Follow trajectory action. More...

Collaboration diagram for osi3::TrafficAction::FollowTrajectoryAction:

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Public Attributes
optional ActionHeader	action_header = 1

repeated StatePoint	trajectory_point = 2

optional bool	constrain_orientation = 3

optional FollowingMode	following_mode = 4

Detailed Description

Follow trajectory action.

Controls a traffic participant to follow a trajectory using vertices with timings. It specifies the motion in space as a function of time.

Note: The StatePoint messages in trajectory_point requires a specified timestamp.; This action is aligned with the FollowTrajectoryAction of OpenSCENARIO 1.0 using a 4/7D trajectory with shape Polyline.

Member Data Documentation

◆ action_header

optional ActionHeader osi3::TrafficAction::FollowTrajectoryAction::action_header = 1

The action header.

◆ constrain_orientation

optional bool osi3::TrafficAction::FollowTrajectoryAction::constrain_orientation = 3

Constrain the orientation of the traffic participant as specified by the trajectory points.

This boolean flag defines whether orientation values supplied in the trajectory points (if any) shall be used to constrain the orientation of the traffic participant or not.

◆ following_mode

optional FollowingMode osi3::TrafficAction::FollowTrajectoryAction::following_mode = 4

Specify the following mode that should be employed in executing the trajectory.

◆ trajectory_point

repeated StatePoint osi3::TrafficAction::FollowTrajectoryAction::trajectory_point = 2

A list of trajectory StatePoints.

Set the timestamp fields and position fields for all trajectory points. The orientation fields can be set depending on the constrain_orientation field being true.

Note: OSI uses singular instead of plural for repeated field names.

The documentation for this struct was generated from the following file: