Mapping of OpenSCENARIO Actions
Layer/Component |
API/Datatype |
|---|---|
OpenScenarioEngine |
mantle_api |
opSimualtion |
openPASS |
FMU Interface |
osi3 |
AcquirePositionAction
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
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
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
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
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
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
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
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
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
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
API/Datatype |
Used Methods/Classes/API |
|---|---|
OpenSCENARIO |
VisibilityAction |
mantle_api |
SetVisibility(EntityVisibilityConfig) |
openPASS |
x – not implemented |
osi3 |
x – not implemented |