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[tmp] RJD-1057 (5/5): Remove non-API member functions: Improve responsibility simulator_core<->api #1337

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[tmp] RJD-1057 (5/5): Remove non-API member functions: Improve responsibility simulator_core<->api #1337

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e6ffb81
feat(api, simulator_core): move features from simulator_core to api
dmoszynski Jul 3, 2024
9477f52
feat(simulator_core,openscenario_interpreter): develop develop specia…
dmoszynski Jul 3, 2024
b2fe246
feat(simulator_core): tidy up, remove unnecessary forwarding
dmoszynski Jul 24, 2024
b6d939d
feat(simulator_core, api, entity_base): init use LaneletPose as API i…
dmoszynski Jul 25, 2024
19d2638
Merge remote-tracking branch 'origin/RJD-1057-remove-functions-forwar…
dmoszynski Jul 25, 2024
2e00403
feat(simulator_core, api, cpp_mock_scenarios): use LaneletPose in spa…
dmoszynski Aug 1, 2024
3c08660
Merge remote-tracking branch 'origin/RJD-1057-remove-functions-forwar…
dmoszynski Aug 1, 2024
8946193
ref(simulator_core): refresh class division, tidy up
dmoszynski Aug 1, 2024
233deb3
ref(openscenario_interpeter): simplify distance_condition, reach_posi…
dmoszynski Aug 1, 2024
6618d05
ref(entity_status): move getLaneletRelativeYaw definition to cpp
dmoszynski Aug 1, 2024
506529e
Fix compile error
TauTheLepton Aug 2, 2024
d284fc6
Fix test_executor test
TauTheLepton Aug 2, 2024
9bf5312
ref(simulator_core, api): little global improve
dmoszynski Aug 5, 2024
043bf37
ref(api): use CanonicalizedLaneletPose as API output
dmoszynski Aug 5, 2024
c07e90c
ref(entity_base): reformat requestSynchronize
dmoszynski Aug 5, 2024
bac624d
feat(lanelet_pose, canonicalization): remove optional from canonicali…
dmoszynski Aug 5, 2024
260683a
Merge branch 'ref/RJD-1057-improve-responsibility-simulator-core-api'…
dmoszynski Aug 5, 2024
3bed78a
feat(api): add missing from_entity_name != to_entity_name checks
dmoszynski Aug 6, 2024
9e323cb
fix(entity_base): fix rclcpp warn logs
dmoszynski Aug 6, 2024
98c1866
fix(simulator_core, api): change relativeLaneletPose to laneletDistan…
dmoszynski Aug 8, 2024
6fe1268
Merge remote-tracking branch 'origin/RJD-1057-remove-functions-forwar…
dmoszynski Oct 14, 2024
3868f03
fix(openscenario_interpreter, traffic_simulator): fix after merge
dmoszynski Oct 14, 2024
e4b96cb
Merge remote-tracking branch 'origin/RJD-1057-remove-functions-forwar…
dmoszynski Oct 14, 2024
9fc7baf
ref(traffic_simulator): rename isEntitySpawned to isEntityExist
dmoszynski Dec 12, 2024
fde5680
Merge branch 'RJD-1057-remove-functions-forwarded-to-entity-base-refa…
dmoszynski Dec 16, 2024
31d4f11
ref(traffic_simulator): remove redundant traffic_simulator:: ns, add …
dmoszynski Dec 16, 2024
f7d75ec
ref(traffic_simulator): simple improvements
dmoszynski Dec 16, 2024
25a088b
Fix typo
TauTheLepton Dec 18, 2024
7ba7a6f
Merge branch 'RJD-1057-remove-functions-forwarded-to-entity-base-refa…
TauTheLepton Jan 7, 2025
fea2a83
Merge remote-tracking branch 'tier4/RJD-1057-remove-functions-forward…
TauTheLepton Jan 15, 2025
7021fce
Merge branch 'RJD-1057-remove-functions-forwarded-to-entity-base-refa…
TauTheLepton Jan 16, 2025
af1985f
Merge branch 'RJD-1057-remove-functions-forwarded-to-entity-base-refa…
TauTheLepton Jan 20, 2025
4280bf8
Merge remote-tracking branch 'tier4/RJD-1057-remove-functions-forward…
TauTheLepton Jan 30, 2025
5fa164f
Merge branch 'RJD-1057-remove-functions-forwarded-to-entity-base-refa…
TauTheLepton Jan 31, 2025
5de606a
Merge branch 'RJD-1057-remove-functions-forwarded-to-entity-base-refa…
TauTheLepton Jan 31, 2025
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4 changes: 2 additions & 2 deletions mock/cpp_mock_scenarios/include/cpp_mock_scenarios/cpp_scenario_node.hpp
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Expand Up @@ -49,8 +49,8 @@ class CppScenarioNode : public rclcpp::Node
return false;
}
void spawnEgoEntity(
const traffic_simulator::CanonicalizedLaneletPose & spawn_lanelet_pose,
const std::vector<traffic_simulator::CanonicalizedLaneletPose> & goal_lanelet_pose,
const traffic_simulator::LaneletPose & spawn_lanelet_pose,
const std::vector<traffic_simulator::LaneletPose> & goal_lanelet_pose,
const traffic_simulator_msgs::msg::VehicleParameters & parameters);

auto isVehicle(const std::string & name) const -> bool;
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10 changes: 4 additions & 6 deletions mock/cpp_mock_scenarios/src/behavior_plugin/load_do_nothing_plugin.cpp
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Expand Up @@ -70,22 +70,20 @@ class LoadDoNothingPluginScenario : public cpp_mock_scenarios::CppScenarioNode
void onInitialize() override
{
api_.spawn(
"ego", traffic_simulator::helper::constructCanonicalizedLaneletPose(34741, 0.0, 0.0),
"ego", traffic_simulator::helper::constructLaneletPose(34741, 0.0, 0.0),
getVehicleParameters(),
traffic_simulator::entity::VehicleEntity::BuiltinBehavior::doNothing());
api_.spawn(
"pedestrian", traffic_simulator::helper::constructCanonicalizedLaneletPose(34741, 3.0, 0.0),
"pedestrian", traffic_simulator::helper::constructLaneletPose(34741, 3.0, 0.0),
getPedestrianParameters(),
traffic_simulator::entity::PedestrianEntity::BuiltinBehavior::doNothing());
api_.spawn(
"vehicle_spawn_with_behavior_tree",
traffic_simulator::helper::constructCanonicalizedLaneletPose(34741, 2.0, 0.0),
getVehicleParameters(),
traffic_simulator::helper::constructLaneletPose(34741, 2.0, 0.0), getVehicleParameters(),
traffic_simulator::entity::VehicleEntity::BuiltinBehavior::behaviorTree());
api_.spawn(
"pedestrian_spawn_with_behavior_tree",
traffic_simulator::helper::constructCanonicalizedLaneletPose(34741, 3.0, 0.0),
getPedestrianParameters(),
traffic_simulator::helper::constructLaneletPose(34741, 3.0, 0.0), getPedestrianParameters(),
traffic_simulator::entity::PedestrianEntity::BuiltinBehavior::behaviorTree());
}
};
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4 changes: 2 additions & 2 deletions mock/cpp_mock_scenarios/src/collision/crashing_npc.cpp
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Expand Up @@ -52,7 +52,7 @@ class CrashingNpcScenario : public cpp_mock_scenarios::CppScenarioNode
void onInitialize() override
{
auto ego_entity = api_.spawn(
"ego", traffic_simulator::helper::constructCanonicalizedLaneletPose(34741, 0.0, 0.0),
"ego", traffic_simulator::helper::constructLaneletPose(34741, 0.0, 0.0),
getVehicleParameters());
ego_entity->setLinearVelocity(0.0);
ego_entity->requestSpeedChange(15, true);
Expand All @@ -61,7 +61,7 @@ class CrashingNpcScenario : public cpp_mock_scenarios::CppScenarioNode
ego_entity->setBehaviorParameter(behavior_parameter);

auto npc_entity = api_.spawn(
"npc", traffic_simulator::helper::constructCanonicalizedLaneletPose(34741, 10.0, 0.0),
"npc", traffic_simulator::helper::constructLaneletPose(34741, 10.0, 0.0),
getVehicleParameters());
npc_entity->setLinearVelocity(0.0);
npc_entity->requestSpeedChange(5, true);
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4 changes: 2 additions & 2 deletions mock/cpp_mock_scenarios/src/collision/spawn_with_offset.cpp
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Expand Up @@ -50,13 +50,13 @@ class SpawnWithOffsetScenario : public cpp_mock_scenarios::CppScenarioNode
void onInitialize() override
{
auto ego_entity = api_.spawn(
"ego", traffic_simulator::helper::constructCanonicalizedLaneletPose(34741, 0.2, 1.3),
"ego", traffic_simulator::helper::constructLaneletPose(34741, 0.2, 1.3),
getVehicleParameters());
ego_entity->setLinearVelocity(0);
ego_entity->requestSpeedChange(0, true);

auto bob_entity = api_.spawn(
"bob", traffic_simulator::helper::constructCanonicalizedLaneletPose(34741, 0.0, -0.874),
"bob", traffic_simulator::helper::constructLaneletPose(34741, 0.0, -0.874),
getPedestrianParameters());
bob_entity->setLinearVelocity(0);
bob_entity->requestSpeedChange(0, true);
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4 changes: 2 additions & 2 deletions mock/cpp_mock_scenarios/src/cpp_scenario_node.cpp
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Expand Up @@ -99,8 +99,8 @@ void CppScenarioNode::stop(Result result, const std::string & description)
}

void CppScenarioNode::spawnEgoEntity(
const traffic_simulator::CanonicalizedLaneletPose & spawn_lanelet_pose,
const std::vector<traffic_simulator::CanonicalizedLaneletPose> & goal_lanelet_poses,
const traffic_simulator::LaneletPose & spawn_lanelet_pose,
const std::vector<traffic_simulator::LaneletPose> & goal_lanelet_poses,
const traffic_simulator_msgs::msg::VehicleParameters & parameters)
{
api_.updateFrame();
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10 changes: 5 additions & 5 deletions mock/cpp_mock_scenarios/src/crosswalk/stop_at_crosswalk.cpp
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Expand Up @@ -75,16 +75,16 @@ class StopAtCrosswalkScenario : public cpp_mock_scenarios::CppScenarioNode
void onInitialize() override
{
auto ego_entity = api_.spawn(
"ego", traffic_simulator::helper::constructCanonicalizedLaneletPose(120545, 0.0, 0.0),
"ego", traffic_simulator::helper::constructLaneletPose(120545, 0.0, 0.0),
getVehicleParameters());
ego_entity->setLinearVelocity(10);
ego_entity->requestSpeedChange(8, true);
ego_entity->requestAssignRoute(std::vector<traffic_simulator::CanonicalizedLaneletPose>{
traffic_simulator::helper::constructCanonicalizedLaneletPose(34675, 0.0, 0.0),
traffic_simulator::helper::constructCanonicalizedLaneletPose(34690, 0.0, 0.0)});
ego_entity->requestAssignRoute(
{traffic_simulator::helper::constructLaneletPose(34675, 0.0, 0.0),
traffic_simulator::helper::constructLaneletPose(34690, 0.0, 0.0)});

auto bob_entity = api_.spawn(
"bob", traffic_simulator::helper::constructCanonicalizedLaneletPose(34378, 0.0, 0.0),
"bob", traffic_simulator::helper::constructLaneletPose(34378, 0.0, 0.0),
getPedestrianParameters());
bob_entity->setLinearVelocity(0);
bob_entity->requestSpeedChange(
Expand Down
4 changes: 2 additions & 2 deletions mock/cpp_mock_scenarios/src/follow_front_entity/accelerate_and_follow.cpp
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Expand Up @@ -59,12 +59,12 @@ class AccelerateAndFollowScenario : public cpp_mock_scenarios::CppScenarioNode
void onInitialize() override
{
auto ego_entity = api_.spawn(
"ego", traffic_simulator::helper::constructCanonicalizedLaneletPose(34741, 0.0, 0.0),
"ego", traffic_simulator::helper::constructLaneletPose(34741, 0.0, 0.0),
getVehicleParameters());
ego_entity->setLinearVelocity(3);

auto npc_entity = api_.spawn(
"npc", traffic_simulator::helper::constructCanonicalizedLaneletPose(34741, 10.0, 0.0),
"npc", traffic_simulator::helper::constructLaneletPose(34741, 10.0, 0.0),
getVehicleParameters());
npc_entity->setLinearVelocity(10);
npc_entity->requestSpeedChange(10, true);
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4 changes: 2 additions & 2 deletions mock/cpp_mock_scenarios/src/follow_front_entity/decelerate_and_follow.cpp
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Expand Up @@ -59,12 +59,12 @@ class DecelerateAndFollowScenario : public cpp_mock_scenarios::CppScenarioNode
void onInitialize() override
{
auto ego_entity = api_.spawn(
"ego", traffic_simulator::helper::constructCanonicalizedLaneletPose(34741, 0.0, 0.0),
"ego", traffic_simulator::helper::constructLaneletPose(34741, 0.0, 0.0),
getVehicleParameters());
ego_entity->setLinearVelocity(15);

auto npc_entity = api_.spawn(
"npc", traffic_simulator::helper::constructCanonicalizedLaneletPose(34741, 15.0, 0.0),
"npc", traffic_simulator::helper::constructLaneletPose(34741, 15.0, 0.0),
getVehicleParameters());
npc_entity->setLinearVelocity(10);
npc_entity->requestSpeedChange(10, true);
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6 changes: 3 additions & 3 deletions mock/cpp_mock_scenarios/src/follow_lane/acquire_position_in_world_frame.cpp
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Expand Up @@ -47,14 +47,14 @@ class AcquirePositionInWorldFrameScenario : public cpp_mock_scenarios::CppScenar
void onInitialize() override
{
auto ego_entity = api_.spawn(
"ego", traffic_simulator::helper::constructCanonicalizedLaneletPose(34741, 10.0, 0.0),
"ego", traffic_simulator::helper::constructLaneletPose(34741, 10.0, 0.0),
getVehicleParameters());
ego_entity->setStatus(
traffic_simulator::helper::constructCanonicalizedLaneletPose(34513, 0.0, 0.0),
traffic_simulator::helper::constructLaneletPose(34513, 0.0, 0.0),
traffic_simulator::helper::constructActionStatus(10));
ego_entity->requestSpeedChange(10, true);
const geometry_msgs::msg::Pose goal_pose = traffic_simulator::pose::toMapPose(
traffic_simulator::helper::constructCanonicalizedLaneletPose(34408, 1.0, 0.0));
traffic_simulator::helper::constructLaneletPose(34408, 1.0, 0.0));
ego_entity->requestAcquirePosition(goal_pose);
}
};
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6 changes: 3 additions & 3 deletions mock/cpp_mock_scenarios/src/follow_lane/assign_route_in_world_frame.cpp
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Expand Up @@ -47,15 +47,15 @@ class AcquireRouteInWorldFrameScenario : public cpp_mock_scenarios::CppScenarioN
void onInitialize() override
{
auto ego_entity = api_.spawn(
"ego", traffic_simulator::helper::constructCanonicalizedLaneletPose(34513, 0.0, 0.0),
"ego", traffic_simulator::helper::constructLaneletPose(34513, 0.0, 0.0),
getVehicleParameters());
ego_entity->setLinearVelocity(10);
ego_entity->requestSpeedChange(10, true);
std::vector<geometry_msgs::msg::Pose> goal_poses;
goal_poses.emplace_back(traffic_simulator::pose::toMapPose(
traffic_simulator::helper::constructCanonicalizedLaneletPose(34408, 1.0, 0.0)));
traffic_simulator::helper::constructLaneletPose(34408, 1.0, 0.0)));
goal_poses.emplace_back(traffic_simulator::pose::toMapPose(
traffic_simulator::helper::constructCanonicalizedLaneletPose(34408, 10, 0.0)));
traffic_simulator::helper::constructLaneletPose(34408, 10, 0.0)));
ego_entity->requestAssignRoute(goal_poses);
}
};
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4 changes: 2 additions & 2 deletions mock/cpp_mock_scenarios/src/follow_lane/cancel_request.cpp
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Expand Up @@ -41,7 +41,7 @@ class CancelRequestScenario : public cpp_mock_scenarios::CppScenarioNode
{
const auto ego_entity = api_.getEntity("ego");
if (ego_entity->isNearbyPosition(
traffic_simulator::helper::constructCanonicalizedLaneletPose(34513, 30, 0), 3.0)) {
traffic_simulator::helper::constructLaneletPose(34513, 30, 0), 3.0)) {
ego_entity->cancelRequest();
canceled = true;
}
Expand All @@ -52,7 +52,7 @@ class CancelRequestScenario : public cpp_mock_scenarios::CppScenarioNode
void onInitialize() override
{
auto ego_entity = api_.spawn(
"ego", traffic_simulator::helper::constructCanonicalizedLaneletPose(34513, 0.0, 0.0),
"ego", traffic_simulator::helper::constructLaneletPose(34513, 0.0, 0.0),
getVehicleParameters());
ego_entity->setLinearVelocity(7);
ego_entity->requestSpeedChange(7, true);
Expand Down
2 changes: 1 addition & 1 deletion mock/cpp_mock_scenarios/src/follow_lane/follow_with_offset.cpp
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Expand Up @@ -51,7 +51,7 @@ class FollowLaneWithOffsetScenario : public cpp_mock_scenarios::CppScenarioNode
void onInitialize() override
{
auto ego_entity = api_.spawn(
"ego", traffic_simulator::helper::constructCanonicalizedLaneletPose(34513, 0.0, 3.0),
"ego", traffic_simulator::helper::constructLaneletPose(34513, 0.0, 3.0),
getVehicleParameters());
ego_entity->setLinearVelocity(10);
ego_entity->requestSpeedChange(10, true);
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2 changes: 1 addition & 1 deletion mock/cpp_mock_scenarios/src/lane_change/lanechange_left.cpp
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Expand Up @@ -51,7 +51,7 @@ class LaneChangeLeftScenario : public cpp_mock_scenarios::CppScenarioNode
void onInitialize() override
{
auto ego_entity = api_.spawn(
"ego", traffic_simulator::helper::constructCanonicalizedLaneletPose(34462, 10.0, 0.0),
"ego", traffic_simulator::helper::constructLaneletPose(34462, 10.0, 0.0),
getVehicleParameters());
ego_entity->setLinearVelocity(10);
ego_entity->requestSpeedChange(10, true);
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2 changes: 1 addition & 1 deletion mock/cpp_mock_scenarios/src/lane_change/lanechange_left_with_id.cpp
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Expand Up @@ -51,7 +51,7 @@ class LaneChangeLeftWithIdScenario : public cpp_mock_scenarios::CppScenarioNode
void onInitialize() override
{
auto ego_entity = api_.spawn(
"ego", traffic_simulator::helper::constructCanonicalizedLaneletPose(34462, 10.0, 0.0),
"ego", traffic_simulator::helper::constructLaneletPose(34462, 10.0, 0.0),
getVehicleParameters());
ego_entity->setLinearVelocity(10);
ego_entity->requestSpeedChange(10, true);
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2 changes: 1 addition & 1 deletion mock/cpp_mock_scenarios/src/lane_change/lanechange_linear.cpp
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Expand Up @@ -56,7 +56,7 @@ class LaneChangeLinearScenario : public cpp_mock_scenarios::CppScenarioNode
void onInitialize() override
{
auto ego_entity = api_.spawn(
"ego", traffic_simulator::helper::constructCanonicalizedLaneletPose(34462, 10.0, 0.0),
"ego", traffic_simulator::helper::constructLaneletPose(34462, 10.0, 0.0),
getVehicleParameters());
ego_entity->setLinearVelocity(10);
ego_entity->requestSpeedChange(10, true);
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2 changes: 1 addition & 1 deletion mock/cpp_mock_scenarios/src/lane_change/lanechange_linear_lateral_velocity.cpp
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Expand Up @@ -60,7 +60,7 @@ class LaneChangeLinearLateralVelocityScenario : public cpp_mock_scenarios::CppSc
void onInitialize() override
{
auto ego_entity = api_.spawn(
"ego", traffic_simulator::helper::constructCanonicalizedLaneletPose(34462, 10.0, 0.0),
"ego", traffic_simulator::helper::constructLaneletPose(34462, 10.0, 0.0),
getVehicleParameters());
ego_entity->setLinearVelocity(10);
ego_entity->requestSpeedChange(10, true);
Expand Down
2 changes: 1 addition & 1 deletion mock/cpp_mock_scenarios/src/lane_change/lanechange_linear_time.cpp
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Expand Up @@ -61,7 +61,7 @@ class LaneChangeLinearTimeScenario : public cpp_mock_scenarios::CppScenarioNode
void onInitialize() override
{
auto ego_entity = api_.spawn(
"ego", traffic_simulator::helper::constructCanonicalizedLaneletPose(34462, 10.0, 0.0),
"ego", traffic_simulator::helper::constructLaneletPose(34462, 10.0, 0.0),
getVehicleParameters());
ego_entity->setLinearVelocity(10);
ego_entity->requestSpeedChange(10, true);
Expand Down
2 changes: 1 addition & 1 deletion mock/cpp_mock_scenarios/src/lane_change/lanechange_longitudinal_distance.cpp
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Expand Up @@ -47,7 +47,7 @@ class LaneChangeLongitudinalDistanceScenario : public cpp_mock_scenarios::CppSce
void onInitialize() override
{
auto ego_entity = api_.spawn(
"ego", traffic_simulator::helper::constructCanonicalizedLaneletPose(34462, 10.0, 0.0),
"ego", traffic_simulator::helper::constructLaneletPose(34462, 10.0, 0.0),
getVehicleParameters());
ego_entity->setLinearVelocity(1);
ego_entity->requestSpeedChange(1, true);
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2 changes: 1 addition & 1 deletion mock/cpp_mock_scenarios/src/lane_change/lanechange_right.cpp
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Expand Up @@ -51,7 +51,7 @@ class LaneChangeRightScenario : public cpp_mock_scenarios::CppScenarioNode
void onInitialize() override
{
auto ego_entity = api_.spawn(
"ego", traffic_simulator::helper::constructCanonicalizedLaneletPose(34513, 10.0, 0.0),
"ego", traffic_simulator::helper::constructLaneletPose(34513, 10.0, 0.0),
getVehicleParameters());
ego_entity->setLinearVelocity(10);
ego_entity->requestSpeedChange(10, true);
Expand Down
2 changes: 1 addition & 1 deletion mock/cpp_mock_scenarios/src/lane_change/lanechange_right_with_id.cpp
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Expand Up @@ -51,7 +51,7 @@ class LaneChangeRightWithIdScenario : public cpp_mock_scenarios::CppScenarioNode
void onInitialize() override
{
auto ego_entity = api_.spawn(
"ego", traffic_simulator::helper::constructCanonicalizedLaneletPose(34513, 10.0, 0.0),
"ego", traffic_simulator::helper::constructLaneletPose(34513, 10.0, 0.0),
getVehicleParameters());
ego_entity->setLinearVelocity(10);
ego_entity->requestSpeedChange(10, true);
Expand Down
2 changes: 1 addition & 1 deletion mock/cpp_mock_scenarios/src/lane_change/lanechange_time.cpp
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Expand Up @@ -61,7 +61,7 @@ class LaneChangeTimeScenario : public cpp_mock_scenarios::CppScenarioNode
void onInitialize() override
{
auto ego_entity = api_.spawn(
"ego", traffic_simulator::helper::constructCanonicalizedLaneletPose(34462, 10.0, 0.0),
"ego", traffic_simulator::helper::constructLaneletPose(34462, 10.0, 0.0),
getVehicleParameters());
ego_entity->setLinearVelocity(10);
ego_entity->requestSpeedChange(10, true);
Expand Down
6 changes: 3 additions & 3 deletions mock/cpp_mock_scenarios/src/measurement/get_distance_in_lane_coordinate_distance.cpp
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Expand Up @@ -138,19 +138,19 @@ class GetDistanceInLaneCoordinateScenario : public cpp_mock_scenarios::CppScenar
void onInitialize() override
{
auto ego_entity = api_.spawn(
"ego", traffic_simulator::helper::constructCanonicalizedLaneletPose(34513, 5.0, 0.0),
"ego", traffic_simulator::helper::constructLaneletPose(34513, 5.0, 0.0),
getVehicleParameters());
ego_entity->setLinearVelocity(10);
ego_entity->requestSpeedChange(3, true);

auto front_entity = api_.spawn(
"front", traffic_simulator::helper::constructCanonicalizedLaneletPose(34513, 10.0, 1.0),
"front", traffic_simulator::helper::constructLaneletPose(34513, 10.0, 1.0),
getVehicleParameters());
front_entity->setLinearVelocity(10);
front_entity->requestSpeedChange(3, true);

auto behind_entity = api_.spawn(
"behind", traffic_simulator::helper::constructCanonicalizedLaneletPose(34513, 0.0, -1.0),
"behind", traffic_simulator::helper::constructLaneletPose(34513, 0.0, -1.0),
getVehicleParameters());
behind_entity->setLinearVelocity(10);
behind_entity->requestSpeedChange(3, true);
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2 changes: 1 addition & 1 deletion mock/cpp_mock_scenarios/src/measurement/get_distance_to_lane_bound.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -57,7 +57,7 @@ class GetDistanceToLaneBoundScenario : public cpp_mock_scenarios::CppScenarioNod
void onInitialize() override
{
auto ego_entity = api_.spawn(
"ego", traffic_simulator::helper::constructCanonicalizedLaneletPose(34513, 5.0, 0.0),
"ego", traffic_simulator::helper::constructLaneletPose(34513, 5.0, 0.0),
getVehicleParameters());
ego_entity->setLinearVelocity(10);
ego_entity->requestSpeedChange(3, true);
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4 changes: 2 additions & 2 deletions mock/cpp_mock_scenarios/src/merge/merge_left.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -54,14 +54,14 @@ class MergeLeftScenario : public cpp_mock_scenarios::CppScenarioNode
void onInitialize() override
{
auto ego_entity = api_.spawn(
"ego", traffic_simulator::helper::constructCanonicalizedLaneletPose(34462, 15.0, 0.0),
"ego", traffic_simulator::helper::constructLaneletPose(34462, 15.0, 0.0),
getVehicleParameters());
ego_entity->setLinearVelocity(5);
ego_entity->requestSpeedChange(5, true);
ego_entity->requestLaneChange(34513);

auto npc_entity = api_.spawn(
"npc", traffic_simulator::helper::constructCanonicalizedLaneletPose(34513, 0.0, 0.0),
"npc", traffic_simulator::helper::constructLaneletPose(34513, 0.0, 0.0),
getVehicleParameters());
npc_entity->setLinearVelocity(10);
}
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2 changes: 1 addition & 1 deletion mock/cpp_mock_scenarios/src/metrics/traveled_distance.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -60,7 +60,7 @@ class TraveledDistanceScenario : public cpp_mock_scenarios::CppScenarioNode
void onInitialize() override
{
auto ego_entity = api_.spawn(
"ego", traffic_simulator::helper::constructCanonicalizedLaneletPose(34741, 0.0, 0.0),
"ego", traffic_simulator::helper::constructLaneletPose(34741, 0.0, 0.0),
getVehicleParameters());
ego_entity->setLinearVelocity(3);
ego_entity->requestSpeedChange(3, true);
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2 changes: 1 addition & 1 deletion mock/cpp_mock_scenarios/src/move_backward/move_backward.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -51,7 +51,7 @@ class MoveBackwardScenario : public cpp_mock_scenarios::CppScenarioNode
void onInitialize() override
{
auto ego_entity = api_.spawn(
"ego", traffic_simulator::helper::constructCanonicalizedLaneletPose(34741, 0.0, 0.0),
"ego", traffic_simulator::helper::constructLaneletPose(34741, 0.0, 0.0),
getVehicleParameters());
ego_entity->setLinearVelocity(-3);
ego_entity->requestSpeedChange(-3, true);
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10 changes: 5 additions & 5 deletions mock/cpp_mock_scenarios/src/pedestrian/walk_straight.cpp
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Expand Up @@ -70,15 +70,15 @@ class WalkStraightScenario : public cpp_mock_scenarios::CppScenarioNode
void onInitialize() override
{
auto ego_entity = api_.spawn(
"ego", traffic_simulator::helper::constructCanonicalizedLaneletPose(120545, 0.0, 0.0),
"ego", traffic_simulator::helper::constructLaneletPose(120545, 0.0, 0.0),
getVehicleParameters());
ego_entity->setLinearVelocity(10);
ego_entity->requestSpeedChange(8, true);
ego_entity->requestAssignRoute(std::vector<traffic_simulator::CanonicalizedLaneletPose>{
traffic_simulator::helper::constructCanonicalizedLaneletPose(34675, 0.0, 0.0),
traffic_simulator::helper::constructCanonicalizedLaneletPose(34690, 0.0, 0.0)});
ego_entity->requestAssignRoute(
{traffic_simulator::helper::constructLaneletPose(34675, 0.0, 0.0),
traffic_simulator::helper::constructLaneletPose(34690, 0.0, 0.0)});
auto bob_entity = api_.spawn(
"bob", traffic_simulator::helper::constructCanonicalizedLaneletPose(34378, 0.0, 0.0),
"bob", traffic_simulator::helper::constructLaneletPose(34378, 0.0, 0.0),
getPedestrianParameters());
bob_entity->setLinearVelocity(0);
bob_entity->requestWalkStraight();
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