Merge branch '56-followtrajectorycontrolstrategy-forced-to-single-domain' into 'main'

Revert "Merge branch 'fix/FollowTrajectoryMovementDomain' into 'main'"

Closes #56

See merge request !206

engine/src/Storyboard/MotionControlAction/FollowTrajectoryAction_impl.cpp

 /********************************************************************************
- * Copyright (c) 2021-2023 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+ * 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
@@ -16,6 +16,31 @@
 
 namespace OpenScenarioEngine::v1_2
 {
+
+namespace detail
+{
+
+mantle_api::Trajectory ConvertPolyLine(
+    const std::shared_ptr<mantle_api::IEnvironment>& environment,
+    const std::string& entity,
+    TrajectoryRef trajectoryRef)
+{
+  const auto& refEntity = EntityUtils::GetEntityByName(environment, entity);
+  const auto geometric_center = refEntity.GetProperties()->bounding_box.geometric_center;
+
+  // modifies the copy of the trajectory ref!
+  for (auto& polyLinePoint : std::get<mantle_api::PolyLine>(trajectoryRef->type))
+  {
+    polyLinePoint.pose.position = environment->GetGeometryHelper()->TranslateGlobalPositionLocally(
+        polyLinePoint.pose.position,
+        polyLinePoint.pose.orientation,
+        geometric_center);
+  }
+  return trajectoryRef.value();
+}
+
+}  // namespace detail
+
 void FollowTrajectoryAction::SetControlStrategy()
 {
   if (!values.trajectoryRef)
@@ -27,23 +52,12 @@ void FollowTrajectoryAction::SetControlStrategy()
 
   for (const auto& entity : values.entities)
   {
-    const auto& refEntity = EntityUtils::GetEntityByName(mantle.environment, entity);
-    mantle_api::MovementDomain movementDomain{mantle_api::MovementDomain::kLateral};
-    for (auto& polyLinePoint : std::get<mantle_api::PolyLine>(values.trajectoryRef->type))
-    {
-      if (polyLinePoint.time.has_value())
-      {
-        movementDomain = mantle_api::MovementDomain::kBoth;
-      }
-      polyLinePoint.pose.position = mantle.environment->GetGeometryHelper()->TranslateGlobalPositionLocally(polyLinePoint.pose.position,
-                                                                                                            polyLinePoint.pose.orientation,
-                                                                                                            refEntity.GetProperties()->bounding_box.geometric_center);
-    }
     auto control_strategy = std::make_shared<mantle_api::FollowTrajectoryControlStrategy>();
-    control_strategy->movement_domain = movementDomain;
-    control_strategy->trajectory = values.trajectoryRef.value();
     control_strategy->timeReference = values.timeReference;
-
+    control_strategy->movement_domain = values.timeReference
+                                            ? mantle_api::MovementDomain::kBoth
+                                            : mantle_api::MovementDomain::kLateral;
+    control_strategy->trajectory = detail::ConvertPolyLine(mantle.environment, entity, values.trajectoryRef);
     const auto entity_id = mantle.environment->GetEntityRepository().Get(entity)->get().GetUniqueId();
     mantle.environment->UpdateControlStrategies(entity_id, {control_strategy});
   }

engine/tests/Storyboard/MotionControlAction/FollowTrajectoryActionTest.cpp

 /********************************************************************************
- * Copyright (c) 2021-2023 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+ * Copyright (c) 2021-2024 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
  * Copyright (c) 2023 Ansys, Inc.
  *
  * This program and the accompanying materials are made available under the
@@ -483,3 +483,49 @@ TEST(FollowTrajectoryAction, GivenFollowTrajectoryActionAndTrajectoryRef_Updates
   EXPECT_EQ(polyline.at(1).pose, pose2);
   EXPECT_EQ(polyline.at(2).pose, pose3);
 }
+
+TEST(FollowTrajectoryAction,
+     GivenFollowTrajectoryActionWithTimeReference_WhenStartAction_ThenControlStrategyHasMovementDomainBoth)
+{
+  auto mockEnvironment = std::make_shared<MockEnvironment>();
+  std::vector<std::shared_ptr<ControlStrategy>> control_strategies{};
+  EXPECT_CALL(*mockEnvironment, UpdateControlStrategies(_, _)).WillOnce(SaveArg<1>(&control_strategies));
+
+  OpenScenarioEngine::v1_2::FollowTrajectoryAction followTrajectoryAction({std::vector<std::string>{"Vehicle1"},
+                                                                           0.0,
+                                                                           mantle_api::Trajectory{},
+                                                                           {mantle_api::FollowTrajectoryControlStrategy::TrajectoryTimeReference{}},
+                                                                           OpenScenarioEngine::v1_2::TrajectoryFollowingMode{},
+                                                                           mantle_api::Trajectory{}},
+                                                                          {mockEnvironment});
+
+  followTrajectoryAction.SetControlStrategy();
+  ASSERT_THAT(control_strategies, testing::SizeIs(1));
+  auto control_strategy = std::dynamic_pointer_cast<mantle_api::FollowTrajectoryControlStrategy>(control_strategies.front());
+
+  EXPECT_TRUE(control_strategy->timeReference.has_value());
+  EXPECT_THAT(control_strategy->movement_domain, mantle_api::MovementDomain::kBoth);
+}
+
+TEST(FollowTrajectoryAction,
+     GivenFollowTrajectoryActionWithoutTimeReference_WhenStartAction_ThenControlStrategyHasMovementDomainLateral)
+{
+  auto mockEnvironment = std::make_shared<MockEnvironment>();
+  std::vector<std::shared_ptr<ControlStrategy>> control_strategies{};
+  EXPECT_CALL(*mockEnvironment, UpdateControlStrategies(_, _)).WillOnce(SaveArg<1>(&control_strategies));
+
+  OpenScenarioEngine::v1_2::FollowTrajectoryAction followTrajectoryAction({std::vector<std::string>{"Vehicle1"},
+                                                                           0.0,
+                                                                           mantle_api::Trajectory{},
+                                                                           std::nullopt,
+                                                                           OpenScenarioEngine::v1_2::TrajectoryFollowingMode{},
+                                                                           mantle_api::Trajectory{}},
+                                                                          {mockEnvironment});
+
+  followTrajectoryAction.SetControlStrategy();
+  ASSERT_THAT(control_strategies, testing::SizeIs(1));
+  auto control_strategy = std::dynamic_pointer_cast<mantle_api::FollowTrajectoryControlStrategy>(control_strategies.front());
+
+  EXPECT_FALSE(control_strategy->timeReference.has_value());
+  EXPECT_THAT(control_strategy->movement_domain, mantle_api::MovementDomain::kLateral);
+}