Lateral Distance Action. More...
Public Attributes | |
| optional ActionHeader | action_header = 1 |
| optional Identifier | target_traffic_participant_id = 2 |
| optional double | distance = 3 |
| optional bool | freespace = 4 |
| optional bool | follow = 5 |
| optional DynamicConstraints | dynamic_constraints = 6 |
Detailed Description
Lateral Distance Action.
The action tells the (host) traffic participant to reach a certain lateral distance relative to a target traffic participant. The lateral distance is defined along an imaginative perpendicular line with respect to the centerline of the current (host) traffic participant's lane. The interpolation strategy between centerline points for calculating that distance along the imaginative perpendicular line is open to the traffic participant modeller.
- Note
- This action is aligned with LateralDistanceAction of OpenSCENARIO 1.0 defining the reference traffic participant and the distance.
- Limitation: This concept currently only works for lanes with a centerline, i.e. for lanes of TYPE_DRIVING, not for lanes of TYPE_NONDRIVING or TYPE_INTERSECTION.
Member Data Documentation
◆ action_header
| optional ActionHeader osi3::TrafficAction::LateralDistanceAction::action_header = 1 |
Action Header of the message
◆ distance
| optional double osi3::TrafficAction::LateralDistanceAction::distance = 3 |
Lateral distance value.
Unit: m
◆ dynamic_constraints
| optional DynamicConstraints osi3::TrafficAction::LateralDistanceAction::dynamic_constraints = 6 |
Parameter that assings either unlimited dynamics (if omitted) or limited maxAcceleration/maxDeceleration/maxSpeed to the action.
◆ follow
| optional bool osi3::TrafficAction::LateralDistanceAction::follow = 5 |
Define wheather the traffic participant should only reach the distance once or if it should also keep the distance after having reached it. True: the traffic participant shall approach the reference participant and follow with the distance specified until the action is aborted (communicate with AbortActionsAction). False: the action ends as soon as the traffic participant has reached the specified distance (communicate with EndActionsAction).
◆ freespace
| optional bool osi3::TrafficAction::LateralDistanceAction::freespace = 4 |
Determine the measurement of lateral distance between the traffic participant receiving this action and the reference traffic participant. True: Lateral distance is measured using the distance between closest bounding box points. False: Lateral distance is mesasured using the distance between the center of each object's bounding box.
◆ target_traffic_participant_id
| optional Identifier osi3::TrafficAction::LateralDistanceAction::target_traffic_participant_id = 2 |
Id of the reference entity the lateral distance shall be kept to.
The documentation for this struct was generated from the following file:
- osi_trafficcommand.proto
