PCM End-to-end test setup has to be verified
During work on !75 (merged), we encountered an issue with the example PCM simulation. We changed some methods of
WorldObjectInterface to return vectors instead of scalar values (e.g.
GetVelocity()). This of course required some adaptions, i.e. in
CollisionPostCrash. During these adaptions, we noticed that the old implementation seems to affected by a bug (using
VelocityScope::Lateral instead of
VelocityScope::DirectionY, respectively). Long and Lat are velocities with respect to the road coordinate system, the intention was to get values in agent coordinate system (see change here).
We think that we fixed this issue by introducing the vector values, but this of course leads to different results of x/y positions of the agents in this simulation run.