Add EntitySelection

[shouth]

Description

Abstract

• Add EntitySelection
• Update mainly Actions and Conditions to be able to handle EntitySelection
• Add some OpenSCENARIO files for testing EntitySelection

Background

OpenSCENARIO has the concept called Entity. Entity may be represented by either a single ScenarioObject, a EntitySelection or SpawnedObject. This PR enables scenario_simulator_v2 to handle EntitySelection in addtion to ScenarioObject which has been already supported. By using EntitySelection, scenario writers can group multiple entities and apply actions/conditions to the group.

Details

EntitySelection

EntitySelection describes a list of Entity by specifing names or entity types. Entities selected by EntitySelection is collected when users of EntitySelection needs them.

Entity

In a scenario, participants are called Entity. Existing implementation assumes each names in a scenario corresponds to a single entity, but this assumption is broken by introduction of EntitySelection. This PR adds Entity class to handle this issue.

Entity class resolves actual entity instance from entity reference on construction.

• In places where entity references are resolved only to ScenarioObjects, Entity behaves similarly to the traditional EntityRef, so there are no code changes associated with adding the Entity class.
• On the other hand, in places where entity references are resolved to EntitySelection as well, the code has been modified to iterate over the entities specified by EntitySelection using functions introduced to Entity for iterative processing.

Members resolved only to ScenarioObjects:

• RelativeDistanceCondition::entity_ref
• RelativeObjectPosition::entity_ref
• RelativeTargetLane::entity_ref
• RelativeTargetSpeed::entity_ref
• RelativeWorldPosition::entity_ref
• RelativeProfileAction::entity_ref
• SpeedProfileAction::entity_ref
• TimeHeadwayCondition::entity_ref
• CollisionCondition::another_given_entity

Members resolved to EntitySelection as well:

• Scope::actors
  • corresponds OpenSCENARIO Private.entityRef and Actors.entityRefs
• EntityAction::entity_ref
• TriggeringEntities::entity_refs

Classes affected by above changes:

• Affected by Scope::actors
  • AcquirePositionAction
  • AssignRouteAction
  • ControllerAction
  • ApplyWalkStraightAction
  • FollowTrajectoryAction
  • LaneChangeAction
  • SpeedAction
  • SpeedProfileAction
  • TeleportAction
• Affected by TriggeringEntities::entity_refs
  • AccelerationCondition
  • CollisionCondition
  • DistanceCondition
  • ReachPositionCondition
  • RelativeDistanceCondition
  • SpeedCondition
  • StandStillCondition
  • TimeHeadwayCondition

scenarios

This PR contains several scenarios for testing EntitySelection. Approximately 1,000 lines of the changes contained in this PR are due to these scenarios.

Subsequent changes

N/A

References

https://www.asam.net/index.php?eID=dumpFile&t=f&f=4908&token=ae9d9b44ab9257e817072a653b5d5e98ee0babf8#_entities

Destructive Changes

I added checks on constraints of entities. For more details, see OpenSCENARIO 1.2 Annex B. Scenarios that contradict to OpenSCENARIO 1.2 Annex B will break if this PR is merged (I think it is rare case).

Known Limitations

N/A