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 <li class="toctree-l2 current"><a class="current reference internal" href="#">Mapping of OpenSCENARIO Actions</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="#acquirepositionaction">AcquirePositionAction</a></li>
 <li class="toctree-l3"><a class="reference internal" href="#assignrouteaction">AssignRouteAction</a></li>
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   <div class="section" id="mapping-of-openscenario-actions">
 <span id="mapping-scenario-actions"></span><h1>Mapping of OpenSCENARIO Actions<a class="headerlink" href="#mapping-of-openscenario-actions" title="Permalink to this headline">¶</a></h1>
 <table class="tight-table docutils align-default">
 <colgroup>
 <col style="width: 53%" />
 <col style="width: 47%" />
 </colgroup>
 <thead>
 <tr class="row-odd"><th class="head"><p>Layer/Component</p></th>
 <th class="head"><p>API/Datatype</p></th>
 </tr>
 </thead>
 <tbody>
 <tr class="row-even"><td><p>OpenScenarioEngine</p></td>
 <td><p>mantle_api</p></td>
 </tr>
 <tr class="row-odd"><td><p>opSimualtion</p></td>
 <td><p>openPASS</p></td>
 </tr>
 <tr class="row-even"><td><p>FMU Interface</p></td>
 <td><p>osi3</p></td>
 </tr>
 </tbody>
 </table>
 <div class="section" id="acquirepositionaction">
 <h2>AcquirePositionAction<a class="headerlink" href="#acquirepositionaction" title="Permalink to this headline">¶</a></h2>
 <table class="tight-table docutils align-default">
 <colgroup>
 <col style="width: 12%" />
 <col style="width: 88%" />
 </colgroup>
 <thead>
 <tr class="row-odd"><th class="head"><p>API/Datatype</p></th>
 <th class="head"><p>Used Methods/Classes/API</p></th>
 </tr>
 </thead>
 <tbody>
 <tr class="row-even"><td><p>OpenScenario</p></td>
 <td><p><strong>AcquirePositionAction</strong></p></td>
 </tr>
 <tr class="row-odd"><td><p>mantle_api</p></td>
 <td><p>Entity::AssignRoute(UniqueId, RouteDefinition)
 Entity::GetPosition()
 GeometryHelper::TranslateGlobalPositionLocally()</p></td>
 </tr>
 <tr class="row-even"><td rowspan="2"><p>openPASS</p></td>
 <td><p>SpawnParameter
 AgentInterface::GetPositionX()
 AgentInterface::GetPositionY()
 AgentInterface::GetYaw()</p></td>
 </tr>
 <tr class="row-odd"><td><p>RouteSamplerInterface::CalculateRouteFromWaypoints(std::vector&lt;mantle_api::RouteWaypoint&gt;)
 EgoAgentInterface::SetRoadGraph(RoadGraph, RoadGraphVertex, RoadGraphVertex)</p></td>
 </tr>
 <tr class="row-even"><td><p>osi3</p></td>
 <td><p>x – not implemented</p></td>
 </tr>
 </tbody>
 </table>
 </div>
 <div class="section" id="assignrouteaction">
 <h2>AssignRouteAction<a class="headerlink" href="#assignrouteaction" title="Permalink to this headline">¶</a></h2>
 <table class="tight-table docutils align-default">
 <colgroup>
 <col style="width: 12%" />
 <col style="width: 88%" />
 </colgroup>
 <thead>
 <tr class="row-odd"><th class="head"><p>API/Datatype</p></th>
 <th class="head"><p>Used Methods/Classes/API</p></th>
 </tr>
 </thead>
 <tbody>
 <tr class="row-even"><td><p>OpenScenario</p></td>
 <td><p><strong>AssignRouteAction</strong></p></td>
 </tr>
 <tr class="row-odd"><td><p>mantle_api</p></td>
 <td><p>Entity::AssignRoute(UniqueId, RouteDefinition)</p></td>
 </tr>
 <tr class="row-even"><td><p>openPASS</p></td>
 <td><p>RouteSamplerInterface::CalculateRouteFromWaypoints(std::vector&lt;mantle_api::RouteWaypoint&gt;)
 EgoAgentInterface::SetRoadGraph(RoadGraph, RoadGraphVertex, RoadGraphVertex)</p></td>
 </tr>
 <tr class="row-odd"><td><p>osi3</p></td>
 <td><p>x – not relevant</p></td>
 </tr>
 </tbody>
 </table>
 </div>
 <div class="section" id="customcommandaction">
 <h2>CustomCommandAction<a class="headerlink" href="#customcommandaction" title="Permalink to this headline">¶</a></h2>
 <table class="tight-table docutils align-default">
 <colgroup>
 <col style="width: 12%" />
 <col style="width: 88%" />
 </colgroup>
 <thead>
 <tr class="row-odd"><th class="head"><p>API/Datatype</p></th>
 <th class="head"><p>Used Methods/Classes/API</p></th>
 </tr>
 </thead>
 <tbody>
 <tr class="row-even"><td><p>OpenScenario</p></td>
 <td><p><strong>CustomCommandAction</strong></p></td>
 </tr>
 <tr class="row-odd"><td><p>mantle_api</p></td>
 <td><p>ExecuteCustomCommand(actors, type, command)</p></td>
 </tr>
 <tr class="row-even"><td><p>openPASS</p></td>
 <td><p>AddCustomCommand(command)
 GetCustomCommands()
 ComponentControllerImplementation::Trigger(time)
 TrajectoryFollowerCommonBase::Trigger(time)</p></td>
 </tr>
 <tr class="row-odd"><td><p>osi3</p></td>
 <td><p>osi3::TrafficAction::CustomAction
 TrafficAction::mutable_custom_action()
 TrafficAction_CustomAction::set_command(command)</p></td>
 </tr>
 </tbody>
 </table>
 </div>
 <div class="section" id="followtrajectoryaction">
 <h2>FollowTrajectoryAction<a class="headerlink" href="#followtrajectoryaction" title="Permalink to this headline">¶</a></h2>
 <table class="tight-table docutils align-default">
 <colgroup>
 <col style="width: 12%" />
 <col style="width: 88%" />
 </colgroup>
 <thead>
 <tr class="row-odd"><th class="head"><p>API/Datatype</p></th>
 <th class="head"><p>Used Methods/Classes/API</p></th>
 </tr>
 </thead>
 <tbody>
 <tr class="row-even"><td><p>OpenScenario</p></td>
 <td><p><strong>FollowTrajectoryAction</strong></p></td>
 </tr>
 <tr class="row-odd"><td><p>mantle_api</p></td>
 <td><p>UpdateControlStrategies(FollowTrajectoryControlStrategy)
 HasControlStrategyGoalBeenReached(ControlStrategyType::kFollowTrajectory)
 GeometryHelper::TranslateGlobalPositionLocally(PolyLine)
 MovementDomain::kBoth</p></td>
 </tr>
 <tr class="row-even"><td><p>openPASS</p></td>
 <td><p>SetStrategies(MovementDomain::kBoth, ControlStrategyType::kFollowTrajectory)
 Algorithm_Routecontrol_Implementation::ReadWayPointData()
 DynamicsScenarioImplementation::ReadWayPointData()
 TrajectoryFollowerImplementation::Trigger(time)
 FmuHelper::AddTrafficCommandActionFromOpenScenarioTrajectory(TrafficCommand::add_action(), Trajectory)</p></td>
 </tr>
 <tr class="row-odd"><td rowspan="2"><p>osi3</p></td>
 <td><p><strong>osi3::TrafficAction::FollowTrajectoryAction</strong></p>
 <p>TrafficAction::mutable_follow_trajectory_action()
 TrafficAction_FollowTrajectoryAction::add_trajectory_point()</p>
 </td>
 </tr>
 <tr class="row-even"><td><p><strong>osi3::TrafficAction::FollowPathAction</strong></p>
 <p>TrafficAction::mutable_follow_path_action()
 TrafficAction_FollowPathAction::add_path_point()</p>
 </td>
 </tr>
 </tbody>
 </table>
 </div>
 <div class="section" id="lanechangeaction">
 <h2>LaneChangeAction<a class="headerlink" href="#lanechangeaction" title="Permalink to this headline">¶</a></h2>
 <table class="tight-table docutils align-default">
 <colgroup>
 <col style="width: 12%" />
 <col style="width: 88%" />
 </colgroup>
 <thead>
 <tr class="row-odd"><th class="head"><p>API/Datatype</p></th>
 <th class="head"><p>Used Methods/Classes/API</p></th>
 </tr>
 </thead>
 <tbody>
 <tr class="row-even"><td rowspan="3"><p>OpenScenario</p></td>
 <td><p><strong>LaneChangeAction</strong></p>
 <p>LaneChangeActionImpl::GetLaneChangeTarget()
 ConvertScenarioLaneChangeTarget(ILaneChangeTarget) -&gt; mantle_api::LaneId</p>
 </td>
 </tr>
 <tr class="row-odd"><td><p><strong>RelativeTargetLane</strong></p>
 <p>LaneChangeTargetImpl::GetRelativeTargetLane()
 ConvertScenarioRelativeTargetLane(IRelativeTargetLane) -&gt; mantle_api::LaneId</p>
 </td>
 </tr>
 <tr class="row-even"><td><p><strong>AbsoluteTargetLane</strong></p>
 <p>LaneChangeTargetImpl::GetAbsoluteTargetLane()
 ConvertScenarioAbsoluteTargetLane(IAbsoluteTargetLane) -&gt; mantle_api::LaneId</p>
 </td>
 </tr>
 <tr class="row-odd"><td rowspan="2"><p>mantle_api</p></td>
 <td><p>UpdateControlStrategies(PerformLaneChangeControlStrategy)
 (ControlStrategyType::kPerformLaneChange)</p></td>
 </tr>
 <tr class="row-even"><td><p><strong>Relative</strong></p>
 <p>LaneLocationQueryService::GetRelativeLaneId()</p>
 </td>
 </tr>
 <tr class="row-odd"><td><p>openPASS</p></td>
 <td><p>SetStrategies(MovementDomain::kLateral, ControlStrategyType::kPerformLaneChange)
 DynamicsScenarioImplementation::CalculateSinusiodalLaneChange(PerformLaneChangeControlStrategy)
 DynamicsScenarioImplementation::ReadWayPointData()</p></td>
 </tr>
 <tr class="row-even"><td><p>osi3</p></td>
 <td><p>x – not implemented</p></td>
 </tr>
 </tbody>
 </table>
 </div>
 <div class="section" id="speedaction">
 <h2>SpeedAction<a class="headerlink" href="#speedaction" title="Permalink to this headline">¶</a></h2>
 <table class="tight-table docutils align-default">
 <colgroup>
 <col style="width: 12%" />
 <col style="width: 88%" />
 </colgroup>
 <thead>
 <tr class="row-odd"><th class="head"><p>API/Datatype</p></th>
 <th class="head"><p>Used Methods/Classes/API</p></th>
 </tr>
 </thead>
 <tbody>
 <tr class="row-even"><td><p>OpenScenario</p></td>
 <td><p><strong>SpeedAction</strong>
 SetLinearVelocitySplineControlStrategy(std::string)</p></td>
 </tr>
 <tr class="row-odd"><td><p>mantle_api</p></td>
 <td><p>UpdateControlStrategies(FollowVelocitySplineControlStrategy)
 HasControlStrategyGoalBeenReached(ControlStrategyType::kFollowVelocitySpline)
 SetSpeed(IEntity, units::velocity::meters_per_second_t)
 MovementDomain::kLongitudinal</p></td>
 </tr>
 <tr class="row-even"><td><p>openPASS</p></td>
 <td><p>SetStrategies(MovementDomain::kLongitudinal, ControlStrategyType::kFollowVelocitySpline)
 ControlStrategies::HasNewLongitudinalStrategy()
 DynamicsScenarioImplementation::GetVelocityFromSplines()</p></td>
 </tr>
 <tr class="row-odd"><td><p>osi3</p></td>
 <td><p>osi3::TrafficAction::SpeedAction
 TrafficAction::mutable_speed_action()
 TrafficAction_CustomAction::set_absolute_target_speed(targetSpeed)</p></td>
 </tr>
 </tbody>
 </table>
 </div>
 <div class="section" id="teleportaction">
 <h2>TeleportAction<a class="headerlink" href="#teleportaction" title="Permalink to this headline">¶</a></h2>
 <table class="tight-table docutils align-default">
 <colgroup>
 <col style="width: 12%" />
 <col style="width: 88%" />
 </colgroup>
 <thead>
 <tr class="row-odd"><th class="head"><p>API/Datatype</p></th>
 <th class="head"><p>Used Methods/Classes/API</p></th>
 </tr>
 </thead>
 <tbody>
 <tr class="row-even"><td><p>OpenScenario</p></td>
 <td><p><strong>TeleportAction</strong></p></td>
 </tr>
 <tr class="row-odd"><td><p>mantle_api</p></td>
 <td><p>Entity::SetPosition(Vec3&lt;units::length::meter_t&gt;)
 Entity::SetOrientation(Orientation3&lt;units::angle::radian_t&gt;)
 Entity::SetAssignedLaneIds(std::vector&lt;uint64_t&gt;)
 GeometryHelper::TranslateGlobalPositionLocally(…)
 LaneLocationQueryService::GetUpwardsShiftedLanePosition(…)
 LaneLocationQueryService::GetLaneIdsAtPosition(…)</p></td>
 </tr>
 <tr class="row-even"><td><p>openPASS</p></td>
 <td><p>RouteSampler::Sample(mantle_api::Vec3&lt;units::length::meter_t&gt;, units::angle::radian_t)
 AgentInterface::SetPositionX(units::length::meter_t)
 AgentInterface::SetPositionY(units::length::meter_t)
 AgentInterface:SetYaw(units::angle::radian_t)</p></td>
 </tr>
 <tr class="row-odd"><td><p>osi3</p></td>
 <td><p>x – not relevant</p></td>
 </tr>
 </tbody>
 </table>
 </div>
 <div class="section" id="trafficsignalaction">
 <h2>TrafficSignalAction<a class="headerlink" href="#trafficsignalaction" title="Permalink to this headline">¶</a></h2>
 <table class="tight-table docutils align-default">
 <colgroup>
 <col style="width: 12%" />
 <col style="width: 88%" />
 </colgroup>
 <thead>
 <tr class="row-odd"><th class="head"><p>API/Datatype</p></th>
 <th class="head"><p>Used Methods/Classes/API</p></th>
 </tr>
 </thead>
 <tbody>
 <tr class="row-even"><td><p>OpenScenario</p></td>
 <td><p><strong>TrafficSignalAction</strong></p></td>
 </tr>
 <tr class="row-odd"><td><p>mantle_api</p></td>
 <td><p>SetTrafficSignalState(std::string name, std::string state)</p></td>
 </tr>
 <tr class="row-even"><td><p>openPASS</p></td>
 <td><p>WorldData::GetTrafficSignIdMapping()
 WorldData::GetSignalType(Id)
 WorldData::GetTrafficLight(Id)
 ThreeSignalsTrafficLight::SetState(CommonTrafficLight::State)
 TwoSignalsTrafficLight::SetState(CommonTrafficLight::State)
 OneSignalsTrafficLight::SetState(CommonTrafficLight::State)
 DataBuffer::PutAcyclic</p></td>
 </tr>
 <tr class="row-odd"><td><p>osi3</p></td>
 <td><p>TrafficLight_Classification::set_mode(::osi3::TrafficLight_Classification_Mode)</p></td>
 </tr>
 </tbody>
 </table>
 </div>
 <div class="section" id="trafficsignalstateaction">
 <h2>TrafficSignalStateAction<a class="headerlink" href="#trafficsignalstateaction" title="Permalink to this headline">¶</a></h2>
 <table class="tight-table docutils align-default">
 <colgroup>
 <col style="width: 12%" />
 <col style="width: 88%" />
 </colgroup>
 <thead>
 <tr class="row-odd"><th class="head"><p>API/Datatype</p></th>
 <th class="head"><p>Used Methods/Classes/API</p></th>
 </tr>
 </thead>
 <tbody>
 <tr class="row-even"><td><p>OpenScenario</p></td>
 <td><p><strong>TrafficSignalStateAction</strong></p></td>
 </tr>
 <tr class="row-odd"><td><p>mantle_api</p></td>
 <td><p>SetTrafficSignalState(std::string name, std::string state)</p></td>
 </tr>
 <tr class="row-even"><td><p>openPASS</p></td>
 <td><p>WorldData::GetTrafficSignIdMapping()
 WorldData::GetSignalType(Id)
 WorldData::GetTrafficLight(Id)
 ThreeSignalsTrafficLight::SetState(CommonTrafficLight::State)
 TwoSignalsTrafficLight::SetState(CommonTrafficLight::State)
 OneSignalsTrafficLight::SetState(CommonTrafficLight::State)
 DataBuffer::PutAcyclic</p></td>
 </tr>
 <tr class="row-odd"><td><p>osi3</p></td>
 <td><p>TrafficLight_Classification::set_mode(::osi3::TrafficLight_Classification_Mode)</p></td>
 </tr>
 </tbody>
 </table>
 </div>
 <div class="section" id="trafficsinkaction">
 <h2>TrafficSinkAction<a class="headerlink" href="#trafficsinkaction" title="Permalink to this headline">¶</a></h2>
 <table class="tight-table docutils align-default">
 <colgroup>
 <col style="width: 12%" />
 <col style="width: 88%" />
 </colgroup>
 <thead>
 <tr class="row-odd"><th class="head"><p>API/Datatype</p></th>
 <th class="head"><p>Used Methods/Classes/API</p></th>
 </tr>
 </thead>
 <tbody>
 <tr class="row-even"><td><p>OpenScenario</p></td>
 <td><p><strong>TrafficSinkAction</strong></p>
 <p>ConvertScenarioTrafficDefinition(NET_ASAM_OPENSCENARIO::v1_1::ITrafficDefinition)</p>
 </td>
 </tr>
 <tr class="row-odd"><td><p>mantle_api</p></td>
 <td><p>Entity::GetPosition()
 GeometryHelper::TranslateGlobalPositionLocally()</p></td>
 </tr>
 <tr class="row-even"><td rowspan="2"><p>openPASS</p></td>
 <td><p>SpawnParameter</p></td>
 </tr>
 <tr class="row-odd"><td><p>AgentInterface::GetPositionX()
 AgentInterface::GetPositionY()
 AgentInterface:GetYaw()</p></td>
 </tr>
 <tr class="row-even"><td><p>osi3</p></td>
 <td><p>x – not relevant</p></td>
 </tr>
 </tbody>
 </table>
 </div>
 <div class="section" id="visibilityaction">
 <h2>VisibilityAction<a class="headerlink" href="#visibilityaction" title="Permalink to this headline">¶</a></h2>
 <table class="tight-table docutils align-default">
 <colgroup>
 <col style="width: 12%" />
 <col style="width: 88%" />
 </colgroup>
 <thead>
 <tr class="row-odd"><th class="head"><p>API/Datatype</p></th>
 <th class="head"><p>Used Methods/Classes/API</p></th>
 </tr>
 </thead>
 <tbody>
 <tr class="row-even"><td><p>OpenScenario</p></td>
 <td><p><strong>VisibilityAction</strong></p></td>
 </tr>
 <tr class="row-odd"><td><p>mantle_api</p></td>
 <td><p>SetVisibility(EntityVisibilityConfig)</p></td>
 </tr>
 <tr class="row-even"><td><p>openPASS</p></td>
 <td><p>x – not implemented</p></td>
 </tr>
 <tr class="row-odd"><td><p>osi3</p></td>
 <td><p>x – not implemented</p></td>
 </tr>
 </tbody>
 </table>
 </div>
 </div>


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