row-odd"><td><p>heading</p></td>
-<td><p>Double</p></td>
-<td><p>rad</p></td>
-<td><p>Heading relative to lane</p></td>
-<td><p>-999</p></td>
-</tr>
-<tr class="row-even"><td><p>steeringWheelAngle</p></td>
-<td><p>Double</p></td>
-<td><p>rad</p></td>
-<td><p>Angle of the steering wheel</p></td>
-<td><p>-999</p></td>
-</tr>
-<tr class="row-odd"><td><p>distanceToLaneBoundaryLeft</p></td>
-<td><p>Double</p></td>
-<td><p>m</p></td>
-<td><p>Distance between the left front point and the left boundary of the lane it is in</p></td>
-<td><p>-999</p></td>
-</tr>
-<tr class="row-even"><td><p>distanceToLaneBoundaryRight</p></td>
-<td><p>Double</p></td>
-<td><p>m</p></td>
-<td><p>Distance between the right front point and the right boundary of the lane it is in</p></td>
-<td><p>-999</p></td>
-</tr>
-<tr class="row-odd"><td><p>collision</p></td>
-<td><p>Boolean</p></td>
-<td></td>
-<td><p>Whether this agent has collided with another object</p></td>
-<td><p>false</p></td>
-</tr>
-</tbody>
-</table>
-</section>
-<section id="trafficruleinformation">
-<span id="sensor-driver-traffic-rule-information"></span><h3>TrafficRuleInformation<a class="headerlink" href="#trafficruleinformation" title="Link to this heading"></a></h3>
-<p>The struct TrafficRuleInformation contains infrastructure information of surrounding lanes that are used to establish traffic rules.</p>
-<p>The general structure is shown in the following table.</p>
-<table class="tight-table docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Variable</p></th>
-<th class="head"><p>Description</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>laneLeft</p></td>
-<td><p>Data about the lane to left (in driving direction) of the mainLane</p></td>
-</tr>
-<tr class="row-odd"><td><p>laneEgo</p></td>
-<td><p>Data about the lane the where the middle of the front of the agent is (i.e. mainLane)</p></td>
-</tr>
-<tr class="row-even"><td><p>laneRight</p></td>
-<td><p>Data about the lane to right (in driving direction) of the mainLane</p></td>
-</tr>
-<tr class="row-odd"><td><p>laneMarkingsLeft</p></td>
-<td><p>List of lane markings on the left side of mainLane</p></td>
-</tr>
-<tr class="row-even"><td><p>laneMarkingsRight</p></td>
-<td><p>List of lane markings on the right side of mainLane</p></td>
-</tr>
-<tr class="row-odd"><td><p>laneMarkingsLeftOfLeftLane</p></td>
-<td><p>List of lane markings on the left side of lane to the left</p></td>
-</tr>
-<tr class="row-even"><td><p>laneMarkingsRightOfRightLane</p></td>
-<td><p>List of lane markings on the right side of lane to the right</p></td>
-</tr>
-</tbody>
-</table>
-<p>The basis for the respective variables is the following general struct <strong>LaneInformationTrafficRules</strong>, which is used to trasport data of a lane concerning traffic rules as seen by the driver.</p>
-<table class="tight-table docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Variable</p></th>
-<th class="head"><p>Description</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>trafficSigns</p></td>
-<td><p>Vector of all traffic signs valid for this lane inside the visibility distance</p></td>
-</tr>
-<tr class="row-odd"><td><p>trafficLights</p></td>
-<td><p>Vector of all traffic lights valid for this lane inside the visibility distance</p></td>
-</tr>
-</tbody>
-</table>
-</section>
-<section id="geometryinformation">
-<span id="sensor-driver-geometry-information"></span><h3>GeometryInformation<a class="headerlink" href="#geometryinformation" title="Link to this heading"></a></h3>
-<p>The struct GeometryInformation contains infrastructure information of surrounding lanes that describe its geometric features.</p>
-<p>The general structure is shown in the following table.</p>
-<table class="tight-table docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Variable</p></th>
-<th class="head"><p>Description</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>visibilityDistance</p></td>
-<td><p>Current maximum visibility distance as specified by the world</p></td>
-</tr>
-<tr class="row-odd"><td><p>laneLeft</p></td>
-<td><p>Data about the lane to left (in driving direction) of the mainLane</p></td>
-</tr>
-<tr class="row-even"><td><p>laneEgo</p></td>
-<td><p>Data about the lane the where the middle of the front of the agent is (i.e. mainLane)</p></td>
-</tr>
-<tr class="row-odd"><td><p>laneRight</p></td>
-<td><p>Data about the lane to right (in driving direction) of the mainLane</p></td>
-</tr>
-</tbody>
-</table>
-<p>The basis for the respective variables is the following general struct <strong>LaneInformationGeometry</strong>, which is used to transport data of a lane concerning its geometric features as seen by the driver.</p>
-<table class="tight-table docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Variable</p></th>
-<th class="head"><p>Type</p></th>
-<th class="head"><p>Unit</p></th>
-<th class="head"><p>Description</p></th>
-<th class="head"><p>Default value</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>exists</p></td>
-<td><p>Boolean</p></td>
-<td></td>
-<td><p>Whether there is a lane on this position</p></td>
-<td><p>false</p></td>
-</tr>
-<tr class="row-odd"><td><p>curvature</p></td>
-<td><p>Double</p></td>
-<td><p>1/m</p></td>
-<td><p>Curvature at current s position (default if not existing)</p></td>
-<td><p>-999</p></td>
-</tr>
-<tr class="row-even"><td><p>width</p></td>
-<td><p>Double</p></td>
-<td><p>m</p></td>
-<td><p>Width at current s position (default if not existing)</p></td>
-<td><p>-999</p></td>
-</tr>
-<tr class="row-odd"><td><p>distanceToEndOfLane</p></td>
-<td><p>Double</p></td>
-<td><p>m</p></td>
-<td><p>Distance from current position to the end of the lane or
-infinity if the end is farther away than the visibility distance</p></td>
-<td><p>-999</p></td>
-</tr>
-</tbody>
-</table>
-</section>
-<section id="surroundingobjects">
-<span id="sensor-driver-surrounding-objects"></span><h3>SurroundingObjects<a class="headerlink" href="#surroundingobjects" title="Link to this heading"></a></h3>
-<p>This struct SurroundingObjects contains data of the objects surrounding the own agent as seen by the driver. For all cases mainLaneId is used as own lane.</p>
-<table class="tight-table docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Variable</p></th>
-<th class="head"><p>Description</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>objectFront</p></td>
-<td><p>Next object in the same lane</p></td>
-</tr>
-<tr class="row-odd"><td><p>objectRear</p></td>
-<td><p>Closest object behind the agent in the same lane</p></td>
-</tr>
-<tr class="row-even"><td><p>objectFrontLeft</p></td>
-<td><p>Next object in the lane to the left</p></td>
-</tr>
-<tr class="row-odd"><td><p>objectRearLeft</p></td>
-<td><p>Closest object behind the agent in the lane to the left</p></td>
-</tr>
-<tr class="row-even"><td><p>objectFrontRight</p></td>
-<td><p>Next object in the lane to the right</p></td>
-</tr>
-<tr class="row-odd"><td><p>objectRearRight</p></td>
-<td><p>Closest object behind the agent in the lane to the right</p></td>
-</tr>
-</tbody>
-</table>
-<p>The basis for the respective variables is the following general struct <strong>ObjectInformation</strong>, which is used to transport data of an object as seen by the driver:</p>
-<table class="tight-table docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Variable</p></th>
-<th class="head"><p>Type</p></th>
-<th class="head"><p>Unit</p></th>
-<th class="head"><p>Description</p></th>
-<th class="head"><p>Default value</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>id</p></td>
-<td><p>Integer</p></td>
-<td></td>
-<td><p>Id of the object</p></td>
-<td><p>-1 (not existing)</p></td>
-</tr>
-<tr class="row-odd"><td><p>exist</p></td>
-<td><p>Boolean</p></td>
-<td></td>
-<td><p>False if there is no object in this position</p></td>
-<td><p>false</p></td>
-</tr>
-<tr class="row-even"><td><p>isStatic</p></td>
-<td><p>Boolean</p></td>
-<td></td>
-<td><p>True if stationary object, false if agent</p></td>
-<td><p>false</p></td>
-</tr>
-<tr class="row-odd"><td><p>absoluteVelocity</p></td>
-<td><p>Double</p></td>
-<td><p>m/s</p></td>
-<td><p>Absolute velocity of the agent</p></td>
-<td><p>-999 (object is not an agent)</p></td>
-</tr>
-<tr class="row-even"><td><p>acceleration</p></td>
-<td><p>Double</p></td>
-<td><p>m/s²</p></td>
-<td><p>Acceleration of the agent</p></td>
-<td><p>-999 (object is not an agent)</p></td>
-</tr>
-<tr class="row-odd"><td><p>heading</p></td>
-<td><p>Double</p></td>
-<td><p>rad</p></td>
-<td><p>Heading relative to the street</p></td>
-<td><p>-999 (not existing)</p></td>
-</tr>
-<tr class="row-even"><td><p>length</p></td>
-<td><p>Double</p></td>
-<td><p>m</p></td>
-<td><p>Length of object</p></td>
-<td><p>-999 (not existing)</p></td>
-</tr>
-<tr class="row-odd"><td><p>width</p></td>
-<td><p>Double</p></td>
-<td><p>m</p></td>
-<td><p>Width of object</p></td>
-<td><p>-999 (not existing)</p></td>
-</tr>
-<tr class="row-even"><td><p>height</p></td>
-<td><p>Double</p></td>
-<td><p>m</p></td>
-<td><p>Heigth of object</p></td>
-<td><p>-999 (not existing)</p></td>
-</tr>
-<tr class="row-odd"><td><p>relativeLongitudinalDistance</p></td>
-<td><p>Double</p></td>
-<td><p>m</p></td>
-<td><p>Relative distance along the road (i.e. in direction s) between own agent and object</p></td>
-<td><p>-999 (not existing)</p></td>
-</tr>
-<tr class="row-even"><td><p>relativeLateralDistance</p></td>
-<td><p>Double</p></td>
-<td><p>m</p></td>
-<td><p>Relative distance at right angle to the road (i.e in direction t) between own agent and object</p></td>
-<td><p>-999 (not existing)</p></td>
-</tr>
-</tbody>
-</table>
-</section>
-</section>
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+  <section id="sensor-driver">
+<span id="id1"></span><h1>Sensor_Driver<a class="headerlink" href="#sensor-driver" title="Link to this heading"></a></h1>
+<p>This module collects and distributes data from the WorldInterface and AgentInterface concerning the own vehicle, traffic rule
+and geometry information and surrounding object. It creates a data struct to store the world and agent data of the own vehicle,
+traffic rule and geometry information, other objects and surrounding vehicles.</p>
+<section id="components-of-the-module">
+<h2>Components of the module<a class="headerlink" href="#components-of-the-module" title="Link to this heading"></a></h2>
+<p>The information collected by SensorDriver consists of generally four different data structs:</p>
+<ul class="simple">
+<li><p><a class="reference internal" href="#sensor-driver-own-vehicle-states"><span class="std std-ref">OwnVehicleStates</span></a> includes all information about the vehicle of the driver (e.g. speed, acceleration, …)</p></li>
+<li><p><a class="reference internal" href="#sensor-driver-traffic-rule-information"><span class="std std-ref">TrafficRuleInformation</span></a> includes information about the static environment (e.g. traffic signs, lane markings, …)</p></li>
+<li><p><a class="reference internal" href="#sensor-driver-geometry-information"><span class="std std-ref">GeometryInformation</span></a> includes information about surrounding lanes that describe its geometric features</p></li>
+<li><p><a class="reference internal" href="#sensor-driver-surrounding-objects"><span class="std std-ref">SurroundingObjects</span></a> includes information about objects surrounding the own agent as seen by the driver</p></li>
+</ul>
+<section id="ownvehiclestates">
+<span id="sensor-driver-own-vehicle-states"></span><h3>OwnVehicleStates<a class="headerlink" href="#ownvehiclestates" title="Link to this heading"></a></h3>
+<p>The Information of the own vehicle are based on the following general <strong>struct OwnVehicleInformation</strong> :</p>
+<table class="tight-table docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Variable</p></th>
+<th class="head"><p>Type</p></th>
+<th class="head"><p>Unit</p></th>
+<th class="head"><p>Description</p></th>
+<th class="head"><p>Default value</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>absoluteVelocity</p></td>
+<td><p>Double</p></td>
+<td><p>m/s</p></td>
+<td><p>Velocity of agent</p></td>
+<td><p>-999</p></td>
+</tr>
+<tr class="row-odd"><td><p>acceleration</p></td>
+<td><p>Double</p></td>
+<td><p>m/s²</p></td>
+<td><p>Acceleration of agent</p></td>
+<td><p>-999</p></td>
+</tr>
+<tr class="row-even"><td><p>lateralPosition</p></td>
+<td><p>Double</p></td>
+<td><p>m</p></td>
+<td><p>t-coordinate</p></td>
+<td><p>-999</p></td>
+</tr>
+<tr class="row-odd"><td><p>heading</p></td>
+<td><p>Double</p></td>
+<td><p>rad</p></td>
+<td><p>Heading relative to lane</p></td>
+<td><p>-999</p></td>
+</tr>
+<tr class="row-even"><td><p>steeringWheelAngle</p></td>
+<td><p>Double</p></td>
+<td><p>rad</p></td>
+<td><p>Angle of the steering wheel</p></td>
+<td><p>-999</p></td>
+</tr>
+<tr class="row-odd"><td><p>distanceToLaneBoundaryLeft</p></td>
+<td><p>Double</p></td>
+<td><p>m</p></td>
+<td><p>Distance between the left front point and the left boundary of the lane it is in</p></td>
+<td><p>-999</p></td>
+</tr>
+<tr class="row-even"><td><p>distanceToLaneBoundaryRight</p></td>
+<td><p>Double</p></td>
+<td><p>m</p></td>
+<td><p>Distance between the right front point and the right boundary of the lane it is in</p></td>
+<td><p>-999</p></td>
+</tr>
+<tr class="row-odd"><td><p>collision</p></td>
+<td><p>Boolean</p></td>
+<td></td>
+<td><p>Whether this agent has collided with another object</p></td>
+<td><p>false</p></td>
+</tr>
+</tbody>
+</table>
+</section>
+<section id="trafficruleinformation">
+<span id="sensor-driver-traffic-rule-information"></span><h3>TrafficRuleInformation<a class="headerlink" href="#trafficruleinformation" title="Link to this heading"></a></h3>
+<p>The struct TrafficRuleInformation contains infrastructure information of surrounding lanes that are used to establish traffic rules.</p>
+<p>The general structure is shown in the following table.</p>
+<table class="tight-table docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Variable</p></th>
+<th class="head"><p>Description</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>laneLeft</p></td>
+<td><p>Data about the lane to left (in driving direction) of the mainLane</p></td>
+</tr>
+<tr class="row-odd"><td><p>laneEgo</p></td>
+<td><p>Data about the lane the where the middle of the front of the agent is (i.e. mainLane)</p></td>
+</tr>
+<tr class="row-even"><td><p>laneRight</p></td>
+<td><p>Data about the lane to right (in driving direction) of the mainLane</p></td>
+</tr>
+<tr class="row-odd"><td><p>laneMarkingsLeft</p></td>
+<td><p>List of lane markings on the left side of mainLane</p></td>
+</tr>
+<tr class="row-even"><td><p>laneMarkingsRight</p></td>
+<td><p>List of lane markings on the right side of mainLane</p></td>
+</tr>
+<tr class="row-odd"><td><p>laneMarkingsLeftOfLeftLane</p></td>
+<td><p>List of lane markings on the left side of lane to the left</p></td>
+</tr>
+<tr class="row-even"><td><p>laneMarkingsRightOfRightLane</p></td>
+<td><p>List of lane markings on the right side of lane to the right</p></td>
+</tr>
+</tbody>
+</table>
+<p>The basis for the respective variables is the following general struct <strong>LaneInformationTrafficRules</strong>, which is used to trasport data of a lane concerning traffic rules as seen by the driver.</p>
+<table class="tight-table docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Variable</p></th>
+<th class="head"><p>Description</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>trafficSigns</p></td>
+<td><p>Vector of all traffic signs valid for this lane inside the visibility distance</p></td>
+</tr>
+<tr class="row-odd"><td><p>trafficLights</p></td>
+<td><p>Vector of all traffic lights valid for this lane inside the visibility distance</p></td>
+</tr>
+</tbody>
+</table>
+</section>
+<section id="geometryinformation">
+<span id="sensor-driver-geometry-information"></span><h3>GeometryInformation<a class="headerlink" href="#geometryinformation" title="Link to this heading"></a></h3>
+<p>The struct GeometryInformation contains infrastructure information of surrounding lanes that describe its geometric features.</p>
+<p>The general structure is shown in the following table.</p>
+<table class="tight-table docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Variable</p></th>
+<th class="head"><p>Description</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>visibilityDistance</p></td>
+<td><p>Current maximum visibility distance as specified by the world</p></td>
+</tr>
+<tr class="row-odd"><td><p>laneLeft</p></td>
+<td><p>Data about the lane to left (in driving direction) of the mainLane</p></td>
+</tr>
+<tr class="row-even"><td><p>laneEgo</p></td>
+<td><p>Data about the lane the where the middle of the front of the agent is (i.e. mainLane)</p></td>
+</tr>
+<tr class="row-odd"><td><p>laneRight</p></td>
+<td><p>Data about the lane to right (in driving direction) of the mainLane</p></td>
+</tr>
+</tbody>
+</table>
+<p>The basis for the respective variables is the following general struct <strong>LaneInformationGeometry</strong>, which is used to transport data of a lane concerning its geometric features as seen by the driver.</p>
+<table class="tight-table docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Variable</p></th>
+<th class="head"><p>Type</p></th>
+<th class="head"><p>Unit</p></th>
+<th class="head"><p>Description</p></th>
+<th class="head"><p>Default value</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>exists</p></td>
+<td><p>Boolean</p></td>
+<td></td>
+<td><p>Whether there is a lane on this position</p></td>
+<td><p>false</p></td>
+</tr>
+<tr class="row-odd"><td><p>curvature</p></td>
+<td><p>Double</p></td>
+<td><p>1/m</p></td>
+<td><p>Curvature at current s position (default if not existing)</p></td>
+<td><p>-999</p></td>
+</tr>
+<tr class="row-even"><td><p>width</p></td>
+<td><p>Double</p></td>
+<td><p>m</p></td>
+<td><p>Width at current s position (default if not existing)</p></td>
+<td><p>-999</p></td>
+</tr>
+<tr class="row-odd"><td><p>distanceToEndOfLane</p></td>
+<td><p>Double</p></td>
+<td><p>m</p></td>
+<td><p>Distance from current position to the end of the lane or
+infinity if the end is farther away than the visibility distance</p></td>
+<td><p>-999</p></td>
+</tr>
+</tbody>
+</table>
+</section>
+<section id="surroundingobjects">
+<span id="sensor-driver-surrounding-objects"></span><h3>SurroundingObjects<a class="headerlink" href="#surroundingobjects" title="Link to this heading"></a></h3>
+<p>This struct SurroundingObjects contains data of the objects surrounding the own agent as seen by the driver. For all cases mainLaneId is used as own lane.</p>
+<table class="tight-table docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Variable</p></th>
+<th class="head"><p>Description</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>objectFront</p></td>
+<td><p>Next object in the same lane</p></td>
+</tr>
+<tr class="row-odd"><td><p>objectRear</p></td>
+<td><p>Closest object behind the agent in the same lane</p></td>
+</tr>
+<tr class="row-even"><td><p>objectFrontLeft</p></td>
+<td><p>Next object in the lane to the left</p></td>
+</tr>
+<tr class="row-odd"><td><p>objectRearLeft</p></td>
+<td><p>Closest object behind the agent in the lane to the left</p></td>
+</tr>
+<tr class="row-even"><td><p>objectFrontRight</p></td>
+<td><p>Next object in the lane to the right</p></td>
+</tr>
+<tr class="row-odd"><td><p>objectRearRight</p></td>
+<td><p>Closest object behind the agent in the lane to the right</p></td>
+</tr>
+</tbody>
+</table>
+<p>The basis for the respective variables is the following general struct <strong>ObjectInformation</strong>, which is used to transport data of an object as seen by the driver:</p>
+<table class="tight-table docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Variable</p></th>
+<th class="head"><p>Type</p></th>
+<th class="head"><p>Unit</p></th>
+<th class="head"><p>Description</p></th>
+<th class="head"><p>Default value</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>id</p></td>
+<td><p>Integer</p></td>
+<td></td>
+<td><p>Id of the object</p></td>
+<td><p>-1 (not existing)</p></td>
+</tr>
+<tr class="row-odd"><td><p>exist</p></td>
+<td><p>Boolean</p></td>
+<td></td>
+<td><p>False if there is no object in this position</p></td>
+<td><p>false</p></td>
+</tr>
+<tr class="row-even"><td><p>isStatic</p></td>
+<td><p>Boolean</p></td>
+<td></td>
+<td><p>True if stationary object, false if agent</p></td>
+<td><p>false</p></td>
+</tr>
+<tr class="row-odd"><td><p>absoluteVelocity</p></td>
+<td><p>Double</p></td>
+<td><p>m/s</p></td>
+<td><p>Absolute velocity of the agent</p></td>
+<td><p>-999 (object is not an agent)</p></td>
+</tr>
+<tr class="row-even"><td><p>acceleration</p></td>
+<td><p>Double</p></td>
+<td><p>m/s²</p></td>
+<td><p>Acceleration of the agent</p></td>
+<td><p>-999 (object is not an agent)</p></td>
+</tr>
+<tr class="row-odd"><td><p>heading</p></td>
+<td><p>Double</p></td>
+<td><p>rad</p></td>
+<td><p>Heading relative to the street</p></td>
+<td><p>-999 (not existing)</p></td>
+</tr>
+<tr class="row-even"><td><p>length</p></td>
+<td><p>Double</p></td>
+<td><p>m</p></td>
+<td><p>Length of object</p></td>
+<td><p>-999 (not existing)</p></td>
+</tr>
+<tr class="row-odd"><td><p>width</p></td>
+<td><p>Double</p></td>
+<td><p>m</p></td>
+<td><p>Width of object</p></td>
+<td><p>-999 (not existing)</p></td>
+</tr>
+<tr class="row-even"><td><p>height</p></td>
+<td><p>Double</p></td>
+<td><p>m</p></td>
+<td><p>Heigth of object</p></td>
+<td><p>-999 (not existing)</p></td>
+</tr>
+<tr class="row-odd"><td><p>relativeLongitudinalDistance</p></td>
+<td><p>Double</p></td>
+<td><p>m</p></td>
+<td><p>Relative distance along the road (i.e. in direction s) between own agent and object</p></td>
+<td><p>-999 (not existing)</p></td>
+</tr>
+<tr class="row-even"><td><p>relativeLateralDistance</p></td>
+<td><p>Double</p></td>
+<td><p>m</p></td>
+<td><p>Relative distance at right angle to the road (i.e in direction t) between own agent and object</p></td>
+<td><p>-999 (not existing)</p></td>
+</tr>
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-  <section id="spawner">
-<span id="components-spawner"></span><h1>Spawner<a class="headerlink" href="#spawner" title="Link to this heading"></a></h1>
-<p>Spawners are responsible to populate the world.
-In order to do so, several spawners can be used.</p>
-<section id="prerunspawner">
-<span id="components-prerunspawner"></span><h2>PreRunSpawner<a class="headerlink" href="#prerunspawner" title="Link to this heading"></a></h2>
-<p>The PreRunSpawner is responsible for populating the scenery/world with Common-Agents before the simulator starts.
-This Spawner only acts once before the simulator starts and is not active during the simulation run.
-The PreRunSpawner needs a list of SpawnZones that define where it will spawn agents and a list of weighted <a class="reference internal" href="#components-trafficgroups"><span class="std std-ref">TrafficGroups</span></a> that defines the type and parameters of the spawned agents.
-The SpawnZones have the following parameters:</p>
-<table class="tight-table docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Parameter</p></th>
-<th class="head"><p>Type</p></th>
-<th class="head"><p>Unit</p></th>
-<th class="head"><p>optional</p></th>
-<th class="head"><p>Description</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>Roads</p></td>
-<td><p>StringVector</p></td>
-<td></td>
-<td><p>no</p></td>
-<td><p>List of linked Roads on which to spawn Agents.
-Intermediate roads may be omitted.
-If a road is not linked to the previous in the list (or doesn’t exist), this road and the roads after it are ignored.
-This means in particular, that if the first road in the list does not exist, the entire SpawnZone is ignored.</p></td>
-</tr>
-<tr class="row-odd"><td><p>Lanes</p></td>
-<td><p>IntVector</p></td>
-<td></td>
-<td><p>yes</p></td>
-<td><p>The LaneIDs of the Lanes of the Road on which to spawn Agents (given on SStart).
-Inexistent lanes are ignored.
-If omitted all lanes are used.</p></td>
-</tr>
-<tr class="row-even"><td><p>SStart</p></td>
-<td><p>Double</p></td>
-<td><p>m</p></td>
-<td><p>yes</p></td>
-<td><p>The S position on the first road specifying the start of the range within which to spawn Agents
-If omitted the whole road is included</p></td>
-</tr>
-<tr class="row-odd"><td><p>SEnd</p></td>
-<td><p>Double</p></td>
-<td><p>m</p></td>
-<td><p>yes</p></td>
-<td><p>The S position on the last road specifying the start of the range within which to spawn Agents</p></td>
-</tr>
-<tr class="row-even"><td><p>SLength</p></td>
-<td><p>Double</p></td>
-<td><p>m</p></td>
-<td><p>yes</p></td>
-<td><p>Length of spawned area calculated from SStart
-This is ignored if SEnd is explicitly defined.
-If neither is given the whole road is included</p></td>
-</tr>
-</tbody>
-</table>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>Lanes of two SpawnZones should not intersect each other. The behavior in this case is undefined. The PreRunSpawner is not required to fill the SpawnZones in the given order.</p>
-</div>
-<p>SStart, SEnd and SLength may be out of range for the road.
-In this case they are cropped such that the spawn range is maximum within the road’s bounds.
-It is also possible to define the MinimumSeparationBuffer either as fixed parameter of type double or as stochastic distribution:</p>
-<table class="tight-table docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Parameter</p></th>
-<th class="head"><p>Type</p></th>
-<th class="head"><p>Unit</p></th>
-<th class="head"><p>optional</p></th>
-<th class="head"><p>Description</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>MinimumSeparationBuffer</p></td>
-<td><p>Double (or any stochastic distribution)</p></td>
-<td><p>m</p></td>
-<td><p>yes</p></td>
-<td><p>Required minimum distance on lane between two agents</p></td>
-</tr>
-</tbody>
-</table>
-<p>If the MinimumSeparationBuffer isn’t defined the default value of 5m is used.</p>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;Profile</span><span class="w"> </span><span class="na">Name=</span><span class="s">&quot;DefaultPreRunCommon&quot;</span><span class="nt">&gt;</span>
-<span class="w">  </span><span class="nt">&lt;List</span><span class="w"> </span><span class="na">Name=</span><span class="s">&quot;SpawnZones&quot;</span><span class="nt">&gt;</span>
-<span class="w">    </span><span class="nt">&lt;ListItem&gt;</span>
-<span class="w">      </span><span class="nt">&lt;StringVector</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;Roads&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;1&quot;</span><span class="nt">/&gt;</span>
-<span class="w">      </span><span class="nt">&lt;IntVector</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;Lanes&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;-1,-2,-3,-4,-5&quot;</span><span class="nt">/&gt;</span>
-<span class="w">      </span><span class="nt">&lt;Double</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;SStart&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;0.0&quot;</span><span class="nt">/&gt;</span>
-<span class="w">      </span><span class="nt">&lt;Double</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;SEnd&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;1000.0&quot;</span><span class="nt">/&gt;</span>
-<span class="w">    </span><span class="nt">&lt;/ListItem&gt;</span>
-<span class="w">  </span><span class="nt">&lt;/List&gt;</span>
-<span class="w">  </span><span class="nt">&lt;List</span><span class="w"> </span><span class="na">Name=</span><span class="s">&quot;TrafficGroups&quot;</span><span class="nt">&gt;</span>
-<span class="w">    </span><span class="nt">&lt;ListItem&gt;</span>
-<span class="w">      </span><span class="nt">&lt;Double</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;Weight&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;4&quot;</span><span class="nt">/&gt;</span>
-<span class="w">      </span><span class="nt">&lt;Reference</span><span class="w"> </span><span class="na">Type=</span><span class="s">&quot;TrafficGroup&quot;</span><span class="w"> </span><span class="na">Name=</span><span class="s">&quot;LightVehicles&quot;</span><span class="nt">/&gt;</span>
-<span class="w">    </span><span class="nt">&lt;/ListItem&gt;</span>
-<span class="w">    </span><span class="nt">&lt;ListItem&gt;</span>
-<span class="w">      </span><span class="nt">&lt;Double</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;Weight&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;1&quot;</span><span class="nt">/&gt;</span>
-<span class="w">      </span><span class="nt">&lt;Reference</span><span class="w"> </span><span class="na">Type=</span><span class="s">&quot;TrafficGroup&quot;</span><span class="w"> </span><span class="na">Name=</span><span class="s">&quot;HeavyVehicles&quot;</span><span class="nt">/&gt;</span>
-<span class="w">    </span><span class="nt">&lt;/ListItem&gt;</span>
-<span class="w">  </span><span class="nt">&lt;/List&gt;</span>
-<span class="w">  </span><span class="nt">&lt;NormalDistribution</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;MinimumSeparationBuffer&quot;</span><span class="w"> </span><span class="na">Mean=</span><span class="s">&quot;3.47&quot;</span><span class="w"> </span><span class="na">SD=</span><span class="s">&quot;1.13&quot;</span><span class="w"> </span><span class="na">Min=</span><span class="s">&quot;2.0&quot;</span><span class="w"> </span><span class="na">Max=</span><span class="s">&quot;6.0&quot;</span><span class="nt">/&gt;</span>
-<span class="nt">&lt;/Profile&gt;</span>
-</pre></div>
-</div>
-<p>The PreRunCommonSpawner will spawn common agents on the specified Lanes of the specified continuous Road sequence (= RoadStream) inside the specified s interval based on the parameters of the TrafficGroups.
-The following restrictions apply:</p>
-<ul>
-<li><dl class="simple">
-<dt>The PreRunCommonSpawner only spawns on the following <a class="reference external" href="https://www.asam.net/standards/detail/opendrive/">OpenDRIVE</a> lane types:</dt><dd><ul class="simple">
-<li><p>Driving</p></li>
-<li><p>OnRamp</p></li>
-<li><p>OffRamp</p></li>
-<li><p>ConnectingRamp</p></li>
-</ul>
-</dd>
-</dl>
-</li>
-<li><p>If the ScenarioSpawner spawned Scenario Agents (including the Ego agent) before this Spawner is triggered (in the intended order of these Spawners), ranges between the Scenario Agents are invalid for spawning by this Spawner.
-The spawn ranges will only be augmented by Scenario Agents on the same Lane.
-As such, there are 7 different potential scenarios that may arise in terms of how the valid spawn ranges of the spawner may be impacted:</p>
-<ol class="arabic">
-<li><p><strong>Two Scenario Agents on the same Lane</strong></p>
-<p>One before S-Start position and one after S-End position:
-This invalidates the entirety of the spawning range; no agents may be spawned here</p>
-</li>
-<li><p><strong>Two Scenario Agents on the same Lane</strong></p>
-<p>One between S-Start position and S-End position and one either before S-Start or after S-End:
-The only valid spawn range is that on the opposite side of the in-specified-range Agent from the outside-specified-range agent</p>
-</li>
-<li><p><strong>Two Scenario Agents on the same Lane</strong></p>
-<p>Both within the specified S-Start and S-End positions
-The valid spawn ranges are between S-Start and the first car and between the second car and S-End</p>
-</li>
-<li><p><strong>Two Scenario Agents on the same Lane</strong></p>
-<p>Both outside the specified S-Start and S-End positions on the same side (both before S-Start or both after S-End):
-The specified spawn range is entirely valid</p>
-</li>
-<li><p><strong>One Scenario Agent on the same Lane</strong></p>
-<p>Within specified S-Start and S-End positions:
-The valid spawn ranges include all but the bounds of the Agent within the specified S-Start and S-End positions</p>
-</li>
-<li><p><strong>One Scenario Agent on the same Lane</strong></p>
-<p>Outside specified S-Start and S-End positions:
-The specified spawn range is entirely valid</p>
-</li>
-<li><p><strong>No Scenario Agents on the same Lane</strong></p>
-<p>The specified spawn range is entirely valid</p>
-</li>
-</ol>
-</li>
-<li><p>If only non-existent lanes on SStart are specified, no spawning will occur</p></li>
-<li><p>If some specified lanes exist and some are non-existent, spawning will occur for the lanes which do exist</p></li>
-</ul>
-<p>Once the spawning ranges are determined the PreRunSpawner will spawn for each spawning area based on the following logic:</p>
-<ol class="arabic simple">
-<li><p>First the agentprofile needs to be determined. If the current spawn position evaluate to a right lane, the pool from which the agentprofile is drafted is extended by all traffic groups which contain the RightLaneOnly flag set to true.</p></li>
-<li><p>Then the time gap between the new agent and the closest existing agent is sampled.</p></li>
-<li><p>Afterwards the velocity of the new agent is being sampled under consideration of the homogeneity.</p></li>
-<li><p>The gap and velocity are used to calculate the distance between the new agent and the next agent in this spawnarea. Here a minimum distance of 5m between agents is required.</p></li>
-<li><p>A random route is sampled starting at the appropriate road</p></li>
-<li><p>Based on the distance and the velocity the TTC (2s) conditions are evaluated.If the TTC is critical the spawn velocity is reduced to fulfill the TTC requirements.</p></li>
-<li><p>As a final step the spawnzone evaluates the spawncoordinates. If they are valid the agent is created, else the spawnzone moves on to the next spawning range.</p></li>
-</ol>
-</section>
-<section id="runtimespawner">
-<span id="components-runtimespawner"></span><h2>RuntimeSpawner<a class="headerlink" href="#runtimespawner" title="Link to this heading"></a></h2>
-<p>The RuntimeSpawner (included in library “SpawnerRuntimeCommon_OSI”) is responsible for maintaining a populated scenery throughout the simulation runtime.
-It acts at each timestep throughout the simulation run and attempts to spawn Common Agents at the specified location(s).
-The RuntimeSpawner needs a list of SpawnZones that define where it will spawn agents and a list of weighted <a class="reference internal" href="#components-trafficgroups"><span class="std std-ref">TrafficGroups</span></a> that defines the type and parameters of the spawned agents.
-The SpawnZones have the following parameters:</p>
-<table class="tight-table docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Parameter</p></th>
-<th class="head"><p>Type</p></th>
-<th class="head"><p>Unit</p></th>
-<th class="head"><p>Description</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>Roads</p></td>
-<td><p>StringVector</p></td>
-<td></td>
-<td><p>The RoadIDs of the Roads on which to spawn Agents</p></td>
-</tr>
-<tr class="row-odd"><td><p>Lanes</p></td>
-<td><p>IntVector</p></td>
-<td></td>
-<td><p>The LaneIDs of the Lanes of the Road on which to spawn Agents</p></td>
-</tr>
-<tr class="row-even"><td><p>S-Position</p></td>
-<td><p>Double</p></td>
-<td><p>m</p></td>
-<td><p>The S position specifying at which point to spawn Agents</p></td>
-</tr>
-</tbody>
-</table>
-<p>It is also possible to define the MinimumSeparationBuffer either as fixed parameter of type double or as stochastic distribution:</p>
-<table class="tight-table docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Parameter</p></th>
-<th class="head"><p>Type</p></th>
-<th class="head"><p>Unit</p></th>
-<th class="head"><p>optional</p></th>
-<th class="head"><p>Description</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>MinimumSeparationBuffer</p></td>
-<td><p>Double (or any stochastic distribution)</p></td>
-<td><p>m</p></td>
-<td><p>yes</p></td>
-<td><p>Required minimum distance on lane between two agents</p></td>
-</tr>
-</tbody>
-</table>
-<p>If the MinimumSeparationBuffer isn’t defined the default value of 5m is used.</p>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;Profile</span><span class="w"> </span><span class="na">Name=</span><span class="s">&quot;DefaultRuntimeCommon&quot;</span><span class="nt">&gt;</span>
-<span class="w">  </span><span class="nt">&lt;List</span><span class="w"> </span><span class="na">Name=</span><span class="s">&quot;SpawnPoints&quot;</span><span class="nt">&gt;</span>
-<span class="w">    </span><span class="nt">&lt;ListItem&gt;</span>
-<span class="w">      </span><span class="nt">&lt;StringVector</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;Roads&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;1&quot;</span><span class="nt">/&gt;</span>
-<span class="w">      </span><span class="nt">&lt;IntVector</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;Lanes&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;-1,-2,-3,-4,-5&quot;</span><span class="nt">/&gt;</span>
-<span class="w">      </span><span class="nt">&lt;Double</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;SCoordinate&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;0.0&quot;</span><span class="nt">/&gt;</span>
-<span class="w">    </span><span class="nt">&lt;/ListItem&gt;</span>
-<span class="w">  </span><span class="nt">&lt;/List&gt;</span>
-<span class="w">  </span><span class="nt">&lt;List</span><span class="w"> </span><span class="na">Name=</span><span class="s">&quot;TrafficGroups&quot;</span><span class="nt">&gt;</span>
-<span class="w">    </span><span class="nt">&lt;ListItem&gt;</span>
-<span class="w">      </span><span class="nt">&lt;Double</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;Weight&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;4&quot;</span><span class="nt">/&gt;</span>
-<span class="w">      </span><span class="nt">&lt;Reference</span><span class="w"> </span><span class="na">Type=</span><span class="s">&quot;TrafficGroup&quot;</span><span class="w"> </span><span class="na">Name=</span><span class="s">&quot;LightVehicles&quot;</span><span class="nt">/&gt;</span>
-<span class="w">    </span><span class="nt">&lt;/ListItem&gt;</span>
-<span class="w">    </span><span class="nt">&lt;ListItem&gt;</span>
-<span class="w">      </span><span class="nt">&lt;Double</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;Weight&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;1&quot;</span><span class="nt">/&gt;</span>
-<span class="w">      </span><span class="nt">&lt;Reference</span><span class="w"> </span><span class="na">Type=</span><span class="s">&quot;TrafficGroup&quot;</span><span class="w"> </span><span class="na">Name=</span><span class="s">&quot;HeavyVehicles&quot;</span><span class="nt">/&gt;</span>
-<span class="w">    </span><span class="nt">&lt;/ListItem&gt;</span>
-<span class="w">  </span><span class="nt">&lt;/List&gt;</span>
-<span class="w">  </span><span class="nt">&lt;NormalDistribution</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;MinimumSeparationBuffer&quot;</span><span class="w"> </span><span class="na">Mean=</span><span class="s">&quot;3.47&quot;</span><span class="w"> </span><span class="na">SD=</span><span class="s">&quot;1.13&quot;</span><span class="w"> </span><span class="na">Min=</span><span class="s">&quot;2.0&quot;</span><span class="w"> </span><span class="na">Max=</span><span class="s">&quot;6.0&quot;</span><span class="nt">/&gt;</span>
-<span class="nt">&lt;/Profile&gt;</span>
-</pre></div>
-</div>
-<p>The RuntimeSpawner will spawn based on the following logic:</p>
-<ul class="simple">
-<li><p>First the agentprofile needs to be determined. If the current spawn position evaluates to a right lane, the pool from which the agentprofile is drafted is extended by all traffic groups which contain the RightLaneOnly flag set to true.</p></li>
-<li><p>Then the gap between the spawn time of the new agent and the previously spawned agent is sampled.</p></li>
-<li><p>Afterwards the velocity of the new agent is being sampled under consideration of the homogeneity.</p></li>
-<li><p>A random route is sampled starting at the appropriate road</p></li>
-<li><p>Once the timely gap expires, the spawnpoint evaluate if the TTC (2s) conditions and a minimum required distance between agents (5m) are met. If the TTC is critical the spawn velocity is reduced to fullfill the TTC requriements. If the minimum distance is not fullfilled, the agent will be held back.</p></li>
-<li><p>If all requirements were fullfilled the agent is spawned.</p></li>
-</ul>
-<p>The RuntimeSpawner only spawns on the following <a class="reference external" href="https://www.asam.net/standards/detail/opendrive/">OpenDRIVE</a> lane types: Driving, OnRamp</p>
-</section>
-<section id="trafficgroups">
-<span id="components-trafficgroups"></span><h2>TrafficGroups<a class="headerlink" href="#trafficgroups" title="Link to this heading"></a></h2>
-<p>Both the <a class="reference internal" href="#components-prerunspawner"><span class="std std-ref">PreRunSpawner</span></a> and the <a class="reference internal" href="#components-runtimespawner"><span class="std std-ref">RuntimeSpawner</span></a> need one or more TrafficGroup.
-These are typically defined in a separate ProfileGroup of type “TrafficGroup” and then reference by the spawner profile.
-In this way both spawner can use the same TrafficGroups.</p>
-<table class="tight-table docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Parameter</p></th>
-<th class="head"><p>Type</p></th>
-<th class="head"><p>Unit</p></th>
-<th class="head"><p>Description</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>AgentProfiles</p></td>
-<td><p>&lt;List&gt;</p></td>
-<td></td>
-<td><p>A set of &lt;ListItem&gt;s which define potential AgentProfile values for the Agents spawned in the SpawnArea and the probability at which the TrafficVolume will be selected</p></td>
-</tr>
-<tr class="row-odd"><td><p>Velocity</p></td>
-<td><p>Distribution</p></td>
-<td><p>m/s</p></td>
-<td><p>A stochastic distribution describing the velocity of the spawned Agents</p></td>
-</tr>
-<tr class="row-even"><td><p>TGap</p></td>
-<td><p>Distribution</p></td>
-<td><p>s</p></td>
-<td><p>A stochastic distribution describing the time gap between spawned Agents</p></td>
-</tr>
-<tr class="row-odd"><td><p>Homogeneity</p></td>
-<td><p>DoubleVector</p></td>
-<td></td>
-<td><p>OPTIONAL: A vector describing the velocity increments for left lanes</p></td>
-</tr>
-<tr class="row-even"><td><p>RightLaneOnly</p></td>
-<td><p>Bool</p></td>
-<td></td>
-<td><p>OPTIONAL: A flag determining whether this TrafficGroup can only be applied to the right most lane</p></td>
-</tr>
-</tbody>
-</table>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;Profile</span><span class="w"> </span><span class="na">Name=</span><span class="s">&quot;LightVehicles&quot;</span><span class="nt">&gt;</span>
-<span class="w">  </span><span class="nt">&lt;List</span><span class="w"> </span><span class="na">Name=</span><span class="s">&quot;AgentProfiles&quot;</span><span class="nt">&gt;</span>
-<span class="w">    </span><span class="nt">&lt;ListItem&gt;</span>
-<span class="w">      </span><span class="nt">&lt;String</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;Name&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;LuxuryClassCarAgent&quot;</span><span class="nt">/&gt;</span>
-<span class="w">      </span><span class="nt">&lt;Double</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;Weight&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;0.4&quot;</span><span class="nt">/&gt;</span>
-<span class="w">    </span><span class="nt">&lt;/ListItem&gt;</span>
-<span class="w">    </span><span class="nt">&lt;ListItem&gt;</span>
-<span class="w">      </span><span class="nt">&lt;String</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;Name&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;MiddleClassCarAgent&quot;</span><span class="nt">/&gt;</span>
-<span class="w">      </span><span class="nt">&lt;Double</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;Weight&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;0.6&quot;</span><span class="nt">/&gt;</span>
-<span class="w">    </span><span class="nt">&lt;/ListItem&gt;</span>
-<span class="w">  </span><span class="nt">&lt;/List&gt;</span>
-<span class="w">  </span><span class="nt">&lt;NormalDistribution</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;Velocity&quot;</span><span class="w"> </span><span class="na">Max=</span><span class="s">&quot;43.685&quot;</span><span class="w"> </span><span class="na">Mean=</span><span class="s">&quot;31.475&quot;</span><span class="w"> </span><span class="na">Min=</span><span class="s">&quot;19.265&quot;</span><span class="w"> </span><span class="na">SD=</span><span class="s">&quot;6.105&quot;</span><span class="nt">/&gt;</span>
-<span class="w">  </span><span class="nt">&lt;LogNormalDistribution</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;TGap&quot;</span><span class="w"> </span><span class="na">Max=</span><span class="s">&quot;80&quot;</span><span class="w"> </span><span class="na">Min=</span><span class="s">&quot;0.5&quot;</span><span class="w"> </span><span class="na">Mu=</span><span class="s">&quot;1.5&quot;</span><span class="w"> </span><span class="na">Sigma=</span><span class="s">&quot;1.7&quot;</span><span class="nt">/&gt;</span>
-<span class="w">  </span><span class="nt">&lt;DoubleVector</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;Homogeneity&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;0.820, 1.0&quot;</span><span class="nt">/&gt;</span>
-<span class="nt">&lt;/Profile&gt;</span>
-</pre></div>
-</div>
-</section>
-</section>
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+  <section id="spawner">
+<span id="components-spawner"></span><h1>Spawner<a class="headerlink" href="#spawner" title="Link to this heading"></a></h1>
+<p>Spawners are responsible to populate the world.
+In order to do so, several spawners can be used.</p>
+<section id="prerunspawner">
+<span id="components-prerunspawner"></span><h2>PreRunSpawner<a class="headerlink" href="#prerunspawner" title="Link to this heading"></a></h2>
+<p>The PreRunSpawner is responsible for populating the scenery/world with Common-Agents before the simulator starts.
+This Spawner only acts once before the simulator starts and is not active during the simulation run.
+The PreRunSpawner needs a list of SpawnZones that define where it will spawn agents and a list of weighted <a class="reference internal" href="#components-trafficgroups"><span class="std std-ref">TrafficGroups</span></a> that defines the type and parameters of the spawned agents.
+The SpawnZones have the following parameters:</p>
+<table class="tight-table docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Parameter</p></th>
+<th class="head"><p>Type</p></th>
+<th class="head"><p>Unit</p></th>
+<th class="head"><p>optional</p></th>
+<th class="head"><p>Description</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>Roads</p></td>
+<td><p>StringVector</p></td>
+<td></td>
+<td><p>no</p></td>
+<td><p>List of linked Roads on which to spawn Agents.
+Intermediate roads may be omitted.
+If a road is not linked to the previous in the list (or doesn’t exist), this road and the roads after it are ignored.
+This means in particular, that if the first road in the list does not exist, the entire SpawnZone is ignored.</p></td>
+</tr>
+<tr class="row-odd"><td><p>Lanes</p></td>
+<td><p>IntVector</p></td>
+<td></td>
+<td><p>yes</p></td>
+<td><p>The LaneIDs of the Lanes of the Road on which to spawn Agents (given on SStart).
+Inexistent lanes are ignored.
+If omitted all lanes are used.</p></td>
+</tr>
+<tr class="row-even"><td><p>SStart</p></td>
+<td><p>Double</p></td>
+<td><p>m</p></td>
+<td><p>yes</p></td>
+<td><p>The S position on the first road specifying the start of the range within which to spawn Agents
+If omitted the whole road is included</p></td>
+</tr>
+<tr class="row-odd"><td><p>SEnd</p></td>
+<td><p>Double</p></td>
+<td><p>m</p></td>
+<td><p>yes</p></td>
+<td><p>The S position on the last road specifying the start of the range within which to spawn Agents</p></td>
+</tr>
+<tr class="row-even"><td><p>SLength</p></td>
+<td><p>Double</p></td>
+<td><p>m</p></td>
+<td><p>yes</p></td>
+<td><p>Length of spawned area calculated from SStart
+This is ignored if SEnd is explicitly defined.
+If neither is given the whole road is included</p></td>
+</tr>
+</tbody>
+</table>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>Lanes of two SpawnZones should not intersect each other. The behavior in this case is undefined. The PreRunSpawner is not required to fill the SpawnZones in the given order.</p>
+</div>
+<p>SStart, SEnd and SLength may be out of range for the road.
+In this case they are cropped such that the spawn range is maximum within the road’s bounds.
+It is also possible to define the MinimumSeparationBuffer either as fixed parameter of type double or as stochastic distribution:</p>
+<table class="tight-table docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Parameter</p></th>
+<th class="head"><p>Type</p></th>
+<th class="head"><p>Unit</p></th>
+<th class="head"><p>optional</p></th>
+<th class="head"><p>Description</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>MinimumSeparationBuffer</p></td>
+<td><p>Double (or any stochastic distribution)</p></td>
+<td><p>m</p></td>
+<td><p>yes</p></td>
+<td><p>Required minimum distance on lane between two agents</p></td>
+</tr>
+</tbody>
+</table>
+<p>If the MinimumSeparationBuffer isn’t defined the default value of 5m is used.</p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;Profile</span><span class="w"> </span><span class="na">Name=</span><span class="s">&quot;DefaultPreRunCommon&quot;</span><span class="nt">&gt;</span>
+<span class="w">  </span><span class="nt">&lt;List</span><span class="w"> </span><span class="na">Name=</span><span class="s">&quot;SpawnZones&quot;</span><span class="nt">&gt;</span>
+<span class="w">    </span><span class="nt">&lt;ListItem&gt;</span>
+<span class="w">      </span><span class="nt">&lt;StringVector</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;Roads&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;1&quot;</span><span class="nt">/&gt;</span>
+<span class="w">      </span><span class="nt">&lt;IntVector</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;Lanes&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;-1,-2,-3,-4,-5&quot;</span><span class="nt">/&gt;</span>
+<span class="w">      </span><span class="nt">&lt;Double</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;SStart&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;0.0&quot;</span><span class="nt">/&gt;</span>
+<span class="w">      </span><span class="nt">&lt;Double</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;SEnd&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;1000.0&quot;</span><span class="nt">/&gt;</span>
+<span class="w">    </span><span class="nt">&lt;/ListItem&gt;</span>
+<span class="w">  </span><span class="nt">&lt;/List&gt;</span>
+<span class="w">  </span><span class="nt">&lt;List</span><span class="w"> </span><span class="na">Name=</span><span class="s">&quot;TrafficGroups&quot;</span><span class="nt">&gt;</span>
+<span class="w">    </span><span class="nt">&lt;ListItem&gt;</span>
+<span class="w">      </span><span class="nt">&lt;Double</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;Weight&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;4&quot;</span><span class="nt">/&gt;</span>
+<span class="w">      </span><span class="nt">&lt;Reference</span><span class="w"> </span><span class="na">Type=</span><span class="s">&quot;TrafficGroup&quot;</span><span class="w"> </span><span class="na">Name=</span><span class="s">&quot;LightVehicles&quot;</span><span class="nt">/&gt;</span>
+<span class="w">    </span><span class="nt">&lt;/ListItem&gt;</span>
+<span class="w">    </span><span class="nt">&lt;ListItem&gt;</span>
+<span class="w">      </span><span class="nt">&lt;Double</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;Weight&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;1&quot;</span><span class="nt">/&gt;</span>
+<span class="w">      </span><span class="nt">&lt;Reference</span><span class="w"> </span><span class="na">Type=</span><span class="s">&quot;TrafficGroup&quot;</span><span class="w"> </span><span class="na">Name=</span><span class="s">&quot;HeavyVehicles&quot;</span><span class="nt">/&gt;</span>
+<span class="w">    </span><span class="nt">&lt;/ListItem&gt;</span>
+<span class="w">  </span><span class="nt">&lt;/List&gt;</span>
+<span class="w">  </span><span class="nt">&lt;NormalDistribution</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;MinimumSeparationBuffer&quot;</span><span class="w"> </span><span class="na">Mean=</span><span class="s">&quot;3.47&quot;</span><span class="w"> </span><span class="na">SD=</span><span class="s">&quot;1.13&quot;</span><span class="w"> </span><span class="na">Min=</span><span class="s">&quot;2.0&quot;</span><span class="w"> </span><span class="na">Max=</span><span class="s">&quot;6.0&quot;</span><span class="nt">/&gt;</span>
+<span class="nt">&lt;/Profile&gt;</span>
+</pre></div>
+</div>
+<p>The PreRunCommonSpawner will spawn common agents on the specified Lanes of the specified continuous Road sequence (= RoadStream) inside the specified s interval based on the parameters of the TrafficGroups.
+The following restrictions apply:</p>
+<ul>
+<li><dl class="simple">
+<dt>The PreRunCommonSpawner only spawns on the following <a class="reference external" href="https://www.asam.net/standards/detail/opendrive/">OpenDRIVE</a> lane types:</dt><dd><ul class="simple">
+<li><p>Driving</p></li>
+<li><p>OnRamp</p></li>
+<li><p>OffRamp</p></li>
+<li><p>ConnectingRamp</p></li>
+</ul>
+</dd>
+</dl>
+</li>
+<li><p>If the ScenarioSpawner spawned Scenario Agents (including the Ego agent) before this Spawner is triggered (in the intended order of these Spawners), ranges between the Scenario Agents are invalid for spawning by this Spawner.
+The spawn ranges will only be augmented by Scenario Agents on the same Lane.
+As such, there are 7 different potential scenarios that may arise in terms of how the valid spawn ranges of the spawner may be impacted:</p>
+<ol class="arabic">
+<li><p><strong>Two Scenario Agents on the same Lane</strong></p>
+<p>One before S-Start position and one after S-End position:
+This invalidates the entirety of the spawning range; no agents may be spawned here</p>
+</li>
+<li><p><strong>Two Scenario Agents on the same Lane</strong></p>
+<p>One between S-Start position and S-End position and one either before S-Start or after S-End:
+The only valid spawn range is that on the opposite side of the in-specified-range Agent from the outside-specified-range agent</p>
+</li>
+<li><p><strong>Two Scenario Agents on the same Lane</strong></p>
+<p>Both within the specified S-Start and S-End positions
+The valid spawn ranges are between S-Start and the first car and between the second car and S-End</p>
+</li>
+<li><p><strong>Two Scenario Agents on the same Lane</strong></p>
+<p>Both outside the specified S-Start and S-End positions on the same side (both before S-Start or both after S-End):
+The specified spawn range is entirely valid</p>
+</li>
+<li><p><strong>One Scenario Agent on the same Lane</strong></p>
+<p>Within specified S-Start and S-End positions:
+The valid spawn ranges include all but the bounds of the Agent within the specified S-Start and S-End positions</p>
+</li>
+<li><p><strong>One Scenario Agent on the same Lane</strong></p>
+<p>Outside specified S-Start and S-End positions:
+The specified spawn range is entirely valid</p>
+</li>
+<li><p><strong>No Scenario Agents on the same Lane</strong></p>
+<p>The specified spawn range is entirely valid</p>
+</li>
+</ol>
+</li>
+<li><p>If only non-existent lanes on SStart are specified, no spawning will occur</p></li>
+<li><p>If some specified lanes exist and some are non-existent, spawning will occur for the lanes which do exist</p></li>
+</ul>
+<p>Once the spawning ranges are determined the PreRunSpawner will spawn for each spawning area based on the following logic:</p>
+<ol class="arabic simple">
+<li><p>First the agentprofile needs to be determined. If the current spawn position evaluate to a right lane, the pool from which the agentprofile is drafted is extended by all traffic groups which contain the RightLaneOnly flag set to true.</p></li>
+<li><p>Then the time gap between the new agent and the closest existing agent is sampled.</p></li>
+<li><p>Afterwards the velocity of the new agent is being sampled under consideration of the homogeneity.</p></li>
+<li><p>The gap and velocity are used to calculate the distance between the new agent and the next agent in this spawnarea. Here a minimum distance of 5m between agents is required.</p></li>
+<li><p>A random route is sampled starting at the appropriate road</p></li>
+<li><p>Based on the distance and the velocity the TTC (2s) conditions are evaluated.If the TTC is critical the spawn velocity is reduced to fulfill the TTC requirements.</p></li>
+<li><p>As a final step the spawnzone evaluates the spawncoordinates. If they are valid the agent is created, else the spawnzone moves on to the next spawning range.</p></li>
+</ol>
+</section>
+<section id="runtimespawner">
+<span id="components-runtimespawner"></span><h2>RuntimeSpawner<a class="headerlink" href="#runtimespawner" title="Link to this heading"></a></h2>
+<p>The RuntimeSpawner (included in library “SpawnerRuntimeCommon_OSI”) is responsible for maintaining a populated scenery throughout the simulation runtime.
+It acts at each timestep throughout the simulation run and attempts to spawn Common Agents at the specified location(s).
+The RuntimeSpawner needs a list of SpawnZones that define where it will spawn agents and a list of weighted <a class="reference internal" href="#components-trafficgroups"><span class="std std-ref">TrafficGroups</span></a> that defines the type and parameters of the spawned agents.
+The SpawnZones have the following parameters:</p>
+<table class="tight-table docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Parameter</p></th>
+<th class="head"><p>Type</p></th>
+<th class="head"><p>Unit</p></th>
+<th class="head"><p>Description</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>Roads</p></td>
+<td><p>StringVector</p></td>
+<td></td>
+<td><p>The RoadIDs of the Roads on which to spawn Agents</p></td>
+</tr>
+<tr class="row-odd"><td><p>Lanes</p></td>
+<td><p>IntVector</p></td>
+<td></td>
+<td><p>The LaneIDs of the Lanes of the Road on which to spawn Agents</p></td>
+</tr>
+<tr class="row-even"><td><p>S-Position</p></td>
+<td><p>Double</p></td>
+<td><p>m</p></td>
+<td><p>The S position specifying at which point to spawn Agents</p></td>
+</tr>
+</tbody>
+</table>
+<p>It is also possible to define the MinimumSeparationBuffer either as fixed parameter of type double or as stochastic distribution:</p>
+<table class="tight-table docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Parameter</p></th>
+<th class="head"><p>Type</p></th>
+<th class="head"><p>Unit</p></th>
+<th class="head"><p>optional</p></th>
+<th class="head"><p>Description</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>MinimumSeparationBuffer</p></td>
+<td><p>Double (or any stochastic distribution)</p></td>
+<td><p>m</p></td>
+<td><p>yes</p></td>
+<td><p>Required minimum distance on lane between two agents</p></td>
+</tr>
+</tbody>
+</table>
+<p>If the MinimumSeparationBuffer isn’t defined the default value of 5m is used.</p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;Profile</span><span class="w"> </span><span class="na">Name=</span><span class="s">&quot;DefaultRuntimeCommon&quot;</span><span class="nt">&gt;</span>
+<span class="w">  </span><span class="nt">&lt;List</span><span class="w"> </span><span class="na">Name=</span><span class="s">&quot;SpawnPoints&quot;</span><span class="nt">&gt;</span>
+<span class="w">    </span><span class="nt">&lt;ListItem&gt;</span>
+<span class="w">      </span><span class="nt">&lt;StringVector</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;Roads&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;1&quot;</span><span class="nt">/&gt;</span>
+<span class="w">      </span><span class="nt">&lt;IntVector</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;Lanes&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;-1,-2,-3,-4,-5&quot;</span><span class="nt">/&gt;</span>
+<span class="w">      </span><span class="nt">&lt;Double</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;SCoordinate&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;0.0&quot;</span><span class="nt">/&gt;</span>
+<span class="w">    </span><span class="nt">&lt;/ListItem&gt;</span>
+<span class="w">  </span><span class="nt">&lt;/List&gt;</span>
+<span class="w">  </span><span class="nt">&lt;List</span><span class="w"> </span><span class="na">Name=</span><span class="s">&quot;TrafficGroups&quot;</span><span class="nt">&gt;</span>
+<span class="w">    </span><span class="nt">&lt;ListItem&gt;</span>
+<span class="w">      </span><span class="nt">&lt;Double</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;Weight&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;4&quot;</span><span class="nt">/&gt;</span>
+<span class="w">      </span><span class="nt">&lt;Reference</span><span class="w"> </span><span class="na">Type=</span><span class="s">&quot;TrafficGroup&quot;</span><span class="w"> </span><span class="na">Name=</span><span class="s">&quot;LightVehicles&quot;</span><span class="nt">/&gt;</span>
+<span class="w">    </span><span class="nt">&lt;/ListItem&gt;</span>
+<span class="w">    </span><span class="nt">&lt;ListItem&gt;</span>
+<span class="w">      </span><span class="nt">&lt;Double</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;Weight&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;1&quot;</span><span class="nt">/&gt;</span>
+<span class="w">      </span><span class="nt">&lt;Reference</span><span class="w"> </span><span class="na">Type=</span><span class="s">&quot;TrafficGroup&quot;</span><span class="w"> </span><span class="na">Name=</span><span class="s">&quot;HeavyVehicles&quot;</span><span class="nt">/&gt;</span>
+<span class="w">    </span><span class="nt">&lt;/ListItem&gt;</span>
+<span class="w">  </span><span class="nt">&lt;/List&gt;</span>
+<span class="w">  </span><span class="nt">&lt;NormalDistribution</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;MinimumSeparationBuffer&quot;</span><span class="w"> </span><span class="na">Mean=</span><span class="s">&quot;3.47&quot;</span><span class="w"> </span><span class="na">SD=</span><span class="s">&quot;1.13&quot;</span><span class="w"> </span><span class="na">Min=</span><span class="s">&quot;2.0&quot;</span><span class="w"> </span><span class="na">Max=</span><span class="s">&quot;6.0&quot;</span><span class="nt">/&gt;</span>
+<span class="nt">&lt;/Profile&gt;</span>
+</pre></div>
+</div>
+<p>The RuntimeSpawner will spawn based on the following logic:</p>
+<ul class="simple">
+<li><p>First the agentprofile needs to be determined. If the current spawn position evaluates to a right lane, the pool from which the agentprofile is drafted is extended by all traffic groups which contain the RightLaneOnly flag set to true.</p></li>
+<li><p>Then the gap between the spawn time of the new agent and the previously spawned agent is sampled.</p></li>
+<li><p>Afterwards the velocity of the new agent is being sampled under consideration of the homogeneity.</p></li>
+<li><p>A random route is sampled starting at the appropriate road</p></li>
+<li><p>Once the timely gap expires, the spawnpoint evaluate if the TTC (2s) conditions and a minimum required distance between agents (5m) are met. If the TTC is critical the spawn velocity is reduced to fullfill the TTC requriements. If the minimum distance is not fullfilled, the agent will be held back.</p></li>
+<li><p>If all requirements were fullfilled the agent is spawned.</p></li>
+</ul>
+<p>The RuntimeSpawner only spawns on the following <a class="reference external" href="https://www.asam.net/standards/detail/opendrive/">OpenDRIVE</a> lane types: Driving, OnRamp</p>
+</section>
+<section id="trafficgroups">
+<span id="components-trafficgroups"></span><h2>TrafficGroups<a class="headerlink" href="#trafficgroups" title="Link to this heading"></a></h2>
+<p>Both the <a class="reference internal" href="#components-prerunspawner"><span class="std std-ref">PreRunSpawner</span></a> and the <a class="reference internal" href="#components-runtimespawner"><span class="std std-ref">RuntimeSpawner</span></a> need one or more TrafficGroup.
+These are typically defined in a separate ProfileGroup of type “TrafficGroup” and then reference by the spawner profile.
+In this way both spawner can use the same TrafficGroups.</p>
+<table class="tight-table docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Parameter</p></th>
+<th class="head"><p>Type</p></th>
+<th class="head"><p>Unit</p></th>
+<th class="head"><p>Description</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>AgentProfiles</p></td>
+<td><p>&lt;List&gt;</p></td>
+<td></td>
+<td><p>A set of &lt;ListItem&gt;s which define potential AgentProfile values for the Agents spawned in the SpawnArea and the probability at which the TrafficVolume will be selected</p></td>
+</tr>
+<tr class="row-odd"><td><p>Velocity</p></td>
+<td><p>Distribution</p></td>
+<td><p>m/s</p></td>
+<td><p>A stochastic distribution describing the velocity of the spawned Agents</p></td>
+</tr>
+<tr class="row-even"><td><p>TGap</p></td>
+<td><p>Distribution</p></td>
+<td><p>s</p></td>
+<td><p>A stochastic distribution describing the time gap between spawned Agents</p></td>
+</tr>
+<tr class="row-odd"><td><p>Homogeneity</p></td>
+<td><p>DoubleVector</p></td>
+<td></td>
+<td><p>OPTIONAL: A vector describing the velocity increments for left lanes</p></td>
+</tr>
+<tr class="row-even"><td><p>RightLaneOnly</p></td>
+<td><p>Bool</p></td>
+<td></td>
+<td><p>OPTIONAL: A flag determining whether this TrafficGroup can only be applied to the right most lane</p></td>
+</tr>
+</tbody>
+</table>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;Profile</span><span class="w"> </span><span class="na">Name=</span><span class="s">&quot;LightVehicles&quot;</span><span class="nt">&gt;</span>
+<span class="w">  </span><span class="nt">&lt;List</span><span class="w"> </span><span class="na">Name=</span><span class="s">&quot;AgentProfiles&quot;</span><span class="nt">&gt;</span>
+<span class="w">    </span><span class="nt">&lt;ListItem&gt;</span>
+<span class="w">      </span><span class="nt">&lt;String</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;Name&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;LuxuryClassCarAgent&quot;</span><span class="nt">/&gt;</span>
+<span class="w">      </span><span class="nt">&lt;Double</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;Weight&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;0.4&quot;</span><span class="nt">/&gt;</span>
+<span class="w">    </span><span class="nt">&lt;/ListItem&gt;</span>
+<span class="w">    </span><span class="nt">&lt;ListItem&gt;</span>
+<span class="w">      </span><span class="nt">&lt;String</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;Name&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;MiddleClassCarAgent&quot;</span><span class="nt">/&gt;</span>
+<span class="w">      </span><span class="nt">&lt;Double</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;Weight&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;0.6&quot;</span><span class="nt">/&gt;</span>
+<span class="w">    </span><span class="nt">&lt;/ListItem&gt;</span>
+<span class="w">  </span><span class="nt">&lt;/List&gt;</span>
+<span class="w">  </span><span class="nt">&lt;NormalDistribution</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;Velocity&quot;</span><span class="w"> </span><span class="na">Max=</span><span class="s">&quot;43.685&quot;</span><span class="w"> </span><span class="na">Mean=</span><span class="s">&quot;31.475&quot;</span><span class="w"> </span><span class="na">Min=</span><span class="s">&quot;19.265&quot;</span><span class="w"> </span><span class="na">SD=</span><span class="s">&quot;6.105&quot;</span><span class="nt">/&gt;</span>
+<span class="w">  </span><span class="nt">&lt;LogNormalDistribution</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;TGap&quot;</span><span class="w"> </span><span class="na">Max=</span><span class="s">&quot;80&quot;</span><span class="w"> </span><span class="na">Min=</span><span class="s">&quot;0.5&quot;</span><span class="w"> </span><span class="na">Mu=</span><span class="s">&quot;1.5&quot;</span><span class="w"> </span><span class="na">Sigma=</span><span class="s">&quot;1.7&quot;</span><span class="nt">/&gt;</span>
+<span class="w">  </span><span class="nt">&lt;DoubleVector</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;Homogeneity&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;0.820, 1.0&quot;</span><span class="nt">/&gt;</span>
+<span class="nt">&lt;/Profile&gt;</span>
+</pre></div>
+</div>
+</section>
+</section>
+
+
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diff --git a/content/html/user_guide/sim_user_guide/components/vehicle.html b/content/html/user_guide/sim_user_guide/components/vehicle.html
index 0c7413496a28607d0ddf2a78c9a05724d4493780..73af370fc959aae3546197c029735bd6f7f717c3 100644
--- a/content/html/user_guide/sim_user_guide/components/vehicle.html
+++ b/content/html/user_guide/sim_user_guide/components/vehicle.html
@@ -1,1435 +1,1442 @@
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-  <section id="vehiclecomponents">
-<span id="components-vehiclecomponents"></span><h1>VehicleComponents<a class="headerlink" href="#vehiclecomponents" title="Link to this heading"></a></h1>
-<section id="aeb">
-<span id="components-aeb"></span><h2>AEB<a class="headerlink" href="#aeb" title="Link to this heading"></a></h2>
-<p>The Autonomous Emergency Braking system checks if a collision is likely to occur in the near future and, if necessary, brakes to avoid the collision.
-In each timestep, the system evaluates all objects detected by a Sensor and calculates the time to collision (TTC) for this object based on the perceived movement of the object.
-If, for any object, the TTC is lower than the threshold of the component, then the component gets activated. The system deactivates if the TTC is larger than 1,5 times the threshold of the component.</p>
-<table class="tight-table docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Attribute</p></th>
-<th class="head"><p>Type</p></th>
-<th class="head"><p>Unit</p></th>
-<th class="head"><p>Description</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>CollisionDetectionLongitudinalBoundary</p></td>
-<td><p>Double</p></td>
-<td><p>m</p></td>
-<td><p>Additional length added the vehicle boundary when checking for collision detection</p></td>
-</tr>
-<tr class="row-odd"><td><p>CollisionDetectionLateralBoundary</p></td>
-<td><p>Double</p></td>
-<td><p>m</p></td>
-<td><p>Additional width added the vehicle boundary when checking for collision detection</p></td>
-</tr>
-<tr class="row-even"><td><p>TTC</p></td>
-<td><p>Double</p></td>
-<td><p>s</p></td>
-<td><p>Time to collision which is used to trigger AEB</p></td>
-</tr>
-<tr class="row-odd"><td><p>Acceleration</p></td>
-<td><p>Double</p></td>
-<td><p>m/s²</p></td>
-<td><p>Braking acceleration when activated</p></td>
-</tr>
-</tbody>
-</table>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;ProfileGroup</span><span class="w"> </span><span class="na">Type=</span><span class="s">&quot;AEB&quot;</span><span class="nt">&gt;</span>
-<span class="w">    </span><span class="nt">&lt;Profile</span><span class="w"> </span><span class="na">Type=</span><span class="s">&quot;AEB&quot;</span><span class="w"> </span><span class="na">Name=</span><span class="s">&quot;AEB1&quot;</span><span class="nt">&gt;</span>
-<span class="w">        </span><span class="nt">&lt;Double</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;CollisionDetectionLongitudinalBoundary&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;4.0&quot;</span><span class="nt">/&gt;</span>
-<span class="w">        </span><span class="nt">&lt;Double</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;CollisionDetectionLateralBoundary&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;1.5&quot;</span><span class="nt">/&gt;</span>
-<span class="w">        </span><span class="nt">&lt;Double</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;TTC&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;2.0&quot;</span><span class="nt">/&gt;</span>
-<span class="w">        </span><span class="nt">&lt;Double</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;Acceleration&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;-2&quot;</span><span class="nt">/&gt;</span>
-<span class="w">    </span><span class="nt">&lt;/Profile&gt;</span>
-<span class="w">    </span>...
-<span class="nt">&lt;/ProfileGroup&gt;</span>
-</pre></div>
-</div>
-</section>
-<section id="dynamicstrajectoryfollower">
-<span id="components-trajectoryfollower"></span><h2>DynamicsTrajectoryFollower<a class="headerlink" href="#dynamicstrajectoryfollower" title="Link to this heading"></a></h2>
-<p>This module forces agents to drive according to a specific trajectory. The trajectory is defined in the scenario. This module is disabled by default and is activated if a trajectory from <a class="reference external" href="https://www.asam.net/standards/detail/openscenario/">OpenSCENARIO</a> is triggered.
-It is always important that the trajectories matches the current scenery file, otherwise the Agent could be placed outside of valid lanes. If the agent gets placed on a invalid position, it will be deleted.</p>
-<p>All attributes are required.</p>
-<table class="tight-table docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Attribute</p></th>
-<th class="head"><p>Type</p></th>
-<th class="head"><p>Description</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>AutomaticDeactivation</p></td>
-<td><p>Bool</p></td>
-<td><p>If true, the trajectory follower relinquishes control of the vehicle after the final instruction in the TrajectoryFile.
-If false, it stops at the last point of the trajectory.</p></td>
-</tr>
-<tr class="row-odd"><td><p>EnforceTrajectory</p></td>
-<td><p>Bool</p></td>
-<td><p>If true, the trajectory follower overrides external input related to the vehicle’s travel.</p></td>
-</tr>
-</tbody>
-</table>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;ProfileGroup</span><span class="w"> </span><span class="na">Type=</span><span class="s">&quot;DynamicsTrajectoryFollower&quot;</span><span class="nt">&gt;</span>
-<span class="w">    </span><span class="nt">&lt;Profile</span><span class="w"> </span><span class="na">Name=</span><span class="s">&quot;BasicTrajectoryFollower&quot;</span><span class="nt">&gt;</span>
-<span class="w">        </span><span class="nt">&lt;Bool</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;AutomaticDeactivation&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;true&quot;</span><span class="nt">/&gt;</span>
-<span class="w">        </span><span class="nt">&lt;Bool</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;EnforceTrajectory&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;true&quot;</span><span class="nt">/&gt;</span>
-<span class="w">    </span><span class="nt">&lt;/Profile&gt;</span>
-<span class="nt">&lt;/ProfileGroup&gt;</span>
-</pre></div>
-</div>
-</section>
-<section id="fmu-wrapper">
-<span id="components-fmuwrapper"></span><h2>FMU Wrapper<a class="headerlink" href="#fmu-wrapper" title="Link to this heading"></a></h2>
-<p>The FMU Wrapper provides a connection to arbitrary FMUs (Functional Mock-up Unit).
-An FMU has to be compatible with the FMI 1.0 or the FMI 2.0 specification (Functional Mock-up Interface) and has to be ABI (Application Binary Interface) compatible with the opSimulation binary.</p>
-<p>Additional reading about FMI is provided by the FMI standard website at <a class="reference external" href="https://fmi-standard.org/">https://fmi-standard.org/</a>.
-For interfacing the FMUs in openPASS, the Modelon FMI Library is used, which is recommended on the FMI standard website. See <a class="reference external" href="https://jmodelica.org/">https://jmodelica.org/</a>.</p>
-<p><strong>FMU package format</strong></p>
-<p>FMI defines a packaging format for FMUs.
-The used container format is ZIP.
-It basically contains - among other parts -  the compiled FMU code (as <code class="docutils literal notranslate"><span class="pre">*.dll</span></code> or <code class="docutils literal notranslate"><span class="pre">*.so</span></code>, depending on the platform) and the <code class="docutils literal notranslate"><span class="pre">modelDescription.xml</span></code>.
-Latter provides meta-data about the FMU, i. e.
-- Author information
-- Model name, identifier and description
-- Generation timestamp
-- Name and datatype of model variables (inputs and outputs)</p>
-<p><strong>Architectural overview</strong></p>
-<p>The wrapper is instantiated as a component of an agent.
-It reads the input variables for the FMU from the simulation and provides it the FMU and reads the output of the FMU and forwards it via signals to other agent components.</p>
-<img alt="|op| FMU wrapper architectural overview" src="../../../_images/FmuWrapperOverview.svg" /><p><strong>Framework channels</strong></p>
-<p>The wrapper can use input and output signals via <em>Channels</em> as every other agent component does.
-Framework channels (signals) can provide data and can also be written to by the wrapper.
-In addition, the wrapper is able to access the c AgentInterface and c WorldInterface methods.</p>
-<p><strong>FMI variables</strong></p>
-<p>Communication with the FMU happens via FMI variables (inputs and outputs).
-The wrapper will read in available variables from <code class="docutils literal notranslate"><span class="pre">modelDescription.xml</span></code> in the FMU package.
-These variables need to be mapped to variables and signals of openPASS in the VehicleComponentProfile.</p>
-<p>FMI 1.0 supports these standard datatypes:
-- bool
-- integer
-- real
-- string</p>
-<p>By using OSMP, three integer values can be used to support full osi messages</p>
-<p><strong>Configuration</strong></p>
-<p>Configuration of a particular FMU takes place in <code class="docutils literal notranslate"><span class="pre">ProfilesCatalog.xml</span></code>.
-An example of a static system configuration can be found here “sim/contrib/examples/Configurations/StaticOSMPSensorDataToTrafficUpdateStepper”.</p>
-<p>The following parameters are always required for the FmuWrapper. Depending on the FmuHandler additional parameters may be needed.</p>
-<table class="tight-table docutils align-default" id="fmuwrapper-basic-configuration">
-<thead>
-<tr class="row-odd"><th class="head"><p>Key</p></th>
-<th class="head"><p>Type</p></th>
-<th class="head"><p>Default</p></th>
-<th class="head"><p>Description</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>FmuPath</p></td>
-<td><p>string</p></td>
-<td><p>-</p></td>
-<td><p>Path to FMU file, either absolute or relative to the simulator’s configuration directory.</p></td>
-</tr>
-<tr class="row-odd"><td><p>Logging</p></td>
-<td><p>bool</p></td>
-<td><p>true</p></td>
-<td><p>If set to true, FMU initialization and execution task are logged to a text file.</p></td>
-</tr>
-<tr class="row-even"><td><p>CsvOutput</p></td>
-<td><p>bool</p></td>
-<td><p>true</p></td>
-<td><p>If set to true, FMI outputs are logged to a CSV file.</p></td>
-</tr>
-</tbody>
-</table>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;ProfileGroup</span><span class="w"> </span><span class="na">Type=</span><span class="s">&quot;FMU1&quot;</span><span class="nt">&gt;</span>
-<span class="w">  </span><span class="nt">&lt;Profile</span><span class="w"> </span><span class="na">Name=</span><span class="s">&quot;FMU&quot;</span><span class="nt">&gt;</span>
-<span class="w">    </span><span class="nt">&lt;String</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;FmuPath&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;OSMPSDToTUS.fmu&quot;</span><span class="nt">/&gt;</span>
-<span class="w">    </span><span class="nt">&lt;Bool</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;Logging&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;true&quot;</span><span class="nt">/&gt;</span>
-<span class="w">    </span><span class="nt">&lt;Bool</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;CsvOutput&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;false&quot;</span><span class="nt">/&gt;</span>
-<span class="w">    </span><span class="nt">&lt;String</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;Input_OSMPSensorDataIn&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;SensorData&quot;</span><span class="nt">/&gt;</span>
-<span class="w">    </span><span class="nt">&lt;String</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;Input_OSMPSensorViewInConfig&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;SensorViewConfig&quot;</span><span class="nt">/&gt;</span>
-<span class="w">    </span><span class="nt">&lt;String</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;Output_OSMPTrafficUpdateOut&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;TrafficUpdate&quot;</span><span class="nt">/&gt;</span>
-<span class="w">    </span><span class="nt">&lt;String</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;Output_OSMPSensorViewInConfigRequest&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;SensorViewConfigRequest&quot;</span><span class="nt">/&gt;</span>
-<span class="w"> </span><span class="nt">&lt;Bool</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;WriteJson_SensorData&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;false&quot;</span><span class="nt">/&gt;</span>
-<span class="w"> </span><span class="nt">&lt;Bool</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;WriteJson_TrafficUpdate&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;false&quot;</span><span class="nt">/&gt;</span>
-<span class="w">  </span><span class="nt">&lt;/Profile&gt;</span>
-<span class="nt">&lt;/ProfileGroup&gt;</span>
-</pre></div>
-</div>
-<p>Upon instantiation of the FMU wrapper, it will extract the FMU ZIP file to a temporary directory.
-Then the <code class="docutils literal notranslate"><span class="pre">modelDescription.xml</span></code> is parsed and the FMU is checked for compatibility.</p>
-<p>If the parameter <code class="docutils literal notranslate"><span class="pre">CsvOutput</span></code> is set to <cite>true</cite>, a subfolder “FmuWrapper/Agent&lt;ID&gt;” will be created in the simulator’s “results” directory.
-“&lt;ID&gt;” is replaced with the agent id.
-FMI output data will be logged to a file inside this directory.
-The filename consists of the FMU’s name and extension “csv”.
-This output can then be used for visualization in a spreadsheet application or it may be processed in any other way.</p>
-<p>Same goes for parameter <code class="docutils literal notranslate"><span class="pre">Logging</span></code> (having “log” as output file extension).</p>
-<p><strong>Primitive Datatypes</strong></p>
-<p>The FMU Wrapper allows to link Simulink models or any other FMU to <strong>openPASS</strong>.
-It lets the user link any input variables of the FMU to values of the Agent in the simulation and any output values of the FMU to signals, that are forwarded to other <strong>openPASS</strong> components.
-These mappings are defined with the following optional parameters.</p>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>Be careful with the size of integer data types when used in Matlab/Simulink. The FMU integer data type shall always be 32 bit or bigger, e.g. for IDs.</p>
-</div>
-<table class="tight-table docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Key</p></th>
-<th class="head"><p>Type</p></th>
-<th class="head"><p>Description</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>Parameter_<em>varName</em></p></td>
-<td><p>any</p></td>
-<td><p>Mapping of a fixed value (bool, integer, double, string) to an FMU input:</p>
-<ul class="simple">
-<li><p><code class="docutils literal notranslate"><span class="pre">varName</span></code> references an FMI input variable.</p></li>
-<li><p>The type of the parameter has to match the FMI variable type.</p></li>
-</ul>
-</td>
-</tr>
-<tr class="row-odd"><td><p>Parameter_AssignSpecial_<em>varName</em></p></td>
-<td><p>any</p></td>
-<td><p>Mapping of a specific value of the simulation to an FMU input, assigned only once at FMU initialization:</p>
-<ul class="simple">
-<li><p><code class="docutils literal notranslate"><span class="pre">varName</span></code> references an FMI input variable.</p></li>
-<li><p>The parameter is always of type string.</p></li>
-<li><p>The value of this parameter has to be one of the types specified in the <a class="reference internal" href="#special-simulation-values">Special simulation values</a> table below,
-which will also determine the required type of the FMI variable.</p></li>
-</ul>
-</td>
-</tr>
-<tr class="row-even"><td><p>Input_<em>varName</em></p></td>
-<td><p>string</p></td>
-<td><p>Mapping of a specific value of the simulation to an FMU input:</p>
-<ul class="simple">
-<li><p><code class="docutils literal notranslate"><span class="pre">varName</span></code> references an FMI input variable.</p></li>
-<li><p>The value of this parameter has to be one of the types specified in the <a class="reference internal" href="#input-simulation-values">Input simulation values</a> table below.</p></li>
-</ul>
-</td>
-</tr>
-<tr class="row-odd"><td><p>Output_<em>varName</em></p></td>
-<td><p>string</p></td>
-<td><p>Mapping of a FMU output to a specific field in a specific signal:</p>
-<ul class="simple">
-<li><p><code class="docutils literal notranslate"><span class="pre">varName</span></code> references an FMI output variable.</p></li>
-<li><p>The value of this parameter has to be one of the types specified in the <a class="reference internal" href="#output-simulation-signals">Output simulation signals</a> table below.</p></li>
-</ul>
-</td>
-</tr>
-</tbody>
-</table>
-<p>The allowed special simulation values are as follows:</p>
-<table class="tight-table docutils align-default" id="special-simulation-values">
-<thead>
-<tr class="row-odd"><th class="head"><p>Type</p></th>
-<th class="head"><p>FMU Variable Type</p></th>
-<th class="head"><p>Calculation</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>RandomSeed</p></td>
-<td><p>Integer</p></td>
-<td><p>The random seed of the current simulation run.</p></td>
-</tr>
-<tr class="row-odd"><td><p>ConfigPath</p></td>
-<td><p>String</p></td>
-<td><p>Config directory supplied to opSimulation (or the corresponding default value)</p></td>
-</tr>
-<tr class="row-even"><td><p>OutputPath</p></td>
-<td><p>String</p></td>
-<td><p>An output path unique to this FmuWrapper instance.
-The path will always refer to a directory below the simulator’s current result folder.
-This directory is not necessarily created by the FmuWrapper, depending on the setting of
-<cite>CsvOutput</cite> and <cite>Logging</cite> parameters (see <a class="reference internal" href="#fmuwrapper-basic-configuration">FmuWrapper basic configuration</a>).</p></td>
-</tr>
-<tr class="row-odd"><td><p>MaxSteering</p></td>
-<td><p>Real</p></td>
-<td><p>The <cite>max_steering</cite> property of an agent’s front axle as defined in OpenSCENARIO (catalog).</p></td>
-</tr>
-<tr class="row-even"><td><p>SteeringRatio</p></td>
-<td><p>Real</p></td>
-<td><p>The steering ratio of the vehicle model.
-Has to be defined in the properties of the Entity in the OpenSCENARIO catalog with the name
-<code class="docutils literal notranslate"><span class="pre">SteeringRatio</span></code> and the value has to be a valid floating point expression.</p></td>
-</tr>
-<tr class="row-odd"><td><p>NumberOfGears</p></td>
-<td><p>Integer</p></td>
-<td><p>The number of gears of the vehicle model.
-Has to be defined in the properties of the Entity in the OpenSCENARIO catalog with the name
-<code class="docutils literal notranslate"><span class="pre">NumberOfGears</span></code> and the value has to be a valid integer.</p></td>
-</tr>
-<tr class="row-even"><td><p>GearRatio<em>N</em></p></td>
-<td><p>Real</p></td>
-<td><p>The ratio of the Nth gear.
-Has to be defined in the properties of the Entity in the OpenSCENARIO catalog with the name
-<code class="docutils literal notranslate"><span class="pre">GearRatioN</span></code> and the value has to be a valid floating point expression.
-<em>N</em> is allowed to be in the range 1-9.</p></td>
-</tr>
-</tbody>
-</table>
-<p>The allowed inputs (simulation values) are as follows:</p>
-<table class="tight-table docutils align-default" id="input-simulation-values">
-<thead>
-<tr class="row-odd"><th class="head"><p>Type</p></th>
-<th class="head"><p>FMU Variable Type</p></th>
-<th class="head"><p>Calculation</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>VelocityEgo</p></td>
-<td><p>Real</p></td>
-<td><p>Absolute velocity (length of the velocity vector) at reference point</p></td>
-</tr>
-<tr class="row-odd"><td><p>AccelerationEgo</p></td>
-<td><p>Real</p></td>
-<td><p>Longitudinal acceleration at reference point</p></td>
-</tr>
-<tr class="row-even"><td><p>CentripetalAccelerationEgo</p></td>
-<td><p>Real</p></td>
-<td><p>Centripetal acceleration at reference point</p></td>
-</tr>
-<tr class="row-odd"><td><p>SteeringWheelEgo</p></td>
-<td><p>Real</p></td>
-<td><p>Angle of the steering wheel (in radian)</p></td>
-</tr>
-<tr class="row-even"><td><p>AccelerationPedalPositionEgo</p></td>
-<td><p>Real</p></td>
-<td><p>Position of the acceleration pedal in the interval [0, 1]</p></td>
-</tr>
-<tr class="row-odd"><td><p>BrakePedalPositionEgo</p></td>
-<td><p>Real</p></td>
-<td><p>Position of the brake pedal in the interval [0, 1]</p></td>
-</tr>
-<tr class="row-even"><td><p>DistanceRefToFrontEdgeEgo</p></td>
-<td><p>Real</p></td>
-<td><p>Distance between the reference point and the front of the agent (static)</p></td>
-</tr>
-<tr class="row-odd"><td><p>PositionXEgo</p></td>
-<td><p>Real</p></td>
-<td><p>X position of the reference point</p></td>
-</tr>
-<tr class="row-even"><td><p>PositionYEgo</p></td>
-<td><p>Real</p></td>
-<td><p>Y position of the reference point</p></td>
-</tr>
-<tr class="row-odd"><td><p>YawEgo</p></td>
-<td><p>Real</p></td>
-<td><p>Yaw of the reference point</p></td>
-</tr>
-<tr class="row-even"><td><p>LaneEgo</p></td>
-<td><p>Integer</p></td>
-<td><p>Lane id of the front center on the route (0, if off route)</p></td>
-</tr>
-<tr class="row-odd"><td><p>PositionSEgo</p></td>
-<td><p>Real</p></td>
-<td><p>S position of the reference point on the route (0, if off route)</p></td>
-</tr>
-<tr class="row-even"><td><p>PositionTEgo</p></td>
-<td><p>Real</p></td>
-<td><p>T position of the reference point on the route (0, if off route)</p></td>
-</tr>
-<tr class="row-odd"><td><p>ExistenceFront</p></td>
-<td><p>Boolean</p></td>
-<td><p>true, if there is a object in front on the own lane (any range), false otherwise</p></td>
-</tr>
-<tr class="row-even"><td><p>PositionXFront</p></td>
-<td><p>Real</p></td>
-<td><p>X position of front object reference point (0, if no front object)</p></td>
-</tr>
-<tr class="row-odd"><td><p>PositionYFront</p></td>
-<td><p>Real</p></td>
-<td><p>Y position of front object reference point (0, if no front object)</p></td>
-</tr>
-<tr class="row-even"><td><p>YawFront</p></td>
-<td><p>Real</p></td>
-<td><p>Yaw of front object reference point (0, if no front object)</p></td>
-</tr>
-<tr class="row-odd"><td><p>PositionSFront</p></td>
-<td><p>Real</p></td>
-<td><p>S position of front object reference point on ego route (0, if no front object)</p></td>
-</tr>
-<tr class="row-even"><td><p>PositionTFront</p></td>
-<td><p>Real</p></td>
-<td><p>T position of front object reference point on ego route (0, if no front object)</p></td>
-</tr>
-<tr class="row-odd"><td><p>RelativeDistanceFront</p></td>
-<td><p>Real</p></td>
-<td><p>Net distance to front object along route (0, if no front object)</p></td>
-</tr>
-<tr class="row-even"><td><p>WidthFront</p></td>
-<td><p>Real</p></td>
-<td><p>Width of front object (0, if no front object)</p></td>
-</tr>
-<tr class="row-odd"><td><p>LengthFront</p></td>
-<td><p>Real</p></td>
-<td><p>Length of front object (0, if no front object)</p></td>
-</tr>
-<tr class="row-even"><td><p>DistanceRefToFrontEdgeFront</p></td>
-<td><p>Real</p></td>
-<td><p>Distance between the reference point and the front of the front object (0, if no front object)</p></td>
-</tr>
-<tr class="row-odd"><td><p>VelocityFront</p></td>
-<td><p>Real</p></td>
-<td><p>Absolute velocity of front object at reference point (0, if no front object)</p></td>
-</tr>
-<tr class="row-even"><td><p>LaneFront</p></td>
-<td><p>Integer</p></td>
-<td><p>Lane id of the reference point of the front object on the ego route (0, if no front object)</p></td>
-</tr>
-<tr class="row-odd"><td><p>ExistenceFrontFront</p></td>
-<td><p>Boolean</p></td>
-<td><p>true, if there are at least two objects in front on the own lane (any range), false otherwise</p></td>
-</tr>
-<tr class="row-even"><td><p>PositionXFrontFront</p></td>
-<td><p>Real</p></td>
-<td><p>X position of second front object reference point (0, if no second front object)</p></td>
-</tr>
-<tr class="row-odd"><td><p>PositionYFrontFront</p></td>
-<td><p>Real</p></td>
-<td><p>Y position of second front object reference point (0, if no second front object)</p></td>
-</tr>
-<tr class="row-even"><td><p>RelativeDistanceFrontFront</p></td>
-<td><p>Real</p></td>
-<td><p>Net distance to second front object reference point (0, if no second front object)</p></td>
-</tr>
-<tr class="row-odd"><td><p>VelocityFrontFront</p></td>
-<td><p>Real</p></td>
-<td><p>Absolute velocity of second front object reference point (0, if no second front object)</p></td>
-</tr>
-<tr class="row-even"><td><p>LaneFrontFront</p></td>
-<td><p>Integer</p></td>
-<td><p>Lane id of the reference point of second front object reference point (0, if no second front object)</p></td>
-</tr>
-<tr class="row-odd"><td><p>LaneCountLeft</p></td>
-<td><p>Integer</p></td>
-<td><p>Number of lanes to the left of front center of type Driving, Exit, Entry, OnRamp or OffRamp</p></td>
-</tr>
-<tr class="row-even"><td><p>LaneCountRight</p></td>
-<td><p>Integer</p></td>
-<td><p>Number of lanes to the right of front center of type Driving, Exit, Entry, OnRamp or OffRamp</p></td>
-</tr>
-<tr class="row-odd"><td><p>SpeedLimit_<em>X</em></p></td>
-<td><p>Real</p></td>
-<td><p>Speed limit in effect in distance <em>X</em> meters from front center (999, if no speed limit)</p></td>
-</tr>
-<tr class="row-even"><td><p>RoadCurvature_<em>X</em></p></td>
-<td><p>Real</p></td>
-<td><p>Road curvature in distance <em>X</em> meters from front center</p></td>
-</tr>
-</tbody>
-</table>
-<ul class="simple">
-<li><p><strong>reference point</strong>: Center of the rear axle</p></li>
-<li><p><strong>front center</strong>: Center of the front of the bounding box of the object</p></li>
-</ul>
-<p>If the FmuWrapper is linked to at least one sensor with InputId “Camera”, the following additional inputs are available.
-The objects seen by this sensor(s) are sorted by distance from the agent and accessed by indices starting from 0.
-For each object the values listed in the following table are available where <em>X</em> is the index of the object (between 0 and 9).
-If there are less objects than <em>X</em>, a default value is set (-1 for the Id, 0 for the other values).
-Only the list of objects is taken from the sensor.
-The values are then calculated by the FmuWrapper (not from the SensorData).</p>
-<table class="tight-table docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Type</p></th>
-<th class="head"><p>FMU Variable Type</p></th>
-<th class="head"><p>Calculation</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>SensorFusionObjectId_<em>X</em></p></td>
-<td><p>Integer</p></td>
-<td><p>Id of the object</p></td>
-</tr>
-<tr class="row-odd"><td><p>SensorFusionNumberOfDetectingSensors_<em>X</em></p></td>
-<td><p>Integer</p></td>
-<td><p>Number of sensors detecting the object</p></td>
-</tr>
-<tr class="row-even"><td><p>SensorFusionRelativeS_<em>X</em></p></td>
-<td><p>Real</p></td>
-<td><p>Distance between reference points along route (NaN, if object not on route)</p></td>
-</tr>
-<tr class="row-odd"><td><p>SensorFusionRelativeNetS_<em>X</em></p></td>
-<td><p>Real</p></td>
-<td><p>Net distance along route (NaN, if object not on route)</p></td>
-</tr>
-<tr class="row-even"><td><p>SensorFusionRelativeT_<em>X</em></p></td>
-<td><p>Real</p></td>
-<td><p>Lateral obstruction for front center (NaN, if object not on route) (see <a class="reference internal" href="../../../advanced_topics/simulator/world_osi.html#world-getobstruction"><span class="std std-ref">GetObstruction</span></a>)</p></td>
-</tr>
-<tr class="row-odd"><td><p>SensorFusionRelativeX_<em>X</em></p></td>
-<td><p>Real</p></td>
-<td><p>Relative distance between reference points in x in world coordinates</p></td>
-</tr>
-<tr class="row-even"><td><p>SensorFusionRelativeY_<em>X</em></p></td>
-<td><p>Real</p></td>
-<td><p>Relative distance between reference points in y in world coordinates</p></td>
-</tr>
-<tr class="row-odd"><td><p>SensorFusionRelativeNetLeft_<em>X</em></p></td>
-<td><p>Real</p></td>
-<td><p>Lateral obstruction for leftmost point (NaN, if object not on route)</p></td>
-</tr>
-<tr class="row-even"><td><p>SensorFusionRelativeNetRight_<em>X</em></p></td>
-<td><p>Real</p></td>
-<td><p>Lateral obstruction for rightmost point (NaN, if object not on route)</p></td>
-</tr>
-<tr class="row-odd"><td><p>SensorFusionRelativeNetX_<em>X</em></p></td>
-<td><p>Real</p></td>
-<td><p>Net distance between bounding boxes in x in world coordinates</p></td>
-</tr>
-<tr class="row-even"><td><p>SensorFusionRelativeNetY_<em>X</em></p></td>
-<td><p>Real</p></td>
-<td><p>Net distance between bounding boxes in y in world coordinates</p></td>
-</tr>
-<tr class="row-odd"><td><p>SensorFusionLane_<em>X</em></p></td>
-<td><p>Integer</p></td>
-<td><p>Lane of front center</p></td>
-</tr>
-<tr class="row-even"><td><p>SensorFusionVelocity_<em>X</em></p></td>
-<td><p>Real</p></td>
-<td><p>Absolute velocity at reference point</p></td>
-</tr>
-<tr class="row-odd"><td><p>SensorFusionVelocityX_<em>X</em></p></td>
-<td><p>Real</p></td>
-<td><p>Velocity in x at reference point in world coordinates</p></td>
-</tr>
-<tr class="row-even"><td><p>SensorFusionVelocityY_<em>X</em></p></td>
-<td><p>Real</p></td>
-<td><p>Velocity in y at reference point in world coordinates</p></td>
-</tr>
-<tr class="row-odd"><td><p>SensorFusionYaw_<em>X</em></p></td>
-<td><p>Real</p></td>
-<td><p>Yaw in world coordinates</p></td>
-</tr>
-</tbody>
-</table>
-<p>The FMU wrapper can output one or more of these signals:
-AccelerationSignal, LongitudinalSignal, SteeringSignal and DynamicsSignal</p>
-<p>The name of the signal field has to be specified after the signal name.
-This means the output type is one of the following:</p>
-<table class="tight-table docutils align-default" id="output-simulation-signals">
-<thead>
-<tr class="row-odd"><th class="head"><p>Type</p></th>
-<th class="head"><p>FMU Variable Type</p></th>
-<th class="head"><p>Enum Values</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>ComponentState</p></td>
-<td><p>Enum</p></td>
-<td><p>Undefined, Disabled, Armed, Acting</p></td>
-</tr>
-<tr class="row-odd"><td><p>AccelerationSignal_Acceleration</p></td>
-<td><p>Real</p></td>
-<td></td>
-</tr>
-<tr class="row-even"><td><p>LongitudinalSignal_AccPedalPos</p></td>
-<td><p>Real</p></td>
-<td></td>
-</tr>
-<tr class="row-odd"><td><p>LongitudinalSignal_BrakePedalPos</p></td>
-<td><p>Real</p></td>
-<td></td>
-</tr>
-<tr class="row-even"><td><p>LongitudinalSignal_Gear</p></td>
-<td><p>Int</p></td>
-<td></td>
-</tr>
-<tr class="row-odd"><td><p>SteeringSignal_SteeringWheelAngle</p></td>
-<td><p>Real</p></td>
-<td></td>
-</tr>
-<tr class="row-even"><td><p>DynamicsSignal_Acceleration</p></td>
-<td><p>Real</p></td>
-<td></td>
-</tr>
-<tr class="row-odd"><td><p>DynamicsSignal_Velocity</p></td>
-<td><p>Real</p></td>
-<td></td>
-</tr>
-<tr class="row-even"><td><p>DynamicsSignal_PositionX</p></td>
-<td><p>Real</p></td>
-<td></td>
-</tr>
-<tr class="row-odd"><td><p>DynamicsSignal_PositionY</p></td>
-<td><p>Real</p></td>
-<td></td>
-</tr>
-<tr class="row-even"><td><p>DynamicsSignal_Yaw</p></td>
-<td><p>Real</p></td>
-<td></td>
-</tr>
-<tr class="row-odd"><td><p>DynamicsSignal_YawRate</p></td>
-<td><p>Real</p></td>
-<td></td>
-</tr>
-<tr class="row-even"><td><p>DynamicsSignal_YawAcceleration</p></td>
-<td><p>Real</p></td>
-<td></td>
-</tr>
-<tr class="row-odd"><td><p>DynamicsSignal_SteeringWheelAngle</p></td>
-<td><p>Real</p></td>
-<td></td>
-</tr>
-<tr class="row-even"><td><p>DynamicsSignal_CentripetalAcceleration</p></td>
-<td><p>Real</p></td>
-<td></td>
-</tr>
-<tr class="row-odd"><td><p>DynamicsSignal_TravelDistance</p></td>
-<td><p>Real</p></td>
-<td></td>
-</tr>
-<tr class="row-even"><td><p>CompCtrlSignal_MovementDomain</p></td>
-<td><p>Enum</p></td>
-<td><p>Undefined, Lateral, Longitudinal, Both</p></td>
-</tr>
-<tr class="row-odd"><td><p>CompCtrlSignal_WarningActivity</p></td>
-<td><p>Bool</p></td>
-<td></td>
-</tr>
-<tr class="row-even"><td><p>CompCtrlSignal_WarningLevel</p></td>
-<td><p>Enum</p></td>
-<td><p>INFO, WARNING</p></td>
-</tr>
-<tr class="row-odd"><td><p>CompCtrlSignal_WarningType</p></td>
-<td><p>Enum</p></td>
-<td><p>OPTIC, ACOUSTIC, HAPTIC</p></td>
-</tr>
-<tr class="row-even"><td><p>CompCtrlSignal_WarningIntensity</p></td>
-<td><p>Enum</p></td>
-<td><p>LOW, MEDIUM, HIGH</p></td>
-</tr>
-<tr class="row-odd"><td><p>CompCtrlSignal_WarningDirection</p></td>
-<td><p>Enum</p></td>
-<td></td>
-</tr>
-</tbody>
-</table>
-<p>If one of these fields of a signal (except ComponentState) is mapped to an FMU variable, all fields of this signal have to be mapped.
-If the ComponentState is mapped to a FMU variable, it is used for all signals, otherwise it defaults to Acting.</p>
-<p><strong>OSI Data</strong></p>
-<p>OSMP (OsiSensorModelPackaging) is a package layer specification for the Open Simulation Interface (OSI).
-It allows to pass input to the FMU as OSI messages as well as receive output as OSI message.
-For more information on OSMP see <a class="reference external" href="https://github.com/OpenSimulationInterface/osi-sensor-model-packaging">https://github.com/OpenSimulationInterface/osi-sensor-model-packaging</a>.</p>
-<p>The FmuHandler has the following additional (optional) parameters:</p>
-<table class="tight-table docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Key</p></th>
-<th class="head"><p>Type</p></th>
-<th class="head"><p>Description</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>Init_<em>var_name</em></p></td>
-<td><p>string</p></td>
-<td><p><em>var_name</em> references an FMU variable (as defined in FMU’s modelDescription.xml) to which a specific OSI message is sent during initialization  Allowed values: <cite>GroundTruth</cite></p></td>
-</tr>
-<tr class="row-odd"><td><p>Input_<em>var_name</em></p></td>
-<td><p>string</p></td>
-<td><p><em>var_name</em> references an FMU variable (as defined in FMU’s modelDescription.xml) to which a specific OSI message is sent  Allowed values: <cite>SensorView</cite>, <cite>SensorViewConfig</cite>, <cite>SensorData</cite>, <cite>TrafficCommand</cite></p></td>
-</tr>
-<tr class="row-even"><td><p>Output_<em>var_name</em></p></td>
-<td><p>string</p></td>
-<td><p><em>var_name</em> references an FMU variable (as defined in FMU’s modelDescription.xml) from which a specific OSI message is received  Allowed values: <cite>SensorViewConfigRequest</cite>, <cite>SensorData</cite>, <cite>TrafficUpdate</cite></p></td>
-</tr>
-<tr class="row-odd"><td><p>Parameter_<em>var_name</em></p></td>
-<td><p>any</p></td>
-<td><p>The value of the parameter is assigned to the FMU variable <em>var_name</em></p></td>
-</tr>
-<tr class="row-even"><td><p>Parameter_<em>transformation</em>[<em>mapping</em> ]_<em>name</em></p></td>
-<td><p>string/string/any*</p></td>
-<td><p>Same as Parameter_<em>name</em> but with an preceding <em>transformation</em> according to a <em>mapping</em>. <br> Currently, only mappings between the same types are supported. <br> *;When using <cite>TransformList</cite> as <em>transformation</em>, the type of the data is expected to be a string and the string must be a comma separated list of values. <br>  <br> Allowed values: <br> <em>transformation</em>: <cite>Transform</cite>, <cite>TransformList</cite> <br> <em>mapping</em>: <cite>ScenarioName&gt;Id</cite> <br>  <br> Example: <cite>Parameter_TransformList[ScenarioName&gt;Id]_*name*</cite></p></td>
-</tr>
-<tr class="row-odd"><td><p>WriteJson_<em>var_name</em></p></td>
-<td><p>bool</p></td>
-<td><p>If true the osi message specified by <em>var_name</em> is written to a json file</p></td>
-</tr>
-<tr class="row-even"><td><p>WriteTrace_<em>var_name</em></p></td>
-<td><p>bool</p></td>
-<td><p>If true the osi message specified by <em>var_name</em> is written to the trace file</p></td>
-</tr>
-<tr class="row-odd"><td><p>EnforceDoubleBuffering</p></td>
-<td><p>bool</p></td>
-<td><p>If true the wrapper will throw an error if FMU doesn’t use double buffering. Defaults to false.</p></td>
-</tr>
-</tbody>
-</table>
-<p>The type of OSI messages the FmuHandler sends and receives is defined by its parameters. Only messages for which an FMU variable is given in the configuration are sent/received.
-An additional parameter defines whether the message should be logged as JSON file for every agent and every timestep (see table above).</p>
-<p>Currently these messages are supported:</p>
-<ul class="simple">
-<li><p>SensorView: SensorView generated from the GroundTruth with this agent is host vehicle.</p></li>
-<li><p>SensorViewConfig, SensorViewConfigRequest: Configuration of a sensor according to OSMP.</p></li>
-<li><p>TrafficCommand: Trajectory from <a class="reference external" href="https://www.asam.net/standards/detail/openscenario/">OpenSCENARIO</a>, that will be converted into a TrafficCommand.</p></li>
-<li><p>SensorData: Output of a sensor. Can be input and/or output of an FMU. Received SensorData is forwarded to other components as SensorDataSignal.</p></li>
-<li><p>TrafficUpdate: Will be converted to a DynamicsSignal, AccelerationSignal, SteeringSignal or LongitudinalSignal. If the update is empty, the signal will have ComponentState::Disabled. If it is only partially filled, the missing values for the DynamicsSignal will be set to the current state.</p></li>
-<li><p>GroundTruth: Will be used as groundtruth information for everything that exists in the simulation world.</p></li>
-</ul>
-<p><strong>FmuVariables</strong></p>
-<p>FmuVariables can have different variability and causality.</p>
-<ul class="simple">
-<li><p>There are the following causalities: Input, Output, Parameter and CalculatedParameter</p></li>
-<li><p>Input or outputs can have the variability constant, fixed, discrete or continuous</p></li>
-<li><p>Parameter or CalculatedParameter can have the variability constant, fixed or tunable</p></li>
-</ul>
-<p>In openPASS we have the initialization phase, which is only called once. In that phase first readValues is called.
-Then parameter values are synchronized between different config files. The following priority is used for the synchronization:</p>
-<p>modelDescription &lt; systemConfig &lt; SSP config.</p>
-<p>Afterwards still in the initialization phase writeValues is called.
-During the whole simulation in openPASS all the trigger functions are called each time step.
-For the FMU component we call WriteValues before trigger and readValues afterwards.
-For the first two time steps we have the following calls for read- and writeValues:</p>
-<blockquote>
-<div><ol class="arabic simple">
-<li><p>ReadValues (Init)</p></li>
-<li><p>WriteValues (Init)</p></li>
-<li><p>WriteValues</p></li>
-<li><p>Trigger</p></li>
-<li><p>ReadValues</p></li>
-<li><p>WriteValues</p></li>
-<li><p>Trigger</p></li>
-<li><p>ReadValues</p></li>
-</ol>
-</div></blockquote>
-<p>Depending on them, FmuVariables are written/read to/from the FMU on different occasions, which is shown in the following table.</p>
-<table class="docutils align-default" id="id1">
-<caption><span class="caption-text">Write- and ReadValues depending on variability and causality</span><a class="headerlink" href="#id1" title="Link to this table"></a></caption>
-<colgroup>
-<col style="width: 20.0%" />
-<col style="width: 20.0%" />
-<col style="width: 20.0%" />
-<col style="width: 20.0%" />
-<col style="width: 20.0%" />
-</colgroup>
-<thead>
-<tr class="row-odd"><th class="head stub"></th>
-<th class="head"><p>ReadValues - Init</p></th>
-<th class="head"><p>WriteValues - Init</p></th>
-<th class="head"><p>WriteValues - Trigger</p></th>
-<th class="head"><p>ReadValues - Trigger</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><th class="stub"><p>Input - fixed</p></th>
-<td><p>x</p></td>
-<td><p>x</p></td>
-<td></td>
-<td></td>
-</tr>
-<tr class="row-odd"><th class="stub"><p>Input - discrete or continuous</p></th>
-<td><p>x</p></td>
-<td><p>x</p></td>
-<td><p>x</p></td>
-<td></td>
-</tr>
-<tr class="row-even"><th class="stub"><p>Output - fixed</p></th>
-<td><p>x</p></td>
-<td></td>
-<td></td>
-<td></td>
-</tr>
-<tr class="row-odd"><th class="stub"><p>Output - discrete or continuous</p></th>
-<td><p>x</p></td>
-<td></td>
-<td></td>
-<td><p>x</p></td>
-</tr>
-<tr class="row-even"><th class="stub"><p>Parameter - fixed</p></th>
-<td><p>x</p></td>
-<td><p>x</p></td>
-<td></td>
-<td></td>
-</tr>
-<tr class="row-odd"><th class="stub"><p>Parameter - tunable</p></th>
-<td><p>x</p></td>
-<td><p>x</p></td>
-<td><p>x</p></td>
-<td></td>
-</tr>
-<tr class="row-even"><th class="stub"><p>CalculatedParameter - fixed</p></th>
-<td><p>x</p></td>
-<td></td>
-<td></td>
-<td></td>
-</tr>
-<tr class="row-odd"><th class="stub"><p>CalculatedParameter - tunable</p></th>
-<td><p>x</p></td>
-<td></td>
-<td></td>
-<td><p>x</p></td>
-</tr>
-</tbody>
-</table>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>For alle kinds of Input, Output, Parameter and CalculatedParameter there exists the variablity “constant”.
-All constant values are only read into openPASS once at the initialization phase.
-Never will these values be written onto the FMU.</p>
-</div>
-</section>
-<section id="sensorgeometric2d">
-<span id="components-geometric2d"></span><h2>SensorGeometric2D<a class="headerlink" href="#sensorgeometric2d" title="Link to this heading"></a></h2>
-<p>This sensor is selected, when a sensor is parameterized as ProfileGroup “Geometric2D”.</p>
-<table class="tight-table docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Parameter</p></th>
-<th class="head"><p>Type</p></th>
-<th class="head"><p>Unit</p></th>
-<th class="head"><p>Description</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>DetectionRange</p></td>
-<td><p>Double</p></td>
-<td><p>m</p></td>
-<td><p>Detection range</p></td>
-</tr>
-<tr class="row-odd"><td><p>EnableVisualObstruction</p></td>
-<td><p>Bool</p></td>
-<td></td>
-<td><p>Activates 2D sensor obstruction calculation</p></td>
-</tr>
-<tr class="row-even"><td><p>FailureProbability</p></td>
-<td><p>Double</p></td>
-<td></td>
-<td><p>Probability object is not detected although it is visible</p></td>
-</tr>
-<tr class="row-odd"><td><p>Latency</p></td>
-<td><p>Double</p></td>
-<td><p>s</p></td>
-<td><p>Delay the sensor output</p></td>
-</tr>
-<tr class="row-even"><td><p>DetectionDelayTime</p></td>
-<td><p>Double</p></td>
-<td><p>s</p></td>
-<td><p>Time an object needs to be in detection range before it is detected (optional)</p></td>
-</tr>
-<tr class="row-odd"><td><p>MaxDropOutTime</p></td>
-<td><p>Double</p></td>
-<td><p>s</p></td>
-<td><p>Time after which delay for undetected object starts anew (optional)</p></td>
-</tr>
-<tr class="row-even"><td><p>OpeningAngleH</p></td>
-<td><p>Double</p></td>
-<td><p>rad</p></td>
-<td><p>Horizontal opening angle</p></td>
-</tr>
-<tr class="row-odd"><td><p>RequiredPercentageOfVisibleArea</p></td>
-<td><p>Double</p></td>
-<td></td>
-<td><p>Required percentage of an object within the sensor cone to trigger a detection</p></td>
-</tr>
-</tbody>
-</table>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;ProfileGroup</span><span class="w"> </span><span class="na">Type=</span><span class="s">&quot;Geometric2D&quot;</span><span class="nt">&gt;</span>
-<span class="w">  </span><span class="nt">&lt;Profile</span><span class="w"> </span><span class="na">Name=</span><span class="s">&quot;Standard&quot;</span><span class="nt">&gt;</span>
-<span class="w">    </span><span class="nt">&lt;Double</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;DetectionRange&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;300&quot;</span><span class="nt">/&gt;</span>
-<span class="w">    </span><span class="nt">&lt;Bool</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;EnableVisualObstruction&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;false&quot;</span><span class="nt">/&gt;</span>
-<span class="w">    </span><span class="nt">&lt;Double</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;FailureProbability&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;0&quot;</span><span class="nt">/&gt;</span>
-<span class="w">    </span><span class="nt">&lt;NormalDistribution</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;Latency&quot;</span><span class="w"> </span><span class="na">Max=</span><span class="s">&quot;0.0&quot;</span><span class="w"> </span><span class="na">Mean=</span><span class="s">&quot;0.0&quot;</span><span class="w"> </span><span class="na">Min=</span><span class="s">&quot;0.0&quot;</span><span class="w"> </span><span class="na">SD=</span><span class="s">&quot;0.0&quot;</span><span class="nt">/&gt;</span>
-<span class="w">    </span><span class="nt">&lt;Double</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;OpeningAngleH&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;0.35&quot;</span><span class="nt">/&gt;</span>
-<span class="w">    </span><span class="nt">&lt;Double</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;RequiredPercentageOfVisibleArea&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;0.001&quot;</span><span class="nt">/&gt;</span>
-<span class="w">    </span><span class="nt">&lt;Double</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;DetectionDelayTime&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;0&quot;</span><span class="nt">/&gt;</span>
-<span class="w">    </span><span class="nt">&lt;Double</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;MaxDropOutTime&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;0&quot;</span><span class="nt">/&gt;</span>
-<span class="w">  </span><span class="nt">&lt;/Profile&gt;</span>
-<span class="nt">&lt;/ProfileGroup&gt;</span>
-</pre></div>
-</div>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>Sensors also need a mounting position, defined w.r.t. the coordinate system of the vehicle (center of rear axis).
-See also <a class="reference internal" href="../../configs/profilescatalog.html#profilescatalog-systemprofiles"><span class="std std-ref">SystemProfiles</span></a>.</p>
-</div>
-</section>
-<section id="receivercar2x">
-<h2>ReceiverCar2X<a class="headerlink" href="#receivercar2x" title="Link to this heading"></a></h2>
-<p>This type is selected, when a sensor is parameterized as ProfileGroup “ReceiverCar2X”.</p>
-<table class="tight-table docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Parameter</p></th>
-<th class="head"><p>Type</p></th>
-<th class="head"><p>Unit</p></th>
-<th class="head"><p>Description</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>FailureProbability</p></td>
-<td><p>Double</p></td>
-<td></td>
-<td><p>Probability object is not detected although it is visible</p></td>
-</tr>
-<tr class="row-odd"><td><p>Latency</p></td>
-<td><p>Double</p></td>
-<td><p>s</p></td>
-<td><p>Sensor latency</p></td>
-</tr>
-<tr class="row-even"><td><p>Sensitivity</p></td>
-<td><p>Double</p></td>
-<td><p>W/m²</p></td>
-<td><p>Sensitivity of the sensor</p></td>
-</tr>
-</tbody>
-</table>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;ProfileGroup</span><span class="w"> </span><span class="na">Type=</span><span class="s">&quot;ReceiverCar2X&quot;</span><span class="nt">&gt;</span>
-<span class="w">  </span><span class="nt">&lt;Profile</span><span class="w"> </span><span class="na">Name=</span><span class="s">&quot;Standard&quot;</span><span class="nt">&gt;</span>
-<span class="w">    </span><span class="nt">&lt;NormalDistribution</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;Latency&quot;</span><span class="w"> </span><span class="na">Mean=</span><span class="s">&quot;0.0&quot;</span><span class="w"> </span><span class="na">SD=</span><span class="s">&quot;0.0&quot;</span><span class="w"> </span><span class="na">Min=</span><span class="s">&quot;0.0&quot;</span><span class="w"> </span><span class="na">Max=</span><span class="s">&quot;0.0&quot;</span><span class="nt">/&gt;</span>
-<span class="w">    </span><span class="nt">&lt;Double</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;FailureProbability&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;0&quot;</span><span class="nt">/&gt;</span>
-<span class="w">    </span><span class="nt">&lt;Double</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;Sensitivity&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;1e-5&quot;</span><span class="nt">/&gt;</span>
-<span class="w">  </span><span class="nt">&lt;/Profile&gt;</span>
-<span class="nt">&lt;/ProfileGroup&gt;</span>
-</pre></div>
-</div>
-<p>The moving object is detected if the received SignalStrength is greater than the Sensitivity of the ReceiverCar2X .</p>
-<p>The received SignalStrength is calculated by <img class="math" src="../../../_images/math/58936aa7043ecf62ec13166d1c340a6d7369c8fc.png" alt="ss_{\text{received}} = \frac {ss_{\text{sender}}} {4 \cdot pi \cdot d \cdot d}"/>, where the symbols meanings are:</p>
-<table class="docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Symbol</p></th>
-<th class="head"><p>Description</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p><img class="math" src="../../../_images/math/9d60d7b2311a5ab7cdaddaa12d7afcea0d61e610.png" alt="ss_{\text{received}}"/></p></td>
-<td><p>Received strength of the signal [1/m²]</p></td>
-</tr>
-<tr class="row-odd"><td><p><img class="math" src="../../../_images/math/b4e3a410356817edeee8a7f41f7a577e2c269c48.png" alt="ss_{\text{sender}}"/></p></td>
-<td><p>Sent strength of the signal [1/m²]</p></td>
-</tr>
-<tr class="row-even"><td><p><img class="math" src="../../../_images/math/badad346f6fbe2e237af99bfbd9a93a4da53a3da.png" alt="d"/></p></td>
-<td><p>Distance between the receiver agent and sender [m]</p></td>
-</tr>
-</tbody>
-</table>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>Sensors also need a mounting position, defined w.r.t. the coordinate system of the vehicle (center of rear axis).
-See also <a class="reference internal" href="../../configs/profilescatalog.html#profilescatalog-systemprofiles"><span class="std std-ref">SystemProfiles</span></a>.</p>
-</div>
-</section>
-<section id="ssp">
-<h2>SSP<a class="headerlink" href="#ssp" title="Link to this heading"></a></h2>
-<p>A SSP can be added as vehicle component. It’s a blackbox of one or multiple FMUs.</p>
-<table class="tight-table docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Parameter</p></th>
-<th class="head"><p>Type</p></th>
-<th class="head"><p>Unit</p></th>
-<th class="head"><p>Description</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>SspPath</p></td>
-<td><p>String</p></td>
-<td><p>path</p></td>
-<td><p>config relative path to ssp archive</p></td>
-</tr>
-</tbody>
-</table>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;ProfileGroup</span><span class="w"> </span><span class="na">Type=</span><span class="s">&quot;SSP1&quot;</span><span class="nt">&gt;</span>
-<span class="w">  </span><span class="nt">&lt;Profile</span><span class="w"> </span><span class="na">Name=</span><span class="s">&quot;SSP&quot;</span><span class="nt">&gt;</span>
-<span class="w">          </span><span class="nt">&lt;String</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;SspPath&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;ConnectionTest.ssp&quot;</span><span class="nt">/&gt;</span>
-<span class="w">      </span><span class="nt">&lt;/Profile&gt;</span>
-<span class="nt">&lt;/ProfileGroup&gt;</span>
-</pre></div>
-</div>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>To add the ssp component to a system profile do the following:
-See also <a class="reference internal" href="../../configs/profilescatalog.html#profilescatalog-systemprofiles"><span class="std std-ref">SystemProfiles</span></a>.</p>
-</div>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="w">      </span><span class="nt">&lt;SystemProfile</span><span class="w"> </span><span class="na">Name=</span><span class="s">&quot;EgoVehicle&quot;</span><span class="w"> </span><span class="na">Probability=</span><span class="s">&quot;1.0&quot;</span><span class="nt">/&gt;</span>
-<span class="w">    </span><span class="nt">&lt;/SystemProfiles&gt;</span>
-</pre></div>
-</div>
-</section>
-<section id="vehicledynamics">
-<h2>VehicleDynamics<a class="headerlink" href="#vehicledynamics" title="Link to this heading"></a></h2>
-<p>Components of this group can be used to model the vehicle dynamics. The vehicle dynamics model has a modular design. If necessary, the individual components can be replaced by the user with their own models. The vehicle dynamics model consists of six components listed below:</p>
-<table class="tight-table docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Component</p></th>
-<th class="head"><p>Short Description</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p><a class="reference internal" href="#components-steeringsystem"><span class="std std-ref">ActionSteeringSystem</span></a></p></td>
-<td><p>The steering model transfers the driver’s input into the vehicle’s wheel angle</p></td>
-</tr>
-<tr class="row-odd"><td><p><a class="reference internal" href="#components-powertrain"><span class="std std-ref">ActionPowertrain</span></a></p></td>
-<td><p>The powertrain model converts the accelerator pedal position into wheel drive torques, under consideration of the selected gear</p></td>
-</tr>
-<tr class="row-even"><td><p><a class="reference internal" href="#components-brakesystem"><span class="std std-ref">ActionBrakeSystem</span></a></p></td>
-<td><p>The brake model converts the brake pedal position into wheel brake torques</p></td>
-</tr>
-<tr class="row-odd"><td><p><a class="reference internal" href="#components-tiremodel"><span class="std std-ref">DynamicsTireModel</span></a></p></td>
-<td><p>The tire model converts the predetermined drive and braking torques of the tires into tire longitudinal and lateral forces, under consideration of the wheel angles</p></td>
-</tr>
-<tr class="row-even"><td><p><a class="reference internal" href="#components-motionmodel"><span class="std std-ref">DynamicsMotionModel</span></a></p></td>
-<td><p>The motion model calculates the translational and rotational vehicle movement with the calculated tire forces</p></td>
-</tr>
-<tr class="row-odd"><td><p><a class="reference internal" href="#components-chassismodel"><span class="std std-ref">DynamicsChassis</span></a></p></td>
-<td><p>The chassis model determines the dynamic wheel loads via the vehicle’s longitudinal and lateral acceleration</p></td>
-</tr>
-</tbody>
-</table>
-<p>The following figure gives an overview of the driving dynamics components and their signals:</p>
-<img alt="|op| Vehicle dynamics overview" src="../../../_images/VehicleDynamicsOverview.svg" /><section id="actionsteeringsystem">
-<span id="components-steeringsystem"></span><h3>ActionSteeringSystem<a class="headerlink" href="#actionsteeringsystem" title="Link to this heading"></a></h3>
-<p>The steering model obtains the “SteeringRatio” property from the <a class="reference internal" href="../../configs/scenario.html#scenario-vehiclemodels"><span class="std std-ref">VehicleCatalog</span></a> and uses it to calculate the steering angle of the front wheels.
-Both wheels are turned at the same angle. The following parameter can be used to set a static toe and the steering elasticity:</p>
-<table class="tight-table docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Attribute</p></th>
-<th class="head"><p>Type</p></th>
-<th class="head"><p>Unit</p></th>
-<th class="head"><p>Description</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>StaticToe</p></td>
-<td><p>VectorDouble</p></td>
-<td><p>rad</p></td>
-<td><p>Static toe of the wheels (A positive value corresponds to a toe-in; one static toe per axis)</p></td>
-</tr>
-<tr class="row-odd"><td><p>Elasticity</p></td>
-<td><p>VectorDouble</p></td>
-<td><p>rad/Nm</p></td>
-<td><p>Steering Elasticity (one elasticity per axis)</p></td>
-</tr>
-<tr class="row-even"><td><p>Caster</p></td>
-<td><p>VectorDouble</p></td>
-<td><p>m</p></td>
-<td><p>Overall Caster of steering system</p></td>
-</tr>
-</tbody>
-</table>
-</section>
-<section id="actionpowertrain">
-<span id="components-powertrain"></span><h3>ActionPowertrain<a class="headerlink" href="#actionpowertrain" title="Link to this heading"></a></h3>
-<p>The powertrain model contains an engine model and a gear model. The type of the powertrain can be set using the following parameters:</p>
-<table class="tight-table docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Attribute</p></th>
-<th class="head"><p>Type</p></th>
-<th class="head"><p>Unit</p></th>
-<th class="head"><p>Description</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>TypeDrivetrain</p></td>
-<td><p>String</p></td>
-<td></td>
-<td><p>Type of drivetrain; A selection can be made between front-wheel drive (FWD), rear-wheel drive (RWD) and all-wheel drive (AWD)</p></td>
-</tr>
-<tr class="row-odd"><td><p>FrontRatioAWD</p></td>
-<td><p>Double</p></td>
-<td></td>
-<td><p>Distribution of the drive torque to the front axle in the case of all-wheel drive (AWD); Range 0-1</p></td>
-</tr>
-</tbody>
-</table>
-<p>The wheel speed is converted into an engine speed [Hz] according to the axle ratio and the transmission ratio of the selected gear.
-The axle ratio and gear ratios are obtained from the <a class="reference internal" href="../../configs/scenario.html#scenario-vehiclemodels"><span class="std std-ref">VehicleCatalog</span></a> (“AxleRatio” &amp; “GearRatio”). The average value of the powered wheels is used for the determination of the engine speed.</p>
-<div class="math">
-<p><img src="../../../_images/math/340d7e571b3feafaa7e510b6c7d1328b1f4c64ad.png" alt="\omega_{engine} = \omega_{wheels,avg} \cdot  i_{axle} \cdot i_{gear,selected}"/></p>
-</div><p>The maximum possible engine torque [Nm] is limited by the engine power [W] or the maximum engine torque [Nm].
-The engine power and the maximum engine torque are obtained from the <a class="reference internal" href="../../configs/scenario.html#scenario-vehiclemodels"><span class="std std-ref">VehicleCatalog</span></a> (“MaximumEnginePower” &amp; “MaximumEngineTorque”).</p>
-<div class="math">
-<p><img src="../../../_images/math/bb9c6cf90a7cce5208d424db5de2b83f0ef1fddb.png" alt="M_{engine,max,current} = \begin{cases}
- \frac{P_{engine,max}}{\omega_{engine}}     &amp; \text{ if } \frac{P_{engine,max}}{\omega_{engine}} &lt; M_{engine,max} \\
- M_{engine,max}  &amp; \text{ if } \frac{P_{engine,max}}{\omega_{engine}} &gt;= M_{engine,max}
-     \end{cases}"/></p>
-</div><p>When 98% of the maximum speed of the motor is reached (“MaximumEngineSpeed” in the <a class="reference internal" href="../../configs/scenario.html#scenario-vehiclemodels"><span class="std std-ref">VehicleCatalog</span></a>), the engine torque is linearly reduced to 0.</p>
-<p>The maximum engine torque is scaled via the accelerator pedal position (input). This value is calculated back to the total wheel drive torque via the gear ratio.</p>
-<div class="math">
-<p><img src="../../../_images/math/1f81befb8ab4e6d3af9e6e11361477a156ea9836.png" alt="M_{wheels,current} = M_{engine,max,current} \cdot  position_{accelerator pedal} \cdot  i_{axle} \cdot  i_{gear,selected}"/></p>
-</div><p>The wheel total drive torque is evenly distributed to the wheels of an axle according to the definition of the drive type.
-With all-wheel drive, the entire wheel drive torque is distributed statically over the defined ratio.</p>
-</section>
-<section id="actionbrakesystem">
-<span id="components-brakesystem"></span><h3>ActionBrakeSystem<a class="headerlink" href="#actionbrakesystem" title="Link to this heading"></a></h3>
-<p>The brake model is a linearized model. The brake pedal position is used as input. As output, the model returns the braking torques of the wheels as a vector.
-The model considers a response time [ms] and linear factors [m/s³] for the increase and decrease of the braking force.The distribution of braking force between the front and rear axles can be defined statically.</p>
-<table class="tight-table docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Attribute</p></th>
-<th class="head"><p>Type</p></th>
-<th class="head"><p>Unit</p></th>
-<th class="head"><p>Description</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>FrontAxlePercentage</p></td>
-<td><p>Double</p></td>
-<td></td>
-<td><p>Distribution of the brake torque to the front axle in the case of all-wheel drive (AWD); Range 0-1</p></td>
-</tr>
-<tr class="row-odd"><td><p>BrakeDecelerationInclineRate</p></td>
-<td><p>Double</p></td>
-<td><p>m/s³</p></td>
-<td><p>Linear Rate of braking force increase</p></td>
-</tr>
-<tr class="row-even"><td><p>BrakeDecelerationDeclineRate</p></td>
-<td><p>Double</p></td>
-<td><p>m/s³</p></td>
-<td><p>Linear Rate of braking force decrease</p></td>
-</tr>
-<tr class="row-odd"><td><p>BrakeResponseTimeMs</p></td>
-<td><p>Double</p></td>
-<td><p>ms</p></td>
-<td><p>Brake response time</p></td>
-</tr>
-</tbody>
-</table>
-<p>The maximum braking force of the system is determined from the maximum possible deceleration and the mass of the vehicle and is scaled by the brake pedal position (Input).
-The maximum possible deceleration and the vehicle mass are obtained from the <a class="reference internal" href="../../configs/scenario.html#scenario-vehiclemodels"><span class="std std-ref">VehicleCatalog</span></a> (“maxDeceleration” &amp; “mass”).</p>
-<div class="math">
-<p><img src="../../../_images/math/bc08e6aac48aefa03313665a4a532f6a9c5ecd63.png" alt="F_{brake,max} = a_{deceleration,max} \cdot m_{vehicle} \cdot  position_{brake pedal}"/></p>
-</div><p>When the brake is applied, a deceleration is calculated after the response time has elapsed. Then the braking force is built up linearly until the maximum or requested braking force has been reached.</p>
-<div class="math">
-<p><img src="../../../_images/math/f1aece6474c2a5f6a6db0e37b59055fb90810d92.png" alt="F_{brake,current} = rate_{incline} \cdot (t_{brake} -  t_{response})"/></p>
-</div><p>When the brake is released, the braking force is dissipated with the decline rate until it has dropped to zero. After that, the response time builds up again.
-The braking force is divided among the axles according to the parameter “FrontAxlePercentage”. Another input allows you to request a prefill that reduces the response time without braking</p>
-</section>
-<section id="dynamicschassis">
-<span id="components-chassismodel"></span><h3>DynamicsChassis<a class="headerlink" href="#dynamicschassis" title="Link to this heading"></a></h3>
-<p>The chassis model determines the vertical forces of the four wheels from the longitudinal and lateral acceleration of the vehicle. Constant spring and damper rates are taken into account, which can be defined by the following parameters per axis:</p>
-<table class="tight-table docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Attribute</p></th>
-<th class="head"><p>Type</p></th>
-<th class="head"><p>Unit</p></th>
-<th class="head"><p>Description</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>SpringCoefficient</p></td>
-<td><p>VectorDouble</p></td>
-<td><p>N/m</p></td>
-<td><p>Constant spring coefficient for each axis</p></td>
-</tr>
-<tr class="row-odd"><td><p>DamperCoefficient</p></td>
-<td><p>VectorDouble</p></td>
-<td><p>Ns/m</p></td>
-<td><p>Constant damper coefficient for each axis</p></td>
-</tr>
-</tbody>
-</table>
-</section>
-<section id="dynamicstiremodel">
-<span id="components-tiremodel"></span><h3>DynamicsTireModel<a class="headerlink" href="#dynamicstiremodel" title="Link to this heading"></a></h3>
-<p>The tire model is freely configurable and includes a degressive behaviour. The tire forces are modeled according to Rill using the TMEasy model. The following parameters can be set for the tire model per axis :</p>
-<table class="tight-table docutils align-default">
-<thead>
-<tr class="row-odd"><th class="head"><p>Attribute</p></th>
-<th class="head"><p>Type</p></th>
-<th class="head"><p>Unit</p></th>
-<th class="head"><p>Description</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>MuTireMaxXFRef</p></td>
-<td><p>VectorDouble</p></td>
-<td></td>
-<td><p>Normalized scaling factor for maximum longitudinal force at reference vertical force</p></td>
-</tr>
-<tr class="row-odd"><td><p>MuTireMaxX2FRef</p></td>
-<td><p>VectorDouble</p></td>
-<td></td>
-<td><p>Normalized scaling factor for maximum longitudinal force at double reference vertical force</p></td>
-</tr>
-<tr class="row-even"><td><p>MuTireSlideXFRef</p></td>
-<td><p>VectorDouble</p></td>
-<td></td>
-<td><p>Normalized scaling factor for sliding longitudinal force at reference vertical force</p></td>
-</tr>
-<tr class="row-odd"><td><p>MuTireSlideX2FRef</p></td>
-<td><p>VectorDouble</p></td>
-<td></td>
-<td><p>Normalized scaling factor for sliding longitudinal force at double reference vertical force</p></td>
-</tr>
-<tr class="row-even"><td><p>SlipTireMaxXFRef</p></td>
-<td><p>VectorDouble</p></td>
-<td></td>
-<td><p>Longitudinal slip at maximum longitudinal force at reference vertical force</p></td>
-</tr>
-<tr class="row-odd"><td><p>SlipTireMaxX2FRef</p></td>
-<td><p>VectorDouble</p></td>
-<td></td>
-<td><p>Longitudinal slip at maximum longitudinal force at double reference vertical force</p></td>
-</tr>
-<tr class="row-even"><td><p>SlipTireSlideXFRef</p></td>
-<td><p>VectorDouble</p></td>
-<td></td>
-<td><p>Longitudinal slip at sliding longitudinal force at reference vertical force</p></td>
-</tr>
-<tr class="row-odd"><td><p>SlipTireSlideX2FRef</p></td>
-<td><p>VectorDouble</p></td>
-<td></td>
-<td><p>Longitudinal slip at sliding longitudinal force at double reference vertical force</p></td>
-</tr>
-<tr class="row-even"><td><p>F0pXFRef</p></td>
-<td><p>VectorDouble</p></td>
-<td><p>N</p></td>
-<td><p>Initial slope of longitudinal force at reference force</p></td>
-</tr>
-<tr class="row-odd"><td><p>F0pX2FRef</p></td>
-<td><p>VectorDouble</p></td>
-<td><p>N</p></td>
-<td><p>Initial slope of longitudinal force at  double reference force</p></td>
-</tr>
-<tr class="row-even"><td><p>MuTireMaxYFRef</p></td>
-<td><p>VectorDouble</p></td>
-<td></td>
-<td><p>Normalized scaling factor for maximum lateral force at reference vertical force</p></td>
-</tr>
-<tr class="row-odd"><td><p>MuTireMaxY2FRef</p></td>
-<td><p>VectorDouble</p></td>
-<td></td>
-<td><p>Normalized scaling factor for maximum lateral force at double reference vertical force</p></td>
-</tr>
-<tr class="row-even"><td><p>MuTireSlideYFRef</p></td>
-<td><p>VectorDouble</p></td>
-<td></td>
-<td><p>Normalized scaling factor for sliding lateral force at reference vertical force</p></td>
-</tr>
-<tr class="row-odd"><td><p>MuTireSlideY2FRef</p></td>
-<td><p>VectorDouble</p></td>
-<td></td>
-<td><p>Normalized scaling factor for sliding lateral force at double reference vertical force</p></td>
-</tr>
-<tr class="row-even"><td><p>SlipTireMaxYFRef</p></td>
-<td><p>VectorDouble</p></td>
-<td></td>
-<td><p>Lateral slip at maximum lateral force at reference vertical force</p></td>
-</tr>
-<tr class="row-odd"><td><p>SlipTireMaxY2FRef</p></td>
-<td><p>VectorDouble</p></td>
-<td></td>
-<td><p>Lateral slip at maximum lateral force at double reference vertical force</p></td>
-</tr>
-<tr class="row-even"><td><p>SlipTireSlideYFRef</p></td>
-<td><p>VectorDouble</p></td>
-<td></td>
-<td><p>Lateral slip at sliding lateral force at reference vertical force</p></td>
-</tr>
-<tr class="row-odd"><td><p>SlipTireSlideY2FRef</p></td>
-<td><p>VectorDouble</p></td>
-<td></td>
-<td><p>Lateral slip at sliding lateral force at double reference vertical force</p></td>
-</tr>
-<tr class="row-even"><td><p>F0pYFRef</p></td>
-<td><p>VectorDouble</p></td>
-<td><p>N</p></td>
-<td><p>Initial slope of lateral force at reference force</p></td>
-</tr>
-<tr class="row-odd"><td><p>F0pY2FRef</p></td>
-<td><p>VectorDouble</p></td>
-<td><p>N</p></td>
-<td><p>Initial slope of lateral force at  double reference force</p></td>
-</tr>
-<tr class="row-even"><td><p>FRef</p></td>
-<td><p>VectorDouble</p></td>
-<td><p>N</p></td>
-<td><p>Vertical reference force for the tire parameters</p></td>
-</tr>
-<tr class="row-odd"><td><p>FRefNormalized</p></td>
-<td><p>VectorBool</p></td>
-<td></td>
-<td><p>Should the reference force be scaled with the static vertical tire force?</p></td>
-</tr>
-<tr class="row-even"><td><p>Inertia</p></td>
-<td><p>VectorDouble</p></td>
-<td><p>kgm²</p></td>
-<td><p>Inertia of tire</p></td>
-</tr>
-<tr class="row-odd"><td><p>PneumaticTrail</p></td>
-<td><p>VectorDouble</p></td>
-<td><p>m</p></td>
-<td><p>Pneumatic trail of tire</p></td>
-</tr>
-</tbody>
-</table>
-<p>The normalized factors refer to the reference vertical force or to the double reference vertical force
-The input variables used by the model are tire drive and braking torques as well as the wheel angles and vertical wheel forces. All data is provided as vectors.
-The model determines tire forces in the longitudinal and lateral directions as well as the wheel self aligning torques. The wheel self aligning torque is formed from the product of the tire side force and the pneumatic trail.
-A linear interpolation is performed between the values for the reference force and the double reference force. If no degressive tire behavior is desired, the parameters for the double reference force must be set identically to the values for the reference force.</p>
-<p>All forces are scaled with the coefficient of friction from the <a class="reference internal" href="../../configs/scenario.html#scenario-vehiclemodels"><span class="std std-ref">VehicleCatalog</span></a> (“FrictionCoefficient”).</p>
-<p>All further information about the model can be found in the following sources:</p>
-<p><a class="reference external" href="https://www.tmeasy.de/">https://www.tmeasy.de/</a></p>
-<p>Rill, Georg. (2013). TMeasy – A Handling Tire Model based on a three-dimensional slip approach.</p>
-</section>
-<section id="dynamicsmotionmodel">
-<span id="components-motionmodel"></span><h3>DynamicsMotionModel<a class="headerlink" href="#dynamicsmotionmodel" title="Link to this heading"></a></h3>
-<p>The motion model converts the tire forces (input) into a translational and rotational movement of the vehicle. The air resistance of the vehicle is taken into account. For the dynamic calculation, the center of gravity position is taken from the <a class="reference internal" href="../../configs/scenario.html#scenario-vehiclemodels"><span class="std std-ref">VehicleCatalog</span></a> (“XPositionCOG”,”YPositionCOG”),
-which indicates the distance of the center of gravity to the center of the rear axle. If this data is not given, the center of gravity is positioned on half wheelbase. For air resistance, the properties “AirDragCoefficient” &amp; “FrontSurface” from the <a class="reference internal" href="../../configs/scenario.html#scenario-vehiclemodels"><span class="std std-ref">VehicleCatalog</span></a> are used.</p>
-<p>For the equations of motion, see relevant vehicle dynamics books such as:</p>
-<p>Kücükay, Ferit (2022), “Grundlagen der Fahrzeugtechnik”, page 1067 ff</p>
-</section>
-</section>
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+  <section id="vehiclecomponents">
+<span id="components-vehiclecomponents"></span><h1>VehicleComponents<a class="headerlink" href="#vehiclecomponents" title="Link to this heading"></a></h1>
+<section id="aeb">
+<span id="components-aeb"></span><h2>AEB<a class="headerlink" href="#aeb" title="Link to this heading"></a></h2>
+<p>The Autonomous Emergency Braking system checks if a collision is likely to occur in the near future and, if necessary, brakes to avoid the collision.
+In each timestep, the system evaluates all objects detected by a Sensor and calculates the time to collision (TTC) for this object based on the perceived movement of the object.
+If, for any object, the TTC is lower than the threshold of the component, then the component gets activated. The system deactivates if the TTC is larger than 1,5 times the threshold of the component.</p>
+<table class="tight-table docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Attribute</p></th>
+<th class="head"><p>Type</p></th>
+<th class="head"><p>Unit</p></th>
+<th class="head"><p>Description</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>CollisionDetectionLongitudinalBoundary</p></td>
+<td><p>Double</p></td>
+<td><p>m</p></td>
+<td><p>Additional length added the vehicle boundary when checking for collision detection</p></td>
+</tr>
+<tr class="row-odd"><td><p>CollisionDetectionLateralBoundary</p></td>
+<td><p>Double</p></td>
+<td><p>m</p></td>
+<td><p>Additional width added the vehicle boundary when checking for collision detection</p></td>
+</tr>
+<tr class="row-even"><td><p>TTC</p></td>
+<td><p>Double</p></td>
+<td><p>s</p></td>
+<td><p>Time to collision which is used to trigger AEB</p></td>
+</tr>
+<tr class="row-odd"><td><p>Acceleration</p></td>
+<td><p>Double</p></td>
+<td><p>m/s²</p></td>
+<td><p>Braking acceleration when activated</p></td>
+</tr>
+</tbody>
+</table>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;ProfileGroup</span><span class="w"> </span><span class="na">Type=</span><span class="s">&quot;AEB&quot;</span><span class="nt">&gt;</span>
+<span class="w">    </span><span class="nt">&lt;Profile</span><span class="w"> </span><span class="na">Type=</span><span class="s">&quot;AEB&quot;</span><span class="w"> </span><span class="na">Name=</span><span class="s">&quot;AEB1&quot;</span><span class="nt">&gt;</span>
+<span class="w">        </span><span class="nt">&lt;Double</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;CollisionDetectionLongitudinalBoundary&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;4.0&quot;</span><span class="nt">/&gt;</span>
+<span class="w">        </span><span class="nt">&lt;Double</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;CollisionDetectionLateralBoundary&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;1.5&quot;</span><span class="nt">/&gt;</span>
+<span class="w">        </span><span class="nt">&lt;Double</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;TTC&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;2.0&quot;</span><span class="nt">/&gt;</span>
+<span class="w">        </span><span class="nt">&lt;Double</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;Acceleration&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;-2&quot;</span><span class="nt">/&gt;</span>
+<span class="w">    </span><span class="nt">&lt;/Profile&gt;</span>
+<span class="w">    </span>...
+<span class="nt">&lt;/ProfileGroup&gt;</span>
+</pre></div>
+</div>
+</section>
+<section id="dynamicstrajectoryfollower">
+<span id="components-trajectoryfollower"></span><h2>DynamicsTrajectoryFollower<a class="headerlink" href="#dynamicstrajectoryfollower" title="Link to this heading"></a></h2>
+<p>This module forces agents to drive according to a specific trajectory. The trajectory is defined in the scenario. This module is disabled by default and is activated if a trajectory from <a class="reference external" href="https://www.asam.net/standards/detail/openscenario/">OpenSCENARIO</a> is triggered.
+It is always important that the trajectories matches the current scenery file, otherwise the Agent could be placed outside of valid lanes. If the agent gets placed on a invalid position, it will be deleted.</p>
+<p>All attributes are required.</p>
+<table class="tight-table docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Attribute</p></th>
+<th class="head"><p>Type</p></th>
+<th class="head"><p>Description</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>AutomaticDeactivation</p></td>
+<td><p>Bool</p></td>
+<td><p>If true, the trajectory follower relinquishes control of the vehicle after the final instruction in the TrajectoryFile.
+If false, it stops at the last point of the trajectory.</p></td>
+</tr>
+<tr class="row-odd"><td><p>EnforceTrajectory</p></td>
+<td><p>Bool</p></td>
+<td><p>If true, the trajectory follower overrides external input related to the vehicle’s travel.</p></td>
+</tr>
+</tbody>
+</table>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;ProfileGroup</span><span class="w"> </span><span class="na">Type=</span><span class="s">&quot;DynamicsTrajectoryFollower&quot;</span><span class="nt">&gt;</span>
+<span class="w">    </span><span class="nt">&lt;Profile</span><span class="w"> </span><span class="na">Name=</span><span class="s">&quot;BasicTrajectoryFollower&quot;</span><span class="nt">&gt;</span>
+<span class="w">        </span><span class="nt">&lt;Bool</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;AutomaticDeactivation&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;true&quot;</span><span class="nt">/&gt;</span>
+<span class="w">        </span><span class="nt">&lt;Bool</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;EnforceTrajectory&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;true&quot;</span><span class="nt">/&gt;</span>
+<span class="w">    </span><span class="nt">&lt;/Profile&gt;</span>
+<span class="nt">&lt;/ProfileGroup&gt;</span>
+</pre></div>
+</div>
+</section>
+<section id="fmu-wrapper">
+<span id="components-fmuwrapper"></span><h2>FMU Wrapper<a class="headerlink" href="#fmu-wrapper" title="Link to this heading"></a></h2>
+<p>The FMU Wrapper provides a connection to arbitrary FMUs (Functional Mock-up Unit).
+An FMU has to be compatible with the FMI 1.0 or the FMI 2.0 specification (Functional Mock-up Interface) and has to be ABI (Application Binary Interface) compatible with the opSimulation binary.</p>
+<p>Additional reading about FMI is provided by the FMI standard website at <a class="reference external" href="https://fmi-standard.org/">https://fmi-standard.org/</a>.
+For interfacing the FMUs in openPASS, the Modelon FMI Library is used, which is recommended on the FMI standard website. See <a class="reference external" href="https://jmodelica.org/">https://jmodelica.org/</a>.</p>
+<p><strong>FMU package format</strong></p>
+<p>FMI defines a packaging format for FMUs.
+The used container format is ZIP.
+It basically contains - among other parts -  the compiled FMU code (as <code class="docutils literal notranslate"><span class="pre">*.dll</span></code> or <code class="docutils literal notranslate"><span class="pre">*.so</span></code>, depending on the platform) and the <code class="docutils literal notranslate"><span class="pre">modelDescription.xml</span></code>.
+Latter provides meta-data about the FMU, i. e.
+- Author information
+- Model name, identifier and description
+- Generation timestamp
+- Name and datatype of model variables (inputs and outputs)</p>
+<p><strong>Architectural overview</strong></p>
+<p>The wrapper is instantiated as a component of an agent.
+It reads the input variables for the FMU from the simulation and provides it the FMU and reads the output of the FMU and forwards it via signals to other agent components.</p>
+<img alt="|op| FMU wrapper architectural overview" src="../../../_images/FmuWrapperOverview.svg" /><p><strong>Framework channels</strong></p>
+<p>The wrapper can use input and output signals via <em>Channels</em> as every other agent component does.
+Framework channels (signals) can provide data and can also be written to by the wrapper.
+In addition, the wrapper is able to access the c AgentInterface and c WorldInterface methods.</p>
+<p><strong>FMI variables</strong></p>
+<p>Communication with the FMU happens via FMI variables (inputs and outputs).
+The wrapper will read in available variables from <code class="docutils literal notranslate"><span class="pre">modelDescription.xml</span></code> in the FMU package.
+These variables need to be mapped to variables and signals of openPASS in the VehicleComponentProfile.</p>
+<p>FMI 1.0 supports these standard datatypes:
+- bool
+- integer
+- real
+- string</p>
+<p>By using OSMP, three integer values can be used to support full osi messages</p>
+<p><strong>Configuration</strong></p>
+<p>Configuration of a particular FMU takes place in <code class="docutils literal notranslate"><span class="pre">ProfilesCatalog.xml</span></code>.
+An example of a static system configuration can be found here “sim/contrib/examples/Configurations/StaticOSMPSensorDataToTrafficUpdateStepper”.</p>
+<p>The following parameters are always required for the FmuWrapper. Depending on the FmuHandler additional parameters may be needed.</p>
+<table class="tight-table docutils align-default" id="fmuwrapper-basic-configuration">
+<thead>
+<tr class="row-odd"><th class="head"><p>Key</p></th>
+<th class="head"><p>Type</p></th>
+<th class="head"><p>Default</p></th>
+<th class="head"><p>Description</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>FmuPath</p></td>
+<td><p>string</p></td>
+<td><p>-</p></td>
+<td><p>Path to FMU file, either absolute or relative to the simulator’s configuration directory.</p></td>
+</tr>
+<tr class="row-odd"><td><p>Logging</p></td>
+<td><p>bool</p></td>
+<td><p>true</p></td>
+<td><p>If set to true, FMU initialization and execution task are logged to a text file.</p></td>
+</tr>
+<tr class="row-even"><td><p>CsvOutput</p></td>
+<td><p>bool</p></td>
+<td><p>true</p></td>
+<td><p>If set to true, FMI outputs are logged to a CSV file.</p></td>
+</tr>
+</tbody>
+</table>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;ProfileGroup</span><span class="w"> </span><span class="na">Type=</span><span class="s">&quot;FMU1&quot;</span><span class="nt">&gt;</span>
+<span class="w">  </span><span class="nt">&lt;Profile</span><span class="w"> </span><span class="na">Name=</span><span class="s">&quot;FMU&quot;</span><span class="nt">&gt;</span>
+<span class="w">    </span><span class="nt">&lt;String</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;FmuPath&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;OSMPSDToTUS.fmu&quot;</span><span class="nt">/&gt;</span>
+<span class="w">    </span><span class="nt">&lt;Bool</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;Logging&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;true&quot;</span><span class="nt">/&gt;</span>
+<span class="w">    </span><span class="nt">&lt;Bool</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;CsvOutput&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;false&quot;</span><span class="nt">/&gt;</span>
+<span class="w">    </span><span class="nt">&lt;String</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;Input_OSMPSensorDataIn&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;SensorData&quot;</span><span class="nt">/&gt;</span>
+<span class="w">    </span><span class="nt">&lt;String</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;Input_OSMPSensorViewInConfig&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;SensorViewConfig&quot;</span><span class="nt">/&gt;</span>
+<span class="w">    </span><span class="nt">&lt;String</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;Output_OSMPTrafficUpdateOut&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;TrafficUpdate&quot;</span><span class="nt">/&gt;</span>
+<span class="w">    </span><span class="nt">&lt;String</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;Output_OSMPSensorViewInConfigRequest&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;SensorViewConfigRequest&quot;</span><span class="nt">/&gt;</span>
+<span class="w"> </span><span class="nt">&lt;Bool</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;WriteJson_SensorData&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;false&quot;</span><span class="nt">/&gt;</span>
+<span class="w"> </span><span class="nt">&lt;Bool</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;WriteJson_TrafficUpdate&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;false&quot;</span><span class="nt">/&gt;</span>
+<span class="w">  </span><span class="nt">&lt;/Profile&gt;</span>
+<span class="nt">&lt;/ProfileGroup&gt;</span>
+</pre></div>
+</div>
+<p>Upon instantiation of the FMU wrapper, it will extract the FMU ZIP file to a temporary directory.
+Then the <code class="docutils literal notranslate"><span class="pre">modelDescription.xml</span></code> is parsed and the FMU is checked for compatibility.</p>
+<p>If the parameter <code class="docutils literal notranslate"><span class="pre">CsvOutput</span></code> is set to <cite>true</cite>, a subfolder “FmuWrapper/Agent&lt;ID&gt;” will be created in the simulator’s “results” directory.
+“&lt;ID&gt;” is replaced with the agent id.
+FMI output data will be logged to a file inside this directory.
+The filename consists of the FMU’s name and extension “csv”.
+This output can then be used for visualization in a spreadsheet application or it may be processed in any other way.</p>
+<p>Same goes for parameter <code class="docutils literal notranslate"><span class="pre">Logging</span></code> (having “log” as output file extension).</p>
+<p><strong>Primitive Datatypes</strong></p>
+<p>The FMU Wrapper allows to link Simulink models or any other FMU to <strong>openPASS</strong>.
+It lets the user link any input variables of the FMU to values of the Agent in the simulation and any output values of the FMU to signals, that are forwarded to other <strong>openPASS</strong> components.
+These mappings are defined with the following optional parameters.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>Be careful with the size of integer data types when used in Matlab/Simulink. The FMU integer data type shall always be 32 bit or bigger, e.g. for IDs.</p>
+</div>
+<table class="tight-table docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Key</p></th>
+<th class="head"><p>Type</p></th>
+<th class="head"><p>Description</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>Parameter_<em>varName</em></p></td>
+<td><p>any</p></td>
+<td><p>Mapping of a fixed value (bool, integer, double, string) to an FMU input:</p>
+<ul class="simple">
+<li><p><code class="docutils literal notranslate"><span class="pre">varName</span></code> references an FMI input variable.</p></li>
+<li><p>The type of the parameter has to match the FMI variable type.</p></li>
+</ul>
+</td>
+</tr>
+<tr class="row-odd"><td><p>Parameter_AssignSpecial_<em>varName</em></p></td>
+<td><p>any</p></td>
+<td><p>Mapping of a specific value of the simulation to an FMU input, assigned only once at FMU initialization:</p>
+<ul class="simple">
+<li><p><code class="docutils literal notranslate"><span class="pre">varName</span></code> references an FMI input variable.</p></li>
+<li><p>The parameter is always of type string.</p></li>
+<li><p>The value of this parameter has to be one of the types specified in the <a class="reference internal" href="#special-simulation-values">Special simulation values</a> table below,
+which will also determine the required type of the FMI variable.</p></li>
+</ul>
+</td>
+</tr>
+<tr class="row-even"><td><p>Input_<em>varName</em></p></td>
+<td><p>string</p></td>
+<td><p>Mapping of a specific value of the simulation to an FMU input:</p>
+<ul class="simple">
+<li><p><code class="docutils literal notranslate"><span class="pre">varName</span></code> references an FMI input variable.</p></li>
+<li><p>The value of this parameter has to be one of the types specified in the <a class="reference internal" href="#input-simulation-values">Input simulation values</a> table below.</p></li>
+</ul>
+</td>
+</tr>
+<tr class="row-odd"><td><p>Output_<em>varName</em></p></td>
+<td><p>string</p></td>
+<td><p>Mapping of a FMU output to a specific field in a specific signal:</p>
+<ul class="simple">
+<li><p><code class="docutils literal notranslate"><span class="pre">varName</span></code> references an FMI output variable.</p></li>
+<li><p>The value of this parameter has to be one of the types specified in the <a class="reference internal" href="#output-simulation-signals">Output simulation signals</a> table below.</p></li>
+</ul>
+</td>
+</tr>
+</tbody>
+</table>
+<p>The allowed special simulation values are as follows:</p>
+<table class="tight-table docutils align-default" id="special-simulation-values">
+<thead>
+<tr class="row-odd"><th class="head"><p>Type</p></th>
+<th class="head"><p>FMU Variable Type</p></th>
+<th class="head"><p>Calculation</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>RandomSeed</p></td>
+<td><p>Integer</p></td>
+<td><p>The random seed of the current simulation run.</p></td>
+</tr>
+<tr class="row-odd"><td><p>ConfigPath</p></td>
+<td><p>String</p></td>
+<td><p>Config directory supplied to opSimulation (or the corresponding default value)</p></td>
+</tr>
+<tr class="row-even"><td><p>OutputPath</p></td>
+<td><p>String</p></td>
+<td><p>An output path unique to this FmuWrapper instance.
+The path will always refer to a directory below the simulator’s current result folder.
+This directory is not necessarily created by the FmuWrapper, depending on the setting of
+<cite>CsvOutput</cite> and <cite>Logging</cite> parameters (see <a class="reference internal" href="#fmuwrapper-basic-configuration">FmuWrapper basic configuration</a>).</p></td>
+</tr>
+<tr class="row-odd"><td><p>MaxSteering</p></td>
+<td><p>Real</p></td>
+<td><p>The <cite>max_steering</cite> property of an agent’s front axle as defined in OpenSCENARIO (catalog).</p></td>
+</tr>
+<tr class="row-even"><td><p>AxleRatio</p></td>
+<td><p>Real</p></td>
+<td><p>The axle ratio of the vehicle model.
+Has to be defined in the properties of the Entity in the OpenSCENARIO catalog with the name
+<code class="docutils literal notranslate"><span class="pre">AxleRatio</span></code> and the value has to be a valid floating point expression.</p></td>
+</tr>
+<tr class="row-odd"><td><p>SteeringRatio</p></td>
+<td><p>Real</p></td>
+<td><p>The steering ratio of the vehicle model.
+Has to be defined in the properties of the Entity in the OpenSCENARIO catalog with the name
+<code class="docutils literal notranslate"><span class="pre">SteeringRatio</span></code> and the value has to be a valid floating point expression.</p></td>
+</tr>
+<tr class="row-even"><td><p>NumberOfGears</p></td>
+<td><p>Integer</p></td>
+<td><p>The number of gears of the vehicle model.
+Has to be defined in the properties of the Entity in the OpenSCENARIO catalog with the name
+<code class="docutils literal notranslate"><span class="pre">NumberOfGears</span></code> and the value has to be a valid integer.</p></td>
+</tr>
+<tr class="row-odd"><td><p>GearRatio<em>N</em></p></td>
+<td><p>Real</p></td>
+<td><p>The ratio of the Nth gear.
+Has to be defined in the properties of the Entity in the OpenSCENARIO catalog with the name
+<code class="docutils literal notranslate"><span class="pre">GearRatioN</span></code> and the value has to be a valid floating point expression.
+<em>N</em> is allowed to be in the range 1-9.</p></td>
+</tr>
+</tbody>
+</table>
+<p>The allowed inputs (simulation values) are as follows:</p>
+<table class="tight-table docutils align-default" id="input-simulation-values">
+<thead>
+<tr class="row-odd"><th class="head"><p>Type</p></th>
+<th class="head"><p>FMU Variable Type</p></th>
+<th class="head"><p>Calculation</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>VelocityEgo</p></td>
+<td><p>Real</p></td>
+<td><p>Absolute velocity (length of the velocity vector) at reference point</p></td>
+</tr>
+<tr class="row-odd"><td><p>AccelerationEgo</p></td>
+<td><p>Real</p></td>
+<td><p>Longitudinal acceleration at reference point</p></td>
+</tr>
+<tr class="row-even"><td><p>CentripetalAccelerationEgo</p></td>
+<td><p>Real</p></td>
+<td><p>Centripetal acceleration at reference point</p></td>
+</tr>
+<tr class="row-odd"><td><p>SteeringWheelEgo</p></td>
+<td><p>Real</p></td>
+<td><p>Angle of the steering wheel (in radian)</p></td>
+</tr>
+<tr class="row-even"><td><p>AccelerationPedalPositionEgo</p></td>
+<td><p>Real</p></td>
+<td><p>Position of the acceleration pedal in the interval [0, 1]</p></td>
+</tr>
+<tr class="row-odd"><td><p>BrakePedalPositionEgo</p></td>
+<td><p>Real</p></td>
+<td><p>Position of the brake pedal in the interval [0, 1]</p></td>
+</tr>
+<tr class="row-even"><td><p>DistanceRefToFrontEdgeEgo</p></td>
+<td><p>Real</p></td>
+<td><p>Distance between the reference point and the front of the agent (static)</p></td>
+</tr>
+<tr class="row-odd"><td><p>PositionXEgo</p></td>
+<td><p>Real</p></td>
+<td><p>X position of the reference point</p></td>
+</tr>
+<tr class="row-even"><td><p>PositionYEgo</p></td>
+<td><p>Real</p></td>
+<td><p>Y position of the reference point</p></td>
+</tr>
+<tr class="row-odd"><td><p>YawEgo</p></td>
+<td><p>Real</p></td>
+<td><p>Yaw of the reference point</p></td>
+</tr>
+<tr class="row-even"><td><p>LaneEgo</p></td>
+<td><p>Integer</p></td>
+<td><p>Lane id of the front center on the route (0, if off route)</p></td>
+</tr>
+<tr class="row-odd"><td><p>PositionSEgo</p></td>
+<td><p>Real</p></td>
+<td><p>S position of the reference point on the route (0, if off route)</p></td>
+</tr>
+<tr class="row-even"><td><p>PositionTEgo</p></td>
+<td><p>Real</p></td>
+<td><p>T position of the reference point on the route (0, if off route)</p></td>
+</tr>
+<tr class="row-odd"><td><p>ExistenceFront</p></td>
+<td><p>Boolean</p></td>
+<td><p>true, if there is a object in front on the own lane (any range), false otherwise</p></td>
+</tr>
+<tr class="row-even"><td><p>PositionXFront</p></td>
+<td><p>Real</p></td>
+<td><p>X position of front object reference point (0, if no front object)</p></td>
+</tr>
+<tr class="row-odd"><td><p>PositionYFront</p></td>
+<td><p>Real</p></td>
+<td><p>Y position of front object reference point (0, if no front object)</p></td>
+</tr>
+<tr class="row-even"><td><p>YawFront</p></td>
+<td><p>Real</p></td>
+<td><p>Yaw of front object reference point (0, if no front object)</p></td>
+</tr>
+<tr class="row-odd"><td><p>PositionSFront</p></td>
+<td><p>Real</p></td>
+<td><p>S position of front object reference point on ego route (0, if no front object)</p></td>
+</tr>
+<tr class="row-even"><td><p>PositionTFront</p></td>
+<td><p>Real</p></td>
+<td><p>T position of front object reference point on ego route (0, if no front object)</p></td>
+</tr>
+<tr class="row-odd"><td><p>RelativeDistanceFront</p></td>
+<td><p>Real</p></td>
+<td><p>Net distance to front object along route (0, if no front object)</p></td>
+</tr>
+<tr class="row-even"><td><p>WidthFront</p></td>
+<td><p>Real</p></td>
+<td><p>Width of front object (0, if no front object)</p></td>
+</tr>
+<tr class="row-odd"><td><p>LengthFront</p></td>
+<td><p>Real</p></td>
+<td><p>Length of front object (0, if no front object)</p></td>
+</tr>
+<tr class="row-even"><td><p>DistanceRefToFrontEdgeFront</p></td>
+<td><p>Real</p></td>
+<td><p>Distance between the reference point and the front of the front object (0, if no front object)</p></td>
+</tr>
+<tr class="row-odd"><td><p>VelocityFront</p></td>
+<td><p>Real</p></td>
+<td><p>Absolute velocity of front object at reference point (0, if no front object)</p></td>
+</tr>
+<tr class="row-even"><td><p>LaneFront</p></td>
+<td><p>Integer</p></td>
+<td><p>Lane id of the reference point of the front object on the ego route (0, if no front object)</p></td>
+</tr>
+<tr class="row-odd"><td><p>ExistenceFrontFront</p></td>
+<td><p>Boolean</p></td>
+<td><p>true, if there are at least two objects in front on the own lane (any range), false otherwise</p></td>
+</tr>
+<tr class="row-even"><td><p>PositionXFrontFront</p></td>
+<td><p>Real</p></td>
+<td><p>X position of second front object reference point (0, if no second front object)</p></td>
+</tr>
+<tr class="row-odd"><td><p>PositionYFrontFront</p></td>
+<td><p>Real</p></td>
+<td><p>Y position of second front object reference point (0, if no second front object)</p></td>
+</tr>
+<tr class="row-even"><td><p>RelativeDistanceFrontFront</p></td>
+<td><p>Real</p></td>
+<td><p>Net distance to second front object reference point (0, if no second front object)</p></td>
+</tr>
+<tr class="row-odd"><td><p>VelocityFrontFront</p></td>
+<td><p>Real</p></td>
+<td><p>Absolute velocity of second front object reference point (0, if no second front object)</p></td>
+</tr>
+<tr class="row-even"><td><p>LaneFrontFront</p></td>
+<td><p>Integer</p></td>
+<td><p>Lane id of the reference point of second front object reference point (0, if no second front object)</p></td>
+</tr>
+<tr class="row-odd"><td><p>LaneCountLeft</p></td>
+<td><p>Integer</p></td>
+<td><p>Number of lanes to the left of front center of type Driving, Exit, Entry, OnRamp or OffRamp</p></td>
+</tr>
+<tr class="row-even"><td><p>LaneCountRight</p></td>
+<td><p>Integer</p></td>
+<td><p>Number of lanes to the right of front center of type Driving, Exit, Entry, OnRamp or OffRamp</p></td>
+</tr>
+<tr class="row-odd"><td><p>SpeedLimit_<em>X</em></p></td>
+<td><p>Real</p></td>
+<td><p>Speed limit in effect in distance <em>X</em> meters from front center (999, if no speed limit)</p></td>
+</tr>
+<tr class="row-even"><td><p>RoadCurvature_<em>X</em></p></td>
+<td><p>Real</p></td>
+<td><p>Road curvature in distance <em>X</em> meters from front center</p></td>
+</tr>
+</tbody>
+</table>
+<ul class="simple">
+<li><p><strong>reference point</strong>: Center of the rear axle</p></li>
+<li><p><strong>front center</strong>: Center of the front of the bounding box of the object</p></li>
+</ul>
+<p>If the FmuWrapper is linked to at least one sensor with InputId “Camera”, the following additional inputs are available.
+The objects seen by this sensor(s) are sorted by distance from the agent and accessed by indices starting from 0.
+For each object the values listed in the following table are available where <em>X</em> is the index of the object (between 0 and 9).
+If there are less objects than <em>X</em>, a default value is set (-1 for the Id, 0 for the other values).
+Only the list of objects is taken from the sensor.
+The values are then calculated by the FmuWrapper (not from the SensorData).</p>
+<table class="tight-table docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Type</p></th>
+<th class="head"><p>FMU Variable Type</p></th>
+<th class="head"><p>Calculation</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>SensorFusionObjectId_<em>X</em></p></td>
+<td><p>Integer</p></td>
+<td><p>Id of the object</p></td>
+</tr>
+<tr class="row-odd"><td><p>SensorFusionNumberOfDetectingSensors_<em>X</em></p></td>
+<td><p>Integer</p></td>
+<td><p>Number of sensors detecting the object</p></td>
+</tr>
+<tr class="row-even"><td><p>SensorFusionRelativeS_<em>X</em></p></td>
+<td><p>Real</p></td>
+<td><p>Distance between reference points along route (NaN, if object not on route)</p></td>
+</tr>
+<tr class="row-odd"><td><p>SensorFusionRelativeNetS_<em>X</em></p></td>
+<td><p>Real</p></td>
+<td><p>Net distance along route (NaN, if object not on route)</p></td>
+</tr>
+<tr class="row-even"><td><p>SensorFusionRelativeT_<em>X</em></p></td>
+<td><p>Real</p></td>
+<td><p>Lateral obstruction for front center (NaN, if object not on route) (see <a class="reference internal" href="../../../advanced_topics/simulator/world_osi.html#world-getobstruction"><span class="std std-ref">GetObstruction</span></a>)</p></td>
+</tr>
+<tr class="row-odd"><td><p>SensorFusionRelativeX_<em>X</em></p></td>
+<td><p>Real</p></td>
+<td><p>Relative distance between reference points in x in world coordinates</p></td>
+</tr>
+<tr class="row-even"><td><p>SensorFusionRelativeY_<em>X</em></p></td>
+<td><p>Real</p></td>
+<td><p>Relative distance between reference points in y in world coordinates</p></td>
+</tr>
+<tr class="row-odd"><td><p>SensorFusionRelativeNetLeft_<em>X</em></p></td>
+<td><p>Real</p></td>
+<td><p>Lateral obstruction for leftmost point (NaN, if object not on route)</p></td>
+</tr>
+<tr class="row-even"><td><p>SensorFusionRelativeNetRight_<em>X</em></p></td>
+<td><p>Real</p></td>
+<td><p>Lateral obstruction for rightmost point (NaN, if object not on route)</p></td>
+</tr>
+<tr class="row-odd"><td><p>SensorFusionRelativeNetX_<em>X</em></p></td>
+<td><p>Real</p></td>
+<td><p>Net distance between bounding boxes in x in world coordinates</p></td>
+</tr>
+<tr class="row-even"><td><p>SensorFusionRelativeNetY_<em>X</em></p></td>
+<td><p>Real</p></td>
+<td><p>Net distance between bounding boxes in y in world coordinates</p></td>
+</tr>
+<tr class="row-odd"><td><p>SensorFusionLane_<em>X</em></p></td>
+<td><p>Integer</p></td>
+<td><p>Lane of front center</p></td>
+</tr>
+<tr class="row-even"><td><p>SensorFusionVelocity_<em>X</em></p></td>
+<td><p>Real</p></td>
+<td><p>Absolute velocity at reference point</p></td>
+</tr>
+<tr class="row-odd"><td><p>SensorFusionVelocityX_<em>X</em></p></td>
+<td><p>Real</p></td>
+<td><p>Velocity in x at reference point in world coordinates</p></td>
+</tr>
+<tr class="row-even"><td><p>SensorFusionVelocityY_<em>X</em></p></td>
+<td><p>Real</p></td>
+<td><p>Velocity in y at reference point in world coordinates</p></td>
+</tr>
+<tr class="row-odd"><td><p>SensorFusionYaw_<em>X</em></p></td>
+<td><p>Real</p></td>
+<td><p>Yaw in world coordinates</p></td>
+</tr>
+</tbody>
+</table>
+<p>The FMU wrapper can output one or more of these signals:
+AccelerationSignal, LongitudinalSignal, SteeringSignal and DynamicsSignal</p>
+<p>The name of the signal field has to be specified after the signal name.
+This means the output type is one of the following:</p>
+<table class="tight-table docutils align-default" id="output-simulation-signals">
+<thead>
+<tr class="row-odd"><th class="head"><p>Type</p></th>
+<th class="head"><p>FMU Variable Type</p></th>
+<th class="head"><p>Enum Values</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>ComponentState</p></td>
+<td><p>Enum</p></td>
+<td><p>Undefined, Disabled, Armed, Acting</p></td>
+</tr>
+<tr class="row-odd"><td><p>AccelerationSignal_Acceleration</p></td>
+<td><p>Real</p></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>LongitudinalSignal_AccPedalPos</p></td>
+<td><p>Real</p></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>LongitudinalSignal_BrakePedalPos</p></td>
+<td><p>Real</p></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>LongitudinalSignal_Gear</p></td>
+<td><p>Int</p></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>SteeringSignal_SteeringWheelAngle</p></td>
+<td><p>Real</p></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>DynamicsSignal_Acceleration</p></td>
+<td><p>Real</p></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>DynamicsSignal_Velocity</p></td>
+<td><p>Real</p></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>DynamicsSignal_PositionX</p></td>
+<td><p>Real</p></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>DynamicsSignal_PositionY</p></td>
+<td><p>Real</p></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>DynamicsSignal_Yaw</p></td>
+<td><p>Real</p></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>DynamicsSignal_YawRate</p></td>
+<td><p>Real</p></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>DynamicsSignal_YawAcceleration</p></td>
+<td><p>Real</p></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>DynamicsSignal_SteeringWheelAngle</p></td>
+<td><p>Real</p></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>DynamicsSignal_CentripetalAcceleration</p></td>
+<td><p>Real</p></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>DynamicsSignal_TravelDistance</p></td>
+<td><p>Real</p></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>CompCtrlSignal_MovementDomain</p></td>
+<td><p>Enum</p></td>
+<td><p>Undefined, Lateral, Longitudinal, Both</p></td>
+</tr>
+<tr class="row-odd"><td><p>CompCtrlSignal_WarningActivity</p></td>
+<td><p>Bool</p></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>CompCtrlSignal_WarningLevel</p></td>
+<td><p>Enum</p></td>
+<td><p>INFO, WARNING</p></td>
+</tr>
+<tr class="row-odd"><td><p>CompCtrlSignal_WarningType</p></td>
+<td><p>Enum</p></td>
+<td><p>OPTIC, ACOUSTIC, HAPTIC</p></td>
+</tr>
+<tr class="row-even"><td><p>CompCtrlSignal_WarningIntensity</p></td>
+<td><p>Enum</p></td>
+<td><p>LOW, MEDIUM, HIGH</p></td>
+</tr>
+<tr class="row-odd"><td><p>CompCtrlSignal_WarningDirection</p></td>
+<td><p>Enum</p></td>
+<td></td>
+</tr>
+</tbody>
+</table>
+<p>If one of these fields of a signal (except ComponentState) is mapped to an FMU variable, all fields of this signal have to be mapped.
+If the ComponentState is mapped to a FMU variable, it is used for all signals, otherwise it defaults to Acting.</p>
+<p><strong>OSI Data</strong></p>
+<p>OSMP (OsiSensorModelPackaging) is a package layer specification for the Open Simulation Interface (OSI).
+It allows to pass input to the FMU as OSI messages as well as receive output as OSI message.
+For more information on OSMP see <a class="reference external" href="https://github.com/OpenSimulationInterface/osi-sensor-model-packaging">https://github.com/OpenSimulationInterface/osi-sensor-model-packaging</a>.</p>
+<p>The FmuHandler has the following additional (optional) parameters:</p>
+<table class="tight-table docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Key</p></th>
+<th class="head"><p>Type</p></th>
+<th class="head"><p>Description</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>Init_<em>var_name</em></p></td>
+<td><p>string</p></td>
+<td><p><em>var_name</em> references an FMU variable (as defined in FMU’s modelDescription.xml) to which a specific OSI message is sent during initialization  Allowed values: <cite>GroundTruth</cite></p></td>
+</tr>
+<tr class="row-odd"><td><p>Input_<em>var_name</em></p></td>
+<td><p>string</p></td>
+<td><p><em>var_name</em> references an FMU variable (as defined in FMU’s modelDescription.xml) to which a specific OSI message is sent  Allowed values: <cite>SensorView</cite>, <cite>SensorViewConfig</cite>, <cite>SensorData</cite>, <cite>TrafficCommand</cite></p></td>
+</tr>
+<tr class="row-even"><td><p>Output_<em>var_name</em></p></td>
+<td><p>string</p></td>
+<td><p><em>var_name</em> references an FMU variable (as defined in FMU’s modelDescription.xml) from which a specific OSI message is received  Allowed values: <cite>SensorViewConfigRequest</cite>, <cite>SensorData</cite>, <cite>TrafficUpdate</cite></p></td>
+</tr>
+<tr class="row-odd"><td><p>Parameter_<em>var_name</em></p></td>
+<td><p>any</p></td>
+<td><p>The value of the parameter is assigned to the FMU variable <em>var_name</em></p></td>
+</tr>
+<tr class="row-even"><td><p>Parameter_<em>transformation</em>[<em>mapping</em> ]_<em>name</em></p></td>
+<td><p>string/string/any*</p></td>
+<td><p>Same as Parameter_<em>name</em> but with an preceding <em>transformation</em> according to a <em>mapping</em>. <br> Currently, only mappings between the same types are supported. <br> *;When using <cite>TransformList</cite> as <em>transformation</em>, the type of the data is expected to be a string and the string must be a comma separated list of values. <br>  <br> Allowed values: <br> <em>transformation</em>: <cite>Transform</cite>, <cite>TransformList</cite> <br> <em>mapping</em>: <cite>ScenarioName&gt;Id</cite> <br>  <br> Example: <cite>Parameter_TransformList[ScenarioName&gt;Id]_*name*</cite></p></td>
+</tr>
+<tr class="row-odd"><td><p>WriteJson_<em>var_name</em></p></td>
+<td><p>bool</p></td>
+<td><p>If true the osi message specified by <em>var_name</em> is written to a json file</p></td>
+</tr>
+<tr class="row-even"><td><p>WriteTrace_<em>var_name</em></p></td>
+<td><p>bool</p></td>
+<td><p>If true the osi message specified by <em>var_name</em> is written to the trace file</p></td>
+</tr>
+<tr class="row-odd"><td><p>EnforceDoubleBuffering</p></td>
+<td><p>bool</p></td>
+<td><p>If true the wrapper will throw an error if FMU doesn’t use double buffering. Defaults to false.</p></td>
+</tr>
+</tbody>
+</table>
+<p>The type of OSI messages the FmuHandler sends and receives is defined by its parameters. Only messages for which an FMU variable is given in the configuration are sent/received.
+An additional parameter defines whether the message should be logged as JSON file for every agent and every timestep (see table above).</p>
+<p>Currently these messages are supported:</p>
+<ul class="simple">
+<li><p>SensorView: SensorView generated from the GroundTruth with this agent is host vehicle.</p></li>
+<li><p>SensorViewConfig, SensorViewConfigRequest: Configuration of a sensor according to OSMP.</p></li>
+<li><p>TrafficCommand: Trajectory from <a class="reference external" href="https://www.asam.net/standards/detail/openscenario/">OpenSCENARIO</a>, that will be converted into a TrafficCommand.</p></li>
+<li><p>SensorData: Output of a sensor. Can be input and/or output of an FMU. Received SensorData is forwarded to other components as SensorDataSignal.</p></li>
+<li><p>TrafficUpdate: Will be converted to a DynamicsSignal, AccelerationSignal, SteeringSignal or LongitudinalSignal. If the update is empty, the signal will have ComponentState::Disabled. If it is only partially filled, the missing values for the DynamicsSignal will be set to the current state.</p></li>
+<li><p>GroundTruth: Will be used as groundtruth information for everything that exists in the simulation world.</p></li>
+</ul>
+<p><strong>FmuVariables</strong></p>
+<p>FmuVariables can have different variability and causality.</p>
+<ul class="simple">
+<li><p>There are the following causalities: Input, Output, Parameter and CalculatedParameter</p></li>
+<li><p>Input or outputs can have the variability constant, fixed, discrete or continuous</p></li>
+<li><p>Parameter or CalculatedParameter can have the variability constant, fixed or tunable</p></li>
+</ul>
+<p>In openPASS we have the initialization phase, which is only called once. In that phase first readValues is called.
+Then parameter values are synchronized between different config files. The following priority is used for the synchronization:</p>
+<p>modelDescription &lt; systemConfig &lt; SSP config.</p>
+<p>Afterwards still in the initialization phase writeValues is called.
+During the whole simulation in openPASS all the trigger functions are called each time step.
+For the FMU component we call WriteValues before trigger and readValues afterwards.
+For the first two time steps we have the following calls for read- and writeValues:</p>
+<blockquote>
+<div><ol class="arabic simple">
+<li><p>ReadValues (Init)</p></li>
+<li><p>WriteValues (Init)</p></li>
+<li><p>WriteValues</p></li>
+<li><p>Trigger</p></li>
+<li><p>ReadValues</p></li>
+<li><p>WriteValues</p></li>
+<li><p>Trigger</p></li>
+<li><p>ReadValues</p></li>
+</ol>
+</div></blockquote>
+<p>Depending on them, FmuVariables are written/read to/from the FMU on different occasions, which is shown in the following table.</p>
+<table class="docutils align-default" id="id1">
+<caption><span class="caption-text">Write- and ReadValues depending on variability and causality</span><a class="headerlink" href="#id1" title="Link to this table"></a></caption>
+<colgroup>
+<col style="width: 20.0%" />
+<col style="width: 20.0%" />
+<col style="width: 20.0%" />
+<col style="width: 20.0%" />
+<col style="width: 20.0%" />
+</colgroup>
+<thead>
+<tr class="row-odd"><th class="head stub"></th>
+<th class="head"><p>ReadValues - Init</p></th>
+<th class="head"><p>WriteValues - Init</p></th>
+<th class="head"><p>WriteValues - Trigger</p></th>
+<th class="head"><p>ReadValues - Trigger</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><th class="stub"><p>Input - fixed</p></th>
+<td><p>x</p></td>
+<td><p>x</p></td>
+<td></td>
+<td></td>
+</tr>
+<tr class="row-odd"><th class="stub"><p>Input - discrete or continuous</p></th>
+<td><p>x</p></td>
+<td><p>x</p></td>
+<td><p>x</p></td>
+<td></td>
+</tr>
+<tr class="row-even"><th class="stub"><p>Output - fixed</p></th>
+<td><p>x</p></td>
+<td></td>
+<td></td>
+<td></td>
+</tr>
+<tr class="row-odd"><th class="stub"><p>Output - discrete or continuous</p></th>
+<td><p>x</p></td>
+<td></td>
+<td></td>
+<td><p>x</p></td>
+</tr>
+<tr class="row-even"><th class="stub"><p>Parameter - fixed</p></th>
+<td><p>x</p></td>
+<td><p>x</p></td>
+<td></td>
+<td></td>
+</tr>
+<tr class="row-odd"><th class="stub"><p>Parameter - tunable</p></th>
+<td><p>x</p></td>
+<td><p>x</p></td>
+<td><p>x</p></td>
+<td></td>
+</tr>
+<tr class="row-even"><th class="stub"><p>CalculatedParameter - fixed</p></th>
+<td><p>x</p></td>
+<td></td>
+<td></td>
+<td></td>
+</tr>
+<tr class="row-odd"><th class="stub"><p>CalculatedParameter - tunable</p></th>
+<td><p>x</p></td>
+<td></td>
+<td></td>
+<td><p>x</p></td>
+</tr>
+</tbody>
+</table>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>For alle kinds of Input, Output, Parameter and CalculatedParameter there exists the variablity “constant”.
+All constant values are only read into openPASS once at the initialization phase.
+Never will these values be written onto the FMU.</p>
+</div>
+</section>
+<section id="sensorgeometric2d">
+<span id="components-geometric2d"></span><h2>SensorGeometric2D<a class="headerlink" href="#sensorgeometric2d" title="Link to this heading"></a></h2>
+<p>This sensor is selected, when a sensor is parameterized as ProfileGroup “Geometric2D”.</p>
+<table class="tight-table docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Parameter</p></th>
+<th class="head"><p>Type</p></th>
+<th class="head"><p>Unit</p></th>
+<th class="head"><p>Description</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>DetectionRange</p></td>
+<td><p>Double</p></td>
+<td><p>m</p></td>
+<td><p>Detection range</p></td>
+</tr>
+<tr class="row-odd"><td><p>EnableVisualObstruction</p></td>
+<td><p>Bool</p></td>
+<td></td>
+<td><p>Activates 2D sensor obstruction calculation</p></td>
+</tr>
+<tr class="row-even"><td><p>FailureProbability</p></td>
+<td><p>Double</p></td>
+<td></td>
+<td><p>Probability object is not detected although it is visible</p></td>
+</tr>
+<tr class="row-odd"><td><p>Latency</p></td>
+<td><p>Double</p></td>
+<td><p>s</p></td>
+<td><p>Delay the sensor output</p></td>
+</tr>
+<tr class="row-even"><td><p>DetectionDelayTime</p></td>
+<td><p>Double</p></td>
+<td><p>s</p></td>
+<td><p>Time an object needs to be in detection range before it is detected (optional)</p></td>
+</tr>
+<tr class="row-odd"><td><p>MaxDropOutTime</p></td>
+<td><p>Double</p></td>
+<td><p>s</p></td>
+<td><p>Time after which delay for undetected object starts anew (optional)</p></td>
+</tr>
+<tr class="row-even"><td><p>OpeningAngleH</p></td>
+<td><p>Double</p></td>
+<td><p>rad</p></td>
+<td><p>Horizontal opening angle</p></td>
+</tr>
+<tr class="row-odd"><td><p>RequiredPercentageOfVisibleArea</p></td>
+<td><p>Double</p></td>
+<td></td>
+<td><p>Required percentage of an object within the sensor cone to trigger a detection</p></td>
+</tr>
+</tbody>
+</table>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;ProfileGroup</span><span class="w"> </span><span class="na">Type=</span><span class="s">&quot;Geometric2D&quot;</span><span class="nt">&gt;</span>
+<span class="w">  </span><span class="nt">&lt;Profile</span><span class="w"> </span><span class="na">Name=</span><span class="s">&quot;Standard&quot;</span><span class="nt">&gt;</span>
+<span class="w">    </span><span class="nt">&lt;Double</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;DetectionRange&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;300&quot;</span><span class="nt">/&gt;</span>
+<span class="w">    </span><span class="nt">&lt;Bool</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;EnableVisualObstruction&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;false&quot;</span><span class="nt">/&gt;</span>
+<span class="w">    </span><span class="nt">&lt;Double</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;FailureProbability&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;0&quot;</span><span class="nt">/&gt;</span>
+<span class="w">    </span><span class="nt">&lt;NormalDistribution</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;Latency&quot;</span><span class="w"> </span><span class="na">Max=</span><span class="s">&quot;0.0&quot;</span><span class="w"> </span><span class="na">Mean=</span><span class="s">&quot;0.0&quot;</span><span class="w"> </span><span class="na">Min=</span><span class="s">&quot;0.0&quot;</span><span class="w"> </span><span class="na">SD=</span><span class="s">&quot;0.0&quot;</span><span class="nt">/&gt;</span>
+<span class="w">    </span><span class="nt">&lt;Double</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;OpeningAngleH&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;0.35&quot;</span><span class="nt">/&gt;</span>
+<span class="w">    </span><span class="nt">&lt;Double</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;RequiredPercentageOfVisibleArea&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;0.001&quot;</span><span class="nt">/&gt;</span>
+<span class="w">    </span><span class="nt">&lt;Double</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;DetectionDelayTime&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;0&quot;</span><span class="nt">/&gt;</span>
+<span class="w">    </span><span class="nt">&lt;Double</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;MaxDropOutTime&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;0&quot;</span><span class="nt">/&gt;</span>
+<span class="w">  </span><span class="nt">&lt;/Profile&gt;</span>
+<span class="nt">&lt;/ProfileGroup&gt;</span>
+</pre></div>
+</div>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>Sensors also need a mounting position, defined w.r.t. the coordinate system of the vehicle (center of rear axis).
+See also <a class="reference internal" href="../../configs/profilescatalog.html#profilescatalog-systemprofiles"><span class="std std-ref">SystemProfiles</span></a>.</p>
+</div>
+</section>
+<section id="receivercar2x">
+<h2>ReceiverCar2X<a class="headerlink" href="#receivercar2x" title="Link to this heading"></a></h2>
+<p>This type is selected, when a sensor is parameterized as ProfileGroup “ReceiverCar2X”.</p>
+<table class="tight-table docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Parameter</p></th>
+<th class="head"><p>Type</p></th>
+<th class="head"><p>Unit</p></th>
+<th class="head"><p>Description</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>FailureProbability</p></td>
+<td><p>Double</p></td>
+<td></td>
+<td><p>Probability object is not detected although it is visible</p></td>
+</tr>
+<tr class="row-odd"><td><p>Latency</p></td>
+<td><p>Double</p></td>
+<td><p>s</p></td>
+<td><p>Sensor latency</p></td>
+</tr>
+<tr class="row-even"><td><p>Sensitivity</p></td>
+<td><p>Double</p></td>
+<td><p>W/m²</p></td>
+<td><p>Sensitivity of the sensor</p></td>
+</tr>
+</tbody>
+</table>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;ProfileGroup</span><span class="w"> </span><span class="na">Type=</span><span class="s">&quot;ReceiverCar2X&quot;</span><span class="nt">&gt;</span>
+<span class="w">  </span><span class="nt">&lt;Profile</span><span class="w"> </span><span class="na">Name=</span><span class="s">&quot;Standard&quot;</span><span class="nt">&gt;</span>
+<span class="w">    </span><span class="nt">&lt;NormalDistribution</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;Latency&quot;</span><span class="w"> </span><span class="na">Mean=</span><span class="s">&quot;0.0&quot;</span><span class="w"> </span><span class="na">SD=</span><span class="s">&quot;0.0&quot;</span><span class="w"> </span><span class="na">Min=</span><span class="s">&quot;0.0&quot;</span><span class="w"> </span><span class="na">Max=</span><span class="s">&quot;0.0&quot;</span><span class="nt">/&gt;</span>
+<span class="w">    </span><span class="nt">&lt;Double</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;FailureProbability&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;0&quot;</span><span class="nt">/&gt;</span>
+<span class="w">    </span><span class="nt">&lt;Double</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;Sensitivity&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;1e-5&quot;</span><span class="nt">/&gt;</span>
+<span class="w">  </span><span class="nt">&lt;/Profile&gt;</span>
+<span class="nt">&lt;/ProfileGroup&gt;</span>
+</pre></div>
+</div>
+<p>The moving object is detected if the received SignalStrength is greater than the Sensitivity of the ReceiverCar2X .</p>
+<p>The received SignalStrength is calculated by <img class="math" src="../../../_images/math/58936aa7043ecf62ec13166d1c340a6d7369c8fc.png" alt="ss_{\text{received}} = \frac {ss_{\text{sender}}} {4 \cdot pi \cdot d \cdot d}"/>, where the symbols meanings are:</p>
+<table class="docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Symbol</p></th>
+<th class="head"><p>Description</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p><img class="math" src="../../../_images/math/9d60d7b2311a5ab7cdaddaa12d7afcea0d61e610.png" alt="ss_{\text{received}}"/></p></td>
+<td><p>Received strength of the signal [1/m²]</p></td>
+</tr>
+<tr class="row-odd"><td><p><img class="math" src="../../../_images/math/b4e3a410356817edeee8a7f41f7a577e2c269c48.png" alt="ss_{\text{sender}}"/></p></td>
+<td><p>Sent strength of the signal [1/m²]</p></td>
+</tr>
+<tr class="row-even"><td><p><img class="math" src="../../../_images/math/badad346f6fbe2e237af99bfbd9a93a4da53a3da.png" alt="d"/></p></td>
+<td><p>Distance between the receiver agent and sender [m]</p></td>
+</tr>
+</tbody>
+</table>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>Sensors also need a mounting position, defined w.r.t. the coordinate system of the vehicle (center of rear axis).
+See also <a class="reference internal" href="../../configs/profilescatalog.html#profilescatalog-systemprofiles"><span class="std std-ref">SystemProfiles</span></a>.</p>
+</div>
+</section>
+<section id="ssp">
+<h2>SSP<a class="headerlink" href="#ssp" title="Link to this heading"></a></h2>
+<p>A SSP can be added as vehicle component. It’s a blackbox of one or multiple FMUs.</p>
+<table class="tight-table docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Parameter</p></th>
+<th class="head"><p>Type</p></th>
+<th class="head"><p>Unit</p></th>
+<th class="head"><p>Description</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>SspPath</p></td>
+<td><p>String</p></td>
+<td><p>path</p></td>
+<td><p>config relative path to ssp archive</p></td>
+</tr>
+</tbody>
+</table>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;ProfileGroup</span><span class="w"> </span><span class="na">Type=</span><span class="s">&quot;SSP1&quot;</span><span class="nt">&gt;</span>
+<span class="w">  </span><span class="nt">&lt;Profile</span><span class="w"> </span><span class="na">Name=</span><span class="s">&quot;SSP&quot;</span><span class="nt">&gt;</span>
+<span class="w">          </span><span class="nt">&lt;String</span><span class="w"> </span><span class="na">Key=</span><span class="s">&quot;SspPath&quot;</span><span class="w"> </span><span class="na">Value=</span><span class="s">&quot;ConnectionTest.ssp&quot;</span><span class="nt">/&gt;</span>
+<span class="w">      </span><span class="nt">&lt;/Profile&gt;</span>
+<span class="nt">&lt;/ProfileGroup&gt;</span>
+</pre></div>
+</div>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>To add the ssp component to a system profile do the following:
+See also <a class="reference internal" href="../../configs/profilescatalog.html#profilescatalog-systemprofiles"><span class="std std-ref">SystemProfiles</span></a>.</p>
+</div>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="w">      </span><span class="nt">&lt;SystemProfile</span><span class="w"> </span><span class="na">Name=</span><span class="s">&quot;EgoVehicle&quot;</span><span class="w"> </span><span class="na">Probability=</span><span class="s">&quot;1.0&quot;</span><span class="nt">/&gt;</span>
+<span class="w">    </span><span class="nt">&lt;/SystemProfiles&gt;</span>
+</pre></div>
+</div>
+</section>
+<section id="vehicledynamics">
+<h2>VehicleDynamics<a class="headerlink" href="#vehicledynamics" title="Link to this heading"></a></h2>
+<p>Components of this group can be used to model the vehicle dynamics. The vehicle dynamics model has a modular design. If necessary, the individual components can be replaced by the user with their own models. The vehicle dynamics model consists of six components listed below:</p>
+<table class="tight-table docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Component</p></th>
+<th class="head"><p>Short Description</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p><a class="reference internal" href="#components-steeringsystem"><span class="std std-ref">ActionSteeringSystem</span></a></p></td>
+<td><p>The steering model transfers the driver’s input into the vehicle’s wheel angle</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#components-powertrain"><span class="std std-ref">ActionPowertrain</span></a></p></td>
+<td><p>The powertrain model converts the accelerator pedal position into wheel drive torques, under consideration of the selected gear</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#components-brakesystem"><span class="std std-ref">ActionBrakeSystem</span></a></p></td>
+<td><p>The brake model converts the brake pedal position into wheel brake torques</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#components-tiremodel"><span class="std std-ref">DynamicsTireModel</span></a></p></td>
+<td><p>The tire model converts the predetermined drive and braking torques of the tires into tire longitudinal and lateral forces, under consideration of the wheel angles</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#components-motionmodel"><span class="std std-ref">DynamicsMotionModel</span></a></p></td>
+<td><p>The motion model calculates the translational and rotational vehicle movement with the calculated tire forces</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#components-chassismodel"><span class="std std-ref">DynamicsChassis</span></a></p></td>
+<td><p>The chassis model determines the dynamic wheel loads via the vehicle’s longitudinal and lateral acceleration</p></td>
+</tr>
+</tbody>
+</table>
+<p>The following figure gives an overview of the driving dynamics components and their signals:</p>
+<img alt="|op| Vehicle dynamics overview" src="../../../_images/VehicleDynamicsOverview.svg" /><section id="actionsteeringsystem">
+<span id="components-steeringsystem"></span><h3>ActionSteeringSystem<a class="headerlink" href="#actionsteeringsystem" title="Link to this heading"></a></h3>
+<p>The steering model obtains the “SteeringRatio” property from the <a class="reference internal" href="../../configs/scenario.html#scenario-vehiclemodels"><span class="std std-ref">VehicleCatalog</span></a> and uses it to calculate the steering angle of the front wheels.
+Both wheels are turned at the same angle. The following parameter can be used to set a static toe and the steering elasticity:</p>
+<table class="tight-table docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Attribute</p></th>
+<th class="head"><p>Type</p></th>
+<th class="head"><p>Unit</p></th>
+<th class="head"><p>Description</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>StaticToe</p></td>
+<td><p>VectorDouble</p></td>
+<td><p>rad</p></td>
+<td><p>Static toe of the wheels (A positive value corresponds to a toe-in; one static toe per axis)</p></td>
+</tr>
+<tr class="row-odd"><td><p>Elasticity</p></td>
+<td><p>VectorDouble</p></td>
+<td><p>rad/Nm</p></td>
+<td><p>Steering Elasticity (one elasticity per axis)</p></td>
+</tr>
+<tr class="row-even"><td><p>Caster</p></td>
+<td><p>VectorDouble</p></td>
+<td><p>m</p></td>
+<td><p>Overall Caster of steering system</p></td>
+</tr>
+</tbody>
+</table>
+</section>
+<section id="actionpowertrain">
+<span id="components-powertrain"></span><h3>ActionPowertrain<a class="headerlink" href="#actionpowertrain" title="Link to this heading"></a></h3>
+<p>The powertrain model contains an engine model and a gear model. The type of the powertrain can be set using the following parameters:</p>
+<table class="tight-table docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Attribute</p></th>
+<th class="head"><p>Type</p></th>
+<th class="head"><p>Unit</p></th>
+<th class="head"><p>Description</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>TypeDrivetrain</p></td>
+<td><p>String</p></td>
+<td></td>
+<td><p>Type of drivetrain; A selection can be made between front-wheel drive (FWD), rear-wheel drive (RWD) and all-wheel drive (AWD)</p></td>
+</tr>
+<tr class="row-odd"><td><p>FrontRatioAWD</p></td>
+<td><p>Double</p></td>
+<td></td>
+<td><p>Distribution of the drive torque to the front axle in the case of all-wheel drive (AWD); Range 0-1</p></td>
+</tr>
+</tbody>
+</table>
+<p>The wheel speed is converted into an engine speed [Hz] according to the axle ratio and the transmission ratio of the selected gear.
+The axle ratio and gear ratios are obtained from the <a class="reference internal" href="../../configs/scenario.html#scenario-vehiclemodels"><span class="std std-ref">VehicleCatalog</span></a> (“AxleRatio” &amp; “GearRatio”). The average value of the powered wheels is used for the determination of the engine speed.</p>
+<div class="math">
+<p><img src="../../../_images/math/340d7e571b3feafaa7e510b6c7d1328b1f4c64ad.png" alt="\omega_{engine} = \omega_{wheels,avg} \cdot  i_{axle} \cdot i_{gear,selected}"/></p>
+</div><p>The maximum possible engine torque [Nm] is limited by the engine power [W] or the maximum engine torque [Nm].
+The engine power and the maximum engine torque are obtained from the <a class="reference internal" href="../../configs/scenario.html#scenario-vehiclemodels"><span class="std std-ref">VehicleCatalog</span></a> (“MaximumEnginePower” &amp; “MaximumEngineTorque”).</p>
+<div class="math">
+<p><img src="../../../_images/math/bb9c6cf90a7cce5208d424db5de2b83f0ef1fddb.png" alt="M_{engine,max,current} = \begin{cases}
+ \frac{P_{engine,max}}{\omega_{engine}}     &amp; \text{ if } \frac{P_{engine,max}}{\omega_{engine}} &lt; M_{engine,max} \\
+ M_{engine,max}  &amp; \text{ if } \frac{P_{engine,max}}{\omega_{engine}} &gt;= M_{engine,max}
+     \end{cases}"/></p>
+</div><p>When 98% of the maximum speed of the motor is reached (“MaximumEngineSpeed” in the <a class="reference internal" href="../../configs/scenario.html#scenario-vehiclemodels"><span class="std std-ref">VehicleCatalog</span></a>), the engine torque is linearly reduced to 0.</p>
+<p>The maximum engine torque is scaled via the accelerator pedal position (input). This value is calculated back to the total wheel drive torque via the gear ratio.</p>
+<div class="math">
+<p><img src="../../../_images/math/1f81befb8ab4e6d3af9e6e11361477a156ea9836.png" alt="M_{wheels,current} = M_{engine,max,current} \cdot  position_{accelerator pedal} \cdot  i_{axle} \cdot  i_{gear,selected}"/></p>
+</div><p>The wheel total drive torque is evenly distributed to the wheels of an axle according to the definition of the drive type.
+With all-wheel drive, the entire wheel drive torque is distributed statically over the defined ratio.</p>
+</section>
+<section id="actionbrakesystem">
+<span id="components-brakesystem"></span><h3>ActionBrakeSystem<a class="headerlink" href="#actionbrakesystem" title="Link to this heading"></a></h3>
+<p>The brake model is a linearized model. The brake pedal position is used as input. As output, the model returns the braking torques of the wheels as a vector.
+The model considers a response time [ms] and linear factors [m/s³] for the increase and decrease of the braking force.The distribution of braking force between the front and rear axles can be defined statically.</p>
+<table class="tight-table docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Attribute</p></th>
+<th class="head"><p>Type</p></th>
+<th class="head"><p>Unit</p></th>
+<th class="head"><p>Description</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>FrontAxlePercentage</p></td>
+<td><p>Double</p></td>
+<td></td>
+<td><p>Distribution of the brake torque to the front axle in the case of all-wheel drive (AWD); Range 0-1</p></td>
+</tr>
+<tr class="row-odd"><td><p>BrakeDecelerationInclineRate</p></td>
+<td><p>Double</p></td>
+<td><p>m/s³</p></td>
+<td><p>Linear Rate of braking force increase</p></td>
+</tr>
+<tr class="row-even"><td><p>BrakeDecelerationDeclineRate</p></td>
+<td><p>Double</p></td>
+<td><p>m/s³</p></td>
+<td><p>Linear Rate of braking force decrease</p></td>
+</tr>
+<tr class="row-odd"><td><p>BrakeResponseTimeMs</p></td>
+<td><p>Double</p></td>
+<td><p>ms</p></td>
+<td><p>Brake response time</p></td>
+</tr>
+</tbody>
+</table>
+<p>The maximum braking force of the system is determined from the maximum possible deceleration and the mass of the vehicle and is scaled by the brake pedal position (Input).
+The maximum possible deceleration and the vehicle mass are obtained from the <a class="reference internal" href="../../configs/scenario.html#scenario-vehiclemodels"><span class="std std-ref">VehicleCatalog</span></a> (“maxDeceleration” &amp; “mass”).</p>
+<div class="math">
+<p><img src="../../../_images/math/bc08e6aac48aefa03313665a4a532f6a9c5ecd63.png" alt="F_{brake,max} = a_{deceleration,max} \cdot m_{vehicle} \cdot  position_{brake pedal}"/></p>
+</div><p>When the brake is applied, a deceleration is calculated after the response time has elapsed. Then the braking force is built up linearly until the maximum or requested braking force has been reached.</p>
+<div class="math">
+<p><img src="../../../_images/math/f1aece6474c2a5f6a6db0e37b59055fb90810d92.png" alt="F_{brake,current} = rate_{incline} \cdot (t_{brake} -  t_{response})"/></p>
+</div><p>When the brake is released, the braking force is dissipated with the decline rate until it has dropped to zero. After that, the response time builds up again.
+The braking force is divided among the axles according to the parameter “FrontAxlePercentage”. Another input allows you to request a prefill that reduces the response time without braking</p>
+</section>
+<section id="dynamicschassis">
+<span id="components-chassismodel"></span><h3>DynamicsChassis<a class="headerlink" href="#dynamicschassis" title="Link to this heading"></a></h3>
+<p>The chassis model determines the vertical forces of the four wheels from the longitudinal and lateral acceleration of the vehicle. Constant spring and damper rates are taken into account, which can be defined by the following parameters per axis:</p>
+<table class="tight-table docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Attribute</p></th>
+<th class="head"><p>Type</p></th>
+<th class="head"><p>Unit</p></th>
+<th class="head"><p>Description</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>SpringCoefficient</p></td>
+<td><p>VectorDouble</p></td>
+<td><p>N/m</p></td>
+<td><p>Constant spring coefficient for each axis</p></td>
+</tr>
+<tr class="row-odd"><td><p>DamperCoefficient</p></td>
+<td><p>VectorDouble</p></td>
+<td><p>Ns/m</p></td>
+<td><p>Constant damper coefficient for each axis</p></td>
+</tr>
+</tbody>
+</table>
+</section>
+<section id="dynamicstiremodel">
+<span id="components-tiremodel"></span><h3>DynamicsTireModel<a class="headerlink" href="#dynamicstiremodel" title="Link to this heading"></a></h3>
+<p>The tire model is freely configurable and includes a degressive behaviour. The tire forces are modeled according to Rill using the TMEasy model. The following parameters can be set for the tire model per axis :</p>
+<table class="tight-table docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Attribute</p></th>
+<th class="head"><p>Type</p></th>
+<th class="head"><p>Unit</p></th>
+<th class="head"><p>Description</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>MuTireMaxXFRef</p></td>
+<td><p>VectorDouble</p></td>
+<td></td>
+<td><p>Normalized scaling factor for maximum longitudinal force at reference vertical force</p></td>
+</tr>
+<tr class="row-odd"><td><p>MuTireMaxX2FRef</p></td>
+<td><p>VectorDouble</p></td>
+<td></td>
+<td><p>Normalized scaling factor for maximum longitudinal force at double reference vertical force</p></td>
+</tr>
+<tr class="row-even"><td><p>MuTireSlideXFRef</p></td>
+<td><p>VectorDouble</p></td>
+<td></td>
+<td><p>Normalized scaling factor for sliding longitudinal force at reference vertical force</p></td>
+</tr>
+<tr class="row-odd"><td><p>MuTireSlideX2FRef</p></td>
+<td><p>VectorDouble</p></td>
+<td></td>
+<td><p>Normalized scaling factor for sliding longitudinal force at double reference vertical force</p></td>
+</tr>
+<tr class="row-even"><td><p>SlipTireMaxXFRef</p></td>
+<td><p>VectorDouble</p></td>
+<td></td>
+<td><p>Longitudinal slip at maximum longitudinal force at reference vertical force</p></td>
+</tr>
+<tr class="row-odd"><td><p>SlipTireMaxX2FRef</p></td>
+<td><p>VectorDouble</p></td>
+<td></td>
+<td><p>Longitudinal slip at maximum longitudinal force at double reference vertical force</p></td>
+</tr>
+<tr class="row-even"><td><p>SlipTireSlideXFRef</p></td>
+<td><p>VectorDouble</p></td>
+<td></td>
+<td><p>Longitudinal slip at sliding longitudinal force at reference vertical force</p></td>
+</tr>
+<tr class="row-odd"><td><p>SlipTireSlideX2FRef</p></td>
+<td><p>VectorDouble</p></td>
+<td></td>
+<td><p>Longitudinal slip at sliding longitudinal force at double reference vertical force</p></td>
+</tr>
+<tr class="row-even"><td><p>F0pXFRef</p></td>
+<td><p>VectorDouble</p></td>
+<td><p>N</p></td>
+<td><p>Initial slope of longitudinal force at reference force</p></td>
+</tr>
+<tr class="row-odd"><td><p>F0pX2FRef</p></td>
+<td><p>VectorDouble</p></td>
+<td><p>N</p></td>
+<td><p>Initial slope of longitudinal force at  double reference force</p></td>
+</tr>
+<tr class="row-even"><td><p>MuTireMaxYFRef</p></td>
+<td><p>VectorDouble</p></td>
+<td></td>
+<td><p>Normalized scaling factor for maximum lateral force at reference vertical force</p></td>
+</tr>
+<tr class="row-odd"><td><p>MuTireMaxY2FRef</p></td>
+<td><p>VectorDouble</p></td>
+<td></td>
+<td><p>Normalized scaling factor for maximum lateral force at double reference vertical force</p></td>
+</tr>
+<tr class="row-even"><td><p>MuTireSlideYFRef</p></td>
+<td><p>VectorDouble</p></td>
+<td></td>
+<td><p>Normalized scaling factor for sliding lateral force at reference vertical force</p></td>
+</tr>
+<tr class="row-odd"><td><p>MuTireSlideY2FRef</p></td>
+<td><p>VectorDouble</p></td>
+<td></td>
+<td><p>Normalized scaling factor for sliding lateral force at double reference vertical force</p></td>
+</tr>
+<tr class="row-even"><td><p>SlipTireMaxYFRef</p></td>
+<td><p>VectorDouble</p></td>
+<td></td>
+<td><p>Lateral slip at maximum lateral force at reference vertical force</p></td>
+</tr>
+<tr class="row-odd"><td><p>SlipTireMaxY2FRef</p></td>
+<td><p>VectorDouble</p></td>
+<td></td>
+<td><p>Lateral slip at maximum lateral force at double reference vertical force</p></td>
+</tr>
+<tr class="row-even"><td><p>SlipTireSlideYFRef</p></td>
+<td><p>VectorDouble</p></td>
+<td></td>
+<td><p>Lateral slip at sliding lateral force at reference vertical force</p></td>
+</tr>
+<tr class="row-odd"><td><p>SlipTireSlideY2FRef</p></td>
+<td><p>VectorDouble</p></td>
+<td></td>
+<td><p>Lateral slip at sliding lateral force at double reference vertical force</p></td>
+</tr>
+<tr class="row-even"><td><p>F0pYFRef</p></td>
+<td><p>VectorDouble</p></td>
+<td><p>N</p></td>
+<td><p>Initial slope of lateral force at reference force</p></td>
+</tr>
+<tr class="row-odd"><td><p>F0pY2FRef</p></td>
+<td><p>VectorDouble</p></td>
+<td><p>N</p></td>
+<td><p>Initial slope of lateral force at  double reference force</p></td>
+</tr>
+<tr class="row-even"><td><p>FRef</p></td>
+<td><p>VectorDouble</p></td>
+<td><p>N</p></td>
+<td><p>Vertical reference force for the tire parameters</p></td>
+</tr>
+<tr class="row-odd"><td><p>FRefNormalized</p></td>
+<td><p>VectorBool</p></td>
+<td></td>
+<td><p>Should the reference force be scaled with the static vertical tire force?</p></td>
+</tr>
+<tr class="row-even"><td><p>Inertia</p></td>
+<td><p>VectorDouble</p></td>
+<td><p>kgm²</p></td>
+<td><p>Inertia of tire</p></td>
+</tr>
+<tr class="row-odd"><td><p>PneumaticTrail</p></td>
+<td><p>VectorDouble</p></td>
+<td><p>m</p></td>
+<td><p>Pneumatic trail of tire</p></td>
+</tr>
+</tbody>
+</table>
+<p>The normalized factors refer to the reference vertical force or to the double reference vertical force
+The input variables used by the model are tire drive and braking torques as well as the wheel angles and vertical wheel forces. All data is provided as vectors.
+The model determines tire forces in the longitudinal and lateral directions as well as the wheel self aligning torques. The wheel self aligning torque is formed from the product of the tire side force and the pneumatic trail.
+A linear interpolation is performed between the values for the reference force and the double reference force. If no degressive tire behavior is desired, the parameters for the double reference force must be set identically to the values for the reference force.</p>
+<p>All forces are scaled with the coefficient of friction from the <a class="reference internal" href="../../configs/scenario.html#scenario-vehiclemodels"><span class="std std-ref">VehicleCatalog</span></a> (“FrictionCoefficient”).</p>
+<p>All further information about the model can be found in the following sources:</p>
+<p><a class="reference external" href="https://www.tmeasy.de/">https://www.tmeasy.de/</a></p>
+<p>Rill, Georg. (2013). TMeasy – A Handling Tire Model based on a three-dimensional slip approach.</p>
+</section>
+<section id="dynamicsmotionmodel">
+<span id="components-motionmodel"></span><h3>DynamicsMotionModel<a class="headerlink" href="#dynamicsmotionmodel" title="Link to this heading"></a></h3>
+<p>The motion model converts the tire forces (input) into a translational and rotational movement of the vehicle. The air resistance of the vehicle is taken into account. For the dynamic calculation, the center of gravity position is taken from the <a class="reference internal" href="../../configs/scenario.html#scenario-vehiclemodels"><span class="std std-ref">VehicleCatalog</span></a> (“XPositionCOG”,”YPositionCOG”),
+which indicates the distance of the center of gravity to the center of the rear axle. If this data is not given, the center of gravity is positioned on half wheelbase. For air resistance, the properties “AirDragCoefficient” &amp; “FrontSurface” from the <a class="reference internal" href="../../configs/scenario.html#scenario-vehiclemodels"><span class="std std-ref">VehicleCatalog</span></a> are used.</p>
+<p>For the equations of motion, see relevant vehicle dynamics books such as:</p>
+<p>Kücükay, Ferit (2022), “Grundlagen der Fahrzeugtechnik”, page 1067 ff</p>
+</section>
+</section>
+</section>
+
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-  <section id="scenario-based-simulation">
-<span id="id1"></span><h1>Scenario-based simulation<a class="headerlink" href="#scenario-based-simulation" title="Link to this heading"></a></h1>
-<p>This guide describes how to execute an exemplary simulation with openPASS.</p>
-<p>The simulation runs a scenario which is set up for triggering an AEB (Autonomous Emergency Break) system.
-The scenario contains two agents: The ego agent and a scenario agent.
-The ego vehicle is equipped with an AEB system (the system under test).
-The scenario agent performs a cut-in and triggers as a result the AEB system of the ego agent.
-To force this exact maneuver, the scenario agent is set up to follow a predefined trajectory.</p>
-<div class="admonition-todo admonition" id="id2">
-<p class="admonition-title">Todo</p>
-<p>Update this paragraph for the new react GUI.</p>
-</div>
-<p>The GUI is not yet capable of configuring and executing a scenario based simulation as this is currently work in progress.
-Thus, an existing simulation configuration is used and the simulation is started manually.</p>
-<p><strong>Step-by-step instructions</strong></p>
-<ol class="arabic">
-<li><p>Navigate into the <strong>openPASS</strong> install directory (e.g. <code class="docutils literal notranslate"><span class="pre">C:\openPASS\bin\core</span></code>)</p></li>
-<li><p>The install directory should look like the following</p>
-<blockquote>
-<div><div class="highlight-default notranslate"><div class="highlight"><pre><span></span>openPASS-Install-Dir
-└── configs &lt;-- this directory will be created in the next step
-└── examples &lt;-- if non existent, it can be copied from the openPASS checkout repository (see note)
-│   ├── Common
-│   └── Configurations
-└── doc
-└── examples
-└── lib
-│   ...
-└── opSimulation.exe
-</pre></div>
-</div>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>The folder <code class="docutils literal notranslate"><span class="pre">examples</span></code> might not be existent right after the installation. In this case one can find it in the checkout repository of openPASS under <code class="docutils literal notranslate"><span class="pre">deps/os/sim/contrib</span></code>. From there one can copy it into the installation folder.</p>
-</div>
-</div></blockquote>
-</li>
-<li><p>Create a new folder named “configs” for the configuration files within the <strong>openPASS</strong> install directory</p></li>
-<li><p>Copy configuration files</p>
-<blockquote>
-<div><p>Simulations for <strong>openPASS</strong> are fully configured through configuration files. This is where the user defines the traffic scenario to be simulated by openPASS.
-Examples for <strong>openPASS</strong> configuration files are located in the directory <code class="docutils literal notranslate"><span class="pre">examples</span></code> and are divided into two groups: <em>default configurations</em> and <em>specific configurations</em>.</p>
-<ol class="loweralpha">
-<li><p>The <em>default configuration</em> files located under <code class="docutils literal notranslate"><span class="pre">examples/Common</span></code> contain the basis for any simulation. They represent the minimum input required, therefore:</p>
-<blockquote>
-<div><ol class="lowerroman simple">
-<li><p>Copy all files from the directory <code class="docutils literal notranslate"><span class="pre">examples/Common</span></code> to the previously created folder <code class="docutils literal notranslate"><span class="pre">configs</span></code>.</p></li>
-</ol>
-</div></blockquote>
-</li>
-<li><p>The <em>specific configuration</em> files located under <code class="docutils literal notranslate"><span class="pre">examples/Configurations</span></code> complement the default configuration files. Examples are provided for different simulations.</p>
-<blockquote>
-<div><ol class="lowerroman simple">
-<li><p>Ensure all files from directory <code class="docutils literal notranslate"><span class="pre">examples/Common</span></code> have been copied to <code class="docutils literal notranslate"><span class="pre">configs</span></code> (this has been done in the previous step). Repeat this step every time another simulation is chosen.</p></li>
-<li><p>Navigate to the directory <code class="docutils literal notranslate"><span class="pre">examples/Configurations</span></code>. Here, all folders contain special pre-configured simulations (which either can be used as demo cases or as end-to-end test cases primarily used for development).</p></li>
-<li><p>Copy all files from the directory specifying the specific scenario you want to simulate (in our case all files from directory <code class="docutils literal notranslate"><span class="pre">examples/Configurations/AEB_CutIn</span></code>) to the directory <code class="docutils literal notranslate"><span class="pre">configs</span></code>. Overwrite existing files when prompted.</p></li>
-</ol>
-</div></blockquote>
-</li>
-</ol>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>A detailed description of the various configuration files can be found under see <a class="reference internal" href="../30_configs_in_depth.html#configs-in-depth"><span class="std std-ref">Configs in Depth</span></a>.</p>
-</div>
-</div></blockquote>
-</li>
-<li><p>Learn how to modify configuration files</p>
-<blockquote>
-<div><p>If one wants to edit the configurations (e.g. experiment set-up or parameters of specific scenario) placed under <code class="docutils literal notranslate"><span class="pre">configs</span></code>, one can do so by changing any of the following files:</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>configs
-├── PedestrianModelsCatalog.xosc
-├── ProfilesCatalog.xml
-├── Scenario.xosc
-├── SceneryConfiguration.xodr
-├── simulationConfig.xml
-├── systemConfigBlueprint.xml
-└── VehicleModelsCatalog.xosc
-</pre></div>
-</div>
-</div></blockquote>
-<p>As an example, modifications of the configuration files that describe an AEB cut-in scenario are given.
-The following list describes some relevant adjustments that may be useful.</p>
-<blockquote>
-<div><ol class="loweralpha">
-<li><p><code class="docutils literal notranslate"><span class="pre">ProfilesCatalog.xml</span></code>:</p>
-<blockquote>
-<div><ul class="simple">
-<li><p>The AEB system and sensor parameters, e.g. „TTC“, „DetectionRange“, can be adjusted.</p></li>
-<li><p>The spawner parameters, such as the traffic volume or the velocity of the surrounding traffic, can be modified in the existing spawner profiles.</p></li>
-</ul>
-</div></blockquote>
-</li>
-<li><p><code class="docutils literal notranslate"><span class="pre">Scenario.xosc</span></code>:</p>
-<blockquote>
-<div><ul class="simple">
-<li><p>The scenario set-up contains the initial positions und velocities of the ego and scenario agent.</p></li>
-<li><p>The trajectory that defines the cut-in maneuver of the scenario agent is defined and editable here.</p></li>
-<li><p>The overall simulation time, which determines the end condition of the simulation in seconds, can be adjusted.</p></li>
-</ul>
-</div></blockquote>
-</li>
-<li><p><code class="docutils literal notranslate"><span class="pre">simulationConfig.xml</span></code>:</p>
-<blockquote>
-<div><ul class="simple">
-<li><p>The number of invocations can be changed in case more than one run is desired to be simulated. This will incorporate stochastic variation (i.e. initial constellation of surrounding traffic)</p></li>
-<li><p>If surrounding traffic is not desired in the experiment, the spawner libraries “SpawnPointPreRunCommon” and “SpawnPointRuntimeCommon” can be deactivated by removing the corresponding sections. Only the “SpawnPointScenario” is mandatory to spawn the ego and scenario agent. More information on the functionality of spawners can be found in <a class="reference internal" href="../sim_user_guide/components/spawner.html#components-spawner"><span class="std std-ref">Spawner</span></a>.</p></li>
-<li><p>The output format can be modified by setting the parameter “LoggingCyclicsToCsv” to true.</p></li>
-</ul>
-</div></blockquote>
-</li>
-</ol>
-</div></blockquote>
-</li>
-<li><p>Start the simulation by double-clicking <code class="docutils literal notranslate"><span class="pre">opSimulation.exe</span></code> or from the console by calling the executable.</p></li>
-<li><p>Once the simulation is successfully completed, the following results can be found in the directory <code class="docutils literal notranslate"><span class="pre">results</span></code>:</p>
-<blockquote>
-<div><ul class="simple">
-<li><p><code class="docutils literal notranslate"><span class="pre">simulationOutput.xml</span></code>: Contains general information about the experiment and an overview on all agents from the simulation. Further, an event log is contained. If the csv-output is set to false in the <code class="docutils literal notranslate"><span class="pre">simulationConfig.xml</span></code>, the <code class="docutils literal notranslate"><span class="pre">simulationOutput.xml</span></code> will also include the „cyclics” (state in each time step) of the simulation.</p></li>
-<li><p><code class="docutils literal notranslate"><span class="pre">Cyclics_Run_xxx.csv</span></code>: In case the csv-output is activated, the „cyclics” of each run in the simulation are logged to a separated csv-file. This file is missing, if “cyclics” are written directly to the <code class="docutils literal notranslate"><span class="pre">simulationOutput.xml</span></code> (i.e. when “LoggingCyclicsToCsv” is set to false).</p></li>
-<li><p><code class="docutils literal notranslate"><span class="pre">Repository_Run_xxx.csv</span></code>: Overview of the agents and objects from the simulation as well as some details on scenery components like lane markings, guard rails, etc.</p></li>
-</ul>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>The outputs do not contain the <code class="docutils literal notranslate"><span class="pre">SceneryConfiguration.xodr</span></code>, i.e. the static environment given in the scenery file in configs. In order to make the world around the simulation results available, we need to copy <code class="docutils literal notranslate"><span class="pre">SceneryConfiguration.xodr</span></code> file from <code class="docutils literal notranslate"><span class="pre">configs</span></code> to <code class="docutils literal notranslate"><span class="pre">results</span></code>.</p>
-</div>
-</div></blockquote>
-</li>
-</ol>
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+  <section id="scenario-based-simulation">
+<span id="id1"></span><h1>Scenario-based simulation<a class="headerlink" href="#scenario-based-simulation" title="Link to this heading"></a></h1>
+<p>This guide describes how to execute an exemplary simulation with openPASS.</p>
+<p>The simulation runs a scenario which is set up for triggering an AEB (Autonomous Emergency Break) system.
+The scenario contains two agents: The ego agent and a scenario agent.
+The ego vehicle is equipped with an AEB system (the system under test).
+The scenario agent performs a cut-in and triggers as a result the AEB system of the ego agent.
+To force this exact maneuver, the scenario agent is set up to follow a predefined trajectory.</p>
+<p>The opGUI is not yet capable of configuring and executing a scenario based simulation as this is currently work in progress.
+Thus, an existing simulation configuration is used and the simulation is started manually.</p>
+<p><strong>Step-by-step instructions</strong></p>
+<ol class="arabic">
+<li><p>Navigate into the <strong>openPASS</strong> install directory (e.g. <code class="docutils literal notranslate"><span class="pre">C:\openPASS\bin\core</span></code>)</p></li>
+<li><p>The install directory should look like the following</p>
+<blockquote>
+<div><div class="highlight-default notranslate"><div class="highlight"><pre><span></span>openPASS-Install-Dir
+└── configs &lt;-- this directory will be created in the next step
+└── examples &lt;-- if non existent, it can be copied from the openPASS checkout repository (see note)
+│   ├── Common
+│   └── Configurations
+└── doc
+└── examples
+└── lib
+│   ...
+└── opSimulation.exe
+</pre></div>
+</div>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The folder <code class="docutils literal notranslate"><span class="pre">examples</span></code> might not be existent right after the installation. In this case one can find it in the checkout repository of openPASS under <code class="docutils literal notranslate"><span class="pre">deps/os/sim/contrib</span></code>. From there one can copy it into the installation folder.</p>
+</div>
+</div></blockquote>
+</li>
+<li><p>Create a new folder named “configs” for the configuration files within the <strong>openPASS</strong> install directory</p></li>
+<li><p>Copy configuration files</p>
+<blockquote>
+<div><p>Simulations for <strong>openPASS</strong> are fully configured through configuration files. This is where the user defines the traffic scenario to be simulated by openPASS.
+Examples for <strong>openPASS</strong> configuration files are located in the directory <code class="docutils literal notranslate"><span class="pre">examples</span></code> and are divided into two groups: <em>default configurations</em> and <em>specific configurations</em>.</p>
+<ol class="loweralpha">
+<li><p>The <em>default configuration</em> files located under <code class="docutils literal notranslate"><span class="pre">examples/Common</span></code> contain the basis for any simulation. They represent the minimum input required, therefore:</p>
+<blockquote>
+<div><ol class="lowerroman simple">
+<li><p>Copy all files from the directory <code class="docutils literal notranslate"><span class="pre">examples/Common</span></code> to the previously created folder <code class="docutils literal notranslate"><span class="pre">configs</span></code>.</p></li>
+</ol>
+</div></blockquote>
+</li>
+<li><p>The <em>specific configuration</em> files located under <code class="docutils literal notranslate"><span class="pre">examples/Configurations</span></code> complement the default configuration files. Examples are provided for different simulations.</p>
+<blockquote>
+<div><ol class="lowerroman simple">
+<li><p>Ensure all files from directory <code class="docutils literal notranslate"><span class="pre">examples/Common</span></code> have been copied to <code class="docutils literal notranslate"><span class="pre">configs</span></code> (this has been done in the previous step). Repeat this step every time another simulation is chosen.</p></li>
+<li><p>Navigate to the directory <code class="docutils literal notranslate"><span class="pre">examples/Configurations</span></code>. Here, all folders contain special pre-configured simulations (which either can be used as demo cases or as end-to-end test cases primarily used for development).</p></li>
+<li><p>Copy all files from the directory specifying the specific scenario you want to simulate (in our case all files from directory <code class="docutils literal notranslate"><span class="pre">examples/Configurations/AEB_CutIn</span></code>) to the directory <code class="docutils literal notranslate"><span class="pre">configs</span></code>. Overwrite existing files when prompted. The catalogs for vehicles or pedestrian parameters must be stored in a child folder <code class="docutils literal notranslate"><span class="pre">Vehicles</span></code>.</p></li>
+</ol>
+</div></blockquote>
+</li>
+</ol>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>A detailed description of the various configuration files can be found under see <a class="reference internal" href="../30_configs_in_depth.html#configs-in-depth"><span class="std std-ref">Configs in Depth</span></a>.</p>
+</div>
+</div></blockquote>
+</li>
+<li><p>Learn how to modify configuration files</p>
+<blockquote>
+<div><p>If one wants to edit the configurations (e.g. experiment set-up or parameters of specific scenario) placed under <code class="docutils literal notranslate"><span class="pre">configs</span></code>, one can do so by changing any of the following files:</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>configs
+├── Vehicles
+│   ├── VehicleModelsCatalog.xosc
+│   └── PedestrianModelsCatalog.xosc
+├── ProfilesCatalog.xml
+├── Scenario.xosc
+├── SceneryConfiguration.xodr
+├── simulationConfig.xml
+└── systemConfigBlueprint.xml
+</pre></div>
+</div>
+</div></blockquote>
+<p>As an example, modifications of the configuration files that describe an AEB cut-in scenario are given.
+The following list describes some relevant adjustments that may be useful.</p>
+<blockquote>
+<div><ol class="loweralpha">
+<li><p><code class="docutils literal notranslate"><span class="pre">ProfilesCatalog.xml</span></code>:</p>
+<blockquote>
+<div><ul class="simple">
+<li><p>The AEB system and sensor parameters, e.g. „TTC“, „DetectionRange“, can be adjusted.</p></li>
+<li><p>The spawner parameters, such as the traffic volume or the velocity of the surrounding traffic, can be modified in the existing spawner profiles.</p></li>
+</ul>
+</div></blockquote>
+</li>
+<li><p><code class="docutils literal notranslate"><span class="pre">Scenario.xosc</span></code>:</p>
+<blockquote>
+<div><ul class="simple">
+<li><p>The scenario set-up contains the initial positions und velocities of the ego and scenario agent.</p></li>
+<li><p>The trajectory that defines the cut-in maneuver of the scenario agent is defined and editable here.</p></li>
+<li><p>The overall simulation time, which determines the end condition of the simulation in seconds, can be adjusted.</p></li>
+</ul>
+</div></blockquote>
+</li>
+<li><p><code class="docutils literal notranslate"><span class="pre">simulationConfig.xml</span></code>:</p>
+<blockquote>
+<div><ul class="simple">
+<li><p>The number of invocations can be changed in case more than one run is desired to be simulated. This will incorporate stochastic variation (i.e. initial constellation of surrounding traffic)</p></li>
+<li><p>If surrounding traffic is not desired in the experiment, the spawner libraries “SpawnPointPreRunCommon” and “SpawnPointRuntimeCommon” can be deactivated by removing the corresponding sections. Only the “SpawnPointScenario” is mandatory to spawn the ego and scenario agent. More information on the functionality of spawners can be found in <a class="reference internal" href="../sim_user_guide/components/spawner.html#components-spawner"><span class="std std-ref">Spawner</span></a>.</p></li>
+<li><p>The output format can be modified by setting the parameter “LoggingCyclicsToCsv” to true.</p></li>
+</ul>
+</div></blockquote>
+</li>
+</ol>
+</div></blockquote>
+</li>
+<li><p>Start the simulation by double-clicking <code class="docutils literal notranslate"><span class="pre">opSimulation.exe</span></code> or from the console by calling the executable.</p></li>
+<li><p>Once the simulation is successfully completed, the following results can be found in the directory <code class="docutils literal notranslate"><span class="pre">results</span></code>:</p>
+<blockquote>
+<div><ul class="simple">
+<li><p><code class="docutils literal notranslate"><span class="pre">simulationOutput.xml</span></code>: Contains general information about the experiment and an overview on all agents from the simulation. Further, an event log is contained. If the csv-output is set to false in the <code class="docutils literal notranslate"><span class="pre">simulationConfig.xml</span></code>, the <code class="docutils literal notranslate"><span class="pre">simulationOutput.xml</span></code> will also include the „cyclics” (state in each time step) of the simulation.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">Cyclics_Run_xxx.csv</span></code>: In case the csv-output is activated, the „cyclics” of each run in the simulation are logged to a separated csv-file. This file is missing, if “cyclics” are written directly to the <code class="docutils literal notranslate"><span class="pre">simulationOutput.xml</span></code> (i.e. when “LoggingCyclicsToCsv” is set to false).</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">Repository_Run_xxx.csv</span></code>: Overview of the agents and objects from the simulation as well as some details on scenery components like lane markings, guard rails, etc.</p></li>
+</ul>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The outputs do not contain the <code class="docutils literal notranslate"><span class="pre">SceneryConfiguration.xodr</span></code>, i.e. the static environment given in the scenery file in configs. In order to make the world around the simulation results available, we need to copy <code class="docutils literal notranslate"><span class="pre">SceneryConfiguration.xodr</span></code> file from <code class="docutils literal notranslate"><span class="pre">configs</span></code> to <code class="docutils literal notranslate"><span class="pre">results</span></code>.</p>
+</div>
+</div></blockquote>
+</li>
+</ol>
+</section>
+
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diff --git a/content/html/user_guide/tutorials/20_pcm_simulation.html b/content/html/user_guide/tutorials/20_pcm_simulation.html
index b1a3f542a5175cee3c740264cda8fa0369832b01..7d32fe4207e945b9cf97035f1c7c4b35bf21b91f 100644
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-<span id="pcm-simulation-guide"></span><h1>PCM Simulation<a class="headerlink" href="#pcm-simulation" title="Link to this heading"></a></h1>
-<div class="admonition-todo admonition" id="id1">
-<p class="admonition-title">Todo</p>
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+            <a href="../../_sources/user_guide/tutorials/20_pcm_simulation.rst.txt" rel="nofollow"> View page source</a>
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+  <section id="pcm-simulation">
+<span id="pcm-simulation-guide"></span><h1>PCM Simulation<a class="headerlink" href="#pcm-simulation" title="Link to this heading"></a></h1>
+<div class="admonition-todo admonition" id="id1">
+<p class="admonition-title">Todo</p>
+<p>Include link and explaination to opGUI documentation how to run PCM simulations</p>
+</div>
+</section>
+
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