fix: Error message unsupported trajectory shape

engine/src/Conversion/OscToMantle/ConvertScenarioTrajectoryRef.cpp

@@ -19,6 +19,7 @@
 
 #include "Conversion/OscToMantle/ConvertScenarioClothoidSpline.h"
 #include "Conversion/OscToMantle/ConvertScenarioPosition.h"
+#include "Utils/Logger.h"
 
 namespace OpenScenarioEngine::v1_3
 {
@@ -46,7 +47,7 @@ std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::ITrajectory> OpenScenarioToMantle(c
   {
     return ConvertCatalogReferenceToTrajectory(catalogReference);
   }
-  throw std::runtime_error("convertScenarioRoute: Either trajectorReference or catalogReference must be set");
+  throw std::runtime_error("ConvertScenarioTrajectoryRef: Either trajectorReference or catalogReference must be set. Note: Deprecated element Trajectory is not supported.");
 }
 
 mantle_api::TrajectoryReferencePoint ParseTrajectoryReferencePoint(const std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::ITrajectory>& follow_trajectory_action_trajectory)
@@ -100,31 +101,9 @@ mantle_api::Trajectory ConvertPolyline(const std::shared_ptr<NET_ASAM_OPENSCENAR
   {
     mantle_api::PolyLinePoint poly_line_point;
 
-    // TODO CK Separate method to parse position, which can be used anywhere in the openScenarioEngine
     auto poly_line_vertex_position = poly_line_vertex->GetPosition();
     auto pose = ConvertScenarioPosition(environment, poly_line_vertex_position);
     poly_line_point.pose = pose.value();
-    // if (poly_line_vertex_position->GetWorldPosition())
-    // {
-    //     auto world_position = poly_line_vertex_position->GetWorldPosition();
-
-    //     mantle_api::Vec3<units::length::meter_t> position;
-    //     position.x = units::length::meter_t(world_position->GetX());
-    //     position.y = units::length::meter_t(world_position->GetY());
-    //     position.z = units::length::meter_t(world_position->GetZ());
-
-    //     mantle_api::Orientation3<units::angle::radian_t> orientation;
-    //     orientation.yaw = units::angle::radian_t(world_position->GetH());
-    //     orientation.pitch = units::angle::radian_t(world_position->GetP());
-    //     orientation.roll = units::angle::radian_t(world_position->GetR());
-
-    //     poly_line_point.pose = {position, orientation};
-    // }
-    // else
-    // {
-    //     Logger::Warning("FollowTrajectoryAction currently does not support other Position types than "
-    //                     "WorldPosition in Polyline shape");
-    // }
 
     poly_line_point.time = poly_line_vertex->IsSetTime() ? std::make_optional<units::time::second_t>(poly_line_vertex->GetTime()) : std::nullopt;
 
@@ -141,18 +120,20 @@ TrajectoryRef ConvertScenarioTrajectoryRef(const std::shared_ptr<mantle_api::IEn
                                            const std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::ITrajectoryRef>& trajectoryRef,
                                            const std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::ICatalogReference>& catalogReference)
 {
-  auto follow_trajectory_action_trajectory = detail::OpenScenarioToMantle(trajectoryRef, catalogReference);
+  const auto trajectory = detail::OpenScenarioToMantle(trajectoryRef, catalogReference);
+  const auto shape = trajectory->GetShape();
 
-  auto follow_trajectory_action_trajectory_shape = follow_trajectory_action_trajectory->GetShape();
-
-  if (follow_trajectory_action_trajectory_shape->GetPolyline())
+  if (shape->IsSetPolyline())
   {
-    return detail::ConvertPolyline(follow_trajectory_action_trajectory, environment);
+    return detail::ConvertPolyline(trajectory, environment);
   }
-  else if (follow_trajectory_action_trajectory_shape->GetClothoidSpline())
+
+  if (shape->IsSetClothoidSpline())
   {
-    return detail::ConvertClothoidShape(follow_trajectory_action_trajectory);
+    return detail::ConvertClothoidShape(trajectory);
   }
+
+  Logger::Error("ConvertScenarioTrajectoryRef: Unsupported trajectory shape for trajectory '" + trajectory->GetName() + "'. Only Polyline and ClothoidSpline are supported!");
   return std::nullopt;
 }